CN114435144A - An electric vehicle braking method, device and electric vehicle - Google Patents

Abstract

The invention relates to a braking method and device for an electric vehicle and the electric vehicle. The electric vehicle includes a driving motor for driving the electric vehicle to travel, the method including the steps of: detecting whether a brake signal is received; if the brake signal is received, the driving motor is controlled to generate a reverse acting force, and the reverse acting force is used for braking the electric vehicle. The invention breaks through the prejudice of the prior art, utilizes the reverse acting force generated by the driving motor of the electric vehicle to brake, can reduce the loss of the brake pad, enhances the braking effect and improves the safety of the vehicle.

Description

Translated fromChinese

一种电动车刹车方法、装置及电动车An electric vehicle braking method, device and electric vehicle

技术领域technical field

本发明涉及电动车领域，更具体地说，涉及一种电动车刹车方法、装置及电动车。The present invention relates to the field of electric vehicles, and more particularly, to a braking method and device for an electric vehicle and an electric vehicle.

背景技术Background technique

在绿色发展、低碳发展的理念下，电动车的普及率在不断提升。但现有电动车依然采用传统刹车片刹车方式，完全依靠刹车片进行制动。刹车片在制动过程中产生摩擦损耗，对刹车片的质量和寿命要求高，同时刹车距离也较长。而人们基于传统燃油车的刹车思维限制，并没有对电动车进行刹车系统优化。Under the concept of green development and low-carbon development, the popularity of electric vehicles is increasing. However, the existing electric vehicles still use the traditional brake pad braking method, which completely relies on the brake pads for braking. The brake pads produce friction loss during the braking process, which requires high quality and life of the brake pads, and also has a long braking distance. However, based on the limitation of braking thinking of traditional fuel vehicles, people have not optimized the braking system of electric vehicles.

发明内容SUMMARY OF THE INVENTION

本发明要解决的技术问题在于，提供一种电动车刹车方法、装置及电动车。The technical problem to be solved by the present invention is to provide a braking method and device for an electric vehicle and an electric vehicle.

本发明解决其技术问题所采用的技术方案是：构造一种电动车刹车方法，电动车包括用于驱动电动车行进的驱动电机，所述方法包括下述步骤：The technical solution adopted by the present invention to solve the technical problem is: constructing a braking method for an electric vehicle, the electric vehicle includes a drive motor for driving the electric vehicle to travel, and the method includes the following steps:

检测是否接收到刹车信号；Detect whether a brake signal is received;

若是，则控制驱动电机产生反向作用力，所述反向作用力用于电动车制动。If so, the drive motor is controlled to generate a reverse force, and the reverse force is used for electric vehicle braking.

进一步，在本发明所述的电动车刹车方法中，检测到刹车信号后获取刹车器的刹车程度，则所述控制驱动电机产生反向作用力包括：Further, in the electric vehicle braking method of the present invention, the braking degree of the brake is obtained after the braking signal is detected, and then the control of the driving motor to generate the reverse force includes:

根据第一对应关系控制驱动电机产生与所述刹车程度对应的反向作用力，其中所述第一对应关系为所述刹车程度和所述反向作用力的对应关系。The driving motor is controlled to generate a reverse force corresponding to the braking degree according to a first corresponding relationship, wherein the first corresponding relationship is a corresponding relationship between the braking degree and the reverse force.

进一步，在本发明所述的电动车刹车方法中，检测到刹车信号后获取刹车器的刹车程度，则所述控制驱动电机产生反向作用力包括：Further, in the electric vehicle braking method of the present invention, the braking degree of the brake is obtained after the braking signal is detected, and then the control of the driving motor to generate the reverse force includes:

根据第二对应关系确定所述刹车程度对应的制动电压，所述制动电压作用于所述驱动电机上，所述第二对应关系为所述刹车程度和所述制动电压的对应关系，所述制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压。The braking voltage corresponding to the braking degree is determined according to a second corresponding relationship, the braking voltage acts on the drive motor, and the second corresponding relationship is the corresponding relationship between the braking degree and the braking voltage, The braking voltage is the difference between the induction voltage of the motor and the driving voltage, and the induction voltage is greater than the driving voltage.

进一步，在本发明所述的电动车刹车方法中，检测到刹车信号后获取电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：Further, in the electric vehicle braking method of the present invention, after the braking signal is detected to obtain the running speed of the electric vehicle, the control of the driving motor to generate a reverse force includes:

根据第四对应关系控制驱动电机产生与所述行驶速度对应的反向作用力，其中所述第四对应关系为所述行驶速度和所述反向作用力的对应关系。The driving motor is controlled to generate a reverse force corresponding to the traveling speed according to a fourth corresponding relationship, wherein the fourth corresponding relationship is a corresponding relationship between the traveling speed and the reverse force.

进一步，在本发明所述的电动车刹车方法中，检测到刹车信号后获取电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：Further, in the electric vehicle braking method of the present invention, after the braking signal is detected to obtain the running speed of the electric vehicle, the control of the driving motor to generate a reverse force includes:

根据第五对应关系确定所述行驶速度对应的制动电压，所述制动电压作用于所述驱动电机上，所述第五对应关系为所述行驶速度和所述制动电压的对应关系，所述制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压。The braking voltage corresponding to the driving speed is determined according to a fifth corresponding relationship, the braking voltage acts on the driving motor, and the fifth corresponding relationship is the corresponding relationship between the driving speed and the braking voltage, The braking voltage is the difference between the induction voltage of the motor and the driving voltage, and the induction voltage is greater than the driving voltage.

进一步，在本发明所述的电动车刹车方法中，检测到刹车信号后获取刹车器的刹车程度和电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：Further, in the electric vehicle braking method of the present invention, after detecting the braking signal, the braking degree of the brake and the driving speed of the electric vehicle are obtained, and then the control of the driving motor to generate the reverse force includes:

根据第七对应关系控制驱动电机产生与所述刹车程度和所述行驶速度对应的反向作用力，其中所述第七对应关系为所述刹车程度和所述行驶速度与所述反向作用力的对应关系。The driving motor is controlled to generate a reverse force corresponding to the braking degree and the traveling speed according to a seventh corresponding relationship, wherein the seventh corresponding relationship is the braking degree and the traveling speed and the reverse force corresponding relationship.

进一步，在本发明所述的电动车刹车方法中，检测到刹车信号后获取刹车器的刹车程度和电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：Further, in the electric vehicle braking method of the present invention, after detecting the braking signal, the braking degree of the brake and the driving speed of the electric vehicle are obtained, and then the control of the driving motor to generate the reverse force includes:

根据第八对应关系确定所述刹车程度和所述行驶速度对应的制动电压，所述制动电压作用于所述驱动电机上，所述第八对应关系为所述刹车程度和所述行驶速度与所述制动电压的对应关系，所述制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压。The braking voltage corresponding to the braking degree and the driving speed is determined according to an eighth correspondence, the braking voltage acts on the drive motor, and the eighth correspondence is the braking degree and the driving speed Correspondingly with the braking voltage, the braking voltage is the difference between the induction voltage of the motor and the driving voltage, and the induction voltage is greater than the driving voltage.

进一步，在本发明所述的电动车刹车方法中，在所述检测是否接收到刹车信号后还包括步骤：Further, in the electric vehicle braking method of the present invention, after the detection of whether a braking signal is received, the method further includes the steps:

若检测到刹车信号，则驱动电动车的刹车片进行刹车制动。If a braking signal is detected, the brake pads of the electric vehicle are driven to perform braking.

另外，本发明还提供一种电动车刹车装置，电动车包括用于驱动电动车行进的驱动电机，所述电动车刹车装置包括：In addition, the present invention also provides a braking device for an electric vehicle, the electric vehicle includes a drive motor for driving the electric vehicle to travel, and the braking device for the electric vehicle includes:

检测单元，用于检测是否接收到刹车信号；a detection unit for detecting whether a brake signal is received;

电动刹车单元，用于若接收到刹车信号，则控制驱动电机产生反向作用力，所述反向作用力用于电动车制动。The electric braking unit is used for controlling the drive motor to generate a reverse force if a brake signal is received, and the reverse force is used for braking the electric vehicle.

另外，本发明还提供一种电动车，包括存储器和处理器；In addition, the present invention also provides an electric vehicle, comprising a memory and a processor;

所述存储器中存储有计算机程序；A computer program is stored in the memory;

所述处理器通过调用所述存储器中存储的所述计算机程序，执行如上述的电动车刹车方法的步骤。The processor executes the steps of the above-mentioned electric vehicle braking method by calling the computer program stored in the memory.

实施本发明的一种电动车刹车方法、装置及电动车，具有以下有益效果：本发明突破现有技术偏见，利用电动车的驱动电机产生反向作用力进行刹车，可减少对刹车片的损耗，同时增强刹车效果，提高车辆安全性。Implementing an electric vehicle braking method, device and electric vehicle of the present invention has the following beneficial effects: the present invention breaks through the prejudice of the prior art, utilizes the driving motor of the electric vehicle to generate a reverse force for braking, and can reduce the loss of the brake pads , while enhancing the braking effect and improving vehicle safety.

附图说明Description of drawings

下面将结合附图及实施例对本发明作进一步说明，附图中：The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

图1是本发明实施例提供的电动车刹车方法的流程图；1 is a flowchart of a method for braking an electric vehicle provided by an embodiment of the present invention;

图2是本发明实施例提供的电动车刹车装置的结构示意图。FIG. 2 is a schematic structural diagram of an electric vehicle braking device provided by an embodiment of the present invention.

具体实施方式Detailed ways

为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图详细说明本发明的具体实施方式。In order to have a clearer understanding of the technical features, objects and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

在一优选实施例中，参考图1，本实施例的电动车刹车方法应用于电动车刹车系统中，该电动车包括用于驱动电动车行进的驱动电机，电动车行进包括向前行进和向后行进。作为选择，该电动车可为独轮平衡车、两轮电动车、三轮电动车和四轮电动车等。具体的，该电动车刹车方法包括下述步骤：In a preferred embodiment, referring to FIG. 1 , the electric vehicle braking method of this embodiment is applied to an electric vehicle braking system, and the electric vehicle includes a drive motor for driving the electric vehicle to travel, and the electric vehicle travel includes forward travel and reverse direction. Proceed later. Alternatively, the electric vehicle may be a unicycle, a two-wheeled electric vehicle, a three-wheeled electric vehicle, a four-wheeled electric vehicle, and the like. Specifically, the electric vehicle braking method includes the following steps:

S1、检测是否接收到刹车信号。具体的，电动车的控制器连接刹车器，刹车器用于产生刹车信号，刹车器产生刹车信号后传输至控制器。控制器用于检测是否接收到刹车信号，刹车信号用于启动刹车程序，以产生刹车制动力使车辆逐渐减速。刹车器产生刹车信号的方式较多，例如手动刹车器产生刹车信号，脚踏刹车器产生刹车信号。又例如，车辆安全系统被触发后产生刹车信号，当电动车距离障碍物小于安全距离产生刹车信号，当电动车出现故障时产生刹车信号等。进一步，刹车器种类较多，不同刹车器产生的刹车信号不同，刹车信号可以为电流信号、电压信号、压力信号、幅度信号和开度信号等，可根据需要选择刹车器。S1. Detect whether a brake signal is received. Specifically, the controller of the electric vehicle is connected to the brake, the brake is used to generate a braking signal, and the brake generates the braking signal and then transmits it to the controller. The controller is used to detect whether a braking signal is received, and the braking signal is used to start a braking procedure to generate a braking force to gradually decelerate the vehicle. There are many ways for brakes to generate brake signals, such as manual brakes to generate brake signals, and foot brakes to generate brake signals. For another example, the vehicle safety system generates a braking signal after being triggered, generates a braking signal when the electric vehicle is less than a safe distance from an obstacle, and generates a braking signal when the electric vehicle fails. Further, there are many types of brakes, and different brakes generate different brake signals. The brake signals can be current signals, voltage signals, pressure signals, amplitude signals and opening signals, etc. The brakes can be selected according to needs.

S2、若是，则控制驱动电机产生反向作用力，反向作用力用于电动车制动。具体的，控制器连接驱动电机，若控制器接收到刹车信号，则控制器控制驱动电机产生反向作用力，反向作用力用于电动车制动。可以理解，反向作用力与正向作用力的方向刚好相反，正向作用力用于驱动电动车行进(包括向前行进和向后行进)，而反向作用力用于电动车制动，使电动车减速。作为选择，若控制器接收到刹车信号时检测到驱动电机依然在产生正向作用力，则停止产生正常作用力并开始产生反向作用力。S2. If yes, control the drive motor to generate a reverse force, and the reverse force is used for electric vehicle braking. Specifically, the controller is connected to the drive motor, and if the controller receives a braking signal, the controller controls the drive motor to generate a reverse force, which is used for electric vehicle braking. It can be understood that the reverse force is in the opposite direction to the forward force. The forward force is used to drive the electric vehicle (including forward and backward), while the reverse force is used to brake the electric vehicle. Slow down the electric vehicle. Alternatively, if the controller detects that the drive motor is still generating positive force when receiving the brake signal, it stops generating normal force and starts generating reverse force.

本实施例突破现有技术偏见，利用电动车的驱动电机产生反向作用力进行刹车，可减少对刹车片的损耗，同时增强刹车效果，提高车辆安全性。This embodiment breaks through the prejudice of the prior art, and uses the driving motor of the electric vehicle to generate a reverse force for braking, which can reduce the loss of the brake pads, enhance the braking effect, and improve the safety of the vehicle.

在一些实施例的电动车刹车方法中，检测到刹车信号后获取刹车器的刹车程度，刹车程度是指当前刹车量占总刹车量的比例。因刹车信号可以为电流信号、电压信号、压力信号、幅度信号和开度信号等，在选用某一类刹车信号后，通过检测当前信号值和总信号值的比例来确定刹车程度。例如刹车信号为电压信号，则通过当前电压值与最大电压值的比例来确定刹车程度；又例如刹车信号为压力信号，则通过当前压力值与最大压力值的比例来确定刹车程序。确定刹车程度后，根据第一对应关系控制驱动电机产生与刹车程度对应的反向作用力，其中第一对应关系为刹车程度和反向作用力的对应关系，第一对应关系存储在控制器或与控制器通信连接的存储器中。作为选择，刹车程度与反向作用力为正相关关系，即刹车程度越大，产生的反向作用力越大；例如刹车程度与反向作用力为正比例关系。本实施例根据刹车程度调整反向作用力的大小，以达到用户想要的刹车效果。In the electric vehicle braking method of some embodiments, the braking degree of the brake is obtained after the braking signal is detected, and the braking degree refers to the ratio of the current braking amount to the total braking amount. Because the braking signal can be current signal, voltage signal, pressure signal, amplitude signal and opening signal, etc., after selecting a certain type of braking signal, the degree of braking is determined by detecting the ratio of the current signal value to the total signal value. For example, if the braking signal is a voltage signal, the degree of braking is determined by the ratio of the current voltage value to the maximum voltage value; for example, if the braking signal is a pressure signal, the braking procedure is determined by the ratio of the current pressure value and the maximum pressure value. After the braking degree is determined, the driving motor is controlled to generate a reverse force corresponding to the braking degree according to the first correspondence, wherein the first correspondence is the correspondence between the braking degree and the reverse force, and the first correspondence is stored in the controller or In the memory that is communicatively connected to the controller. Alternatively, the degree of braking and the reverse force are positively correlated, that is, the greater the degree of braking, the greater the reverse force is generated; for example, the degree of braking and the reverse force are in direct proportion. In this embodiment, the magnitude of the reverse force is adjusted according to the braking degree, so as to achieve the braking effect desired by the user.

在一些实施例的电动车刹车方法中，检测到刹车信号后获取刹车器的刹车程度，刹车程度是指当前刹车量占总刹车量的比例。对应的，控制器根据第二对应关系确定刹车程度对应的制动电压，控制器控制电动车的电机驱动电路产生该制动电压，制动电压作用于驱动电机上以产生反向作用力。第二对应关系为刹车程度和制动电压的对应关系，制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压，第二对应关系存储在控制器或与控制器通信连接的存储器中。可以理解，刹车程度和制动电压为正相关关系，即刹车程度越大，对应的制动电压越大，产生的反向作用力越大。可以理解，根据驱动电机工作原理，电机转动会自动产生一个感应电压，且电动车行驶速度越快，产生的感应电压越大。基于此，本实施例在提供电机的正向驱动电压时，需要考虑抵消该感应电压，以使抵消后的电压满足提供反向作用力电压的需求。本实施例通过改变驱动电机的制动电压实现对反向作用力的调节，以产生与刹车程度匹配的反向作用力，达到用户想要的刹车效果。In the electric vehicle braking method of some embodiments, the braking degree of the brake is obtained after the braking signal is detected, and the braking degree refers to the ratio of the current braking amount to the total braking amount. Correspondingly, the controller determines the braking voltage corresponding to the braking degree according to the second correspondence, the controller controls the motor driving circuit of the electric vehicle to generate the braking voltage, and the braking voltage acts on the driving motor to generate a reverse force. The second correspondence is the correspondence between the braking degree and the braking voltage. The braking voltage is the difference between the induced voltage of the motor and the driving voltage, and the induced voltage is greater than the driving voltage. The second correspondence is stored in the controller or communicated with the controller. in the connected storage. It can be understood that there is a positive correlation between the braking degree and the braking voltage, that is, the greater the braking degree, the greater the corresponding braking voltage, and the greater the reverse force generated. It can be understood that, according to the working principle of the drive motor, the rotation of the motor will automatically generate an induced voltage, and the faster the electric vehicle travels, the greater the induced voltage generated. Based on this, when the forward driving voltage of the motor is provided in this embodiment, it is necessary to consider canceling the induced voltage, so that the canceled voltage meets the requirement of providing the reverse force voltage. In this embodiment, the adjustment of the reverse force is realized by changing the braking voltage of the driving motor, so as to generate a reverse force matching the degree of braking, so as to achieve the braking effect desired by the user.

在一些实施例的电动车刹车方法中，控制器检测到刹车信号后获取电动车的行驶速度，行驶速度通过速度传感器获取。获取行驶速度后控制器根据第四对应关系控制驱动电机产生与行驶速度对应的反向作用力，其中第四对应关系为行驶速度和反向作用力的对应关系，第四对应关系存储在控制器或与控制器通信连接的存储器中。作为选择，行驶速度和反向作用力为正相关关系，即行驶速度越大，产生的反向作用力越大；例如行驶速度和反向作用力为正比例关系。可以理解，反向作用力随行驶速度的变化而变化，反向作用力开始制动后电动车的行驶速度在不断减小，对应的，反向作用力也在随之减小。本实施例根据电动车的行驶速度调整反向作用力，以产生与行驶速度相匹配的制动力，使电动车更加快速安全制动。In the electric vehicle braking method of some embodiments, the controller acquires the driving speed of the electric vehicle after detecting the braking signal, and the driving speed is acquired by the speed sensor. After obtaining the driving speed, the controller controls the driving motor to generate a reverse force corresponding to the driving speed according to a fourth correspondence relationship, wherein the fourth correspondence relationship is the correspondence relationship between the driving speed and the reverse force, and the fourth correspondence relationship is stored in the controller. or in memory that is communicatively connected to the controller. Alternatively, the travel speed and the reverse force are positively correlated, that is, the greater the travel speed, the greater the generated reverse force; for example, the travel speed and the reverse force are in a proportional relationship. It can be understood that the reverse force changes with the change of the driving speed, and the driving speed of the electric vehicle decreases continuously after the reverse force starts to brake, and correspondingly, the reverse force also decreases accordingly. In this embodiment, the reverse force is adjusted according to the traveling speed of the electric vehicle, so as to generate a braking force matching the traveling speed, so that the electric vehicle can be braked more quickly and safely.

在一些实施例的电动车刹车方法中，检测到刹车信号后获取电动车的行驶速度，行驶速度通过速度传感器获取。获取行驶速度后控制器根据第五对应关系确定行驶速度对应的制动电压，控制器控制电动车的电机驱动电路产生该制动电压，制动电压作用于驱动电机上产生反向作用力。第五对应关系为行驶速度和制动电压的对应关系，制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压，第五对应关系存储在控制器或与控制器通信连接的存储器中。作为选择，行驶速度和制动电压为正相关关系，即行驶速度越大，制动电压越大；例如行驶速度和制动电压为正比例关系。可以理解，制动电压随行驶速度的变化而变化，制动电压开始制动后电动车的行驶速度在不断减小，对应的，制动电压也在随之减小。可以理解，根据驱动电机工作原理，电机转动会自动产生一个感应电压，且电动车行驶速度越快，产生的感应电压越大。基于此，本实施例在提供电机的正向驱动电压时，需要考虑抵消该感应电压，以使抵消后的电压满足提供反向作用力电压的需求。本实施例通过改变驱动电机的制动电压实现对反向作用力的调节，以产生与刹车程度匹配的反向作用力，达到用户想要的刹车效果。In the electric vehicle braking method of some embodiments, the driving speed of the electric vehicle is acquired after the braking signal is detected, and the driving speed is acquired by a speed sensor. After obtaining the driving speed, the controller determines the braking voltage corresponding to the driving speed according to the fifth correspondence, the controller controls the motor driving circuit of the electric vehicle to generate the braking voltage, and the braking voltage acts on the driving motor to generate a reverse force. The fifth correspondence is the correspondence between the driving speed and the braking voltage, the braking voltage is the difference between the induced voltage of the motor and the driving voltage, and the induced voltage is greater than the driving voltage, and the fifth correspondence is stored in the controller or communicated with the controller in the connected storage. Alternatively, the driving speed and the braking voltage are in a positive relationship, that is, the higher the driving speed, the higher the braking voltage; for example, the driving speed and the braking voltage are in a proportional relationship. It can be understood that the braking voltage changes with the change of the driving speed. After the braking voltage starts to brake, the driving speed of the electric vehicle is continuously decreasing, and correspondingly, the braking voltage is also decreasing accordingly. It can be understood that, according to the working principle of the drive motor, the rotation of the motor will automatically generate an induced voltage, and the faster the electric vehicle travels, the greater the induced voltage generated. Based on this, when the forward driving voltage of the motor is provided in this embodiment, it is necessary to consider canceling the induced voltage, so that the canceled voltage meets the requirement of providing the reverse force voltage. In this embodiment, the adjustment of the reverse force is realized by changing the braking voltage of the driving motor, so as to generate a reverse force matching the degree of braking, so as to achieve the braking effect desired by the user.

在一些实施例的电动车刹车方法中，控制器检测到刹车信号后获取刹车器的刹车程度和电动车的行驶速度，控制器根据第七对应关系控制驱动电机产生与刹车程度和行驶速度对应的反向作用力，其中第七对应关系为刹车程度和行驶速度与反向作用力的对应关系，第七对应关系存储在控制器或与控制器通信连接的存储器中。本实施例由刹车程度和行驶速度两个参数通过确定反向作用力的大小，可使反向作用力更加合理，提高刹车效果。In the electric vehicle braking method of some embodiments, the controller obtains the braking degree of the brake and the driving speed of the electric vehicle after detecting the braking signal, and the controller controls the driving motor according to the seventh correspondence to generate a corresponding braking degree and driving speed. Reverse force, wherein the seventh correspondence is the correspondence between the degree of braking and the driving speed and the reverse force, and the seventh correspondence is stored in the controller or a memory communicatively connected to the controller. In this embodiment, the magnitude of the reverse force is determined by the two parameters of the braking degree and the driving speed, so that the reverse force is more reasonable and the braking effect is improved.

在一些实施例的电动车刹车方法中，控制器检测到刹车信号后获取刹车器的刹车程度和电动车的行驶速度，控制器根据第八对应关系确定刹车程度和行驶速度对应的制动电压，制动电压作用于驱动电机上，第八对应关系为刹车程度和行驶速度与制动电压的对应关系，制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压，第八对应关系存储在控制器或与控制器通信连接的存储器中。可以理解，根据驱动电机工作原理，电机转动会自动产生一个感应电压，且电动车行驶速度越快，产生的感应电压越大。基于此，本实施例在提供电机的正向驱动电压时，需要考虑抵消该感应电压，以使抵消后的电压满足提供反向作用力电压的需求。本实施例由刹车程度和行驶速度两个参数通过确定制动电压的大小，可使反向作用力更加合理，提高刹车效果。In the electric vehicle braking method of some embodiments, the controller obtains the braking degree of the brake and the driving speed of the electric vehicle after detecting the braking signal, and the controller determines the braking voltage corresponding to the braking degree and the driving speed according to the eighth correspondence, The braking voltage acts on the driving motor. The eighth corresponding relationship is the corresponding relationship between the braking degree and the driving speed and the braking voltage. The braking voltage is the difference between the induced voltage of the motor and the driving voltage, and the induced voltage is greater than the driving voltage. The eight correspondences are stored in the controller or in a memory communicatively coupled to the controller. It can be understood that, according to the working principle of the drive motor, the rotation of the motor will automatically generate an induced voltage, and the faster the electric vehicle travels, the greater the induced voltage generated. Based on this, when the forward driving voltage of the motor is provided in this embodiment, it is necessary to consider canceling the induced voltage, so that the canceled voltage meets the requirement of providing the reverse force voltage. In this embodiment, the magnitude of the braking voltage is determined by the two parameters of the braking degree and the driving speed, so that the reverse force can be more reasonable and the braking effect can be improved.

在一些实施例的电动车刹车方法中，在检测是否接收到刹车信号后还包括步骤：若检测到刹车信号，则驱动电动车的刹车片进行刹车制动。作为选择，刹车程度与刹车片产生的制动力成正相关关系。作为选择，行驶速度与刹车片产生的制动力成正相关关系。本实施例同时使用驱动电机和刹车片进行刹车，可减少刹车片的损耗，提高刹车效果。In some embodiments of the electric vehicle braking method, after detecting whether the braking signal is received, the method further includes the step of: if the braking signal is detected, driving the brake pads of the electric vehicle to perform braking. Alternatively, the degree of braking is positively related to the braking force produced by the brake pads. Alternatively, the driving speed is positively related to the braking force produced by the brake pads. In this embodiment, the driving motor and the brake pad are used for braking at the same time, which can reduce the loss of the brake pad and improve the braking effect.

在一优选实施例中，参考图2，本实施例的电动车刹车装置应用于电动车刹车系统中，该电动车包括用于驱动电动车行进的驱动电机，电动车行进包括向前行进和向后行进。作为选择，该电动车可为独轮平衡车、两轮电动车、三轮电动车和四轮电动车等。具体的，该电动车刹车装置包括：In a preferred embodiment, referring to FIG. 2 , the electric vehicle braking device of this embodiment is applied to an electric vehicle braking system. The electric vehicle includes a drive motor for driving the electric vehicle to travel. Proceed later. Alternatively, the electric vehicle may be a unicycle, a two-wheeled electric vehicle, a three-wheeled electric vehicle, a four-wheeled electric vehicle, and the like. Specifically, the electric vehicle braking device includes:

检测单元，用于检测是否接收到刹车信号。具体的，电动车的控制器连接刹车器，刹车器用于产生刹车信号，刹车器产生刹车信号后传输至控制器。控制器用于检测是否接收到刹车信号，刹车信号用于启动刹车程序，以产生刹车制动力使车辆逐渐减速。刹车器产生刹车信号的方式较多，例如手动刹车器产生刹车信号，脚踏刹车器产生刹车信号。又例如，车辆安全系统被触发后产生刹车信号，当电动车距离障碍物小于安全距离产生刹车信号，当电动车出现故障时产生刹车信号等。进一步，刹车器种类较多，不同刹车器产生的刹车信号不同，刹车信号可以为电流信号、电压信号、压力信号、幅度信号和开度信号等，可根据需要选择刹车器。The detection unit is used to detect whether the brake signal is received. Specifically, the controller of the electric vehicle is connected to the brake, the brake is used to generate a braking signal, and the brake generates the braking signal and then transmits it to the controller. The controller is used to detect whether a braking signal is received, and the braking signal is used to start a braking procedure to generate a braking force to gradually decelerate the vehicle. There are many ways for brakes to generate brake signals, such as manual brakes to generate brake signals, and foot brakes to generate brake signals. For another example, a vehicle safety system is triggered to generate a braking signal, a braking signal is generated when the electric vehicle is less than a safe distance from an obstacle, and a braking signal is generated when the electric vehicle fails. Further, there are many types of brakes, and the brake signals generated by different brakes are different. The brake signals can be current signals, voltage signals, pressure signals, amplitude signals and opening signals, etc. The brakes can be selected according to needs.

电动刹车单元，用于若接收到刹车信号，则控制驱动电机产生反向作用力，反向作用力用于电动车制动。具体的，控制器连接驱动电机，若控制器接收到刹车信号，则控制器控制驱动电机产生反向作用力，反向作用力用于电动车制动。可以理解，反向作用力与正向作用力的方向刚好相反，正向作用力用于驱动电动车行进(包括向前行进和向后行进)，而反向作用力用于电动车制动。作为选择，若控制器接收到刹车信号时检测到驱动电机依然在产生正向作用力，则停止产生正常作用力并开始产生反向作用力。The electric brake unit is used to control the drive motor to generate a reverse force if a brake signal is received, and the reverse force is used to brake the electric vehicle. Specifically, the controller is connected to the drive motor, and if the controller receives a braking signal, the controller controls the drive motor to generate a reverse force, which is used for electric vehicle braking. It can be understood that the direction of the reverse force is just opposite to the direction of the forward force, the forward force is used to drive the electric vehicle to travel (including forward and backward travel), and the reverse force is used to brake the electric vehicle. Alternatively, if the controller detects that the drive motor is still generating positive force when receiving the brake signal, it stops generating normal force and starts generating reverse force.

本实施例突破现有技术偏见，利用电动车的驱动电机产生反向作用力进行刹车，可减少对刹车片的损耗，同时增强刹车效果，提高车辆安全性。This embodiment breaks through the prejudice of the prior art, and uses the driving motor of the electric vehicle to generate a reverse force for braking, which can reduce the loss of the brake pads, enhance the braking effect, and improve the safety of the vehicle.

在一优选实施例中，本实施例的电动车包括存储器和处理器，存储器中存储有计算机程序。处理器通过调用存储器中存储的计算机程序，执行如上述实施例的电动车刹车方法的步骤。本实施例的电动车突破现有技术偏见，利用电动车的驱动电机产生反向作用力进行刹车，可减少对刹车片的损耗，同时增强刹车效果，提高车辆安全性。In a preferred embodiment, the electric vehicle of this embodiment includes a memory and a processor, and a computer program is stored in the memory. The processor executes the steps of the electric vehicle braking method according to the above embodiment by calling the computer program stored in the memory. The electric vehicle of this embodiment breaks through the prejudice of the prior art, and uses the driving motor of the electric vehicle to generate a reverse force for braking, which can reduce the loss of the brake pads, and at the same time enhance the braking effect and improve the safety of the vehicle.

本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of functionality. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。The steps of a method or algorithm described in conjunction with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by a processor, or a combination of the two. A software module can be placed in random access memory (RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other in the technical field. in any other known form of storage medium.

以上实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并据此实施，并不能限制本发明的保护范围。凡跟本发明权利要求范围所做的均等变化与修饰，均应属于本发明权利要求的涵盖范围。The above embodiments are only intended to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement accordingly, and cannot limit the protection scope of the present invention. All equivalent changes and modifications made with the scope of the claims of the present invention shall fall within the scope of the claims of the present invention.

Claims (10)

Translated fromChinese

1.一种电动车刹车方法，电动车包括用于驱动电动车行进的驱动电机，其特征在于，所述方法包括下述步骤：1. an electric vehicle braking method, the electric vehicle comprises a drive motor for driving the electric vehicle to travel, it is characterised in that the method comprises the steps:检测是否接收到刹车信号；Detect whether a brake signal is received;若是，则控制驱动电机产生反向作用力，所述反向作用力用于电动车制动。If so, the drive motor is controlled to generate a reverse force, and the reverse force is used for electric vehicle braking.2.根据权利要求1所述的电动车刹车方法，其特征在于，检测到刹车信号后获取刹车器的刹车程度，则所述控制驱动电机产生反向作用力包括：2. The electric vehicle braking method according to claim 1, wherein, after detecting the braking signal, the braking degree of the brake is obtained, and then the control of the driving motor to generate a reverse force comprises:根据第一对应关系控制驱动电机产生与所述刹车程度对应的反向作用力，其中所述第一对应关系为所述刹车程度和所述反向作用力的对应关系。The driving motor is controlled to generate a reverse force corresponding to the braking degree according to a first corresponding relationship, wherein the first corresponding relationship is a corresponding relationship between the braking degree and the reverse force.3.根据权利要求1所述的电动车刹车方法，其特征在于，检测到刹车信号后获取刹车器的刹车程度，则所述控制驱动电机产生反向作用力包括：3. The electric vehicle braking method according to claim 1, wherein, after detecting the braking signal, the braking degree of the brake is obtained, and then the control of the driving motor to generate a reverse force comprises:根据第二对应关系确定所述刹车程度对应的制动电压，所述制动电压作用于所述驱动电机上，所述第二对应关系为所述刹车程度和所述制动电压的对应关系，所述制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压。The braking voltage corresponding to the braking degree is determined according to a second corresponding relationship, the braking voltage acts on the drive motor, and the second corresponding relationship is the corresponding relationship between the braking degree and the braking voltage, The braking voltage is the difference between the induction voltage of the motor and the driving voltage, and the induction voltage is greater than the driving voltage.4.根据权利要求1所述的电动车刹车方法，其特征在于，检测到刹车信号后获取电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：4. The method for braking an electric vehicle according to claim 1, wherein the driving speed of the electric vehicle is obtained after the braking signal is detected, and then the controlling the driving motor to generate a reverse force comprises:根据第四对应关系控制驱动电机产生与所述行驶速度对应的反向作用力，其中所述第四对应关系为所述行驶速度和所述反向作用力的对应关系。The driving motor is controlled to generate a reverse force corresponding to the traveling speed according to a fourth corresponding relationship, wherein the fourth corresponding relationship is a corresponding relationship between the traveling speed and the reverse force.5.根据权利要求1所述的电动车刹车方法，其特征在于，检测到刹车信号后获取电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：5. The method for braking an electric vehicle according to claim 1, wherein the driving speed of the electric vehicle is obtained after the braking signal is detected, and then the controlling the driving motor to generate a reverse force comprises:根据第五对应关系确定所述行驶速度对应的制动电压，所述制动电压作用于所述驱动电机上，所述第五对应关系为所述行驶速度和所述制动电压的对应关系，所述制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压。The braking voltage corresponding to the driving speed is determined according to a fifth corresponding relationship, the braking voltage acts on the driving motor, and the fifth corresponding relationship is the corresponding relationship between the driving speed and the braking voltage, The braking voltage is the difference between the induction voltage of the motor and the driving voltage, and the induction voltage is greater than the driving voltage.6.根据权利要求1所述的电动车刹车方法，其特征在于，检测到刹车信号后获取刹车器的刹车程度和电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：6. electric vehicle braking method according to claim 1, is characterized in that, after detecting braking signal, obtain the braking degree of brake and the running speed of electric vehicle, then described control drive motor to produce reverse force comprises:根据第七对应关系控制驱动电机产生与所述刹车程度和所述行驶速度对应的反向作用力，其中所述第七对应关系为所述刹车程度和所述行驶速度与所述反向作用力的对应关系。The driving motor is controlled to generate a reverse force corresponding to the braking degree and the traveling speed according to a seventh corresponding relationship, wherein the seventh corresponding relationship is the braking degree and the traveling speed and the reverse force corresponding relationship.7.根据权利要求1所述的电动车刹车方法，其特征在于，检测到刹车信号后获取刹车器的刹车程度和电动车的行驶速度，则所述控制驱动电机产生反向作用力包括：7. electric vehicle braking method according to claim 1, is characterized in that, after detecting braking signal, obtain the braking degree of brake and the running speed of electric vehicle, then described control drive motor to produce reverse force comprises:根据第八对应关系确定所述刹车程度和所述行驶速度对应的制动电压，所述制动电压作用于所述驱动电机上，所述第八对应关系为所述刹车程度和所述行驶速度与所述制动电压的对应关系，所述制动电压为电机的感应电压和驱动电压的差值，且感应电压大于驱动电压。The braking voltage corresponding to the braking degree and the driving speed is determined according to an eighth correspondence, the braking voltage acts on the drive motor, and the eighth correspondence is the braking degree and the driving speed Correspondingly with the braking voltage, the braking voltage is the difference between the induction voltage of the motor and the driving voltage, and the induction voltage is greater than the driving voltage.8.根据权利要求1至7任一项所述的电动车刹车方法，其特征在于，在所述检测是否接收到刹车信号后还包括步骤：8. The electric vehicle braking method according to any one of claims 1 to 7, characterized in that, after said detecting whether a braking signal is received, it further comprises the steps:若检测到刹车信号，则驱动电动车的刹车片进行刹车制动。If a braking signal is detected, the brake pads of the electric vehicle are driven to perform braking.9.一种电动车刹车装置，电动车包括用于驱动电动车行进的驱动电机，其特征在于，所述电动车刹车装置包括：9. An electric vehicle braking device, the electric vehicle comprises a drive motor for driving the electric vehicle to travel, wherein the electric vehicle braking device comprises:检测单元，用于检测是否接收到刹车信号；a detection unit for detecting whether a brake signal is received;电动刹车单元，用于若接收到刹车信号，则控制驱动电机产生反向作用力，所述反向作用力用于电动车制动。The electric braking unit is used for controlling the drive motor to generate a reverse force if a brake signal is received, and the reverse force is used for braking the electric vehicle.10.一种电动车，其特征在于，包括存储器和处理器；10. An electric vehicle, comprising a memory and a processor;所述存储器中存储有计算机程序；A computer program is stored in the memory;所述处理器通过调用所述存储器中存储的所述计算机程序，执行如权利要求1至8任一项所述的电动车刹车方法的步骤。The processor executes the steps of the electric vehicle braking method according to any one of claims 1 to 8 by calling the computer program stored in the memory.

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