CN113968294B - Control method, control device, electric vehicle, and computer-readable storage medium - Google Patents

Control method, control device, electric vehicle, and computer-readable storage medium Download PDF

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Publication number
CN113968294B
CN113968294B CN202111189295.8A CN202111189295A CN113968294B CN 113968294 B CN113968294 B CN 113968294B CN 202111189295 A CN202111189295 A CN 202111189295A CN 113968294 B CN113968294 B CN 113968294B
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electric vehicle
brake
control
equal
controlling
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CN113968294A (en
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方明亮
罗磊
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Beijing Qisheng Technology Co Ltd
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Beijing Qisheng Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
    • B62H5/14—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles preventing wheel rotation
    • B62H5/148—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles preventing wheel rotation acting on the hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
    • B62H5/14—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles preventing wheel rotation
    • B62H5/18—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles preventing wheel rotation acting on a braking device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
    • B60R25/08—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on brakes or brake systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
    • B60R25/32—Detection related to theft or to other events relevant to anti-theft systems of vehicle dynamic parameters, e.g. speed or acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
    • B62H5/20—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles indicating unauthorised use, e.g. acting on signalling devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/30—Preventing theft during charging
    • B60L2270/36—Preventing theft during charging of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2325/00—Indexing scheme relating to vehicle anti-theft devices
    • B60R2325/30—Vehicles applying the vehicle anti-theft devices
    • B60R2325/306—Motorcycles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/14—Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing

Abstract

The invention provides a control method, a control device, an electric vehicle and a computer-readable storage medium, wherein the method comprises the following steps: when the electric vehicle is detected to be in an abnormal unlocking state, detecting whether the wheel rotating speed of the electric vehicle is greater than or equal to a preset speed threshold value or not; when the rotating speed of the wheel is detected to be greater than or equal to the preset speed threshold value, controlling to apply reverse control force to the electric vehicle so as to reduce the rotating speed of the wheel to be less than the preset speed threshold value; and when the rotating speed of the wheels is controlled to be reduced to be less than a preset speed threshold value, controlling the electric vehicle to brake according to a preset brake pulse instruction. Through the technical scheme of the invention, the failure probability of the anti-theft system can be reduced, the effectiveness of the anti-theft system is improved, the theft probability of the vehicle is further reduced, and the riding safety can be improved.

Description

Control method, control device, electric vehicle, and computer-readable storage medium
The application is a divisional application of Chinese patent application with the application date of 2018, 10 and 11 months and the application number of 201811184627.1, and the name of the invention is 'control method, control device, electric vehicle and computer readable storage medium'.
Technical Field
The invention relates to the field of electric travel, in particular to an anti-theft brake control method, an anti-theft brake control device, an electric vehicle and a computer readable storage medium.
Background
According to the braking control scheme in the related art, the phenomenon that a vehicle locking (braking) instruction fails after a person violently rides or pushes the vehicle to a speed greater than or equal to a specified speed within an intermittent duration exists at a high probability, and the vehicle can normally ride due to the fact that the anti-theft resistance of the vehicle disappears, so that the probability that the vehicle is stolen is increased, and the risk during riding is increased.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, it is an object of the present invention to provide an antitheft brake control method.
Another object of the present invention is to provide an antitheft brake control device.
It is still another object of the present invention to provide an electric vehicle.
It is yet another object of the present invention to provide a computer-readable storage medium.
In view of the above, a first aspect of the present invention provides an antitheft braking control method, including: when the electric vehicle is detected to be in an abnormal unlocking state, detecting whether the wheel rotating speed of the electric vehicle is greater than or equal to a preset speed threshold value or not; when the rotating speed of the wheel is detected to be greater than or equal to the preset speed threshold value, controlling to apply reverse control force to the electric vehicle so as to reduce the rotating speed of the wheel to be less than the preset speed threshold value; and when the rotating speed of the wheels is controlled to be reduced to be less than a preset speed threshold value, controlling the electric vehicle to brake according to a preset brake pulse instruction.
In the above technical solution, preferably, when it is detected that the wheel rotation speed is greater than or equal to the preset speed threshold, controlling to apply a reverse control force to the electric vehicle so as to reduce the wheel rotation speed to be less than the preset speed threshold specifically includes: the electric vehicle is provided with an electronic brake device, and when the rotating speed of the wheels is detected to be greater than or equal to a preset speed threshold value, the electric vehicle is controlled to enter a brake state; in a braking state, controlling a driving motor of the electric vehicle to input a reverse current, and controlling the motor to operate by the reverse current so as to apply a reverse control force to the electric vehicle until the rotating speed of wheels is reduced to be less than a preset speed threshold value.
In any one of the above technical solutions, preferably, the braking pulse command is a square wave pulse signal, and in each control period, the pause duration of the braking control is greater than or equal to 1s and less than or equal to 4s.
In any one of the above technical solutions, preferably, the control period of the braking control is greater than or equal to 15s and less than or equal to 24s in each control cycle.
In any one of the above technical solutions, preferably, when the wheel rotation speed is controlled to be lower than a preset speed threshold, controlling the electric vehicle to brake according to a preset brake pulse command, specifically including: when the current intermittent stage is detected, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an E-ABS electronic brake device; and when the current control stage is detected, controlling the electric vehicle to brake immediately according to the brake pulse instruction.
In any one of the above technical solutions, preferably, when it is detected that the electric vehicle is in an abnormal unlocking state, before detecting whether the wheel rotation speed of the electric vehicle is greater than or equal to a preset speed threshold, the method further includes: detecting whether an unlocking instruction sent by a server or a control terminal is received in real time; when the unlocking instruction is not received and the wheel rotating speed of the electric vehicle is greater than 0, the electric vehicle is determined to be in an abnormal unlocking state and an alarm signal is generated.
According to the second aspect of the present invention, there is also provided an antitheft brake control apparatus, comprising: the detection unit is used for detecting whether the real-time speed of the electric vehicle is greater than or equal to a preset speed threshold value or not when the electric vehicle is detected to be in an abnormal unlocking state; the control unit is used for controlling the application of reverse control force to the electric vehicle when the real-time speed is detected to be greater than or equal to the preset speed threshold value, so that the real-time speed is reduced to be less than the preset speed threshold value; the control unit is further configured to: and when the real-time speed is controlled to be reduced to a preset speed threshold value, controlling the electric vehicle to brake according to a preset brake pulse instruction.
In the above technical solution, preferably, the control unit is further configured to: the electric vehicle is provided with an electronic brake device, and when the real-time speed is detected to be greater than or equal to a preset speed threshold value, the electric vehicle is controlled to enter a brake state; the control unit is further configured to: in a braking state, controlling a driving motor of the electric vehicle to input reverse current, and controlling the motor to operate by the reverse current so as to apply reverse control force to the electric vehicle until the real-time speed is reduced to be smaller than a preset speed threshold value.
In any one of the above technical solutions, preferably, the brake pulse command is a square wave pulse signal, and in each control period, the intermittent duration of the brake control is greater than or equal to 1s and less than or equal to 4s.
In any one of the above-described aspects, it is preferable that the control period of the braking control is greater than or equal to 15s and less than or equal to 24s in each control cycle.
In any one of the above technical solutions, preferably, the control unit is further configured to: when the current intermittent stage is detected, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an E-ABS electronic brake device; the control unit is further configured to: and when the current control stage is detected, controlling the electric vehicle to brake immediately according to the brake pulse instruction.
In any one of the above technical solutions, preferably, the detection unit is further configured to: detecting whether an unlocking instruction sent by a server or a control terminal is received in real time; the control device further includes: and the determining unit is used for determining that the electric vehicle is in an abnormal unlocking state and generating an alarm signal when the unlocking instruction is not received and the wheel rotating speed of the electric vehicle is greater than 0.
An aspect of the third aspect of the present invention provides an electric vehicle, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps defined in any of the above antitheft braking control methods when executing the computer program, and/or an antitheft braking control apparatus comprising any of the above.
An aspect of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps defined in any one of the above-mentioned anti-theft brake control methods.
By adopting the technical scheme of the application, under the condition that the hardware of the existing controller is not changed, the software level change is carried out on the anti-theft braking design of the existing controller in the locking state, so that on one hand, the anti-theft braking time is delayed, and the anti-theft interval time is shortened; on the other hand, after the anti-theft intermission time is over, abs, namely an electronic brake device, is added, and after the vehicle speed is reduced to be below the effective speed of the anti-theft instruction judgment by applying a reverse control force through the electronic brake device, a brake pulse instruction is started again, so that the anti-theft effect in a vehicle locking state is ensured, and the risk of vehicle theft and the riding safety problem are reduced.
Advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 shows a schematic flow diagram of an anti-theft brake control method according to one embodiment of the present invention;
FIG. 2 illustrates a control signal diagram of an anti-theft brake control scheme according to one embodiment of the present invention;
FIG. 3 shows a schematic block diagram of an anti-theft brake control apparatus according to an embodiment of the present invention;
fig. 4 shows a schematic block diagram of an electric vehicle according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced using third parties different from those described herein, and thus, the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a schematic flow diagram of an anti-theft brake control method according to an embodiment of the invention.
As shown in fig. 1, the antitheft brake control method according to the embodiment of the present invention includes: 102, detecting whether the wheel rotating speed of the electric vehicle is greater than or equal to a preset speed threshold value or not when the electric vehicle is detected to be in an abnormal unlocking state; 104, when the rotating speed of the wheel is detected to be greater than or equal to a preset speed threshold value, controlling to apply a reverse control force to the electric vehicle so as to reduce the rotating speed of the wheel to be less than the preset speed threshold value; and 106, controlling the electric vehicle to brake according to a preset brake pulse instruction when the rotating speed of the wheels is controlled to be reduced to be smaller than a preset speed threshold value.
In this embodiment, because the anti-theft system fails after the wheel rotation speed reaches or is equal to the preset speed threshold value due to violent riding or pushing in the prior art, when the electric vehicle is detected to be violently ridden or violently dragged, the reverse control force is applied to the electric vehicle to reduce the wheel rotation speed of the electric vehicle, and when the wheel rotation speed is reduced to be lower than the preset speed threshold value, the electric vehicle is controlled to brake by adopting the brake pulse instruction of the anti-theft system again, so that when the electric vehicle is detected to be in an abnormal unlocking state, the speed of the electric vehicle is limited by applying the reverse control force, so that the anti-theft system can be continuously in an effective state, the probability of failure of the anti-theft system can be reduced, the effectiveness of the anti-theft system is improved, the probability of theft of the vehicle is reduced, and the riding safety can be improved.
The control of applying the reverse control force to the electric vehicle can be realized by modifying the existing brake control program or adding a new mechanical device to apply the reverse control force.
In addition, the electric vehicle brake is controlled according to a preset brake pulse instruction, a drum brake mode can be adopted, and a disc brake mode can also be adopted, wherein the drum brake mainly pushes a brake shoe to contact the inner edge of a brake drum by expansion when the brake shoe is pushed by a mechanical device to brake when a reverse control signal is generated, the purpose of braking is achieved by controlling a tire to brake through friction force generated by contact, and the disc brake achieves the purpose of braking by controlling a disc rotating synchronously with a wheel and combining a front fork and a caliper arranged on a frame, and the disc is added through a brake block in the caliper.
In the foregoing embodiment, preferably, when it is detected that the wheel rotation speed is greater than or equal to the preset speed threshold, controlling to apply a reverse control force to the electric vehicle so as to reduce the wheel rotation speed to be less than the preset speed threshold specifically includes: the electric vehicle is provided with an electronic brake device, and when the rotating speed of the wheels is detected to be greater than or equal to a preset speed threshold value, the electric vehicle is controlled to enter a brake state; in a braking state, controlling a driving motor of the electric vehicle to input reverse current, and controlling the motor to operate by the reverse current so as to apply reverse control force to the electric vehicle until the rotating speed of wheels is reduced to be less than a preset speed threshold value.
In the embodiment, the electronic brake device (E-ABS) is arranged, and the control depth of the E-ABS is adjusted, so that the vehicle is controlled to decelerate through the electronic brake, and when the rotating speed of the wheel is detected to be greater than or equal to the preset speed threshold value, the rotating speed of the wheel is controlled to be reduced to be smaller than the preset speed threshold value through the electronic brake device, so that the brake control signal for preventing theft can be continuously in an effective control state, and the stability and the reliability of anti-theft control are improved.
Specifically, a brushless E-ABS device can be adopted to realize braking deceleration, the E-ABS electronic brake device comprises 2 sets of motor driving programs, the first set is in a normal state, the second set is in an electric brake control state, when the rotating speed of a wheel is detected to be larger than or equal to a preset speed threshold value, an electric brake signal is generated, the program is started, and the Hall signal is adjusted to generate a reverse current while the power is cut off, so that the motor is in a reverse rotation state, and the effect of rapidly decelerating is achieved.
In any of the above embodiments, preferably, the brake pulse command is a square wave pulse signal, and the intermittent duration of the brake control is greater than or equal to 1s and less than or equal to 4s in each control period.
In the embodiment, compared with the intermittent duration of 5s in the prior art, the power-off duration of the anti-theft control signal is shortened by shortening the intermittent duration, because the anti-theft control signal and the anti-theft braking force exist or disappear synchronously, in the intermittent stage of the brake control, because the anti-theft braking force disappears, the risk of being ridden or pushed away exists, and as long as the rotating speed of the wheel is below the preset speed threshold value, the preset brake pulse command is always in an effective state.
Preferably, as shown in fig. 2, the intermittent period t2'+ t3' of the brake control is 1.5s.
In any one of the above embodiments, preferably, the control period of the braking control is greater than or equal to 15s and less than or equal to 24s in each control cycle.
In this embodiment, when the personnel of stealing intentionally steals the bicycle, compare with 9s among the prior art, it is long through the control of extension braking control, in order to prolong the duration that the personnel of stealing promoted or ride, because long when control, consequently the time that the personnel of stealing waited is also longer, correspondingly, probability of stealing is inverse ratio when with braking control, thereby be favorable to further reducing the stolen risk of vehicle, and because the bicycle lasts and is in braking state, consequently also can promote the security that the personnel of stealing ride.
Preferably, as shown in fig. 2, the control period t1' of the brake control is 20s.
In any one of the above embodiments, preferably, when the wheel rotation speed is controlled to drop below the preset speed threshold, controlling the braking of the electric vehicle according to a preset braking pulse command, specifically including: when the current intermittent stage is detected, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an E-ABS electronic brake device; and when the current control stage is detected, controlling the electric vehicle to brake immediately according to the brake pulse command.
In the embodiment, the E-ABS electronic brake device and the anti-theft control device can be two mutually independent control systems, one control cycle comprises a pulse control stage and an intermittent stage, and no control signal exists in the intermittent stage, so that the E-ABS electronic brake device can directly realize brake braking, and in the control stage, the E-ABS electronic brake device can directly control the electric vehicle to immediately brake through a brake pulse instruction, so that the electric vehicle can be quickly braked, and the anti-theft response efficiency is improved.
In any one of the above embodiments, preferably, when it is detected that the electric vehicle is in an abnormal unlocking state, before detecting whether the wheel rotation speed of the electric vehicle is greater than or equal to a preset speed threshold, the method further includes: detecting whether an unlocking instruction sent by a server or a control terminal is received in real time; when the unlocking instruction is not received in the detection and the wheel rotating speed of the electric vehicle is greater than 0, the electric vehicle is determined to be in an abnormal unlocking state and an alarm signal is generated.
In the embodiment, whether the electric vehicle is in an abnormal unlocking state or not is determined by detecting whether an unlocking instruction is received or not, when the unlocking instruction is not received, the control signal of the electric lock continuously controls the electric vehicle to be locked in a pulse mode, the corresponding brake pulse instruction and the corresponding brake force also continuously control the braking of the electric vehicle in a pulse mode so as to realize the anti-theft of the electric vehicle, and when the electric vehicle is determined to be in the abnormal unlocking state, an alarm signal is synchronously generated so as to warn thieves.
As shown in fig. 3, the antitheft brake control apparatus 300 according to the embodiment of the present invention includes: the detection unit 302 is configured to detect whether a real-time speed of the electric vehicle is greater than or equal to a preset speed threshold when the electric vehicle is detected to be in an abnormal unlocking state; the control unit 304 is used for controlling to apply a reverse control force to the electric vehicle when the real-time speed is detected to be greater than or equal to the preset speed threshold value, so that the real-time speed is reduced to be less than the preset speed threshold value; the control unit 304 is further configured to: and when the real-time speed is controlled to be reduced to a preset speed threshold value, controlling the electric vehicle to brake according to a preset brake pulse instruction.
In this embodiment, because the anti-theft system fails after the wheel rotation speed reaches or is equal to the preset speed threshold value due to violent riding or pushing in the prior art, when the electric vehicle is detected to be violently ridden or violently dragged, the reverse control force is applied to the electric vehicle to reduce the wheel rotation speed of the electric vehicle, and when the wheel rotation speed is reduced to be lower than the preset speed threshold value, the electric vehicle is controlled to brake by adopting the brake pulse instruction of the anti-theft system again, so that when the electric vehicle is detected to be in an abnormal unlocking state, the speed of the electric vehicle is limited by applying the reverse control force, so that the anti-theft system can be continuously in an effective state, the probability of failure of the anti-theft system can be reduced, the effectiveness of the anti-theft system is improved, the probability of theft of the vehicle is reduced, and the riding safety can be improved.
The control of applying the reverse control force to the electric vehicle can be realized by modifying the existing brake control program or adding a new mechanical device to apply the reverse control force.
In addition, the electric vehicle brake is controlled according to a preset brake pulse instruction, a drum brake mode can be adopted, and a disc brake mode can also be adopted, wherein the drum brake mainly pushes a brake shoe to contact the inner edge of a brake drum by expansion when the brake shoe is pushed by a mechanical device to brake when a reverse control signal is generated, the purpose of braking is achieved by controlling a tire to brake through friction force generated by contact, and the disc brake achieves the purpose of braking by controlling a disc rotating synchronously with a wheel and combining a front fork and a caliper arranged on a frame, and the disc is added through a brake block in the caliper.
In the above embodiment, preferably, the control unit 304 is further configured to: the electric vehicle is provided with an electronic brake device, and when the real-time speed is detected to be greater than or equal to a preset speed threshold value, the electric vehicle is controlled to enter a brake state; the control unit 304 is further configured to: in a braking state, controlling a driving motor of the electric vehicle to input reverse current, and controlling the motor to operate by the reverse current so as to apply reverse control force to the electric vehicle until the real-time speed is reduced to be less than a preset speed threshold value.
In the embodiment, the electronic brake device (E-ABS) is arranged, and the control depth of the E-ABS is adjusted, so that the vehicle is controlled to decelerate through the electronic brake, and when the fact that the rotating speed of the wheel is greater than or equal to the preset speed threshold value is detected, the rotating speed of the wheel is controlled to be reduced to be smaller than the preset speed threshold value through the electronic brake device, so that the anti-theft brake control signal can be continuously in an effective control state, and the stability and the reliability of anti-theft control are improved.
Specifically, a brushless E-ABS device can be adopted to realize braking deceleration, the E-ABS electronic brake device comprises 2 sets of motor driving programs, the first set is in a normal state, the second set is in an electric brake control state, when the rotating speed of a wheel is detected to be larger than or equal to a preset speed threshold value, an electric brake signal is generated, the program is started, and the Hall signal is adjusted to generate a reverse current while the power is cut off, so that the motor is in a reverse rotation state, and the effect of rapidly decelerating is achieved.
In any of the above embodiments, preferably, the brake pulse command is a square wave pulse signal, and the intermittent duration of the brake control is greater than or equal to 1s and less than or equal to 4s in each control period.
In the embodiment, compared with the intermittent duration of 5s in the prior art, the power-off duration of the anti-theft control signal is shortened by shortening the intermittent duration, because the anti-theft control signal and the anti-theft braking force exist or disappear synchronously, in the intermittent stage of the brake control, because the anti-theft braking force disappears, the risk of being ridden or pushed away exists, and as long as the rotating speed of the wheel is below the preset speed threshold value, the preset brake pulse command is always in an effective state.
Preferably, the intermittent period of the brake control is 1.5s.
In any one of the above embodiments, preferably, the control period of the braking control is greater than or equal to 15s and less than or equal to 24s in each control cycle.
In this embodiment, when the personnel of stealing intentionally steals the bicycle, compare with 9s among the prior art, it is long through the control of extension braking control, in order to prolong the duration that the personnel of stealing promoted or ride, because long when control, consequently the time that the personnel of stealing waited is also longer, correspondingly, probability of stealing is inverse ratio when with braking control, thereby be favorable to further reducing the stolen risk of vehicle, and because the bicycle lasts and is in braking state, consequently also can promote the security that the personnel of stealing ride.
Preferably, the control period of the brake control is 20s.
In any of the above embodiments, preferably, the control unit 304 is further configured to: when the current intermittent stage is detected, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an E-ABS electronic brake device; the control unit 404 is further configured to: and when the current control stage is detected, controlling the electric vehicle to brake immediately according to the brake pulse instruction.
In the embodiment, the E-ABS electronic brake device and the anti-theft control device can be two mutually independent control systems, one control cycle comprises a pulse control stage and an intermittent stage, and because no control signal exists in the intermittent stage, the E-ABS electronic brake device can directly realize brake braking, and during the control stage, the E-ABS electronic brake device can directly control the electric vehicle to immediately brake through a brake pulse instruction, so that the electric vehicle can be quickly braked, and the anti-theft response efficiency is improved.
In any of the above embodiments, preferably, the detection unit 302 is further configured to: detecting whether an unlocking instruction sent by a server or a control terminal is received in real time; the control device 300 further includes: the determining unit 306 is configured to determine that the electric vehicle is in an abnormal unlocking state and generate an alarm signal when it is detected that the unlocking instruction is not received and the wheel rotation speed of the electric vehicle is greater than 0.
In the embodiment, whether the electric vehicle is in an abnormal unlocking state or not is determined by detecting whether an unlocking instruction is received or not, when the unlocking instruction is not received, the control signal of the electric lock continuously controls the electric vehicle to be locked in a pulse mode, the corresponding brake pulse instruction and the corresponding brake force also continuously control the braking of the electric vehicle in a pulse mode so as to realize the anti-theft of the electric vehicle, and when the electric vehicle is determined to be in the abnormal unlocking state, an alarm signal is synchronously generated so as to warn thieves.
Fig. 4 shows a schematic block diagram of an electric vehicle according to an embodiment of the present invention.
As shown in fig. 4, an electric vehicle 40 according to an embodiment of the present invention includes: a memory 402, a processor 404 and a computer program stored on the memory 402 and executable on the processor, the processor implementing the steps defined in any of the above antitheft brake control methods when executing the computer program and/or comprising any of the above antitheft brake control apparatus 300.
According to an embodiment of the present invention, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements:
when the electric vehicle is detected to be in an abnormal unlocking state, detecting whether the wheel rotating speed of the electric vehicle is greater than or equal to a preset speed threshold value or not; when the rotating speed of the wheel is detected to be greater than or equal to the preset speed threshold value, controlling to apply reverse control force to the electric vehicle so as to reduce the rotating speed of the wheel to be less than the preset speed threshold value; and when the rotating speed of the wheels is controlled to be reduced to be less than a preset speed threshold value, controlling the electric vehicle to brake according to a preset brake pulse instruction.
In the technical scheme, because the anti-theft system is out of order after the wheel rotating speed reaches more than or equal to the preset speed threshold value due to violent riding or pushing in the prior art, the anti-theft system can be controlled to brake by applying reverse control force to the electric vehicle when the electric vehicle is detected to be violently ridden or violently dragged, the wheel rotating speed of the electric vehicle is reduced, the electric vehicle is controlled to brake by adopting the brake pulse instruction of the anti-theft system again when the wheel rotating speed is reduced to be lower than the preset speed threshold value, the electric vehicle can be limited by applying the reverse control force when the electric vehicle is detected to be in an abnormal unlocking state, the anti-theft system can be continuously in an effective state, the probability of failure of the anti-theft system can be reduced, the effectiveness of the anti-theft system is improved, the probability of theft of the vehicle is reduced, and the riding safety can be improved.
The control of applying the reverse control force to the electric vehicle can be realized by modifying the existing brake control program or adding a new mechanical device to apply the reverse control force.
In addition, the electric vehicle brake is controlled according to a preset brake pulse instruction, a drum brake mode can be adopted, and a disc brake mode can also be adopted, wherein the drum brake mainly pushes a brake shoe to contact the inner edge of a brake drum by expansion when the brake shoe is pushed by a mechanical device to brake when a reverse control signal is generated, the purpose of braking is achieved by controlling a tire to brake through friction force generated by contact, and the disc brake achieves the purpose of braking by controlling a disc rotating synchronously with a wheel and combining a front fork and a caliper arranged on a frame, and the disc is added through a brake block in the caliper.
In the above technical solution, preferably, when it is detected that the wheel rotation speed is greater than or equal to the preset speed threshold, controlling to apply a reverse control force to the electric vehicle so as to reduce the wheel rotation speed to be less than the preset speed threshold specifically includes: the electric vehicle is provided with an electronic brake device, and when the rotating speed of the wheels is detected to be greater than or equal to a preset speed threshold value, the electric vehicle is controlled to enter a brake state; in a braking state, controlling a driving motor of the electric vehicle to input a reverse current, and controlling the motor to operate by the reverse current so as to apply a reverse control force to the electric vehicle until the rotating speed of wheels is reduced to be less than a preset speed threshold value.
In the technical scheme, the electronic brake device (E-ABS) is arranged, and the control depth of the E-ABS is adjusted, so that the vehicle is controlled to decelerate through the electronic brake, and when the rotating speed of the wheel is detected to be greater than or equal to the preset speed threshold value, the rotating speed of the wheel is controlled to be reduced to be smaller than the preset speed threshold value through the electronic brake device, so that the brake control signal for theft prevention can be continuously in an effective control state, and the stability and the reliability of the theft prevention control are improved.
Specifically, a brushless E-ABS device can be adopted to realize braking deceleration, the E-ABS electronic brake device comprises 2 sets of motor driving programs, the first set is in a normal state, the second set is in an electric brake control state, when the rotating speed of the wheel is detected to be larger than or equal to a preset speed threshold value, an electric brake signal is generated, the program is started, and the Hall signal is adjusted to generate a reverse current while the power is cut off, so that the motor is in a reverse rotation state, and the effect of rapidly decelerating is achieved.
In any one of the above technical solutions, preferably, the brake pulse command is a square wave pulse signal, and in each control period, the intermittent duration of the brake control is greater than or equal to 1s and less than or equal to 4s.
In the technical scheme, compared with the 5s intermittent duration of the brake control in the prior art, the intermittent duration is shortened to shorten the power-off duration of the anti-theft control signal, and the anti-theft control signal and the anti-theft braking force synchronously exist or disappear, so that in the intermittent stage of the brake control, the anti-theft braking force disappears, so that the risk of being ridden or pushed away exists, and the preset brake pulse command is always in an effective state as long as the rotating speed of the wheel is below the preset speed threshold.
Preferably, the intermittent period of the brake control is 1.5s.
In any one of the above technical solutions, preferably, the control period of the braking control is greater than or equal to 15s and less than or equal to 24s in each control cycle.
In this technical scheme, when the bicycle is stolen to the intention of the personnel of stealing, compare with 9s among the prior art, it is long through the control of extension braking control, in order to prolong the duration that the personnel of stealing promoted or ride, because long in control, consequently the time that the personnel of stealing waited is also longer, correspondingly, the probability of stealing is in inverse proportion with the length of braking control, thereby be favorable to further reducing the stolen risk of vehicle, and because the bicycle is in braking state continuously, consequently also can promote the security that the personnel of stealing was ridden.
Preferably, the control period of the brake control is 20s.
In any one of the above technical solutions, preferably, when the wheel rotation speed is controlled to be lower than a preset speed threshold, controlling the electric vehicle to brake according to a preset brake pulse command, specifically including: when the current intermittent stage is detected, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an E-ABS electronic brake device; and when the current control stage is detected, controlling the electric vehicle to brake immediately according to the brake pulse instruction.
In the technical scheme, the E-ABS electronic brake device and the anti-theft control device can be two mutually independent control systems, one control cycle comprises a pulse control stage and an intermittent stage, and no control signal exists in the intermittent stage, so that the E-ABS electronic brake device can directly realize brake braking, and the E-ABS electronic brake device can directly control the electric vehicle to immediately brake through a brake pulse instruction in the control stage, so that the electric vehicle can be quickly braked, and the anti-theft response efficiency is improved.
In any one of the above technical solutions, preferably, when it is detected that the electric vehicle is in an abnormal unlocking state, before detecting whether the wheel rotation speed of the electric vehicle is greater than or equal to a preset speed threshold, the method further includes: detecting whether an unlocking instruction sent by a server or a control terminal is received in real time; when the unlocking instruction is not received in the detection and the wheel rotating speed of the electric vehicle is greater than 0, the electric vehicle is determined to be in an abnormal unlocking state and an alarm signal is generated.
According to the technical scheme, whether the electric vehicle is in an abnormal unlocking state or not is determined by detecting whether an unlocking instruction is received or not, when the unlocking instruction is not received, a control signal of the electric lock continuously controls the vehicle to be locked in a pulse mode, a corresponding brake pulse instruction and a corresponding brake force also continuously control the braking of the electric vehicle in a pulse mode, so that the electric vehicle is prevented from being stolen, and when the electric vehicle is determined to be in the abnormal unlocking state, an alarm signal is synchronously generated to warn a thief.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The unit modules of the anti-theft brake control device provided by the embodiment of the invention can be combined, divided and deleted according to actual needs.
Further, it will be understood that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description of the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and specific meanings of the above terms in embodiments of the present invention may be understood according to specific situations by those of ordinary skill in the art.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. An antitheft brake control method, characterized in that the method comprises:
in response to the fact that the electric vehicle is detected to be in an abnormal unlocking state, detecting whether the wheel rotating speed of the electric vehicle is larger than or equal to a preset speed threshold value or not;
responding to the fact that the rotating speed of the wheel is smaller than the preset speed threshold value, and controlling the electric vehicle to brake according to a preset brake pulse instruction, wherein the brake pulse instruction is a periodic signal, and each period comprises an intermittent stage and a control stage;
the method for controlling the electric vehicle to brake according to the preset brake pulse instruction specifically comprises the following steps:
when the electric vehicle is detected to be in an intermittent stage currently, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an electronic brake device;
and when the electric vehicle is detected to be in the control stage at present, controlling the electric vehicle to brake immediately according to the brake pulse instruction.
2. The antitheft brake control method of claim 1, further comprising:
in response to detecting that the wheel speed is greater than or equal to a preset speed threshold, controlling application of a reverse control force to the electric vehicle to reduce the wheel speed to less than the preset speed threshold.
3. The anti-theft brake control method according to claim 2, wherein in response to detecting that the wheel rotation speed is greater than or equal to a preset speed threshold, controlling application of a reverse control force to the electric vehicle to reduce the wheel rotation speed to less than the preset speed threshold comprises:
the electric vehicle is provided with an electronic brake device, and when the rotating speed of the wheels is detected to be greater than or equal to the preset speed threshold value, the electric vehicle is controlled to enter a brake state;
and in the braking state, controlling a driving motor of the electric vehicle to input reverse current, and controlling the driving motor to operate by the reverse current so as to apply the reverse control force to the electric vehicle until the rotating speed of the wheels is reduced to be less than the preset speed threshold.
4. The antitheft brake control method according to claim 1, wherein the brake pulse command is a square wave pulse signal, and the intermittent duration of the brake control is greater than or equal to 1s and less than or equal to 4s in each control cycle.
5. The antitheft brake control method according to claim 4, wherein in each of the control cycles, the control period of the brake control is greater than or equal to 15s and less than or equal to 24s.
6. The antitheft brake control method according to any one of claims 1 to 5, further comprising:
detecting whether an unlocking instruction sent by a server or a control terminal is received in real time;
and when the unlocking instruction is not received and the wheel rotating speed of the electric vehicle is greater than 0, determining that the electric vehicle is in the abnormal unlocking state and generating an alarm signal.
7. An antitheft brake control device, comprising:
the detection unit is used for detecting whether the wheel rotating speed of the electric vehicle is greater than or equal to a preset speed threshold value or not in response to the detection that the electric vehicle is in an abnormal unlocking state;
the control unit is used for responding to the fact that the rotating speed of the wheel is smaller than the preset speed threshold value and controlling the electric vehicle to brake according to a preset brake pulse instruction, wherein the brake pulse instruction is a periodic signal, and each period comprises an intermittent stage and a control stage;
wherein the control unit is specifically configured to:
when the electric vehicle is detected to be in an intermittent stage currently, controlling an electric hub of the electric vehicle to brake immediately according to a control signal of an electronic brake device;
and when the electric vehicle is detected to be in the control stage at present, controlling the electric vehicle to brake immediately according to the brake pulse instruction.
8. The antitheft brake control device of claim 7, wherein the control unit is further configured to: in response to detecting that the wheel speed is greater than or equal to a preset speed threshold, controlling application of a reverse control force to the electric vehicle to reduce the wheel speed to less than the preset speed threshold.
9. The anti-theft brake control device according to claim 8, wherein the control unit is specifically configured to:
the electric vehicle is provided with an electronic brake device, and when the rotating speed of the wheels is detected to be greater than or equal to the preset speed threshold value, the electric vehicle is controlled to enter a brake state;
and in the braking state, controlling a driving motor of the electric vehicle to input reverse current, and controlling the driving motor to operate by the reverse current so as to apply the reverse control force to the electric vehicle until the rotating speed of the wheels is reduced to be less than the preset speed threshold.
10. The antitheft brake control device of claim 7, wherein the brake pulse command is a square wave pulse signal, and the intermittent duration of the brake control is greater than or equal to 1s and less than or equal to 4s in each control cycle.
11. The antitheft brake control apparatus of claim 10, wherein a control duration of the brake control is greater than or equal to 15s and less than or equal to 24s in each of the control cycles.
12. The antitheft brake control apparatus of any of claims 7 to 11, wherein the detection unit is further configured to: detecting whether an unlocking instruction sent by a server or a control terminal is received in real time;
the control device further includes:
the determining unit is used for determining that the electric vehicle is in the abnormal unlocking state and generating an alarm signal when the unlocking instruction is not received and the wheel rotating speed of the electric vehicle is greater than 0.
13. An electric vehicle comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said computer program, implements the steps defined by the anti-theft brake control method according to any one of claims 1 to 6 and/or comprises the anti-theft brake control device according to any one of claims 7 to 12.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps defined by the anti-theft brake control method according to any one of claims 1 to 6.
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