CN114103837B - Safety protection method and device for electric public transport vehicle - Google Patents
Safety protection method and device for electric public transport vehicle Download PDFInfo
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- CN114103837B CN114103837B CN202010904319.2A CN202010904319A CN114103837B CN 114103837 B CN114103837 B CN 114103837B CN 202010904319 A CN202010904319 A CN 202010904319A CN 114103837 B CN114103837 B CN 114103837B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001960 triggered effect Effects 0.000 claims abstract description 13
- 238000004880 explosion Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
Abstract
The safety protection method and device for the electric public transportation vehicle comprises the steps that a whole vehicle controller of the electric public transportation vehicle is respectively connected with a power source, a high-voltage relay, a motor controller, a vehicle door relay, an emergency lamp relay, an accelerator and a brake, the high-voltage relay is respectively connected with the power source and the motor controller, the motor controller is connected with a motor, the vehicle door relay is connected with a vehicle door, the emergency lamp relay is connected with an emergency lamp, an emergency switch is further arranged on the electric public transportation vehicle, and the emergency switch is connected with the whole vehicle controller; when the emergency switch is triggered, an emergency signal is sent to the whole vehicle controller to control the vehicle to enter an emergency mode, and in the emergency mode, the whole vehicle controller directly controls the high-voltage relay, the vehicle door relay, the emergency lamp relay and the motor controller, so that the whole vehicle is not controlled by a driver. The invention also provides a safety protection device of the electric public transport vehicle adopting the safety protection method.
Description
Technical Field
The invention relates to an electric public transport vehicle, in particular to a safety protection method and device for the electric public transport vehicle.
Background
With the increasing serious problems of energy and environment, the country is developing new energy automobiles, especially pure electric public transportation vehicles, and the market popularization is faster. The core control unit of the new energy vehicle is a whole vehicle controller, which controls the vehicle to normally run according to the intention of the driver. However, as the life rhythm of people is gradually accelerated, the pressure of people is also increased; and meanwhile, the market share of new energy vehicles is also higher and higher. How to ensure the travel safety of people is the key work of public transportation because the electric vehicle is provided with a whole vehicle controller, when the accident threatening public safety occurs to the vehicle, if the driver does not take timely and effective measures, or the safety of the driver is dangerous, the whole vehicle can be in a dangerous environment because of no additional safety protection measures.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a safety protection method for an electric public transportation vehicle aiming at the problems in the prior art.
In order to achieve the above object, the present invention provides a safety protection method for an electric public transportation vehicle, wherein a vehicle controller of the electric public transportation vehicle is respectively connected with a power source, a high-voltage relay, a motor controller, a door relay, an emergency lamp relay, an accelerator and a brake, the high-voltage relay is respectively connected with the power source and the motor controller, the motor controller is connected with a motor, the door relay is connected with a door, the emergency lamp relay is connected with an emergency lamp, wherein an emergency switch is further arranged on the electric public transportation vehicle, and the emergency switch is connected with the vehicle controller;
when the emergency switch is triggered, an emergency signal is sent to the whole vehicle controller to control the vehicle to enter an emergency mode, and in the emergency mode, the whole vehicle controller directly controls the high-voltage relay, the vehicle door relay, the emergency lamp relay and the motor controller, so that the whole vehicle is not controlled by a driver.
In the above-mentioned safety protection method for electric public transportation vehicles, in the emergency mode, the whole vehicle controller interrupts the power output of the whole vehicle or adopts the maximum braking feedback of the whole vehicle, and detects the current information of the power source, the waiting time of the whole vehicle controller or the vehicle speed, when the current of the power source is detected to be smaller than or equal to a set current value or the waiting time of the whole vehicle controller is detected to be smaller than or equal to a threshold value, the whole vehicle controller controls the high-voltage relay to cut off the high voltage of the whole vehicle and controls the emergency lamp relay to turn on the emergency lamp; and when the vehicle speed is detected to be lower than a set vehicle speed value or the waiting time of the whole vehicle controller is smaller than or equal to the threshold value, the whole vehicle controller controls the door relay to open the door.
The safety protection method of the electric public transport vehicle, wherein the set current value is 0.3A, the set vehicle speed value is 15km/h, and the threshold value is 2 seconds.
According to the safety protection method for the electric public transportation vehicle, the emergency switch comprises the first emergency switch and the second emergency switch, the first emergency switch and the second emergency switch are respectively connected with the whole vehicle controller, when the first emergency switch is triggered, the whole vehicle enters a first emergency mode, and when the second emergency switch is triggered, the whole vehicle enters a second emergency mode.
In the above-mentioned safety protection method for electric public transportation vehicles, in the first emergency mode, the whole vehicle controller outputs zero torque and an instruction for closing the IGBT module to the motor controller, and the motor controller controls the motor to output zero torque to interrupt the whole vehicle power output; when the current of the power source is detected to be smaller than 0.3A or the whole vehicle controller waits for 2 seconds, the whole vehicle controller sends an opening instruction to the high-voltage contactor to cut off the high voltage of the whole vehicle and sends a closing instruction to the emergency lamp relay to open an emergency lamp; and when the detected vehicle speed is lower than 15km/h or the whole vehicle controller waits for 2 seconds, the whole vehicle controller sends a hard wire instruction to the vehicle door control relay to open the vehicle door.
According to the safety protection method of the electric public transport vehicle, the vehicle controller calculates the vehicle speed according to the rotating speed of the motor, and the vehicle speed is calculated by adopting the following formula:
vehicle speed = 0.377 tire radius (m) motor speed (rpm)/rear axle speed ratio.
In the above-mentioned safety protection method for electric public transportation vehicles, in the second emergency mode, the whole vehicle controller outputs a motor maximum braking torque to the motor controller, and the motor controller controls the motor to output a maximum braking feedback torque so as to enable the whole vehicle to brake rapidly; when the current of the power source is detected to be smaller than 0.3A or the whole vehicle controller waits for 2 seconds, the whole vehicle controller sends an opening instruction to the high-voltage relay to cut off the high voltage of the whole vehicle and sends a closing instruction to the emergency lamp relay to open the emergency lamp.
The safety protection method of the electric public transport vehicle comprises the step of entering a second emergency mode when the first emergency switch and the second emergency switch are triggered simultaneously.
The safety protection method of the electric public transport vehicle comprises the steps that the whole vehicle controller carries out two-dimensional table lookup according to an accelerator signal and a vehicle speed to determine target driving torque and outputs the target driving torque to the motor controller, the whole vehicle controller carries out two-dimensional table lookup according to a brake signal and the vehicle speed to obtain target braking torque and outputs the target braking torque to the motor controller, and the motor controller controls motor output torque according to the target driving torque or the target braking torque.
In order to better achieve the above purpose, the invention also provides a safety protection device for the electric public transport vehicle, wherein the safety protection method for the electric public transport vehicle is adopted to protect the vehicle.
The invention has the technical effects that:
when the vehicle has an accident threatening public safety, a safety emergency protection mechanism is adopted on the electric public transport vehicle, and passengers on the vehicle can select to press different emergency switches according to the dangerous state of the whole vehicle, so that the vehicle enters a safety control mode of the whole vehicle controller, the situation that the vehicle is out of control due to an emergency condition is avoided or reduced, the personal safety of vast drivers and passengers is protected, and the casualties of the drivers and the passengers are reduced.
The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
Drawings
FIG. 1 is a schematic diagram of the vehicle control signal trend of the present invention;
FIG. 2 is a flow chart of a method according to an embodiment of the invention.
Wherein reference numerals are used to refer to
1. Whole vehicle controller
2. Power source
3. High-voltage relay
4. Motor controller
5. Vehicle door relay
6. Emergency lamp relay
7. First emergency switch
8. Second emergency switch
9. Throttle valve
10. Brake device
11. Motor with a motor housing
12. Vehicle door
13. Emergency light
Detailed Description
The structural and operational principles of the present invention are described in detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 is a schematic diagram illustrating the direction of a vehicle control signal according to the present invention. The safety protection device of the electric public transportation vehicle comprises a whole vehicle controller 1, a power source 2, a high-voltage relay 3, a motor controller 4, a door relay 5, an emergency lamp relay 6, an accelerator 9 and a brake 10, and further comprises an emergency switch, wherein the emergency switch is connected with the whole vehicle controller 1, the emergency switch comprises a first emergency switch 7 and a second emergency switch 8 in the embodiment, the first emergency switch 7 and the second emergency switch 8 are respectively connected with the whole vehicle controller 1, the whole vehicle controller 1 is respectively connected with the power source 2, the high-voltage relay 3, the motor controller 4, the door relay 5, the emergency lamp relay 6, the accelerator 9 and the brake 10, the high-voltage relay 3 is respectively connected with the power source 2 and the motor controller 4, the motor controller 4 is connected with a motor 11, the door relay 5 is connected with a door 12, and the emergency lamp relay 6 is connected with an emergency lamp 13. When the emergency switch is triggered, an emergency signal is sent to the whole vehicle controller 1 to control the vehicle to enter an emergency mode, and in the emergency mode, the whole vehicle controller 1 directly controls the high-voltage relay 3, the vehicle door relay 5, the emergency lamp relay 6 and the motor controller 4, so that the whole vehicle is not controlled by a driver.
The electric drive system of the electric public transport vehicle is connected with the outside through an electric interface, and comprises a high-voltage part, a low-voltage part and a communication interface. In the starting process of the vehicle, the whole vehicle controller 1 outputs a high-voltage contactor closing signal through a hard wire, and the high-voltage power-on of the whole vehicle is completed. When the vehicle runs normally, a driver controls an accelerator 9 signal and a brake 10 signal to the whole vehicle controller 1, meanwhile, the whole vehicle controller 1 calculates a vehicle speed signal, and when a public safety accident occurs to the vehicle, a passenger presses different emergency switches according to different emergency conditions of the current vehicle, the vehicle enters a safety protection mechanism, and the passenger on the vehicle is assisted to enter a safety zone.
When the vehicle runs, the accelerator 9 pedal and the brake 10 pedal operated by the vehicle driver output hard-wire signals to enter the whole vehicle controller 1, and the hard-wire signals of the first emergency switch 7 and the hard-wire signals of the second emergency switch 8 operated by the vehicle passenger enter the whole vehicle controller 1. The vehicle controller 1 outputs hard wire signals to the high-voltage contactor, the vehicle door relay 5 and the emergency lamp relay 6 respectively, wherein the vehicle door relay 5 and the emergency lamp relay 6 are low-voltage relays; the power source 2 is usually a power battery, and CAN output current information to the vehicle controller 1 through a CAN network. The motor controller 4 outputs the rotation speed of the motor 11 to the whole vehicle controller 1 through a CAN network, the tire radius and the rear axle speed ratio belong to fixed parameters of the vehicle, and the whole vehicle speed (km/h) =0.377 tire radius (m) ×motor 11 rotation speed (rpm)/rear axle speed ratio is calculated. Meanwhile, the whole vehicle controller 1 outputs the target torque of the motor 11 and the IGBT control state to the motor controller 4 through a CAN network; the power source 2 and the motor controller 4 are connected with high voltage through the high voltage relay 3, and the motor controller 4 and the motor 11 are connected with high voltage.
In the starting process of the vehicle, the whole vehicle controller 1 outputs a high-voltage contactor closing signal through a hard wire, and the high-voltage power-on of the whole vehicle is completed. When the vehicle is in normal operation, a driver controls an accelerator 9 signal and a brake 10 signal to the vehicle controller 1, the vehicle controller 1 carries out two-dimensional table lookup according to the accelerator 9 signal and the vehicle speed to output the vehicle demand driving torque to the motor controller 4, or the vehicle controller 1 carries out two-dimensional table lookup according to the brake 10 signal and the vehicle speed to output the vehicle demand braking torque to the motor controller 4, and the motor controller 4 controls the motor 11 to output torque according to the received target driving torque or target braking torque.
Referring to fig. 2, fig. 2 is a flowchart of a method according to an embodiment of the invention. In the safety protection method of the electric public transportation vehicle, in the emergency mode, the whole vehicle controller 1 interrupts the whole vehicle power output or adopts the whole vehicle maximum braking feedback, and detects the current information of the power source 2, the waiting time of the whole vehicle controller 1 or the vehicle speed, when the current of the power source 2 is detected to be smaller than or equal to a set current value or the waiting time of the whole vehicle controller 1 is detected to be smaller than or equal to a threshold value, the whole vehicle controller 1 controls the high-voltage relay 3 to cut off the whole vehicle high voltage and controls the emergency lamp relay 6 to turn on the emergency lamp 13; when the vehicle speed is detected to be lower than a set vehicle speed value or the waiting time of the whole vehicle controller 1 is smaller than or equal to the threshold value, the whole vehicle controller 1 controls the door relay 5 to open the door 12. The set current value in this embodiment is 0.3A, the set vehicle speed value is 15km/h, and the threshold value is 2 seconds.
When a first emergency switch 7 is pressed, namely the first emergency switch 7 is triggered, the whole vehicle enters a first emergency mode, the whole vehicle controller 1 outputs zero torque and an IGBT module closing instruction to the motor controller 4 through a CAN network, and the motor controller 4 controls the motor 11 to output zero torque to interrupt the power output of the whole vehicle; meanwhile, when the current of the power source 2 is detected to be smaller than 0.3A or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 sends an opening instruction to the high-voltage contactor through a hard wire signal to cut off the whole vehicle high voltage, and sends a closing instruction to the low-voltage relay of the emergency lamp 13 to open the emergency lamp 13; when the vehicle speed is detected to be lower than 15km/h or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 sends a hard wire instruction to the control relay of the vehicle door 12 to open the vehicle door 12.
When the second emergency switch 8 is pressed, that is, the second emergency switch 8 is triggered, the whole vehicle enters a second emergency mode, the whole vehicle controller 1 outputs the maximum braking torque information of the motor 11 to the motor controller 4, the motor controller 4 controls the motor 11 to output the maximum braking feedback torque of the whole vehicle, so that the whole vehicle brakes in the fastest way, when the current of the power source 2 is detected to be smaller than 0.3A or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 sends an opening instruction to the high-voltage relay 3 through a hard wire signal to cut off the high voltage of the whole vehicle, and sends a closing instruction to the emergency lamp relay 6 to turn on the emergency lamp 13. When the first emergency switch 7 and the second emergency switch 8 are triggered simultaneously, the whole vehicle enters the second emergency mode.
In this embodiment, the vehicle controller 1 calculates the vehicle speed according to the rotation speed of the motor 11, and when detecting that the vehicle speed is lower than 15km/h or the vehicle controller 1 waits for 2 seconds, the vehicle controller 1 sends a hard wire command to the door 12 to control the relay to open the door 12. The vehicle speed is calculated by adopting the following formula:
vehicle speed = 0.377 tire radius (m) motor 11 speed (rpm)/rear axle speed ratio.
The vehicle controller 1 may perform a two-dimensional table lookup according to the accelerator 9 signal and the vehicle speed to determine a target driving torque and output the target driving torque to the motor controller 4, the vehicle controller 1 may perform a two-dimensional table lookup according to the brake 10 signal and the vehicle speed to obtain a target braking torque and output the target braking torque to the motor controller 4, and the motor controller 4 may control the motor 11 to output the torque according to the target driving torque or the target braking torque.
In the normal running process of the vehicle, when the vehicle has a fire and explosion accident, a passenger CAN press the first emergency switch 7, the whole vehicle controller 1 receives a signal of the first emergency switch 7, the vehicle enters a first emergency mode, the whole vehicle controller 1 outputs zero torque to the motor controller 4 through the CAN network, meanwhile, the whole vehicle controller 1 outputs an instruction of closing the IGBT module to the motor controller 4, the motor controller 4 controls the motor 11 to output zero torque, and the power output of the whole vehicle is interrupted. Then the whole vehicle controller 1 receives the current from the battery through the CAN network, when the battery current is detected to be smaller than 0.3A or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 sends an opening instruction to the high-voltage contactor through a hard wire signal to cut off the high voltage of the whole vehicle, and meanwhile, the whole vehicle controller 1 sends a closing instruction to the emergency lamp relay 6 to open the emergency lamp 13. The whole vehicle controller 1 calculates the whole vehicle speed according to the rotating speed of the motor 11, when the whole vehicle speed is detected to be lower than 15km/h or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 gives a hard wire command to the door 12 control relay, the door 12 is opened, and the protection action is completed.
When a traffic accident occurs to the vehicle and the driver is unexpected, the passenger CAN press the second emergency switch 8, the whole vehicle controller 1 receives the signal of the second emergency switch 8, the vehicle enters the second emergency mode at this time, the whole vehicle controller 1 outputs the maximum braking torque of the motor 11 to the motor controller 4 through the CAN network, and the motor controller 4 controls the motor 11 to enter the maximum braking feedback state to assist the brake 10. Next, the whole vehicle controller 1 receives a current signal from the battery, when the battery current is detected to be smaller than 0.3A or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 sends an opening instruction to the high-voltage contactor through a hard wire signal to cut off the high voltage of the whole vehicle, and meanwhile, the whole vehicle controller 1 sends a closing instruction to the emergency lamp relay 6 to open the emergency lamp 13. The whole vehicle controller 1 calculates the whole vehicle speed according to the rotating speed of the motor 11, when the detected vehicle speed is lower than 15km/h or the whole vehicle controller 1 waits for 2 seconds, the whole vehicle controller 1 gives a hard wire command to the door 12 control relay, the door 12 is opened, and the protection action is completed. When the first emergency switch 7 and the second emergency switch 8 are pressed simultaneously, the vehicle controller 1 preferably executes the protection action of the pressed second emergency switch 8.
In an embodiment of the present invention, the whole vehicle controller 1 needs to determine what type of emergency mode the whole vehicle is in, and in different emergency modes, the time requirement for the whole vehicle controller 1 to determine the high voltage disconnection is different. When the vehicle has a fire or explosion fault, the whole vehicle needs to be disconnected with high voltage in an emergency, so that the greater danger is avoided. When a traffic accident occurs to the vehicle and the driver is unexpected, the whole vehicle enters the auxiliary brake 10 in the maximum brake feedback state, and the maximum capacity of the motor 11 system is used for helping the vehicle to shorten the parking time. When the vehicle speed is lower than 15km/h or the whole vehicle controller 1 judges 2 seconds, the whole vehicle controller 1 controls the door relay 5 to open the vehicle door 12, so that the casualties of drivers and passengers are reduced.
According to the invention, when the current vehicle has various external changing factors such as fire, explosion, vehicle accident, driver accident and the like, a safety emergency protection mechanism is adopted on the electric public transportation vehicle, and passengers on the vehicle can select to press different emergency switches according to the dangerous state of the whole vehicle, so that the vehicle enters a safety control mode of the whole vehicle controller, and the situation that the vehicle is out of control due to the emergency is avoided or reduced, thereby protecting the personal safety of vast drivers and passengers and reducing the casualties of the drivers and the passengers.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The safety protection method of the electric public transportation vehicle is characterized in that the electric public transportation vehicle is also provided with an emergency switch, and the emergency switch is connected with the whole vehicle controller;
when the emergency switch is triggered, an emergency signal is sent to the whole vehicle controller to control the vehicle to enter an emergency mode, and the whole vehicle controller in the emergency mode directly controls the high-voltage relay, the vehicle door relay, the emergency lamp relay and the motor controller, so that the whole vehicle is not controlled by a driver;
the emergency switch comprises a first emergency switch and a second emergency switch, the first emergency switch and the second emergency switch are respectively connected with the whole vehicle controller, when the first emergency switch is triggered, the whole vehicle enters a first emergency mode, and when the second emergency switch is triggered, the whole vehicle enters a second emergency mode;
in the first emergency mode, the whole vehicle controller outputs zero torque and an IGBT module closing instruction to the motor controller, and the motor controller controls the motor to output zero torque so as to interrupt the power output of the whole vehicle;
in the second emergency mode, the whole vehicle controller outputs the maximum braking torque of the motor to the motor controller, and the motor controller controls the motor to output the maximum braking feedback torque so as to enable the whole vehicle to be braked rapidly;
when public safety accidents occur to the vehicle, a passenger presses down the first emergency switch or the second emergency switch according to different emergency conditions of the current vehicle, and the vehicle enters a safety protection mechanism; and when the first emergency switch and the second emergency switch are triggered simultaneously, the whole vehicle enters the second emergency mode.
2. The method for protecting safety of an electric public transportation vehicle according to claim 1, wherein in the first emergency mode, the whole vehicle controller interrupts whole vehicle power output, and detects current information of the power source, waiting time of the whole vehicle controller, or vehicle speed, and when detecting that the current of the power source is less than or equal to a set current value or the waiting time of the whole vehicle controller is less than or equal to a threshold value, the whole vehicle controller controls the high voltage relay to cut off whole vehicle high voltage and controls the emergency lamp relay to turn on the emergency lamp; when the vehicle speed is detected to be lower than a set vehicle speed value or the waiting time of the whole vehicle controller is smaller than or equal to the threshold value, the whole vehicle controller controls the door relay to open the door; in the second emergency mode, the whole vehicle controller adopts the maximum braking feedback of the whole vehicle, detects the current information of the power source, the waiting time of the whole vehicle controller or the vehicle speed, and controls the high-voltage relay to cut off the high voltage of the whole vehicle and controls the emergency lamp relay to turn on the emergency lamp when detecting that the current of the power source is smaller than or equal to a set current value or the waiting time of the whole vehicle controller is smaller than or equal to a threshold value; and when the vehicle speed is detected to be lower than a set vehicle speed value or the waiting time of the whole vehicle controller is smaller than or equal to the threshold value, the whole vehicle controller controls the door relay to open the door.
3. The method for protecting safety of an electric public transportation vehicle according to claim 2, wherein the set current value is 0.3A, the set vehicle speed value is 15km/h, and the threshold value is 2 seconds.
4. The method for protecting safety of an electric public transportation vehicle according to claim 2, wherein when it is detected that the current of the power source is less than 0.3A or the whole vehicle controller waits for 2 seconds, the whole vehicle controller sends an off command to the high voltage relay to cut off the whole vehicle high voltage and sends a close command to the emergency lamp relay to turn on an emergency lamp; when the speed of the vehicle is detected to be lower than 15km/h or the whole vehicle controller waits for 2 seconds, the whole vehicle controller sends a hard wire instruction to the vehicle door control relay to open the vehicle door.
5. The method for protecting safety of electric public transportation vehicle according to claim 4, wherein the vehicle controller calculates a vehicle speed according to a rotation speed of the motor, the vehicle speed being calculated by using the following formula:
vehicle speed = 0.377 tire radius (m) motor speed (rpm)/rear axle speed ratio.
6. The method for protecting safety of an electric public transportation vehicle according to claim 3, wherein the whole vehicle controller performs a two-dimensional lookup table according to an accelerator signal and a vehicle speed to determine a target driving torque and outputs the target driving torque to the motor controller, the whole vehicle controller performs a two-dimensional lookup table according to a brake signal and the vehicle speed to obtain a target braking torque and outputs the target braking torque to the motor controller, and the motor controller controls the motor output torque according to the target driving torque or the target braking torque.
7. A safety protection device for an electric public transportation vehicle, characterized in that the safety protection method for an electric public transportation vehicle according to any one of the preceding claims 1-6 is used for the safety protection of the vehicle.
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