CN108116579A - The balance car control method and device of driver safety are ensured under a kind of emergency condition - Google Patents
The balance car control method and device of driver safety are ensured under a kind of emergency condition Download PDFInfo
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- CN108116579A CN108116579A CN201711063057.6A CN201711063057A CN108116579A CN 108116579 A CN108116579 A CN 108116579A CN 201711063057 A CN201711063057 A CN 201711063057A CN 108116579 A CN108116579 A CN 108116579A
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- Prior art keywords
- balance car
- driver
- vehicle
- pressure
- control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses the balance car control methods and device that driver safety is ensured under a kind of emergency condition.Ensure that the balance car control method of driver safety includes under the emergency condition：It obtains driver and jumps vehicle action；Balance car wheel traffic direction is controlled to reverse.The present invention can improve the security of driver under emergency condition.
Description
Technical field
The present invention relates to balance car control field, driver safety is ensured more specifically, being related under a kind of emergency condition
Balance car control method and device.
Background technology
Electrodynamic balance vehicle, is called balance car, thinking vehicle, and operation principles are mainly built upon one kind and are referred to as " dynamically surely
In basic principle calmly ", the gyroscope and acceleration transducer of vehicle body are utilized, to detect the variation of vehicle body attitude, is utilized
Servo-control system, accurately driving motor be adjusted correspondingly, to keep the balance of system.
There are two types of existing electrodynamic balance vehicle is general, one kind is that tool is there are one operation lever on car body, and user station is electronic
Operation lever is operated on the foot platform of balance car, so as to advance, retreat and stop, such control is also referred to as " manual control ".
Another kind is that car body is made of two parts, is realized by rotating mechanism between left half and right half and mutually rotated, so as to fulfill
" foot control ".However, in current complicated road traffic environment, the security of electrodynamic balance vehicle is poor, if running into urgent feelings
Condition can bring great security risk to user.A kind of existing technology controls balance car parking after driver jumps vehicle.It is but real
On border, driver jumps what vehicle was all completed in moment, can not possibly accomplish to stop in time within such period, it is difficult to ensure driving
Safety of the member when jumping vehicle.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of emergent item for improving driver safety under emergency condition
The balance car control method and device of driver safety are ensured under part.
The purpose of the present invention is what is be achieved through the following technical solutions：
According to an aspect of the present invention, the present invention discloses the balance car control that driver safety is ensured under a kind of emergency condition
Method processed, including：
It obtains driver and jumps vehicle action；
Balance car wheel traffic direction is controlled to reverse.
Further, the method for obtaining driver's jump vehicle action includes：
In the pressure of balance car normal operating condition detection foot pedal, reference pressure is denoted as；
When the pressure of foot pedal and the ratio of reference pressure are more than preset value；Judge that driver jumps vehicle action and generates.
The technical program discloses a kind of method for judging driver and jumping vehicle action.Driver has one when jumping vehicle
The action of a spring, moment can rise on foot pedal, but since everyone weight is different, dynamics is different, based on the absolute of pressure
Value is to be difficult whether accurate judgement jumps vehicle.And inventor is the study found that instantaneous pressure when jumping vehicle is related with driver's weight,
It, which jumps the pressure generated during vehicle and the proportion of weight, certain rule, generally more than twice of weight.Therefore, with driver
For the pressure that self gravitation generates as reference pressure, instantaneous pressure compares with reference pressure can more accurate judgement driver jump vehicle
Action.
Further, the method that the control balance car wheel traffic direction reverses includes：
The angle of inclination of vehicle is detected by gyro sensor；
The speed of balance car reverse is controlled according to angle of inclination.
Angle of inclination is bigger, easier skidding when driver jumps vehicle, also more desired raising recoil, you can tilts
Speed is bigger, and the speed of reverse is higher, could reduce the possibility skidded, and improves security when jumping vehicle.
Further, the method further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if foot pedal pressure
Less than preset value, judge that driver has jumped vehicle, control balance car parking；Otherwise, control balance car enters rest equilibrium state.
Have and jump vehicle action, do not necessarily represent real jump vehicle, it is all also further to detect driving after vehicle action is jumped in identification
Whether member jumps vehicle.If having jumped vehicle, the pressure on pedal will disappear, and balance car be controlled to stop as early as possible at this time, be avoided out of control
Balance car cause other security risks.If not jumping vehicle, both feet are still on pedal, and in consideration is arranged, control balances
Vehicle enters rest equilibrium state, should not stop at this time, once parking, balance car will lose Self-balancing, driver can not be
It stands on balance car steady, so as to generate security risk.
Further, the method further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if when default
In, the pressure of Vehicular left pedal and right-hand tread plate is less than preset value, judges that driver has jumped vehicle, control balance car parking；Otherwise,
Control balance car enters rest equilibrium state.Typically both legs are had an effect kick one's legs down simultaneously when people jumps vehicle, therefore, really
When jumping vehicle, the time phase difference that bipod leaves is very little, therefore, can also accurately be sentenced by the pressure for judging two pedals
Whether disconnected user really jumps vehicle.
Further, the method that the control balance car wheel traffic direction reverses includes：Balance car is controlled with maximum work
Rate reverses wheel.Wheel is reversed using maximum power, maximum reversed recoil can be provided, ensures that user steadily jumps vehicle.
Further, the method for obtaining driver's jump vehicle action includes：
In the pressure of balance car normal operating condition detection foot pedal, reference pressure is denoted as；
When the pressure of foot pedal and the ratio of reference pressure are more than preset value；Judge that driver jumps vehicle action and generates；
The method that the control balance car wheel traffic direction reverses includes：
The angle of inclination of vehicle is detected by gyro sensor；
The speed of balance car reverse is controlled according to angle of inclination；
The method further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if foot pedal pressure
Less than preset value, judge that driver has jumped vehicle, control balance car parking；Otherwise, control balance car enters rest equilibrium state；
The method that the control balance car wheel traffic direction reverses includes：Balance car is controlled to reverse vehicle with maximum power
Wheel.
According to another aspect of the present invention, the invention discloses the balances that driver safety is ensured under a kind of emergency condition
Truck control device, including：
For obtaining the device that driver jumps vehicle action；
For controlling the device that balance car wheel traffic direction reverses.
Compared with prior art, the solution have the advantages that：Inventor the study found that ensure jump vehicle security,
Key is to provide good recoil when driver generates jump vehicle action, skids when avoiding jumping vehicle and causes to jump vehicle danger.
Therefore, the present invention generates reaction force after jump vehicle action is recognized by way of reversing wheel, increases driver and jumps vehicle
When recoil, improve security performance.
Description of the drawings
Fig. 1 is the balance car control method schematic diagram that driver safety is ensured under emergency condition of the embodiment of the present invention；
Fig. 2 is the balance truck control device schematic diagram of guarantee driver safety under the conditions of urgency of the embodiment of the present invention.
Specific embodiment
The present invention discloses the balance car control method that driver safety is ensured under a kind of emergency condition, including：
It obtains driver and jumps vehicle action；
Balance car wheel traffic direction is controlled to reverse.
Inventor is the study found that will ensure the security of jump vehicle, it is important to be provided when driver generates and jumps vehicle action
Good recoil skids when avoiding jumping vehicle and causes to jump vehicle danger.Therefore, the present invention passes through after jump vehicle action is recognized
The mode of wheel is reversed to generate reaction force, increases recoil when driver jumps vehicle, improves security performance.The applicant is preceding
The patent of application has proposed the balance car of belt supporting frame or auxiliary wheel, and details are not described herein for relevant details.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although operations are described as the processing of order by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be rearranged.When it
The processing can be terminated when operation is completed, it is also possible to have the additional step being not included in attached drawing.The processing
It can correspond to method, function, regulation, subroutine, subprogram etc..
Alleged mobile intelligent terminal (such as smart mobile phone, tablet computer, wearable device or intelligent glasses), meter within a context
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), smart home device or intelligent industrial control
Equipment etc. can perform the predetermined process mistake such as numerical computations and/or logical calculated by running preset program or instruction
Journey can include processor and memory, and the survival to be prestored in memory by processor execution instructs to perform book office
Reason process or predetermined process process is performed by hardware such as ASIC, FPGA, DSP or is realized by said two devices combination.Meter
It calculates machine equipment and includes but not limited to server, PC, laptop, tablet computer, smart mobile phone etc..
The network equipment includes but not limited to single network server, the server group of multiple network servers composition or is based on
The cloud being made of a large amount of computers or network server of cloud computing (Cloud Computing), wherein, cloud computing is distributed
One kind of calculating, a super virtual computer being made of the computer collection of a group loose couplings.Wherein, the computer is set
It is standby can isolated operation realize the present invention, also can access network and pass through the interactive operation with other computer equipments in network
To realize the present invention.Wherein, the network residing for the computer equipment includes but not limited to internet, wide area network, Metropolitan Area Network (MAN), office
Domain net, VPN network etc..
It should be noted that the user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
The computer equipment or network that can occur such as are applicable to the present invention, should also be included within the scope of the present invention, and to draw
It is incorporated herein with mode.
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, to implement the program code of necessary task or code segment can be stored in machine or computer-readable medium and (for example deposit
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure and function detail disclosed herein are only representative, and are for describing showing for the present invention
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and be not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that may have been used term " first ", " second " etc. herein to describe unit,
But these units should not be limited by these terms.The use of these items is only for by a unit and another unit
It distinguishes.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second
Member, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
The arbitrary and all combination of more listed associated items.
It should be appreciated that when a unit is referred to as " connecting " or during " coupled " to another unit, can directly connect
It connects or is coupled to another unit or there may be temporary location.In contrast, when a unit is referred to as " directly connecting
Connect " or " direct-coupling " arrive another unit when, then there is no temporary locations.It should explain in a comparable manner and be used to retouch
Other words for stating the relation between unit (such as " are in...Between " compared to " being directly in...Between ", " with...It is adjacent
Closely " compared to " with...It is directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, otherwise singulative used herein above "one", " one " also attempt to include plural number.Should also
When understanding, term " comprising " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or its combination.
It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures shown in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
Below in conjunction with the accompanying drawings 1~2 and preferred embodiment the invention will be further described.
Ensure that the balance car control method of driver safety includes under emergency condition disclosed in present embodiment：
S11, driver's jump vehicle action is obtained；
S12, control balance car wheel traffic direction reverse.
Include specifically, obtaining driver and jumping the method that vehicle acts：
In the pressure of balance car normal operating condition detection foot pedal, reference pressure is denoted as；
When the pressure of foot pedal and the ratio of reference pressure are more than preset value；Judge that driver jumps vehicle action and generates.It drives
The person of sailing when jump vehicle can there are one the action of spring, on foot pedal moment can rise, but since everyone weight is different, dynamics
Difference, the absolute value based on pressure are to be difficult whether accurate judgement jumps vehicle.And inventor the study found that jump vehicle when instantaneous pressure
Power is related with driver's weight, and the proportion for jumping the pressure generated during vehicle and weight has certain rule, generally in twice of body
It is more than weight.Therefore, using the pressure of driver's self gravitation generation as reference pressure, instantaneous pressure compares energy with reference pressure
More accurate judgement driver jumps vehicle action.
Optionally, the method for balance car wheel traffic direction being controlled to reverse includes：
The angle of inclination of vehicle is detected by gyro sensor；
The speed of balance car reverse is controlled according to angle of inclination.
Angle of inclination is bigger, easier skidding when driver jumps vehicle, also more desired raising recoil, you can tilts
Speed is bigger, and the speed of reverse is higher, could reduce the possibility skidded, and improves security when jumping vehicle.
Have and jump vehicle action, do not necessarily represent real jump vehicle, it is all also further to detect driving after vehicle action is jumped in identification
Whether member jumps vehicle, and therefore, the method for the present invention further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if foot pedal pressure
Less than preset value, judge that driver has jumped vehicle, control balance car parking；Otherwise, control balance car enters rest equilibrium state.
If having jumped vehicle, the pressure on pedal will disappear, and balance car be controlled to stop as early as possible at this time, avoid out of control put down
Weighing apparatus vehicle causes other security risks.If not jumping vehicle, both feet still on pedal, in arrange consider, control balance car into
Enter rest equilibrium state, should not stop at this time, once parking, balance car will lose Self-balancing, driver can not balance
It stands on vehicle steady, so as to generate security risk.
Optionally, the method that the control balance car wheel traffic direction reverses includes：Balance car is controlled with maximum power
Reverse wheel.Wheel is reversed using maximum power, maximum reversed recoil can be provided, ensures that user steadily jumps vehicle.
The embodiment of the present invention additionally provides whether another method can jump vehicle with accurate judgement.
Specifically, after judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if
In the default time, the pressure of Vehicular left pedal and right-hand tread plate is less than preset value, judges that driver has jumped vehicle, control balance car stops
Vehicle；Otherwise, control balance car enters rest equilibrium state.Typically both legs are had an effect kick one's legs down simultaneously when people jumps vehicle,
Therefore, when really jumping vehicle, the time phase difference that bipod leaves is very little, therefore, by the pressure for judging two pedals
Can whether vehicle really be jumped with accurate judgement user.
Driver jumps inherently a kind of unsafe behavior of vehicle, is a kind of caving-in bash in emergency circumstances.It is all, I
Should improve security performance as far as possible in normally travel, reduce jump vehicle may.And balance car in narrow space pass through and
Balance is maintained easily to be scratched with other people, is the scene that driver easily jumps vehicle.Therefore, in order to which driver is avoided to jump vehicle as far as possible,
It can out of service after balance car the enters narrow space or walking that detours.
As shown in Fig. 2, according to another aspect of the present invention, present embodiment also discloses to be ensured under a kind of emergency condition
The balance truck control device of driver safety, including：
Detection device 1：For obtaining the device that driver jumps vehicle action；
Control device 2：For controlling the device that balance car wheel traffic direction reverses.
The balance truck control device of the present invention can be used to implement balance car control method of the present invention.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
On the premise of not departing from present inventive concept, several simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (8)
1. the balance car control method of driver safety is ensured under a kind of emergency condition, which is characterized in that including：
It obtains driver and jumps vehicle action；
Balance car wheel traffic direction is controlled to reverse.
2. the balance car control method of driver safety is ensured under emergency condition according to claim 1, which is characterized in that
The method for obtaining driver's jump vehicle action includes：
In the pressure of balance car normal operating condition detection foot pedal, reference pressure is denoted as；
When the pressure of foot pedal and the ratio of reference pressure are more than preset value；Judge that driver jumps vehicle action and generates.
3. the balance car control method of driver safety is ensured under emergency condition according to claim 1, which is characterized in that
The method that the control balance car wheel traffic direction reverses includes：
The angle of inclination of vehicle is detected by gyro sensor；
The speed of balance car reverse is controlled according to angle of inclination.
4. the balance car control method of driver safety is ensured under emergency condition according to claim 1, which is characterized in that
The method further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if foot pedal pressure is less than
Preset value judges that driver has jumped vehicle, control balance car parking；Otherwise, control balance car enters rest equilibrium state.
5. the balance car control method of driver safety is ensured under emergency condition according to claim 1, which is characterized in that
The method further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if within the default time,
The pressure of Vehicular left pedal and right-hand tread plate is less than preset value, judges that driver has jumped vehicle, control balance car parking；Otherwise, control
Balance car enters rest equilibrium state.
6. the balance car control method of driver safety is ensured under emergency condition according to claim 1, which is characterized in that
The method that the control balance car wheel traffic direction reverses includes：Balance car is controlled to reverse wheel with maximum power.
7. the balance car control method of driver safety is ensured under emergency condition according to claim 1, which is characterized in that
The method for obtaining driver's jump vehicle action includes：
In the pressure of balance car normal operating condition detection foot pedal, reference pressure is denoted as；
When the pressure of foot pedal and the ratio of reference pressure are more than preset value；Judge that driver jumps vehicle action and generates；
The method that the control balance car wheel traffic direction reverses includes：
The angle of inclination of vehicle is detected by gyro sensor；
The speed of balance car reverse is controlled according to angle of inclination；
The method further includes the method for judging whether to jump vehicle：
After judging that driver jumps vehicle action generation；Foot pedal pressure is detected after a preset amount of time, if foot pedal pressure is less than
Preset value judges that driver has jumped vehicle, control balance car parking；Otherwise, control balance car enters rest equilibrium state；
The method that the control balance car wheel traffic direction reverses includes：Balance car is controlled to reverse wheel with maximum power.
8. the balance truck control device of driver safety is ensured under a kind of emergency condition, which is characterized in that including：
For obtaining the device that driver jumps vehicle action；
For controlling the device that balance car wheel traffic direction reverses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711063057.6A CN108116579A (en) | 2017-10-31 | 2017-10-31 | The balance car control method and device of driver safety are ensured under a kind of emergency condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711063057.6A CN108116579A (en) | 2017-10-31 | 2017-10-31 | The balance car control method and device of driver safety are ensured under a kind of emergency condition |
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| Publication Number | Publication Date |
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| CN108116579A true CN108116579A (en) | 2018-06-05 |
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ID=62228425
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| CN201711063057.6A Pending CN108116579A (en) | 2017-10-31 | 2017-10-31 | The balance car control method and device of driver safety are ensured under a kind of emergency condition |
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| CN201457607U (en) * | 2009-08-20 | 2010-05-12 | 天津锦泰勤业精密电子有限公司 | Double-wheel automatic balancing electric vehicle equipped with crew sensors |
| GB2465020A (en) * | 2008-11-07 | 2010-05-12 | Antony Richard Weir | Self-balancing single-track electric vehicle |
| CN103754301A (en) * | 2011-10-21 | 2014-04-30 | 许宁 | Self-balancing two-wheeled walking car |
| CN105083429A (en) * | 2015-06-24 | 2015-11-25 | 小米科技有限责任公司 | Automatic stopping method and device of electric balance vehicle |
| CN106184519A (en) * | 2016-07-06 | 2016-12-07 | 尚艳燕 | A kind of balance car method of controlling security and device |
| CN106292667A (en) * | 2016-08-30 | 2017-01-04 | 尚艳燕 | A kind of method and apparatus of balance car automatic parking |
-
2017
- 2017-10-31 CN CN201711063057.6A patent/CN108116579A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2465020A (en) * | 2008-11-07 | 2010-05-12 | Antony Richard Weir | Self-balancing single-track electric vehicle |
| CN201457607U (en) * | 2009-08-20 | 2010-05-12 | 天津锦泰勤业精密电子有限公司 | Double-wheel automatic balancing electric vehicle equipped with crew sensors |
| CN103754301A (en) * | 2011-10-21 | 2014-04-30 | 许宁 | Self-balancing two-wheeled walking car |
| CN105083429A (en) * | 2015-06-24 | 2015-11-25 | 小米科技有限责任公司 | Automatic stopping method and device of electric balance vehicle |
| CN106184519A (en) * | 2016-07-06 | 2016-12-07 | 尚艳燕 | A kind of balance car method of controlling security and device |
| CN106292667A (en) * | 2016-08-30 | 2017-01-04 | 尚艳燕 | A kind of method and apparatus of balance car automatic parking |
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Application publication date: 20180605 |