CN111216836B - Electric vehicle and control method thereof - Google Patents
Electric vehicle and control method thereof Download PDFInfo
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- CN111216836B CN111216836B CN201811424168.XA CN201811424168A CN111216836B CN 111216836 B CN111216836 B CN 111216836B CN 201811424168 A CN201811424168 A CN 201811424168A CN 111216836 B CN111216836 B CN 111216836B
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- electric vehicle
- speed
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- 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
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- 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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
Abstract
The invention provides an electric carrier, which comprises a main body, a speed detection device, a pressure sensing device and a controller, wherein the speed detection device is used for detecting the speed of the main body; the main body is configured to bear a user, and the pressure sensing device is configured to sense the pressure to which the main body is subjected; the controller is configured to: obtaining the current speed of the electric vehicle from the speed detection device; obtaining pressure information from the pressure sensing device; generating a desired velocity from the pressure information; controlling the electric vehicle to move according to the desired speed and the current speed. According to the electric vehicle and the control method thereof provided by the invention, the electric vehicle can be controlled to move according to the expected speed and the current speed during operation, so that the speed of the electric vehicle can be prevented from being changed by frequently using electric power, the endurance of the electric vehicle is stronger, and a user can obtain smoother use experience.
Description
Technical Field
The invention relates to the field of electric vehicles, in particular to an electric vehicle with stronger cruising ability and a control method thereof.
Background
Electric vehicles such as remote control electric skateboards, electric unicycles and mini electric motorcycles are increasingly popular because of their advantages of low noise, portability, safety, easy operation, etc. For example, in the field of medium and short distance transportation, electric vehicles are increasingly widely used. Such electric vehicles have a number of outstanding features. First, the electric vehicle has high portability and a small weight, so that a user can easily take the electric vehicle on a public transportation means and go up and down steps while carrying the electric vehicle. Secondly, the electric vehicle has high flexibility and safety, and can adapt to the road conditions similar to the road conditions of more complex and changeable road conditions with more pedestrians and vehicles near public transport nodes. Thirdly, the electric carrier has lower cost and simpler control on the premise of effectively completing the movement in a medium-short distance.
Electric vehicles generally use batteries as energy sources, and although battery technology has been developed, the energy density of batteries is still low, so that electric vehicles using batteries still have the problem of insufficient battery capacity. To cope with this problem, manufacturers of electric vehicles have started to provide electric vehicles with start-stop devices so that electric vehicles may not use electric power in some cases. Taking the electric skateboard as an example, it can also operate as a normal skateboard when not using electricity. However, such a method cannot solve the problem of insufficient cruising ability of the electric vehicle.
Therefore, it is desirable to provide an electric vehicle with enhanced cruising ability and a control method thereof.
Disclosure of Invention
The invention provides an electric vehicle with stronger cruising ability and a control method thereof.
In order to solve at least a part of technical problems of the present invention, the present invention provides an electric vehicle, including: the device comprises a main body, a speed detection device, a pressure sensing device and a controller; the main body is configured to bear a user, and the pressure sensing device is configured to sense the pressure to which the main body is subjected;
the controller is configured to:
obtaining the current speed of the electric vehicle from the speed detection device;
obtaining pressure information from the pressure sensing device;
generating a desired velocity from the pressure information;
controlling the electric vehicle to move according to the desired speed and the current speed.
According to at least one embodiment of the invention, the speed detection device is at least one of a gyroscope, an accelerometer, an electronic compass, a satellite positioning device;
or the speed detection device is an encoder configured to detect the rotational speed of the wheel of the electric vehicle.
According to at least one embodiment of the present invention, the remote controller is configured to receive a speed command of a user and transmit the speed command to the controller;
the controller is configured to generate the desired velocity based on the pressure information and/or the velocity command.
According to at least one embodiment of the present invention, the electric vehicle has a first mode and a second mode, the controller is configured to control the electric vehicle to switch between the first mode and the second mode according to a mode switching instruction received by the remote controller;
in the first mode, the controller is configured to cause the speed of the electric vehicle to approach the desired speed;
in the second mode, the controller is configured to place the electric vehicle in a coasting state when a speed difference between the desired speed and the current speed is less than a preset speed difference threshold.
According to at least one embodiment of the present invention, the controller is configured to determine whether a user is positioned on the main body based on the pressure information;
in the first mode, the electric vehicle is in a sliding state when one foot of a user leaves the main body and the speed difference is smaller than the speed difference threshold value;
in the second mode, the electric vehicle is in a coasting state when one foot of the user leaves the main body.
According to at least one embodiment of the present invention, the controller is configured to start controlling the electric vehicle to move when the pressure corresponding to the pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
According to at least one embodiment of the present invention, the pressure information includes first pressure information corresponding to a pressure applied to a first predetermined area 111 on the body;
the controller is configured to start controlling the electric vehicle to move when the pressure corresponding to the first pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
According to at least one embodiment of the present invention, the controller is configured to control the electric vehicle to gradually decelerate until stopping the movement when the pressure corresponding to the pressure information is less than a second pressure threshold.
According to at least one embodiment of the invention, the controller is configured to maintain a rate of change of the speed of the electric vehicle not exceeding a preset speed rate of change threshold while controlling the electric vehicle to move.
In order to solve at least a part of technical problems of the present invention, the present invention further provides a method for controlling an electric vehicle, including:
obtaining a current speed of the electric vehicle;
obtaining a user input;
generating a desired speed from the user input;
controlling the electric vehicle to move according to the desired speed and the current speed.
According to at least one embodiment of the invention, pressure information is generated by sensing pressure applied to a main body of the electric vehicle;
receiving a speed instruction of a user by a remote controller;
the user input is generated based on the pressure information and/or the speed command.
According to at least one embodiment of the present invention, controlling the electric vehicle motion according to the desired speed and the current speed comprises:
obtaining a speed difference between the desired speed and the current speed;
comparing the speed difference with a preset speed difference threshold;
and when the speed difference is smaller than the speed difference threshold value, enabling the electric vehicle to be in a sliding state.
According to at least one embodiment of the invention, further comprising:
judging whether the user is positioned on the main body or not according to the pressure information;
the electric vehicle is in a sliding state when at least one foot of the user leaves the main body and the speed difference is smaller than a preset speed difference threshold value, or the electric vehicle is in the sliding state when at least one foot of the user leaves the main body.
According to at least one embodiment of the present invention, the electric vehicle starts to move when the pressure corresponding to the pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
According to at least one embodiment of the present invention, the pressure information includes first pressure information corresponding to a pressure to which a first predetermined area on the body is subjected;
and starting to control the electric vehicle to move when the pressure corresponding to the first pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
According to at least one embodiment of the present invention, when the pressure corresponding to the pressure information is smaller than a second pressure threshold, the electric vehicle is controlled to gradually decelerate until the electric vehicle stops moving.
According to at least one embodiment of the invention, the rate of change of the speed of the electric vehicle is maintained not to exceed a preset speed rate of change threshold while controlling the electric vehicle to move.
According to the electric vehicle and the control method thereof provided by the invention, the electric vehicle can be controlled to move according to the expected speed and the current speed during operation, so that the speed of the electric vehicle can be prevented from being changed by frequently using electric power, the endurance of the electric vehicle is stronger, and a user can obtain smoother use experience.
Drawings
Fig. 1 is a side view of an electric vehicle according to an embodiment of the invention;
fig. 2 is a top view of an electric vehicle in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a remote controller of an electric vehicle according to an embodiment of the invention;
fig. 4 is a flowchart of a control method of an electric vehicle according to an embodiment of the invention;
fig. 5 is a flowchart of a control method of the electric vehicle in the first mode according to an embodiment of the invention;
fig. 6 is a flowchart of a control method of the electric vehicle in the second mode according to an embodiment of the invention.
Description of the reference numerals
First predetermined area 111
Second predetermined area 112
Speed command receiving area 171
Switch command receiving area 172
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
Certain terms are used throughout the description and claims to refer to particular system components. As one skilled in the art will appreciate, different companies may refer to a component by different names. This document does not intend to distinguish between components that differ in name but not function. In the description and claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to …".
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
It will be understood that when an element is referred to as being "on," "connected to," "coupled to" or "contacting" another element, it can be directly on, connected or coupled to, or contacting the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly on," "directly connected to," "directly coupled to" or "directly contacting" another element, there are no intervening elements present. Similarly, when a first component is said to be "in electrical contact with" or "electrically coupled to" a second component, there is an electrical path between the first component and the second component that allows current to flow. The electrical path may include capacitors, coupled inductors, and/or other components that allow current to flow even without direct contact between the conductive components.
Furthermore, each of the embodiments described below has one or more technical features, and thus, the use of the technical features of any one embodiment does not necessarily mean that all of the technical features of any one embodiment are implemented at the same time or that only some or all of the technical features of different embodiments are implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any embodiment or combinations of some or all of the features of multiple embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.
Fig. 1 is a side view of an electric vehicle 100 in accordance with an embodiment of the present invention. Referring to fig. 1, an electric vehicle 100 includes a main body 110, a speed detection device 130, a pressure sensing device 140, and a controller 150. The main body 110 has a flat plate shape having a certain thickness, and as shown in fig. 1, the front portion of the main body 110 is a flat surface, and the rear portion is bent upward in a certain arc. It is to be understood that the shape of the main body 110 is not limited to the shape shown in fig. 1, and both the front and rear portions thereof may be planar or may have a curvature. The body 110 is used for carrying a user of the electric vehicle 100.
As shown in fig. 1, four wheels, including two power wheels 120 and two driven wheels 160, are mounted under the main body 110 in the present example. The electric wheels 120 may be positioned below the front portion of the main body 110 or may be positioned below the rear portion of the main body 110. When the electric vehicle 100 has two electric wheels 120, the two electric wheels 120 may be located under the front or the rear of the main body 110 at the same time, or one electric wheel may be located under the front of the main body 110 and the other electric wheel may be located under the rear of the main body 110, and may be located on the same side of the electric vehicle 100 or on different sides of the electric vehicle 100. In addition, as shown in fig. 1, the wheels (referred to as front wheels) located under the front portion of the main body 110 of the electric vehicle 100 have a large diameter, and the wheels (referred to as rear wheels) located under the rear portion of the main body 110 have a small diameter, so that the upper surface of the main body 110 is an inclined surface with a high front portion and a low rear portion. It is understood that in other embodiments, the front wheel and the rear wheel of the electric vehicle 100 may be the same size, and the upper surface of the main body 110 is a horizontal surface. In other embodiments, the electric vehicle has other numbers of electric wheels (e.g., four) and may or may not have driven wheels. The total number of wheels of the electric vehicle may be more (e.g., one wheel) or less (e.g., three wheels). In other embodiments, the electric vehicle has other moving structures such as tracks and the like.
As shown in fig. 1, in the present embodiment, the speed detecting device 130 is disposed below the main body 110 and connected to the electric wheel 120 of the electric vehicle 100, for obtaining the current speed of the electric vehicle 100. In the present embodiment, the speed detecting device 130 is an encoder mounted on the electric wheel 120, and detects the speed of the electric wheel 120 to calculate the current speed Vcur of the electric vehicle 100. The speed detection device 130 may be disposed on any one of the wheels of the electric vehicle 100, whether the wheel is the electric wheel 120 or the driven wheel 160. There is no particular limitation in the number of the speed detection means 130. In other embodiments, the speed detection device 130 may also be a combination of one or more of a gyroscope, an accelerometer, an electronic compass, and a satellite positioning device. There is no particular limitation in the number of each of the speed detection devices 130. In this case, the speed detection device 130 may calculate the speed of the electric vehicle 100 by calculating the position information of the electric vehicle 100, and the like, and finally obtain the current speed Vcur of the electric vehicle 100.
It should be noted that the speed detecting device 130 is not limited to be mounted on the wheel of the electric vehicle 100, and can be mounted on any position of the electric vehicle 100 without interfering with the use of the electric vehicle 100.
As shown in fig. 1, the pressure sensing device 140 is disposed on the upper surface of the main body 110 for sensing pressure information received by the main body 110. Further, the pressure sensing device 140 can sense at least two regions of the upper surface of the body 110. The two areas are located at the front and rear of the upper surface of the main body 110, respectively. In one embodiment, the size and shape of the pressure sensing device 140 may be substantially the same as the upper surface of the main body 110, that is, the pressure sensing device 140 completely covers the upper surface of the main body 110. In other embodiments, the pressure sensing device 140 may be divided into two or more separate portions. Among them, a portion of the pressure sensing device 140 is disposed at the front portion of the upper surface of the main body 110, which is a portion where the front feet of the user stand, and another portion of the pressure sensing device 140 is disposed at the rear portion of the upper surface of the main body 110, which is a portion where the rear feet of the user stand. In this way, the pressure sensing devices 140, which are independently distributed, may sense the pressure at the corresponding portions on the upper surface of the body 110.
The pressure sensing device 140 may be any sensor suitable for the purpose of the present invention to measure pressure. The pressure sensing device 140 may be directly disposed on the upper surface of the main body 110, or may be disposed below the surface layer of the main body 110, and when the upper surface layer of the main body 110 is subjected to a pressure, the pressure may be transmitted to the pressure sensing device 140 through the upper surface layer of the main body 110.
As shown in fig. 1, in the present embodiment, the controller 150 is disposed below the body 110 of the electric vehicle 100. The controller 150 can obtain the current speed Vcur of the electric vehicle 100 obtained by the speed detecting device 130, and obtain the pressure information of the upper surface of the main body 110 measured by the pressure sensing device 140. The controller 150 may also calculate a desired velocity Vexp from the pressure information. In one embodiment, the controller 150 calculates the desired velocity Vexp according to the difference between the pressure at the front of the upper surface of the main body 110 and the pressure at the rear of the upper surface of the main body 110 obtained by the pressure sensing device 140. In other embodiments, the controller 150 may use other methods to calculate the desired speed Vexp. For example, a pressure ratio of the front portion to the rear portion of the upper surface of the main body 110, etc. is used. After obtaining a desired speed Vexp, the controller 150 controls the movement of the electric vehicle 100 according to the desired speed Vexp and the current speed Vcur.
In the electric vehicle of the embodiment, the electric vehicle can be controlled to move according to the expected speed and the current speed during operation, so that the speed of the electric vehicle can be prevented from being changed by frequently using electric power, the cruising ability of the electric vehicle is stronger, and a user can obtain more smooth use experience.
It is noted that the above example is merely an illustration of an alternative example of the electric vehicle of the present embodiment. Many parts of the electric vehicle of the present invention may have more details, and at least some of these details may have a variety of arrangements. At least some of these details and arrangements are described below in the non-limiting examples.
Fig. 2 is a top view of an electric vehicle 100 according to an embodiment of the invention. Referring to fig. 2, in the present embodiment, the distance between the two front wheels (electric wheels 120) of the electric vehicle 100 is greater than the distance between the two rear wheels (driven wheels 160). It is understood that in other embodiments, the distance between the two front wheels of the electric vehicle 100 may be equal to or less than the distance between the two rear wheels. The electric vehicle 100 has a first predetermined area 111 and a second predetermined area 112 on the upper surface of the body 110. When the user stands on the electric vehicle 100 with both feet, the front feet are in the first predetermined area 111, and the rear feet are in the second predetermined area 112. The pressure information sensed by the pressure sensing device 140 includes first pressure information corresponding to the pressure applied to the first predetermined area 111 and second pressure information corresponding to the pressure applied to the second predetermined area 112. The controller 150 may calculate the desired velocity Vexp based on the first pressure information and the second pressure information. The controller 150 may also determine whether the user is located on the main body 110 of the electric vehicle 100 according to the pressure information sensed by the pressure sensing device 140. Further, the controller 150 may determine whether the user stands on one foot, stands on both feet, or leaves the main body 110 of the electric vehicle 100 based on the first pressure information and the second pressure information.
In the starting stage of the electric vehicle 100, the user may stand on the main body 110 with both feet directly and start using the power of the electric vehicle, or may first stand on the first predetermined area 111 on the upper surface of the main body 110 with one foot (i.e., the front foot) and then stand on the second predetermined area 112 on the upper surface of the main body 110 with the other foot (i.e., the rear foot) after sliding a certain distance.
In one embodiment, when the pressure information obtained by the controller 150 is greater than a preset first pressure threshold and the current speed Vcur of the electric vehicle 100 detected by the speed detecting device 130 is greater than a preset speed threshold, the controller 150 starts to control the overall motion of the electric vehicle 100 by providing electric power drive to the electric wheels 120 of the electric vehicle 100. The pressure information may correspond to a pressure value obtained by integrating the pressure corresponding to the first pressure information and the pressure corresponding to the second pressure information.
In another embodiment, when the first pressure information obtained by the controller 150 is greater than a preset first pressure threshold and the current speed Vcur of the electric vehicle 100 detected by the speed detecting device 130 is greater than a preset speed threshold, the controller 150 starts to control the overall motion of the electric vehicle 100 by providing electric power drive to the electric wheels 120 of the electric vehicle 100.
When the electric vehicle 100 needs to be stopped, the center of gravity of the user moves backward or jumps off the electric vehicle 100. When the center of gravity of the user moves backward, the pressure of the first predetermined area 111 is generally lower and the pressure of the second predetermined area 112 is generally higher. The controller 150 calculates a lower desired speed Vexp based on the pressure information of the upper surface of the body 110 to decelerate the electric vehicle 100. When the user jumps off the electric vehicle 100, i.e., both feet leave the electric vehicle 100, the pressure on the upper surface of the body 110 is reduced or zero. The controller 150 compares the pressure corresponding to the obtained pressure information of the upper surface of the main body 110 with a second pressure threshold, and when the pressure is smaller than the second pressure threshold, the controller 150 provides electric braking for the electric wheels 120 of the electric vehicle 100, so as to control the electric vehicle 100 to gradually decelerate until stopping moving. The pressure information may correspond to a pressure value obtained by integrating the pressure corresponding to the first pressure information and the pressure corresponding to the second pressure information. In one embodiment, the controller 150 further performs real-time control on the electric wheels 120 according to the current speed Vcur of the electric vehicle 100 when the electric vehicle 100 is in the operating state, so that the speed change rate of the electric vehicle 100 does not exceed a preset speed change rate threshold. Such an arrangement prevents the electric vehicle 100 from being accelerated or decelerated too hard, and prevents the user from being in danger due to a severe speed change.
In some embodiments, there is also at least one remote control 170. The remote controller 170 is connected to the controller 150 of the electric vehicle 100 by wireless communication, and transmits remote control information to the controller 150. The wireless communication modes include but are not limited to bluetooth, Zigbee, Wifi, and the like. The remote controller 170 is a specific device that is associated with an electric vehicle, and may also be implemented by running specific software on an intelligent device such as a mobile communication device or a wearable device.
Referring to fig. 3, the remote controller 170 includes a speed command receiving area 171 and a mode switching command receiving area 172.
The user inputs a speed command in the speed command receiving area 171, the input mode may be text input, voice input, key input, etc., and the content of the speed command may be a specific speed value, acceleration instruction, deceleration instruction, or contextual model, etc. The remote controller 170 sends the speed command to the controller 150. The controller 150 may generate the desired velocity Vexp described above based on the velocity command and/or pressure information obtained by the pressure sensing device 140. For example, the user may set the electric vehicle 100 to move according to a speed command from the remote controller 170, according to pressure information obtained by the pressure sensing device 140, or according to a speed command and pressure information. For example, the controller 150 may be configured to calculate a desired speed Vexp of the electric vehicle 100 based only on a speed command sent by the remote controller 170, and to control the electric vehicle to move based on the desired speed Vexp; for another example, the controller 150 may be configured to calculate a desired speed Vexp of the electric vehicle 100 based only on the pressure information obtained by the pressure sensing device 140 and to control the electric vehicle to move based on the desired speed Vexp; in some other cases, the electric vehicle 100 may be configured to combine the speed command and the pressure information with an algorithm to generate a desired speed Vexp, such as averaging the calculated desired speeds Vexp, and then controlling the electric vehicle to move according to the desired speed Vexp. And the controller 150 may also have the ability to switch between the above settings.
In some embodiments, the electric vehicle 100 has multiple operating modes, for example, between a first mode and a second mode, and the electric vehicle 100 can switch between the first mode and the second mode. For example, the user may control the mode switching of the electric vehicle by inputting a mode switching command in the mode switching command receiving area 172. When the user inputs a switching instruction, the remote controller 170 transmits the mode switching instruction it receives to the controller 150. When the electric vehicle 100 is operating in the first mode, the controller 150 controls the operating speed of the electric wheels 120 of the electric vehicle 100 to make the operating speed of the electric vehicle 100 approach the desired speed Vexp. When the desired speed Vexp is greater than the current speed Vcur, the controller 150 provides electric drive for the electric wheels 120, and increases the rotation speed of the electric wheels 120; when the desired speed Vexp is less than the current speed Vcur, the controller 150 provides electric braking for the electric wheels 120, and the braking decelerates.
When the electric vehicle 100 is operating in the second mode, the controller 150 compares the speed difference between the current speed Vcur and the desired speed Vexp of the electric vehicle 100, and when the speed difference is smaller than a preset speed difference threshold, the controller 150 stops providing power to the electric wheels 120, and the electric wheels 120 correspond to a common driven wheel 160, so that the electric vehicle 100 is in a coasting state. Thus, power of the electric vehicle 100 can be saved.
For example, the following steps are carried out: during the acceleration of the electric vehicle 100, the current speed Vcur of the electric vehicle 100 is 10 km/h, the desired speed Vexp is 12 km/h, and the preset speed difference threshold is 3 km/h. When the electric vehicle 100 operates in the first mode, the controller 150 controls the electric wheels 120 to accelerate until the speed of the electric vehicle 100 reaches 12 km/h. When the electric vehicle 100 operates in the second mode, since the speed difference between the current speed Vcur and the desired speed Vexp is 2 km/h and is smaller than the preset speed difference threshold, the controller 150 stops providing power to the electric wheels 120 at this time, so that the electric vehicle 100 is in a coasting state. The controller 150 does not begin providing power drive to the motorized wheels 120 until the speed difference between the current speed Vcur and the desired speed Vexp reaches or exceeds 3 km/h.
During the deceleration of the electric vehicle 100, the current speed Vcur of the electric vehicle 100 is 10 km/h, the expected speed Vexp is 8 km/h, and the preset speed difference threshold is 3 km/h. When the electric vehicle 100 operates in the first mode, the controller 150 controls the electric wheels 120 to decelerate until the speed of the electric vehicle 100 decreases to 8 km/h. When the electric vehicle 100 is operating in the second mode, since the speed difference between the current speed Vcur and the expected speed Vexp is 2 km/h and is smaller than the preset speed difference threshold, the controller 150 does not perform the deceleration operation at this time, so that the electric vehicle 100 is in the sliding state.
It should be noted that the desired speed Vexp is a variable value, and when the center of gravity of the user changes due to the posture and body position of the user on the electric vehicle 100, the pressure information sensed by the pressure sensing device 140 changes accordingly, so that the desired speed Vexp changes. Therefore, during acceleration of the electric vehicle 100, the desired speed Vexp may be increasing all the time; during deceleration of the electric vehicle 100, the desired speed Vexp may be decreasing all the time.
In one embodiment, the remote control 170 may further include a control area 173 for sending other control commands to the controller 150, such as power on/off, lock-out, etc.
It should be understood that fig. 3 is only a schematic structural diagram of the remote controller 170 of the electric vehicle 100 of the present invention. The speed command receiving area 171, the mode switching command receiving area 172, and the control area 173 on the remote controller 170 may also be integrated in one area.
Generally, when the user uses the electric vehicle 100, the user can remove the rear feet from the electric vehicle 100 at any time, then slide with the rear feet and stand the electric vehicle 100 on the rear feet. When one foot of the user leaves the main body 110, the controller 150 has different processing modes in different operation modes, as follows:
(1) when the electric vehicle 100 is operating in the first mode and the speed difference between the current speed Vcur and the desired speed Vexp of the electric vehicle 100 is smaller than the preset speed difference threshold, the controller 150 stops providing power to the electric wheels 120 to enable the electric vehicle 100 to be in a coasting state. At this time, the electric vehicle 100 advances by the force of the user kicking the ground;
(2) when the electric vehicle 100 operates in the second mode, the electric vehicle 100 is in a coasting state. For example, controller 150 may stop providing power to powered wheels 120. Such an arrangement can reduce power consumption
Fig. 4 is a flowchart of a control method of the electric vehicle 100 according to an embodiment of the invention. Referring to fig. 4, after the electric vehicle 100 starts to be activated, the method includes the following steps:
in step 210: the controller 150 obtains the current speed Vcur of the electric vehicle 100. The current speed Vcur may be detected by a speed detection device 130 on the electric vehicle 100.
In step 220: the controller 150 obtains user input. The user input may include two parts, one part is pressure information corresponding to the pressure to which the body 110 of the electric vehicle 100 is subjected, the pressure information being obtained by the pressure sensing device 140 on the electric vehicle 100; another part is a speed command inputted by the user on the remote controller 170, and the content of the speed command may be a specific speed value, an acceleration instruction, a deceleration instruction, a scene mode, or the like. The user input may be pressure information or speed commands alone or in combination.
In step 230: the controller 150 generates the desired speed Vexp based on user input. The method of generating the desired speed Vexp may be the same as in the foregoing embodiment.
Step 240: the controller 150 controls the electric vehicle 100 to move according to the desired speed Vexp and the current speed Vcur. At this step, the method of the controller 150 controlling the electric vehicle 100 to move differs according to the operation mode of the electric vehicle 100. The operating mode includes a first mode and a second mode. The user sends the mode switching command received by the user to the controller 150 through the remote controller 170, so that the operation mode of the electric vehicle 100 is switched between the first mode and the second mode. When the electric vehicle 100 is in the first mode, the next step of step 240 is step 241 (shown in fig. 5); when the electric vehicle 100 is in the second mode, the next step of step 240 is step 242 (shown in fig. 6).
Referring to fig. 5, when the electric vehicle 100 is in the first mode, the method for the controller 150 to control the electric vehicle 100 includes:
step 2411: the controller 150 controls the operating speed of the electric wheels 120 of the electric vehicle 100 such that the operating speed of the electric vehicle 100 is directed toward the desired speed Vexp generated in step 230.
Step 2412: when the electric vehicle 100 is in operation, the controller 150 determines whether the user is located on the main body 110 of the electric vehicle 100 according to the pressure information obtained from the pressure sensing device 140, and determines whether the user stands on both feet or on one foot on the main body 110. When the user stands on both feet of the main body 110, the controller 150 continues to perform the operation of step 2411. It should be noted that step 2412 is continuously executed after the electric vehicle 100 starts to operate, and the sequence of step 2411 is not strict.
Step 2413: when the judgment result of the step 2412 is that the user does not stand on both feet on the main body 110, it is further judged whether the user stands on one foot on the main body 110. The determination method is the same as that in step 2412.
Step 2414: when the determination result of step 2413 is that the user does not stand on the main body 110 with one foot, that is, both feet of the user leave the main body 110 of the electric vehicle 100. At this time, the controller 150 controls the electric vehicle 100 to gradually decelerate until stopping the movement by providing electric brakes to the electric wheels 120 of the electric vehicle 100.
Step 2415: when the determination result in step 2413 is that the user stands on the main body 110 with one foot, it is further determined whether the speed difference between the current speed Vcur and the desired speed Vexp of the electric vehicle 100 is less than a preset speed difference threshold. If the speed difference is greater than the speed difference threshold, the electric vehicle 100 continues to move to the desired speed Vexp, i.e., the controller 150 provides electric drive to the electric wheels 120 to increase the rotation speed of the electric wheels 120.
Step 2416: when the determination result in step 2415 is that the speed difference is smaller than the speed difference threshold, the controller 150 stops providing power to the electric wheels 120, so that the electric vehicle 100 is in a coasting state.
Fig. 6 is a flowchart of a method for controlling the electric vehicle 100 by the controller 150 when the electric vehicle 100 is in the second mode. Unlike the first mode, in the second mode, when the user stands on the main body 110 with both feet, the controller 150 first determines the speed difference between the current speed Vcur and the desired speed Vexp of the electric vehicle 100, and when the speed difference is smaller than a preset speed difference threshold, the electric vehicle 100 is in the sliding state, thereby achieving the effect of saving power. Referring to fig. 6, the process flow of the method includes the following steps:
step 2421: in the second mode, a speed difference between the current speed Vcur and the desired speed Vexp of the electric vehicle 100 is first determined. When the speed difference is smaller than a preset speed difference threshold, the electric vehicle 100 is in a coasting state, i.e., the operation of step 2426 is performed.
Step 2422: when the speed difference is not less than a preset speed difference threshold, it is determined whether the two feet of the user are located on the main body 110.
Step 2423: when the user stands with both feet, the controller 150 provides electric drive to the electric wheels 120 to increase the rotation speed of the electric wheels 120 to make the electric vehicle 100 approach the desired speed Vexp because the speed difference is not less than the speed difference threshold value.
Step 2424: when the judgment result of the step 2422 is that the user does not stand on the main body 110 with both feet, it is further judged whether the user stands on the main body 110 with one foot.
Step 2425: when the determination result of step 2424 is that the user does not stand on the main body 110 with one foot, that is, both feet of the user leave the main body 110 of the electric vehicle 100. At this time, the controller 150 controls the electric vehicle 100 to gradually decelerate until stopping the movement by providing electric brakes to the electric wheels 120 of the electric vehicle 100.
Step 2426: when the determination result of step 2424 is that the user stands on the main body 110 with one foot, the electric vehicle 100 is in the sliding state.
As mentioned above, the current speed Vcur and the desired speed Vexp of the electric vehicle 100 may be dynamically changed, so that the controller 150 may control the movement of the electric vehicle 100 in real time according to the current speed Vcur and the desired speed Vexp regardless of whether the controller 150 is operating in the first mode or the second mode.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes and substitutions may be made without departing from the spirit of the invention, and therefore, changes and modifications to the above embodiments within the spirit of the invention are intended to fall within the scope of the claims of the present application.
Claims (15)
1. An electric vehicle comprising: the device comprises a main body, a speed detection device, a pressure sensing device and a controller; the main body is configured to bear a user, and the pressure sensing device is configured to sense the pressure to which the main body is subjected;
the controller is configured to:
obtaining a current speed of the electric vehicle from the speed detection device;
obtaining pressure information from the pressure sensing device;
generating a desired speed from the pressure information;
controlling the electric vehicle to move according to the desired speed and the current speed;
the electric vehicle further comprises a remote controller, the electric vehicle has a first mode and a second mode, and the controller is configured to control the electric vehicle to switch between the first mode and the second mode according to a mode switching command received by the remote controller;
in the first mode, the controller is configured to cause a speed of the electric vehicle to approach the desired speed;
in the second mode, the controller is configured to place the electric vehicle in a coasting state when a speed difference between the desired speed and the current speed is less than a preset speed difference threshold.
2. The electric vehicle according to claim 1, wherein the speed detection device is at least one of a gyroscope, an accelerometer, an electronic compass, a satellite positioning device;
or the speed detection means is an encoder configured to detect the rotational speed of a wheel of the electric vehicle.
3. The electric vehicle of claim 1, wherein the remote control is configured to receive a speed command from a user and transmit the speed command to the controller;
the controller is configured to generate the desired velocity from the pressure information and/or the velocity command.
4. The electric vehicle of claim 1, wherein the controller is configured to determine whether a user is located on the body based on the pressure information;
in the first mode, placing the electric vehicle in a coasting state when a user leaves the body with one foot and the speed difference is less than the speed difference threshold;
in the second mode, the electric vehicle is placed in a coasting state when one foot of the user is away from the main body.
5. The electric vehicle of claim 1, wherein the controller is configured to begin controlling the electric vehicle to move when the pressure corresponding to the pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
6. The electric vehicle of claim 1, wherein: the pressure information comprises first pressure information corresponding to the pressure applied to a first preset area on the main body;
the controller is configured to start controlling the electric vehicle to move when the pressure corresponding to the first pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
7. The electric vehicle of claim 1, wherein the controller is configured to control the electric vehicle to gradually decelerate until motion is stopped when the pressure corresponding to the pressure information is less than a second pressure threshold.
8. The electric vehicle of claim 1, wherein the controller is configured to maintain a rate of change of the speed of the electric vehicle not exceeding a preset rate-of-speed-change threshold while controlling the electric vehicle to move.
9. A method of controlling an electric vehicle having a first mode and a second mode, the method comprising:
obtaining a current speed of the electric vehicle;
obtaining a user input;
generating a desired speed from the user input;
obtaining a speed difference between the desired speed and the current speed;
comparing the speed difference with a preset speed difference threshold;
receiving a mode switching command, and controlling the electric vehicle to switch between the first mode and the second mode;
wherein in the first mode, the speed of the electric vehicle is brought towards the desired speed; in the second mode, the electric vehicle is placed in a coasting state when the speed difference is less than the speed difference threshold.
10. The method according to claim 9, wherein pressure information is generated by sensing pressure applied to a body of the electric vehicle;
receiving a speed instruction of a user by a remote controller;
generating the user input according to the pressure information and/or the speed instruction.
11. The method for controlling an electric vehicle according to claim 10, further comprising:
judging whether the user is positioned on the main body or not according to the pressure information;
enabling the electric vehicle to be in a sliding state when at least one foot of a user leaves the main body and the speed difference is smaller than a preset speed difference threshold value, or enabling the electric vehicle to be in the sliding state when at least one foot of the user leaves the main body.
12. The method of claim 10, wherein controlling the electric vehicle is initiated when the pressure corresponding to the pressure information is greater than a first pressure threshold and the current speed is greater than a speed threshold.
13. The method according to claim 10, wherein the pressure information includes first pressure information corresponding to a pressure applied to a first predetermined area on the body;
and when the pressure corresponding to the first pressure information is greater than a first pressure threshold value and the current speed is greater than a speed threshold value, starting to control the electric vehicle to move.
14. The method according to claim 10, wherein the electric vehicle is controlled to gradually decelerate until the electric vehicle stops moving when the pressure corresponding to the pressure information is less than a second pressure threshold.
15. The method of claim 9 wherein the rate of change of the speed of the electric vehicle is maintained at no more than a predetermined rate of speed change threshold while controlling the electric vehicle to move.
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