CN112141253A - Balance car running mode control method, equipment, storage medium and device - Google Patents
Balance car running mode control method, equipment, storage medium and device Download PDFInfo
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- CN112141253A CN112141253A CN202010998488.7A CN202010998488A CN112141253A CN 112141253 A CN112141253 A CN 112141253A CN 202010998488 A CN202010998488 A CN 202010998488A CN 112141253 A CN112141253 A CN 112141253A
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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
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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
- B62K2204/00—Adaptations for driving cycles by electric motor
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Abstract
The invention relates to the technical field of balance car control, and discloses a balance car running mode control method, equipment, a storage medium and a device. According to the method, when the balance car receives a mode selection instruction, a corresponding current driving mode is determined according to the mode selection instruction; determining a corresponding driving parameter threshold according to the current driving mode; and controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value, so that the current driving parameters can be controlled through the driving parameter threshold value corresponding to the current driving mode, the dynamic adjustment of the current driving parameters is realized, the driving safety problem caused by the fact that the current driving parameters cannot be safely controlled is avoided, and the purpose of improving the driving safety of the balance car is achieved.
Description
Technical Field
The invention relates to the technical field of balance car control, in particular to a balance car running mode control method, equipment, a storage medium and a device.
Background
As a means of transportation, a balance car starts to travel by using the gravity of the body as acceleration, but since the balance car usually encounters intersections where traffic is complicated, such as sand, climbing, potholes, and the like, during traveling, the demand for controlling the balance car is increasing.
At present, more and more children begin to be interested in the balance car, but because children's physical reason, it is easier to lose control to the health to cause the safety problem of going of balance car.
Disclosure of Invention
The invention mainly aims to provide a balance car running mode control method, equipment, a storage medium and a device, and aims to improve the running safety of a balance car.
In order to achieve the above object, the present invention provides a balance car driving mode control method, including:
when the balance car receives a mode selection instruction, determining a corresponding current driving mode according to the mode selection instruction;
determining a corresponding driving parameter threshold according to the current driving mode;
controlling a current driving parameter based on the driving parameter threshold such that the current driving parameter does not exceed the driving parameter threshold.
Optionally, before the balancing vehicle receives a mode selection instruction and determines a corresponding current driving mode according to the mode selection instruction, the method further includes:
acquiring a current connection mode;
and when the current connection mode is a Bluetooth connection mode, receiving a mode selection instruction according to the Bluetooth connection mode.
Optionally, after the current connection mode is obtained, the method further includes:
when the current connection mode is a mobile communication network connection mode, switching the mobile communication network connection mode into a Bluetooth connection mode;
and receiving a mode selection instruction according to the Bluetooth connection mode.
Optionally, the driving parameter threshold comprises a driving speed threshold;
the controlling of the current driving parameter based on the driving parameter threshold includes:
acquiring a current driving speed, and comparing the current driving speed with the driving speed threshold;
adjusting the current driving speed to not exceed the driving speed threshold when the current driving speed exceeds the driving speed threshold.
Optionally, the driving parameter threshold comprises a sensitivity threshold;
the controlling of the current driving parameter based on the driving parameter threshold includes:
acquiring current driving sensitivity, and comparing the current driving sensitivity with the sensitivity threshold;
adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
Optionally, the sensitivity threshold comprises a pedal sensitivity threshold;
the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current pedal sensitivity exceeds the pedal sensitivity threshold, acquiring the flatness information of a current running road section;
determining the pedal sensitivity level according to the road section flatness information of the current driving;
updating the pedal sensitivity threshold according to the pedal sensitivity grade to obtain an updated pedal sensitivity threshold;
adjusting the current driving sensitivity to not exceed the updated pedal sensitivity threshold.
Optionally, the driving parameter threshold comprises a steering sensitivity threshold;
the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current steering sensitivity exceeds the steering sensitivity threshold value, acquiring the turning direction angle information of the current running road section;
determining a steering sensitivity threshold level according to the current running road section turning direction angle information;
updating the steering sensitivity threshold according to the steering sensitivity threshold level to obtain an updated steering sensitivity threshold;
adjusting the current steering sensitivity to not exceed the updated steering sensitivity threshold.
Optionally, before controlling the current driving parameter based on the driving parameter threshold, the method further comprises:
acquiring a parameter limit value corresponding to the current driving parameter;
comparing the parameter limit value to the driving parameter threshold value;
the step of controlling the current driving parameter based on the driving parameter threshold is performed when the driving parameter threshold does not exceed the parameter limit.
Optionally, before controlling the current driving parameter based on the driving parameter threshold, the method further comprises:
acquiring current residual electric quantity information, and judging whether the current residual electric quantity information exceeds the use electric quantity information corresponding to the driving parameter threshold;
and when the current residual power information does not exceed the use power information corresponding to the driving parameter threshold, executing the step of controlling the current driving parameter based on the driving parameter threshold.
Optionally, after controlling the current driving parameter based on the driving parameter threshold, the method further comprises:
acquiring a mode switching instruction;
and extracting a target driving mode in the mode switching instruction, and switching the current driving mode into the target driving mode.
Optionally, the method further includes, after the target driving mode in the mode switching instruction is extracted, switching the current driving mode to the target driving mode, where:
extracting a target driving mode in the mode switching instruction;
judging whether the target driving mode is a user habit driving mode or not;
and when the target driving mode is the driving mode which is used by the user, switching the current driving mode into the target driving mode.
Optionally, before determining whether the target driving mode is a driving mode that the user is accustomed to, the method further includes:
acquiring historical driving behavior information of a user;
obtaining a corresponding historical driving mode according to the historical driving behavior information;
and counting the use frequency information of the historical driving mode, and taking the historical driving mode corresponding to the use frequency information reaching the use threshold as the driving mode habituated to the user.
Optionally, after controlling the current driving parameter based on the driving parameter threshold, the method further comprises:
when the balance car receives a driving direction control instruction of the mobile terminal, extracting driving direction information in the driving direction control instruction;
and controlling the running direction of the balance car according to the running direction information.
In order to achieve the above object, the present invention also provides a balance vehicle running mode control device including:
the determining module is used for determining a corresponding current driving mode according to a mode selection instruction when the balance car receives the mode selection instruction;
the determining module is further configured to determine a corresponding driving parameter threshold according to the current driving mode;
and the control module is used for controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value.
Optionally, the balance car running mode control device further includes: an acquisition module;
the acquisition module is used for acquiring the current connection mode;
and when the current connection mode is a Bluetooth connection mode, receiving a mode selection instruction according to the Bluetooth connection mode.
Optionally, the balance car running mode control device further includes: a switching module;
the switching module is used for switching the mobile communication network connection mode into a Bluetooth connection mode when the current connection mode is the mobile communication network connection mode;
and receiving a mode selection instruction according to the Bluetooth connection mode.
Optionally, the driving parameter threshold comprises a driving speed threshold;
the control module is further used for obtaining the current driving speed and comparing the current driving speed with the driving speed threshold;
adjusting the current driving speed to not exceed the driving speed threshold when the current driving speed exceeds the driving speed threshold.
Optionally, the driving parameter threshold comprises a sensitivity threshold;
the control module is further configured to acquire a current driving sensitivity, and compare the current driving sensitivity with the sensitivity threshold;
adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
Further, to achieve the above object, the present invention also proposes a balance car running mode control apparatus comprising: the control method comprises the steps of storing a running mode control program of the balance car, storing the running mode control program of the balance car in a memory, storing the running mode control program of the balance car in the memory, and running the running mode control program of the balance car on the processor, wherein the running mode control program of the balance car realizes the steps of the running mode control method of the balance car when the running mode control program of the balance car is executed by the processor.
In order to achieve the above object, the present invention further provides a storage medium having a balance car running mode control program stored thereon, wherein the balance car running mode control program, when executed by a processor, implements the steps of the balance car running mode control method as described above.
According to the technical scheme provided by the invention, when the balance car receives a mode selection instruction, the corresponding current driving mode is determined according to the mode selection instruction; determining a corresponding driving parameter threshold according to the current driving mode; and controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value, so that the current driving parameters can be controlled through the driving parameter threshold value corresponding to the current driving mode, the dynamic adjustment of the current driving parameters is realized, the driving safety problem caused by the fact that the current driving parameters cannot be safely controlled is avoided, and the purpose of improving the driving safety of the balance car is achieved.
Drawings
FIG. 1 is a schematic structural diagram of a control device for a driving mode of a balance car in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a balance vehicle driving mode control method according to the present invention;
FIG. 3 is a schematic view of an interface configuration according to an embodiment of a balance vehicle driving mode control method of the present invention;
FIG. 4 is a schematic view illustrating a driving mode selection according to an embodiment of a balance vehicle driving mode control method of the present invention;
FIG. 5 is a schematic diagram illustrating threshold setting according to an embodiment of the balance vehicle driving mode control method of the present invention;
FIG. 6 is a flowchart illustrating a driving mode control method for a balance vehicle according to a second embodiment of the present invention;
FIG. 7 is a flowchart illustrating a method for controlling a driving mode of a balance vehicle according to a third embodiment of the present invention;
fig. 8 is a block diagram showing the configuration of the first embodiment of the running mode control device for the balance vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a balance car driving mode control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the balance car running mode control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), the optional user interface 1003 may also include a standard wired interface and a wireless interface, and the wired interface of the user interface 1003 may be a Universal Serial Bus (USB) interface in the present invention. The network interface 1004 may optionally include a standard wired interface as well as a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a high speed Random Access Memory (RAM); or a stable Memory, such as a Non-volatile Memory (Non-volatile Memory), and may be a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the balance car travel mode control apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a balance car driving mode control program.
In the balance car driving mode control device shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting peripheral equipment; the balance car running mode control apparatus calls a balance car running mode control program stored in the memory 1005 through the processor 1001 and executes a balance car running mode control method provided by an embodiment of the present invention.
Based on the hardware structure, the embodiment of the balance car running mode control method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a driving mode control method for a balance car according to a first embodiment of the present invention.
In a first embodiment, the balance car running mode control method includes the steps of:
step S10: and when the balance car receives a mode selection instruction, determining a corresponding current driving mode according to the mode selection instruction.
It should be noted that, the execution subject of the embodiment is the balance car running mode control device, and may also be other devices that can realize the same or similar functions, for example, a balance car provided with a balance car running mode control function.
In this embodiment, the power output of the balance car depends on the inclination degree of the body of the user, the more the inclination is, the larger the acceleration is, and the speed limit control system is added in the balance car, so as to realize the effective control of the balance car.
In a specific implementation, mode selection is performed through a configuration interface displayed by a balance car application installed on a mobile phone, and when a user selects a mode, a mode selection instruction is generated, for example, the interface setting diagram shown in fig. 3 and the driving mode selection diagram shown in fig. 4, and a riding mode selection is performed through an interface, for example, a new hand mode, a high hand mode, a custom mode, and the like, and may also be used for the user to select other modes, for example, a child mode or an adult mode, and the like, which is not limited in this embodiment.
It will be appreciated that alternative driving modes may also be flexibly configured and adjusted according to user requirements, such as adding driving modes or editing driving modes.
For example, when a user selects a driving mode, a new hand mode, a high hand mode and a user-defined mode can be selected, when the driving mode needs to be added, a mode adding instruction is obtained, mode parameter information and mode name information in the mode adding instruction are extracted, the mode parameter information is managed according to the mode name information, and display interface information is generated for the user to select.
Or, for example, when the user edits the driving mode, the user may edit a new hand mode, a high hand mode, and a user-defined mode, and when the driving mode needs to be edited, the user acquires a mode editing instruction, extracts mode parameter information and mode name information in the mode editing instruction, and edits the mode parameter information according to the mode name information, so that the user can select the mode according to the edited driving mode, thereby realizing flexibility of mode selection.
In this embodiment, before the step S10, the method further includes:
and acquiring a current connection mode, and receiving a mode selection instruction according to the Bluetooth connection mode when the current connection mode is the Bluetooth connection mode.
It should be noted that, the current connection mode is a current communication mode of the balance car, and the current communication mode of the balance car may include a bluetooth communication mode, a wireless hotspot communication mode, and the like, and may also include other communication modes, which is not limited in this embodiment.
In this embodiment, preferably, a bluetooth communication mode is used as a target communication mode, and the mobile terminal of the user can be quickly connected through bluetooth, so that the driving mode of the balance car can be adjusted through a balance car driving mode control program on the mobile phone.
In an embodiment, after the obtaining of the current connection mode, the method further includes:
when the current connection mode is a mobile communication network connection mode, switching the mobile communication network connection mode into a Bluetooth connection mode; and receiving a mode selection instruction according to the Bluetooth connection mode.
In this embodiment, a fast switching of the connection mode of the balance car may also be implemented, and since the balance car is provided with the mobile communication network, in a general case, information interaction is performed through the mobile communication network, such as positioning of the balance car, and in this case, in order to implement fast adjustment of the driving mode of the balance car, a bluetooth connection is established with the balance car, and by obtaining the current connection mode, when the current connection mode is the mobile communication network connection mode, the mobile communication network connection mode is switched to the bluetooth connection mode, thereby implementing effective switching of the connection mode of the balance car.
Step S20: and determining a corresponding driving parameter threshold according to the current driving mode.
It should be noted that the driving parameter threshold includes a driving speed threshold, a pedal sensitivity threshold, a steering sensitivity threshold, and the like, and may further include other threshold information, which is not limited in this embodiment. And determining a corresponding running speed threshold value, a pedal sensitivity threshold value and a steering sensitivity threshold value according to the current driving mode, and controlling the current driving parameters according to the running speed threshold value, the pedal sensitivity threshold value and the steering sensitivity threshold value.
For example, when the user selects the novice mode, the corresponding driving speed threshold, pedal sensitivity threshold, and steering sensitivity threshold are obtained according to the novice mode, for example, the driving speed threshold is 10km/h, and other parameter information is also available.
In a specific implementation, parameter configuration information in the adjustment instruction may be extracted according to the adjustment instruction of the user, and the driving speed threshold, the pedal sensitivity threshold, and the steering sensitivity threshold are adjusted according to the parameter configuration information, for example, the driving speed threshold, which is the fastest speed, is set to 20km/h, and adjustment of other parameters may also be included, which is not limited in this embodiment.
Step S30: controlling a current driving parameter based on the driving parameter threshold such that the current driving parameter does not exceed the driving parameter threshold.
In this embodiment, if the power output does not reach the limit value, but the speed limit point corresponding to the "driving mode" is reached first, the user cannot accelerate continuously even if the body of the user leans forward. The balance car is matched with various driving modes aiming at different crowds, and parameter values comprise fastest speed, pedal sensitivity, steering sensitivity and the like.
The APP (Application) of the balance car is detailed as follows: firstly, opening a mobile phone [ setting ] - > [ Bluetooth ] - > to start Bluetooth, searching and finding out equipment pairing connection named as 'balance car-XXXXXX', and when the connection is successful, the balance car can send out buzzing prompt tone; then, the APP is opened to click the front view, a mode suitable for the APP is selected as the 'driving mode' in fig. 3-4, after the selection is completed, the APP can transmit various 'vehicle sensitivity' parameters to the balance car, and therefore the speed limiting mode is started, as shown in fig. 5.
In concrete the realization, APP through the balance car still can control functions such as car light switch, atmosphere lamp and remote control vehicle, for example when obtaining car light switch instruction, according to car light switch instruction carries out corresponding on or off control to the car light to the realization is to the function extension of balance car, can the omnidirectional controls the balance car, and still can monitor the car condition information of balance car, carries out corresponding show when the car condition is normal, for example the car condition is normal, when the car condition is abnormal, carries out corresponding warning, thereby improves the intellectuality of balance car control.
In the embodiment, when the balance car receives a mode selection instruction, the corresponding current driving mode is determined according to the mode selection instruction; determining a corresponding driving parameter threshold according to the current driving mode; and controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value, so that the current driving parameters can be controlled through the driving parameter threshold value corresponding to the current driving mode, the dynamic adjustment of the current driving parameters is realized, the driving safety problem caused by the fact that the current driving parameters cannot be safely controlled is avoided, and the purpose of improving the driving safety of the balance car is achieved.
Referring to fig. 6, fig. 6 is a flowchart illustrating a method for controlling a driving mode of a balance vehicle according to a second embodiment of the present invention, and the method for controlling a driving mode of a balance vehicle according to the second embodiment of the present invention is proposed based on the first embodiment illustrated in fig. 2.
In a second embodiment, the driving parameter threshold comprises a driving speed threshold; the step S30 includes:
step S301, obtaining the current driving speed, and comparing the current driving speed with the driving speed threshold value.
In a specific implementation, the current driving speed is obtained, for example, the current driving speed is 20km/h, where the current driving speed may be acquired by a speed sensor arranged on the balance car, and may also be acquired by other manners, which is not limited in this embodiment, when the current driving speed is 20km/h, and a driving speed threshold corresponding to a current driving mode is 10km/h, it indicates that the current driving speed is greater than the driving speed threshold, and in this case, the current driving speed is adjusted to not exceed the driving speed threshold, that is, the current driving speed is adjusted to 9km/h, so as to ensure the driving safety of the balance car.
Step S302, when the current driving speed exceeds the driving speed threshold, adjusting the current driving speed not to exceed the driving speed threshold.
In a specific implementation, when the current driving speed exceeds the driving speed threshold, the current driving speed is adjusted, for example, to be the driving speed threshold, and other adjustment strategies may also be used for adjustment, for example, the current driving speed is adjusted to be 90% of the driving speed threshold, and other adjustment ratio parameters may also be used, which is not limited in this embodiment.
In one embodiment, the driving parameter threshold comprises a sensitivity threshold; the step S30 includes:
acquiring current driving sensitivity, and comparing the current driving sensitivity with the sensitivity threshold; adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
It should be noted that the sensitivity threshold includes a pedal sensitivity threshold and a steering sensitivity threshold, and may further include other types of sensitivity information, which is not limited in this embodiment, and when the current driving sensitivity exceeds the sensitivity threshold, the current driving sensitivity is adjusted to not exceed the sensitivity threshold, so as to ensure safety in terms of sensitivity of the balance car.
In one embodiment, the sensitivity threshold comprises a pedal sensitivity threshold, and the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold comprises:
when the current pedal sensitivity exceeds the pedal sensitivity threshold, acquiring the flatness information of a current running road section; determining the pedal sensitivity level according to the road section flatness information of the current driving; updating the pedal sensitivity threshold according to the pedal sensitivity grade to obtain an updated pedal sensitivity threshold; adjusting the current driving sensitivity to not exceed the updated pedal sensitivity threshold.
In the embodiment, the pedal sensitivity threshold can be adjusted in time according to the real-time road condition information, so that the flexibility and the safety of the adjustment of the driving parameters are ensured, the corresponding relation between the road section flatness information and the pedal sensitivity level is established, so that the corresponding pedal sensitivity level can be obtained according to the road section flatness information, the corresponding relation between the pedal sensitivity level and the pedal sensitivity threshold is established, so that the corresponding pedal sensitivity threshold can be obtained according to the pedal sensitivity level, the originally set pedal sensitivity threshold is adjusted according to the corresponding pedal sensitivity threshold, and the updating of the pedal sensitivity threshold is realized.
In a specific implementation, when the current pedal sensitivity exceeds the pedal sensitivity threshold, the pedal sensitivity threshold is adjusted according to the road section flatness information, for example, the pedal sensitivity threshold is adjusted according to the pedal sensitivity level, so that the flexibility of adjusting the driving parameters is improved.
In one embodiment, the driving parameter threshold comprises a steering sensitivity threshold; the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current steering sensitivity exceeds the steering sensitivity threshold value, acquiring the turning direction angle information of the current running road section; determining a steering sensitivity threshold level according to the current running road section turning direction angle information; updating the steering sensitivity threshold according to the steering sensitivity threshold level to obtain an updated steering sensitivity threshold; adjusting the current steering sensitivity to not exceed the updated steering sensitivity threshold.
In the embodiment, the steering sensitivity threshold can be adjusted in time according to the road section turning direction angle information, so that the flexibility and the safety of the adjustment of the driving parameters are ensured, the corresponding relation between the road section turning direction angle information and the steering sensitivity threshold level is established, so that the corresponding steering sensitivity threshold level can be obtained according to the road section turning direction angle information, the corresponding relation between the steering sensitivity threshold level and the steering sensitivity threshold is established, so that the corresponding steering sensitivity threshold can be obtained according to the steering sensitivity level, the originally set steering sensitivity threshold is adjusted according to the corresponding steering sensitivity threshold, and the updating of the steering sensitivity threshold is realized.
In a specific implementation, when the current steering sensitivity exceeds the steering sensitivity threshold, the steering sensitivity threshold is adjusted according to the road section turning direction angle information, for example, the steering sensitivity threshold is adjusted according to the steering sensitivity level, so that the flexibility of the driving parameter adjustment is improved.
In the embodiment, the driving parameters of the current balance car are adaptively adjusted through the set driving speed threshold and the set sensitivity threshold, so that the driving parameters of the current balance car do not exceed the driving speed threshold and the sensitivity threshold, and the driving safety of the balance car is ensured.
Referring to fig. 7, fig. 7 is a flowchart illustrating a method for controlling a driving mode of a balance vehicle according to a third embodiment of the present invention, and the method for controlling a driving mode of a balance vehicle according to the third embodiment of the present invention is proposed based on the first embodiment illustrated in fig. 2.
Before the step S30, the method further includes:
step S303, acquiring a parameter limit value corresponding to the current driving parameter.
It should be noted that, each parameter of the balance car in the running process has a corresponding parameter limit value, so that the running parameter is ensured not to exceed the parameter limit value, and the running safety of the balance car is ensured.
For example, the limit value of the running speed of the balance car is 50km/h, and the current running speed may exceed 50km/h under the condition that the user is continuously accelerated by gravity, in this case, the current running speed is limited to a range lower than the limit value of the parameter, so as to ensure the safety of the user using the balance car.
Step S304, comparing the parameter limit value with the driving parameter threshold value.
In this embodiment, the driving parameter threshold value is guaranteed not to exceed the parameter limit value in view of the comparison of the parameter limit value with the driving parameter threshold value, so that the validity of the parameter adjustment is guaranteed in the case of adjusting the current driving parameter by means of the driving parameter threshold value.
For example, the parameter limit value of the balance car is 50km/h, and the set driving parameter threshold value is 60km/h, in this case, the parameter limit value of the balance car is smaller than the set driving parameter threshold value, so the set driving parameter threshold value is adjusted according to the parameter limit value, and the validity of the driving parameter threshold value is ensured.
When the driving parameter threshold value does not exceed the parameter limit value, step S30 is executed.
In a specific implementation, when the driving parameter threshold does not exceed the parameter limit value, it indicates that the driving parameter threshold is valid, so that the current driving parameter may be adaptively adjusted through the driving parameter threshold, and when the driving parameter threshold exceeds the parameter limit value, it indicates that the driving parameter threshold needs to be adjusted, so that the driving parameter threshold may be adjusted by using a preset strategy, specifically, adjusted according to a proportion, or directly adjusted to the parameter limit value, which is not limited in this embodiment.
In an embodiment, before the step S30, the method further includes:
acquiring current residual electric quantity information, and judging whether the current residual electric quantity information exceeds the use electric quantity information corresponding to the driving parameter threshold; and executing step S30 when the current remaining power information does not exceed the usage power information corresponding to the driving parameter threshold.
In this embodiment, the balance car is provided with an electric quantity monitoring device, the current remaining electric quantity information can be obtained through the electric quantity monitoring device, and the remaining electric quantity information can also be obtained through other manners, this embodiment is not limited to this, and as shown in the interface setting schematic diagram shown in fig. 3, obtaining the current remaining mileage information and remaining power information, judging whether the remaining power information meets the use power information corresponding to the driving parameter threshold, when the residual electric quantity information meets the use electric quantity information corresponding to the driving parameter threshold value, the current driving parameter can be adjusted according to the driving parameter threshold value, when the residual electric quantity information does not meet the use electric quantity information corresponding to the driving parameter threshold, the driving parameter threshold is not adjusted, and the original driving parameter threshold is still kept for parameter control, so that the effectiveness of data adjustment is realized.
In an embodiment, after the step S30, the method further includes:
acquiring a mode switching instruction; and extracting a target driving mode in the mode switching instruction, and switching the current driving mode into the target driving mode.
In this embodiment, the mode switching instruction may be a mode switching instruction generated by operating the balance car APP, or may also be a mode switching instruction obtained by a switching button on the balance car, which is not limited in this embodiment.
In a specific implementation, the current driving mode is switched to the target driving mode by extracting the target driving mode in the mode switching instruction, for example, when the current driving mode is the child driving mode and the target driving mode is the adult driving mode, the child driving mode is switched to the adult driving mode, so that the driving mode can be flexibly adjusted according to user requirements.
In one embodiment, the method further includes, after the extracting of the target driving mode in the mode switching instruction, switching the current driving mode to the target driving mode, and the method further includes:
extracting a target driving mode in the mode switching instruction; judging whether the target driving mode is a user habit driving mode or not; and when the target driving mode is the driving mode which is used by the user, switching the current driving mode into the target driving mode.
It can be understood that, in order to obtain the driving mode that the user is accustomed to, specifically, historical driving behavior information of the user is obtained; obtaining a corresponding historical driving mode according to the historical driving behavior information; and counting the use frequency information of the historical driving mode, and taking the historical driving mode corresponding to the use frequency information reaching the use threshold as the driving mode habituated to the user.
In this embodiment, the usage threshold may be 30 times, or may also be other times parameter information, which is not limited in this embodiment, for example, the driving mode usage data of the user is recorded, the usage times information of the user is obtained from the driving mode usage data of the user, when the usage times information is 50 times, it is indicated that the user is accustomed to the driving mode, and the target driving mode is adjusted to the driving mode that the user is accustomed to, so that the driving mode can better meet the requirements of different users.
In an embodiment, after the step S30, the method further includes:
when the balance car receives a driving direction control instruction of the mobile terminal, extracting driving direction information in the driving direction control instruction; and controlling the running direction of the balance car according to the running direction information.
In this embodiment, the running direction can be pointed out through a gyroscope in the mobile phone where the balance car APP is located, and the running direction of the balance car is controlled through a running direction control instruction, so that the intellectualization of the balance car is improved.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a balance car driving mode control program, and the balance car driving mode control program, when executed by a processor, implements the steps of the terminal network accessing method described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Further, referring to fig. 8, an embodiment of the present invention further provides a balance car running mode control device, including:
the determining module 10 is configured to determine, when the balance car receives a mode selection instruction, a corresponding current driving mode according to the mode selection instruction.
In this embodiment, the power output of the balance car depends on the inclination degree of the body of the user, the more the inclination is, the larger the acceleration is, and the speed limit control system is added in the balance car, so as to realize the effective control of the balance car.
In a specific implementation, mode selection is performed through a configuration interface displayed by a balance car application installed on a mobile phone, and when a user selects a mode, a mode selection instruction is generated, for example, the interface setting diagram shown in fig. 3 and the driving mode selection diagram shown in fig. 4, and a riding mode selection is performed through an interface, for example, a new hand mode, a high hand mode, a custom mode, and the like, and may also be used for the user to select other modes, for example, a child mode or an adult mode, and the like, which is not limited in this embodiment.
It will be appreciated that alternative driving modes may also be flexibly configured and adjusted according to user requirements, such as adding driving modes or editing driving modes.
For example, when a user selects a driving mode, a new hand mode, a high hand mode and a user-defined mode can be selected, when the driving mode needs to be added, a mode adding instruction is obtained, mode parameter information and mode name information in the mode adding instruction are extracted, the mode parameter information is managed according to the mode name information, and display interface information is generated for the user to select.
Or, for example, when the user edits the driving mode, the user may edit a new hand mode, a high hand mode, and a user-defined mode, and when the driving mode needs to be edited, the user acquires a mode editing instruction, extracts mode parameter information and mode name information in the mode editing instruction, and edits the mode parameter information according to the mode name information, so that the user can select the mode according to the edited driving mode, thereby realizing flexibility of mode selection.
In this embodiment, the balance car running mode control device further includes: and the receiving module is used for acquiring the current connection mode and receiving a mode selection instruction according to the Bluetooth connection mode when the current connection mode is the Bluetooth connection mode.
It should be noted that, the current connection mode is a current communication mode of the balance car, and the current communication mode of the balance car may include a bluetooth communication mode, a wireless hotspot communication mode, and the like, and may also include other communication modes, which is not limited in this embodiment.
In this embodiment, preferably, a bluetooth communication mode is used as a target communication mode, and the mobile terminal of the user can be quickly connected through bluetooth, so that the driving mode of the balance car can be adjusted through a balance car driving mode control program on the mobile phone.
In an embodiment, the receiving module is further configured to switch the mobile communication network connection mode to a bluetooth connection mode when the current connection mode is the mobile communication network connection mode; and receiving a mode selection instruction according to the Bluetooth connection mode.
In this embodiment, a fast switching of the connection mode of the balance car may also be implemented, and since the balance car is provided with the mobile communication network, in a general case, information interaction is performed through the mobile communication network, such as positioning of the balance car, and in this case, in order to implement fast adjustment of the driving mode of the balance car, a bluetooth connection is established with the balance car, and by obtaining the current connection mode, when the current connection mode is the mobile communication network connection mode, the mobile communication network connection mode is switched to the bluetooth connection mode, thereby implementing effective switching of the connection mode of the balance car.
The determining module 10 is further configured to determine a corresponding driving parameter threshold according to the current driving mode.
It should be noted that the driving parameter threshold includes a driving speed threshold, a pedal sensitivity threshold, a steering sensitivity threshold, and the like, and may further include other threshold information, which is not limited in this embodiment. And determining a corresponding running speed threshold value, a pedal sensitivity threshold value and a steering sensitivity threshold value according to the current driving mode, and controlling the current driving parameters according to the running speed threshold value, the pedal sensitivity threshold value and the steering sensitivity threshold value.
For example, when the user selects the novice mode, the corresponding driving speed threshold, pedal sensitivity threshold, and steering sensitivity threshold are obtained according to the novice mode, for example, the driving speed threshold is 10km/h, and other parameter information is also available.
In a specific implementation, parameter configuration information in the adjustment instruction may be extracted according to the adjustment instruction of the user, and the driving speed threshold, the pedal sensitivity threshold, and the steering sensitivity threshold are adjusted according to the parameter configuration information, for example, the driving speed threshold, which is the fastest speed, is set to 20km/h, and adjustment of other parameters may also be included, which is not limited in this embodiment.
And the control module 20 is configured to control the current driving parameter based on the driving parameter threshold value, so that the current driving parameter does not exceed the driving parameter threshold value.
In this embodiment, if the power output does not reach the limit value, but the speed limit point corresponding to the "driving mode" is reached first, the user cannot accelerate continuously even if the body of the user leans forward. The balance car is matched with various driving modes aiming at different crowds, and parameter values comprise fastest speed, pedal sensitivity, steering sensitivity and the like.
APP of the balance vehicle is detailed as follows: firstly, opening a mobile phone [ setting ] - > [ Bluetooth ] - > to start Bluetooth, searching and finding out equipment pairing connection named as 'balance car-XXXXXX', and when the connection is successful, the balance car can send out buzzing prompt tone; then, the APP is opened to click the front view, a mode suitable for the APP is selected as the 'driving mode' in fig. 3-4, after the selection is completed, the APP can transmit various 'vehicle sensitivity' parameters to the balance car, and therefore the speed limiting mode is started, as shown in fig. 5.
In concrete the realization, APP through the balance car still can control functions such as car light switch, atmosphere lamp and remote control vehicle, for example when obtaining car light switch instruction, according to car light switch instruction carries out corresponding on or off control to the car light to the realization is to the function extension of balance car, can the omnidirectional controls the balance car, and still can monitor the car condition information of balance car, carries out corresponding show when the car condition is normal, for example the car condition is normal, when the car condition is abnormal, carries out corresponding warning, thereby improves the intellectuality of balance car control.
In the embodiment, when the balance car receives a mode selection instruction, the corresponding current driving mode is determined according to the mode selection instruction; determining a corresponding driving parameter threshold according to the current driving mode; and controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value, so that the current driving parameters can be controlled through the driving parameter threshold value corresponding to the current driving mode, the dynamic adjustment of the current driving parameters is realized, the driving safety problem caused by the fact that the current driving parameters cannot be safely controlled is avoided, and the purpose of improving the driving safety of the balance car is achieved.
In one embodiment, the driving parameter threshold comprises a driving speed threshold; the control module 20 is further configured to obtain a current driving speed, and compare the current driving speed with the driving speed threshold;
adjusting the current driving speed to not exceed the driving speed threshold when the current driving speed exceeds the driving speed threshold.
In one embodiment, the driving parameter threshold comprises a sensitivity threshold; the control module 20 is further configured to acquire a current driving sensitivity, and compare the current driving sensitivity with the sensitivity threshold;
adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
In one embodiment, the sensitivity threshold comprises a pedal sensitivity threshold; the control module 20 is further configured to acquire road section flatness information currently driving when the current pedal sensitivity exceeds the pedal sensitivity threshold;
determining the pedal sensitivity level according to the road section flatness information of the current driving;
updating the pedal sensitivity threshold according to the pedal sensitivity grade to obtain an updated pedal sensitivity threshold;
adjusting the current driving sensitivity to not exceed the updated pedal sensitivity threshold.
In one embodiment, the driving parameter threshold comprises a steering sensitivity threshold; the control module 20 is further configured to acquire turning direction angle information of a currently driving road section when the current steering sensitivity exceeds the steering sensitivity threshold;
determining a steering sensitivity threshold level according to the current running road section turning direction angle information;
updating the steering sensitivity threshold according to the steering sensitivity threshold level to obtain an updated steering sensitivity threshold;
adjusting the current steering sensitivity to not exceed the updated steering sensitivity threshold.
In one embodiment, the balance car running mode control device further includes: the comparison module is used for acquiring a parameter limit value corresponding to the current driving parameter;
comparing the parameter limit value to the driving parameter threshold value.
In one embodiment, the balance car running mode control device further includes: and the judging module is used for acquiring the current residual electric quantity information and judging whether the current residual electric quantity information exceeds the use electric quantity information corresponding to the driving parameter threshold value.
In one embodiment, the balance car running mode control device further includes: the switching module is used for acquiring a mode switching instruction; and extracting a target driving mode in the mode switching instruction, and switching the current driving mode into the target driving mode.
In an embodiment, the switching module is further configured to extract a target driving mode in the mode switching instruction; judging whether the target driving mode is a user habit driving mode or not; and when the target driving mode is the driving mode which is used by the user, switching the current driving mode into the target driving mode.
In one embodiment, the balance car running mode control device further includes: the statistical module is used for acquiring historical driving behavior information of a user;
obtaining a corresponding historical driving mode according to the historical driving behavior information;
and counting the use frequency information of the historical driving mode, and taking the historical driving mode corresponding to the use frequency information reaching the use threshold as the driving mode habituated to the user.
In an embodiment, the control module 20 is further configured to, when the balance car receives a driving direction control instruction of the mobile terminal, extract driving direction information in the driving direction control instruction; and controlling the running direction of the balance car according to the running direction information.
The balance car running mode control device provided by the invention adopts all technical schemes of all the embodiments, so that the balance car running mode control device at least has all beneficial effects brought by the technical schemes of the embodiments, and the detailed description is omitted.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
The invention discloses A1 and a balance car running mode control method, which comprises the following steps:
when the balance car receives a mode selection instruction, determining a corresponding current driving mode according to the mode selection instruction;
determining a corresponding driving parameter threshold according to the current driving mode;
controlling a current driving parameter based on the driving parameter threshold such that the current driving parameter does not exceed the driving parameter threshold.
A2, the balance vehicle running mode control method according to claim a1, when the balance vehicle receives a mode selection command, before determining a corresponding current driving mode according to the mode selection command, the method further comprising:
acquiring a current connection mode;
and when the current connection mode is a Bluetooth connection mode, receiving a mode selection instruction according to the Bluetooth connection mode.
A3, the balance vehicle driving mode control method of claim a2, further comprising, after acquiring the current connection mode:
when the current connection mode is a mobile communication network connection mode, switching the mobile communication network connection mode into a Bluetooth connection mode;
and receiving a mode selection instruction according to the Bluetooth connection mode.
A4, the balance vehicle driving mode control method of claim a1, the driving parameter threshold value comprising a driving speed threshold value;
the controlling of the current driving parameter based on the driving parameter threshold includes:
acquiring a current driving speed, and comparing the current driving speed with the driving speed threshold;
adjusting the current driving speed to not exceed the driving speed threshold when the current driving speed exceeds the driving speed threshold.
A5, the balance vehicle driving mode control method of claim a1, the driving parameter threshold value comprising a sensitivity threshold value;
the controlling of the current driving parameter based on the driving parameter threshold includes:
acquiring current driving sensitivity, and comparing the current driving sensitivity with the sensitivity threshold;
adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
A6, the balance vehicle running mode control method of claim a5, the sensitivity threshold comprising a pedal sensitivity threshold;
the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current pedal sensitivity exceeds the pedal sensitivity threshold, acquiring the flatness information of a current running road section;
determining the pedal sensitivity level according to the road section flatness information of the current driving;
updating the pedal sensitivity threshold according to the pedal sensitivity grade to obtain an updated pedal sensitivity threshold;
adjusting the current driving sensitivity to not exceed the updated pedal sensitivity threshold.
A7, the balance vehicle driving mode control method of claim a5, the driving parameter threshold value comprising a steering sensitivity threshold value;
the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current steering sensitivity exceeds the steering sensitivity threshold value, acquiring the turning direction angle information of the current running road section;
determining a steering sensitivity threshold level according to the current running road section turning direction angle information;
updating the steering sensitivity threshold according to the steering sensitivity threshold level to obtain an updated steering sensitivity threshold;
adjusting the current steering sensitivity to not exceed the updated steering sensitivity threshold.
A8, the balance vehicle driving mode control method of any one of claims a 1-a 7, before controlling current driving parameters based on the driving parameter threshold, the method further comprising:
acquiring a parameter limit value corresponding to the current driving parameter;
comparing the parameter limit value to the driving parameter threshold value;
the step of controlling the current driving parameter based on the driving parameter threshold is performed when the driving parameter threshold does not exceed the parameter limit.
A9, the balance vehicle driving mode control method of any one of claims a 1-a 7, before controlling current driving parameters based on the driving parameter threshold, the method further comprising:
acquiring current residual electric quantity information, and judging whether the current residual electric quantity information exceeds the use electric quantity information corresponding to the driving parameter threshold;
and when the current residual power information does not exceed the use power information corresponding to the driving parameter threshold, executing the step of controlling the current driving parameter based on the driving parameter threshold.
A10, the balance vehicle driving mode control method of any one of claims a1 to a7, further comprising, after controlling the current driving parameters based on the driving parameter threshold:
acquiring a mode switching instruction;
and extracting a target driving mode in the mode switching instruction, and switching the current driving mode into the target driving mode.
A11, the balance vehicle running mode control method according to claim a10, wherein the extracting the target driving mode in the mode switching command and switching the current driving mode to the target driving mode includes:
extracting a target driving mode in the mode switching instruction;
judging whether the target driving mode is a user habit driving mode or not;
and when the target driving mode is the driving mode which is used by the user, switching the current driving mode into the target driving mode.
A12, the balance vehicle running mode control method of claim a11, the method further comprising, before determining whether the target driving mode is a user habit driving mode:
acquiring historical driving behavior information of a user;
obtaining a corresponding historical driving mode according to the historical driving behavior information;
and counting the use frequency information of the historical driving mode, and taking the historical driving mode corresponding to the use frequency information reaching the use threshold as the driving mode habituated to the user.
A13, the balance vehicle driving mode control method of any one of claims a1 to a7, further comprising, after controlling the current driving parameters based on the driving parameter threshold:
when the balance car receives a driving direction control instruction of the mobile terminal, extracting driving direction information in the driving direction control instruction;
and controlling the running direction of the balance car according to the running direction information.
B14, a balance vehicle running mode control device, comprising:
the determining module is used for determining a corresponding current driving mode according to a mode selection instruction when the balance car receives the mode selection instruction;
the determining module is further configured to determine a corresponding driving parameter threshold according to the current driving mode;
and the control module is used for controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value.
B15, the balance vehicle running mode control device of claim B14, further comprising: an acquisition module;
the acquisition module is used for acquiring the current connection mode;
and when the current connection mode is a Bluetooth connection mode, receiving a mode selection instruction according to the Bluetooth connection mode.
B16, the balance vehicle running mode control device of claim B15, further comprising: a switching module;
the switching module is used for switching the mobile communication network connection mode into a Bluetooth connection mode when the current connection mode is the mobile communication network connection mode;
and receiving a mode selection instruction according to the Bluetooth connection mode.
B17, the balance vehicle driving mode control device of claim B14, the driving parameter threshold value comprising a driving speed threshold value;
the control module is further used for obtaining the current driving speed and comparing the current driving speed with the driving speed threshold;
adjusting the current driving speed to not exceed the driving speed threshold when the current driving speed exceeds the driving speed threshold.
B18, the balance vehicle driving mode control device of claim B14, the driving parameter threshold value comprising a sensitivity threshold value;
the control module is further configured to acquire a current driving sensitivity, and compare the current driving sensitivity with the sensitivity threshold;
adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
Claims (10)
1. A balance car running mode control method is characterized by comprising the following steps:
when the balance car receives a mode selection instruction, determining a corresponding current driving mode according to the mode selection instruction;
determining a corresponding driving parameter threshold according to the current driving mode;
controlling a current driving parameter based on the driving parameter threshold such that the current driving parameter does not exceed the driving parameter threshold.
2. The balance car running mode control method according to claim 1, wherein before the balance car receives a mode selection command and determines a corresponding current driving mode according to the mode selection command, the method further comprises:
acquiring a current connection mode;
and when the current connection mode is a Bluetooth connection mode, receiving a mode selection instruction according to the Bluetooth connection mode.
3. The balance car running mode control method according to claim 2, wherein after the current connection manner is acquired, the method further comprises:
when the current connection mode is a mobile communication network connection mode, switching the mobile communication network connection mode into a Bluetooth connection mode;
and receiving a mode selection instruction according to the Bluetooth connection mode.
4. The balance vehicle travel mode control method of claim 1, wherein the driving parameter threshold comprises a driving speed threshold;
the controlling of the current driving parameter based on the driving parameter threshold includes:
acquiring a current driving speed, and comparing the current driving speed with the driving speed threshold;
adjusting the current driving speed to not exceed the driving speed threshold when the current driving speed exceeds the driving speed threshold.
5. The balance car travel mode control method of claim 1, wherein the driving parameter threshold comprises a sensitivity threshold;
the controlling of the current driving parameter based on the driving parameter threshold includes:
acquiring current driving sensitivity, and comparing the current driving sensitivity with the sensitivity threshold;
adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold.
6. The balance vehicle running mode control method of claim 5, wherein the sensitivity threshold comprises a pedal sensitivity threshold;
the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current pedal sensitivity exceeds the pedal sensitivity threshold, acquiring the flatness information of a current running road section;
determining the pedal sensitivity level according to the road section flatness information of the current driving;
updating the pedal sensitivity threshold according to the pedal sensitivity grade to obtain an updated pedal sensitivity threshold;
adjusting the current driving sensitivity to not exceed the updated pedal sensitivity threshold.
7. The balance car travel mode control method of claim 5, wherein the driving parameter threshold comprises a steering sensitivity threshold;
the adjusting the current driving sensitivity to not exceed the sensitivity threshold when the current driving sensitivity exceeds the sensitivity threshold includes:
when the current steering sensitivity exceeds the steering sensitivity threshold value, acquiring the turning direction angle information of the current running road section;
determining a steering sensitivity threshold level according to the current running road section turning direction angle information;
updating the steering sensitivity threshold according to the steering sensitivity threshold level to obtain an updated steering sensitivity threshold;
adjusting the current steering sensitivity to not exceed the updated steering sensitivity threshold.
8. A balance car running mode control device characterized by comprising:
the determining module is used for determining a corresponding current driving mode according to a mode selection instruction when the balance car receives the mode selection instruction;
the determining module is further configured to determine a corresponding driving parameter threshold according to the current driving mode;
and the control module is used for controlling the current driving parameters based on the driving parameter threshold value so that the current driving parameters do not exceed the driving parameter threshold value.
9. A balance car running mode control apparatus characterized by comprising: a memory, a processor and a balance car running mode control program stored on the memory and running on the processor, the balance car running mode control program when executed by the processor implementing the steps of the balance car running mode control method according to any one of claims 1 to 7.
10. A storage medium having a balance car running mode control program stored thereon, the balance car running mode control program, when executed by a processor, implementing the steps of the balance car running mode control method according to any one of claims 1 to 7.
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