CN113580955B - Control method and device of electric vehicle and electronic equipment - Google Patents
Control method and device of electric vehicle and electronic equipment Download PDFInfo
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- CN113580955B CN113580955B CN202110961643.2A CN202110961643A CN113580955B CN 113580955 B CN113580955 B CN 113580955B CN 202110961643 A CN202110961643 A CN 202110961643A CN 113580955 B CN113580955 B CN 113580955B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
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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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The specification provides a control method and device of an electric vehicle and electronic equipment. Based on the method, before specific implementation, corresponding target sensors can be arranged at preset positions of the electric vehicle in advance; in specific implementation, the target sensor may generate and output a corresponding status signal to the controller based on the detected status data; the controller can automatically judge whether the steering handle of the current electric vehicle is under the control of a user according to the state signal output by the target sensor, and intelligently determine whether the current matched target control mode is a riding mode or an anti-galloping mode; and then according to the determined target control mode, the analog signal output by the steering handle is processed to accurately and safely control the operation of the electric vehicle, so that potential safety hazards such as galloping are effectively reduced, and riding safety of a user is protected.
Description
Technical Field
The specification belongs to the technical field of electric vehicle control, and particularly relates to a control method and device of an electric vehicle and electronic equipment.
Background
With the development and popularization of electric vehicles, more and more users choose to use the electric vehicles as travel tools.
When a user rides the electric vehicle, the corresponding signal can be output through twisting the rotating handle so as to control the running of the electric vehicle. However, due to the non-artificial triggering operation or the abnormality of the internal device circuit of the electric vehicle, the rotating handle outputs a signal abnormally, so that the electric vehicle is started to operate abnormally in response to the signal, and phenomena such as galloping occur, and the riding safety of a user is affected.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the specification provides a control method, a control device and electronic equipment for an electric vehicle, which can accurately and safely control the operation of the electric vehicle and effectively reduce potential safety hazards such as galloping.
The control method, the device and the electronic equipment of the electric vehicle provided by the embodiment of the specification are realized in the following way:
a control method of an electric vehicle, comprising: receiving a state signal output by a target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor outputs a corresponding state signal according to the detected state data; determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; and according to the target control mode, processing the analog signal output by the rotary handle to control the operation of the electric vehicle.
A control method of an electric vehicle, comprising: determining a current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode; under the condition that the target control mode is determined to be a riding mode, monitoring whether an analog signal output by a steering handle is received or not; under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle; and sending the control signal to the motor to control the operation of the electric vehicle.
A control device of an electric vehicle, comprising: the receiving module is used for receiving the state signal output by the target sensor; the target sensor is arranged at a preset position of the electric vehicle; the determining module is used for determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; and the processing module is used for processing the analog signals output by the rotary handle according to the target control mode so as to control the operation of the electric vehicle.
A control device of an electric vehicle, comprising: the determining module is used for determining the current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode; the monitoring module is used for monitoring whether the analog signal output by the steering handle is received or not under the condition that the target control mode is determined to be the riding mode; the processing module is used for generating a corresponding control signal according to the analog signal output by the rotary handle under the condition that the analog signal output by the rotary handle is determined to be received; and sending the control signal to the motor to control the operation of the electric vehicle.
An electronic device comprising at least: the system comprises a controller, a rotating handle, a motor and a target sensor, wherein the target sensor is arranged at a preset position of the electric vehicle, the controller is respectively connected with the rotating handle, the motor and the target sensor, and the target sensor outputs corresponding state signals according to detected state data; the controller determines a target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; and the controller processes the analog signal output by the rotary handle according to the target control mode so as to control the motor to run.
A computer readable storage medium having stored thereon computer instructions which when executed perform the relevant steps of the control method of an electric vehicle described above.
According to the control method, the control device and the electronic equipment for the electric vehicle, which are provided by the embodiment of the specification, before specific implementation, corresponding target sensors can be arranged at preset positions of the electric vehicle in advance; in specific implementation, the target sensor may generate and output a corresponding status signal to the controller based on the detected status data; the controller can automatically judge whether the current steering handle is under the control of a user according to the state signal output by the target sensor, and intelligently determine whether the current matched target control mode is a riding mode or an anti-galloping mode; according to the determined target control mode, the analog signal output by the steering handle is processed to accurately and safely control the operation of the electric vehicle, so that potential safety hazards such as galloping and the like are effectively reduced, and riding safety of a user is protected; based on the method, the on-off of the power supply of the controller, the rotating handle and other parts does not need to be additionally controlled in the whole implementation process, so that the operation of the internal circuit system of the electric vehicle is safer and more reliable.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure, the drawings that are required for the embodiments will be briefly described below, and the drawings described below are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic flow chart of a control method of an electric vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an embodiment of a control method of an electric vehicle to which the embodiments of the present disclosure are applied, in one example of a scenario;
fig. 3 is a schematic diagram of an embodiment of a control method of an electric vehicle to which the embodiments of the present disclosure are applied, in one example of a scenario;
fig. 4 is a schematic diagram of an embodiment of a control method of an electric vehicle to which the embodiments of the present disclosure are applied, in one example of a scenario;
fig. 5 is a schematic diagram of an embodiment of a control method of an electric vehicle to which the embodiments of the present disclosure are applied, in one example of a scenario;
fig. 6 is a schematic diagram of an embodiment of a control method of an electric vehicle to which the embodiments of the present disclosure are applied, in one example of a scenario;
Fig. 7 is a schematic flow chart of a control method of an electric vehicle according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of the structural composition of an electronic device provided in one embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a control device for an electric vehicle according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
Referring to fig. 1, an embodiment of the present disclosure provides a control method of an electric vehicle. The method can be implemented by the following steps:
s101: receiving a state signal output by a target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor outputs a corresponding state signal according to the detected state data;
S102: determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode;
s103: and according to the target control mode, processing the analog signal output by the rotary handle to control the operation of the electric vehicle.
Through the embodiment, the controller of the electric vehicle can acquire and determine a matched target control mode according to the state signal output by the target sensor arranged at the preset position of the electric vehicle based on the detected state data; and furthermore, the analog signals output by the rotating handle can be processed according to the target control mode so as to control the electric vehicle to safely run, thereby realizing the accurate and safe control of the running of the electric vehicle, effectively reducing potential safety hazards such as galloping and protecting the riding safety of a user.
In some embodiments, the control method of the electric vehicle provided in the embodiments of the present disclosure may be specifically applied to a controller of the electric vehicle. The controller may also be referred to as a control unit, or ECU.
Specifically, as shown in fig. 2, the circuit of the electric vehicle at least includes: the structure comprises a controller, a rotating handle, a motor, a target sensor and the like. The controller is respectively connected with the rotating handle, the motor and the target sensor.
The target sensor may be specifically arranged at a preset position of the electric vehicle in advance, and is configured to detect external state data, generate a corresponding state signal according to the detected state data, and output the state signal to the controller.
Under normal conditions, the rotating handle is used for receiving and responding to the screwing operation initiated by a user, generating a corresponding analog signal according to the screwing operation, and outputting the analog signal to the controller.
The controller is used for judging whether the handle bar of the electric vehicle is currently under control of a user according to the state signal output by the target sensor, so as to determine a current matched target control mode; and then according to the target control mode, processing the analog signal output by the rotating handle, and correspondingly controlling the connected motor by outputting a corresponding control signal to the motor, so as to control the running of the electric vehicle, reduce potential safety hazards such as galloping, protect riding safety of a user and the like.
In some embodiments, the target sensor may specifically be a binary switch sensor. The object sensor may generate and output two or more status signals based on the detected specific status data. Wherein each status signal corresponds to a type of status data. The state data corresponding to each state signal may be the same type of state data for different target sensors.
In some embodiments, referring to fig. 3, the preset position may specifically include a rotation axis of the electric vehicle heel stand, and correspondingly, the target sensor disposed at the preset position may be a hall switch sensor or the like.
The preset position can specifically further comprise a seat cushion of the electric vehicle, and correspondingly, the target sensor arranged at the preset position can also be a film pressure switch sensor and the like.
The preset position can specifically further comprise a rotating handle, and correspondingly, the target sensor arranged at the preset position can also be a mechanical contact switch sensor and the like.
It should be noted that the above-listed plurality of preset positions, and the target sensor corresponding to the preset positions are only illustrative. In the implementation, according to specific application scenes and processing requirements, other suitable sensors can be selected and used as target sensors according to preset positions.
In some embodiments, a target sensor may be disposed at one of the plurality of preset positions of the electric vehicle before implementation. Accordingly, the controller may determine the matched target control pattern based on a status signal output by a target sensor based on the detected status data.
In some embodiments, the respective target sensors may be deployed at a plurality of preset positions from the plurality of preset positions before implementation. Accordingly, the controller can more accurately determine the matched target control mode according to the plurality of state signals output by the plurality of integrated target sensors according to the detected state data.
In some embodiments, the target control modes may specifically include: riding mode, or anti-galloping mode.
The above-mentioned riding mode may specifically be a control mode in which the analog signal output by the handlebar is regarded as valid in the case where it is determined that the handlebar is under the control of the user, and the controller may normally control the motor to operate in response to and according to the analog signal output by the handlebar.
The above-described anti-galloping mode may specifically be a control mode in which, in the case where it is determined that the handlebar is not under user control, the analog signal output by the handlebar is regarded as invalid, and the controller no longer controls the operation of the motor in response to the analog signal output by the handlebar.
In both control modes, the power supply of the controller of the electric vehicle is not controlled to be turned on or off. After the electric vehicle is started, the controller of the electric vehicle can be always in a power-on state. Therefore, the influence on the safety and stability of the internal circuit system of the electric vehicle caused by the on-off control operation of the power supply of the controller in the riding process of the user can be effectively avoided.
In some embodiments, after the electric vehicle is started, the controller may be connected to a low-voltage power source (e.g., a power source with a voltage of 5V) through a corresponding interface circuit, and is always in a powered-on state. In addition, one or more low-voltage target sensors (e.g., two target sensors P1 and P2) may also be connected to the corresponding interface circuits. See in particular fig. 4. Wherein D27 is a reverse diode for preventing damage to the controller ECU caused by fault signals such as external high voltage, surge and the like. R101 and R104 are resistors with corresponding resistance values, and C46 is a capacitor. P (I) represents the power supplied to the controller by the power supply.
In some embodiments, there may be a difference in the specific connection of the controller and the target sensor for different types of target sensors.
Specifically, in the case where the target sensor is a membrane pressure switch sensor, the connection manner between the target sensor and the controller may be as shown in fig. 5. In particular, the object sensor (switching sensor) can output a corresponding status signal to the controller (control unit) via the object connection line. Wherein GND represents ground.
In the case where the target sensor is a hall switch sensor, the connection between the target sensor and the controller may be as shown in fig. 6. In particular, the object sensor may output a corresponding status signal to the controller (control unit) via the object connection line.
In some embodiments, the status data detected for different target sensors may be different status data. Accordingly, the process by which different object sensors output corresponding status signals according to the detected status may also be varied.
Specifically, in the case where the target sensor includes a hall switch sensor, the target sensor may detect rotation angle data of the foot rest as the state data, accordingly. And, the object sensor may be set to: according to the detected state data, under the condition that the foot support is in an open state (corresponding to the condition that the handle is not in user control), outputting a high-level signal as a state signal; according to the detected state data, when detecting that the foot support is in the retracted state (corresponding to the state that the handle is under the control of the user), a low-level signal is output as a state signal.
In the case where the target sensor includes a membrane pressure switch sensor, the target sensor may detect a pressure value received by the seat cushion as the state data, accordingly. And, the object sensor may be set to: according to the detected state data, outputting a high-level signal as a state signal under the condition that the pressure value received by the seat cushion is detected to be smaller than a preset pressure threshold value (corresponding to the condition that the rotating handle is not under user control); and outputting a low-level signal as a state signal when the pressure value received by the seat cushion is detected to be greater than or equal to a preset pressure threshold value (corresponding to the condition that the steering handle is under user control).
In the case where the object sensor comprises a mechanical contact switch sensor, the object sensor may accordingly detect whether the knob is triggered (e.g., whether the knob is screwed) as the status data. And, the object sensor may be set to: outputting a high level signal as a status signal in case that it is detected that the knob is not triggered by the user (corresponding to the case that the knob is not under the control of the user); in the case where the trigger of the knob by the user is detected (corresponding to the case where the knob is under the control of the user), a low level signal is output as a status signal.
In some embodiments, the determining the matched target control mode according to the status signal may include the following when implemented: under the condition that the state signal is determined to be a high-level signal, determining that the anti-galloping mode is a matched target control mode; or, in the case where the state signal is determined to be a low level signal, the riding mode is determined to be a matched target control mode.
In some embodiments, where the target sensor includes a plurality of target sensors disposed at a plurality of preset locations, the controller may receive a plurality of status signals output by the plurality of target sensors. At this time, the controller may synthesize a plurality of status signals to determine a target status signal based on a preset processing policy; and determining a matched target control mode according to the target state signal.
In some embodiments, in implementation, the controller detects the plurality of status signals after receiving the plurality of status signals, and in case that the plurality of status signals are all determined to be high level signals, the controller may determine that the target status signal is the high level signal; in the case where it is determined that the plurality of state signals are all low-level signals, it may be determined that the target state signal is a low-level signal.
The controller may divide the plurality of state signals into two groups when determining that a part of the plurality of state signals is a high level signal and a part of the plurality of state signals is a low level signal: a first group and a second group. Wherein the first group of packets contains only high level status signals and the second group contains only low level status signals. Further, the controller may identify and determine the target sensor corresponding to each status signal included in each group. According to a preset processing strategy, the weight parameters of each state signal can be determined according to the target sensor corresponding to the state signal. And determining the weight value of the first group and the weight value of the second group according to the weight parameters of the state signals contained in each group. The weight values of the first group and the weight values of the second group are compared, and the state signal contained in the group with the larger weight value is determined as the target state signal.
For example, according to a preset processing strategy, it is determined that the weight value of the first group is greater than the weight value of the second group, and the state signals included in the first group are all high level signals. Accordingly, the controller may determine the high level signal as the target state signal. And then, according to the target state signal, the matched target control mode is determined to be the anti-galloping mode.
In some embodiments, when the controller determines that the target control mode is the anti-galloping mode, it may determine that the handlebar of the current electric vehicle is not under control of the user, so as to avoid galloping, protect riding safety of the user, and may determine an analog signal output by the handlebar as an invalid signal to perform exception handling. In contrast, when the target control mode is determined to be the riding mode, it may be determined that the handle bar of the current electric vehicle is under control of the user, and the analog signal output by the handle bar may be used as an effective signal to perform normal processing.
In some embodiments, the processing the analog signal output by the steering handle according to the target control mode may include the following when implemented:
s1: under the condition that the target control mode is a riding mode, monitoring whether an analog signal output by the rotating handle is received or not;
S2: under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle;
s3: and sending the control signal to the motor.
In the present embodiment, in the case where the target control mode is determined to be the riding mode, it may be determined that the handlebar of the current target vehicle is in control of the user, and therefore, the analog signal output by the handlebar is a signal generated in response to the triggering operation (for example, the twist-turn-handlebar operation) initiated by the user himself with a high probability.
Further, after monitoring the analog signal output from the handle, a corresponding digital signal (for example, a duty cycle square wave signal) may be generated as a control signal based on the analog signal according to a preset generation rule; the control signal is then applied to the motor so that the motor can operate in accordance with the control signal.
Therefore, the electric vehicle can be timely responded to trigger operation initiated by a user through twisting the rotary handle and the like, and the electric vehicle is accurately controlled to run according to the instruction of the user.
In some embodiments, according to the target control mode, the analog signal output by the handle is processed, and when implemented, the method may further include the following: when the target control mode is the anti-galloping mode, the received analog signal output by the steering handle is determined as an invalid signal.
In this embodiment, in the case where it is determined that the target control mode is the anti-galloping mode, it may be determined that the handlebar of the current target vehicle is not under control of the user, and therefore, the analog signal output by the handlebar is a signal that is generated in response to a trigger operation (for example, a twist-turn handlebar operation) initiated by the user himself with a high probability, but may be a signal generated by external non-human interference or an abnormality in the internal device circuit of the electric vehicle. In this case, the controller does not respond to the analog signal output from the handle to control the motor accordingly.
In some embodiments, the controller may also generate a control signal indicating that the motor stops running and give the control signal to the motor to timely control the electric vehicle to stop running through the motor, while determining that the target control mode is the anti-galloping mode and determining that the handle output signal is an invalid signal. Thus the riding safety of the user can be further and better protected.
From the above, according to the control method of the electric vehicle provided by the embodiment of the present disclosure, before implementation, a corresponding target sensor may be arranged in advance at a preset position of the electric vehicle; in specific implementation, the target sensor may generate and output a corresponding status signal to the controller based on the detected status data; the controller can automatically judge whether the current steering handle is under the control of a user according to the state signal output by the target sensor, and intelligently determine whether the matched target control mode is a riding mode or a galloping prevention mode; and then according to the determined target control mode, the analog signal output by the steering handle is processed to accurately and safely control the operation of the electric vehicle, so that potential safety hazards such as galloping are effectively reduced, and riding safety of a user is protected. Based on the method, the on-off of the power supply of the controller is not required to be additionally controlled in the implementation process, so that the operation of the internal circuit of the electric vehicle is safer and more reliable.
Referring to fig. 7, another control method of the electric vehicle is also provided in the embodiment of the present disclosure. The method can be implemented by the following steps:
s701: determining a current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode;
s702: under the condition that the target control mode is determined to be a riding mode, monitoring whether an analog signal output by a steering handle is received or not;
s703: under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle; and sending the control signal to the motor to control the operation of the electric vehicle.
In some embodiments, after determining the current target control mode of the electric vehicle, the method may further include the following when implemented: and under the condition that the target control mode is determined to be the anti-galloping mode, determining the received analog signal output by the steering handle as an invalid signal.
Therefore, when the control method of the electric vehicle provided by the embodiment of the specification is implemented, the turning handle and the controller do not need to be additionally controlled in power on and off, and can be in a normal power-on state; the controller may determine a matched target control mode based on the state signal output by the target sensor based on the detected data; the analog signal output by the rotating handle is processed according to the target control mode, so that the operation of the electric vehicle can be accurately and safely controlled, and potential safety hazards such as galloping and the like are effectively reduced; meanwhile, the internal circuit system of the electric vehicle can be operated relatively more safely and reliably.
In a specific example of a scenario, a user may use an electric vehicle travel controlled based on the control method of an electric vehicle provided in the embodiments of the present description.
As shown in fig. 3, two target sensors, namely a hall switch sensor and a film pressure switch sensor, are respectively arranged at two preset positions of a rotating axle center of a foot support and a seat cushion of the electric vehicle. The electric vehicle is internally provided with a controller, a motor and other structures. The controller is electrically connected with the rotating handle, the target sensor and the motor.
When the user starts the electric vehicle, the power of the controller, the rotating handle and the target sensor is turned on. Meanwhile, the target sensor starts to detect and collect corresponding state data at preset time intervals.
Specifically, the hall switch sensor can acquire rotation angle data of the foot support as state data every 5 seconds. Meanwhile, the film pressure switch sensor can collect the pressure value received by the seat cushion as state data every 5 seconds.
The Hall switch sensor can output a high-level signal to the controller as a state signal according to the detected state data under the condition that the current opening state of the foot support is determined; in the event that the foot support is determined to be in the stowed state, a low level signal may be output to the controller as a status signal.
According to the detected state data, the film pressure switch sensor can output a high-level signal to the controller as a state signal under the condition that the pressure value received by the seat cushion is smaller than a preset pressure threshold value; in the case where it is determined that the pressure value received by the seat cushion is equal to or greater than the preset pressure threshold value, a low level signal may be output to the controller as a status signal.
Specifically, for example, when the user is riding the electric vehicle, the hall switch sensor may determine that the foot support is in the retracted state according to the detected state data, and then output a high-level signal as the first state signal to the controller. Meanwhile, the membrane switch sensor can determine that the pressure value of the seat cushion is greater than or equal to a preset pressure threshold value according to the detected state data, and then a high-level signal is output to the controller as a second state signal.
The controller comprehensively utilizes the two state signals according to a preset processing strategy to determine that the target state signal is a high-level signal; the handle of the electric vehicle can be judged to be in control of a user at present; and then the current matched target control mode can be determined as a riding mode, and the analog signal output by the rotary handle is regarded as an effective signal.
Further, based on control rules that match the riding pattern, the controller may continually monitor and process the analog signal output by the handlebar.
When the user wants to accelerate, a trigger operation is initiated by twisting the knob forward. The rotary handle receives and responds to the triggering operation of the user, and generates and outputs a corresponding analog signal to the controller.
When the controller receives the analog signal, the controller can generate a corresponding control signal for indicating acceleration based on the analog signal according to the matched control rule; and then the control signal is given to the motor so that the motor can respond to the control signal to run, and the electric vehicle can run in an accelerating way.
Therefore, the electric vehicle can be timely and accurately responded to the instruction operation of the user, and the electric vehicle is controlled to accurately run according to the instruction requirement of the user in the riding mode.
For another example, when the user finishes riding and parks the electric vehicle, the hall switch sensor may determine that the heel brace is in an open state according to the detected state data, and then output a high-low signal as a first state signal to the controller. Meanwhile, the membrane switch sensor can determine that the pressure value of the seat cushion is smaller than a preset pressure threshold value according to the detected state data, and then a low-level signal is output to the controller to serve as a second state signal.
The controller comprehensively utilizes the two state signals according to a preset processing strategy to determine that the target state signal is a low-level signal; the method can judge that the handle of the electric vehicle is not in the control of the user at present; and then the current matched target control mode can be determined as the anti-galloping mode, and the analog signal output by the turning handle is regarded as an invalid signal.
Further, based on a control rule matched with the anti-galloping mode, the controller does not respond to the analog signal output by the handlebar even if the controller detects the analog signal, and controls the motor.
Meanwhile, under the condition that the current matched target control mode is determined to be the anti-galloping mode, the controller can also automatically generate a control signal for indicating stopping operation in order to further protect riding safety of a user; and signals are given to the motor so that the motor can respond to the control signals to stop running and timely stop the electric vehicle, and riding safety of a user is protected.
Therefore, the situation that the handle bar of the electric vehicle is not controlled by the user can be timely detected and found, the operation of the motor is controlled by regarding the analog signal output by the rotating handle as an invalid signal according to the corresponding galloping prevention mode, potential safety hazards such as galloping and the like in the process of using the electric vehicle by the user are effectively reduced, and riding safety of the user is protected.
The embodiment of the specification also provides an electronic device, including a processor and a memory for storing instructions executable by the processor, where the processor may execute the following steps according to the instructions when the processor is implemented: receiving a state signal output by a target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor outputs a corresponding state signal according to the detected state data; determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; and according to the target control mode, processing the analog signal output by the rotary handle to control the operation of the electric vehicle.
In order to more accurately complete the above instruction, referring to fig. 8, another specific electronic device is provided in an embodiment of the present disclosure, where the electronic device at least includes: the electric vehicle comprises a rotating handle 801, an object sensor 802, a controller 803 and a motor 804, wherein the object sensor 802 is arranged at a preset position of the electric vehicle, the controller 803 is respectively connected with the rotating handle 801, the motor 804 and the object sensor 802, in particular,
The target sensor 802 may be specifically configured to output a corresponding status signal according to the detected status data;
the controller 803 may be specifically configured to determine a target control mode based on the status signal; wherein the target control mode comprises a riding mode or a galloping prevention mode;
the controller 803 may also be used to process the analog signal output by the handle 801 to control the specific operation of the motor 804, in particular, in accordance with the target control mode.
The embodiment of the specification also provides another electronic device, which comprises a processor and a memory for storing instructions executable by the processor, wherein the processor can execute the following steps according to the instructions when being concretely implemented: determining a current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode; under the condition that the target control mode is determined to be a riding mode, monitoring whether an analog signal output by a steering handle is received or not; under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle; and sending the control signal to the motor to control the operation of the electric vehicle.
The embodiments of the present specification also provide a computer readable storage medium based on the control method of an electric vehicle described above, the computer readable storage medium storing computer program instructions that when executed implement: receiving a state signal output by a target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor outputs a corresponding state signal according to the detected state data; determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; and according to the target control mode, processing the analog signal output by the rotary handle to control the operation of the electric vehicle.
In the present embodiment, the storage medium includes, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.
The embodiments of the present specification also provide another computer readable storage medium based on the control method of an electric vehicle described above, where the computer readable storage medium stores computer program instructions that when executed implement: determining a current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode; under the condition that the target control mode is determined to be a riding mode, monitoring whether an analog signal output by a steering handle is received or not; under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle; and sending the control signal to the motor to control the operation of the electric vehicle.
In this embodiment, the functions and effects of the program instructions stored in the computer readable storage medium may be explained in comparison with other embodiments, and are not described herein.
Referring to fig. 9, on a software level, the embodiment of the present disclosure further provides a control device for an electric vehicle, where the device may specifically include the following structural modules:
the receiving module 901 may be specifically configured to receive a status signal output by the target sensor; the target sensor is arranged at a preset position of the electric vehicle;
The determining module 902 may be specifically configured to determine a matched target control mode according to the status signal; wherein the target control mode comprises a riding mode or a galloping prevention mode;
the processing module 903 may be specifically configured to process the analog signal output by the handlebar according to the target control mode, so as to control the operation of the electric vehicle.
In some embodiments, the preset position may specifically include a rotation axis of the foot support, and correspondingly, the target sensor may specifically include a hall switch sensor or the like; and/or, the preset position can specifically comprise a seat cushion, and correspondingly, the target sensor comprises a film pressure switch sensor and the like; and/or, the preset position may specifically include a rotating handle, and correspondingly, the target sensor may specifically include a mechanical contact switch sensor.
In some embodiments, the outputting, by the target sensor, a corresponding status signal according to the detected status data may specifically include: in the case that the target sensor comprises a hall switch sensor, correspondingly, the target sensor outputs a high-level signal as a state signal when detecting that the foot support is in an open state; outputting a low-level signal as a state signal when the foot support is detected to be in the retracted state; and/or, in the case that the target sensor comprises a membrane pressure switch sensor, correspondingly, the target sensor outputs a high-level signal as a state signal when detecting that the pressure value received by the seat cushion is smaller than a preset pressure threshold value; outputting a low-level signal as a state signal when the pressure value received by the seat cushion is detected to be greater than or equal to a preset pressure threshold value; and/or, in case the target sensor comprises a mechanical contact switch sensor, correspondingly, the target sensor outputs a high level signal as a status signal in case the handle is detected not to be triggered by the user; in the case where the trigger of the lever by the user is detected, a low level signal is output as a status signal.
In some embodiments, the determining module 902, when implemented, may be configured to determine a matching target control pattern based on the status signal in the following manner: under the condition that the state signal is determined to be a high-level signal, determining that the anti-galloping mode is a matched target control mode; or, in the case where the state signal is determined to be a low level signal, the riding mode is determined to be a matched target control mode.
In some embodiments, when the processing module 903 is specifically implemented, the processing of the analog signal output by the steering handle according to the target control mode may be implemented as follows: under the condition that the target control mode is a riding mode, monitoring whether an analog signal output by the rotating handle is received or not; under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle; and sending the control signal to the motor.
In some embodiments, when the processing module 903 is specifically implemented, the received analog signal output by the steering handle may be determined as the invalid signal when the target control mode is the anti-galloping mode.
The embodiment of the specification also provides another control device of the electric vehicle, which specifically may include the following structural modules:
The determining module can be used for determining the current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode;
the monitoring module is specifically configured to monitor whether an analog signal output by the handlebar is received or not when the target control mode is determined to be the riding mode;
the processing module is specifically configured to generate a corresponding control signal according to the analog signal output by the steering handle when it is determined that the analog signal output by the steering handle is received; and sending the control signal to the motor to control the operation of the electric vehicle.
It should be noted that, the units, devices, or modules described in the above embodiments may be implemented by a computer chip or entity, or may be implemented by a product having a certain function. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, when the present description is implemented, the functions of each module may be implemented in the same piece or pieces of software and/or hardware, or a module that implements the same function may be implemented by a plurality of sub-modules or a combination of sub-units, or the like. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
From the above, the control device for the electric vehicle provided by the embodiment of the specification can accurately and safely control the operation of the electric vehicle, and effectively reduce potential safety hazards such as galloping; and based on the device in the implementation process, the on-off of the power supply of the controller is not required to be additionally controlled, and the operation of the internal circuit of the electric vehicle can be relatively safer and more reliable.
Although the present description provides method operational steps as described in the examples or flowcharts, more or fewer operational steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an apparatus or client product in practice, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even in a distributed data processing environment). The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, it is not excluded that additional identical or equivalent elements may be present in a process, method, article, or apparatus that comprises a described element. The terms first, second, etc. are used to denote a name, but not any particular order.
Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer-readable storage media including memory storage devices.
From the above description of embodiments, it will be apparent to those skilled in the art that the present description may be implemented in software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present specification may be embodied essentially in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and include several instructions to cause a computer device (which may be a personal computer, a mobile terminal, a server, or a network device, etc.) to perform the methods described in the various embodiments or portions of the embodiments of the present specification.
Various embodiments in this specification are described in a progressive manner, and identical or similar parts are all provided for each embodiment, each embodiment focusing on differences from other embodiments. The specification is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
Although the present specification has been described by way of example, it will be appreciated by those skilled in the art that there are many variations and modifications to the specification without departing from the spirit of the specification, and it is intended that the appended claims encompass such variations and modifications as do not depart from the spirit of the specification.
Claims (10)
1. A control method of an electric vehicle, characterized by comprising:
receiving a state signal output by a target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor outputs a corresponding state signal according to the detected state data; the target sensor includes a plurality of sensors; the target sensor at least comprises a mechanical contact switch sensor arranged at the rotating handle; accordingly, the status signal includes a plurality of status signals, the status signals including a high level signal or a low level signal;
determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; the target control mode does not carry out on-off control on a power supply of a controller of the electric vehicle;
according to the target control mode, processing the analog signal output by the rotating handle to control the operation of the electric vehicle; under the condition that the target control mode is the anti-galloping mode, determining the received analog signal output by the steering handle as an invalid signal;
Wherein determining a matched target control pattern based on the status signal comprises: dividing the plurality of status signals into two groups: a first group and a second group; wherein the first group of packets only contains high level status signals and the second group of packets only contains low level status signals; determining target sensors corresponding to the state signals contained in each group; according to a preset processing strategy, determining weight parameters of each state signal according to a target sensor corresponding to the state signal; determining a weight value of the first group and a weight value of the second group according to the weight parameters of the state signals contained in each group; comparing the weight value of the first group with the weight value of the second group, and determining the state signal contained in the group with larger weight value as a target state signal; and determining a matched target control mode according to the target state signal.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the preset position comprises a rotation axis of the foot support, and the target sensor comprises a Hall switch sensor correspondingly;
and/or the number of the groups of groups,
the preset position includes a seat cushion and the target sensor includes a membrane pressure switch sensor.
3. The method of claim 2, wherein the target sensor outputting a corresponding status signal based on the detected status data, comprising:
in the case that the target sensor includes a hall switch sensor, the target sensor outputs a high level signal as a state signal in the case that it detects that the foot support is in an open state; outputting a low-level signal as a state signal when the foot support is detected to be in the retracted state;
and/or the number of the groups of groups,
in the case that the target sensor comprises a film pressure switch sensor, the target sensor outputs a high-level signal as a state signal when detecting that the pressure value received by the seat cushion is smaller than a preset pressure threshold value; outputting a low-level signal as a state signal when the pressure value received by the seat cushion is detected to be greater than or equal to a preset pressure threshold value;
and/or the number of the groups of groups,
in the case that the target sensor includes a mechanical contact switch sensor, the target sensor outputs a high level signal as a status signal in the case that it detects that the handle is not triggered by the user; in the case where the trigger of the lever by the user is detected, a low level signal is output as a status signal.
4. A method according to claim 3, wherein determining a matching target control pattern based on the status signal comprises:
under the condition that the state signal is determined to be a high-level signal, determining that the anti-galloping mode is a matched target control mode;
or alternatively, the first and second heat exchangers may be,
in the case where the status signal is determined to be a low level signal, the riding mode is determined to be a matched target control mode.
5. The method of claim 1, wherein processing the analog signal of the handlebar output according to the target control mode comprises:
under the condition that the target control mode is a riding mode, monitoring whether an analog signal output by the rotating handle is received or not;
under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle;
and sending the control signal to the motor.
6. A control method of an electric vehicle, characterized by comprising:
determining a current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode; the target control mode does not carry out on-off control on a power supply of a controller of the electric vehicle;
under the condition that the target control mode is determined to be a riding mode, monitoring whether an analog signal output by a steering handle is received or not;
Under the condition that the analog signal output by the rotary handle is received, generating a corresponding control signal according to the analog signal output by the rotary handle; the control signal is sent to the motor to control the operation of the electric vehicle;
the method further comprises the steps of: under the condition that the target control mode is determined to be the anti-galloping mode, determining the received analog signal output by the steering handle as an invalid signal;
wherein, determining the current target control mode of the electric vehicle comprises: receiving a state signal output by a target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor includes a plurality of sensors; the target sensor at least comprises a mechanical contact switch sensor arranged at the rotating handle; accordingly, the status signal includes a plurality of status signals, the status signals including a high level signal or a low level signal; determining a matched target control mode according to the state signal; comprising the following steps: dividing the plurality of status signals into two groups: a first group and a second group; wherein the first group of packets only contains high level status signals and the second group of packets only contains low level status signals; determining target sensors corresponding to the state signals contained in each group; according to a preset processing strategy, determining weight parameters of each state signal according to a target sensor corresponding to the state signal; determining a weight value of the first group and a weight value of the second group according to the weight parameters of the state signals contained in each group; comparing the weight value of the first group with the weight value of the second group, and determining the state signal contained in the group with larger weight value as a target state signal; and determining a matched target control mode according to the target state signal.
7. A control device for an electric vehicle, comprising:
the receiving module is used for receiving the state signal output by the target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor includes a plurality of sensors; the target sensor at least comprises a mechanical contact switch sensor arranged at the rotating handle; accordingly, the status signal includes a plurality of status signals, the status signals including a high level signal or a low level signal;
the determining module is used for determining a matched target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; the target control mode does not carry out on-off control on a power supply of a controller of the electric vehicle;
the processing module is used for processing the analog signals output by the rotary handle according to the target control mode so as to control the operation of the electric vehicle; the processing module determines the received analog signal output by the steering handle as an invalid signal under the condition that the target control mode is the anti-galloping mode;
the determining module is specifically configured to divide the plurality of status signals into two groups: a first group and a second group; wherein the first group of packets only contains high level status signals and the second group of packets only contains low level status signals; determining target sensors corresponding to the state signals contained in each group; according to a preset processing strategy, determining weight parameters of each state signal according to a target sensor corresponding to the state signal; determining a weight value of the first group and a weight value of the second group according to the weight parameters of the state signals contained in each group; comparing the weight value of the first group with the weight value of the second group, and determining the state signal contained in the group with larger weight value as a target state signal; and determining a matched target control mode according to the target state signal.
8. A control device for an electric vehicle, comprising:
the determining module is used for determining the current target control mode of the electric vehicle; the target control mode comprises a riding mode or a galloping prevention mode; the target control mode does not carry out on-off control on a power supply of a controller of the electric vehicle;
the monitoring module is used for monitoring whether the analog signal output by the steering handle is received or not under the condition that the target control mode is determined to be the riding mode;
the processing module is used for generating a corresponding control signal according to the analog signal output by the rotary handle under the condition that the analog signal output by the rotary handle is determined to be received; the control signal is sent to the motor to control the operation of the electric vehicle;
the device is also used for determining the received analog signal output by the steering handle as an invalid signal under the condition that the target control mode is determined to be the anti-galloping mode;
the determining module is specifically used for receiving a state signal output by the target sensor; the target sensor is arranged at a preset position of the electric vehicle; the target sensor includes a plurality of sensors; the target sensor at least comprises a mechanical contact switch sensor arranged at the rotating handle; accordingly, the status signal includes a plurality of status signals, the status signals including a high level signal or a low level signal; determining a matched target control mode according to the state signal; comprising the following steps: dividing the plurality of status signals into two groups: a first group and a second group; wherein the first group of packets only contains high level status signals and the second group of packets only contains low level status signals; determining target sensors corresponding to the state signals contained in each group; according to a preset processing strategy, determining weight parameters of each state signal according to a target sensor corresponding to the state signal; determining a weight value of the first group and a weight value of the second group according to the weight parameters of the state signals contained in each group; comparing the weight value of the first group with the weight value of the second group, and determining the state signal contained in the group with larger weight value as a target state signal; and determining a matched target control mode according to the target state signal.
9. An electronic device, comprising at least: the electric vehicle comprises a controller, a rotating handle, a motor and a target sensor, wherein the target sensor is arranged at a preset position of the electric vehicle, the controller is respectively connected with the rotating handle, the motor and the target sensor,
the target sensor outputs a corresponding state signal according to the detected state data; the target sensor includes a plurality of sensors; the target sensor at least comprises a mechanical contact switch sensor arranged at the rotating handle; accordingly, the status signal includes a plurality of status signals, the status signals including a high level signal or a low level signal;
the controller determines a target control mode according to the state signal; wherein the target control mode comprises a riding mode or a galloping prevention mode; the target control mode does not carry out on-off control on a power supply of a controller of the electric vehicle;
the controller processes the analog signal output by the rotary handle according to the target control mode so as to control the motor to run; under the condition that the target control mode is the anti-galloping mode, determining the received analog signal output by the steering handle as an invalid signal;
The controller is specifically configured to divide the plurality of status signals into two groups: a first group and a second group; wherein the first group of packets only contains high level status signals and the second group of packets only contains low level status signals; determining target sensors corresponding to the state signals contained in each group; according to a preset processing strategy, determining weight parameters of each state signal according to a target sensor corresponding to the state signal; determining a weight value of the first group and a weight value of the second group according to the weight parameters of the state signals contained in each group; comparing the weight value of the first group with the weight value of the second group, and determining the state signal contained in the group with larger weight value as a target state signal; and determining a matched target control mode according to the target state signal.
10. A computer readable storage medium having stored thereon computer instructions which when executed implement the steps of the method of any of claims 1 to 6.
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| CN114655343A (en) * | 2022-03-14 | 2022-06-24 | 摩拜(北京)信息技术有限公司 | Riding state detection method and device and electric bicycle |
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