CN114604341A - Method for driving electric two-wheeled vehicle based on automatic steering and returning - Google Patents

Method for driving electric two-wheeled vehicle based on automatic steering and returning Download PDF

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CN114604341A
CN114604341A CN202210340479.8A CN202210340479A CN114604341A CN 114604341 A CN114604341 A CN 114604341A CN 202210340479 A CN202210340479 A CN 202210340479A CN 114604341 A CN114604341 A CN 114604341A
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steering
electric
driving
pedestrian
vehicle
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CN114604341B (en
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赵缙
孙号令
程神喜
向远茂
阮揆
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Shenzhen Moji Zhixing Technology Co ltd
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Shenzhen Moji Zhixing Technology Co ltd
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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
    • B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B62J6/05—Direction indicators
    • B62J6/055—Electrical means, e.g. lamps
    • B62J6/056—Electrical means, e.g. lamps characterised by control means
    • B62J6/057—Automatic activation, e.g. by sensors
    • 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
    • B62J3/00—Acoustic signal devices; Arrangement of such devices on cycles
    • B62J3/10—Electrical devices
    • B62J3/12—Buzzers; Horns with electrically driven airflow
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3611—Destination input or retrieval using character input or menus, e.g. menus of POIs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech

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  • Engineering & Computer Science (AREA)
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  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
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  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
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Abstract

The invention provides an electric two-wheeled vehicle driving method based on automatic steering and returning, which comprises the following steps: acquiring destination information, wherein the destination information comprises coordinates or a place name of a destination; automatically planning a path according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned path, and selecting an optimal path through a preset comparison vector; driving according to the optimal path and the preset speed, and performing steering or straight-going voice prompt at the intersection; when the road junction is steered according to the voice prompt, the steering lamp and the sound effect are automatically turned on through the change of the preset value of the gravity sensor or the change value of the course angle in the interval, and the vehicle returns to the original position after the steering is finished and continues to run; when the vehicle approaches to a dangerous distance with a pedestrian in front in the driving process, sending out an alarm sound and a voice prompt of the pedestrian, and planning an optimal avoidance route according to a preset calculation formula; and decelerating and steering according to the planned optimal avoidance path, and returning to travel to the destination.

Description

Method for driving electric two-wheeled vehicle based on automatic steering and returning
Technical Field
The invention relates to the technical field of electric bicycles, in particular to an electric bicycle driving method based on automatic steering and returning.
Background
Along with the development of society and the improvement of living standard of people, various vehicles are also applied to the life and work of people, the electric bicycle is taken as a common transportation tool, the simple operation of the electric bicycle is deeply loved by more and more people, but due to the popularization of the electric bicycle, various driving behaviors which do not comply with traffic laws and regulations are met, the irregular traffic behaviors of the electric bicycle without turning a turn signal when turning causes many traffic accidents when turning, and great troubles are caused for traffic environment.
The invention provides an electric vehicle autonomous steering flash lamp controller and a method thereof according to CN103182980B, the electric vehicle autonomous steering flash lamp controller comprises an electric vehicle autonomous steering flash lamp controller, and adopts a method of integrated autonomous detection steering and automatic control of left and right flash lamps on the control means of the electric vehicle autonomous steering flash lamp controller, and particularly provides a plurality of dynamic elements with time domains and direction domains as a variable threshold value on the aspect of fuzzy judgment, thereby effectively solving the problems of accurate control and fuzzy control when the electric vehicle steers, replacing a steering switch and a flash controller, and being used as a device for automatically detecting and realizing automatic control of the steering flash lamp when the electric vehicle steers. However, the device is large, the device is placed on the electric vehicle to influence the operation of a driver and increase the load of the electric vehicle, and meanwhile, the adopted control method has a lot of unstable factors of direction and variable, so that the fluctuation of a variation threshold value is large in the process of continuously passing a bend, and misjudgment of steering light is easily caused.
The invention provides an electric two-wheeled vehicle running method based on automatic steering and returning, so that the electric two-wheeled vehicle can automatically turn on light when steering.
Disclosure of Invention
In order to solve the problems, the invention provides a method for driving an electric two-wheeled vehicle based on automatic steering and returning, so as to more exactly solve the problem that the electric two-wheeled vehicle does not turn on a steering lamp when steering.
The invention is realized by the following technical scheme:
the invention provides an electric two-wheeled vehicle driving method based on automatic steering and returning, which comprises the following steps:
s1: acquiring destination information, wherein the destination information comprises coordinates or a place name of a destination;
s2: automatically planning a path according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned path, and selecting an optimal path through a preset comparison vector;
s3: driving according to the optimal path and the preset speed, and performing steering or straight-going voice prompt at the intersection;
s31: when the road junction is steered according to the voice prompt, the steering lamp and the sound effect are automatically turned on through the change of the preset value of the gravity sensor or the change value of the course angle in the interval, and the vehicle returns to the original position after the steering is finished and continues to run;
s32: when the vehicle approaches to a dangerous distance with a pedestrian in front in the driving process, sending out an alarm sound and a voice prompt of the pedestrian, and planning an optimal avoidance route according to a preset calculation formula;
s33: and decelerating and steering according to the planned optimal avoidance path, and returning to travel to the destination.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning comprises the steps of obtaining destination information, wherein the destination information comprises coordinates or a place name of a destination;
the manner of acquiring the destination information includes: speech input and text input.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning comprises the steps of automatically planning a path according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned path, and selecting an optimal path according to a preset contrast vector;
the path also includes location information for the route.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning automatically plans a path according to the obtained destination information, automatically obtains traffic light information and road condition information in the planned path, and selects an optimal path through a preset contrast vector;
the method for selecting the optimal route comprises the following steps:
acquiring a plurality of paths according to traffic light information and road condition information in the planned path;
obtaining a score corresponding to a driving factor of each path, wherein the driving factors comprise path distance, time consumption, traffic light conditions, driving risks and power consumption of the electric two-wheeled vehicle;
and acquiring the total score of each path, and acquiring an optimal path according to the total score.
Furthermore, the method for driving the electric two-wheeled vehicle based on automatic steering and returning drives according to the optimal path and the preset speed, and after the step of steering or straight voice prompt is carried out at the intersection;
if the vehicle turns to the intersection during the straight-going voice prompt, the step S2 is repeated;
if the vehicle is moving straight when turning to the voice prompt at the intersection, repeating the step S2;
and if the vehicle runs at the intersection according to the voice prompt, the vehicle continues to run.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning automatically turns on a steering lamp and a sound effect automatically through the change of a preset value of a gravity sensor or the change of a course angle in an interval when the vehicle turns at an intersection according to voice prompt, and returns to continue driving after the turning is finished;
when a gravity sensor in the electric two-wheeled vehicle continuously increases on a preset value or a GPS course angle continuously increases or decreases in an interval to form a regular trend, a steering lamp and a sound effect are automatically started; automatically turning off the turn light and the sound effect within a certain time when the gravity sensor or the course angle are stable; during this time, the turn signal lights and the sound effects may be manually intervened.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning is characterized in that before the step of sending an alarm sound and a voice prompt of a pedestrian when the vehicle approaches a dangerous distance with the pedestrian in front in the driving process, an optimal avoidance route is planned according to a preset calculation formula;
acquiring information in a driving process as a first parameter, wherein the first parameter comprises: driving speed, steering angle, acceleration and deceleration rate;
acquiring information of the pedestrian as a second parameter, wherein the second parameter comprises: speed, pre-travel trajectory, distance.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning comprises the steps of sending out an alarm sound and a voice prompt of a pedestrian when the vehicle approaches a dangerous distance with the pedestrian in front in the driving process, and planning an optimal avoidance route according to a preset calculation formula;
in the preset calculation formula, the data in the first parameter and the second parameter are integrated, and the optimal avoidance route in straight line driving is calculated:
brake avoidance:
Figure 100002_DEST_PATH_IMAGE001
Figure 570461DEST_PATH_IMAGE002
Figure 100002_DEST_PATH_IMAGE003
steering and avoiding:
Figure 690864DEST_PATH_IMAGE004
Figure 100002_DEST_PATH_IMAGE005
the safety distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheel vehicle movement distance S2, the electric two-wheel vehicle speed V2, the acceleration a of the electric two-wheel vehicle, the steering angle alpha of the electric two-wheel vehicle and the electric three-wheel vehicle steering avoidance movement distance S3;
in the process of brake avoidance, when S2 is larger than or equal to L, the electric two-wheeled vehicle collides with a pedestrian;
when the vehicle is steered to avoid, the electric motorcycle collides with a pedestrian when S3 is equal to S1.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning comprises the steps of sending out an alarm sound and a voice prompt of a pedestrian when the vehicle approaches a dangerous distance with the pedestrian in front in the driving process, and planning an optimal avoidance route according to a preset calculation formula;
in the preset calculation formula, the data in the first parameter and the second parameter are integrated to calculate the optimal avoidance route in steering driving:
brake avoidance:
Figure 798497DEST_PATH_IMAGE006
Figure 100002_DEST_PATH_IMAGE007
Figure 521603DEST_PATH_IMAGE008
steering and avoiding:
Figure 100002_DEST_PATH_IMAGE009
Figure 663871DEST_PATH_IMAGE005
the safety distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheeled vehicle movement distance S2, the electric two-wheeled vehicle speed V2, the acceleration a of the electric two-wheeled vehicle, the steering angle alpha of the electric two-wheeled vehicle, the electric three-wheeled vehicle steering avoidance movement distance S3 and the steering driving angle beta;
in the process of brake avoidance, when S2 is larger than or equal to L, the electric two-wheeled vehicle collides with a pedestrian;
when the vehicle is steered to avoid, the electric motorcycle collides with a pedestrian when S3 is equal to S1.
Further, the method for driving the electric two-wheeled vehicle based on automatic steering and returning comprises the steps of sending out an alarm sound and a voice prompt of a pedestrian when the vehicle approaches a dangerous distance with the pedestrian in front in the driving process, and planning an optimal avoidance route according to a preset calculation formula;
the optimal avoidance route comprises but is not limited to braking, deceleration, yielding and uniform-speed steering and detouring.
The invention has the beneficial effects that:
(1) the method has the advantages that no device is needed to be added, the gravity sensor in the electric two-wheeled vehicle is selected to be combined with the GPS course angle, the steering lamp and the sound effect are automatically turned on when the gravity sensor in the electric two-wheeled vehicle is continuously increased on a preset value or the GPS course angle is continuously increased or decreased in a certain interval to form a regular trend, the steering lamp and the sound effect are automatically turned off when the gravity sensor approaches the preset value and the GPS course angle is stably recovered, two kinds of change data are adopted to simultaneously express the motion of left and right steering, the steering direction is conveniently and accurately acquired, the corresponding steering lamp is correctly turned on, and the accuracy of the method is guaranteed;
(2) the intersection of the pedestrian and the vehicle in the state is accurately predicted through the traveling route of the pedestrian and the driving data of the vehicle, and if the pedestrian and the vehicle collide with the intersection, braking avoidance or steering avoidance is selected to prevent traffic accidents; the turning avoidance extends the distance from the pedestrian by turning, and the vehicle can still detour to the place where the pedestrian passes by in the driving process or in the same time when the pedestrian passes through the intersection in the same time.
Drawings
FIG. 1 is a schematic flow chart of a method of the present invention for automatically steering and returning based electric two-wheeled vehicle driving;
Detailed Description
In order to more clearly and completely describe the technical scheme of the invention, the invention is further described with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a method for driving an electric two-wheeled vehicle based on automatic steering and returning.
In one embodiment, the present invention provides a method for driving an electric two-wheeled vehicle based on automatic steering and return, including the steps of:
s1: acquiring destination information, wherein the destination information comprises coordinates or a place name of a destination;
s2: automatically planning a path according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned path, and selecting an optimal path through a preset comparison vector;
s3: driving according to the optimal path and the preset speed, and performing steering or straight-going voice prompt at the intersection;
s31: when the road junction is steered according to the voice prompt, the steering lamp and the sound effect are automatically turned on through the change of the preset value of the gravity sensor or the change value of the course angle in the interval, and the vehicle returns to the original position after the steering is finished and continues to run;
s32: when the vehicle approaches to a dangerous distance with a pedestrian in front in the driving process, sending out an alarm sound and a voice prompt of the pedestrian, and planning an optimal avoidance route according to a preset calculation formula;
s33: and decelerating and steering according to the planned optimal avoidance path, and returning to travel to the destination.
The manner of acquiring the destination information includes: speech input and text input.
The optimal path also includes location information for the route.
In the embodiment, the electric two-wheeled vehicle acquires destination information before driving, the destination information comprises coordinates or a place name of a destination, and a driver can input words through voice or on a screen when traffic is carried out; for example, in a specific embodiment, the electric two-wheeled vehicle receives destination information of 'Shenzhen south mountain science and technology park No. 1050', and the electric two-wheeled vehicle locates the position of the electric two-wheeled vehicle; automatically planning a path according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned path, and selecting an optimal path through a preset comparison vector; namely, the accurate position of the electric two-wheeled vehicle and the destination position are planned, a driver drives according to the optimal path and the preset speed, and steering or straight-going voice prompt is carried out at the intersection; when the road junction is steered according to the voice prompt, the steering lamp and the sound effect are automatically turned on through the change of the preset value of the gravity sensor or the change value of the course angle in the interval, and the vehicle returns to the original position after the steering is finished and continues to run; when the vehicle approaches to a dangerous distance with a pedestrian in front in the driving process, sending out an alarm sound and a voice prompt of the pedestrian, and planning an optimal avoidance route according to a preset calculation formula; and decelerating and steering according to the planned optimal avoidance path, and returning to travel to the destination.
In one embodiment, a method of selecting an optimal route includes:
acquiring a plurality of paths according to traffic light information and road condition information in the planned path;
obtaining a score corresponding to a driving factor of each path, wherein the driving factors comprise path distance, time consumption, traffic light conditions, driving risks and power consumption of the electric two-wheeled vehicle;
acquiring the total score of each path, wherein if the path with the shortest time duration is used for driving, one integral has the highest score, and otherwise, the path with the longest time duration is used for integrating the lowest score; if the path with the minimum driving risk is the highest point in one item when waiting for traffic lights, and if the path with the maximum driving risk is the lowest point in the path; the final score obtained by each path is obtained by the score of the final comparison standard of each item; and obtaining the optimal path according to the total score.
In a specific embodiment, the electric two-wheeled vehicle is located at the geographic position of ' 100 # of Longhua district and Longhua district grand road junction in Shenzhen city, the driving route is automatically planned when destination information ' Shenzhen Longhua district Jia Anda mansion ' is received, 3 routes including the shortest distance route and the shortest time route are selected according to traffic light information and road condition information in the planned route, and the route distance, the length of time, the traffic light condition, the driving risk and the power consumption of the electric two-wheeled vehicle are compared through the 3 routes and subjected to integral control, wherein in one embodiment, the route distance of the route 1 is shortest, and the integral is 3 minutes; the time for traffic jam is medium, and the integral is 2 points; the road has multiple curves and dense pedestrian flow, and the running risk coefficient is large and integrated into 1 point; the traffic light is the longest in time, and the integral is 1 minute; the power consumption is increased along with the length of the distance and the driving road condition, and the integral is 2 minutes; the path 2 has the longest path distance and the integral is 1 minute; the time consumption is longest, and the integral is 1 point; the driving risk is minimum, and the integral is 3 points; the traffic light is shortest in use time, and the integral is 3 minutes; the power consumption is large, and the integral is 1 point; the path 3 has medium path distance and is integrated into 2 points; the time is fastest, and the integral is 3 minutes; the driving risk is medium, and the integral is 2 points; the traffic light time is medium, and the integral is 2 minutes; the power consumption is low, and the integral is 3 minutes; through comprehensive comparison of score values on the three paths, the path 1 is divided into 9 scores, the path 2 is divided into 10 scores, the path 3 is divided into 11 scores, and the optimal path is the path 3; in this embodiment, the weight proportion of each comparison standard is consistent and is twenty percent, but in another embodiment, the weight values of different comparison standards are different due to different driving habits of drivers, and in a driver with a prudent driving habit, the safety is the first place, if the weight proportion of the driving risk is increased to forty percent, namely the integral of the driving risk is 8 points, the integral of the path 1 is 0 point, the integral of the path 2 is 8 points, the integral of the path 3 is 4 points, the total point of the path 1 is recalculated to 8 points, the path 2 is 15 points, and the path 3 is 13 points, at this moment, the optimal path is the path 2.
In one embodiment, the method for driving the electric two-wheeled vehicle based on automatic steering and returning is carried out after the steps of driving according to the optimal path, driving at the preset speed, and carrying out steering or straight-going voice prompt at the intersection are carried out;
if the vehicle turns to the intersection during the straight-going voice prompt, the step S2 is repeated;
if the vehicle is moving straight when turning to the voice prompt at the intersection, repeating the step S2;
and if the vehicle runs at the intersection according to the voice prompt, the vehicle continues to run.
In one embodiment, the method for driving the electric two-wheeled vehicle based on automatic steering and returning automatically turns on a steering lamp and a sound effect automatically through the change of a preset value of a gravity sensor or the change of a course angle in an interval when the vehicle turns to the intersection according to voice prompt, and returns to continue driving after the steering is finished;
when a gravity sensor in the electric two-wheeled vehicle continuously increases on a preset value or a GPS course angle continuously increases or decreases in a certain interval to form a regular trend, a steering lamp and a sound effect are automatically started; automatically turning off the turn light and the sound effect within a certain time when the gravity sensor or the course angle recovers to be stable; in a specific implementation, when the electric bicycle turns to the left, the gravity sensor in the electric bicycle inclines to the left due to the inclination of the bicycle body, the vertical direction of the gravity sensor is reduced along with the increase of the inclination angle, and the preset value in the gravity sensor is continuously reduced by 0.5s, so that the electric bicycle is considered to be in a turning state; in another situation, when the electric bicycle is in steering, the GPS course angle can deviate to the left and the right, if the angle of the GPS course angle within 0.5s is continuously increased or decreased, the electric bicycle is considered to be in a steering state; when the two conditions occur simultaneously and the steering in the same direction is judged, the steering lamp and the sound effect are automatically turned on, so that the safety of driving steering is ensured; when the vehicle body returns to the normal position or the GPS course angle returns to the position, namely a condition is met randomly, the electric bicycle automatically turns off the light and the sound effect; in another embodiment, the light and sound effect on the electric bicycle can be manually adjusted, the driver turns on the steering light and sound effect before entering the steering and turns off the light and sound effect before exiting the steering; the automatic light function of opening in time guarantees the indicator light and the audio of electric bicycle in the time of turning to, effectively prevents the emergence of traffic accident.
In one embodiment, the method for driving the electric two-wheeled vehicle based on automatic steering and returning comprises the steps of sending an alarm sound and a voice prompt of a pedestrian when the vehicle approaches a dangerous distance with the pedestrian in front during driving, and planning an optimal avoidance route according to a preset calculation formula before the step;
acquiring information in a driving process as a first parameter, wherein the first parameter comprises the following steps: driving speed, steering angle, acceleration and deceleration rate;
acquiring information of the pedestrian as a second parameter, wherein the second parameter comprises: speed, pre-travel trajectory, distance.
The optimal avoidance route comprises but is not limited to braking, deceleration, yielding and uniform-speed steering and detouring.
In the preset calculation formula, the data in the first parameter and the second parameter are integrated, and the optimal avoidance route in straight line driving is calculated:
brake avoidance:
Figure 220755DEST_PATH_IMAGE001
Figure 956629DEST_PATH_IMAGE002
Figure 14584DEST_PATH_IMAGE003
steering and avoiding:
Figure 152304DEST_PATH_IMAGE004
Figure 880089DEST_PATH_IMAGE005
the safety distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheel vehicle movement distance S2, the electric two-wheel vehicle speed V2, the acceleration a of the electric two-wheel vehicle, the steering angle alpha of the electric two-wheel vehicle and the electric three-wheel vehicle steering avoidance movement distance S3;
in the process of brake avoidance, when S2 is larger than or equal to L, the electric two-wheeled vehicle collides with a pedestrian;
when the vehicle is steered to avoid, the electric motorcycle collides with a pedestrian when S3 is equal to S1.
In the embodiment, the safe distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheeled vehicle movement distance S2, the electric two-wheeled vehicle speed V2, the acceleration a of the electric two-wheeled vehicle, the steering angle α of the electric two-wheeled vehicle, and the electric three-wheeled vehicle steering avoidance movement distance S3; when the electric two-wheel vehicle runs on a straight line and a roadside pedestrian approaches a safe distance, the electric two-wheel vehicle automatically sends out language broadcast for avoiding the pedestrian, a driver timely performs brake avoiding or steering avoiding operation, if the brake avoiding operation is performed, the brake speed of the electric two-wheel vehicle is higher than a, the electric two-wheel vehicle can safely stop before the running route of the pedestrian, and when the speed of the electric two-wheel vehicle is lower than or equal to a with the understanding of the brake of the two-wheel vehicle, a traffic accident that the electric two-wheel vehicle collides with the pedestrian is easy to occur; if the driver does the steering avoiding operation, the driver drives the electric two-wheeled vehicle to steer and deviate in the direction opposite to the advancing direction of the pedestrian, when the steering angle is larger than alpha, the electric two-wheeled vehicle avoids the pedestrian to drive, and when the steering angle is smaller than or equal to alpha, traffic accidents can still occur.
In one embodiment, the preset calculation formula integrates data in the first parameter and the second parameter to calculate an optimal avoidance route during steering driving:
brake avoidance:
Figure 227894DEST_PATH_IMAGE006
Figure 699326DEST_PATH_IMAGE007
Figure 816187DEST_PATH_IMAGE008
steering and avoiding:
Figure 980452DEST_PATH_IMAGE009
Figure 956498DEST_PATH_IMAGE005
in the embodiment, the safe distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheeled vehicle movement distance S2, the electric two-wheeled vehicle speed V2, the acceleration a of the electric two-wheeled vehicle, the steering angle α of the electric two-wheeled vehicle, the electric three-wheeled vehicle steering avoidance movement distance S3, and the steering driving angle β; when the electric bicycle is driven in a steering mode and pedestrians on the roadside approach a safe distance, the electric bicycle automatically sends out voice broadcast of avoiding the pedestrians, a driver timely performs brake avoiding or steering avoiding operation, and the electric bicycle collides with the pedestrians when S2 is larger than or equal to L in the brake avoiding process; when the steering is in the avoidance state, when S3 is equal to S1, the electric bicycle collides with the pedestrian; in specific implementation, a driver avoids traffic accidents by selecting different avoidance modes, and because the steering driving angle is a fixed angle beta, the acceleration a is larger and the S2 is smaller during brake avoidance, so that the purpose of brake avoidance is achieved; when the vehicle is turned to avoid, the larger the turning angle alpha is, the larger the offset distance is, the longer the running time is, and the purpose that the pedestrian passes through the intersection and the vehicle does not arrive is achieved.
In another embodiment, the body of the electric bicycle is deviated to one side during steering, so that the center of gravity is deviated, and the electric bicycle has a maximum steering angle during specific steering, wherein the maximum steering angle is 55 degrees, namely, alpha + beta is less than or equal to 55 degrees, and during steering avoidance, if the alpha + beta is 55 degrees, the electric bicycle can have a rollover accident.
Of course, the present invention may have other embodiments, and based on the embodiments, other embodiments obtained by persons skilled in the art without any creative work are within the protection scope of the present invention.

Claims (10)

1. A method for driving an electric two-wheeled vehicle based on automatic steering and returning is characterized by comprising the following steps:
s1: acquiring destination information, wherein the destination information comprises coordinates or a place name of a destination;
s2: automatically planning a path according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned path, and selecting an optimal path through a preset contrast vector;
s3: driving according to the optimal path and the preset speed, and performing steering or straight-going voice prompt at the intersection;
s31: when the road junction is steered according to the voice prompt, the steering lamp and the sound effect are automatically turned on through the change of the preset value of the gravity sensor or the change value of the course angle in the interval, and the vehicle returns to the original position after the steering is finished and continues to run;
s32: when the vehicle approaches to a dangerous distance with a pedestrian in front in the driving process, sending out an alarm sound and a voice prompt of the pedestrian, and planning an optimal avoidance route according to a preset calculation formula;
s33: and decelerating and steering according to the planned optimal avoidance path, and returning to travel to the destination.
2. The automatic steering and return-based electric motorcycle driving method according to claim 1, wherein in the step of acquiring destination information including coordinates or a place name of the destination;
the method for acquiring the destination information comprises the following steps: speech input and text input.
3. The method for automatically steering and returning based on electric two-wheeled vehicle driving according to claim 1, wherein in the step of automatically planning the route according to the obtained destination information, automatically obtaining traffic light information and road condition information in the planned route, and selecting the optimal route according to a preset contrast vector;
the path also includes location information for the route.
4. The method for automatically steering and returning based on electric two-wheeled vehicle driving according to claim 1, wherein a path is automatically planned according to the obtained destination information, traffic light information and road condition information in the planned path are automatically obtained, and an optimal path is selected through a preset contrast vector;
the method for selecting the optimal route comprises the following steps:
acquiring a plurality of paths according to traffic light information and road condition information in the planned path;
obtaining a score corresponding to a driving factor of each path, wherein the driving factors comprise path distance, time consumption, traffic light conditions, driving risks and power consumption of the electric two-wheeled vehicle;
and acquiring the total score of each path, and acquiring an optimal path according to the total score.
5. The method for automatically steering and returning based electric two-wheeled vehicle driving according to claim 1, wherein after the step of steering or straight-going voice prompt is performed at the intersection after the vehicle is driven according to the optimal path and at the preset speed;
if the vehicle turns to the intersection during the straight-going voice prompt, the step S2 is repeated;
if the vehicle is moving straight when turning to the voice prompt at the intersection, repeating the step S2;
and if the vehicle runs at the intersection according to the voice prompt, the vehicle continues to run.
6. The method for automatically steering and returning based on electric two-wheeled vehicle driving according to claim 1, wherein when the vehicle is steered at the intersection according to the voice prompt, the steering lamp and the sound effect are automatically turned on according to the change of the preset value of the gravity sensor or the change value of the course angle in the interval, and the vehicle is returned to continue the driving step after the steering is finished;
when a gravity sensor in the electric two-wheeled vehicle continuously increases on a preset value or a GPS course angle continuously increases or decreases in an interval to form a regular trend, a steering lamp and a sound effect are automatically started; and automatically turning off the turn lights and the sound effect within a certain time when the gravity sensor or the course angle recovers to be stable.
7. The method for driving the electric two-wheeled vehicle based on the automatic steering and returning as claimed in claim 1, wherein when the vehicle approaches a dangerous distance with a pedestrian ahead in the driving process, an alarm sound and a voice prompt of the pedestrian are given out, and before the step of planning an optimal avoidance route according to a preset calculation formula;
acquiring information in a driving process as a first parameter, wherein the first parameter comprises: driving speed, steering angle, acceleration and deceleration rate;
acquiring information of the pedestrian as a second parameter, wherein the second parameter comprises: speed, pre-travel trajectory, distance.
8. The method for automatically steering and returning based electric two-wheeled vehicle driving according to claim 7, wherein when approaching a dangerous distance with a pedestrian ahead during driving, an alarm sound and a voice prompt of the pedestrian are given, and an optimal avoidance route is planned according to a preset calculation formula;
in the preset calculation formula, the data in the first parameter and the second parameter are integrated, and the optimal avoidance route in straight line driving is calculated:
avoiding the brake:
Figure DEST_PATH_IMAGE001
Figure 212826DEST_PATH_IMAGE002
Figure DEST_PATH_IMAGE003
steering and avoiding:
Figure 109107DEST_PATH_IMAGE004
Figure DEST_PATH_IMAGE005
the safety distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheel vehicle movement distance S2, the electric two-wheel vehicle speed V2, the acceleration a of the electric two-wheel vehicle, the steering angle alpha of the electric two-wheel vehicle and the electric three-wheel vehicle steering avoidance movement distance S3;
in the process of brake avoidance, when S2 is larger than or equal to L, the electric two-wheeled vehicle collides with a pedestrian;
when the vehicle is steered to avoid, the electric motorcycle collides with a pedestrian when S3 is equal to S1.
9. The method for automatically steering and returning based electric two-wheeled vehicle driving according to claim 7, wherein when approaching a dangerous distance with a pedestrian ahead during driving, an alarm sound and a voice prompt of the pedestrian are given, and an optimal avoidance route is planned according to a preset calculation formula;
in the preset calculation formula, the data in the first parameter and the second parameter are integrated to calculate the optimal avoidance route during steering driving:
brake avoidance:
Figure 466270DEST_PATH_IMAGE006
Figure DEST_PATH_IMAGE007
Figure 497243DEST_PATH_IMAGE008
steering and avoiding:
Figure DEST_PATH_IMAGE009
Figure 505520DEST_PATH_IMAGE010
the safety distance is L, the pedestrian movement distance S1, the pedestrian movement speed V1, the pedestrian movement time T1, the electric two-wheeled vehicle movement distance S2, the electric two-wheeled vehicle speed V2, the acceleration a of the electric two-wheeled vehicle, the steering angle alpha of the electric two-wheeled vehicle, the electric three-wheeled vehicle steering avoidance movement distance S3 and the steering driving angle beta;
in the process of brake avoidance, when the brake force is greater than or equal to L in S2, the electric bicycle collides with pedestrians;
when the vehicle is steered to avoid, the electric motorcycle collides with a pedestrian when S3 is equal to S1.
10. The method for driving an electric two-wheeled vehicle based on automatic steering and returning as claimed in claim 1, wherein the step of issuing an alarm sound and a voice prompt of a pedestrian when approaching a dangerous distance to the pedestrian ahead during driving and planning an optimal avoidance route according to a preset calculation formula;
the optimal avoidance route comprises but is not limited to braking, deceleration, yielding and uniform-speed steering and detouring.
CN202210340479.8A 2022-04-02 Automatic steering and return-based electric two-wheeled vehicle running method Active CN114604341B (en)

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CN106184202A (en) * 2016-07-26 2016-12-07 浙江吉利控股集团有限公司 A kind of automatic emergency steering for vehicle and control method thereof
CN107161075A (en) * 2017-05-24 2017-09-15 东风汽车公司 A kind of turn signal lamp autocontrol method and system based on automatic Pilot
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