CN114872725A - Intelligent control system of electric two-wheeled vehicle - Google Patents
Intelligent control system of electric two-wheeled vehicle Download PDFInfo
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- CN114872725A CN114872725A CN202210597588.8A CN202210597588A CN114872725A CN 114872725 A CN114872725 A CN 114872725A CN 202210597588 A CN202210597588 A CN 202210597588A CN 114872725 A CN114872725 A CN 114872725A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
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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
Abstract
The invention relates to the field of control components of electric bicycles, in particular to an intelligent control system of an electric bicycle, which comprises a data acquisition unit, a data processing unit, a speed change control unit and a warning control unit; the data acquisition unit is used for acquiring the state of the electric two-wheel vehicle, the state of an obstacle and road condition information and converting the state of the electric two-wheel vehicle into a digital signal; the data processing unit is used for processing the digital signals to respectively obtain speed change signals and warning signals, and classifying the warning signals to obtain prompt signals and prediction signals; the speed change control unit is used for generating a speed change control signal according to the speed change signal and optimizing and responding to the speed change control signal; and the warning control unit is used for generating and responding to the prompt control signal according to the prompt signal and generating and responding to a gear shifting deceleration mode or a braking deceleration mode according to the prediction signal. The invention not only improves the speed change performance of the speed change electric two-wheeled vehicle, but also assists in riding to ensure that a rider can safely ride.
Description
Technical Field
The invention relates to the field of control components of electric bicycles, in particular to an intelligent control system of an electric bicycle.
Background
Today, green travel is already a topic commonly spoken by the old. Among them, electric bicycles, i.e., electric motorcycles, are the first choice vehicles for green trips, and are the first choice of creditability in terms of green environmental protection and energy conservation. However, the electric two-wheeled vehicle has a structure of ' people ' riding ' when riding, and most of the driving control is controlled according to subjective judgment of a rider, so that the body of the rider is more easily injured due to subjective factors of the rider when riding. At present, aiming at the aspect of speed change of the electric two-wheeled vehicle, a rider mainly controls the speed change of the electric two-wheeled vehicle by adjusting a scroll on a control handle according to riding road conditions, but the speed change regulation and control needs the manual operation of the rider and longer reaction time. In addition, on a rugged driving path, the traditional speed-changing electric two-wheeled vehicle can consume a large amount of physical power of a rider; meanwhile, especially to the electric two-wheeled vehicle of riding in long distance, also do not correspond the emergence that dangerous early warning suggestion on the multiple road conditions or the supplementary device of riding reduced the driving accident, consequently need an electric two-wheeled vehicle intelligence control system urgently for promote the variable speed electric two-wheeled vehicle's speed change performance, thereby supplementary ride and guarantee to ride that the passerby can be safe ride.
Disclosure of Invention
Aiming at the defects in the prior art, the intelligent control system and the intelligent control system for the electric two-wheeled vehicle aim to solve the technical problems, and the intelligent control system for the electric two-wheeled vehicle provided by the invention comprises a data acquisition unit, a data processing unit, a speed change control unit and a warning control unit; the data acquisition unit is used for acquiring the state of the electric two-wheel vehicle, the state of an obstacle and the road condition information and converting the road condition information and the state information of the electric two-wheel vehicle into digital signals; the data processing unit is used for processing the digital signals to respectively obtain speed change signals and warning signals, and classifying the warning signals to obtain prompt signals and prediction signals; the speed change control unit is used for generating a speed change control signal according to the speed change signal, optimizing and responding to the speed change control signal; and the warning control unit is used for generating and responding to a prompt control signal according to the prompt signal and generating and responding to a gear shifting deceleration mode or a brake deceleration mode according to the prediction signal. According to the invention, the data acquisition unit acquires the state, the obstacle condition and the road condition information of the electric two-wheeled vehicle in real time, the state, the obstacle condition and the road condition information are respectively and quickly and accurately input to the speed change control unit and the warning control unit in a corresponding manner through analysis and processing of the data processing unit, the automatic gear shifting operation is quickly realized by utilizing the speed change control unit and the warning control unit, the gear shifting reaction time is shortened, the physical strength of a rider is saved, and meanwhile, danger early warning prompts are timely provided to reduce the occurrence of driving accidents. The invention not only improves the speed change performance of the electric two-wheel vehicle, but also assists in riding to ensure that a rider can safely ride.
Optionally, the intelligent control system for the electric two-wheeled vehicle further comprises a system starting device, and the system starting device is used for starting or closing the operation of the intelligent control system for the electric two-wheeled vehicle. The invention carries out on-off control on the operation of the integrated system by installing the system starting device, is convenient and quick, and can be closed at any time when the intelligent control system of the electric two-wheel vehicle is not required to be started so as to save energy.
Optionally, the data acquisition unit includes a signal acquisition module and a signal conversion module, the signal acquisition module includes a sensor, a roadblock detector and a locator, and the signal conversion module includes a digital-to-analog converter; the sensor is made of a piezoelectric material and used for collecting the state of the electric two-wheel vehicle in real time; the sensors comprise a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor is arranged on a steering bearing of the electric two-wheel vehicle, the second sensor is arranged on a seat of the electric two-wheel vehicle, the third sensor is arranged on a front wheel of the electric two-wheel vehicle, and the fourth sensor is arranged on a rear wheel of the electric two-wheel vehicle; the roadblock detector is used for acquiring the obstacle condition around the electric two-wheeled vehicle through microwaves; the locator is used for acquiring the real-time road condition information through a satellite; the digital-to-analog converter is used for converting the state of the electric two-wheel vehicle, the obstacle condition and the road condition information into digital signals. Further optionally, the roadblock detector is mounted at a surface center position of a handle of the electric two-wheeled vehicle; the locator is integrated into the interior of the handle. Through installing corresponding functional module at electric bicycle different positions, not only can reduce the volume of system, the optimization performance has also promoted the suitability of whole set of system.
Optionally, the shift control unit comprises a first command generation module, a first command response module and a command optimization module; the first instruction generation module is used for generating a speed change control signal by using the speed change signal; the first instruction response module is used for responding to the speed change control signal; the command optimization module is configured to optimize the shift control signal.
Optionally, the first instruction generating module is configured to obtain a shift level through calculation and analysis on the shift signal, so as to obtain a shift control signal, where the shift level includes a light gear, a medium heavy gear, and a heavy gear, and the shift level satisfies the following formula:
wherein C represents the gear shift grade, and when the value range of C is between [0,1 ], C represents the light gear; when the value range of C is [1,2 ]C represents middle light gear; when the value range of C is between [2,3), C represents a middle gear; when the value range of C is between [3,4 ], C represents a middle heavy gear; when the value range of C is between [4,5 ], C represents a heavy gear; when the value of C is not [0,5 ]]If the speed change signal is in the normal state, the first instruction generation module extracts the speed change signal again, calculates and analyzes the speed change signal and obtains a speed change grade; n is a radical of 1 Representing the stress condition of a steering bearing, wherein alpha is the weight of the stress condition of the steering bearing; n is a radical of 2 Representing the stress condition of the stool, wherein beta is the weight of the stress condition of the stool; n is a radical of 3 Representing the stress condition of the pedal, wherein gamma is the weight of the stress condition of the pedal; n is a radical of 4 Representing the stress condition of the tire, wherein delta is the weight of the stress condition of the tire; theta represents the inclination degree of the electric two-wheeled vehicle in the longitudinal direction; h represents a road condition reference coefficient; k represents the road surface evenness index, min (d) i ) The minimum distance between the electric two-wheeled vehicle and an obstacle is represented, i is 1,2, …, n is the number of the different obstacles, and v is the average speed of the electric two-wheeled vehicle in the middle gear of the plane normal riding. According to the intelligent gear shifting system, the riding gears are accurately divided by utilizing a plurality of parameters influencing riding, and corresponding speed change control signals are generated to achieve rapid and intelligent gear shifting operation, so that the operation accuracy of the whole system is improved, and the performance of the whole system is improved.
Optionally, the first command response module comprises a range gearbox, a memory and a range comparator; the gearbox comprises a motor, a transmission belt, a driving wheel and a driven wheel, the transmission belt is used for connecting the driving wheel and the driven wheel, and the motor is used for completing gear switching by regulating and controlling the sleeving length of the transmission belt on the driving wheel and the driven wheel; the gear storage is used for storing the speed change grade of the current electric two-wheeled vehicle; the gear comparator is used for comparing the gear control signal with the gear level of the current electric two-wheeled vehicle to obtain a comparison result, and controlling the motor to operate by using the comparison result. The invention achieves the purpose of speed change by controlling the cooperative working state among the transmission belt, the driving wheel and the driven wheel by the motor, has high precision and low error rate, and ensures the riding experience of a rider.
Optionally, the instruction optimization module is configured to optimize an offset of the operating parameter of the motor by using the comparison result, so as to optimize the control signal, where the offset optimization satisfies the following formula:
wherein x represents an offset, and when x is a positive value, the offset is a leftward offset; when x is a negative value, the offset is to the right, v c (t) a speed function corresponding to the shift level generated by the first command generation module, v c′ (t) representing a speed function corresponding to a driving gear in a memory, t representing speed change time, E representing a stress matrix of a gearbox of the electric two-wheel vehicle, and G representing an anti-vibration parameter matrix corresponding to the stress matrix; r 1 Indicating the radius of the driving wheel in the gearbox of the electric two-wheeled vehicle, R 2 The representation shows the radius of the driven wheels in the electric two-wheeled vehicle gearbox. According to the invention, the overall performance of the intelligent control system of the electric two-wheel vehicle is improved by accurately optimizing the offset of the motor, and the operation accuracy and efficiency are ensured.
Optionally, the warning control unit includes a prompt control subunit and a prediction signal subunit; the prompt control subunit is used for generating and responding to a prompt control signal by using the prompt signal; the prediction signal subunit is used for judging the inclination degree of the electric two-wheel vehicle by using the prediction signal, generating a braking instruction or a deceleration instruction according to the inclination degree, and generating and responding to a gear shifting deceleration mode or a braking deceleration mode according to the deceleration instruction.
Optionally, the prompt control subunit includes a second instruction generation module and a second instruction response module; the second instruction generating module is used for generating the prompt control signal; the second instruction response module comprises an indicator light and a buzzer, the indicator light is used for responding to the prompt control signal by emitting light with different colors, and the buzzer is used for responding to the prompt control signal by emitting sound with different frequencies.
Optionally, the prediction signal subunit includes an instruction judgment module and a third instruction response module; the instruction judging module is used for obtaining the inclination degree of the electric two-wheeled vehicle through the prediction signal, judging the balance state of the electric two-wheeled vehicle through setting an inclination degree threshold value, generating a braking instruction or a deceleration instruction by combining the balance state, and respectively inputting the braking instruction into the third instruction response module and inputting the deceleration instruction into the deceleration judging module; the third instruction response module is used for responding to the braking instruction.
Optionally, the third command response module includes a first brake valve, a second brake valve and a buffer rubber layer; the surface of the first brake valve is attached with the buffer rubber layer, and the first brake valve is arranged on a front wheel of the electric two-wheel vehicle; the surface of the second brake valve is attached with the buffer rubber layer, and the second brake valve is installed on the rear wheel of the electric two-wheel vehicle.
Optionally, the prediction signal subunit further includes the deceleration determination module; the deceleration judging module is used for setting a speed threshold, generating the gear shifting deceleration mode and the brake deceleration mode by combining the speed threshold with the deceleration command, and inputting the gear shifting deceleration mode to the first command response module and inputting the brake deceleration mode to the third command response module; the gear shifting deceleration mode represents that the deceleration operation is completed by using the mode of the speed change control signal, and the brake deceleration mode represents that the deceleration operation is completed by using the mode of the brake command. According to the intelligent control system for the electric two-wheel vehicle, the speed control mode is optimized by using the gear shifting speed reduction mode and the braking speed reduction mode, so that the intelligent control system for the electric two-wheel vehicle is more humanized in design, and accidents in the speed reduction process caused by inertia factors in riding are avoided to the great extent.
Drawings
FIG. 1 is a schematic diagram of the elements of the intelligent control system of the electric two-wheeled vehicle;
FIG. 2 is a schematic view of the sensor mounting position of the intelligent control system of the electric two-wheeled vehicle;
FIG. 3 is a schematic view of a gearbox of the intelligent control system of the electric two-wheeled vehicle according to the present invention;
fig. 4 is a schematic connection diagram of the intelligent control system module of the electric two-wheeled vehicle.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, software, or methods have not been described in detail in order to avoid obscuring the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale.
Referring to fig. 1, in an alternative embodiment, the present invention provides an intelligent control system for an electric two-wheeled vehicle, including a data acquisition unit, a data processing unit, a speed change control unit and a warning control unit; the data acquisition unit is used for acquiring the state of the electric two-wheel vehicle, the state of an obstacle and the road condition information and converting the road condition information and the state information of the electric two-wheel vehicle into digital signals; the data processing unit is used for processing the digital signals to respectively obtain speed change signals and warning signals, and classifying the warning signals to obtain prompt signals and prediction signals; the speed change control unit is used for generating a speed change control signal according to the speed change signal, optimizing and responding to the speed change control signal; and the warning control unit is used for generating and responding to a prompt control signal according to the prompt signal and generating and responding to a gear shifting deceleration mode or a brake deceleration mode according to the prediction signal. In detail, the data acquisition unit is connected with the data processing unit, the data processing unit is respectively connected with the variable speed control unit and the warning control unit, the variable speed control unit is connected with the warning control unit, the connection mode comprises wireless connection and wired connection, and the specific connection mode can be selected according to actual conditions. According to the invention, the data acquisition unit acquires the state, the obstacle condition and the road condition information of the electric two-wheeled vehicle in real time, the state, the obstacle condition and the road condition information are respectively and quickly and accurately input to the speed change control unit and the warning control unit in a corresponding manner through analysis and processing of the data processing unit, the automatic gear shifting operation is quickly realized by utilizing the speed change control unit and the warning control unit, the gear shifting reaction time is shortened, the physical strength of a rider is saved, and meanwhile, danger early warning prompts are timely provided to reduce the occurrence of driving accidents. The invention not only improves the speed change performance of the electric two-wheel vehicle, but also assists in riding to ensure that a rider can safely ride.
In yet another optional embodiment, the electric two-wheel vehicle intelligent control system further comprises a system starting device, and the system starting device is used for starting or closing the operation of the electric two-wheel vehicle intelligent control system. Particularly, the system opening device can be arranged on a faucet of the electric two-wheel vehicle, and can be conveniently operated. The invention carries out on-off control on the operation of the integrated system by installing the system starting device, is convenient and quick, and can be closed at any time when the intelligent control system of the electric two-wheel vehicle is not required to be started so as to save energy.
Specifically, in one optional embodiment, the data acquisition unit comprises a signal acquisition module comprising a sensor, a roadblock detector 6 and a locator, and a signal conversion module comprising a digital-to-analog converter; the sensor is made of a piezoelectric material and used for collecting the state of the electric two-wheel vehicle in real time; the sensors include a first sensor 51, a second sensor 52, a third sensor 53 and a fourth sensor 54, referring to fig. 2, the first sensor 51 is disposed on a steering bearing of the electric motorcycle, the second sensor 52 is disposed on a seat of the electric motorcycle, the third sensor 53 is disposed on a front wheel of the electric motorcycle, and the fourth sensor 54 is disposed on a rear wheel of the electric motorcycle; the roadblock detector 6 is used for acquiring the obstacle condition around the electric two-wheeled vehicle through microwaves; the locator is used for acquiring the real-time road condition information through a satellite; the digital-to-analog converter is used for converting the state of the electric two-wheel vehicle, the obstacle condition and the road condition information into digital signals, and the digital signals are more convenient to integrate and process. Further optionally, the roadblock detector is mounted at a surface center position of a handle of the electric two-wheeled vehicle; the locator is integrated into the interior of the handle. Through installing corresponding functional module at electric bicycle different positions, not only can reduce the volume of system, the optimization performance has also promoted the suitability of whole set of system.
In another optional embodiment, the speed change control unit of the intelligent control system of the electric two-wheeled vehicle comprises a first command generation module, a first command response module and a command optimization module; the first instruction generation module is used for generating a speed change control signal by using the speed change signal; the first instruction response module is used for responding to the speed change control signal; the command optimization module is configured to optimize the shift control signal. In detail, the first instruction generation module, the first instruction response module and the instruction optimization module can be integrated together through the prior art, so that the overall size of the system is reduced, and the system is convenient to install.
In this embodiment, the first instruction generating module is configured to obtain a shift level through calculation and analysis on the shift signal, so as to obtain a shift control signal, where the shift level includes a light gear, a medium heavy gear, and a heavy gear, and the shift level satisfies the following formula:
wherein C represents the gear shift grade, and when the value range of C is between [0,1 ], C represents the light gear; when the value range of C is between [1,2), C represents medium light gear; when the value range of C is between [2,3), C represents a middle gear; when the value range of C is between [3,4 ], C represents a middle heavy gear; when the value range of C is between [4,5 ], C represents a heavy gear; when the value of C is not [0,5 ]]If the speed change signal is in the normal state, the first instruction generation module extracts the speed change signal again, calculates and analyzes the speed change signal and obtains a speed change grade; n is a radical of 1 Representing the stress condition of a steering bearing, wherein alpha is the weight of the stress condition of the steering bearing; n is a radical of 2 Representing the stress condition of the stool, wherein beta is the weight of the stress condition of the stool; n is a radical of 3 Representing the stress condition of the pedal, wherein gamma is the weight of the stress condition of the pedal; n is a radical of 4 Representing the stress condition of the tire, wherein delta is the weight of the stress condition of the tire; theta represents the inclination degree of the electric two-wheeled vehicle in the longitudinal direction; h represents a road condition reference coefficient; k represents the road surface evenness index, min (d) i ) The minimum distance between the electric two-wheeled vehicle and an obstacle is represented, i is 1,2, …, n is the number of the different obstacles, and v is the average speed of the electric two-wheeled vehicle in the normal riding on a plane at the middle gear. According to the intelligent gear shifting system, the riding gears are accurately divided by utilizing a plurality of parameters influencing riding, and corresponding speed change control signals are generated to achieve rapid and intelligent gear shifting operation, so that the operation accuracy of the whole system is improved, and the performance of the whole system is improved.
In detail, in a further alternative embodiment, the first command response module of the intelligent control system of the electric two-wheeled vehicle comprises a gear gearbox, a memory and a gear comparator; referring to fig. 3, the transmission case includes a motor 4, a transmission belt 3, a driving wheel 2 and a driven wheel 1, the transmission belt 3 is used for connecting the driving wheel 2 and the driven wheel 1, and the motor 4 is used for completing gear shifting by adjusting and controlling the length of the transmission belt 3 sleeved on the driving wheel 2 and the driven wheel 1; the gear storage is used for storing the speed change grade of the current electric two-wheeled vehicle; the gear comparator is used for comparing the gear control signal with the gear level of the current electric two-wheeled vehicle to obtain a comparison result, and controlling the motor to operate by using the comparison result. The invention achieves the purpose of speed change by controlling the cooperative working state among the transmission belt 3, the driving wheel 2 and the driven wheel 1 by the motor, has high precision and small error rate, and ensures the riding experience of a rider.
Specifically, the instruction optimization module of the intelligent control system of the electric two-wheeled vehicle is configured to optimize an offset of an operating parameter of the motor by using the comparison result, so as to optimize the control signal, where the offset optimization satisfies the following formula:
wherein x represents an offset, and when x is a positive value, the offset is a leftward offset; when x is a negative value, the offset is to the right, v c (t) a speed function corresponding to the shift level generated by the first command generation module, v c′ (t) representing a speed function corresponding to a driving gear in a memory, t representing speed change time, E representing a stress matrix of a gearbox of the electric two-wheel vehicle, and G representing an anti-vibration parameter matrix corresponding to the stress matrix; r 1 Represents the radius, R, of the driving wheel 2 in the electric two-wheeled vehicle gearbox 2 The drawing shows the radius of the driven wheel 1 in the electric two-wheeled vehicle transmission. According to the invention, the overall performance of the intelligent control system of the electric two-wheel vehicle is improved by accurately optimizing the offset of the motor, and the operation accuracy and efficiency are ensured.
Optionally, the warning control unit includes a prompt control subunit and a prediction signal subunit; the prompt control subunit is used for generating and responding to a prompt control signal by using the prompt signal; the prediction signal subunit is used for judging the inclination degree of the electric two-wheel vehicle by using the prediction signal, generating a braking instruction or a deceleration instruction according to the inclination degree, and generating and responding to a gear shifting deceleration mode or a braking deceleration mode according to the deceleration instruction.
In an optional embodiment, the prompt control subunit of the intelligent control system of the electric two-wheeled vehicle comprises a second instruction generating module and a second instruction responding module; the second instruction generating module is used for generating the prompt control signal; the second instruction response module comprises an indicator light and a buzzer, the indicator light is used for responding to the prompt control signal by emitting light with different colors, and the buzzer is used for responding to the prompt control signal by emitting sound with different frequencies. In detail, in this embodiment, first instruction response module and third instruction response module all with second instruction response module wireless signal connection, accomplish the instruction back that corresponds the module respectively when first instruction response module and third instruction response module, through the stroboscopic pilot lamp suggestion instruction of green and accomplish, remind the rider to notice the direction of riding and speed through red stroboscopic pilot lamp and the sound of crossing the buzzer different frequencies simultaneously to in time avoid the emergence of accident.
In yet another optional embodiment, the prediction signal subunit comprises an instruction judgment module and a third instruction response module; the command judging module is used for obtaining the inclination degree of the electric two-wheeled vehicle through the prediction signal, judging the balance state of the electric two-wheeled vehicle through setting an inclination degree threshold value, generating a braking command or a deceleration command by combining the balance state, and respectively inputting the braking command into the third command response module and inputting the deceleration command into the deceleration judging module; the third instruction response module is used for responding to the braking instruction. Specifically, in this embodiment, the instruction determination module sets the inclination threshold in real time by using the traffic information, so as to achieve the effect of intelligent early warning according to actual conditions.
In detail, in this embodiment, the third command response module includes a first brake valve, a second brake valve, and a buffer rubber layer; the surface of the first brake valve is attached with the buffer rubber layer, and the first brake valve is arranged on a front wheel of the electric two-wheel vehicle; the surface of the second brake valve is attached with the buffer rubber layer, and the second brake valve is installed on the rear wheel of the electric two-wheel vehicle.
In an optional embodiment, the prediction signal subunit further comprises the deceleration determination module; the deceleration judging module is used for setting a speed threshold, generating the gear shifting deceleration mode and the brake deceleration mode by combining the speed threshold with the deceleration command, and inputting the gear shifting deceleration mode to the first command response module and inputting the brake deceleration mode to the third command response module; the gear shifting deceleration mode means that deceleration operation is completed by using the mode of the speed change control signal, and the brake deceleration mode means that deceleration operation is completed by using the mode of the brake command. According to the intelligent control system for the electric two-wheel vehicle, the speed control mode is optimized by using the gear shifting speed reduction mode and the braking speed reduction mode, so that the intelligent control system for the electric two-wheel vehicle is more humanized in design, and accidents in the speed reduction process caused by inertia factors in riding are avoided to the great extent.
In detail, please refer to fig. 4, specifically, in the present embodiment, the signal acquisition module and the signal conversion module are electrically connected by a wire; the signal conversion module is respectively connected with the first data processing module and the second data processing module, the detailed connection mode can be selected as wireless signal connection, and the wireless signal connection can reduce the overall volume of the electric bicycle and is convenient to install on the electric bicycle; the first data processing module is in wireless signal connection with the first instruction generating module; the first instruction generation module is connected with the first instruction response module, specifically, the connection mode is that the first instruction generation module is electrically connected with the first instruction response module through a wire, and the wire is electrically connected, so that the processes of data code adding, decoding and the like are simplified, the operation time is shortened, and the operation efficiency is improved; the first instruction response module is selectively connected with the instruction optimization module, namely when the first instruction response module fails in response, the communication instruction optimization module optimizes the speed change control signal; the second data processing module is respectively electrically connected with the second instruction generating module and the instruction judging module; the second instruction generating module is electrically connected with the second instruction responding module; the instruction judging module is respectively connected with the third instruction response module and the deceleration judging module in a selective manner, namely when the instruction judging module generates a braking instruction, the third instruction response module is connected, and when the instruction judging module generates a deceleration instruction, the deceleration judging module is connected; the deceleration judging module is respectively connected with the first instruction generating module and the third instruction responding module in a selective mode, namely, when the deceleration judging module generates a gear shifting deceleration mode, the first instruction responding module and the brake deceleration mode are connected, and when the deceleration judging module generates a brake deceleration mode, the third instruction responding module is connected. Through the connection mode, the system size is greatly reduced, and the operation and the response performance of the system are optimized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. The intelligent control system of the electric two-wheeled vehicle is characterized by comprising a data acquisition unit, a data processing unit, a speed change control unit and a warning control unit;
the data acquisition unit is used for acquiring the state of the electric two-wheel vehicle, the state of an obstacle and road condition information and converting the state of the electric two-wheel vehicle, the state of the obstacle and the road condition information into digital signals;
the data processing unit is used for processing the digital signals to respectively obtain speed change signals and warning signals, and classifying the warning signals to obtain prompt signals and prediction signals;
the speed change control unit is used for generating a speed change control signal according to the speed change signal, optimizing and responding to the speed change control signal;
and the warning control unit is used for generating and responding to a prompt control signal according to the prompt signal and generating and responding to a gear shifting deceleration mode or a brake deceleration mode according to the prediction signal.
2. The intelligent control system for electric bicycles of claim 1, wherein the data acquisition unit comprises a signal acquisition module and a signal conversion module;
the signal acquisition module comprises a sensor, a roadblock detector and a positioner, and the signal conversion module comprises a digital-to-analog converter;
the sensor is made of a piezoelectric material and used for collecting the state of the electric two-wheel vehicle in real time; the sensors comprise a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor is arranged on a steering bearing of the electric two-wheel vehicle, the second sensor is arranged on a seat of the electric two-wheel vehicle, the third sensor is arranged on a front wheel of the electric two-wheel vehicle, and the fourth sensor is arranged on a rear wheel of the electric two-wheel vehicle;
the roadblock detector is used for acquiring the obstacle condition around the electric two-wheeled vehicle through microwaves;
the locator is used for acquiring the real-time road condition information through a satellite;
the digital-to-analog converter is used for converting the state of the electric two-wheel vehicle, the obstacle condition and the road condition information into digital signals.
3. The intelligent control system for electric bicycles, according to claim 1, wherein the gear shift control unit comprises a first command generation module, a first command response module and a command optimization module;
the first instruction generation module is used for generating a speed change control signal by using the speed change signal;
the first instruction response module is used for responding to the speed change control signal;
the command optimization module is configured to optimize the shift control signal.
4. The intelligent control system for electric bicycles, according to claim 3, wherein the first command generating module is configured to obtain the gear shift control signal by calculating and analyzing the gear shift signal to obtain the gear shift grades, the gear shift grades include a light gear, a medium heavy gear and a heavy gear, and the gear shift grades satisfy the following formula:
wherein C represents the gear shift grade, and when the value range of C is between [0,1 ], C represents the light gear; when the value range of C is between [1,2), C represents medium light gear; when the value range of C is between [2,3), when C represents a middle gear; when the value range of C is between [3,4 ], C represents a middle heavy gear; when the value range of C is between [4,5 ], C represents a heavy gear; when the value of C is not [0,5 ]]If the speed change signal is in the normal state, the first instruction generation module extracts the speed change signal again, calculates and analyzes the speed change signal and obtains a speed change grade; n is a radical of 1 Representing the stress condition of a steering bearing, wherein alpha is the weight of the stress condition of the steering bearing; n is a radical of 2 Representing the stress condition of the stool, wherein beta is the weight of the stress condition of the stool; n is a radical of 3 Representing the stress condition of the pedal, wherein gamma is the weight of the stress condition of the pedal; n is a radical of 4 Representing the stress condition of the tire, wherein delta is the weight of the stress condition of the tire; theta represents the inclination degree of the electric two-wheeled vehicle in the longitudinal direction; h represents a road condition reference coefficient; k represents the road surface evenness index, min (d) i ) The minimum distance between the electric two-wheeled vehicle and an obstacle is represented, i is 1,2, …, n is the number of the different obstacles, and v is the average speed of the electric two-wheeled vehicle in the middle gear of the plane normal riding.
5. The intelligent electric two-wheeled vehicle control system as claimed in claim 4, wherein the first command response module comprises a gear gearbox, a memory and a gear comparator;
the gearbox comprises a motor, a transmission belt, a driving wheel and a driven wheel, the transmission belt is used for connecting the driving wheel and the driven wheel, and the motor is used for completing gear switching by regulating and controlling the sleeving length of the transmission belt on the driving wheel and the driven wheel;
the gear storage is used for storing the speed change grade of the current electric two-wheeled vehicle;
the gear comparator is used for comparing the gear control signal with the gear level of the current electric two-wheeled vehicle to obtain a comparison result, and controlling the motor to operate by using the comparison result.
6. The intelligent electric bicycle control system according to claim 5, wherein the command optimization module is configured to optimize an offset of the operating parameter of the motor by using the comparison result, so as to optimize the control signal, wherein the offset optimization satisfies the following formula:
wherein x represents an offset, and when x is a positive value, the offset is a leftward offset; when x is a negative value, the offset is to the right, v c (t) a speed function corresponding to the shift level generated by the first command generation module, v c′ (t) representing a speed function corresponding to a driving gear in a memory, t representing speed change time, E representing a stress matrix of a gearbox of the electric two-wheel vehicle, and G representing an anti-vibration parameter matrix corresponding to the stress matrix; r 1 Indicating the radius of the driving wheel in the gearbox of the electric two-wheeled vehicle, R 2 The representation shows the radius of the driven wheels in the electric two-wheeled vehicle gearbox.
7. The intelligent control system for electric bicycles, according to claim 1, wherein the warning control unit comprises a prompt control subunit and a prediction signal subunit;
the prompt control subunit is used for generating and responding to a prompt control signal by using the prompt signal;
the prediction signal subunit is used for judging the inclination degree of the electric two-wheel vehicle by using the prediction signal, generating a braking instruction or a deceleration instruction according to the inclination degree, and generating and responding to a gear shifting deceleration mode or a braking deceleration mode according to the deceleration instruction.
8. The intelligent control system for electric bicycles, according to claim 7, wherein the prompt control subunit comprises a second instruction generation module and a second instruction response module;
the second instruction generating module is used for generating the prompt control signal;
the second instruction response module comprises an indicator light and a buzzer, the indicator light is used for responding to the prompt control signal by emitting light with different colors, and the buzzer is used for responding to the prompt control signal by emitting sound with different frequencies.
9. The intelligent control system for the electric two-wheeled vehicle as claimed in claim 7, wherein the prediction signal subunit comprises a command judgment module and a third command response module;
the instruction judging module is used for obtaining the inclination degree of the electric two-wheeled vehicle through the prediction signal, judging the balance state of the electric two-wheeled vehicle through setting an inclination degree threshold value, generating a braking instruction or a deceleration instruction by combining the balance state, and respectively inputting the braking instruction into the third instruction response module and inputting the deceleration instruction into the deceleration judging module;
the third instruction response module is used for responding to the braking instruction.
10. The intelligent electric two-wheeled vehicle control system according to claim 9, wherein the prediction signal subunit further includes the deceleration determination module;
the deceleration judging module is used for setting a speed threshold, generating the gear shifting deceleration mode and the brake deceleration mode by combining the speed threshold with the deceleration command, and inputting the gear shifting deceleration mode to the first command response module and inputting the brake deceleration mode to the third command response module; the gear shifting deceleration mode represents that the deceleration operation is completed by using the mode of the speed change control signal, and the brake deceleration mode represents that the deceleration operation is completed by using the mode of the brake command.
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| CN201065078Y (en) * | 2006-12-31 | 2008-05-28 | 西南大学 | Electric vehicle controller with automatic gear change function |
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| CN112078379A (en) * | 2019-07-31 | 2020-12-15 | 广州雷利诺车业有限公司 | Electric motorcycle and control method thereof |
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| CN201065078Y (en) * | 2006-12-31 | 2008-05-28 | 西南大学 | Electric vehicle controller with automatic gear change function |
| CN202448979U (en) * | 2011-12-23 | 2012-09-26 | 浙江金刚汽车有限公司 | Safe-running intelligent warning system for automobile |
| CN103723107A (en) * | 2014-01-08 | 2014-04-16 | 曹小兵 | Two-wheeled vehicle intelligent anti-collision system and control method thereof |
| US20200298809A1 (en) * | 2017-11-27 | 2020-09-24 | Blubrake S.R.L. | Adaptive brake assist system for a cyclist on a bicycle by an aptic feedback |
| CN112078379A (en) * | 2019-07-31 | 2020-12-15 | 广州雷利诺车业有限公司 | Electric motorcycle and control method thereof |
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