CN116588231A - Control method and device for electric vehicle handle bar, computer equipment and storage medium - Google Patents
Control method and device for electric vehicle handle bar, computer equipment and storage medium Download PDFInfo
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- CN116588231A CN116588231A CN202310876545.8A CN202310876545A CN116588231A CN 116588231 A CN116588231 A CN 116588231A CN 202310876545 A CN202310876545 A CN 202310876545A CN 116588231 A CN116588231 A CN 116588231A
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 89
- 230000004044 response Effects 0.000 claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 19
- 230000008602 contraction Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
- B62K21/12—Handlebars; Handlebar stems
- B62K21/16—Handlebars; Handlebar stems having adjustable parts therein
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The disclosure relates to a control method, a control device, computer equipment and a storage medium for an electric vehicle handle, which are applied to an electric vehicle with a telescopic handle. The method comprises the following steps: acquiring state information of the electric vehicle handle; responding to the determination that the electric vehicle handle bar needs to be controlled, and calculating adjustment parameter information which needs to be adjusted by the electric vehicle handle bar according to a preset target position of the handle bar and the state information; the adjustment parameter information is used as input information, control information corresponding to the adjustment parameter information is output to a handlebar controller of the electric vehicle by using a control algorithm, and the control information is used for indicating the handlebar controller to adjust the handlebar of the electric vehicle; and outputting locking information to the handle controller in response to determining that the adjusted electric vehicle handle meets the target position. The method can automatically control the handle bars of the shared electric vehicle according to actual application scenes.
Description
Technical Field
The disclosure relates to the technical field of vehicle control, in particular to a control method and device for an electric vehicle handlebar, computer equipment and a storage medium.
Background
With the development of society, shared traffic brings great convenience to people's travel. For example, sharing bicycles, sharing electric vehicles, and the like. In the process of throwing or carrying the shared electric vehicle, the shared electric vehicle occupies a throwing or carrying space because of a certain width of the handle bars of the shared electric vehicle.
At present, in the process of using the shared electric vehicle or in the process of carrying the shared electric vehicle, the user is required to manually control the handlebars of the shared electric vehicle to stretch and retract because the shared electric vehicle cannot clearly sense the current state, however, when a large number of shared electric vehicles are carried, in order to save occupied space, a large amount of time is wasted in manually controlling the handlebars of the individual shared electric vehicles, and the carrying efficiency is reduced.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a control method, apparatus, computer device, and storage medium for automatically controlling a handlebar of a shared electric vehicle in view of practical application.
In a first aspect, the present disclosure provides a control method of an electric vehicle handlebar, which is characterized in that the control method is applied to an electric vehicle with a handlebar capable of being adjusted in a telescopic manner, and the method includes:
Acquiring state information of the electric vehicle handle;
responding to the determination that the electric vehicle handle bar needs to be controlled, and calculating adjustment parameter information which needs to be adjusted by the electric vehicle handle bar according to a preset target position of the handle bar and the state information;
and using the adjustment parameter information as input information, and outputting control information corresponding to the adjustment parameter information to a handle controller of the electric vehicle by using a control algorithm, wherein the control information is used for instructing the handle controller to adjust the handle of the electric vehicle, and the control algorithm comprises: PID control algorithm, fuzzy control algorithm;
in response to determining that the adjusted electric vehicle handle meets the target position, outputting locking information to the handle controller, the locking information being for instructing the handle controller to lock the electric vehicle handle, the locking the electric vehicle handle comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
In one embodiment, the outputting, by using the adjustment parameter information as input information and using a control algorithm, control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle includes:
Responding to the control algorithm as a PID control algorithm, taking the adjustment parameter information as a deviation value, and taking the deviation value as input information to operate according to the functional relation of proportion, integration and differentiation to obtain control information corresponding to the adjustment parameter information;
and outputting control information corresponding to the adjustment parameter information to the handlebar controller.
In one embodiment, the outputting, by using the adjustment parameter information as input information and using a control algorithm, control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle includes:
responding to the control algorithm as a fuzzy control algorithm, taking the adjustment parameter information as input information of the fuzzy control algorithm, and outputting control information corresponding to the adjustment parameter information by using the fuzzy control algorithm;
and outputting control information corresponding to the adjustment parameter information to the handlebar controller.
In one embodiment, the responding to the determination that the electric vehicle handle bar needs to be controlled comprises:
in response to receiving first instruction information, determining that the electric vehicle handle bar needs to be controlled, wherein the first instruction information is information which is input by a user through an application program and used for controlling the electric vehicle handle bar;
In response to receiving second instruction information, determining that the electric vehicle handle bar needs to be controlled, wherein the second instruction information is information output after an application program determines that an order of the electric vehicle is ended;
and in response to receiving third instruction information, determining that the electric vehicle handle bar needs to be controlled, wherein the third instruction information is information output when an application program determines that the electric vehicle order starts.
In one embodiment, the responding to determining that the adjusted electric vehicle handle bar meets the target position comprises:
acquiring first state information of the electric vehicle handle after adjustment;
and comparing the target position with the first state information to obtain position difference information, and determining that the adjusted electric vehicle handle meets the target position in response to the position difference information being smaller than a preset difference threshold.
In one embodiment, the method further comprises:
determining that the adjusted electric vehicle handle does not meet the target position in response to the position difference information being greater than or equal to a preset difference threshold;
determining and calculating second adjustment parameter information which needs to be adjusted by the electric vehicle handle by utilizing the position difference information;
And adjusting the electric vehicle handle by using the second adjustment parameter information until the position difference information corresponding to the adjusted electric vehicle handle is smaller than a preset difference threshold.
In one embodiment, the adjustment parameter information that the electric vehicle handle bar needs to adjust includes: the direction and the angle of the rotation of the electric vehicle handle bar are required, and the telescopic distance of the electric vehicle handle bar is required.
In a second aspect, the present disclosure further provides a control device for an electric vehicle handlebar. Be applied to telescopic electric motor car of handlebar, the device includes:
the information acquisition module is used for acquiring the state information of the electric vehicle handle;
the calculation module is used for responding to the determination that the electric vehicle handle bar needs to be controlled, and calculating adjustment parameter information of the electric vehicle handle bar which needs to be adjusted according to the preset target position of the handle bar and the state information;
the algorithm processing module is configured to take the adjustment parameter information as input information, output control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle by using a control algorithm, where the control information is used to instruct the handlebar controller to adjust a handlebar of the electric vehicle, and the control algorithm includes: PID control algorithm, fuzzy control algorithm;
A locking module for outputting locking information to the handle bar controller in response to determining that the adjusted electric vehicle handle bar meets the target position, the locking information being for instructing the handle bar controller to lock the electric vehicle handle bar, the locking the electric vehicle handle bar comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
In a third aspect, the present disclosure also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the steps of any of the method embodiments described above when the processor executes the computer program.
In a fourth aspect, the present disclosure also provides a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of any of the method embodiments described above.
In a fifth aspect, the present disclosure also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of any of the method embodiments described above.
In the above embodiments, the state information of the electric vehicle handle bar may be acquired. Whether the electric vehicle handle bar needs to be controlled or not can be determined according to the actual application scene. When the electric vehicle handle is required to be controlled, the adjustment parameter information is calculated according to the preset handle target position and state information. And then, the adjustment parameter information can be used as input information, and the control information is output to the handlebar controller by utilizing a control algorithm, so that the automatic control of the electric vehicle handlebar can be accurately performed. Finally, when it is determined that the adjusted electric vehicle handle bar meets the target position, outputting locking information to the handle bar controller, the locking information being used to instruct the handle bar controller to lock the electric vehicle handle bar, the locking the electric vehicle handle bar comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable. The electric vehicle handle bar can not change state at will, and occupied space can be reduced in the process of carrying or parking.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are required in the detailed description or the prior art will be briefly described, it will be apparent that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to the drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic view of an application environment of a control method of an electric vehicle handle in an embodiment;
FIG. 2 is a flow chart of a control method of an electric vehicle handle in an embodiment;
FIG. 3 is a flow chart of one implementation of step S206 in one embodiment;
FIG. 4 is a flow chart of another implementation of step 206 in one example;
FIG. 5 is a flow chart of step S204 in one embodiment;
FIG. 6 is a flow chart of step S208 in one embodiment;
FIG. 7 is a flow chart of a control method of an electric vehicle handle according to another embodiment;
FIG. 8 is a schematic block diagram of a control device of an electric vehicle handle in one embodiment;
FIG. 9 is a schematic diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims herein and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
In this document, the term "and/or" is merely one association relationship describing the associated object, meaning that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
The embodiment of the disclosure provides a control method of an electric vehicle handlebar, which can be applied to an application environment as shown in fig. 1. Wherein a central controller 102 in the electric vehicle communicates with a handlebar controller 104 and a sensor 1062 mounted on an electric vehicle handlebar 106, respectively. The handlebar controller 104 communicates with a telescopically adjustable electric vehicle handlebar 106. The central controller 102 may obtain status information of the electric vehicle handle bar 106 from the sensor 1062. Control of the electric vehicle handle bars is required in response to the central controller 102 determining. The central controller 102 may calculate adjustment parameter information that the electric vehicle handle bar 106 needs to be adjusted according to the preset target position and state information of the electric vehicle handle bar 106. The central controller 106 may output a control information value corresponding to the adjustment parameter information to the handle controller 104 of the electric vehicle using a control algorithm, using the adjustment parameter information as input information. The control information is used to instruct the handlebar controller 104 to adjust the electric vehicle handlebars 106. The control algorithm comprises: PID control algorithm, fuzzy control algorithm. In response to the central controller 102 determining that the adjusted electric vehicle handle bar 106 meets the target position, a locking message is output to the handle bar control 104. The locking information is used to instruct the handlebar controller to lock the electric vehicle handle bar 106. The locking the electric vehicle handle bar includes: the direction of the electric vehicle handle bar 106 and the extension and retraction of the electric vehicle handle bar 106 are not adjustable. The central controller 102 may be MCU (Micro controller Unit), CPLD (Complex Programmable Logic Device) or other type of microprocessor, among others.
In one embodiment, as shown in fig. 2, a control method of a handlebar of a motor vehicle is provided, and the method is applied to the central controller 102 in fig. 1 for illustration, and includes the following steps:
s202, acquiring state information of the electric vehicle handle.
Wherein the status information may include: the rotation (offset) angle of the electric vehicle handle bar with respect to the right front, the offset direction, the telescopic information of the electric vehicle handle bar (whether the electric vehicle handle bar is currently in the extended state or the retracted state), the extended length of the extended state or the contracted length of the contracted state, and the like.
Specifically, the current state of the electric vehicle handle bar can be collected through the sensor arranged on the handle bar, so that the state information of the electric vehicle handle bar can be obtained. In addition, it should be noted that the electric vehicle according to some embodiments of the present disclosure may be a two-wheel electric vehicle or a three-wheel electric vehicle, which is not limited herein.
S204, in response to determining that the electric vehicle handle bar needs to be controlled, calculating adjustment parameter information which needs to be adjusted by the electric vehicle handle bar according to the preset target position of the handle bar and the state information.
Wherein, the adjusting parameter information may include: the angle and direction of the electric vehicle handle bar need to be adjusted, the distance of the electric vehicle handle bar need to be telescopic, and the like. The target position of the handlebar may be specifically determined according to the actual situation, for example, the handlebar may be set to a target position right in front of the handlebar, or the handlebar may be set to a target position deviated 20 ° left in the right front direction, and the target position is not absolutely limited in some embodiments of the present disclosure.
Specifically, when it is determined that control of the electric vehicle handle bar is required, the user sends an instruction to the central controller through the APP, for example. At this time, the difference between the two can be calculated from the target position and the state information of the handlebar set in advance. And according to the difference value, the adjustment parameter information of the electric vehicle handle bar to be adjusted can be determined.
In some exemplary embodiments, the target position of the handlebar, for example, includes: the handle bar is in the right front and in the contracted state, and the contracted length is 5cm. The current electric vehicle handle is offset 15 ° to the right and the current handle is in an extended state. The adjustment parameter information may be to deviate the electric vehicle handle bar to the left by 15 deg., and to contract by a length of 5cm.
S206, using the adjustment parameter information as input information, outputting control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle by using a control algorithm, wherein the control information is used for instructing the handlebar controller to adjust the handlebar of the electric vehicle, and the control algorithm comprises: PID control algorithm, fuzzy control algorithm.
The handlebar controller can be a motor or other types of controllers, so long as the electric vehicle handlebar can be controlled.
In particular, since the control force of the motor or the controller is not linear, damage to the handle bars of the electric vehicle may be caused. Therefore, in order to extend the service life of the electric vehicle handle bar, the adjustment parameter information may be used as input information, and control information corresponding to the adjustment parameter information may be output by using a control algorithm, and then the control information may be input into a handle bar controller of the electric vehicle. Because the control information is adjusted by the control algorithm, the problem that the handle of the electric vehicle is damaged due to overlarge or undersize control force in the process of controlling the handle of the electric vehicle by the handle controller is avoided. Therefore, the handle controller can adjust the handle of the electric vehicle (adjust direction, angle, telescopic distance, etc.) according to the control information. In addition, the handlebar controller can adjust the direction angle of the electric vehicle handlebar by using one motor and adjust the telescopic distance of the electric vehicle handlebar by using the other motor. There is no specific limitation on how the handlebar controller controls the direction, angle, and telescoping distance in some embodiments of the present disclosure.
S208, in response to determining that the adjusted electric vehicle handle meets the target position, outputting locking information to the handle controller, the locking information being used to instruct the handle controller to lock the electric vehicle handle, the locking the electric vehicle handle comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
Specifically, when the handle controller adjusts the handle of the electric vehicle. At this time, the sensor on the electric vehicle handle bar can be used again to acquire the adjusted state information of the electric vehicle handle bar. And determining whether the handle bar of the electric vehicle meets the target position according to the adjusted state information. If the target position is satisfied, the lock information may be output to the handlebar controller. When the handlebar controller receives the locking information, the electric vehicle handlebar can be locked, so that the direction of the electric vehicle handlebar and the expansion and contraction of the electric vehicle handlebar are not adjustable.
In the control method of the electric vehicle handle bar, the state information of the electric vehicle handle bar can be acquired. Whether the electric vehicle handle bar needs to be controlled or not can be determined according to the actual application scene. When the electric vehicle handle is required to be controlled, the adjustment parameter information is calculated according to the preset handle target position and state information. And then, the adjustment parameter information can be used as input information, and the control information is output to the handlebar controller by utilizing a control algorithm, so that the automatic control of the electric vehicle handlebar can be accurately performed. Finally, when it is determined that the adjusted electric vehicle handle bar meets the target position, outputting locking information to the handle bar controller, the locking information being used to instruct the handle bar controller to lock the electric vehicle handle bar, the locking the electric vehicle handle bar comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable. The electric vehicle handle bar can not change state at will, and occupied space can be reduced in the process of carrying or parking.
In one embodiment, as shown in fig. 3, the outputting, by using a control algorithm, control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle, with the adjustment parameter information as input information, includes:
s302, responding to the control algorithm as a PID control algorithm, taking the adjustment parameter information as a deviation value, taking the deviation value as input information, and calculating according to the functional relation of proportion, integral and derivative to obtain the control information corresponding to the adjustment parameter information.
S304, outputting control information corresponding to the adjustment parameter information to the handlebar controller.
The PID control algorithm is usually a control algorithm combining three links of proportional, integral and differential.
Specifically, when the control algorithm is a PID algorithm, the adjustment parameter information may be used as a deviation value of the PID algorithm, and then the deviation value is used as input information, and the operation is performed by using a functional relationship of a ratio, an integral, and a derivative, so as to obtain the control information corresponding to the adjustment parameter. The control signal may then be output to a handlebar controller.
In some exemplary embodiments, the control information may be calculated using the following formula:
Wherein U is control information,kp is the inverse relationship of proportionality for proportional gain,as a function of the time constant,and e is adjustment parameter information.
In this embodiment, the control information is output through the PID control algorithm, and because the PID control algorithm integrates the proportional, integral and differential 3 actions, the system response speed can be accelerated, the oscillation is reduced, the overshoot is overcome, the static difference can be effectively eliminated, and the static and dynamic quality of the system is greatly improved, so that the handlebar controller can be accurately controlled by the PID control algorithm, the control precision is improved, and the stability and the robustness are improved under the condition of effectively coping with the interference.
In one embodiment, as shown in fig. 4, the outputting, by using a control algorithm, control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle, using the adjustment parameter information as input information, includes:
and S402, responding to the control algorithm as a fuzzy control algorithm, taking the adjustment parameter information as input information of the fuzzy control algorithm, and outputting control information corresponding to the adjustment parameter information by using the fuzzy control algorithm.
S404, outputting control information corresponding to the adjustment parameter information to the handlebar controller.
The fuzzy control algorithm is an intelligent control method based on fuzzy set theory, fuzzy language variables and fuzzy reasoning, and is an intelligent control algorithm which imitates human reasoning and decision process in behavior.
Specifically, the adjustment parameter information may be used as input information of a fuzzy control algorithm, and control information corresponding to the adjustment parameter information may be output using the fuzzy control algorithm. The control signal may then be output to a handlebar controller. The processing procedure of the fuzzy control algorithm may include: selecting adjustment parameter information as input variables, defining an output input set and membership functions thereof, establishing a fuzzy control table, establishing a fuzzy control rule, fuzzy reasoning and anti-fuzzy.
In the embodiment, the fuzzy control algorithm is utilized, the adjustment parameter information is used as input information, the fuzzy control rule in the fuzzy control algorithm can be synthesized, various factors including environment, user requirements, system response speed and the like are considered, fuzzy inference is carried out according to the factors, and intelligent control of the handle bar of the electric vehicle is realized.
In one embodiment, as shown in fig. 5, the responding to the determination that the electric vehicle handle bar needs to be controlled comprises:
S502, determining that the electric vehicle handle bar needs to be controlled in response to receiving first instruction information, wherein the first instruction information is information which is input by a user through an application program and used for controlling the electric vehicle handle bar.
The application program may be a program for controlling an electric vehicle. For example, if the electric vehicle is a shared electric vehicle, the application program may be a controlled shared electric vehicle program, and if the electric vehicle is not a shared electric vehicle, the application program may be a program for controlling the electric vehicle to start and shut down or for causing the electric vehicle to perform other functions.
Specifically, when the user actively outputs the first instruction information through the application program, and the central controller of the electric vehicle receives the first instruction information. It may be determined that the current user needs to control the electric vehicle handle bar. In addition, the first instruction information may further carry information corresponding to a target position of the handlebar. Thus, the control of the electric vehicle handle bar is realized.
S504, determining that the handle bar of the electric vehicle needs to be controlled in response to receiving second instruction information, wherein the second instruction information is information output after an application program determines that the order of the electric vehicle is ended.
Specifically, when the user finishes riding the electric vehicle, the electric vehicle can be turned off through the application program. At this time, the application program can determine that the user ends using the electric vehicle, so as to reduce the space occupied by the electric vehicle. The application may automatically output the second instruction information. When the central controller of the electric vehicle receives the second instruction information, the electric vehicle handle can be determined to be required to be contracted, and the position of the electric vehicle handle is adjusted, so that the occupied space of the electric vehicle is reduced.
S506, determining that the electric vehicle handle bar needs to be controlled in response to receiving third instruction information, wherein the third instruction information is information output when an application program determines that an order of the electric vehicle starts.
Specifically, when the user starts riding the electric vehicle, the electric vehicle handle has been contracted at the end of the electric vehicle. Thus after the user begins to use the application to turn on the electric vehicle. The application program may output the third instruction information. When the central controller of the electric vehicle receives the third instruction information, the electric vehicle handle can be extended, and the electric vehicle handle can be unlocked at the moment.
In this embodiment, different control may be performed on the electric vehicle handle according to different types of received information, such as the first instruction information, the second instruction information, and the third instruction information, so that different application scenarios may be synthesized, and corresponding control modes may be selected according to the different application scenarios.
In one embodiment, as shown in fig. 6, the responsive to determining that the adjusted electric vehicle handle bar meets the target position comprises:
s602, acquiring first state information of the electric vehicle handle after adjustment.
S604, comparing the target position with the first state information to obtain position difference information.
S606, determining that the adjusted electric vehicle handle meets the target position in response to the position difference information being smaller than a preset difference threshold.
Specifically, when the electric vehicle handle is adjusted according to the control information, it is necessary to determine whether the adjusted electric vehicle handle meets the requirements. Therefore, the sensor can be used for acquiring the first state information of the electric vehicle handle after adjustment. The target position and the first state information may then be compared to obtain position difference information between the target position and the first state information. When the position difference information is smaller than a preset difference threshold, it can be determined that the difference between the adjusted electric vehicle handle and the target position is smaller, and it can be basically determined that the electric vehicle handle meets the target position.
And S608, determining that the adjusted electric vehicle handle does not meet the target position in response to the position difference information being greater than or equal to a preset difference threshold.
S610, determining and calculating second adjustment parameter information which needs to be adjusted of the electric vehicle handle by using the position difference information.
And S612, adjusting the electric vehicle handle by using the second adjustment parameter information until the position difference information corresponding to the adjusted electric vehicle handle is smaller than a preset difference threshold.
Specifically, when the position difference information is greater than or equal to the preset difference threshold, it may be determined that the current handlebar controller does not adjust the electric vehicle handlebar to the target position, so the position difference information may be used to determine second adjustment parameter information that needs to be adjusted for the electric vehicle handlebar. The second control information corresponding to the second adjustment parameter information may then be calculated using the control algorithm mentioned in the above embodiments. The second control information is then output to the handlebar controller. The handle controller adjusts the handle of the electric vehicle, and continuously calculates the position difference information after adjustment until the position difference information is smaller than a preset difference threshold.
In this embodiment, the first state information adjusted by the electric vehicle handle is compared with the target position to obtain the position difference information. And then, whether the adjusted electric vehicle handle meets the target position or not can be determined by utilizing the position difference information and a preset difference threshold, if the adjusted electric vehicle handle does not meet the target position, the adjustment is needed again until the position difference information corresponding to the adjusted electric vehicle handle is smaller than the preset difference threshold, so that the electric vehicle handle can be accurately adjusted to the target position.
In one embodiment, as shown in fig. 7, another control method of an electric vehicle handle is provided in an embodiment of the present disclosure, and the method is applied to an electric vehicle with a telescopic handle, and includes:
s702, determining that the electric vehicle handle bar needs to be controlled in response to receiving first instruction information, wherein the first instruction information is information which is input by a user through an application program and used for controlling the electric vehicle handle bar.
And S704, determining that the handle bar of the electric vehicle needs to be controlled in response to receiving second instruction information, wherein the second instruction information is information output after the application program determines that the order of the electric vehicle is ended.
S706, in response to receiving third instruction information, determining that control of the electric vehicle handle is needed, wherein the third instruction information is information output when an application program determines that an order of the electric vehicle starts.
S708, acquiring state information of the electric vehicle handle.
S710, calculating adjustment parameter information required to be adjusted by the electric vehicle handle according to the preset target position of the handle and the state information.
And S712, calculating according to the functional relation of proportion, integration and differentiation by taking the adjustment parameter information as a deviation value and taking the deviation value as input information to obtain control information corresponding to the adjustment parameter information.
Or S714, the adjustment parameter information is used as input information of a fuzzy control algorithm, and control information corresponding to the adjustment parameter information is output by using the fuzzy control algorithm.
And S716, outputting control information corresponding to the adjustment parameter information to the handlebar controller, wherein the control information is used for instructing the handlebar controller to adjust the electric vehicle handlebar.
S718, acquiring the first state information of the electric vehicle handle after adjustment.
S720, comparing the target position with the first state information to obtain position difference information.
S722, determining that the adjusted electric vehicle handle meets the target position in response to the position difference information being smaller than a preset difference threshold.
S724 of outputting locking information to the handle controller, the locking information being used to instruct the handle controller to lock the electric vehicle handle, the locking the electric vehicle handle comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
S726, determining that the adjusted electric vehicle handle does not meet the target position in response to the position difference information being greater than or equal to a preset difference threshold.
S728, determining and calculating second adjustment parameter information which needs to be adjusted of the electric vehicle handle by using the position difference information.
And S730, adjusting the electric vehicle handle by using the second adjustment parameter information until the position difference information corresponding to the adjusted electric vehicle handle is smaller than a preset difference threshold.
Reference may be made to the foregoing embodiments for specific implementation and limitation in this embodiment, and the detailed description is not repeated here.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the disclosure also provides a control device for an electric vehicle handlebar, which is used for realizing the control method of the electric vehicle handlebar. The implementation scheme of the device for solving the problem is similar to that described in the above method, so the specific limitation in the embodiment of the control device for one or more electric vehicle handlebars provided below may refer to the limitation of the control method for the electric vehicle handlebars hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 8, there is provided a control device 800 for an electric vehicle handle bar, applied to an electric vehicle with a telescopic handle bar, comprising: an information acquisition module 802, a calculation module 804, an algorithm processing module 806, and a locking module 808, wherein:
the information acquisition module 802 is configured to acquire status information of the electric vehicle handle.
The calculating module 804 is configured to calculate, in response to determining that the electric vehicle handle needs to be controlled, adjustment parameter information that the electric vehicle handle needs to be adjusted according to a target position of the preset handle and the state information.
The algorithm processing module 806 is configured to output control information corresponding to the adjustment parameter information to a handle controller of the electric vehicle by using a control algorithm, where the control information is used to instruct the handle controller to adjust a handle of the electric vehicle, and the control algorithm includes: PID control algorithm, fuzzy control algorithm.
A locking module 808 for outputting locking information to the handlebar controller in response to determining that the adjusted electric vehicle handlebar meets the target position, the locking information being for instructing the handlebar controller to lock the electric vehicle handlebar, the locking the electric vehicle handlebar comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
In one embodiment of the apparatus, the algorithm processing module 806 includes: the PID control algorithm processing module is used for responding to the control algorithm as a PID control algorithm, taking the adjustment parameter information as a deviation value, taking the deviation value as input information, and calculating according to the functional relation of proportion, integral and derivative to obtain control information corresponding to the adjustment parameter information; and outputting control information corresponding to the adjustment parameter information to the handlebar controller.
In one embodiment of the apparatus, the algorithm processing module 806 includes: the fuzzy control algorithm processing module is used for responding to the control algorithm as a fuzzy control algorithm, taking the adjustment parameter information as input information of the fuzzy control algorithm, and outputting control information corresponding to the adjustment parameter information by utilizing the fuzzy control algorithm; and outputting control information corresponding to the adjustment parameter information to the handlebar controller.
In one embodiment of the apparatus, the computing module 804 includes:
and the first determining module is used for determining that the electric vehicle handle bar needs to be controlled in response to receiving first instruction information, wherein the first instruction information is information which is input by a user through an application program and is used for controlling the electric vehicle handle bar.
And the second determining module is used for determining that the handle bar of the electric vehicle needs to be controlled in response to receiving second instruction information, wherein the second instruction information is information output after the application program determines that the order of the electric vehicle is ended.
And the third determining module is used for determining that the handle bar of the electric vehicle needs to be controlled in response to receiving third instruction information, wherein the third instruction information is information output when an application program determines that the order of the electric vehicle starts.
In one embodiment of the apparatus, the locking module 808 includes: the position determining module is used for acquiring the first state information of the electric vehicle handle after adjustment; and comparing the target position with the first state information to obtain position difference information, and determining that the adjusted electric vehicle handle meets the target position in response to the position difference information being smaller than a preset difference threshold.
In one embodiment of the apparatus, the position determining module is further configured to determine that the adjusted electric vehicle handlebar does not meet the target position in response to the position difference information being greater than or equal to a preset difference threshold; determining and calculating second adjustment parameter information which needs to be adjusted by the electric vehicle handle by utilizing the position difference information; and adjusting the electric vehicle handle by using the second adjustment parameter information until the position difference information corresponding to the adjusted electric vehicle handle is smaller than a preset difference threshold.
In one embodiment of the apparatus, the adjustment parameter information that the electric vehicle handle bar needs to adjust includes: the direction and the angle of the rotation of the electric vehicle handle bar are required, and the telescopic distance of the electric vehicle handle bar is required.
The modules in the control device of the electric vehicle handlebar can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 9. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store status information data, target locations, etc. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a method of controlling an electric vehicle handlebar.
It will be appreciated by those skilled in the art that the structure shown in fig. 9 is merely a block diagram of a portion of the structure associated with the disclosed aspects and is not limiting of the computer device to which the disclosed aspects apply, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of any of the method embodiments described above when the computer program is executed.
In one embodiment, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the steps of any of the method embodiments described above.
In an embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, implements the steps of any of the method embodiments described above.
It should be noted that, the user information (including, but not limited to, information instructions input by the user through the application program, such as the first instruction information, the second instruction information, the third instruction information, and the status information, the adjustment parameter information, the control information, and the like) related to the present application is information and data authorized by the user or sufficiently authorized by each party, and the collection, the use, and the processing of the related data need to comply with the related laws and regulations and standards of the related country and region.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided by the present disclosure may include at least one of non-volatile and volatile memory, among others. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as Static Random access memory (Static Random access memory AccessMemory, SRAM) or dynamic Random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided by the present disclosure may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors involved in the embodiments provided by the present disclosure may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic, quantum computing-based data processing logic, etc., without limitation thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples have expressed only a few embodiments of the present disclosure, which are described in more detail and detail, but are not to be construed as limiting the scope of the present disclosure. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the disclosure, which are within the scope of the disclosure. Accordingly, the scope of the present disclosure should be determined from the following claims.
Claims (10)
1. A control method of an electric vehicle handlebar, characterized by being applied to an electric vehicle with a handlebar telescopically adjustable, the method comprising:
acquiring state information of the electric vehicle handle;
responding to the determination that the electric vehicle handle bar needs to be controlled, and calculating adjustment parameter information which needs to be adjusted by the electric vehicle handle bar according to a preset target position of the handle bar and the state information;
And using the adjustment parameter information as input information, and outputting control information corresponding to the adjustment parameter information to a handle controller of the electric vehicle by using a control algorithm, wherein the control information is used for instructing the handle controller to adjust the handle of the electric vehicle, and the control algorithm comprises: PID control algorithm, fuzzy control algorithm;
in response to determining that the adjusted electric vehicle handle meets the target position, outputting locking information to the handle controller, the locking information being for instructing the handle controller to lock the electric vehicle handle, the locking the electric vehicle handle comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
2. The method according to claim 1, wherein the outputting control information corresponding to the adjustment parameter information to a handle bar controller of the electric vehicle using a control algorithm with the adjustment parameter information as input information includes:
responding to the control algorithm as a PID control algorithm, taking the adjustment parameter information as a deviation value, and taking the deviation value as input information to operate according to the functional relation of proportion, integration and differentiation to obtain control information corresponding to the adjustment parameter information;
And outputting control information corresponding to the adjustment parameter information to the handlebar controller.
3. The method according to claim 1, wherein the outputting control information corresponding to the adjustment parameter information to a handle bar controller of the electric vehicle using a control algorithm with the adjustment parameter information as input information includes:
responding to the control algorithm as a fuzzy control algorithm, taking the adjustment parameter information as input information of the fuzzy control algorithm, and outputting control information corresponding to the adjustment parameter information by using the fuzzy control algorithm;
and outputting control information corresponding to the adjustment parameter information to the handlebar controller.
4. The method of claim 1, wherein the responding to the determination that control of the electric vehicle handle bar is required comprises:
in response to receiving first instruction information, determining that the electric vehicle handle bar needs to be controlled, wherein the first instruction information is information which is input by a user through an application program and used for controlling the electric vehicle handle bar;
in response to receiving second instruction information, determining that the electric vehicle handle bar needs to be controlled, wherein the second instruction information is information output after an application program determines that an order of the electric vehicle is ended;
And in response to receiving third instruction information, determining that the electric vehicle handle bar needs to be controlled, wherein the third instruction information is information output when an application program determines that the electric vehicle order starts.
5. The method of claim 1, wherein the responding to determining that the adjusted electric vehicle handle bar meets the target position comprises:
acquiring first state information of the electric vehicle handle after adjustment;
and comparing the target position with the first state information to obtain position difference information, and determining that the adjusted electric vehicle handle meets the target position in response to the position difference information being smaller than a preset difference threshold.
6. The method of claim 5, wherein the method further comprises:
determining that the adjusted electric vehicle handle does not meet the target position in response to the position difference information being greater than or equal to a preset difference threshold;
determining and calculating second adjustment parameter information which needs to be adjusted by the electric vehicle handle by utilizing the position difference information;
and adjusting the electric vehicle handle by using the second adjustment parameter information until the position difference information corresponding to the adjusted electric vehicle handle is smaller than a preset difference threshold.
7. The method according to claim 1, wherein the adjustment parameter information that the electric vehicle handle bar needs to be adjusted includes: the direction and the angle of the rotation of the electric vehicle handle bar are required, and the telescopic distance of the electric vehicle handle bar is required.
8. A control device for an electric vehicle handlebar, characterized in that it is applied to an electric vehicle in which the handlebar is telescopically adjustable, said device comprising:
the information acquisition module is used for acquiring the state information of the electric vehicle handle;
the calculation module is used for responding to the determination that the electric vehicle handle bar needs to be controlled, and calculating adjustment parameter information of the electric vehicle handle bar which needs to be adjusted according to the preset target position of the handle bar and the state information;
the algorithm processing module is configured to take the adjustment parameter information as input information, output control information corresponding to the adjustment parameter information to a handlebar controller of the electric vehicle by using a control algorithm, where the control information is used to instruct the handlebar controller to adjust a handlebar of the electric vehicle, and the control algorithm includes: PID control algorithm, fuzzy control algorithm;
a locking module for outputting locking information to the handle bar controller in response to determining that the adjusted electric vehicle handle bar meets the target position, the locking information being for instructing the handle bar controller to lock the electric vehicle handle bar, the locking the electric vehicle handle bar comprising: the direction of the electric vehicle handle bar and the expansion and contraction of the electric vehicle handle bar are not adjustable.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| CN202310876545.8A CN116588231A (en) | 2023-07-18 | 2023-07-18 | Control method and device for electric vehicle handle bar, computer equipment and storage medium |
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| CN202310876545.8A CN116588231A (en) | 2023-07-18 | 2023-07-18 | Control method and device for electric vehicle handle bar, computer equipment and storage medium |
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