DE102016116329B4 - Speed limit for a self-balancing vehicle - Google Patents

Abstract

Method for limiting the speed of a self-balancing vehicle (1), which vehicle (1) has two mutually movable vehicle parts (2, 3), wherein each of the two vehicle parts (2, 3) has a tread surface (5, 6) and a drive wheel (7, 8 ), wherein the two drive wheels (7, 8) are independently drivable, for which purpose each of the two drive wheels (7, 8) an electric motor (16, 17) is associated, said electric motors (16, 17) of a electronic control unit (18) are controllable, which is connectable to a number of sensor units (19, 20, 21), with the help of the inclination angle (N) of at least one of the two tread surfaces (5, 6) and the vehicle speed (v) can be determined wherein the electronic control unit (18) controls the two electric motors (16, 17) with the aim of equalizing the determined inclination angle (N) to an inclination angle setpoint (N_soll), characterized in that one of a Ne and when exceeding a speed limit (v_grenz) of the vehicle (1), the pitch angle standard setpoint (N_soll_standard) is replaced by the pitch angle setpoint (N_soll_brems), the pitch angle standard setpoint (N_soll_standard) being determined by the pitch angle setpoint (N_soll_standard). N_soll_brems) during a period of exceeding the speed limit (v_grenz) for a limited braking period (At).

Description

The invention relates to a method for limiting the speed of a self-balancing vehicle. Moreover, the invention relates to a self-balancing vehicle with speed limit. Finally, the invention relates to an electronic engine control unit for such a vehicle.

So-called self-balancing vehicles with two wheels and electromotive drive are known from the prior art. In addition to larger vehicles with handlebar smaller vehicles are available for some time, have no handlebar and resemble in their basic form a board. These are u.a. Hoverboards, Self Balance Boards or Self Balance Scooter and have two halves of the vehicle, which are connected to each other rotatable about a central axis of rotation.

To drive the wheels battery-powered electric motors are controlled by an electronic engine control unit. This control is carried out on the basis of the determined by sensors inclination angle of the treads of the two mutually independently tiltable halves of the vehicle transverse to the direction of travel vehicle housing.

The control of these vehicles takes place in a known manner by a shift of the driver's weight on the treads. A shift of the weight forward leads to a forward drive of the vehicle in the direction of travel or to an acceleration, while a shift of the weight to the rear decelerates the vehicle or drives the vehicle backwards. A steering of the vehicle is carried out accordingly by a different strong load on the treads or by tilting the treads in opposite directions of inclination.

Unlike conventional vehicles, in the operating principle of a self-balancing vehicle used here, it is not sufficient to reduce the power supply in order to reduce the vehicle speed and to decelerate the vehicle or to implement a speed limit. Because regardless of the vehicle speed design-related always fast movements of the powerful electric motors are necessary to compensate for the inclination angle and to balance the vehicle.

An example of a realization of a speed limit in a self-balancing vehicle is in US 2011/0012721 A1 described. In this case, a limitation of the vehicle speed is achieved in that the vehicle is tilted counter to the direction of travel, whereby the vehicle is braked.

The desire for a safe manageable and reliable speed limit of these vehicles, as may be required for legal reasons, for example, led to no satisfactory results.

An object of the present invention is to provide a speed limit for such a self-balancing vehicle. This object is achieved by a method according to claim 1 or a vehicle according to claim 6 or an electronic control device according to claim 7.

The inventive method is used to limit the speed of a self-balancing vehicle, which vehicle has two mutually movable vehicle parts, wherein each of the two vehicle parts associated with a tread and a drive wheel, wherein the two drive wheels are independently driven, for which purpose each of the two drive wheels associated with an electric motor is, these electric motors are controlled by an electronic control unit, which is connectable to a number of sensor units, with the help of the inclination angle of at least one of the two treads can be determined, the electronic control unit, the two electric motors with the aim of balancing the determined inclination angle towards an inclination angle setpoint. The method of the present invention is characterized by providing a different inclination angle setpoint from a pitch standard setpoint and replacing the pitch angle standard setpoint with the pitch angle setpoint, the pitch angle default setpoint being determined by the pitch angle setpoint during a time period of exceeding the speed limit for a limited braking period is replaced.

The vehicle according to the invention has two mutually movable vehicle parts, wherein each of the two vehicle parts are associated with a tread and a drive wheel, wherein the two drive wheels are independently driven, for which purpose each of the two drive wheels is associated with an electric motor, said electric motors of an electronic Control unit can be controlled, which is connectable to a number of sensor units, with the help of the inclination angle of at least one of the two treads can be determined, the two electric motors with the aim of balancing the determined inclination angle towards a tilt angle setpoint of the electronic control unit are controlled. The vehicle according to the invention is characterized in that an inclination angle brake target different from an inclination angle standard target is provided, and that the electronic is adapted to replace the inclination angle standard target by the inclination angle brake target when exceeding a speed limit of the vehicle, and the inclination angle defaults by the inclination angle target during a period of time replaced the exceeding of the speed limit for a limited braking period.

The electronic control unit according to the invention is designed for a self-balancing vehicle, which vehicle has two mutually movable vehicle parts, wherein each of the two vehicle parts associated with a tread and a drive wheel, wherein the two drive wheels are independently driven, for which purpose each of the two drive wheels an electric motor is assigned, wherein the electronic control unit is connectable to a number of sensor units, with the help of the inclination angle of at least one of the two treads and the vehicle speed can be determined, the two electric motors with the aim of balancing the determined inclination angle to a tilt angle setpoint of the electronic control unit are controllable. The electronic control unit is characterized by providing a different inclination angle set point from a standard inclination angle set point, and wherein the electronic control unit is adapted to replace the standard inclination angle setpoint by the inclination angle setpoint when the speed limit of the vehicle is exceeded, setting the standard inclination angle setpoint by the inclination angle setpoint during a Period of exceeding the speed limit for a limited braking period.

The advantages and embodiments explained below in connection with the method according to the invention also apply mutatis mutandis to the vehicle according to the invention and the electronic control unit and vice versa.

A key idea of the invention is to provide an angle of inclination angle setpoint different from a standard inclination angle setpoint on the basis of which the control unit makes an alternative control of the vehicle drive in a previously unknown manner, namely a quasi autonomous deceleration of the vehicle when exceeding one certain vehicle speed. By changing from a certain speed of the vehicle, the target inclination of the treads from the horizontal to an angle inclined counter to the direction of travel, the driver is inclined to the rear, ie opposite to the direction of travel, without the driver necessarily notices. As a result, further acceleration of the vehicle is interrupted or reduced. This can take place as long or as often until a desired limit value of the vehicle speed is no longer exceeded.

In this way, the invention provides a safe and easy-to-handle speed limit for a self-balancing vehicle. Thus, any safety requirements can be met without the driver of the vehicle feels too restricted in his driving decision.

The change of the inclination angle setpoint takes place only temporarily, ie only temporarily. This ensures that the driver is not used to the changed inclination of the treads, this feels as a normal position and simply further accelerated, as would be the case with a permanent change in the setpoint.

For the realization of the invention, in the simplest case, it is only necessary to change the operation of the electronic control unit, for example by adjusting the programming of the control unit, while all other components of the vehicle remained unchanged.

• 1 eine Darstellung eines selbstbalancierenden Fahrzeugs,
• 2 eine Darstellung von Funktionskomponenten des Fahrzeugs,
• 3 eine Abfolge von Verfahrensschritten beim Begrenzen der Fahrzeuggeschwindigkeit.

Advantageous embodiments of the invention are specified in the dependent claims and will be explained in more detail in the context of an embodiment of the invention with reference to the drawings. Hereby show:

• 1 a representation of a self-balancing vehicle,
• 2 a representation of functional components of the vehicle,
• 3 a sequence of steps in limiting vehicle speed.

All figures show the invention not to scale, while only schematically and only with their essential components. The same reference numerals correspond to elements of the same or comparable function.

The self-balancing vehicle 1 has two vehicle halves 2 . 3 on. The vehicle halves 2 . 3 are mutually movable such that they are about a central axis of rotation 4 are rotatably connected to each other. Each of the two vehicle halves 2 . 3 , are a tread 5 . 6 and a drive wheel 7 . 8th assigned. The treads 5 . 6 are on the tops of the respective housing parts 9 . 10 of the vehicle halves 2 . 3 arranged. The vehicle halves 2 . 3 are with regard to their housing parts 9 . 10 in the vehicle center 12 separated from each other and only in the vehicle interior via the central axis of rotation 4 connected with each other. The non-common, mutually different axes 13 . 14 the two drive wheels 7 . 8th are arranged coaxially with each other. The axes 13 . 14 the drive wheels 7 . 8th are also coaxial with the central axis of rotation 4 , The direction of travel 15 of the vehicle 1 when driving straight ahead is thus transverse to the central axis of rotation 4 ,

The two drive wheels 7 . 8th are independently drivable. For this purpose, each of the two drive wheels 7 . 8th an electric motor 16 . 17 assigned. Each of these two electric motors 16 . 17 is individually controllable.

As motors 16 . 17 Preferably, hub motors are used as direct drives. Preferably external rotor motors are used. For each drive wheel 7 . 8th forms the wheel axle 13 . 14 together with the stator of the motor 16 . 17 For example, in the form of an electromagnet, a solid unit with the housing 9 . 10 of the vehicle 1 is connected while tire and rim of the wheel 7 . 8th run as a rotor mounted outside the stator.

In the electric motors 16 . 17 are preferably brushless motors with electronic engine control. In the present case, the control takes place via a common electronic control unit 18 , The control unit 18 is with two sensor units 19 . 10 connected, with the help of each of the inclination angle of the two treads 5 . 6 can be determined to the horizontal. At the sensor units 19 . 20 These are, for example, gyroscopes or other suitable inclinometers, for example 6-axis inclinometers whose measured values N are used to control the electric motors 16 . 17 be used. The sensor units 19 . 20 are preferably immediately below the treads 5 . 6 inside the housing parts 9 . 10 arranged and preferably permanently, by means of a cable connection, with the control unit 18 connected, so that a permanent, uninterrupted transmission of inclination angle to the control unit 18 is possible.

The for controlling the electric motors 16 . 17 required inclination angle values N the treads 5 . 6 be from the sensors 19 . 20 for safety reasons, only then to the control unit 18 transmitted when a driver on the treads 5 . 6 stands. In other words, driving will only take place after the driver has climbed onto both treads 5 . 6 activated, this rising by a number of corresponding sensor devices (not shown) in or on the treads 5 . 6 is detected. For this example, infrared photoelectric sensors are used, which are then closed when a driver on the two treads 5 . 6 stands. The sensor devices can advantageously with the sensor units 19 . 20 be constructively connected.

The electronic control unit 18 controls the two electric motors 16 . 17 with the aim of balancing the determined angles of inclination N to an inclination angle setpoint N_soll. More precisely, the controller controls 18 the two the drive wheels 7 . 8th associated electric motors 16 . 17 so that these by appropriate rotational movements 11 try the treads 5 . 6 to bring into a position in which their inclination angle N to the horizontal are equal to zero, the treads 5 . 6 so in the horizontal position. The stronger the treads 5 . 6 by a corresponding weight shift of the driver in the direction of travel 15 (when accelerating) or against the direction of travel 15 (when braking) tend, the greater the efforts of the control unit 18 to balance the inclination angle N, resulting in a corresponding control of the electric motors 16 . 17 and as a result in a positive or negative acceleration of the vehicle 1 results.

The control unit 18 is designed such that, unlike known from the prior art, for driving the electric motors 16 . 17 provides for the use of a different angle of inclination angle setpoint N_set_brake, different from an inclination angle standard setpoint N_soll_standard. The control unit 18 is with a speedometer 21 or a suitable sensor for providing a value of the vehicle speed v. When exceeding a speed limit v_grenz the vehicle 1 Then, the inclination angle standard target value N_soll_standard is replaced by the inclination angle brake target value N_soll_brems. For example, while the inclination angle standard target value N_soll_standard is 0 °, a value of -5 ° is provided as the inclination angle braking target value N_soll_brems, for example. In this case, tilt angle setpoint values between -5 ° and -15 ° have proven to be particularly advantageous. This corresponds to a slight inclination of the treads 5 . 6 against the driving direction 15 ,

The pitch angle setpoint N_soll_brems is provided by the controller 18 until the vehicle speed v no longer exceeds the speed limit v_grenz. If the speed v of the vehicle falls 1 below the limit value v_limit, is used by the controller 18 used again the previous setpoint N_soll_brems.

The speed limit v_grenz can be a previously defined fixed value or a value which changes depending on a number of parameters such as the battery condition, the weight of the driver, etc. When using a fixed value v_grenz, for example, this may be slightly below a legally prescribed maximum value of the vehicle speed.

The use of the inclination angle brake target value N_soll_brems instead of the inclination angle standard target value N_soll_standard during the exceeding of the speed limit value occurs only temporarily, namely for a limited braking period (Δt). This braking period (Δt) is preferably a period of 0.5 to 10 seconds. Braking periods between one and five seconds have proven particularly suitable.

Particularly advantageous for reliable speed reduction and limitation is the successive change of the two setpoint values N_setpoint_norm and N_set_brake. During the period of exceeding the speed limit v_grenz, the inclination angle brake target value N_soll_brems may also alternate with a different inclination angle target value deviating from the inclination angle standard target value N_soll_standard, provided that the safe driving operation of the vehicle 1 and / or the driving experience of the driver. For example, above the speed limit v_grenz, an inclination angle brake target value N_soll_brems of -5 ° may alternate with an inclination angle command value of -2 °, while below the speed limit v_grenz the inclination angle brake target value N_soll_brems of 0 ° again applies.

An expiration of the deceleration process could be as follows, see 3 : The vehicle on the ground, switched on 1 is due to a weight shift of the driver, which causes the treads 5 . 6 forward in the direction of travel 15 tend, accelerates. As soon as the vehicle 1 moves, the speed monitoring and limiting process starts (step 101 ). During the movement of the vehicle 1 becomes permanent or in suitable, preferably short distances with the help of the speed measuring device 21 the speed v of the vehicle 1 determined (step 102 ). Does the vehicle move? 1 For example, with a speed v of 11 km / h, nothing happens. If the speed v exceeds a speed limit v_grenz, for example 12 km / h (step 103 ), the controller changes 18 briefly the target value of the inclination of the treads from 0 ° to -5 ° counter to the direction of travel 15 (Step 104 ), so that the vehicle is braked as a result. As an indication to the driver, when the inclination angle setpoint N_setpoint is changed, a short warning sound is emitted in the vehicle as an option 1 provided sounder (not shown).

In an unillustrated embodiment of the invention, the controller is 18 designed such that the driver via a with the control unit 18 connected or connectable control unit, for example one on the vehicle 1 mounted switch or a remote control that can turn on or off the use of the inclination angle brake setpoint N_soll_brems. Thus, depending on the requirement, the maximum speed of the vehicle can be limited and this limit can be canceled again. The remote control may be, for example, one with the control unit 18 acting on a wireless communication connection in connection portable computing device, such as a smartphone or a tablet computer, on which a suitable operating software for the control unit 18 is executed, for what purpose the control unit 18 is equipped with a corresponding radio receiver or the like (not shown).

In one embodiment of the invention, a plurality of mutually different inclination angle brake nominal values N_soll_brems can be provided, the use of which can be switched on and off with the aid of the operating unit.

All in the description, the following claims and the drawings illustrated features may be essential to the invention both individually and in any combination.

LIST OF REFERENCE NUMBERS

1

vehicle

2

first half of the vehicle

3

second half of the vehicle

4

central axis of rotation

5

first tread

6

second tread

7

first drive wheel

8th

second drive wheel

9

first housing part

10

second housing part

11

Rotational movement of the wheels

12

vehicle center

13

first axis

14

second axis

15

direction of travel

16

first electric motor

17

second electric motor

18

electronic control unit

19

first sensor unit

20

second sensor unit

21

speedometer

Claims (7)

Method for limiting the speed of a self-balancing vehicle (1), which vehicle (1) has two mutually movable vehicle parts (2, 3), wherein each of the two vehicle parts (2, 3) has a tread surface (5, 6) and a drive wheel (7, 8 ), wherein the two drive wheels (7, 8) are independently drivable, for which purpose each of the two drive wheels (7, 8) an electric motor (16, 17) is associated, said electric motors (16, 17) of a electronic control unit (18) are controllable, which is connectable to a number of sensor units (19, 20, 21), with the help of the inclination angle (N) of at least one of the two tread surfaces (5, 6) and the vehicle speed (v) can be determined wherein the electronic control unit (18) controls the two electric motors (16, 17) with the aim of equalizing the determined angle of inclination (N) to an inclination angle setpoint (N_soll), characterized in that one of an N and that upon exceeding a speed limit (v_grenz) of the vehicle (1) the inclination angle standard setpoint (N_soll_standard) is replaced by the inclination angle braking setpoint (N_soll_brems), the inclination angle standard setpoint (N_soll_standard) being determined by the inclination angle braking setpoint (N_soll_standard). N_soll_brems) during a period of exceeding the speed limit (v_grenz) for a limited braking period (At). Method according to Claim 1 , characterized in that for the braking period (At): 0.5 sec ≤ Δt ≤ 10 sec, preferably 1 sec ≤ Δt ≤ 5 sec. Method according to Claim 1 or 2 characterized in that the pitch angle standard target value (N_set_standard) is replaced by the pitch angle brake target value (N_set_brake) several times in succession for each of a limited braking period (Δt). Method according to one of Claims 1 to 3 , Characterized in that between the brake periods (.DELTA.t) in place of the inclination angle of the nominal braking value (N_soll_brems) another tilting angle target value occurs, in particular the angle of inclination standard setpoint (N_soll_standard). Method according to one of Claims 1 to 4 , characterized in that for the inclination angle brake target value (N_soll_brems): -5 ° ≤ N_soll_brems ≤ -15 °. Self-balancing vehicle (1), designed to carry out the method according to one of Claims 1 to 5 , in particular comprising two mutually movable vehicle parts (2, 3), wherein each of the two vehicle parts (2, 3) a tread surface (5, 6) and a drive wheel (7, 8) are associated, wherein the two drive wheels (7, 8) can be driven independently of each other, for which purpose each of the two drive wheels (7, 8) is associated with an electric motor (16, 17), these electric motors (16, 17) by an electronic control unit (18) are controlled, which with a number of sensor units (19, 20, 21) is connectable, by means of which the inclination angle (N) of at least one of the two tread surfaces (5, 6) and the vehicle speed (v) can be determined, wherein the two electric motors (16, 17) with the goal of Compensation of the determined inclination angle (N) towards a Tilt angle setpoint (N_soll) are controlled by the electronic control unit (18), characterized in that one of a tilt angle standard setpoint (N_soll_standard) different inclination angle brake target value (N_soll_brems) is provided and that the electronic control unit (18) is designed such that it is exceeded when a Speed limit (v_grenz) of the vehicle (1) replaces the pitch standard deficiency (N_soll_standard) with the pitch angle brake setpoint (N_soll_brems), whereby the pitch angle standard setpoint (N_soll_standard) is determined by the pitch angle brake set point (N_soll_brems) during a time limit for exceeding the speed limit (v_grenz) for a limited braking period ( Δt) replaced. Electronic control device for a self-balancing vehicle (1), which vehicle has two mutually movable vehicle parts (2, 3), wherein each of the two vehicle parts (2, 3) a tread surface (5, 6) and a drive wheel (7, 8) are assigned , wherein the two drive wheels (7, 8) are independently drivable, for which purpose an electric motor (16, 17) is assigned to each of the two drive wheels (7, 8), the electronic control unit (18) being provided with a number of sensor units (19 , 20, 21) is connectable, with the aid of which the angle of inclination (N) of at least one of the two tread surfaces (5, 6) and the vehicle speed (v) can be determined, wherein the two electric motors (16, 17) with the aim of balancing the determined angle of inclination (N) to an inclination angle setpoint (N_soll) are controlled by the electronic control unit (18), characterized in that one of a tilt angle standard setpoint (N_soll_standard) different N and the electronic control unit (18) is adapted to replace the pitch angle standard setpoint (N_set_standard) by the pitch angle brake setpoint (N_set_brake) upon exceeding a speed limit (v_grenz) of the vehicle (1), which is the pitch angle standard setpoint (N_soll_standard) is replaced by the inclination angle brake target value (N_soll_brems) during a period of exceeding the speed limit value (v_grenz) for a limited braking period (.DELTA.t).

Images