TWI792509B - Constant-speed cruise device and cruise control method for two-wheeled vehicle - Google Patents

Abstract

A constant-speed cruise device for a two-wheeled vehicle includes a torque sensor, a vehicle speed sensing unit, an electric motor and a central control unit. The torque sensor is located on a pedal crank of the two-wheeled vehicle. The vehicle speed sensing unit is located on the two-wheeled vehicle to sense a real-time vehicle speed of the two-wheeled vehicle. The electric motor drives the wheels of a two-wheeled vehicle to rotate. When the central control unit senses that the pedal crank is reversely rotated and the real-time vehicle speed exceeds a minimum vehicle speed value, the central control unit sets the electric motor to output the rotation speed corresponding to the real-time vehicle speed in an equal amount, so that the two-wheeled vehicle can move forward at a constant speed.

Description

Cruise control device and cruise control method for two-wheeled vehicle

The present invention relates to a two-wheeled vehicle, in particular to a constant-speed cruise device and a constant-speed cruise control method for the two-wheeled vehicle.

In recent years, environmentally friendly electric rollators have been vigorously advocated on the market. The electric walker uses the driving force of the motor to assist the rider's pedaling force to reduce the rider's physical burden. Therefore, it is loved by housewives or young students and has become the mainstream of short-distance transportation.

However, if the distance is long, the rider still hopes that the electric rollator can provide easier and more convenient external force assistance on flat or sloped roads, so as to maintain a certain speed.

This shows that the above-mentioned way still has inconvenience and defect, and needs to be further improved. Therefore, how to effectively solve the above-mentioned inconveniences and defects is one of the current important research and development issues, and has become an urgent need for improvement in related fields.

For this reason, the present invention proposes a cruise control device and a cruise control method for a two-wheeled vehicle, in order to solve the difficulties mentioned in the above prior art.

One embodiment of the present invention provides a cruise control device for a two-wheeled vehicle. The cruise control device includes a torque sensor, a vehicle speed sensing unit, an electric motor and a central control unit. The torque sensor is located on one of the cranks of the two-wheeled vehicle, and is used to sense the pedaling torque of a rider pedaling on the pedals and the rotation direction of the crank. The vehicle speed sensing unit is located on the two-wheel vehicle and is used for sensing the real-time vehicle speed of the two-wheel vehicle. The electric motor is connected to the wheel through the transmission device to drive the wheel to rotate. The central control unit is electrically connected to the torque sensor, the electric motor and the vehicle speed sensing unit. Therefore, when the central control unit senses that the crank is rotated in reverse and the instant vehicle speed exceeds a starting speed value, the central control unit controls the electric motor to output the first rotational speed corresponding to the instant vehicle speed in equal amounts, so that the two-wheeled vehicle can move forward at a constant speed.

According to one or more embodiments of the present invention, in the above-mentioned constant-speed cruise device for a two-wheeled vehicle, the central control unit enables the electric motor to provide corresponding power according to the set preset speed to drive the wheels to rotate, and to adjust the two-wheeled vehicle. The speed of the cart.

According to one or more embodiments of the present invention, the above-mentioned cruise control device for a two-wheeled vehicle further includes a multi-stage power controller. The multi-stage power controller is located on the two-wheeled vehicle, electrically connected to the central control unit and the electric motor, and the multi-stage power controller has a plurality of switching switches. The electric motor outputs a specific ratio of power according to different switches.

According to one or more embodiments of the present invention, the above-mentioned cruise control device for a two-wheeled vehicle further includes a cruise confirmation key. The cruise confirmation key is located on one of the handlebars of the two-wheeled vehicle, and is electrically connected to the central control unit. Therefore, when the central control unit senses that the cruise confirmation key is triggered, the central control unit starts to sense whether the crank is rotated in reverse.

According to one or more embodiments of the present invention, in the cruise control device of the above-mentioned two-wheeled vehicle, when the central control unit senses that the rotation direction of the crank is opposite to the direction of the vehicle, the central control unit determines that the crank is rotated in the opposite direction.

According to one or more embodiments of the present invention, in the above-mentioned cruise control device for a two-wheeled vehicle, when the central control unit senses that the pedaling torque of the crank is zero or negative, the central control unit determines that the crank is rotated in the reverse direction.

According to one or more embodiments of the present invention, the above-mentioned cruise control device for a two-wheeled vehicle further includes a brake sensor. The brake sensor is connected to one of the brake elements of the two-wheeled vehicle and is electrically connected to the central control unit to detect whether the brake element is triggered. Therefore, when the central control unit detects that the braking element is triggered, the central control unit cancels the setting of the electric motor output corresponding to the first rotational speed.

According to one or more embodiments of the present invention, the above-mentioned cruise control device for a two-wheeled vehicle further includes an electronic throttle. The electronic throttle is located on the two-wheeled vehicle, and is electrically connected to the electric motor to allow the electric motor to output a corresponding speed to change the speed of the two-wheeled vehicle. Therefore, when the central control unit detects that the electronic throttle is triggered, the central control unit cancels the setting of the electric motor output corresponding to the first rotational speed.

According to one or more embodiments of the present invention, in the above-mentioned cruise control device for two-wheeled vehicles, when the central control unit determines that the instantaneous vehicle speed exceeds a rated vehicle speed value, the central control unit detects that the instantaneous vehicle speed is close to or lower than a first rated vehicle speed. During the second vehicle speed, the electric motor is driven to output the second rotation speed corresponding to the rated vehicle speed in equal amounts, so that the two-wheeled vehicle can move forward at a constant speed.

An embodiment of the present invention provides a cruise control method for a two-wheeled vehicle. The cruise control method includes a number of steps as follows. Sensing an instant speed of one of the two-wheeled vehicles to obtain a first speed; judging whether the crank of one of the two-wheeled vehicles is reversely rotated, and whether the first speed exceeds a starting speed value; and when it is judged that the crank is reversely rotated, and When the first speed exceeds the start-up speed value, one of the electric motors of the two-wheel vehicle can output the first rotational speed corresponding to the first speed in equal amounts, so that the two-wheel vehicle can move forward at a constant speed.

According to one or more embodiments of the present invention, in the above constant speed cruise control method, when the electric motor outputs the first rotational speed corresponding to the first speed in equal amounts, the instant speed of the two-wheeled vehicle is sensed to obtain a second speed. speed; judging whether the second speed is different from the first speed; and when it is judged that the second speed is different from the first speed, allowing the electric motor to adjust the corresponding speed so that the instant speed of the two-wheeled vehicle returns to the first speed.

According to one or more embodiments of the present invention, in the above constant speed cruise control method, when it is determined that the second speed is greater than the first speed, it is determined whether the second speed is greater than a rated vehicle speed; and when it is determined that the second speed When the vehicle speed is lower than the rated vehicle speed, the electric motor is stopped, so that when the immediate vehicle speed returns to the first speed, the electric motor continues to output the first rotational speed corresponding to the first speed in equal amounts.

According to one or more embodiments of the present invention, in the above constant speed cruise control method, when it is determined that the second speed is greater than the rated vehicle speed, the electric motor is made to output the second rotational speed corresponding to the rated vehicle speed in equal amounts.

According to one or more embodiments of the present invention, in the above constant speed cruise control method, when it is determined that the crank is rotated in the reverse direction and the first speed exceeds the starting vehicle speed value, it is further determined whether the first speed exceeds a rated vehicle speed value; And when it is judged that the first speed exceeds the rated vehicle speed value, the electric motor is made to output the second rotational speed corresponding to the rated vehicle speed value by an equal amount.

According to one or more embodiments of the present invention, in the above constant speed cruise control method, after the two-wheeled vehicle moves forward at a constant speed, it is determined whether the crank of the two-wheeled vehicle is rotated forward. When it is judged that the crank of the two-wheeled vehicle is rotated in the forward direction, the setting of the electric motor output corresponding to the first rotational speed is canceled.

According to one or more embodiments of the present invention, in the above constant-speed cruise control method, after the two-wheeled vehicle moves forward at a constant speed, it is determined whether one of the braking elements of the two-wheeled vehicle is triggered. When it is determined that the braking element is triggered, the setting of the output of the electric motor corresponding to the first rotational speed is canceled.

According to one or more embodiments of the present invention, in the above constant speed cruise control method, after the two-wheeled vehicle moves forward at a constant speed, it is judged whether one of the electronic accelerator of the two-wheeled vehicle is triggered; when it is determined that the electronic accelerator is triggered, Cancel the setting of the electric motor output corresponding to the first rotational speed.

In this way, through the structures of the above embodiments, the present invention enables the electric rollator to provide easier and more convenient external force assistance to maintain a certain speed on a flat or sloped road.

The above description is only used to explain the problem to be solved by the present invention, the technical means to solve the problem, and the effects thereof.

A plurality of embodiments of the present invention will be disclosed in the following figures. For the sake of clarity, many practical details will be described together in the following description. However, those skilled in the art should understand that in some embodiments of the present invention, these practical details are not necessary, and thus should not be used to limit the present invention. In addition, for the sake of simplifying the drawings, some well-known structures and components will be shown in a simple and schematic manner in the drawings. In addition, for the convenience of readers, the size of each element in the drawings is not drawn according to actual scale.

FIG. 1 is a schematic diagram of a two-wheeled vehicle 10 with a cruise control device 500 according to an embodiment of the present invention. As shown in FIG. 1 , the two-wheeled vehicle 10 includes a frame 100 , two wheels (referred to as front wheels 200 and rear wheels 300 hereinafter) and a transmission device 400 . The front wheel 200 and the rear wheel 300 are respectively pivoted on two opposite ends of the vehicle frame 100 . For example, the transmission device 400 includes a turntable 410 , a crank 420 and a pedal 430 . The turntable 410 drives the rear wheel 300 to rotate through the chain 440 . The crank 420 is coaxially connected to the turntable 410 , and the pedal 430 is connected to the crank 420 . The crank 420 is pivotably located on the frame 100 , between the front wheel 200 and the rear wheel 300 , and drives the rear wheel 300 through a chain 440 , so that a rider can step on the crank 420 to drive the rear wheel 300 forward. For example, the two-wheeled vehicle 10 may be a conventional bicycle, and its structure is well known, so details will not be repeated here.

FIG. 2 is a block diagram of the cruise control device 500 of the two-wheeled vehicle 10 in FIG. 1 . As shown in FIG. 1 and FIG. 2 , the cruise control device 500 includes a torque sensor 510 , a vehicle speed sensing unit 520 , an electric motor 530 , a battery management system 540 and a central control unit 550 . The vehicle speed sensing unit 520 is located on the two-wheel vehicle 10 for sensing the instantaneous vehicle speed of the two-wheel vehicle 10 . The vehicle speed sensing unit 520 is, for example, connected to the vehicle frame 100 or the rear wheel 300 to obtain the real-time vehicle speed of the two-wheeled vehicle 10 during running, however, the present invention is not limited thereto. The electric motor 530 is connected to the wheels (such as the rear wheels 300 ), and can drive the wheels (such as the rear wheels 300 ) to rotate to drive the two-wheeled vehicle 10 forward. However, the present invention is not limited thereto. In other embodiments, the electric motor 530 may also drive the front wheel 200 or the transmission device 400 to rotate. The torque sensor 510 is located on the crank 420 and is used for sensing the pedaling torque of the rider pedaling on the pedal 430 and the direction of rotation of the crank 420 under force. More specifically, the torque sensor 510 is coaxially connected to the crank 420 to sense the change of the twist angle of the crank 420, and then output a signal corresponding to the change. For example, the torque sensor 510 is a torque angle sensor using the principle of Hall induction. However, the present invention is not limited thereto. Therefore , when the rider of the two-wheeled vehicle 10 steps on the pedal 430 for a single time, through the signal feedback of the torque sensor 510, the central control unit 550 can make the electric motor 530 output the corresponding power at one time according to different pedaling torques. To help the wheel (such as the rear wheel 300) to rotate, reduce the rider's burden of force. A battery management system 540 (batter management system, BMS) is electrically connected to the central control unit 550 to provide power for the torque sensor 510 , the vehicle speed sensing unit 520 , the electric motor 530 and the central control unit 550 . With the power supplied by the battery management system 540 , the cruise control device 500 can provide the following operating tasks. The central control unit 550 is electrically connected to the torque sensor 510, the electric motor 530 and the vehicle speed sensing unit 520, and is used to sense the rotation of the crank 420 according to the signals from the torque sensor 510, the electric motor 530 and the vehicle speed sensing unit 520 respectively. Direction and sensing the real-time speed of the two-wheeled vehicle 10 during travel. The central control unit 550 is, for example, a central processing unit (CPU) or an electronic control unit (Electronic Control Unit, ECU) containing firmware.

In this way, when the rider intends to start the cruise control mode, the rider steps on the pedal 430 of the two-wheeled vehicle 10, so that the crank 420 rotates in the opposite direction to the rear wheel 300 (that is, opposite to the direction of the vehicle), the central control unit 550 will The electric motor 530 is operated in the constant speed cruise mode, and then the two-wheeled vehicle 10 is continuously moved forward at a constant speed. That is to say, the central control unit 550 immediately records the instant vehicle speed (called the first speed) at this time, and makes the electric motor 530 output the first rotational speed corresponding to the above-mentioned first speed in an equal amount, and drives the wheels (such as the rear wheels 300) to a constant speed. Turn quickly. The reverse rotation refers to the rotation of the crank 420 around the axis of the turntable 410 from the front wheel 200 upward to the rear wheel 300 (eg direction C1 ).

Therefore, since the rider only needs to reversely rotate the crank 420 of the two-wheeled vehicle 10 toward the rear wheel 300, the rider does not need to be distracted to find the start button, and can allow both hands to hold the handle 110 of the vehicle frame 100 tightly to ensure Driving safety.

It is worth mentioning that the first speed of the two-wheeled vehicle 10 must exceed a starting speed value (for example, 10 km/h) before the rider sends an instruction of the cruise control mode through the crank 420 . After this condition is satisfied, the central control unit 550 will enable the electric motor 530 to perform the cruise control mode. In other words, if the two-wheeled vehicle 10 does not reach the starting speed value, or is even stationary, the central control unit 550 will not enable the electric motor 530 to perform the cruise control mode.

When the two-wheeled vehicle 10 performs constant speed cruise according to the first speed, but due to the geographical environment (such as uphill or downhill) and naturally speeds up or slows down, since the central control unit 550 receives the signal feedback from the vehicle speed sensing unit 520, the central control unit 550 will The control unit 550 makes the electric motor 530 adjust the corresponding rotational speed until the instant vehicle speed returns to the above-mentioned recorded first speed after receiving the vehicle speed sensing unit 520, and then makes the electric motor 530 drive the two-wheeled vehicle to keep moving forward at the first speed.

In addition, when the rider activates the constant speed cruise mode, but the central control unit 550 judges that the above-mentioned instant vehicle speed exceeds a rated vehicle speed value (for example, 45 km/h) greater than the starting vehicle speed value, the central control unit 550 makes the electric motor 530 The second rotation speed corresponding to the above-mentioned rated vehicle speed value is output equally, so that the two-wheeled vehicle 10 can only perform constant speed cruising according to the rated vehicle speed value. It should be understood that, for the sake of safety, the cruising speed of the cruise control mode is only set between the rated speed value and the starting speed value, however, the present invention is not limited thereto.

In this embodiment, when the central control unit 550 determines whether the crank 420 is reversely rotated, the central control unit 550 specifically determines whether the rotation angle of the crank 420 or the pedaling torque sensed by the torque sensor 510 is a negative value. More specifically, it is determined whether the rotation angle of the crank 420 sensed by the torque sensor 510 is a reverse angle or whether the pedaling torque is zero or a reverse torque value.

However, the present invention is not limited thereto. In other embodiments, the cruise control device 500 further includes a photo interrupter (not shown in the figure). The photointerrupter is located on the two-wheeled vehicle 10 and is electrically connected to the central control unit 550 . In this way, when the central control unit 550 determines whether the crank 420 rotates in the reverse direction, the central control unit 550 can know that the crank 420 is rotated forward or reverse by whether the light of the photo interrupter is blocked by the crank 420 .

In this embodiment, the cruise control device 500 further includes a cruise confirmation key 560 in order to prevent the rider from stepping on the pedal 430 in the opposite direction unexpectedly, causing the cruise control mode of the two-wheeled vehicle 10 to endanger driving safety. The cruise confirmation key 560 is located on the handlebar 110 of the two-wheeled vehicle 10 and is electrically connected to the central control unit 550 . Therefore, when the central control unit 550 detects that the cruise confirmation key 560 is triggered, the central control unit 550 starts to detect whether the crank 420 is reversely rotated. In this way, when the rider wants to start the constant speed cruise mode, the rider first triggers the cruise confirmation key 560, and then turns the crank 420 in the reverse direction, so the central control unit 550 will enable the electric motor 530 to perform the constant speed cruise mode . However, the cruise confirmation key 560 is not limited to be located on the handlebar 110 of the two-wheeled vehicle 10, the cruise confirmation key 560 is not limited to a button or a push rod, and the cruise confirmation key 560 is not limited to an essential element of the present invention.

When the rider intends to release the cruise control mode, the rider steps on the pedal 430 of the two-wheeled vehicle 10, so that the crank 420 of the two-wheeled vehicle 10 rotates forwardly toward the front wheel 200 (that is, in the same direction as the vehicle), the central control The unit 550 cancels the setting of the output of the electric motor 530 corresponding to the first rotational speed. The positive rotation means that the crank 420 rotates around the axis of the turntable 410 in a direction from the rear wheel 300 upward to the front wheel 200 (such as direction C2 ).

In this embodiment, the cruise control device 500 of the above-mentioned two-wheeled vehicle 10 further includes a brake sensor 570 . The braking sensor 570 is connected to the braking element 120 of the two-wheeled vehicle 10 and is electrically connected to the central control unit 550 for detecting whether the braking element 120 is triggered. In this way, when the rider intends to cancel the cruise control mode, the rider can also use the brake element 120. Since the brake sensor 570 detects that the brake element 120 has been triggered, the central control unit 550 cancels the corresponding output of the electric motor 530. The setting of the first speed.

FIG. 3 is a block diagram of a cruise control device 500 for a two-wheeled vehicle 10 according to an embodiment of the present invention. As shown in FIG. 1 and FIG. 3 , in this embodiment, the cruise control device 500 further includes a multi-stage power controller 590 . The multi-stage power controller 590 is located on the two-wheeled vehicle 10 and is electrically connected to the central control unit 550 and the electric motor 530 . The multi-stage power controller 590 has a plurality of switches, and these switches correspond to different ratios of power (such as torque), such as the elderly, adults and children. The electric motor 530 outputs a specific ratio of power assist according to these different switching switches, so that the rider can choose to operate the appropriate one. For example, the multi-stage power controller 590 is located on the handlebar 110 of the two-wheeled vehicle 10 .

In this embodiment, as shown in FIG. 1 and FIG. 3 , the cruise control device 500 further includes an electronic throttle 580 . The electronic throttle 580 is located on the handlebar 110 of the two-wheeled vehicle 10 , and is electrically connected to the electric motor 530 to allow the electric motor 530 to output a corresponding rotational speed. In this way, the rider can turn the electronic accelerator 580 with appropriate strength at will, so that the electric motor 530 outputs the corresponding speed. In addition, when the rider wants to cancel the cruise control mode, the rider can also turn the electronic accelerator 580. Therefore, The central control unit 550 will also cancel the setting of the electric motor 530 output corresponding to the first rotational speed.

FIG. 4 is a flowchart of a cruise control method for a two-wheeled vehicle 10 according to an embodiment of the present invention. As shown in Fig. 4, the cruise control method includes steps 601-604 as follows. In step 601, the instantaneous speed of the two-wheeled vehicle 10 is sensed to obtain a first speed. In step 602, it is judged whether the crank 420 of the two-wheeled vehicle 10 is reversely rotated, if yes, go to step 603, otherwise, go back to step 601. In step 603, it is judged whether the first speed exceeds the start-up vehicle speed value, if so, go to step 604, otherwise, go back to step 601. In step 604, when it is determined that the crank 420 is rotated in the reverse direction and the first speed exceeds the starting vehicle speed value, the electric motor 530 is made to output the first rotational speed corresponding to the first speed in equal amounts, so that the two-wheeled vehicle 10 can move forward at a constant speed .

More specifically, between step 603 and step 604, it further includes judging whether the first speed exceeds a rated vehicle speed value greater than the starting vehicle speed value; when it is judged that the first speed has exceeded the rated vehicle speed value, in step 604, The control unit 550 changes the electric motor 530 to output the rotation speed corresponding to the above-mentioned rated vehicle speed in equal amounts, so as to drive the wheels (such as the rear wheels 300 ) to rotate at a constant speed.

When performing step 604, when the two-wheeled vehicle 10 is performing constant speed cruising according to the first speed, if the two-wheeled vehicle 10 starts to naturally increase or decrease the vehicle speed (different from the first speed) due to the geographical environment (such as uphill or downhill), The central control unit 550 senses the instant speed of the two-wheeled vehicle 10 to obtain a second speed; then, it determines whether the second speed is different from the first speed. If it is determined that the second speed is different from the first speed, the central control unit 550 allows the electric motor 530 to adjust the corresponding speed, that is, to increase or decrease the speed until the real-time speed collected by the two-wheeled vehicle 10 gradually returns to the first speed. up to speed.

For example, when the two-wheeled vehicle 10 encounters an uphill and starts to decelerate naturally, so that the central control unit 550 judges that the second speed is lower than the first speed, the central control unit 550 judges whether the second speed is greater than the above-mentioned starting vehicle speed value; then , when it is judged that the second speed is greater than the starting vehicle speed value, the central control unit 550 controls the electric motor 530 to continuously increase the rotation speed, and stops increasing the rotation speed until the immediate vehicle speed returns to the first speed. On the contrary, when the central control unit 550 judges that the second speed is lower than the aforementioned starting vehicle speed value, the central control unit 550 cancels the setting of the electric motor 530 output corresponding to the first rotational speed.

Conversely, when the two-wheeled vehicle 10 encounters a downhill and starts to accelerate naturally, so that the central control unit 550 determines that the second speed is greater than the first speed, the central control unit 550 determines whether the second speed is greater than the above-mentioned rated vehicle speed value; then, When the central control unit 550 determines that the second speed is not greater than the above-mentioned rated vehicle speed, the central control unit 550 controls the electric motor 530 to stop operating (that is, the rotation speed of the electric motor 530 drops to zero), until the instant vehicle speed returns to the first speed, Only then does the electric motor 530 return to output the first rotational speed corresponding to the first speed by an equal amount. Conversely, when the central control unit 550 judges that the second speed is greater than the above-mentioned rated vehicle speed, the central control unit 550 changes the electric motor 530 to output the second rotational speed corresponding to the rated vehicle speed in an equivalent amount.

In an option of this embodiment, when step 604 is performed, the cruise control method further includes several steps as follows. Determine whether the crank 420 of the two-wheeled vehicle 10 is rotated forward; when it is determined that the crank 420 of the two-wheeled vehicle 10 is rotated forward, the central control unit 550 cancels the setting of the first rotational speed corresponding to the output of the electric motor 530, and even makes the electric motor 530 is out of operation (meaning the electric motor 530 is not actively rotating).

In an option of this embodiment, when step 604 is performed, the cruise control method further includes several steps as follows. Determine whether the brake element 120 of the two-wheeled vehicle 10 is triggered; when it is determined that the brake element 120 is triggered, cancel the setting of the electric motor 530 output corresponding to the first rotational speed, or even stop the electric motor 530 (that is, the electric motor 530 is not active) rotation).

In this way, through the structures of the above embodiments, the present invention enables the electric rollator to provide easier and more convenient external force assistance to maintain a certain speed on a flat or sloped road.

Finally, the above-disclosed embodiments are not intended to limit the present invention. Anyone who is skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all of them can be protected by this invention. inventing. Therefore, the scope of protection of the present invention should be defined by the scope of the appended patent application.

10: two-wheeled vehicle

100: frame

110: handle

120: Braking component

200: front wheel

300: rear wheel

400: transmission

410: turntable

420: crank

430: Pedal

440: chain

500: Cruise control device

510: Torque sensor

520: Vehicle speed sensing unit

530: electric motor

540: battery management system

550: Central control unit

560: cruise confirmation key

570:Brake sensor

580: Electronic throttle

590: Multi-stage power controller

601~604: steps

C1, C2: direction

In order to make the above and other objects, features, advantages and embodiments of the present invention more clearly understood, the accompanying drawings are described as follows: Figure 1 is a schematic diagram of a two-wheeled vehicle with a cruise control device according to an embodiment of the present invention; Fig. 2 is a block diagram of the cruise control device of the two-wheeled vehicle in Fig. 1; Fig. 3 is a block diagram of a cruise control device for a two-wheeled vehicle according to an embodiment of the present invention; and Fig. 4 is a flowchart of a two-wheeled vehicle cruise control method according to an embodiment of the present invention.

10: two-wheeled vehicle

100: frame

110: handle

120: Braking component

200: front wheel

300: rear wheel

400: transmission

410: turntable

420: crank

430: Pedal

440: chain

500: Cruise control device

510: Torque sensor

560: cruise confirmation key

C1, C2: direction

Claims (12)

A cruise control device for a two-wheeled vehicle, comprising: a torque sensor coaxially connected to a crank of a two-wheeled vehicle for sensing the pedaling torque of a rider pedaling the pedal of the two-wheeled vehicle and the torque of the crank direction of rotation, wherein the torque sensor is a torque angle sensor; a vehicle speed sensing unit is located on the two-wheeled vehicle for sensing the instant vehicle speed of the two-wheeled vehicle to obtain a first speed; an electric motor, Located on the two-wheeled vehicle, it is used to drive a wheel of the two-wheeled vehicle to rotate through a transmission device of the two-wheeled vehicle; and a central control unit electrically connected to the torque sensor, the electric motor and the vehicle speed sensing unit , wherein when the central control unit senses that the crank is reversely rotated and the instant vehicle speed exceeds a starting vehicle speed value, the central control unit controls the electric motor to output the first rotational speed corresponding to the instant vehicle speed in equal amounts, so that the The two-wheeled vehicle can move forward at a constant speed according to the first speed. When the two-wheeled vehicle moves forward at a constant speed according to the first speed, the central control unit continues to sense the instant speed of the two-wheeled vehicle to obtain a second speed. The central control unit judges whether the second speed is lower than the first speed and one of the rated speed values of the two-wheeled vehicle. When the central control unit judges that the second speed is lower than the first speed and the starting speed value, the central control unit The control unit controls the electric motor to cancel the setting corresponding to the first rotational speed; when the central control unit judges that the second speed is greater than the first speed and the rated vehicle speed, the central control unit controls the electric motor to output the same amount The second rotation speed corresponding to the rated vehicle speed value, so that the two-wheeled vehicle can move forward at a constant speed according to the second speed, wherein the instant vehicle The speed is the rated vehicle speed value, or is between the rated vehicle speed value and the starting vehicle speed value. The cruise control device for a two-wheeled vehicle as described in claim 1, wherein the central control unit enables the electric motor to provide corresponding power according to the set preset speed to drive the wheels to rotate and adjust the two-wheeled vehicle speed. The cruise control device for a two-wheeled vehicle as described in claim 1 further includes: a multi-stage power controller, located on the two-wheeled vehicle, electrically connected to the central control unit and the electric motor, and the multi-stage power controller The power controller has a plurality of switching switches, wherein the electric motor outputs a specific ratio of power according to different switching switches. The cruise control device for a two-wheeled vehicle as described in claim 1 further includes: a cruise confirmation key, located on the two-wheeled vehicle, and electrically connected to the central control unit, wherein when the central control unit senses the When the cruise confirmation key is triggered, the central control unit starts to sense whether the crank is reversely rotated. The cruise control device for a two-wheeled vehicle as described in claim 1, Wherein when the central control unit senses that the rotation direction of the crank is opposite to a vehicle traveling direction, the central control unit determines that the crank is rotated in the reverse direction. The cruise control device for a two-wheeled vehicle according to claim 1, wherein when the central control unit senses that the pedaling torque of the crank is zero or a negative value, the central control unit determines that the crank is rotated in reverse. The cruise control device for a two-wheeled vehicle as described in claim 1, further comprising: a brake sensor connected to one of the brake components of the two-wheeled vehicle and electrically connected to the central control unit for detecting the brake Whether the component is triggered, wherein when the central control unit detects that the brake component is triggered, the central control unit cancels the setting of the electric motor output corresponding to the first rotational speed. The cruise control device for a two-wheeled vehicle as described in Claim 1 further includes: an electronic throttle electrically connected to the electric motor for changing the corresponding rotational speed output by the electric motor to change the speed of the two-wheeled vehicle, Wherein when the central control unit detects that the electronic throttle is triggered, the central control unit cancels the setting of the electric motor output corresponding to the first rotational speed. A constant speed cruise control method for a two-wheeled vehicle, comprising: sensing an instantaneous vehicle speed of a two-wheeled vehicle to obtain a first speed; judging whether a crank of the two-wheeled vehicle is reversely rotated; When it is judged that the crank is reversely rotated, it is judged whether the first speed exceeds a starting speed value; The first rotation speed of the first speed should be used so that the two-wheeled vehicle can move forward at a constant speed according to the first speed; Obtain a second speed; judge whether the second speed is lower than the first speed and a rated speed value of the two-wheeled vehicle; when it is judged that the second speed is lower than the first speed and the starting speed value, make the electric The motor cancels the setting corresponding to the first rotational speed; and when it is judged that the second speed is greater than the first speed and the rated vehicle speed value, the electric motor is equally output the second rotational speed corresponding to the rated vehicle speed value, so that the The two-wheeled vehicle can move forward at a constant speed according to the second speed. The cruise control method for a two-wheeled vehicle as described in Claim 9, wherein after the two-wheeled vehicle moves forward at a constant speed, it is judged whether the crank of the two-wheeled vehicle is rotated forward; and when it is judged that the two-wheeled vehicle The crank is rotated in the forward direction, and the setting of the electric motor output corresponding to the first rotational speed is released. The cruise control method for a two-wheeled vehicle according to claim 9, wherein after the two-wheeled vehicle moves forward at a constant speed, it is judged whether one of the braking elements of the two-wheeled vehicle is triggered; and When it is judged that the braking element is triggered, the setting of the output of the electric motor corresponding to the first rotational speed is released. The cruise control method for a two-wheeled vehicle according to Claim 9, wherein after the two-wheeled vehicle advances at a constant speed, it is judged whether one of the electronic accelerators of the two-wheeled vehicle is triggered; and when it is determined that the electronic accelerator is triggered , cancel the setting that the output of the electric motor corresponds to the first rotational speed.

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