TWI822182B - Vehicle control method, vehicle, and non-transitory computer readable storage medium - Google Patents

Abstract

A vehicle control method includes: determining whether the vehicle complies with at least one mode release condition when a vehicle is driven in a cruise control mode, in which the mode release condition includes that a wheel speed difference between a front wheel and a rear wheel of the vehicle is equal to or greater than a predetermined difference; and releasing the cruise control mode when the vehicle complies with the mode release condition.

Description

Vehicle control method, vehicle and non-transitory computer-readable storage medium

The present disclosure relates to a vehicle control method and a non-transitory computer-readable storage medium.

Driving safety requires a high degree of concentration and adaptability. People often drive dangerously due to distracted driving and fatigue, endangering the safety of themselves and others, causing loss of life and property. Therefore, in recent years, the development of vehicles has gradually moved towards electronics and safety, trying to develop various electronic mechanisms or mechanisms to assist drivers in driving.

Cruise Control is currently the most representative auxiliary driving mechanism commonly used in high-speed driving environments. Cruise control can reduce the driver's accelerator operation when the vehicle is traveling at high speed, and the vehicle cruises at the speed set by the driver. However, when a driver is unaware of driving a vehicle on a road with poor conditions, a vehicle traveling at a fixed speed may cause safety hazards to the driver.

Therefore, how to come up with a vehicle control method that can solve the above problems is one of the problems that the industry is currently eager to invest in research and development resources to solve.

In view of this, one purpose of the present disclosure is to provide a vehicle control method and a non-transitory computer-readable storage medium that can solve the above problems.

In order to achieve the above object, according to an embodiment of the present disclosure, a vehicle control method includes: when the vehicle is traveling in a cruise control mode, determining whether the vehicle meets at least one mode release condition, wherein the mode release condition includes the front wheels and rear wheels of the vehicle. The wheel speed difference between the two wheels is equal to or greater than the predetermined difference; and when the vehicle meets the mode release conditions, the cruise control mode is released.

In one or more embodiments of the present disclosure, the mode release condition further includes at least one of the following: the electric power of the electric energy storage device of the vehicle is equal to or less than the predetermined electric power; the temperature of the electric energy storage device is equal to or greater than the predetermined temperature; the speed of the vehicle is equal to or less than the safe speed; the vehicle receives a mode release request signal; the vehicle's brakes are operated; and the temperature of the vehicle's power system is greater than the predetermined motor temperature.

In one or more embodiments of the present disclosure, the vehicle control method further includes: when the vehicle is not traveling in the cruise control mode, determining whether the vehicle meets at least a first mode startup condition, wherein the first mode startup condition includes the vehicle receiving a mode start request signal; and when the vehicle meets the first mode start condition, the vehicle is driven in the cruise control mode.

In one or more embodiments of the present disclosure, the first mode activation condition further includes that the speed of the vehicle is equal to or greater than the first predetermined speed.

In one or more embodiments of the present disclosure, the first mode starting condition further includes at least one of the following: the electric energy storage device of the vehicle has a power greater than a predetermined electric power; the temperature of the electric energy storage device is less than a predetermined temperature; the vehicle's brake is in an idle state. ; the speed of the vehicle falls within a predetermined speed range; and the temperature of the vehicle's power system is equal to or less than the predetermined motor temperature.

In one or more embodiments of the present disclosure, the vehicle control method further includes: when the vehicle is not traveling in the cruise control mode, determining whether the vehicle meets the second mode startup condition, wherein the second mode startup condition includes the vehicle receiving mode startup The request signal and the speed of the vehicle are equal to or less than the second predetermined speed; and when the vehicle meets the second mode start condition, the vehicle is caused to travel in the reverse mode.

In one or more embodiments of the present disclosure, the second predetermined speed is smaller than the first predetermined speed.

In order to achieve the above object, according to an embodiment of the present disclosure, a vehicle includes a body, a front wheel, a rear wheel, a two-wheel speed sensor, and a processor. The front wheels are rotatably connected to the body. The rear wheels are rotatably connected to the body. The wheel speed sensors are respectively configured to sense the wheel speeds of the front wheels and rear wheels. The processor is provided on the vehicle body and is configured to: when the vehicle is traveling in the cruise control mode, determine whether the vehicle meets at least one mode release condition, wherein the mode release condition includes that the wheel speed difference between the front wheels and the rear wheels is equal to or greater than a predetermined value. Difference; and when the vehicle meets the mode release conditions, the cruise control mode is released.

In one or more embodiments of the present disclosure, the mode release condition further includes at least one of the following: the electric power of the electric energy storage device of the vehicle is equal to or less than the predetermined electric power; the temperature of the electric energy storage device is equal to or greater than the predetermined temperature; the speed of the vehicle is equal to or less than the safe speed; the processor receives the mode release request signal; the vehicle's brakes are operated; and the temperature of the vehicle's power system is greater than the predetermined motor temperature.

In one or more embodiments of the present disclosure, the processor is further configured to: when the vehicle is not traveling in the cruise control mode, determine whether the vehicle meets at least one first mode startup condition, wherein the first mode startup condition includes the processor Receive the mode activation request signal; and when the vehicle meets the first mode activation condition, cause the vehicle to drive in the cruise control mode.

In one or more embodiments of the present disclosure, the first mode activation condition further includes that the speed of the vehicle is equal to or greater than the first predetermined speed.

In one or more embodiments of the present disclosure, the first mode starting condition further includes at least one of the following: the electric energy storage device of the vehicle has a power greater than a predetermined electric power; the temperature of the electric energy storage device is less than a predetermined temperature; the vehicle's brake is in an idle state. ; the speed of the vehicle falls within a predetermined speed range; and the temperature of the vehicle's power system is equal to or less than the predetermined motor temperature.

In one or more embodiments of the present disclosure, the processor is further configured to: when the vehicle is not traveling in the cruise control mode, determine whether the vehicle meets the second mode startup condition, wherein the second mode startup condition includes the processor receiving mode The start request signal and the speed of the vehicle are equal to or less than the second predetermined speed; and when the vehicle meets the second mode start condition, the vehicle is caused to travel in the reverse mode.

In one or more embodiments of the present disclosure, the second predetermined speed is smaller than the first predetermined speed.

In order to achieve the above object, according to an embodiment of the present disclosure, a non-transitory computer-readable storage medium includes a computer-readable storage medium that causes the one or more computer processors to perform the following operations when executed by one or more computer processors. Execution instruction: When receiving information about a vehicle traveling in a certain speed cruise mode, determine whether at least one mode release condition is met, wherein the mode release condition includes receiving information that the wheel speed difference between the front wheel and the rear wheel of the vehicle is equal to or information greater than the predetermined difference; and when the mode release conditions are met, a mode release command to release the cruise control mode is generated.

In one or more embodiments of the present disclosure, the mode release condition further includes at least one of the following: receiving information that the electric energy storage device of the vehicle is equal to or less than a predetermined electric amount; receiving information that the temperature of the electric energy storage device is equal to or less than the predetermined electric amount; greater than a predetermined temperature; receiving information that the vehicle's speed is equal to or less than the safe speed; receiving information about the vehicle reception mode release request signal; receiving information about the vehicle's brake being operated; and receiving information about the vehicle's power Information that the system temperature is greater than the predetermined motor temperature.

In one or more embodiments of the present disclosure, the non-transitory computer-readable storage medium further includes a computer-executable device that, when executed by the one or more computer processors, causes the one or more computer processors to perform the following operations: Instruction: when receiving information that the vehicle is not traveling in the cruise control mode, determine whether at least one first mode activation condition is met, wherein the first mode activation condition includes receiving information about the vehicle receiving a mode activation request signal; and when When the first mode start condition is met, a mode start command to start the cruise control mode is generated.

In one or more embodiments of the present disclosure, the first mode activation condition further includes receiving information that the speed of the vehicle is equal to or greater than the first predetermined speed.

In one or more embodiments of the present disclosure, the first mode activation condition further includes at least one of the following: receiving information that the electric energy storage device of the vehicle is greater than the predetermined electric amount; receiving information that the temperature of the electric energy storage device is less than the predetermined amount. information about the temperature; receiving information that the vehicle's brake is in an idle state; receiving information that the vehicle's speed falls within a predetermined speed range; and receiving information that the temperature of the vehicle's power system is equal to or less than the predetermined motor temperature.

In one or more embodiments of the present disclosure, the non-transitory computer-readable storage medium further includes a computer-executable device that, when executed by the one or more computer processors, causes the one or more computer processors to perform the following operations: Instruction: When receiving information that the vehicle is not traveling in the cruise control mode, determine whether the second mode start condition is met, where the second mode start condition includes receiving information about the vehicle receiving the mode start request signal and the speed of the vehicle is equal to or less than the second predetermined speed; and when the second mode start condition is met, a mode start command to start the reverse mode is generated.

In one or more embodiments of the present disclosure, the second predetermined speed is smaller than the first predetermined speed.

To sum up, in the vehicle control method, vehicle and non-transitory computer-readable storage medium of the present disclosure, when the vehicle is traveling in the cruise control mode, at least the wheel speed difference between the front wheel and the rear wheel of the vehicle is equal to or is greater than the predetermined difference, the vehicle will be judged to meet the mode release conditions. In this way, a vehicle traveling in cruise control mode can automatically release the cruise control mode when driving on poor roads or when the wheels are out of condition, thereby effectively avoiding traffic accidents.

The above is only used to describe the problems to be solved by the present disclosure, the technical means to solve the problems, the effects thereof, etc. The specific details of the present disclosure will be introduced in detail in the following implementation modes and related drawings.

A plurality of implementation manners of the present disclosure will be disclosed below with drawings. For clarity of explanation, many practical details will be explained together in the following description. However, it should be understood that these practical details should not be used to limit the disclosure. That is to say, in some implementations of the present disclosure, these practical details are not necessary. In addition, for the sake of simplifying the drawings, some commonly used structures and components will be illustrated in a simple schematic manner in the drawings.

Please refer to Picture 1 and Picture 2. Figure 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure. Figure 2 is a schematic diagram of a vehicle 100 according to an embodiment of the present disclosure. As shown in Figures 1 and 2, in this embodiment, the vehicle control method includes steps S101, S102, S103, and S104, and can be executed on the vehicle 100.

Step S101: When the vehicle 100 is not traveling in the cruise control mode, determine whether the vehicle 100 meets the first mode start condition, where the first mode start condition includes the vehicle 100 receiving a mode start request signal. The mode activation request signal will be explained in detail in the following paragraphs.

Step S102: When the vehicle 100 meets the first mode starting condition, the vehicle 100 is caused to travel in the cruise control mode, and the vehicle 100 is driven to travel at the cruise target speed corresponding to the cruise control mode. On the contrary, if the vehicle 100 does not meet the first mode starting condition, the vehicle 100 keeps operating in the current mode. For example, if the vehicle 100 does not meet the first mode starting conditions, the vehicle 100 does not enter the cruise control mode, and accelerates and decelerates according to the accelerator and brake control conditions.

In some embodiments, the vehicle 100 is a two-wheeled vehicle (such as a scooter or other straddle-type vehicle) or a transportation vehicle with more than two wheels. However, the disclosure is not limited thereto, and the vehicle control method may also be used. Applied to other types of transportation vehicles.

In some embodiments, the vehicle 100 includes a body 110 , front wheels 120 , rear wheels 130 , a processor 140 and function buttons 170 . The front wheels 120 and the rear wheels 130 are rotatably connected to the vehicle body 110 . The processor 140 and the function buttons 170 are arranged on the body 110 . For example, the function button 170 is a cruise control button or a two-in-one cruise control and reverse button, but the disclosure is not limited to this. When the function button 170 is pressed when the vehicle 100 is not traveling in the cruise control mode, the processor 140 can receive the corresponding press signal and regard the press signal as a mode start request signal. For example, the function button 170 can be implemented using a switch, which is coupled to the processor 140, the power terminal, and the ground terminal. When the function button 170 is pressed, the switch connects the power terminal and the ground terminal, causing a current surge to be directed to the processor 140. This current surge is the mode start request signal. Then the processor 140 enables the cruise control mode according to the mode activation request signal. Using a switch as a button to trigger a specific function is a common practice in the field of electronic circuits, and will not be described in detail in this disclosure.

The aforementioned steps S101 and S102 are both executed by the processor 140 . In some embodiments, the processor 140 uses the speed of the vehicle 100 when the mode start request signal is received as the set speed of the cruise control mode (ie, the aforementioned cruise target speed), and causes the vehicle 100 to drive at a constant speed at this set speed. . For example, when the cruising target speed is set to 60 km/h and the current speed of the vehicle 100 is less than 60 km/h, the processor 130 will drive the vehicle 100 to accelerate to reach the cruising target speed.

In some embodiments, the processor 140 is, for example, a microprocessor, a microcontroller, a programmable logic controller (PLC), a programmable gate array (PGA), an application specific integrated circuit (ASIC), or can be obtained from various Sensors receive signals, perform logic operations, and send signals to controllers of various components.

In some embodiments, the first mode activation condition further includes the speed of the vehicle 100 being equal to or greater than the first predetermined speed. For example, the first predetermined speed is about 10 kilometers/hour, but the disclosure is not limited thereto.

In some embodiments, the first mode starting condition further includes that the electric quantity of the electric energy storage device (not shown) of the vehicle 100 is greater than the predetermined electric quantity. In some embodiments, the vehicle 100 is an electric vehicle driven by a motor to drive the rear wheels 130 and/or the front wheels 120 , and the electricity stored in the aforementioned electrical energy storage device is the power source of the motor. For example, the scheduled power is about 12%, but this disclosure is not limited to this. Thereby, the vehicle control method of this embodiment can prevent the vehicle 100 from entering the cruise control mode when the electric energy storage device is in low power.

In some embodiments, the aforementioned electrical energy storage device is, for example, any device that can store power and release the stored power, including but not limited to a battery pack, a supercapacitor or a supercapacitor. The battery is, for example, one or more chemical storage cells, for example, rechargeable or auxiliary battery cells (including but not limited to nickel-cadmium alloy or lithium-ion battery cells).

In some embodiments, the first mode startup condition further includes the temperature of the electrical energy storage device being less than a predetermined temperature. For example, the predetermined temperature is about 63 degrees Celsius, but the disclosure is not limited thereto. Thereby, the vehicle control method of this embodiment can prevent the temperature of the electric energy storage device from further increasing due to operating in the cruise control mode when the electric energy storage device is at a high temperature, thereby causing damage to the electric energy storage device and/or the vehicle 100 .

In some embodiments, the first mode activation condition further includes that the brakes of the vehicle 100 are not operated (ie, the brakes are in an idle state). Thereby, the vehicle control method of this embodiment can effectively prevent the driver from accidentally touching the vehicle. An example of an accidental touch situation is that the driver actually wants to operate the brake to decelerate the vehicle 100, but accidentally presses the function button 170.

In some embodiments, the first mode activation condition further includes the speed of the vehicle 100 falling within a predetermined speed range. For example, the predetermined speed range is about 10 km/h to about 60 km/h, but the disclosure is not limited thereto. In other words, when the speed of the vehicle 100 is less than 10 km/h or greater than 60 km/h, the vehicle 100 will not enter the cruise control mode. Thereby, the vehicle control method of this embodiment can prevent the vehicle 100 from driving at a fixed speed outside the safe predetermined speed range, thereby causing safety hazards to the driver.

In some embodiments, the first mode starting condition further includes the output power of the power system (eg, motor) of the vehicle 100 without load reduction. Specifically, a temperature sensor (not shown) is provided next to or inside the motor. The temperature sensor senses the temperature of the motor at any time and outputs the sensed data to the processor 140 . When the temperature of the motor is greater than a predetermined motor temperature (for example, 100 degrees Celsius), the processor 140 will adjust the torque intensity output to the motor to dynamically limit the driving torque, rotational speed, and output power of the motor. This behavior is called load reduction. In other words, as long as the temperature of the motor is maintained at or below the predetermined motor temperature, the motor will not experience a load reduction condition.

By the way, after the motor is deloaded, its temperature will begin to drop. The processor 140 will not release the load reduction until the temperature of the motor drops to be equal to or less than a safe motor temperature (the safe motor temperature is less than a predetermined motor temperature, such as 90 degrees Celsius). After the load reduction is released, the driving torque, rotation speed and output power of the motor can be further increased to increase the current speed of the vehicle 100 .

In some implementations, the vehicle 100 must meet a plurality of first mode activation conditions before entering the cruise control mode. For example, when the processor 140 receives the mode activation request signal and the speed of the vehicle 100 is equal to or greater than the first predetermined speed, the vehicle 100 switches to the cruise control mode. Alternatively, the vehicle 100 will switch to the cruise control mode only when the processor 140 receives the mode start request signal, the current speed of the vehicle 100 is equal to or greater than the first predetermined speed, and the power of the electric energy storage device of the vehicle 100 is greater than the predetermined power. . In some embodiments, the vehicle 100 must meet all the above first mode starting conditions before entering the cruise control mode.

In addition, the cruising target speed of the cruise control mode (the cruising target speed is equal to or greater than the first predetermined speed) may also be input to the processor 140 in advance. When the processor 140 receives the mode start request signal, the processor 140 drives the motor to increase/decrease the speed of the vehicle 100 to the cruise target speed, and then switches the vehicle 100 to the cruise control mode. In some embodiments, the vehicle 100 will switch only when the processor 140 receives the mode start request signal and the status of the vehicle 100 meets at least one of the aforementioned first mode start conditions (for example, the power of the electrical energy storage device is greater than the predetermined power). to cruise control mode.

Step S103: When the vehicle 100 is traveling in the cruise control mode, determine whether the vehicle 100 meets the mode release condition, where the mode release condition includes that the wheel speed difference between the front wheel 120 and the rear wheel 130 of the vehicle 100 is equal to or greater than a predetermined difference. .

Step S104: When the vehicle 100 meets the release conditions, release the cruise control mode. Otherwise, cruise control mode is maintained.

As shown in FIG. 2 , in this embodiment, the vehicle 100 further includes two wheel speed sensors 150 and 160 . Wheel speed sensors 150 and 160 are respectively disposed beside the front wheel 120 and the rear wheel 130 and are electrically connected to the processor 140 . The wheel speed sensors 150 and 160 are respectively configured to sense the wheel speeds of the front wheels 120 and the rear wheels 130 . For example, the wheel speed sensors 150 and 160 are, for example, magnetoelectric wheel speed sensors, Hall wheel speed sensors, or any other element that can sense the wheel speed, and the present disclosure is not limited thereto. In some embodiments, the wheel speed sensors 150 and 160 can also be disposed in the vehicle body 110 , as long as the wheel speed sensors 150 and 160 can sense the wheel speeds of the front wheels 120 and the rear wheels 130 .

The processor 140 is further configured to calculate the wheel speed difference based on the data sensed by the wheel speed sensors 150 and 160, and can compare the wheel speed difference with a predetermined difference. For example, the wheel speed difference can be calculated by the following formula.

. (1)

Wherein, D represents the wheel speed difference, Va represents the wheel speed of one of the front wheel 120 and the rear wheel 130 , and Vb represents the wheel speed of the other of the front wheel 120 and the rear wheel 130 . In some embodiments, Va represents the wheel speed of the rear wheel 130 , and Va represents the wheel speed of the front wheel 120 .

In some implementations, the predetermined difference is about 4%, but the present disclosure is not limited thereto. Those with ordinary knowledge in the art can adjust the predetermined difference according to circumstances.

For example, when the road surface is slippery and causes the rear wheel 130 to slip, the wheel speed difference between the front wheel 120 and the rear wheel 130 will increase instantaneously. At this time, if the vehicle 100 is still running in the cruise control mode, the vehicle 100 may overturn and cause injury to the driver. To avoid such a situation, the vehicle control method proposed in this disclosure can detect the wheel speed difference between the front wheel 120 and the rear wheel 130 at any time, and automatically cancel the cruise control mode.

In addition, the following situations will also cause the wheel speed difference to increase: (1) When at least one of the front wheels 120 or the rear wheels 130 has a problem (for example, the front wheels 120 and/or the rear wheels 130 are off the ground, and the front wheels 120 and/or the rear wheels 130 are off the ground. Or the rear wheel 130 is locked by braking, etc.); (2) When the vehicle 100 accelerates/decelerates violently. Thereby, the vehicle control method of this embodiment can enable the vehicle 100 traveling in the cruise control mode to automatically release the cruise control mode when driving on a road with poor conditions or when the wheels are out of condition, thereby effectively avoiding traffic accidents. happen.

In some embodiments, the mode release condition further includes that the power of the electrical energy storage device of the vehicle 100 is equal to or less than a predetermined power. In some embodiments, the vehicle 100 is an electric vehicle driven by a motor to drive the rear wheels 130 and/or the front wheels 120 , and the electricity stored in the aforementioned electrical energy storage device is the power source of the motor. For example, the scheduled power is about 12%, but this disclosure is not limited to this. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the electric energy storage device is at low power, so as to avoid further power consumption of the vehicle 100 .

In some embodiments, the mode release condition further includes that the temperature of the electrical energy storage device is equal to or greater than a predetermined temperature. For example, the predetermined temperature is about 63 degrees Celsius, but the disclosure is not limited thereto. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the electric energy storage device is at a high temperature, so as to avoid further increasing the temperature of the electric energy storage device and causing the electric energy storage device and/or the vehicle 100 to damaged.

In some embodiments, the mode release condition further includes that the speed of the vehicle 100 is equal to or less than a safe speed. For example, the safe speed is about 5 kilometers/hour, but this disclosure is not limited to this. In some implementations, the safe speed is set to be less than the first predetermined speed. Thereby, the vehicle control method of this embodiment can cause the vehicle 100 to automatically release the cruise control mode when the vehicle 100 is unable to travel at the set speed of the cruise control mode due to specific factors (for example, the vehicle 100 climbs a steep slope). To avoid excessive wear and tear on the power system of the vehicle 100 .

In some implementations, the processor 140 may not set a safe speed, but use the first predetermined speed to determine whether to release the cruise control mode. For example, when the speed of the vehicle 100 is less than the first predetermined speed, the processor 140 determines that the vehicle 100 meets the mode release condition and releases the cruise control mode.

In some embodiments, the mode release condition further includes the vehicle 100 receiving a mode release request signal. In some embodiments, when the function button 170 is pressed while the vehicle 100 is traveling in the cruise control mode, the processor 140 may receive the corresponding press signal and regard the press signal as a mode release request signal. Then, the cruise control mode is released according to the mode release request signal. As mentioned above, the function button 170 can be implemented through a switch to generate and output a press signal.

In some embodiments, when the brakes of the vehicle 100 are operated while the vehicle 100 is traveling in the cruise control mode (that is, the brakes are in a pressed state), the processor 140 may receive the corresponding operation signal and use the operation signal to Considered as a mode release request signal. Thereby, the vehicle control method of this embodiment allows the driver to independently decide the timing of releasing the cruise control mode through manual operation. In some embodiments, the processor 140 will release the cruise control mode only when the brake is operated for more than a certain time (for example, more than 3 seconds).

In some embodiments, the mode release condition further includes a load reduction condition occurring in the power system of the vehicle 100 (ie, the temperature of the motor is greater than a predetermined motor temperature). At this time, the processor 140 determines that the temperature of the motor is too high, which may affect driving safety, and cancels the cruise control mode.

In some implementations, when only one of the foregoing mode release conditions is met, the processor 140 will control the vehicle 100 to release the cruise control mode. In some embodiments, the cruise control mode will be released only when the vehicle 100 meets at least two of the aforementioned mode release conditions. Alternatively, in some embodiments, the cruise control mode will be released only when the vehicle 100 meets each of the foregoing mode release conditions.

In addition, as shown in Figure 1, in this embodiment, the vehicle control method further includes steps S105 and S106.

Step S105: When the vehicle 100 is not traveling in the cruise control mode, determine whether the vehicle 100 meets the second mode start condition, where the second mode start condition includes the vehicle 100 receiving the mode start request signal and the speed of the vehicle 100 being less than the second predetermined speed. .

Step S106: When the vehicle 100 meets the second mode starting condition, make the vehicle 100 travel in the reverse mode. On the contrary, if the vehicle 100 does not meet the conditions for starting the second mode, the vehicle 100 keeps operating in the current mode.

In some embodiments, when the function button 170 is pressed when the vehicle 100 is not traveling in the cruise control mode, the processor 140 may receive the corresponding press signal and regard the press signal as a mode start request signal. .

In some embodiments, when the processor 140 receives the mode activation request signal and the speed of the vehicle 100 is equal to or greater than the first predetermined speed, the vehicle 100 meets the first mode activation condition and travels in the cruise control mode; when the processor 140 When the mode start request signal is received and the speed of the vehicle 100 is less than the second predetermined speed, the vehicle 100 meets the second mode start condition and travels in the reverse mode. In some embodiments, the aforementioned function button 170 is a two-in-one cruise control and reverse button. Therefore, according to the vehicle control method of this embodiment, the driver can determine whether the vehicle 100 enters the cruise control mode or the reverse mode according to the current speed of the vehicle 100 by pressing the single function button 170 .

In some embodiments, the second predetermined speed is less than the first predetermined speed. For example, the first predetermined speed is about 10 km/h, and the second predetermined speed is about 5 km/h, but the disclosure is not limited thereto. Thereby, the range between the first predetermined speed and the second predetermined speed can be used as a buffer zone to avoid misoperation by the driver (for example, the vehicle 100 attempts to enter the cruise control mode but mistakenly enters the reverse mode, or vice versa).

In some implementations, the vehicle control method of the present disclosure may be implemented through one or more microcontrollers. However, those skilled in the art will recognize that the embodiments disclosed in the present disclosure may be implemented as one or more computer programs executed by one or more computers (e.g., as one or more computer programs running on one or more computer systems). or more programs), as one or more programs being executed by one or more controllers (e.g., microcontrollers), as one or more programs being executed by one or more processors 140 (e.g., microprocessors) A program, as firmware, or as virtually any combination thereof that is equivalently implemented in whole or in part in a standard integrated circuit (e.g., an application specific integrated circuit or ASIC). In view of the teachings of this disclosure, designing circuits and/or writing code for software and/or firmware will be well within the skill of those skilled in this art.

When logic is implemented as software/firmware and stored in memory, the logic or information may be stored on any non-transitory computer-readable storage medium for use by or with associated processor systems or methods. Non-transitory computer-readable storage media are electronic, magnetic, optical or other physical devices or components that contain or store computer and/or processor programs on a non-transitory basis. The logic and/or information may be embodied in any computer-readable medium for use by an instruction execution system, device, or device (such as a computer-based system, a system containing a processor, or a system that may retrieve and execute instructions from an instruction execution system, device, or device). Other systems of instructions associated with logic and/or information) are used by or in conjunction with them.

In some embodiments, the non-transitory computer-readable storage medium includes computer-executable instructions that, when executed by one or more computer processors 140, cause the one or more computer processors 140 to: upon receiving information about When a vehicle 100 is traveling in a certain speed cruise mode, it is determined whether at least one mode release condition is met, wherein the mode release condition includes receiving information that the wheel speed difference between the front wheel 120 and the rear wheel 130 of the vehicle 100 is equal to or greater than a predetermined value. Difference information; and when the release conditions are met, a mode release command to release the cruise control mode is generated.

In some embodiments, the non-transitory computer-readable storage medium further includes computer-executable instructions that, when executed by the one or more computer processors 140, cause the one or more computer processors 140 to: upon receiving When receiving information about the vehicle 100 not traveling in the cruise control mode, it is determined whether at least one first mode activation condition is met, wherein the first mode activation condition includes receiving information about the vehicle 100 receiving the mode activation request signal; and when the first mode activation condition is received; When the mode start conditions are met, a mode start command to start the cruise control mode is generated. Thereby, the vehicle 100 can enter the cruise control mode according to the mode start command. On the contrary, when the first mode startup condition is not met, the non-transitory computer-readable storage medium can generate a control instruction to prompt the vehicle 100 to continue operating in the current mode.

In some embodiments, the non-transitory computer-readable storage medium further includes computer-executable instructions that, when executed by the one or more computer processors 140, cause the one or more computer processors 140 to: upon receiving When the information about the vehicle 100 not traveling in the cruise control mode is received, it is determined whether the second mode start condition is met, wherein the second mode start condition includes receiving information about the vehicle 100 receiving the mode start request signal and the speed of the vehicle 100 is less than the second mode start condition. 2. Predetermined speed information; and when the second mode activation condition is met, a mode activation command to activate the reverse mode is generated. Thereby, the vehicle 100 can enter the reverse mode according to the mode start command. On the contrary, when the second mode startup condition is not met, the non-transitory computer-readable storage medium can generate a control instruction to prompt the vehicle 100 to continue operating in the current mode.

From the above detailed description of the specific embodiments of the present disclosure, it can be clearly seen that in the vehicle control method and the non-transitory computer-readable storage medium of the present disclosure, when the vehicle is traveling in the cruise control mode, at least the vehicle in front of the vehicle Only when the wheel speed difference between the wheel and the rear wheel is equal to or greater than the predetermined difference will the vehicle be judged to meet the mode release conditions. In this way, a vehicle traveling in cruise control mode can automatically release the cruise control mode when driving on poor roads or when the wheels are out of condition, thereby effectively avoiding traffic accidents.

Although the disclosure has been disclosed in the above embodiments, it is not intended to limit the disclosure. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure. Therefore, the protection of the disclosure is The scope shall be determined by the appended patent application scope.

100:Vehicle 110: Body 120:Front wheel 130:Rear wheel 140: Processor 150,160: wheel speed sensor 170: Function buttons S101, S102, S103, S104, S105, S106: steps

In order to make the above and other objects, features, advantages and embodiments of the present disclosure more obvious and understandable, the accompanying drawings are described as follows: Figure 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure. Figure 2 is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure.

Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without

S101, S102, S103, S104, S105, S106: steps

Claims (21)

A vehicle control method, including: when a vehicle is traveling in a certain speed cruise mode, determining whether the vehicle meets at least one mode release condition, wherein the at least one mode release condition includes a wheel gap between a front wheel and a rear wheel of the vehicle. The speed difference value is equal to or greater than a predetermined difference value; and When the vehicle meets the at least one mode release condition, the cruise control mode is released. The vehicle control method of claim 1, wherein the at least one mode release condition further includes at least one of the following: the electric charge of an electrical energy storage device of the vehicle is equal to or less than a predetermined electric charge; The temperature of the electrical energy storage device is equal to or greater than a predetermined temperature; the speed of the vehicle is equal to or less than a safe speed; The vehicle receives a mode release request signal; One of the vehicle's brakes is operated; and The temperature of a powertrain of the vehicle is greater than a predetermined motor temperature. The vehicle control method as described in claim 1 further includes: When the vehicle is not traveling in the cruise control mode, determine whether the vehicle meets at least one first mode activation condition, wherein the at least one first mode activation condition includes the vehicle receiving a mode activation request signal; and When the vehicle meets the at least one first mode starting condition, the vehicle is driven in the cruise control mode. The vehicle control method of claim 3, wherein the at least one first mode activation condition further includes that the speed of the vehicle is equal to or greater than a first predetermined speed. The vehicle control method of claim 3, wherein the at least one first mode activation condition further includes at least one of the following: The electric quantity of one of the electric energy storage devices of the vehicle is greater than a predetermined electric quantity; The temperature of the electrical energy storage device is less than a predetermined temperature; One of the vehicle's brakes is in an idle state; The speed of the vehicle falls within a predetermined speed range; and The temperature of a power system of the vehicle is equal to or less than a predetermined motor temperature. The vehicle control method as described in claim 4 further includes: When the vehicle is not traveling in the cruise control mode, it is determined whether the vehicle meets the second mode start conditions, wherein the second mode start conditions include the vehicle receiving the mode start request signal and the speed of the vehicle being equal to or less than a the second predetermined speed; and When the vehicle meets the second mode starting conditions, the vehicle is driven in a reverse mode. The vehicle control method of claim 6, wherein the second predetermined speed is smaller than the first predetermined speed. A vehicle containing: a body; One front wheel is rotatably connected to the body; One rear wheel is rotatably connected to the body; Two wheel speed sensors, respectively configured to sense the wheel speed of the front wheel and the rear wheel; and A processor, disposed on the body and configured to: When the vehicle is traveling in a certain speed cruise mode, it is determined whether the vehicle meets at least one mode release condition, wherein the at least one mode release condition includes that the wheel speed difference between the front wheel and the rear wheel is equal to or greater than a predetermined difference. ;as well as When the vehicle meets the at least one mode release condition, the cruise control mode is released. The vehicle of claim 8, wherein the at least one mode release condition further includes at least one of the following: The electric quantity of one of the electric energy storage devices of the vehicle is equal to or less than a predetermined electric quantity; The temperature of the electrical energy storage device is equal to or greater than a predetermined temperature; the speed of the vehicle is equal to or less than a safe speed; The processor receives a mode release request signal; One of the vehicle's brakes is operated; and The temperature of a powertrain of the vehicle is greater than a predetermined motor temperature. The vehicle of claim 8, wherein the processor is further configured to: When the vehicle is not traveling in the cruise control mode, determine whether the vehicle meets at least one first mode activation condition, wherein the at least one first mode activation condition includes the processor receiving a mode activation request signal; and When the vehicle meets the at least one first mode starting condition, the vehicle is driven in the cruise control mode. The vehicle of claim 10, wherein the at least one first mode activation condition further includes that the speed of the vehicle is equal to or greater than a first predetermined speed. The vehicle of claim 10, wherein the at least one first mode activation condition further includes at least one of the following: The electric quantity of one of the electric energy storage devices of the vehicle is greater than a predetermined electric quantity; The temperature of the electrical energy storage device is less than a predetermined temperature; One of the vehicle's brakes is in an idle state; The speed of the vehicle falls within a predetermined speed range; and The temperature of a power system of the vehicle is equal to or less than a predetermined motor temperature. The vehicle of claim 11, wherein the processor is further configured to: When the vehicle is not traveling in the cruise control mode, it is determined whether the vehicle meets the second mode start conditions, wherein the second mode start conditions include the processor receiving the mode start request signal and the speed of the vehicle being equal to or less than a second predetermined speed; and When the vehicle meets the second mode starting conditions, the vehicle is driven in a reverse mode. The vehicle of claim 13, wherein the second predetermined speed is smaller than the first predetermined speed. A non-transitory computer-readable storage medium that contains computer-executable instructions that, when executed by one or more computer processors, cause the one or more computer processors to: When receiving information about a vehicle traveling in a certain speed cruise mode, it is determined whether at least one mode release condition is met, wherein the at least one mode release condition includes receiving information about the wheel speed between one front wheel and one rear wheel of the vehicle. Information whose difference is equal to or greater than a predetermined difference; and When the at least one mode release condition is met, a mode release command to release the cruise control mode is generated. The non-transitory computer-readable storage medium as described in claim 15, wherein the at least one mode release condition further includes at least one of the following: Receive information that the electric quantity of an electrical energy storage device of the vehicle is equal to or less than a predetermined electric quantity; receiving information that the temperature of the electrical energy storage device is equal to or greater than a predetermined temperature; Receive information that the speed of the vehicle is equal to or less than a safe speed; Receive information that the vehicle received a mode release request signal; receive information that one of the vehicle's brakes has been operated; and Information is received that the temperature of a power system of the vehicle is greater than a predetermined motor temperature. The non-transitory computer-readable storage medium of claim 15, further comprising computer-executable instructions that, when executed by the one or more computer processors, cause the one or more computer processors to perform the following operations: When receiving information that the vehicle is not traveling in the cruise control mode, it is determined whether at least one first mode activation condition is met, wherein the at least one first mode activation condition includes receiving information that the vehicle receives a mode activation request signal. information; and When the at least one first mode activation condition is met, a mode activation command to activate the cruise control mode is generated. The non-transitory computer-readable storage medium of claim 17, wherein the at least one first mode activation condition further includes receiving information that the speed of the vehicle is equal to or greater than a first predetermined speed. The non-transitory computer-readable storage medium as described in claim 17, wherein the at least one first mode activation condition further includes at least one of the following: Receive information that the power of an electrical energy storage device of the vehicle is greater than a predetermined power; receiving information that the temperature of the electrical energy storage device is less than a predetermined temperature; Receive information that one of the vehicle's brakes is in an idle state; receiving information that the vehicle's speed falls within a predetermined speed range; and Information is received that the temperature of a powertrain of the vehicle is equal to or less than a predetermined motor temperature. The non-transitory computer-readable storage medium of claim 18, further comprising computer-executable instructions that, when executed by the one or more computer processors, cause the one or more computer processors to perform the following operations: When receiving information that the vehicle is not traveling in the cruise control mode, it is determined whether the second mode activation conditions are met, wherein the second mode activation conditions include receiving information about the vehicle receiving the mode activation request signal and Information that the speed of the vehicle is equal to or less than a second predetermined speed; and When the second mode start conditions are met, a mode start command to start a reverse mode is generated. The non-transitory computer-readable storage medium of claim 20, wherein the second predetermined speed is smaller than the first predetermined speed.

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