CN113264046A - Intelligent cruise control method and system for electric two-wheeled vehicle - Google Patents
Intelligent cruise control method and system for electric two-wheeled vehicle Download PDFInfo
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- CN113264046A CN113264046A CN202110748400.0A CN202110748400A CN113264046A CN 113264046 A CN113264046 A CN 113264046A CN 202110748400 A CN202110748400 A CN 202110748400A CN 113264046 A CN113264046 A CN 113264046A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention discloses an intelligent cruise control method and system for an electric two-wheeled vehicle. The intelligent cruise control method of the electric two-wheeled vehicle comprises the following steps: acquiring attitude information of the whole vehicle in an automatic cruise mode; determining the current road condition according to the attitude information of the whole vehicle; and controlling the speed of the automatic cruise according to the current road condition. The invention realizes the automatic cruise speed adjustment, improves the automation and the intellectualization of the automatic cruise, and achieves the effects of higher safety and better experience of the electric two-wheel vehicle.
Description
Technical Field
The embodiment of the invention relates to the control technology of electric vehicles, in particular to an intelligent cruise control method and system for an electric two-wheeled vehicle.
Background
In recent years, the electric two-wheeled vehicle industry in China is developed vigorously, and the electric two-wheeled vehicle enters more and more families because of the advantages of convenience, environmental protection, safety and the like.
The current common cruise control schemes comprise two schemes, namely, when an accelerator signal is in an effective range and has no faults such as a speed regulating handle, and when a vehicle owner lightly touches a cruise key, the vehicle can run at the current accelerator value, namely, the vehicle can run at a constant speed without operating the speed regulating handle to control the accelerator. The optimized version is that a speed change key is added on the basis, a vehicle owner can press the speed change key in the cruise mode, and the current cruise speed can be changed without exiting and then entering the cruise mode by adjusting the opening of a speed adjusting handle. And the other mode is that when the cruise enable is effective, the vehicle owner automatically enters the cruise after the adjusting rotating handle is kept at a certain position for 8S.
The scheme is a relatively common cruise constant speed control scheme, the speed change and the speed change amount need to be manually judged, the cruise demand cannot be rapidly and intelligently responded under the condition of large speed change, the purpose of intelligent control in the cruise mode cannot be achieved, and the experience and the safety of the cruise function are required to be improved.
Disclosure of Invention
The invention provides an intelligent cruise control method and system for an electric two-wheeled vehicle, and aims to improve the experience and safety of an automatic cruise function.
In a first aspect, the embodiment of the invention provides an intelligent cruise control method for an electric two-wheeled vehicle. The method comprises the following steps:
acquiring attitude information of the whole vehicle in an automatic cruise mode;
determining the current road condition according to the attitude information of the whole vehicle;
and controlling the speed of the automatic cruise according to the current road condition.
Optionally, acquiring attitude information of the whole vehicle includes: acquiring the inclination angle of the whole vehicle detected by a gyroscope; determining the current road condition according to the attitude information of the whole vehicle, including: if the front rake angle of the whole vehicle is larger than a first preset angle, determining that the current road condition is a downhill; if the backward inclination angle of the whole vehicle is larger than a second preset angle, determining that the current road condition is an uphill slope; if the inclination angle of the whole vehicle is larger than a third preset angle, determining that the current road condition is a curve; and if the inclination angle of the whole vehicle is smaller than the fourth preset angle, determining that the current road condition is a flat road.
Optionally, acquiring attitude information of the entire vehicle, further comprising: acquiring the frequency of the change of the inclination direction of the whole vehicle detected by a gyroscope;
determining the current road condition according to the attitude information of the whole vehicle, further comprising: and if the frequency of the change of the inclination direction of the whole vehicle is greater than the first preset frequency, determining that the current road condition is the bump.
Optionally, after determining the current road condition according to the attitude information of the entire vehicle, the method further includes: and controlling the voice module to output information corresponding to the current road condition.
Optionally, controlling the speed of the automatic cruise according to the current road condition comprises:
and if the current road condition is downhill, curve or bump, reducing the speed according to the preset proportion corresponding to the downhill, the curve and the bump respectively.
Optionally, after the speed reduction is performed according to the preset proportions corresponding to the downhill, the curve and the bump respectively, the method further includes:
judging whether the vehicle speed is higher than a corresponding preset upper speed limit, wherein the preset upper speed limit of a downward slope is a first preset speed, the preset upper speed limit of a curve is a second preset speed, and the preset upper speed limit of a bump is a third preset speed;
if so, reversely driving the motor to reduce the speed so as to enable the speed of the vehicle to be lower than the preset upper speed limit;
and otherwise, driving according to the original speed, wherein the original speed is the speed after the speed is reduced according to the preset proportion.
Optionally, controlling the speed of the automatic cruise according to the current road condition comprises:
if the current road condition is an uphill slope, judging whether the bus current of the motor reaches a bus current limiting value, wherein the bus current limiting value is a preset maximum bus current value;
if so, increasing the bus current limiting value of the motor according to the road condition gradient;
otherwise, the vehicle continues to run according to the current speed.
Optionally, controlling the speed of the automatic cruise according to the current road condition comprises:
and if the current road condition is a level road, controlling the speed of the automatic cruise to be a fourth preset speed.
Optionally, before acquiring the attitude information of the entire vehicle, the method further includes a cruise judgment, where the cruise judgment includes:
after receiving the cruise starting signal, judging whether at least one of a speed re-regulation signal, a brake signal and a signal of lightly touching a cruise key is received, if so, exiting the cruise judgment, and if not, entering the next step;
and recording the throttle value at the moment, correspondingly outputting a driving signal according to the recorded throttle value, entering an automatic cruise mode and displaying an automatic cruise effective mark.
In a second aspect, an embodiment of the present invention further provides an intelligent cruise control system for an electric two-wheeled vehicle, which is used for implementing the intelligent cruise control method for any one of the foregoing electric two-wheeled vehicles, and the system includes: the attitude detection sensor is used for detecting the attitude of the whole vehicle and outputting the attitude information of the whole vehicle; the controller is used for acquiring attitude information of the whole vehicle in an effective automatic cruise state, determining the current road condition according to the attitude information of the whole vehicle, and controlling the automatic cruise speed according to the current road condition.
According to the invention, after the electric two-wheeled vehicle enters the automatic cruise mode, the attitude information of the whole vehicle is firstly acquired, and the current road condition is determined according to the attitude information, so that the automatic cruise speed is correspondingly controlled according to the current road condition, the automatic cruise speed is matched with the road condition, the automatic and intelligent speed regulation in the automatic cruise mode is realized, the operation complexity in the cruise mode is reduced, and the effects of higher safety and better experience of the electric two-wheeled vehicle are achieved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent cruise control system of an electric two-wheeled vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of an intelligent cruise control method for an electric two-wheel vehicle according to an embodiment of the present invention;
FIG. 3 is a logic diagram of another intelligent cruise control method for an electric two-wheeled vehicle according to an embodiment of the invention;
fig. 4 is a logic block diagram of a cruise determination method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides an intelligent cruise control system of an electric two-wheeled vehicle. Fig. 1 is a schematic structural diagram of an electric two-wheeled vehicle smart cruise control system according to an embodiment of the present invention, and referring to fig. 1, the electric two-wheeled vehicle smart cruise control system 100 includes: the system comprises a posture detection sensor 101, a controller 102, a display device 103 and a voice device 104, wherein the posture detection sensor 101 is used for detecting the posture of the whole vehicle and outputting the posture information of the whole vehicle; the controller 102 is connected with the attitude detection sensor 101, and is configured to acquire attitude information of the entire vehicle in an automatic cruising effective state, determine a current road condition according to the attitude information of the entire vehicle, and control an automatic cruising speed according to the current road condition; the display device 103 is electrically connected with the controller 102 and is used for displaying the current running speed and the automatic cruise effective mark; the voice device 104 is electrically connected to the controller 102, and is configured to output voice information corresponding to the current road condition or other voice information.
The electric two-wheel vehicle intelligent cruise control system that this embodiment provided, attitude detection sensor can acquire the attitude information of whole car, can confirm current road conditions according to attitude information, and then adjust automatic cruise's speed according to current road conditions, still be provided with the state of the supplementary suggestion user electric two-wheel vehicle this moment of display device and speech equipment in addition, realized the automatic cruise and the speed governing of electric two-wheel vehicle, reached electric two-wheel vehicle more intelligent, the security is higher and operate more succinct effect.
The embodiment of the invention also provides an intelligent cruise control method of the electric two-wheeled vehicle. Fig. 2 is a flowchart of an electric two-wheel vehicle intelligent cruise control method according to an embodiment of the present invention, where the embodiment is applicable to the situation of electric two-wheel vehicle automatic cruise, and the method may be executed by a controller in an electric two-wheel vehicle intelligent cruise control system, and with reference to fig. 1 and 2, the method includes:
s201, acquiring attitude information of the whole vehicle in an automatic cruise mode;
the automatic cruise mode refers to a mode in which the electric two-wheeled vehicle receives a cruise starting signal and determines that the electric two-wheeled vehicle is suitable for entering the automatic cruise mode. At the moment, the speed of the electric two-wheeled vehicle can be automatically adjusted, and the speed can be changed or fixed according to road conditions without manual judgment and adjustment of a user. The attitude information of the whole vehicle can be the inclination angle, the inclination direction, the change frequency of the inclination direction, the friction resistance of the tires and other signals which can reflect the road conditions and are related to the vehicle state.
Specifically, after the cruise starting signal is received and the electric two-wheeled vehicle is determined to be suitable for entering the automatic cruise mode, the electric two-wheeled vehicle enters the automatic cruise mode, and the whole vehicle attitude information of the electric two-wheeled vehicle detected by the attitude detection sensor is acquired at the moment.
S202, determining the current road condition according to the attitude information of the whole vehicle;
the current road condition is the condition of the road on which the electric two-wheeled vehicle runs currently, when the electric two-wheeled vehicle runs on different road conditions, the posture presented by the whole vehicle is different, the current posture of the whole vehicle can be determined according to the detected posture information of the whole vehicle, and then the current road condition is determined. For example, the current road condition may be an uphill slope, a downhill slope, a level road, a bump, a curve, a wet skid, or other road conditions related to the driving safety of the electric two-wheeled vehicle.
When the electric two-wheeled vehicle runs in the automatic cruise mode, the road conditions can be changed in different ways, and if the road conditions are changed, the driving safety and the intelligent degree can be reduced to a great extent if the changes are ignored or the user performs cruise subjective adjustment according to the road conditions. In this embodiment, the current road condition information of the vehicle may be determined according to the attitude information of the entire vehicle, specifically, whether the vehicle is in a steady road section or a bumpy road section, whether the vehicle is in an uphill road section or a downhill road section, and the like.
And S203, controlling the speed of the automatic cruise according to the current road condition.
Specifically, if the electric two-wheeled vehicle runs in the automatic cruise mode, after the road condition information is acquired, the automatic cruise speed can be further automatically adjusted according to the road condition, the intelligent cruise speed regulation is realized, and after the road condition changes, a user does not need to automatically take the operation of exiting the cruise or speed regulation, so that the operation complexity in the cruise mode can be reduced.
According to the intelligent cruise control method of the electric two-wheel vehicle, after the electric two-wheel vehicle enters the automatic cruise mode, the attitude information of the whole vehicle is firstly acquired, the current road condition is determined according to the attitude information, the automatic cruise speed is correspondingly controlled according to the current road condition, the automatic cruise speed is matched with the road condition, automatic and intelligent speed regulation in the automatic cruise mode is realized, the operation complexity in the cruise mode is reduced, and the effects of higher safety and better experience of the electric two-wheel vehicle are achieved.
Fig. 3 is a logic block diagram of another intelligent cruise control method for an electric two-wheeled vehicle according to an embodiment of the present invention, and referring to fig. 3, the intelligent cruise control method for an electric two-wheeled vehicle includes:
s301, under the automatic cruise mode, acquiring the inclination angle and the inclination direction of the whole vehicle detected by a gyroscope and the change frequency of the inclination direction of the whole vehicle;
specifically, after receiving the cruise start signal and determining that the electric two-wheeled vehicle is suitable for entering the automatic cruise mode, the electric two-wheeled vehicle enters the automatic cruise mode, and at the moment, the finished vehicle inclination angle, the inclination direction and the frequency of the change of the finished vehicle inclination direction detected by the gyroscope are acquired, wherein the finished vehicle inclination angle comprises a forward inclination angle, a backward inclination angle and a side inclination angle, the inclination direction comprises a forward inclination angle, a backward inclination angle and a side inclination angle, the frequency of the change of the finished vehicle inclination direction is the frequency of the change of the direction of the finished vehicle inclination, and exemplarily, the finished vehicle is changed from the forward inclination to the backward inclination to the change of the finished.
S302, determining the current road condition according to the whole vehicle posture information such as the whole vehicle inclination angle and the frequency of the change of the whole vehicle inclination direction detected by the gyroscope;
specifically, when the electric two-wheeled vehicle is in road conditions such as up-slope and down-slope or turning, the vehicle can be inclined at an angle, the gyroscope can be used for detecting attitude information of the whole vehicle such as the inclination angle and the frequency of change of the inclination direction of the whole vehicle in the driving process, the current road condition can be determined according to the attitude information of the whole vehicle, if the front inclination angle of the whole vehicle is greater than a first preset angle, the current road condition is determined to be down-slope, the first preset angle can be modified according to the needs of a user, the first preset angle can be 7 degrees, and when the gyroscope detects that the front inclination angle of the whole vehicle is greater than 7 degrees, the road condition of the road driven at the moment can be determined to be down-slope; if the backward inclination angle of the whole vehicle is larger than a second preset angle, determining that the current road condition is an uphill, wherein the second preset angle can be modified according to the needs of a user, the second preset angle can be 7 degrees, and when the gyroscope detects that the backward inclination angle of the whole vehicle is larger than 7 degrees, determining that the road condition of the road running at the moment is the uphill; if the roll angle of the whole vehicle is greater than a third preset angle, determining that the current road condition is a curve, wherein the third preset angle can be modified according to the needs of a user, the third preset angle can be 8 degrees, and when the gyroscope detects that the roll angle of the whole vehicle is greater than 8 degrees, determining that the road condition of the road running at the moment is the curve; if the inclination angle of the whole vehicle is smaller than a fourth preset angle, determining that the current road condition is a level road, wherein the inclination angle can be an inclination angle in any direction, the fourth preset angle is smaller than the first preset angle, the second preset angle and the third preset angle, the fourth preset angle can be modified according to the needs of users, the fourth preset angle can be 5 degrees, and when the gyroscope detects that the inclination angle of the whole vehicle is smaller than 5 degrees, determining that the road condition of the road running at the moment is the level road; if the frequency of the change of the inclination direction of the whole vehicle is greater than a first preset frequency, determining that the current road condition is the jolt, wherein the first preset frequency can be modified according to the needs of a user, the first preset frequency can be 20 times/minute, and when the gyroscope detects that the frequency of the change of the inclination direction of the whole vehicle is greater than 20 times/minute, determining that the road condition of the road driven at the moment is the jolt.
S303, controlling the voice equipment to output information corresponding to the current road condition;
specifically, if the road condition changes in the automatic cruise mode, the controller will correspondingly automatically control the speed change of the automatic cruise, and the speed change operation is automatically completed by the system, so that the speed change of the user needs to be prompted in advance to remind the user to make proper preparations, and the danger brought to the user by automatic acceleration and deceleration is prevented. The controller controls the voice device to output the voice information corresponding to the current road condition after determining the current road condition, and exemplarily, after determining that the current road condition is a downhill, the voice device outputs the voice information ' downhill ' corresponding to the downhill, the speed is automatically reduced in proportion, and the vehicle can be braked to exit from the cruise mode ' so as to prompt the user to automatically adjust the speed.
S304, controlling the speed of automatic cruising according to the current road condition;
specifically, the step S304 of controlling the automatic cruising speed according to the current road condition includes:
when the road condition is a downhill slope, S304a1, if the current road condition is the downhill slope, the speed is reduced according to the preset proportion, specifically, if it is determined that the road condition of the road on which the two-wheeled vehicle is traveling is the downhill slope, the preset proportion corresponding to the speed reduction may be selected according to the front rake angle of the whole vehicle, and for example, if the front rake angle of the whole vehicle is 10 degrees, the speed is reduced by 20%. S304a2, determining whether the vehicle speed is higher than a first preset speed, where the first preset speed is an upper limit speed preset for the downhill road condition, and may be modified according to the user' S requirement, for example, determining whether the vehicle speed is higher than 30 km/h. S304a3, if yes, the motor is driven reversely to reduce the speed, specifically, if the current vehicle speed is higher than the first preset speed, the motor is driven reversely to reduce the speed, so that the vehicle speed is lower than the first preset speed. And S304a4, otherwise, driving according to the original speed, wherein the original speed is the speed after the speed is reduced according to the preset proportion in the S304a 1.
When the road condition is a curve, S304b1, if the current road condition is the curve, performing deceleration according to a preset proportion, specifically, if it is determined that the road condition of the road where the two-wheeled vehicle is driving is the curve, selecting the preset proportion corresponding to the deceleration according to the size of the roll angle of the whole vehicle, and exemplarily, decelerating by 10% if the roll angle of the whole vehicle is 8 degrees. S304b2, determining whether the vehicle speed is higher than a second preset speed, where the second preset speed is a preset upper limit speed of the curved road condition, and may be modified according to the user' S requirement, for example, determining whether the vehicle speed is higher than 30 km/h. And S304b3, if yes, reversely driving the motor to reduce the speed, specifically, if the current vehicle speed is higher than the second preset speed, reversely driving the motor to reduce the speed so as to enable the vehicle speed to be lower than the second preset speed. And S304b4, otherwise, driving according to the original speed, wherein the original speed is the speed after the speed is reduced according to the preset proportion in the S304b 1.
When the road condition is bumpy, S304c1, if the current road condition is bumpy, the speed is reduced according to the preset proportion, specifically, if it is determined that the road condition of the two-wheeled vehicle is bumpy, the preset proportion corresponding to the speed reduction can be selected according to the frequency of the change of the tilting direction of the entire vehicle, and for example, the speed is reduced by 10% if the frequency of the change of the tilting direction of the entire vehicle is 25 times/minute. S304c2, determining whether the vehicle speed is higher than a third preset speed, where the third preset speed is a preset upper limit speed of the bumpy road condition, and may be modified according to the user' S needs, for example, determining whether the vehicle speed is higher than 35 km/h. And S304c3, if yes, the driving motor is reversely driven to reduce the speed, specifically, if the current vehicle speed is higher than the third preset speed, the driving motor is controlled to reversely drive and reduce the speed, so that the vehicle speed is lower than the third preset speed. And S304c4, otherwise, driving according to the original speed, wherein the original speed is the speed after the speed is reduced according to the preset proportion in the S304c 1.
When the road condition is an uphill slope, S304d1, if the current road condition is an uphill slope, determining whether the bus current of the motor reaches a bus current limiting value, specifically, if it is determined that the road condition of the two-wheeled vehicle driving at the time is an uphill slope, further determining whether the bus current value of the motor reaches the bus current limiting value, where the bus current limiting value is a preset maximum bus current value and can be modified according to the user' S requirements. And S304d2, if so, increasing the bus current limiting value of the motor according to the road condition gradient, specifically, if the bus current value of the motor reaches the bus current limiting value, indicating that the torque of the motor reaches the current outputtable upper limit under the current input power, and at the moment, appropriately increasing the bus current limiting value according to the current road gradient so that the motor can provide a larger torque, wherein the increased bus current limiting value needs to be smaller than the limit current value of the system design. And S304d3, if not, continuing driving according to the current speed, wherein the current speed is the speed corresponding to the throttle value recorded in the cruise judgment process.
When the road condition is a flat road, S304e1, if the current road condition is a flat road, controlling the speed of the automatic cruise to be a fourth preset speed, where the fourth preset speed is a speed corresponding to the throttle value recorded in the cruise determination process when the road is a flat road.
S305, judging whether at least one of a speed re-regulation signal, a brake signal and a signal of lightly touching a cruise key is received;
the speed regulation signal is input in the process that the speed regulation rotating handle is rotated again after the user loosens the speed regulation rotating handle to return to zero, and the signal of lightly touching the cruise key is the signal sent by the user through lightly touching the cruise key.
And S306, if the automatic cruise mode is exited, otherwise, returning to the step S301.
The intelligent cruise control method for the electric two-wheel vehicle provided by the embodiment adopts the gyroscope to detect the change frequency of the inclination angle and the inclination direction of the whole vehicle, further judges the road condition of a road on which the electric two-wheel vehicle runs, automatically adjusts the speed in the cruise mode according to the proportion under the road condition needing deceleration, and on the basis of ensuring the same deceleration proportion, when the road condition faces different slopes, the motor can realize multi-level speed adjustment by reverse driving, the cruise speed is automatically adapted to the current road condition, and the safety and the intelligent degree of the electric two-wheel vehicle are improved.
Optionally, before acquiring the attitude information of the entire vehicle, a cruise determination is further included, and fig. 4 is a logic block diagram of a cruise determination method provided in the embodiment of the present invention, referring to fig. 4, optionally, the cruise determination method includes:
s401, receiving a cruise starting signal;
specifically, the cruise starting signal comprises two generation modes, on one hand, S401a1 and the cruise switch are touched lightly to directly trigger the cruise starting signal; on the other hand, S401a2, the cruise enable switch is pressed; s401a3, in a first preset time period, if the fluctuation range of the opening degree of the speed-regulating rotating handle is smaller than a preset angle, the cruise starting signal can be automatically triggered, wherein the first preset time period can be 8S, and the preset angle can be 1 degree.
S402, judging whether at least one of a fault signal, a speed re-regulation signal, a brake signal and a signal of a soft touch cruise key is received, if so, exiting the cruise judgment, and if not, entering the next step;
the fault signal can be that when a component such as a speed regulating rotating handle, a brake key or an attitude detection sensor of the electric two-wheel vehicle breaks down, the controller judges whether the component breaks down or not by detecting whether a signal sent by the corresponding component is abnormal or not, if the signal is abnormal, the component breaks down, exemplarily, if the attitude detection sensor of the electric two-wheel vehicle breaks down, the attitude information of the whole vehicle cannot be normally acquired, and if the attitude information cannot be detected by the controller, the controller sends the fault signal.
Specifically, whether at least one of a fault signal, a speed re-regulation signal, a brake signal and a signal of lightly touching a cruise key is received or not is judged, and if the received fault signal indicates that the electric two-wheeled vehicle has a fault and is not suitable for entering an automatic cruise mode at the moment, the cruise judgment is quitted; if at least one of a speed re-regulation signal, a brake signal or a signal of lightly touching a cruise key is received, the fact that the user needs to drive at a variable speed is indicated, and the user does not need to enter an automatic cruise mode or need to exit the cruise mode temporarily, and then the cruise judgment is exited; and if the fault signal, the brake signal, the signal of lightly touching the cruise key and the speed re-regulation signal are not received, the next step is carried out.
S403, recording the throttle value at the moment and correspondingly outputting a driving signal according to the recorded throttle value;
the throttle value is determined by adjusting the opening degree of a speed-adjusting rotating handle of the electric two-wheel vehicle, a user can adjust the throttle value by rotating the opening degree of the rotating handle so as to achieve the purpose of speed adjustment, and each opening degree corresponds to one throttle value. Outputting the driving signal corresponding to the recorded throttle value means that the controller outputs the corresponding driving signal to the motor according to the recorded throttle value.
And S404, entering a cruise mode and displaying an automatic cruise effective mark.
The automatic cruise effective mark is an icon displayed after the display equipment enters the cruise mode and used for reminding a user that the electric two-wheeled vehicle enters the automatic cruise mode.
Specifically, a cruise mode is entered and an auto cruise active flag is displayed on a display device.
According to the intelligent cruise control method and system for the electric two-wheel vehicle, after the electric two-wheel vehicle enters the automatic cruise mode, the attitude information of the whole vehicle is firstly acquired, and the current road condition is determined according to the attitude information, so that the automatic cruise speed is correspondingly controlled according to the current road condition, the automatic cruise speed is matched with the road condition, the automatic cruise speed is automatically adjusted, the operation complexity in the cruise mode is reduced, and the effects of improving the automation degree of the electric two-wheel vehicle, being higher in safety and being more concise in operation are achieved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An intelligent cruise control method for an electric two-wheeled vehicle is characterized by comprising the following steps:
acquiring attitude information of the whole vehicle in an automatic cruise mode;
determining the current road condition according to the attitude information of the whole vehicle;
and controlling the speed of the automatic cruise according to the current road condition.
2. The intelligent cruise control method for an electric two-wheeled vehicle according to claim 1,
acquiring attitude information of the whole vehicle, comprising: acquiring the inclination angle of the whole vehicle detected by a gyroscope;
determining the current road condition according to the attitude information of the whole vehicle, including: if the front rake angle of the whole vehicle is larger than a first preset angle, determining that the current road condition is a downhill; if the backward inclination angle of the whole vehicle is larger than a second preset angle, determining that the current road condition is an uphill slope; if the inclination angle of the whole vehicle is larger than a third preset angle, determining that the current road condition is a curve; and if the inclination angle of the whole vehicle is smaller than the fourth preset angle, determining that the current road condition is a flat road.
3. The intelligent cruise control method for an electric two-wheeled vehicle according to claim 2,
obtain the attitude information of whole car, still include: acquiring the frequency of the change of the inclination direction of the whole vehicle detected by a gyroscope;
determining the current road condition according to the attitude information of the whole vehicle, further comprising: and if the frequency of the change of the inclination direction of the whole vehicle is greater than the first preset frequency, determining that the current road condition is the bump.
4. The intelligent cruise control method for electric two-wheeled vehicles according to claim 3, wherein after determining the current road condition according to the attitude information of the whole vehicle, the method further comprises: and controlling the voice module to output information corresponding to the current road condition.
5. The intelligent cruise control method for electric two-wheeled vehicles according to claim 3, wherein the speed of automatic cruise is controlled according to the current road conditions, comprising:
and if the current road condition is downhill, curve or bump, reducing the speed according to the preset proportion corresponding to the downhill, the curve and the bump respectively.
6. The intelligent cruise control method for an electric two-wheeled vehicle as claimed in claim 5, wherein after the speed reduction is performed according to the preset ratios corresponding to the downhill, the curve and the bump respectively, the method further comprises:
judging whether the vehicle speed is higher than a corresponding preset upper speed limit, wherein the preset upper speed limit of a downward slope is a first preset speed, the preset upper speed limit of a curve is a second preset speed, and the preset upper speed limit of a bump is a third preset speed;
if so, reversely driving the motor to reduce the speed so as to enable the speed of the vehicle to be lower than the preset upper speed limit;
and otherwise, driving according to the original speed, wherein the original speed is the speed after the speed is reduced according to the preset proportion.
7. The intelligent cruise control method for electric two-wheeled vehicles according to claim 3, wherein the speed of automatic cruise is controlled according to the current road conditions, comprising:
if the current road condition is an uphill slope, judging whether the bus current of the motor reaches a bus current limiting value, wherein the bus current limiting value is a preset maximum bus current value;
if so, increasing the bus current limiting value of the motor according to the road condition gradient;
otherwise, the vehicle continues to run according to the current speed.
8. The intelligent cruise control method for electric two-wheeled vehicles according to claim 3, wherein the speed of automatic cruise is controlled according to the current road conditions, comprising:
and if the current road condition is a level road, controlling the speed of the automatic cruise to be a fourth preset speed.
9. The intelligent cruise control method for the electric two-wheeled vehicle as claimed in claim 1, further comprising cruise judgment before obtaining attitude information of the whole vehicle, said cruise judgment comprising:
after receiving the cruise starting signal, judging whether at least one of a speed re-regulation signal, a brake signal and a signal of lightly touching a cruise key is received, if so, exiting the cruise judgment, and if not, entering the next step;
and recording the throttle value at the moment, correspondingly outputting a driving signal according to the recorded throttle value, entering an automatic cruise mode and displaying an automatic cruise effective mark.
10. An intelligent cruise control system for an electric two-wheeled vehicle, for implementing the intelligent cruise control method for the electric two-wheeled vehicle as claimed in any one of claims 1 to 9, comprising:
the attitude detection sensor is used for detecting the attitude of the whole vehicle and outputting the attitude information of the whole vehicle;
and the controller is used for acquiring the attitude information of the whole vehicle in an effective automatic cruise state, determining the current road condition according to the attitude information of the whole vehicle and controlling the automatic cruise speed according to the current road condition.
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