CN108263534A - A kind of electric vehicle and its control method - Google Patents
A kind of electric vehicle and its control method Download PDFInfo
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- CN108263534A CN108263534A CN201611258813.6A CN201611258813A CN108263534A CN 108263534 A CN108263534 A CN 108263534A CN 201611258813 A CN201611258813 A CN 201611258813A CN 108263534 A CN108263534 A CN 108263534A
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- electric vehicle
- main element
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- sensing device
- control centre
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention discloses a kind of electric vehicle and its control methods.The electric vehicle includes the headstock main element connected by connector and vehicle body main element；The headstock main element and/or the vehicle body main element are provided with the first sensing device；The electric vehicle further includes control centre；Wherein, the sensed parameter for detecting sensed parameter, is sent to the control centre by first sensing device；The control centre judges whether carry operating body on the vehicle body main element for being based on the sensed parameter；When the judging result of acquisition is carries operating body on the vehicle body main element, control switches to preparation state.
Description
Technical field
The present invention relates to electric mechanical fields, and in particular to a kind of electric vehicle and its control method.
Background technology
In the prior art, for safety the considerations of, after Segway Human Transporter presses accelerator control device under static state,
Need to carry out or slide make Segway Human Transporter have certain speed after, driving motor could drive Segway Human Transporter to move.
This control type of drive is dumb and bad to the operating experience of user.
Invention content
To solve existing technical problem, the embodiment of the present invention provides a kind of Segway Human Transporter and its control method.
In order to achieve the above objectives, the technical solution of the embodiment of the present invention is realized in：
An embodiment of the present invention provides a kind of electric vehicle, the electric vehicle includes the headstock master connected by connector
Body component and vehicle body main element；The headstock main element and/or the vehicle body main element are provided with the first sensing device；
The electric vehicle further includes control centre；Wherein,
The sensed parameter for detecting sensed parameter, is sent to the control centre by first sensing device；
The control centre judges whether carry operation on the vehicle body main element for being based on the sensed parameter
Body；When the judging result of acquisition is carries operating body on the vehicle body main element, control switches to preparation state.
In said program, the control centre, be additionally operable to when the judging result obtained on the vehicle body main element not
When carrying operating body, control switches to standby mode.
In said program, the electric vehicle further includes interactive sensors part, for based on the user's operation life detected
Into operational order, the operational order is sent to the control centre；
The control centre is additionally operable to after control switches to standby mode, receives the operational order, be not responding to described
Operational order；Be additionally operable to control switch to preparation state after, receive the operational order, respond the operational order.
In said program, the electric vehicle further includes brake apparatus, for when obtaining braking instruction to described electronic
Vehicle implements brake operating；
The control centre is additionally operable to when the electric vehicle is in mobile status and control switches to standby mode,
The first instruction of generation sends first instruction to the brake apparatus；
The brake apparatus performs braking process for performing first instruction.
In said program, the electric vehicle further includes the second sensing device, for detecting the movement of the electric vehicle
State parameter；
The control centre is additionally operable to control and switches to before preparation state, obtains the second sensing device inspection
The motion state parameters measured, after detecting that the motion state parameters reach predetermined threshold value, control switches to the beam worker
Make state.
In said program, first sensing device is arranged on the first position of the vehicle body main element, when the vehicle
When operating body is carried on body main element, the gravity of first sensing device based on the operating body detects sensed parameter.
The embodiment of the present invention provides a kind of control method of electric vehicle, applied to electric vehicle, the electric vehicle again
Include the headstock main element connected by connector and vehicle body main element；The headstock main element and/or the vehicle
Body main element is provided with the first sensing device；The electric vehicle further includes control centre；The method includes：
Control centre obtains the sensed parameter that the first sensing device detects；
Judge whether carry operating body on the vehicle body main element based on the sensed parameter；When the judging result of acquisition
During to carry operating body on the vehicle body main element, control switches to preparation state.
In said program, the method further includes：When the judging result of acquisition is does not carry on the vehicle body main element
During operating body, control switches to standby mode.
In said program, the method further includes：
After control switches to standby mode, operational order is generated based on the user's operation detected, is not responding to the operation
Instruction；Alternatively,
After control switches to preparation state, operational order is generated based on the user's operation detected, responds the behaviour
It instructs.
In said program, the method further includes：
The control centre is when the electric vehicle is in mobile status and control switches to standby mode, generation the
One instruction；
It performs the first instruction control brake apparatus and performs braking process.
In said program, the method further includes：
Control centre's control is switched to before preparation state, obtains the movement shape that the second sensing device detects
State parameter, after detecting that the motion state parameters reach predetermined threshold value, control switches to the preparation state.
Segway Human Transporter provided in an embodiment of the present invention and its control method, the electric vehicle include connecting by connector
The headstock main element and vehicle body main element connect；The headstock main element and/or the vehicle body main element are provided with
One sensing device；The electric vehicle further includes control centre；Wherein, first sensing device, for detecting sensed parameter,
The sensed parameter is sent to the control centre；The control centre judges the vehicle for being based on the sensed parameter
Whether operating body is carried on body main element；When the judging result of acquisition is carries operating body on the vehicle body main element,
Control switches to preparation state.Using the technical solution of the embodiment of the present invention, the sensing based on the detection of the first sensing device
Whether parameter carries vehicle body main element the detection of operating body, automatically switches to enter preparation state, without giving electric vehicle
Certain speed can realize that the zero velocity of electric vehicle starts, under the premise of Motor vehicle security is ensured, promotion
The flexibility of the type of drive of electric vehicle, and greatly improve the operating experience of user.
Description of the drawings
Fig. 1 is a kind of side view of composition structure of the electric vehicle of the embodiment of the present invention；
Fig. 2 is the flow diagram one of the control method of the electric vehicle of the embodiment of the present invention；
Fig. 3 is the flow diagram two of the control method of the electric vehicle of the embodiment of the present invention；
Fig. 4 is the flow diagram three of the control method of the electric vehicle of the embodiment of the present invention；
Fig. 5 is the flow diagram four of the control method of the electric vehicle of the embodiment of the present invention；
Fig. 6 is the flow diagram five of the control method of the electric vehicle of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.
Embodiment one
An embodiment of the present invention provides a kind of electric vehicles.The electric vehicle includes the headstock master connected by connector
Body component and vehicle body main element；The electric vehicle can be specifically electric bicycle, battery-operated motor cycle, Segway Human Transporter etc.
Type with headstock main element and vehicle body main element.By taking Segway Human Transporter as an example, Fig. 1 is the electronic of the embodiment of the present invention
A kind of side view of composition structure of vehicle；As shown in Figure 1, the headstock main element and/or the vehicle body main element Z1
It is provided with the first sensing device S1；The electric vehicle further includes control centre S2；Wherein, the first sensing device S1 is used
In detection sensed parameter, the sensed parameter is sent to the control centre S2；
The control centre S2 judges whether carry behaviour on the vehicle body main element Z1 for being based on the sensed parameter
Make body；When the judging result of acquisition is carries operating body on the vehicle body main element Z1, control switches to preparation shape
State.
In the present embodiment, the first sensing device S1 is able to detect that sensed parameter, and the control centre S2 being capable of base
Judge whether carry operating body on the vehicle body main element Z1 in the sensed parameter；The operating body is specially described in driving
The driver of electric vehicle；Such as when electric vehicle is electric bicycle or battery-operated motor cycle, driver usually sits at seat
On；When electric vehicle is Segway Human Transporter, driver usually stands on pedal.Based on this, the first sensing device S1
Detected sensed parameter can characterize someone on the pedal of the electric vehicle and stand or take on the seat.
As a kind of embodiment, the first sensing device S1 is arranged on first of the vehicle body main element Z1
It puts, when carrying operating body on the vehicle body main element Z1, the gravity of the first sensing device S1 based on the operating body
Detect sensed parameter.The specific implementation of present embodiment can refer to shown in Fig. 1, and the first sensing device S1 is arranged on described
The first position of vehicle body main element Z1, the first position can be specifically the pedal positions of vehicle body main element Z1, work as electricity
When motor-car is Segway Human Transporter, the pedal position is the position that driver stands.Specifically, the first sensing device S1
The sensed parameter detected is changed based on the gravity of operating body, that is to say, that do not stand on pedal as driver namely
When not carrying operating body on the vehicle body main element Z1, the first sensing device S1 detects the first sensed parameter；When driving
When carrying operating body on pedal namely on the vehicle body main element Z1, the first sensing device S1 is detected at the person of sailing station
Second sensed parameter；First sensed parameter and second sensed parameter difference.Wherein, the first sensing device S1 tools
Body can be pressure sensor, foil gauge, film resistor etc., be certainly not limited to above-mentioned example, other can be based on pressure
Change and export the sensing device of different parameters or signal also within the protection domain of the embodiment of the present invention.
In the above-described embodiment, the control centre S2 judges the vehicle body main element Z1 based on the sensed parameter
On whether carry operating body, specifically, the control centre S2 obtains the sensed parameter that the first sensing device S1 is detected,
Judge whether the sensed parameter is more than first threshold；When judging that the sensed parameter is more than the first threshold, institute is determined
It states and carries operating body on vehicle body main element Z1.In specific application scenarios, it is understood that there may be user carries out vehicle and vehicle
The situation of other objects is placed on pedal.Therefore, the control centre S2 can be pre-configured with the first threshold, and described first
Threshold value can be configured, such as 30 according to the weight (such as minimum weight, average weight etc.) for the adult that can drive electric vehicle
Kilogram, 40 kilograms etc..Then whether the control centre S2 detections sensed parameter is more than the first threshold so as to judge
Whether operating body is carried on the vehicle body main element Z1.
As another embodiment, the first sensing device S1 may also be arranged on the second of the headstock main element
Position, the first sensing device S1 being arranged on the headstock main element and the second position at place can be based on electric vehicle
Type it is different and different.Such as when the electric vehicle is Segway Human Transporter, the first sensing device S1 can be with
It is range sensor, the range sensor may be provided on the headstock main element of the Segway Human Transporter, when driver stands
It stands when on the pedal of Segway Human Transporter, the range sensor is directed toward the driver and is able to detect that and the driving
The distance between person.In the present embodiment, the control centre S2 judges the vehicle body main part based on the sensed parameter
Whether operating body is carried on part Z1, specifically, the control centre S2 obtains the sensing that the first sensing device S1 is detected
Parameter, judges whether the sensed parameter is less than second threshold；When judging that the sensed parameter is less than the second threshold, really
Operating body is carried on the fixed vehicle body main element Z1.In specific application scenarios, the control centre S2 can be pre-configured with
The second threshold, human body is with being provided with first inductor when second threshold can drive electric vehicle according to driver
The configuration of the distance between the first position of part S1, such as 30 centimetres, 40 centimetres etc..Then the control centre S2 detects the sense
Answer parameter whether be more than the second threshold so as to judge whether carry operating body on the vehicle body main element Z1.
In the present embodiment, the control centre S2 may be provided at the headstock main element or the vehicle body main element Z1
On, the control centre S2 is electrically connected with the first sensing device S1, can obtain the first sensing device S1 detections
Sensed parameter.The control centre S2 specifically may include control system and circuit system, and the control system is described for judging
The sensed parameter of first sensing device S1 judges whether carry operating body on the vehicle body main element Z1, is given birth to based on judging result
Into corresponding control instruction；The circuit system is used to switch to corresponding state based on the control of corresponding control instruction.Specifically
, the control system is used to judge whether carry operating body on the vehicle body main element Z1 based on the sensed parameter；When
The judging result of acquisition is carries operating body on the vehicle body main element Z1 when, the first instruction of generation sends described first and refers to
It enables to the circuit system；The circuit system switches to preparation state for performing first instruction.The preparation
Working condition refers to：At least human-computer interaction sensor in the circuit system is in preparation state；The man-machine friendship
Mutual sensor supports operation of the response people to car body, such as pressing throttle operation, brake operation, light display operation etc..
In a kind of implementation process, a touch panel is may be provided on the headstock main element of the electric vehicle, user can be touched by this
It controls panel and carries out various operations；When the circuit system is in preparation state, the touch panel supports response user
Trigger action.
As a kind of embodiment, the control centre S2, it is the vehicle body main body to be additionally operable to when the judging result obtained
When not carrying operating body on component Z1, control switches to standby mode.
Specifically, the control centre S2 specifically may include control system and circuit system, the control system is used to sentence
The sensed parameter of the disconnected first sensing device S1 judges whether carry operating body on the vehicle body main element Z1, when judgement institute
It states when not carrying operating body on vehicle body main element Z1, the second instruction of generation, sends second instruction to the circuit system；
The circuit system switches to standby mode for performing the second instruction control.Wherein, described in the control system judgement
The deterministic process for not carrying operating body on vehicle body main element Z1 specifically can refer to foregoing description, and which is not described herein again.Wherein, institute
Standby mode is stated to refer to：Only each senser element is in running order in the circuit system, for example, in the standby state,
Only described control system and the first sensing device S1 are in running order, are on vehicle body main element Z1 in order to monitor
No carrying operating body.Correspondingly, since other devices do not work, such as the devices such as man-machine interactively sensor do not work, then exist
It is in the standby state, even if user carries out the operation such as pressing throttle, the control system will not respond the operation.This
Embodiment not when on electric vehicle, can not press throttle and operate, that is, avoid happening for driving in user,
Greatly improve the safety of operation.
In the present embodiment, when electric vehicle is Segway Human Transporter, the first component can be supported through the connection
Part is rotated relative to the second component so that the first component includes at least unfolded state and folding with the second component
State.Under normal conditions, user can use electric vehicle after electric vehicle is unfolded；Correspondingly, after user's folding electric vehicle temporarily
When do not use electric vehicle.Based on this, in the present embodiment, the control centre S2 judges the vehicle based on the sensed parameter
Before whether carrying operating body on body main element Z1, whether the electric vehicle need to be first detected in unfolded state；Work as judgement
When the electric vehicle is in unfolded state, then carry out based on the sensed parameter judge on the vehicle body main element Z1 whether
Carry the judgement of operating body.It is also understood that when the control centre S2 detects that the electric vehicle is in unfolded state
When, enable the first sensing device S1 work；When the control centre S2 detects that the electric vehicle is in folded state
When, the first sensing device S1 is closed, to prevent when electric vehicle is in folded state, at the first sensing device S1
Since error detection so as to control switches to working condition when working condition, unnecessary power consumption can be reduced.
Using the technical solution of the embodiment of the present invention, the sensed parameter based on the detection of the first sensing device is to vehicle body main part
Whether part carries the detection of operating body, automatically switches to enter preparation state, without the speed for giving electric vehicle certain
To realize that the zero velocity of electric vehicle starts, under the premise of Motor vehicle security is ensured, the driving of electric vehicle is improved
The flexibility of mode, and greatly improve the operating experience of user.
Based on foregoing description, the electric vehicle of the embodiment of the present invention specifically can be applicable in following scene.
Scene one：
In this scene, the electric vehicle further includes interactive sensors part, for based on the user's operation generation detected
The operational order is sent to the control centre by operational order；
The control centre is additionally operable to after control switches to standby mode, receives the operational order, be not responding to described
Operational order；Be additionally operable to control switch to preparation state after, receive the operational order, respond the operational order.
Specifically, the interactive sensors can be specifically human-computer interaction sensor, the human-computer interaction sensor is supported
Respond operation of the driver to car body, such as pressing throttle operation, brake operation, light display operation etc..In a kind of implementation
In the process, may be provided with a touch panel on the headstock main element of the electric vehicle, user can by the touch panel into
The various operations of row.In this scene, as a kind of embodiment, control centre control switch to after standby mode namely
Judge not carry operating body on the vehicle body main element, it is understood that when carrying out electric vehicle for user, in this field
Under scape, even if user is manipulated by interactive sensors part, such as throttle pressing manipulation, the control centre are also not responding to grasp
It instructs, to prevent driving, improves the safety of electric vehicle.As another embodiment, control centre's control
It switches to after preparation state namely judges to carry operating body on the vehicle body main element, it is understood that be user
Ride electric vehicle when, in such a scenario, user is manipulated by interactive sensors part, for example, throttle pressing manipulation, institute
Control centre's response operational order is stated, directly triggers driving motor driving electric vehicle movement, it can be achieved that the zero-speed of electric vehicle
Degree starting carries out or slides without user that electric vehicle is made electric vehicle just to be driven to move with driving motor after certain speed
It is dynamic, greatly improve the operating experience of user.
Scene two
In this scene, the electric vehicle further includes brake apparatus, for when obtaining braking instruction to the electric vehicle
Implement brake operating；
The control centre is additionally operable to when the electric vehicle is in mobile status and control switches to standby mode,
The first instruction of generation sends first instruction to the brake apparatus；
The brake apparatus performs braking process for performing first instruction.
Specifically, electric vehicle is additionally provided with brake apparatus namely brake gear.The electric vehicle is in mobile shape
State and control switches to standby mode, it can be understood as just driver jumps the scene of vehicle to electric vehicle suddenly in the process of moving.
Under this application scene, the control centre also obtains velocity sensor except the sensed parameter for obtaining first sensing device
The speed parameter that part obtains.Further, the control centre judges whether the electric vehicle is located based on the speed parameter
Judge whether the vehicle body main element carries operating body in mobile status and based on the sensed parameter；When described in judgement
Electric vehicle is in mobile status and when the vehicle body main element does not carry operating body, generation first instruct simultaneously send it is described
First instruction is to the brake apparatus, so that the brake apparatus is based on the described first instruction and performs braking process so as to reduce
State the movement speed of electric vehicle.That is, when detecting driver not onboard in electric vehicle driving process, control
Electric vehicle, which slows down, can also even control electric vehicle to stop movement, to prevent from also travelling since driver jumps vehicle but vehicle
In damaged to driver, improve the safety of electric vehicle.
Scene three
In this scene, the electric vehicle further includes the second sensing device, for detecting the movement shape of the electric vehicle
State parameter；
The control centre is additionally operable to control and switches to before preparation state, obtains the second sensing device inspection
The motion state parameters measured, after detecting that the motion state parameters reach predetermined threshold value, control switches to the beam worker
Make state.
Specifically, second sensing device can be velocity pick-up device；Correspondingly, the motion state parameters are specific
It can be speed parameter.Under this application scene, the control centre goes back except the sensed parameter for obtaining first sensing device
Obtain the motion state parameters that second sensing device obtains.Further, the control centre is based on the motion state
Parameter judges whether the electric vehicle is kept in motion and judges the vehicle body main element based on the sensed parameter
Whether operating body is carried.The description being different from embodiment one, in this scene, the control centre is based on the sensed parameter
Judge whether carry operating body on the vehicle body main element；When the judging result of acquisition is carries on the vehicle body main element
During operating body, further judge whether the electric vehicle is kept in motion, judge that the electric vehicle is kept in motion
Afterwards, just control switches to preparation state.That is, in this application scene, driver on electric vehicle and
It could control after making electric vehicle that there is certain speed and switch to preparation state, under the preparation state, use
Family can just operate electric vehicle by the interactive sensors part described in scene one, such as throttle pressing operation etc.
Deng.
In the embodiment of the present invention, the control centre S2 in the electric vehicle in practical applications can be by the electric vehicle
Central processing unit (CPU, Central Processing Unit), digital signal processor (DSP, Digital in
Signal Processor), micro-control unit (MCU, Microcontroller Unit) or programmable gate array (FPGA,
Field-Programmable Gate Array) it realizes.
Embodiment two
Based on the electric vehicle described in embodiment one, the embodiment of the present invention additionally provides a kind of controlling party of electric vehicle
Method.Fig. 2 is the flow diagram one of the control method of the electric vehicle of the embodiment of the present invention；As shown in Fig. 2, the method packet
It includes：
Step 201：Control centre obtains the sensed parameter that the first sensing device detects.
Step 202：Judge whether carry operating body on the vehicle body main element based on the sensed parameter.
Step 203：When the judging result of acquisition is carries operating body on the vehicle body main element, control switches to standard
Standby working condition.
In the present embodiment, first sensing device is able to detect that sensed parameter, and the control centre can be based on institute
It states sensed parameter and judges whether carry operating body on the vehicle body main element；The operating body is specially to drive the electric vehicle
Driver；Such as when electric vehicle is electric bicycle or battery-operated motor cycle, driver is usually sat on seat；Work as electricity
When motor-car is Segway Human Transporter, driver usually stands on pedal.Based on this, detected by first sensing device
Sensed parameter can characterize someone on the pedal of the electric vehicle and stand or take on the seat.
As a kind of embodiment, first sensing device is arranged on the first position of the vehicle body main element, when
When operating body is carried on the vehicle body main element, the gravity of first sensing device based on the operating body detects sensing
Parameter.The specific implementation of present embodiment can refer to shown in Fig. 1, and first sensing device is arranged on the vehicle body main element
First position, the first position can be specifically the pedal position of vehicle body main element, when electric vehicle be electric return board
Che Shi, the pedal position are the position that driver stands.Specifically, the sensed parameter base that first sensing device detects
It changes in the gravity of operating body, that is to say, that when driver does not stand on pedal namely on the vehicle body main element
When not carrying operating body, first sensing device detects the first sensed parameter；When driver station is on pedal namely described
When operating body is carried on vehicle body main element, first sensing device detects the second sensed parameter；The first sensing ginseng
Number is different with second sensed parameter.
In the above-described embodiment, the control centre judged based on the sensed parameter be on the vehicle body main element
No carrying operating body, specifically, the control centre obtains the sensed parameter that first sensing device detects, described in judgement
Whether sensed parameter is more than first threshold；When judging that the sensed parameter is more than the first threshold, the vehicle body master is determined
Operating body is carried on body component.In specific application scenarios, it is understood that there may be user carries out vehicle and placed on the pedal of vehicle
The situation of other objects.Therefore, the control centre can be pre-configured with the first threshold, and the first threshold can be according to energy
Enough drive weight (such as the minimum weight, average weight etc.) configuration of the adult of electric vehicle, such as 30 kilograms, 40 kilograms etc.
Deng.Then whether control centre's detection sensed parameter is more than the first threshold so as to judge the vehicle body main element
On whether carry operating body.
As another embodiment, first sensing device may also be arranged on the second of the headstock main element
It puts, the first sensing device being arranged on the headstock main element and the second position at place can the classes based on electric vehicle
Type is different and different.Such as when the electric vehicle is Segway Human Transporter, first sensing device can be distance
Sensor, the range sensor may be provided on the headstock main element of the Segway Human Transporter, when driver stands in electricity
When on the pedal of dynamic scooter, the range sensor is directed toward the driver and is able to detect that between the driver
Distance.In the present embodiment, the control centre based on the sensed parameter judge on the vehicle body main element whether
Operating body is carried, specifically, the control centre obtains the sensed parameter that first sensing device detects, judges the sense
Answer whether parameter is less than second threshold；When judging that the sensed parameter is less than the second threshold, the vehicle body main body is determined
Operating body is carried on component.In specific application scenarios, the control centre can be pre-configured with the second threshold, and described
Two threshold values human body and are provided between the first position of first sensing device when can drive electric vehicle according to driver
Distance configuration, such as 30 centimetres, 40 centimetres etc..Then the control centre detects whether the sensed parameter is more than described second
Threshold value is so as to judge whether carry operating body on the vehicle body main element.
In the present embodiment, the control centre can obtain the sensed parameter of the first sensing device detection.The control
Center processed specifically may include control system and circuit system, and the control system is used to judge the sensing of first sensing device
Parameter judges whether carry operating body on the vehicle body main element, and corresponding control instruction is generated based on judging result；It is described
Circuit system is used to switch to corresponding state based on the control of corresponding control instruction.Specifically, the control system is used for base
Judge whether carry operating body on the vehicle body main element in the sensed parameter；When the judging result of acquisition is the vehicle body
When operating body is carried on main element, the first instruction of generation sends first instruction to the circuit system；The circuit system
System switches to preparation state for performing first instruction.The preparation state refers to：The circuit system
In at least human-computer interaction sensor be in preparation state；The human-computer interaction sensor supports behaviour of the response people to car body
Make, such as pressing throttle operation, brake operation, light display operation etc..In a kind of implementation process, the electric vehicle
It may be provided with a touch panel on headstock main element, user can carry out various operations by the touch panel；In the circuit
When system is in preparation state, the touch panel supports the trigger action of response user.
As a kind of embodiment, as shown in figure 3, the control method further includes step 204：When the judging result of acquisition
During not carry operating body on the vehicle body main element, control switches to standby mode.
Specifically, the control centre specifically may include control system and circuit system, the control system is used to judge
The sensed parameter of first sensing device judges whether carry operating body on the vehicle body main element, when the judgement vehicle body
When not carrying operating body on main element, the second instruction of generation sends second instruction to the circuit system；The circuit
System switches to standby mode for performing the second instruction control.Wherein, the control system judges the vehicle body main body
The deterministic process for not carrying operating body on component specifically can refer to foregoing description, and which is not described herein again.Wherein, the standby mode
It refers to：Only each senser element is in running order in the circuit system, for example, in the standby state, only described control
System processed and first sensing device are in running order, and whether operating body is carried on vehicle body main element in order to monitor.
Correspondingly, since other devices do not work, such as the devices such as man-machine interactively sensor do not work, then in standby mode
Under, even if user carries out the operation such as pressing throttle, the control system will not respond the operation.
Based on foregoing description, the control method of the electric vehicle of the embodiment of the present invention specifically can be applicable in following scene.
Scene one
Fig. 4 is the flow diagram three of the control method of the electric vehicle of the embodiment of the present invention；As shown in figure 4, in Ben Chang
Jing Zhong, after step 203, i.e., after control switches to preparation state, the control method further includes step 205：It is based on
The user's operation generation operational order detected, responds the operational order.Correspondingly, after step 204, i.e. control switching
To standby mode, the control method further includes step 206：Operational order is generated based on the user's operation detected, is not rung
Answer the operational order.
Specifically, electric vehicle described in this scene is provided with interactive sensors part, the interactive sensors specifically can be with
It is human-computer interaction sensor, the human-computer interaction sensor supports operation of the response driver to car body, such as is grasped by throttle pressure port
Work, brake operation, light display operation etc..It, can on the headstock main element of the electric vehicle in a kind of implementation process
A touch panel is provided with, user can carry out various operations by the touch panel.In this scene, as a kind of embodiment party
Formula, control centre's control, which is switched to after standby mode namely judged on the vehicle body main element, does not carry operating body,
It can be appreciated that when user carries out electric vehicle, in such a scenario, even if user is manipulated by interactive sensors part,
Such as throttle pressing manipulation, due to being in standby mode, even if the control centre receives the behaviour of the interactive sensors part
It instructs and is also not responding to operational order, to prevent driving, improve the safety of electric vehicle.As another embodiment,
Control centre's control, which is switched to after preparation state namely judged on the vehicle body main element, carries operating body,
It can be appreciated that user rides during electric vehicle, in such a scenario, user is manipulated by interactive sensors part, such as
Throttle pressing manipulation, the control centre respond operational order, directly trigger driving motor driving electric vehicle move, it can be achieved that
The zero velocity starting of electric vehicle carries out or slides without user that electric vehicle is made just to drive with driving motor after certain speed
Dynamic electric vehicle movement greatly improves the operating experience of user.
Scene two
Fig. 5 is the flow diagram four of the control method of the electric vehicle of the embodiment of the present invention；As shown in figure 5, in Ben Chang
Jing Zhong, after step 204, i.e., after control switches to standby mode, the control method further includes step 207：The control
Center is when the electric vehicle is in mobile status and control switches to standby mode, the first instruction of generation；Perform described
One instruction control brake apparatus performs braking process.
Specifically, electric vehicle is additionally provided with brake apparatus namely brake gear.The electric vehicle is in mobile shape
State and control switches to standby mode, it can be understood as just driver jumps the scene of vehicle to electric vehicle suddenly in the process of moving.
Under this application scene, the control centre also obtains velocity sensor except the sensed parameter for obtaining first sensing device
The speed parameter that part obtains.Further, the control centre judges whether the electric vehicle is located based on the speed parameter
Judge whether the vehicle body main element carries operating body in mobile status and based on the sensed parameter；When described in judgement
Electric vehicle is in mobile status and when the vehicle body main element does not carry operating body, generation first instruct simultaneously send it is described
First instruction is to the brake apparatus, so that the brake apparatus is based on the described first instruction and performs braking process so as to reduce
State the movement speed of electric vehicle.That is, when detecting driver not onboard in electric vehicle driving process, control
Electric vehicle, which slows down, can also even control electric vehicle to stop movement, to prevent from also travelling since driver jumps vehicle but vehicle
In damaged to driver, improve the safety of electric vehicle.
Scene three
Fig. 6 is the flow diagram five of the control method of the electric vehicle of the embodiment of the present invention；As shown in fig. 6, in Ben Chang
Jing Zhong in step 203, can specifically be realized by step 203a, including：Control centre's control switches to preparation shape
Before state, the motion state parameters that the second sensing device detects are obtained, detect that the motion state parameters reach default threshold
After value, control switches to the preparation state.
Specifically, second sensing device can be velocity pick-up device；Correspondingly, the motion state parameters are specific
It can be speed parameter.Under this application scene, the control centre goes back except the sensed parameter for obtaining first sensing device
Obtain the motion state parameters that second sensing device obtains.Further, the control centre is based on the motion state
Parameter judges whether the electric vehicle is kept in motion and judges the vehicle body main element based on the sensed parameter
Whether operating body is carried.In this scene, the control centre is judged based on the sensed parameter on the vehicle body main element
Whether operating body is carried；When the judging result of acquisition is carries operating body on the vehicle body main element, institute is further judged
State whether electric vehicle is kept in motion, after judging that the electric vehicle is kept in motion, just control switches to beam worker
Make state.That is, in this application scene, on electric vehicle and make electric vehicle that there is certain speed in driver
It could be controlled after degree and switch to preparation state, under the preparation state, user just can be by retouching in scene one
The interactive sensors part stated operates electric vehicle, such as throttle pressing operation etc..
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are only schematical, for example, the division of the unit, only
A kind of division of logic function can have other dividing mode, such as in actual implementation：Multiple units or component can combine or
It is desirably integrated into another system or some features can be ignored or does not perform.In addition, shown or discussed each composition portion
Point mutual coupling or direct-coupling or communication connection can be the INDIRECT COUPLINGs by some interfaces, equipment or unit
Or communication connection, can be electrical, mechanical or other forms.
The above-mentioned unit illustrated as separating component can be or may not be physically separate, be shown as unit
The component shown can be or may not be physical unit, you can be located at a place, can also be distributed to multiple network lists
In member；Part or all of unit therein can be selected according to the actual needs to realize the purpose of this embodiment scheme.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing unit, also may be used
To be each unit individually as a unit, can also two or more units integrate in a unit；It is above-mentioned
The form that hardware had both may be used in integrated unit is realized, can also be realized in the form of hardware adds SFU software functional unit.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and aforementioned program can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is performed；And aforementioned storage medium includes：It is movable storage device, read-only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or
The various media that can store program code such as person's CD.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and is independent product
Sale in use, can also be stored in a computer read/write memory medium.Based on such understanding, the present invention is implemented
The technical solution of example substantially in other words can be embodied the part that the prior art contributes in the form of software product,
The computer software product is stored in a storage medium, and being used including some instructions (can be with so that computer equipment
It is personal computer, server or network equipment etc.) perform all or part of each embodiment the method for the present invention.
And aforementioned storage medium includes：Movable storage device, ROM, RAM, magnetic disc or CD etc. are various can to store program code
Medium.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (11)
1. a kind of electric vehicle, the electric vehicle includes the headstock main element connected by connector and vehicle body main part
Part；It is characterized in that, the headstock main element and/or the vehicle body main element are provided with the first sensing device；The electricity
Motor-car further includes control centre；Wherein,
The sensed parameter for detecting sensed parameter, is sent to the control centre by first sensing device；
The control centre judges whether carry operating body on the vehicle body main element for being based on the sensed parameter；When
The judging result of acquisition is carries operating body on the vehicle body main element when, control switches to preparation state.
2. electric vehicle according to claim 1, which is characterized in that the control centre is additionally operable to when the judgement obtained
When as a result not carry operating body on the vehicle body main element, control switches to standby mode.
3. electric vehicle according to claim 2, which is characterized in that the electric vehicle further includes interactive sensors part,
For generating operational order based on the user's operation detected, the operational order is sent to the control centre；
The control centre, be additionally operable to control switch to standby mode after, receive the operational order, be not responding to the operation
Instruction；Be additionally operable to control switch to preparation state after, receive the operational order, respond the operational order.
4. electric vehicle according to claim 2, which is characterized in that the electric vehicle further includes brake apparatus, is used for
Brake operating is implemented to the electric vehicle when obtaining braking instruction；
The control centre is additionally operable to when the electric vehicle is in mobile status and control switches to standby mode, generation
First instruction sends first instruction to the brake apparatus；
The brake apparatus performs braking process for performing first instruction.
5. electric vehicle according to claim 1, which is characterized in that
The electric vehicle further includes the second sensing device, for detecting the motion state parameters of the electric vehicle；
The control centre is additionally operable to control and switches to before preparation state, obtains second sensing device and detects
Motion state parameters, after detecting that the motion state parameters reach predetermined threshold value, control switch to the preparation shape
State.
6. electric vehicle according to any one of claims 1 to 5, which is characterized in that first sensing device is arranged on
The first position of the vehicle body main element, when carrying operating body on the vehicle body main element, first sensing device
Gravity based on the operating body detects sensed parameter.
7. a kind of control method of electric vehicle, applied to electric vehicle, the electric vehicle includes what is connected by connector
Headstock main element and vehicle body main element；It is characterized in that, the headstock main element and/or the vehicle body main element are set
It is equipped with the first sensing device；The electric vehicle further includes control centre；The method includes：
Control centre obtains the sensed parameter that the first sensing device detects；
Judge whether carry operating body on the vehicle body main element based on the sensed parameter；When the judging result of acquisition is institute
When stating carrying operating body on vehicle body main element, control switches to preparation state.
8. the method according to the description of claim 7 is characterized in that the method further includes：When the judging result of acquisition is institute
It states when not carrying operating body on vehicle body main element, control switches to standby mode.
9. according to the method described in claim 8, it is characterized in that, the method further includes：
After control switches to standby mode, operational order is generated based on the user's operation detected, is not responding to the operational order；
Alternatively,
After control switches to preparation state, operational order is generated based on the user's operation detected, the operation is responded and refers to
It enables.
10. according to the method described in claim 8, it is characterized in that, the method further includes：
When the electric vehicle is in mobile status and control switches to standby mode, generation first refers to for the control centre
It enables；
It performs the first instruction control brake apparatus and performs braking process.
11. the method according to the description of claim 7 is characterized in that the method further includes：
Control centre's control is switched to before preparation state, obtains the motion state ginseng that the second sensing device detects
Number, after detecting that the motion state parameters reach predetermined threshold value, control switches to the preparation state.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258813.6A CN108263534A (en) | 2016-12-30 | 2016-12-30 | A kind of electric vehicle and its control method |
| PCT/CN2017/101691 WO2018120918A1 (en) | 2016-12-30 | 2017-09-14 | Electric vehicle, control method thereof, and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258813.6A CN108263534A (en) | 2016-12-30 | 2016-12-30 | A kind of electric vehicle and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108263534A true CN108263534A (en) | 2018-07-10 |
Family
ID=62710900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611258813.6A Pending CN108263534A (en) | 2016-12-30 | 2016-12-30 | A kind of electric vehicle and its control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108263534A (en) |
| WO (1) | WO2018120918A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109533171A (en) * | 2018-12-07 | 2019-03-29 | 纳恩博（北京）科技有限公司 | Scooter |
| CN111891275A (en) * | 2020-07-21 | 2020-11-06 | 深圳乐行天下科技有限公司 | Balance car safety control method and device |
| CN111891274A (en) * | 2020-07-21 | 2020-11-06 | 深圳乐行天下科技有限公司 | Balance car control method and device and storage medium |
| CN112824220A (en) * | 2019-11-20 | 2021-05-21 | 九号智能(常州)科技有限公司 | Method and device for driving electric vehicle, storage medium, and electronic device |
| CN112937743A (en) * | 2019-12-10 | 2021-06-11 | 九号智能(常州)科技有限公司 | Control method and device for electric vehicle, storage medium, and electronic device |
| CN112960050A (en) * | 2021-04-23 | 2021-06-15 | 玛狮智能出行股份公司 | Electric scooter safety protection controller system that rides |
| CN113071594A (en) * | 2020-01-03 | 2021-07-06 | 纳恩博（常州）科技有限公司 | System and method for controlling turning on and turning off of scooter and scooter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110633136A (en) * | 2019-08-15 | 2019-12-31 | 北京致行慕远科技有限公司 | Control method and device for shared vehicle and storage medium |
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| CN112960050A (en) * | 2021-04-23 | 2021-06-15 | 玛狮智能出行股份公司 | Electric scooter safety protection controller system that rides |
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| Publication number | Publication date |
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| WO2018120918A1 (en) | 2018-07-05 |
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Application publication date: 20180710 |