Automatic driving method and device for self-balancing electric scooter

Abstract

The present application proposes an automatic driving method and device for a self-balancing electric scooter, which relates to the field of intelligent transportation technology. The method includes: monitoring the self-balancing instruction of the self-balancing electric scooter; controlling the self-balancing device of the self-balancing electric scooter to start in response to the monitored self-balancing instruction; starting the environment sensing module of the self-balancing electric scooter to collect environmental information; based on the start of the self-balancing device, controlling the automatic driving of the self-balancing electric scooter according to the collected environmental information. As a result, when starting the self-balancing device, the influence of environmental information on the automatic driving can be taken into consideration, and the automatic driving of the self-balancing electric scooter can be realized according to the environmental information.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to an automatic driving method, device, electronic device and storage medium for a self-balancing electric scooter. Background Art

[0002] At present, with the development of intelligent transportation technology, self-balancing technology has been widely used in vehicles, such as self-balancing motor vehicles, self-balancing electric scooters, etc. Self-balancing electric scooters have the advantages of saving energy and reducing environmental pollution. However, the control method of the self-balancing electric scooter in the related art can only execute corresponding instructions according to manual control, and the degree of automation is low. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the first aspect of the present application proposes an automatic driving method for a self-balancing electric scooter, which can monitor the self-balancing instructions of the self-balancing electric scooter, and in response to the monitored self-balancing instructions, control the start-up of the self-balancing device of the self-balancing electric scooter, and start the environmental sensing module of the self-balancing electric scooter to collect environmental information. Based on the start-up of the self-balancing device, the automatic driving of the self-balancing electric scooter is controlled according to the collected environmental information. When starting the self-balancing device, the influence of the environmental information on the automatic driving can be taken into consideration, and the automatic driving of the self-balancing electric scooter can be realized according to the environmental information.

[0005] A second embodiment of the present application provides an automatic driving device for a self-balancing electric scooter.

[0006] A third aspect of the present application provides an electronic device.

[0007] The fourth aspect of the present application provides a computer-readable storage medium.

[0008] In one aspect, an embodiment of the present application proposes an automatic driving method for a self-balancing electric scooter, comprising: monitoring a self-balancing instruction of the self-balancing electric scooter; controlling a self-balancing device of the self-balancing electric scooter to start up in response to the monitored self-balancing instruction; starting up an environmental sensing module of the self-balancing electric scooter to collect environmental information; and based on the start-up of the self-balancing device, controlling the automatic driving of the self-balancing electric scooter according to the collected environmental information.

[0009] In one embodiment of the present application, controlling the automatic driving of the self-balancing electric scooter based on the collected environmental information includes: generating a drive instruction and / or a steering instruction of the self-balancing electric scooter based on the environmental information; and controlling the automatic driving of the self-balancing electric scooter based on the drive instruction and / or the steering instruction.

[0010] In one embodiment of the present application, controlling the automatic driving of the self-balancing electric scooter based on the drive instruction and / or steering instruction includes: sending the drive instruction to a drive component of a power wheel of the self-balancing electric scooter, and executing the drive instruction by the drive component to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward; and / or sending the steering instruction to an automatic steering device of the self-balancing electric scooter, and executing the steering instruction by the automatic steering device to drive the front wheels of the self-balancing electric scooter to steer.

[0011] In one embodiment of the present application, generating a driving instruction and / or a steering instruction for the self-balancing electric scooter based on the environmental information includes: identifying a road condition of a road ahead of the self-balancing electric scooter based on the environmental information; planning a current driving path for the self-balancing electric scooter based on the road condition; and determining a driving instruction and / or a steering instruction for the self-balancing electric scooter at the next moment based on the current driving state of the self-balancing electric scooter and the current driving path.

[0012] In one embodiment of the present application, planning the current driving path for the self-balancing electric scooter based on the road condition includes: in response to the presence of an obstacle in the road ahead, identifying the area where the obstacle is located, avoiding the obstacle based on the area to generate a passable area of ​​the road ahead; and planning the driving path for the self-balancing electric scooter within the passable area.

[0013] In one embodiment of the present application, the environment sensing module includes a visual sensor; based on the activation of the self-balancing device, the automatic driving of the self-balancing electric scooter is controlled according to the collected environmental information, including: based on a preset image algorithm, parsing the image data collected by the visual sensor; based on the result of the analysis, determining the road condition of the road ahead of the self-balancing electric scooter, the road condition at least including obstacle information; based on the activation of the self-balancing device, the automatic driving of the self-balancing electric scooter is controlled according to the obstacle information in the road condition.

[0014] In one embodiment of the present application, the visual sensor is a visual sensor with an adjustable rotation angle, and the method further includes: adjusting the rotation angle of the visual sensor according to the road condition.

[0015] In one embodiment of the present application, adjusting the rotation angle of the visual sensor according to the road condition includes: identifying the road condition as a turning road, obtaining the turning angle of the turning road; and adjusting the rotation angle of the visual sensor according to the turning angle.

[0016] In one embodiment of the present application, adjusting the rotation angle of the visual sensor according to the road condition includes: identifying the road condition as an uphill road or a downhill road, obtaining the uphill slope of the uphill road or the downhill slope of the downhill road; adjusting the rotation angle of the visual sensor according to the uphill slope or the downhill slope.

[0017] The second aspect of the present application provides an automatic driving device for a self-balancing electric scooter, comprising: a monitoring module for monitoring the self-balancing instructions of the self-balancing electric scooter; a response module for controlling the start-up of the self-balancing device of the self-balancing electric scooter in response to the monitored self-balancing instructions; a collection module for starting the environment sensing module of the self-balancing electric scooter to collect environment information; and a control module for controlling the automatic driving of the self-balancing electric scooter based on the start-up of the self-balancing device and the collected environment information.

[0018] In one embodiment of the present application, the control module is specifically used to: generate a driving instruction and / or a steering instruction of the self-balancing electric scooter according to the environmental information; and control the automatic driving of the self-balancing electric scooter based on the driving instruction and / or the steering instruction.

[0019] In one embodiment of the present application, the control module is specifically used to: send the drive instruction to the drive component of the power wheel of the self-balancing electric scooter, and the drive component executes the drive instruction to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward; and / or send the steering instruction to the automatic steering device of the self-balancing electric scooter, and the automatic steering device executes the steering instruction to drive the front wheel of the self-balancing electric scooter to steer.

[0020] In one embodiment of the present application, the control module is specifically used to: identify the road condition of the road ahead of the self-balancing electric scooter based on the environmental information; plan a current driving path for the self-balancing electric scooter based on the road condition; and determine the driving instruction and / or steering instruction of the self-balancing electric scooter at the next moment based on the current driving state of the self-balancing electric scooter and the current driving path.

[0021] In one embodiment of the present application, the control module is further used to: in response to the presence of an obstacle in the road ahead, identify the area where the obstacle is located, avoid the obstacle according to the area to generate a passable area of ​​the road ahead; and plan the driving path for the self-balancing electric scooter within the passable area.

[0022] In one embodiment of the present application, the environment sensing module includes a visual sensor; the control module is specifically used to: analyze the image data collected by the visual sensor based on a preset image algorithm; determine the road condition of the road ahead of the self-balancing electric scooter according to the analysis result, and the road condition at least includes obstacle information; based on the activation of the self-balancing device, control the automatic driving of the self-balancing electric scooter according to the obstacle information in the road condition.

[0023] In one embodiment of the present application, the visual sensor is a visual sensor with an adjustable rotation angle, and the acquisition module is further used to adjust the rotation angle of the visual sensor according to the road conditions.

[0024] In one embodiment of the present application, the acquisition module is specifically used to: identify the road condition as a turning road, obtain the turning angle of the turning road; and adjust the rotation angle of the visual sensor according to the turning angle.

[0025] In one embodiment of the present application, the acquisition module is specifically used to: identify the road condition as an uphill road or a downhill road, obtain the uphill slope of the uphill road or the downhill slope of the downhill road; and adjust the rotation angle of the visual sensor according to the uphill slope or the downhill slope.

[0026] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the automatic driving method for the self-balancing electric scooter as described in the first aspect of the present application is implemented.

[0027] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the automatic driving method for the self-balancing electric scooter described in the aforementioned method embodiment is implemented.

[0028] The technical solution provided in the embodiments of the present application may have the following beneficial effects:

[0029] The self-balancing instructions of the self-balancing electric scooter can be monitored, and in response to the monitored self-balancing instructions, the self-balancing device of the self-balancing electric scooter can be controlled to start, and the environmental sensing module of the self-balancing electric scooter can be started to collect environmental information. Based on the start-up of the self-balancing device, the automatic driving of the self-balancing electric scooter is controlled according to the collected environmental information. When starting the self-balancing device, the influence of the environmental information on the automatic driving can be considered, and the automatic driving of the self-balancing electric scooter can be realized according to the environmental information. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A schematic diagram of a flow chart of an automatic driving method for a self-balancing electric scooter according to an embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of a flow chart of controlling the automatic driving of a self-balancing electric scooter in an automatic driving method of a self-balancing electric scooter according to an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a flow chart of generating a driving instruction and / or a steering instruction of a self-balancing electric scooter in an automatic driving method of a self-balancing electric scooter according to an embodiment of the present application;

[0034] Figure 4 It is a schematic diagram of a flow chart of controlling the automatic driving of a self-balancing electric scooter in an automatic driving method of a self-balancing electric scooter according to another embodiment of the present application;

[0035] Figure 5 is a schematic structural diagram of an automatic driving device for a self-balancing electric scooter according to an embodiment of the present application; and

[0036] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0038] The following describes the automatic driving method, device, electronic device and storage medium of the self-balancing electric scooter according to the embodiments of the present application with reference to the accompanying drawings.

[0039] Figure 1 The figure is a flow chart of an automatic driving method for a self-balancing electric scooter according to an embodiment of the present application.

[0040] like Figure 1 As shown, the method comprises the following steps:

[0041] S101, monitoring the self-balancing instruction of the self-balancing electric scooter.

[0042] It should be noted that the self-balancing electric scooter refers to an electric scooter with self-balancing capability, and the self-balancing capability may include the electric scooter being able to remain standing without falling down without relying on human power, and at the same time being able to execute the user's motion control instructions.

[0043] In the embodiments of the present application, the type of the self-balancing electric scooter is not limited, for example, it can be a self-balancing electric motorcycle. In addition, the structure of the self-balancing electric scooter is not limited, for example, the self-balancing electric scooter has a central control device, a self-balancing device, etc., and the central control device controls the self-balancing device to achieve self-balancing of the self-balancing electric scooter.

[0044] In the embodiment of the present application, the self-balancing instruction of the self-balancing electric scooter can be monitored. It can be understood that the self-balancing instruction is used to start the self-balancing function of the self-balancing electric scooter.

[0045] Optionally, the self-balancing electric scooter is provided with a monitoring device, and the self-balancing instruction of the self-balancing electric scooter can be monitored by the monitoring device.

[0046] Optionally, the user may issue a self-balancing command to the self-balancing electric scooter through a remote control device (such as a car key), an APP (Application) of the self-balancing electric scooter, or a control panel on the self-balancing electric scooter.

[0047] Optionally, in response to satisfying the condition for sending the self-balancing instruction, the self-balancing instruction can be sent to itself. In this case, the self-balancing electric scooter can send the self-balancing instruction to itself when the condition for sending the self-balancing instruction is satisfied. The condition for sending the self-balancing instruction can be set according to the actual situation, for example, it can be set to be greater than a preset time threshold when the time of being out of human control is greater than a preset time threshold, and the preset time threshold can be set to 3 seconds.

[0048] S102, in response to the monitored self-balancing instruction, controlling the self-balancing device of the self-balancing electric scooter to start.

[0049] In an embodiment of the present application, the self-balancing electric scooter has a self-balancing device for realizing the self-balancing function of the self-balancing electric scooter. Then, in response to the monitored self-balancing instruction, the self-balancing device of the self-balancing electric scooter can be controlled to start, so as to start the self-balancing function of the self-balancing electric scooter. Thus, the method can start the self-balancing device of the self-balancing electric scooter when the self-balancing instruction is monitored, so as to start the self-balancing function of the self-balancing electric scooter in time.

[0050] S103, starting the environment sensing module of the self-balancing electric scooter to collect environmental information.

[0051] In the embodiment of the present application, the self-balancing electric scooter is provided with an environment sensing module, and the environment sensing module of the self-balancing electric scooter can be activated to collect environmental information.

[0052] Optionally, the environment sensing module can be set according to actual conditions and may include multiple environment sensing components. For example, the environment sensing module may include a visual sensor, a lidar sensor, a barometer, a temperature sensor, a humidity sensor, etc., without further limitation here.

[0053] Optionally, the environmental information includes but is not limited to images, air pressure, temperature, humidity, etc., which are not limited here.

[0054] S104, based on the activation of the self-balancing device, the self-balancing electric scooter is controlled to automatically drive according to the collected environmental information.

[0055] In an embodiment of the present application, based on the startup of the self-balancing device, the automatic driving of the self-balancing electric scooter can be controlled according to the collected environmental information. Therefore, when the self-balancing device is started, the influence of the environmental information on the automatic driving can be taken into consideration, and the automatic driving of the self-balancing electric scooter can be achieved according to the environmental information.

[0056] Optionally, based on the collected environmental information, controlling the self-balancing electric scooter to drive automatically may include processing the collected environmental information, obtaining a motion plan for the vehicle based on the processed environmental information and vehicle status information in combination with the vehicle's kinematic model, and controlling the self-balancing electric scooter to drive automatically based on the motion plan. The vehicle status information includes, but is not limited to, speed, acceleration, steering, forward / backward information, etc. The vehicle's kinematic model can be set according to actual conditions and pre-set in the storage space of the self-balancing electric scooter. The vehicle's motion plan includes, but is not limited to, the vehicle's target speed, acceleration, steering, forward / backward, etc., which are not limited in detail here.

[0057] In summary, according to the automatic driving method for a self-balancing electric scooter in the embodiment of the present application, the self-balancing command of the self-balancing electric scooter can be monitored, and in response to the monitored self-balancing command, the self-balancing device of the self-balancing electric scooter can be controlled to start, and the environmental sensing module of the self-balancing electric scooter can be started to collect environmental information. Based on the start-up of the self-balancing device, the automatic driving of the self-balancing electric scooter is controlled according to the collected environmental information. When starting the self-balancing device, the influence of the environmental information on the automatic driving can be taken into consideration, and the automatic driving of the self-balancing electric scooter can be realized according to the environmental information.

[0058] Based on any of the above embodiments, Figure 2 As shown, in step S102, according to the collected environmental information, the self-balancing electric scooter is controlled to automatically drive, including:

[0059] S201, generating a driving instruction and / or a steering instruction of the self-balancing electric scooter according to the environmental information.

[0060] In the embodiments of the present application, a driving instruction and / or a steering instruction of the self-balancing electric scooter may be generated according to the environmental information, so that the influence of the environmental information on the driving instruction and / or the steering instruction may be taken into account.

[0061] Optionally, a mapping relationship or mapping table between environmental information and driving instructions and steering instructions may be pre-established. After obtaining the environmental information, the driving instructions and steering instructions corresponding to the environmental information may be obtained by querying the mapping relationship or mapping table, so as to control the automatic driving of the self-balancing electric scooter. It should be noted that the above mapping relationship or mapping table may be set according to actual conditions and may be pre-set in the storage space of the self-balancing electric scooter.

[0062] S202, controlling the self-balancing electric scooter to automatically drive based on the driving instruction and / or the steering instruction.

[0063] In the embodiments of the present application, the self-balancing electric scooter may be controlled to automatically move forward or backward based on a driving instruction, and / or the self-balancing electric scooter may be controlled to automatically turn based on a steering instruction.

[0064] Therefore, the method can generate a driving instruction and / or a steering instruction of the self-balancing electric scooter according to the environmental information, and control the automatic driving of the self-balancing electric scooter based on the driving instruction and / or the steering instruction.

[0065] Based on any of the above embodiments, controlling the automatic driving of the self-balancing electric scooter based on the driving instruction and / or the steering instruction in step S202 may include at least one of the following two implementations.

[0066] Method 1: sending a driving instruction to a driving component of a power wheel of the self-balancing electric scooter, and the driving component executes the driving instruction to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward.

[0067] In an embodiment of the present application, the self-balancing electric scooter has a power wheel and a drive assembly, and the drive assembly is used to drive the power wheel to automatically move forward or backward. Optionally, the power wheel is the rear wheel of the self-balancing electric scooter.

[0068] Furthermore, a driving instruction may be sent to a driving assembly of the power wheel of the self-balancing electric scooter, and the driving assembly executes the driving instruction to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward.

[0069] Optionally, if the driving instruction carries information that the powered wheel automatically moves forward or backward, the driving component may execute the driving instruction to drive the powered wheel of the self-balancing electric scooter to automatically move forward or backward. For example, if the driving instruction carries information that the powered wheel automatically moves forward, the driving component may execute the driving instruction to drive the powered wheel of the self-balancing electric scooter to automatically move forward.

[0070] Therefore, the method can send a driving instruction to the driving component of the power wheel of the self-balancing electric scooter, and the driving component executes the driving instruction to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward, thereby realizing the automatic forward or backward movement of the self-balancing electric scooter.

[0071] Method 2: sending a steering command to the automatic steering device of the self-balancing electric scooter, and the automatic steering device executes the steering command to drive the front wheels of the self-balancing electric scooter to steer.

[0072] In an embodiment of the present application, the self-balancing electric scooter has an automatic steering device, and the automatic steering device is used to drive the front wheels of the self-balancing electric scooter to steer.

[0073] Furthermore, a steering command is sent to an automatic steering device of the self-balancing electric scooter, and the automatic steering device executes the steering command to drive the front wheels of the self-balancing electric scooter to steer.

[0074] Optionally, if the steering instruction carries front wheel steering information, the automatic steering device can execute the steering instruction to drive the front wheels of the self-balancing electric scooter to steer. The front wheel steering information includes but is not limited to the front wheel steering angle, adjustment angle, adjustment direction, etc., which are not limited here. For example, if the steering instruction carries the front wheel adjustment angle of 20 degrees and the adjustment direction is clockwise, the automatic steering device can execute the steering instruction to drive the front wheels of the self-balancing electric scooter to rotate 20 degrees clockwise.

[0075] Thus, the method can send a steering command to the automatic steering device of the self-balancing electric scooter, and the automatic steering device executes the steering command to drive the front wheels of the self-balancing electric scooter to steer, thereby realizing automatic steering of the self-balancing electric scooter.

[0076] Based on any of the above embodiments, Figure 3 As shown, in step S201, generating a driving instruction and / or a steering instruction of the self-balancing electric scooter according to the environmental information may include:

[0077] S301, identifying the road condition of the road ahead of the self-balancing electric scooter according to the environmental information.

[0078] In an embodiment of the present application, the road condition of the road ahead of the self-balancing electric scooter can be identified based on the environmental information, wherein the road condition includes but is not limited to obstacle information, other vehicles, pedestrians, traffic signs, traffic light signs, lane lines, etc.

[0079] S302: Planning a current driving path for the self-balancing electric scooter according to road conditions.

[0080] In the embodiments of the present application, the current driving path of the self-balancing electric scooter can be planned according to the road conditions, so that the influence of the road conditions on the driving path can be taken into account, so that the driving path can be adjusted in time according to the road conditions.

[0081] Optionally, planning the current driving path for the self-balancing electric scooter according to the road conditions may include responding to the presence of an obstacle in the road ahead, identifying the area where the obstacle is located, avoiding the obstacle according to the area where the obstacle is located, so as to generate a passable area of ​​the road ahead, and planning a driving path for the self-balancing electric scooter in the passable area. Thus, when there is an obstacle in the road ahead, the method can avoid the obstacle according to the area where the obstacle is located, so as to generate a passable area of ​​the road ahead, and then plan the driving path in the passable area, so as to avoid the self-balancing electric scooter from colliding with the obstacle, thereby improving the safety of the autonomous driving.

[0082] S303: Determine a driving instruction and / or a steering instruction of the self-balancing electric scooter at a next moment based on the current driving state and the current driving path of the self-balancing electric scooter.

[0083] In an embodiment of the present application, the drive instruction and / or steering instruction of the self-balancing electric scooter at the next moment can be determined based on the current driving state and the current driving path of the self-balancing electric scooter, thereby taking into account the influence of the current driving state and the current driving path of the self-balancing electric scooter on the drive instruction and / or steering instruction at the next moment.

[0084] Optionally, the current driving state of the self-balancing electric scooter includes but is not limited to power, speed, acceleration, handlebar angle, vehicle balance state, etc., which are not limited in detail here.

[0085] Therefore, the method can identify the road condition of the road ahead of the self-balancing electric scooter based on the environmental information, and plan the current driving path for the self-balancing electric scooter based on the road condition, and determine the driving instruction and / or steering instruction of the self-balancing electric scooter at the next moment based on the current driving state and current driving path of the self-balancing electric scooter.

[0086] Based on any of the above embodiments, the environment sensing module may include a visual sensor, which is used to obtain images of the vehicle body and / or the environment around the vehicle body. It can be understood that compared with lidar sensors, visual sensors are lower in cost and are suitable for application scenarios of electric scooters.

[0087] Optionally, the visual sensor may include at least one camera, and the camera may include an ultra-wide-angle fisheye camera. For example, it may be a dual fisheye camera that can perform all-round observation of the vehicle body and / or the environment around the vehicle body through cameras in different directions. It may also be a single fisheye camera that can provide a wide-angle shooting perspective for effective observation of the vehicle body and / or the environment around the vehicle body.

[0088] Furthermore, if Figure 4 As shown, in step S103, based on the activation of the self-balancing device, controlling the automatic driving of the self-balancing electric scooter according to the collected environmental information may include:

[0089] S401, analyzing image data collected by the visual sensor based on a preset image algorithm.

[0090] In the embodiment of the present application, the image data collected by the visual sensor can be analyzed based on a preset image algorithm, wherein the image algorithm can be a pre-trained image algorithm, including but not limited to image denoising, image transformation, image analysis, image compression, image enhancement and other algorithms.

[0091] S402: Determine the road condition of the road ahead of the self-balancing electric scooter according to the analysis result, where the road condition at least includes obstacle information.

[0092] In the embodiment of the present application, the road condition of the road ahead of the self-balancing electric scooter can be determined according to the analysis result, and the road condition at least includes obstacle information, wherein the obstacle information includes but is not limited to the location, size, moving direction, moving speed and other information of the obstacle.

[0093] Optionally, road conditions may also include information such as other vehicles, pedestrians, traffic signs, traffic light signs, lane lines, etc.

[0094] For example, if the result of image analysis shows that there is a flower bed on the road ahead of the self-balancing electric scooter, the flower bed can be regarded as an obstacle, and the position and size information of the flower bed can be obtained. Alternatively, if the result of image analysis shows that there is a dog on the road ahead of the self-balancing electric scooter, the dog can be regarded as an obstacle, and information such as the position, size, moving direction and moving speed of the dog can be obtained.

[0095] S403, based on the activation of the self-balancing device, the self-balancing electric scooter is controlled to automatically drive according to obstacle information in the road condition.

[0096] In the embodiments of the present application, the self-balancing electric scooter can be controlled to automatically drive based on the activation of the self-balancing device and according to obstacle information in the road conditions.

[0097] Optionally, the current driving path can be planned for the self-balancing electric scooter based on the obstacle information in the road conditions, and the powered wheels of the self-balancing electric scooter can be controlled to automatically move forward or backward based on the current driving path, and the front wheels of the self-balancing electric scooter can be controlled to steer based on the current driving path. It can be understood that when planning the current driving path for the self-balancing electric scooter based on the obstacle information in the road conditions, the influence of the obstacle information on the driving path of the self-balancing electric scooter can be taken into account, and the powered wheels of the self-balancing electric scooter can be controlled to automatically move forward or backward based on the current driving path, and the front wheels of the self-balancing electric scooter can be controlled to steer based on the current driving path, so that the self-balancing electric scooter can be controlled to automatically move forward or backward and steer based on the current driving path to avoid obstacles on the road ahead, thereby improving the safety of automatic driving.

[0098] Therefore, the method can analyze the image data collected by the visual sensor based on a preset image algorithm, and determine the road condition of the road ahead of the self-balancing electric scooter based on the analysis results, the road condition at least including obstacle information, and based on the activation of the self-balancing device, control the automatic driving of the self-balancing electric scooter based on the obstacle information in the road condition.

[0099] Based on any of the above embodiments, the visual sensor is a visual sensor with an adjustable rotation angle, and the rotation angle of the visual sensor can be adjusted according to road conditions.

[0100] It is understandable that different road conditions may correspond to different rotation angles.

[0101] Optionally, adjusting the rotation angle of the visual sensor according to the road condition may include identifying the road condition as a curved road, obtaining the turning angle of the curved road, and adjusting the rotation angle of the visual sensor according to the turning angle. Thus, when the road condition is a curved road, the method may adjust the rotation angle of the visual sensor according to the turning angle of the curved road to ensure that the visual sensor can capture high-quality images on the curved road.

[0102] Optionally, adjusting the rotation angle of the visual sensor according to the road condition may include identifying the road condition as an uphill road or a downhill road, obtaining the uphill slope of the uphill road or the downhill slope of the downhill road, and adjusting the rotation angle of the visual sensor according to the uphill slope or the downhill slope. Thus, the method can adjust the rotation angle of the visual sensor according to the uphill slope or the downhill slope when the road condition is an uphill road or a downhill road, so as to ensure that the visual sensor can collect high-quality images on the uphill road or the downhill road.

[0103] Therefore, the method can adjust the rotation angle of the visual sensor according to the road conditions to ensure that the visual sensor can collect high-quality images under different road conditions.

[0104] As another possible implementation, the environment sensing module may include a laser radar sensor, which is used to obtain the spatial position and distance information of the environment around the vehicle body, and may include a single-line or multi-line laser radar, and may include a mechanical or solid-state laser radar. Optionally, the environment sensing module may include at least one of a visual sensor and a laser radar sensor.

[0105] In order to implement the above embodiments, the present application also proposes an automatic driving device for a self-balancing electric scooter.

[0106] Figure 5 Schematic diagram of the structure of an automatic driving device for a self-balancing electric scooter according to an embodiment of the present application.

[0107] like Figure 5 As shown, the automatic driving device 500 of the self-balancing electric scooter according to the embodiment of the present application includes: a monitoring module 501, a response module 502, a collection module 503, and a control module 504.

[0108] A monitoring module 501 is used to monitor the self-balancing instruction of the self-balancing electric scooter;

[0109] A response module 502 is used to control the self-balancing device of the self-balancing electric scooter to start in response to the monitored self-balancing instruction;

[0110] The acquisition module 503 is used to start the environment sensing module of the self-balancing electric scooter to collect environmental information.

[0111] The control module 504 is used to control the automatic driving of the self-balancing electric scooter based on the startup of the self-balancing device and the collected environmental information.

[0112] In one embodiment of the present application, the control module 504 is specifically used to: generate a driving instruction and / or a steering instruction of the self-balancing electric scooter according to the environmental information; and control the automatic driving of the self-balancing electric scooter based on the driving instruction and / or the steering instruction.

[0113] In one embodiment of the present application, the control module 504 is specifically used to: send the drive instruction to the drive component of the power wheel of the self-balancing electric scooter, and the drive component executes the drive instruction to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward; and / or send the steering instruction to the automatic steering device of the self-balancing electric scooter, and the automatic steering device executes the steering instruction to drive the front wheel of the self-balancing electric scooter to steer.

[0114] In one embodiment of the present application, the control module 504 is specifically used to: identify the road condition of the road ahead of the self-balancing electric scooter based on the environmental information; plan a current driving path for the self-balancing electric scooter based on the road condition; and determine the driving instruction and / or steering instruction of the self-balancing electric scooter at the next moment based on the current driving state of the self-balancing electric scooter and the current driving path.

[0115] In one embodiment of the present application, the control module 504 is further used to: in response to the presence of an obstacle in the road ahead, identify the area where the obstacle is located, avoid the obstacle according to the area to generate a passable area of ​​the road ahead; and plan the driving path for the self-balancing electric scooter within the passable area.

[0116] In one embodiment of the present application, the acquisition module 503 is further used to: monitor the self-balancing instruction of the self-balancing electric scooter; and control the self-balancing device of the self-balancing electric scooter to start in response to the monitored self-balancing instruction.

[0117] In one embodiment of the present application, the environment sensing module includes a visual sensor; the control module 504 is specifically used to: analyze the image data collected by the visual sensor based on a preset image algorithm; determine the road condition of the road ahead of the self-balancing electric scooter according to the analysis result, and the road condition at least includes obstacle information; based on the activation of the self-balancing device, control the automatic driving of the self-balancing electric scooter according to the obstacle information in the road condition.

[0118] In one embodiment of the present application, the visual sensor is a visual sensor with an adjustable rotation angle, and the acquisition module 503 is further used to adjust the rotation angle of the visual sensor according to the road conditions.

[0119] In one embodiment of the present application, the acquisition module 503 is specifically used to: identify the road condition as a turning road, obtain the turning angle of the turning road; and adjust the rotation angle of the visual sensor according to the turning angle.

[0120] In one embodiment of the present application, the acquisition module 503 is specifically used to: identify the road condition as an uphill road or a downhill road, obtain the uphill slope of the uphill road or the downhill slope of the downhill road; and adjust the rotation angle of the visual sensor according to the uphill slope or the downhill slope.

[0121] It should be noted that the aforementioned explanation of the embodiment of the automatic driving method for the self-balancing electric scooter is also applicable to the automatic driving device for the self-balancing electric scooter of this embodiment, and will not be repeated here.

[0122] In summary, the automatic driving device of the self-balancing electric scooter in the embodiment of the present application can monitor the self-balancing instructions of the self-balancing electric scooter, and in response to the monitored self-balancing instructions, control the self-balancing device of the self-balancing electric scooter to start, start the environmental sensing module of the self-balancing electric scooter to collect environmental information, and based on the start-up of the self-balancing device, control the automatic driving of the self-balancing electric scooter according to the collected environmental information, and when starting the self-balancing device, take into account the impact of environmental information on automatic driving and realize automatic driving of the self-balancing electric scooter according to the environmental information.

[0123] In order to implement the above embodiment, Figure 6 As shown, an embodiment of the present application proposes an electronic device 600, including: a memory 601, a processor 602, and a computer program stored in the memory 601 and executable on the processor 602. When the processor 602 executes the program, the automatic driving method of the aforementioned self-balancing electric scooter is implemented.

[0124] The electronic device of the embodiment of the present application can monitor the self-balancing instructions of the self-balancing electric scooter by executing a computer program stored in the memory through the processor, and in response to the monitored self-balancing instructions, control the self-balancing device of the self-balancing electric scooter to start up, start the environmental sensing module of the self-balancing electric scooter to collect environmental information, and based on the start-up of the self-balancing device, control the automatic driving of the self-balancing electric scooter according to the collected environmental information, and can take into account the influence of the environmental information on the automatic driving when starting the self-balancing device, and realize the automatic driving of the self-balancing electric scooter according to the environmental information.

[0125] In order to implement the above-mentioned embodiment, the embodiment of the present application proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the automatic driving method of the self-balancing electric scooter described in the above-mentioned method embodiment is implemented.

[0126] The computer-readable storage medium of the embodiment of the present invention can monitor the self-balancing instructions of the self-balancing electric scooter by storing a computer program and being executed by a processor, and in response to the monitored self-balancing instructions, control the self-balancing device of the self-balancing electric scooter to start up, start the environmental sensing module of the self-balancing electric scooter to collect environmental information, and based on the start-up of the self-balancing device, control the automatic driving of the self-balancing electric scooter according to the collected environmental information, and can take into account the influence of the environmental information on the automatic driving when starting the self-balancing device, and realize the automatic driving of the self-balancing electric scooter according to the environmental information.

[0127] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0128] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0129] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0130] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0131] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0132] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0133] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0134] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An automatic driving method for a self-balancing electric scooter, characterized in that: include: Monitor the self-balancing command of the self-balancing electric scooter; In response to the monitored self-balancing instruction, controlling the self-balancing device of the self-balancing electric scooter to start, the self-balancing electric scooter having a self-balancing device for realizing the self-balancing function of the self-balancing electric scooter; Activating an environment sensing module of the self-balancing electric scooter to collect environment information; Based on the activation of the self-balancing device, the self-balancing electric scooter is controlled to drive automatically according to the collected environmental information; The step of controlling the self-balancing electric scooter to automatically drive according to the collected environmental information includes: identifying a road condition of a road ahead of the self-balancing electric scooter according to the environmental information; Planning a current driving path for the self-balancing electric scooter according to the road conditions; Determining a driving instruction and / or a steering instruction of the self-balancing electric scooter at a next moment based on the current driving state and the current driving path of the self-balancing electric scooter; Based on the driving instruction and / or the steering instruction, controlling the automatic driving of the self-balancing electric scooter; The environment sensing module includes a visual sensor; The method of controlling the automatic driving of the self-balancing electric scooter based on the activation of the self-balancing device and according to the collected environmental information includes: Analyze the image data collected by the visual sensor based on a preset image algorithm; Determine the road condition of the road ahead of the self-balancing electric scooter according to the analysis result, wherein the road condition at least includes obstacle information; Based on the activation of the self-balancing device, the self-balancing electric scooter is controlled to automatically drive according to the obstacle information in the road condition; The visual sensor is a visual sensor with an adjustable rotation angle, and the method further includes: Identifying the road condition as a turning road, and acquiring a turning angle of the turning road; According to the turning angle, the rotation angle of the visual sensor is adjusted.

2. The automatic driving method of the self-balancing electric scooter according to claim 1, characterized in that: The method of controlling the automatic driving of the self-balancing electric scooter based on the driving instruction and / or the steering instruction includes: Sending the driving instruction to a driving component of a power wheel of the self-balancing electric scooter, so that the driving component executes the driving instruction to drive the power wheel of the self-balancing electric scooter to automatically move forward or backward; and / or, The steering instruction is sent to an automatic steering device of the self-balancing electric scooter, and the automatic steering device executes the steering instruction to drive the front wheels of the self-balancing electric scooter to steer.

3. The automatic driving method of the self-balancing electric scooter according to claim 1, characterized in that: The step of planning a current driving path for the self-balancing electric scooter according to the road condition includes: In response to the presence of an obstacle in the road ahead, identifying an area where the obstacle is located, and performing obstacle avoidance according to the area where the obstacle is located to generate a drivable area of ​​the road ahead; The driving path is planned for the self-balancing electric scooter in the traversable area.

4. The automatic driving method of the self-balancing electric scooter according to claim 1, characterized in that: The adjusting the rotation angle of the visual sensor according to the road condition includes: Identify the road condition as an uphill road or a downhill road, and obtain the uphill slope of the uphill road or the downhill slope of the downhill road; The rotation angle of the visual sensor is adjusted according to the uphill slope or the downhill slope.

5. An automatic driving device for a self-balancing electric scooter, characterized in that: include: A monitoring module, used for monitoring the self-balancing instruction of the self-balancing electric scooter; A response module, configured to control the self-balancing device of the self-balancing electric scooter to start in response to the monitored self-balancing instruction, wherein the self-balancing electric scooter has a self-balancing device for realizing the self-balancing function of the self-balancing electric scooter; A collection module, used to start the environment sensing module of the self-balancing electric scooter to collect environmental information; A control module, configured to control the automatic driving of the self-balancing electric scooter based on the activation of the self-balancing device and the collected environmental information; The step of controlling the self-balancing electric scooter to automatically drive according to the collected environmental information includes: identifying a road condition of a road ahead of the self-balancing electric scooter according to the environmental information; Planning a current driving path for the self-balancing electric scooter according to the road conditions; Determining a driving instruction and / or a steering instruction of the self-balancing electric scooter at a next moment based on the current driving state and the current driving path of the self-balancing electric scooter; Based on the driving instruction and / or the steering instruction, controlling the automatic driving of the self-balancing electric scooter; The environment sensing module includes a visual sensor; The control module is specifically used for: Analyze the image data collected by the visual sensor based on a preset image algorithm; Determine the road condition of the road ahead of the self-balancing electric scooter according to the analysis result, wherein the road condition at least includes obstacle information; Based on the activation of the self-balancing device, the self-balancing electric scooter is controlled to automatically drive according to the obstacle information in the road condition; The visual sensor is a visual sensor with adjustable rotation angle, and the acquisition module is further used for: Identifying the road condition as a turning road, and acquiring a turning angle of the turning road; According to the turning angle, the rotation angle of the visual sensor is adjusted.

6. The automatic driving device for the self-balancing electric scooter according to claim 5, characterized in that: The acquisition module is specifically used for: Identify the road condition as an uphill road or a downhill road, and obtain the uphill slope of the uphill road or the downhill slope of the downhill road; The rotation angle of the visual sensor is adjusted according to the uphill slope or the downhill slope.

7. An electronic device, characterized in that: including a processor and a memory; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the automatic driving method of the self-balancing electric scooter as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, an automatic driving method for a self-balancing electric scooter as described in any one of claims 1 to 4 is implemented.

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