A method, device and equipment for controlling motion of a two-wheeled vehicle in a scene

Abstract

The present disclosure relates to a method, device and equipment for controlling the motion of a two-wheeled vehicle in a scene, and belongs to the field of vehicle simulation and control technology. The method for controlling the motion of a two-wheeled vehicle in a scene includes: obtaining power control parameters of a target component of a two-wheeled vehicle in a preset scene; inputting the power control parameters into a preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheeled vehicle in the preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target component of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force; according to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain a control result, and output it. The present disclosure can realize the simulation of the motion of a two-wheeled vehicle in a virtual scene, and can control the motion of the two-wheeled vehicle according to given power control parameters.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle simulation and control, and in particular relates to a method, device and equipment for controlling the motion of a two-wheeled vehicle in a scene. Background Art

[0002] With the rapid development of the driverless industry, the demand for vehicle simulation and control is increasing. Currently, there are many vehicle dynamics simulation software on the market, but most of them are for commercial vehicles, trucks and other vehicles with four or more wheels;

[0003] The specific methods of how to establish a physical model of a bicycle so that it can perform motion simulation and control in various virtual complex environments have not been fully discussed. There is no description of the entire movement of people and vehicles on the road, and it is impossible to realize the motion simulation of two-wheeled vehicles (such as bicycles), and it is impossible to effectively simulate and control the movement of two-wheeled vehicles, which cannot meet actual needs. Summary of the invention

[0004] The purpose of the embodiments disclosed herein is to provide a method, device and equipment for controlling the motion of a two-wheeled vehicle in a scene, so as to solve the problem that the prior art cannot realize the motion simulation of the two-wheeled vehicle in the scene, cannot effectively simulate and control the motion trajectory, motion posture and dynamic load of the two-wheeled vehicle in the scene, and cannot meet actual needs.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for controlling the motion of a two-wheeled vehicle in a scene, the method comprising:

[0006] Obtaining power control parameters of a target component of a two-wheeled vehicle in a preset scenario;

[0007] Inputting the power control parameters into a preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheeled vehicle in a preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force;

[0008] According to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain a control result.

[0009] Optionally, a preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the target motion scene, including:

[0010] According to the constraint relationship between the target components of the two-wheeled vehicle, the total degree of freedom of the target components of the two-wheeled vehicle is obtained;

[0011] According to the motion relationship of the target component of the two-wheeled vehicle, a description of a preset motion scene of the target component of the two-wheeled vehicle is obtained;

[0012] According to the description of the target motion scene, a preset two-wheeled vehicle motion simulation model is obtained;

[0013] The description of the target motion scene includes: the speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle Description of the relationship between The posture of the two-wheeled vehicle in the global coordinate system Description of the relationship between and the motion balance equation of the two-wheeled vehicle under the target motion state;

[0014] represents the longitudinal coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system; δ is the angle around the X-axis of the two-wheeled vehicle, θ is the angle around the Y-axis of the two-wheeled vehicle, is the angle around the Z axis of the two-wheeled vehicle; the target components include: at least one of the rear wheel, the rear frame, the front frame, the front wheel and the pedal.

[0015] Optionally, obtaining the total degrees of freedom of the target components of the two-wheeled vehicle according to the constraint relationship between the target components of the two-wheeled vehicle includes:

[0016] The total degrees of freedom of the target components of the two-wheeled vehicle are obtained by the formula: L = M1 × a-M2 × M1; where L is the total degrees of freedom of the target components, M1 is the number of target components, a is the total number of position parameters and posture parameters of the two-wheeled vehicle in the global coordinate system, and M2 is the number of constraint hardware between the target components;

[0017] According to the constraint relationship between the motion parameters of the target parts of the two-wheeled vehicle, the total degrees of freedom are filtered to obtain the degrees of freedom of the target parts of the two-wheeled vehicle.

[0018] Optionally, according to the constraint relationship between the motion parameters between the target components of the two-wheeled vehicle, the total degrees of freedom are filtered to obtain the degrees of freedom of the target components of the two-wheeled vehicle, including:

[0019] Get the pedal rotation angular velocity ω of the two-wheeled vehicle 0 The first constraint relationship between the rear wheel rotation angle ω and the front wheel speed ω 2 The second constraint relationship between the rear wheel speed and the third constraint relationship between the angular velocity ω of the rear frame around the Z axis and the front frame angle;

[0020] According to at least one of the first constraint relationship, the second constraint relationship and the third constraint relationship, the total degree of freedom is filtered to obtain the degree of freedom of the target component of the two-wheeled vehicle.

[0021] Optionally, the speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle A description of the relationship between the

[0022]

[0023] Among them, ω 0 is the angular velocity of the pedal, ω 1 is the rear wheel speed, ω 2 is the front wheel speed, is the angular velocity of rotation, i is the transmission ratio of the transmission device of the two-wheeled vehicle;

[0024] u 1 is the front wheel center speed, u 2 is the rear wheel center speed;

[0025] R r is the rear wheel radius, R f is the front wheel radius, α is the direction turning angle;

[0026] L is the horizontal length between the front axle and the rear axle, L r is the horizontal length from the center of mass to the rear axle;

[0027] is the speed of the two-wheeled vehicle.

[0028] Optionally, The posture of the two-wheeled vehicle in the global coordinate system A description of the relationship between the

[0029]

[0030] in, is the coordinate transformation matrix, is the unit direction vector.

[0031] Optionally, the motion balance equation of the two-wheeled vehicle considering the ground support reaction force in the target motion state includes:

[0032]

[0033] Among them, F t is the driving force, F fr is the rolling resistance of the rear wheel, F br is the braking resistance of the rear wheel, F w is the air resistance of the two-wheeled vehicle when it is traveling, β is the slope angle of the two-wheeled vehicle when it is traveling, Fff is the rolling resistance of the front wheel, F bf is the braking resistance of the front wheel, α is the direction of rotation angle, F i is the slope resistance, m is the total mass of the two-wheeled vehicle and its cargo, is the longitudinal component of acceleration, is the lateral component of acceleration, is the movement speed, is the angular velocity, is the rear wheel center speed u 2 The first derivative of L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, g is the acceleration of gravity, δ is the roll angle of the two-wheeled vehicle, and F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, L f is the horizontal length from the center of mass to the front wheel axle, h is the vertical height of the center of mass of the two-wheeled vehicle in the two-wheeled vehicle coordinate system, I y is the moment of inertia of the two-wheeler in the two-wheeler coordinate system, is the rotational angular acceleration of the two-wheeled vehicle in the two-wheeled vehicle coordinate system.

[0034] In a second aspect, an embodiment of the present disclosure provides a motion control device for a two-wheeled vehicle in a scene, the device comprising:

[0035] An acquisition module, used to acquire power control parameters of a target component of a two-wheeled vehicle in a preset scenario;

[0036] The processing module is used to input the power control parameters into a preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain the target motion data of the two-wheeled vehicle in a preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force; according to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain a control result.

[0037] Optionally, a preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the target motion scene, including:

[0038] According to the constraint relationship between the target components of the two-wheeled vehicle, the total degree of freedom of the target components of the two-wheeled vehicle is obtained;

[0039] According to the motion relationship of the target component of the two-wheeled vehicle, a description of a preset motion scene of the target component of the two-wheeled vehicle is obtained;

[0040] According to the description of the target motion scene, a preset two-wheeled vehicle motion simulation model is obtained;

[0041] The description of the target motion scene includes: the speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle Description of the relationship between The posture of the two-wheeled vehicle in the global coordinate system Description of the relationship between and the motion balance equation of the two-wheeled vehicle under the target motion state;

[0042] represents the longitudinal coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system; δ is the angle around the X-axis of the two-wheeled vehicle, θ is the angle around the Y-axis of the two-wheeled vehicle, is the angle around the Z axis of the two-wheeled vehicle; the target components include: at least one of the rear wheel, the rear frame, the front frame, the front wheel and the pedal.

[0043] Optionally, obtaining the total degrees of freedom of the target components of the two-wheeled vehicle according to the constraint relationship between the target components of the two-wheeled vehicle includes:

[0044] The total degrees of freedom of the target components of the two-wheeled vehicle are obtained by the formula: L = M1 × a-M2 × M1; where L is the total degrees of freedom of the target components, M1 is the number of target components, a is the total number of position parameters and posture parameters of the two-wheeled vehicle in the global coordinate system, and M2 is the number of constraint hardware between the target components;

[0045] According to the constraint relationship between the motion parameters of the target parts of the two-wheeled vehicle, the total degrees of freedom are filtered to obtain the degrees of freedom of the target parts of the two-wheeled vehicle.

[0046] Optionally, according to the constraint relationship between the motion parameters between the target components of the two-wheeled vehicle, the total degrees of freedom are filtered to obtain the degrees of freedom of the target components of the two-wheeled vehicle, including:

[0047] Get the pedal rotation angular velocity ω of the two-wheeled vehicle 0 The first constraint relationship between the rear wheel rotation angle ω and the front wheel speed ω 2 The second constraint relationship between the rear wheel speed and the third constraint relationship between the angular velocity ω of the rear frame around the Z axis and the front frame angle;

[0048] According to at least one of the first constraint relationship, the second constraint relationship and the third constraint relationship, the total degree of freedom is filtered to obtain the degree of freedom of the target component of the two-wheeled vehicle.

[0049] Optionally, the speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle A description of the relationship between the

[0050]

[0051] Among them, ω 0 is the angular velocity of the pedal, ω 1 is the rear wheel speed, ω 2 is the front wheel speed, is the angular velocity of rotation, i is the transmission ratio of the transmission device of the two-wheeled vehicle;

[0052] u 1 is the front wheel center speed, u 2 is the rear wheel center speed;

[0053] R r is the rear wheel radius, R f is the front wheel radius, α is the direction turning angle;

[0054] L is the horizontal length between the front axle and the rear axle. r is the horizontal length from the center of mass to the rear axle;

[0055] is the speed of the two-wheeled vehicle.

[0056] Optionally, The posture of the two-wheeled vehicle in the global coordinate system A description of the relationship between the

[0057]

[0058] in, is the coordinate transformation matrix, is the unit direction vector.

[0059] Optionally, the motion balance equation of the two-wheeled vehicle considering the ground support reaction force in the target motion state includes:

[0060]

[0061] Among them, F t is the driving force, F fr is the rolling resistance of the rear wheel, F br is the braking resistance of the rear wheel, F w is the air resistance of the two-wheeled vehicle when it is traveling, β is the slope angle of the two-wheeled vehicle when it is traveling, F ff is the rolling resistance of the front wheel, F bf is the braking resistance of the front wheel, α is the direction of rotation angle, F i is the slope resistance, m is the total mass of the two-wheeled vehicle and its cargo, is the longitudinal component of acceleration, is the lateral component of acceleration, is the movement speed, is the angular velocity, is the rear wheel center speed u 2 The first derivative of L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, g is the acceleration of gravity, δ is the roll angle of the two-wheeled vehicle, and F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, L f is the horizontal length from the center of mass to the front wheel axle, h is the vertical height of the center of mass of the two-wheeled vehicle in the two-wheeled vehicle coordinate system, I y is the moment of inertia of the two-wheeler in the two-wheeler coordinate system, is the rotational angular acceleration of the two-wheeled vehicle in the two-wheeled vehicle coordinate system.

[0062] In a third aspect, an embodiment of the present disclosure provides an electronic device, characterized in that it includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, and when the program or instruction is executed by the processor, the steps of the motion control method of a two-wheeled vehicle in a scene as described above are implemented.

[0063] In a fourth aspect, an embodiment of the present disclosure provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method for controlling the motion of a two-wheeled vehicle in a scene as described above are implemented.

[0064] In the disclosed embodiment, the target motion data of the two-wheeled vehicle in the preset scene is obtained by obtaining the power control parameters of the target component of the two-wheeled vehicle in the preset scene; the power control parameters are input into the preset two-wheeled vehicle motion simulation model for motion simulation processing; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target component of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force; according to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain the control result and output it. The problem that the prior art cannot realize the motion simulation of the two-wheeled vehicle in the scene, cannot effectively control the motion trajectory, motion posture and dynamic load of the two-wheeled vehicle in the scene, and cannot meet the actual needs is solved. The motion of the two-wheeled vehicle can be simulated in the virtual scene, and the motion of the two-wheeled vehicle can be controlled according to the given power control parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic diagram showing a flow chart of a method for controlling the motion of a two-wheeled vehicle in a scene provided by an embodiment of the present disclosure;

[0066] Figure 2 A schematic structural diagram showing a target component of a two-wheeled vehicle of the present disclosure is shown;

[0067] Figure 3 A schematic diagram showing basic parameters of a two-wheeled vehicle in a specific embodiment of the present disclosure;

[0068] Figure 4 A schematic diagram of motion analysis of a two-wheeled vehicle in a specific embodiment of the present disclosure is shown;

[0069] Figure 5 A schematic diagram showing relevant parameters of a two-wheeled vehicle moving on a slope in a specific embodiment of the present disclosure is shown;

[0070] Figure 6 A schematic diagram showing the forces of a two-wheeled vehicle moving on a ramp in a specific embodiment of the present disclosure is shown;

[0071] Figure 7 A schematic diagram of parameters of a target component in a two-wheeled vehicle in a specific embodiment of the present disclosure is shown;

[0072] Figure 8 A schematic diagram showing the motion trajectory of a two-wheeled vehicle in a specific embodiment of the present disclosure is shown;

[0073] Fig. 9 A schematic diagram showing the structure of motion control of a two-wheeled vehicle in a scene provided by an embodiment of the present disclosure is shown;

[0074] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown;

[0075] Fig.11 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present disclosure is shown;

[0076] Description of reference numerals:

[0077] 21-rear wheel; 22-rear frame; 23-front frame; 24-front wheel; 25-pedal; 26-transmission device; 27-brake mechanism; 28-rear suspension; 29-rear wheel axle; 210-front suspension; 211-front wheel axle. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present disclosure to clearly describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present disclosure belong to the scope of protection of the present disclosure.

[0079] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable when appropriate, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0080] The embodiments of the present disclosure mainly relate to the motion control of a two-wheeled vehicle. The two-wheeled vehicle is modeled based on a physical model and a virtual scene of the two-wheeled vehicle to obtain a preset two-wheeled vehicle motion simulation model. The power control parameters of the target components of the two-wheeled vehicle are input into the preset two-wheeled vehicle motion simulation model to obtain the target motion data of the two-wheeled vehicle, thereby controlling the motion of the two-wheeled vehicle. The physical model here is a conceptual model established after fully analyzing the material model and process model of the two-wheeled vehicle, adaptively discarding the minor factors in the motion process of the two-wheeled vehicle, and extracting the main factors in the motion process of the two-wheeled vehicle. The present disclosure does not limit the minor factors and main factors of the two-wheeled vehicle, and can be determined according to the actual needs of the simulation and control of the two-wheeled vehicle.

[0081] In addition, the material model of the two-wheeled vehicle includes a physical material model of the two-wheeled vehicle and a virtual material model of the two-wheeled vehicle. The physical material model commonly includes target components, mass points, etc., and the virtual material model commonly includes the gravitational field where the two-wheeled vehicle is located, etc.; the process model of the two-wheeled vehicle refers to the motion state of the two-wheeled vehicle when it is in motion, and common ones include uniform linear motion, uniformly accelerated linear motion, and uniform circular motion, etc.; in the present disclosure, there is no restriction on the physical model of the two-wheeled vehicle. In a possible implementation, the physical model of the two-wheeled vehicle is set to a physical model corresponding to the physical model of the two-wheeled vehicle in the real scene;

[0082] The preset two-wheeled vehicle motion simulation model involved in the embodiments of the present disclosure can be applied to the (Unreal Engine / UE) engine, that is, the Unreal Engine, but is not limited to this engine, and can also be applied to any application or device that can establish a preset two-wheeled vehicle motion simulation model. The virtual scene involved in the present disclosure can be a three-dimensional virtual space where the simulated two-wheeled vehicle is located, or it can be an open space, and the present disclosure is not limited to this; the virtual scene can be a real environment in simulation reality. Of course, in a possible implementation method, the virtual scene can also correspond to the real scene. The virtual scene can also support time control, and can freely adjust night and day. It can also support the weather system to set sunny days, rainy days, snowy days, foggy days, etc.

[0083] In addition, the global coordinate system involved in the present disclosure can also be called the world coordinate system, which is the coordinate system where three-dimensional space objects are located. The vertex coordinates of the preset two-wheeled vehicle motion simulation model in the present disclosure are expressed based on the global coordinate system; the two-wheeled vehicle coordinate system is a local coordinate system. Compared with the global coordinate system, the local coordinate system takes the center of the object in the coordinate system as the coordinate origin, and the rotation, translation and other operations of the object are all performed around the local coordinate system, that is, when the object and / or model is rotated or translated, the local coordinate system also performs corresponding rotation or translation operations. The two-wheeled vehicle coordinate system involved in the present disclosure takes the center of the two-wheeled vehicle in the coordinate system as the coordinate origin, and the rotation, translation and other operations of the two-wheeled vehicle are all performed around the local coordinate system.

[0084] In conjunction with the accompanying drawings, the motion control method, device and electronic device of a two-wheeled vehicle in a scene provided by the embodiments of the present disclosure are described in detail through specific embodiments and their application scenarios.

[0085] Figure 1 is a flow chart of a motion control method of a two-wheeled vehicle in a scene provided by an embodiment of the present disclosure, see Figure 1 , the method may include the following steps:

[0086] Step 101, obtaining a power control parameter of a target component of a two-wheeled vehicle in a preset scene, wherein the preset scene is a virtual scene.

[0087] Figure 2 The schematic diagram of the structure of the target component of the two-wheeled vehicle disclosed in the present invention is shown; Figure 2 As shown, the target components of the two-wheeled vehicle include at least one of the following: a rear wheel 21; a rear frame 22; a front frame 23; a front wheel 24; and a pedal 25.

[0088] Among the target components of the two-wheeled vehicle, the rear wheel 21 is used to convert the rotation of the pedal 25 into the forward power of the two-wheeled vehicle; the rear frame 22 is used to realize the connection between the various components of the two-wheeled vehicle; the front frame 23 is used to control the steering input of the two-wheeled vehicle during the movement; the front wheel 24 is used to cooperate with the rear wheel to realize the forward movement of the two-wheeled vehicle, and the pedal 25 is used to provide the pedal rotation force to the rear wheel to drive the rotation of the rear wheel 21;

[0089] The two-wheeled vehicle is also provided with a transmission device 26, which is used to transmit the rotation of the pedal 25 to the rear wheel 21, thereby driving the rotation of the rear wheel 21. The transmission device 26 can be a chain drive, a conveyor belt drive, or a gear drive, but the present application is not limited thereto.

[0090] The two-wheeled vehicle is also provided with a brake mechanism 27, which is used to provide a brake torque for the two-wheeled vehicle to control the deceleration of the two-wheeled vehicle;

[0091] In addition, the two-wheeled vehicle is also provided with a rear suspension 28, a rear wheel axle 29, a front suspension 210, and a front wheel axle 211. The rear wheel axle 29 is connected to the rear frame 22 via the rear suspension 28, and the rear wheel axle 29 enables the rear wheel 21 to rotate along the rear suspension 28; the front wheel axle 211 is connected to the front frame 23 via the front suspension 210, and the front wheel axle 211 enables the front wheel 24 to rotate along the front suspension 210.

[0092] It should be noted that the rear frame 22 of the two-wheeled vehicle is set in the global coordinate system S (O-XYZ), the position of the rear frame 22 is (x, y, z), and the posture of the rear frame 22 is The rear wheel 21, the front wheel 24, the pedals 25 and the front frame 23 are arranged in a two-wheeled vehicle coordinate system S b (O b -X b Y b Z b ), the rotation angle of the rear wheel 21 is The rotation angle of the front wheel 24 is The rotation angle of the pedal 25 is The rotation angle of the front frame 23 to control the steering of the two-wheeled vehicle during movement is α, where δ is the angle around the X-axis of the two-wheeled vehicle, that is, the roll angle of the two-wheeled vehicle; θ is the angle around the Y-axis of the two-wheeled vehicle, that is, the pitch angle; is the angle around the Z axis of the two-wheeler.

[0093] like Figure 2 As shown, in a specific embodiment, the target components of the two-wheeled vehicle in the global coordinate system S (O-XYZ) include a rear wheel 21, a rear frame 22, a front frame 23, a front wheel 24 and a pedal 25;

[0094] Among them, the front frame 23 is hinged to the rear frame 22, and the front frame 23 is used to control the movement direction of the two-wheeled vehicle. During the movement of the two-wheeled vehicle, the front frame 23 rotates relative to the rear frame 22 to realize the steering input of the two-wheeled vehicle; the rear wheel 21 is hinged to the rear frame 22, and the front wheel 24 is hinged to the front frame 23. During the movement of the two-wheeled vehicle, the rear wheel 21 rotates relative to the rear frame 22, and the front wheel 24 rotates relative to the front frame 23. The rotation of the rear wheel 21 and the front wheel 24 is used to realize the forward movement of the two-wheeled vehicle; the pedal 25 is hinged to the rear frame 22, and the pedal 2 The transmission device 26 is used to transmit the rotation of the pedal 25 to the rear wheel 21, thereby driving the rotation of the rear wheel 21; the brake mechanism 27 is provided on the front wheel 24 and / or the rear wheel 21, and is used to provide a braking torque for the two-wheeled vehicle and control the deceleration of the two-wheeled vehicle; the rear wheel axle 29 is connected to the rear frame 22 through the rear suspension 28, and the rear wheel axle 29 enables the rear wheel 21 to rotate along the rear suspension 28; the front wheel axle 211 is connected to the front frame 23 through the front suspension 210, and the front wheel axle 211 enables the front wheel 24 to rotate along the front suspension 210.

[0095] Step 102, input the power control parameters into the preset two-wheeled vehicle motion simulation model for motion simulation processing, and obtain the target motion data of the two-wheeled vehicle in the preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degree of freedom of the target component of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene considering the ground support reaction force. Here, the motion of the two-wheeled vehicle includes at least one of the following: the motion trajectory of the two-wheeled vehicle; the motion posture of the two-wheeled vehicle; the motion load of the two-wheeled vehicle. Of course, the motion control here can also include other motion states of the two-wheeled vehicle, and is limited to the above-mentioned motion trajectory, motion posture, and motion load.

[0096] In an optional embodiment of the present disclosure, a preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the target motion scene, including:

[0097] Step 102a, obtaining the total degrees of freedom of the target components of the two-wheeled vehicle according to the constraint relationship between the target components of the two-wheeled vehicle; wherein the total degrees of freedom are used to describe the physical state of the two-wheeled vehicle, and the total degrees of freedom are the number of variables that independently affect the physical state results of the two-wheeled vehicle.

[0098] In an optional embodiment of the present disclosure, step 102a includes:

[0099] Step 102a1, obtaining the total degrees of freedom of the target components of the two-wheeled vehicle by the formula: L=M1×a-M2×M1; wherein L is the total degrees of freedom of the target components, M1 is the number of target components, a is the total number of position parameters and posture parameters of the two-wheeled vehicle in the global coordinate system, and M2 is the number of constraint hardware between the target components;

[0100] In this embodiment, the total degree of freedom is used to describe the physical state of the two-wheeled vehicle, and the brake mechanism will not actively change the physical state of the two-wheeled vehicle. Therefore, in the process of constructing the preset two-wheeled vehicle motion simulation model, the brake mechanism is usually not included in the number M1 of target components when calculating the total degree of freedom of the two-wheeled vehicle;

[0101] The number M2 of constraint hardware between target components is preferably ideal constraint hardware, where ideal constraint hardware means that the constraint hardware does not generate constraint relationships between target components.

[0102] Step 102a2, filtering the total degrees of freedom according to the constraint relationship between the motion parameters of the target component of the two-wheeled vehicle to obtain the degrees of freedom of the target component of the two-wheeled vehicle.

[0103] In an optional embodiment of the present disclosure, step 102a2 includes:

[0104] Step 102a21, obtaining the pedal rotation angular velocity ω of the two-wheeled vehicle0 and rear wheel speed ω 1 The first constraint relationship between the front wheel speed ω 2 and rear wheel speed ω 1 The second constraint relationship between them, and the third constraint relationship between the angular velocity ω of the rear frame around the Z axis and the rotation angle of the front frame.

[0105] The first constraint relationship is the rotational angular velocity ω of the pedal 25: 0 and the rotation speed ω of the rear wheel 21 1 The constraint relationship between 1 =ω 0 *i, where i is the transmission ratio of the two-wheeled vehicle;

[0106] The second constraint relationship is that the speed ω of the front wheel 24 is 0 when tire slip is not considered. 2 and the rotation speed ω of the rear wheel 21 1 The constraint relationship between 1 =ω 2 ×cos(α), where α is the direction rotation angle;

[0107] The second constraint relationship is that, without considering tire slip, there is a corresponding relationship between the angular velocity ω of the rear frame 22 around the Z axis and the rotation angle of the front frame 23.

[0108] Step 102a22: filtering the total degrees of freedom according to at least one of the first constraint relationship, the second constraint relationship and the third constraint relationship to obtain the degrees of freedom of the target component of the two-wheeled vehicle.

[0109] In this embodiment, the total degrees of freedom obtained in step 102a1 may be filtered according to at least one of the first constraint relationship, the second constraint relationship, and the third constraint relationship, and the variables with constraint relationships may be filtered;

[0110] For example, the total degrees of freedom calculated according to step 102a1 is 5, specifically including {a, b, c, d, e}, where a and b have a constraint relationship, and b and c have another constraint relationship. Therefore, the total degrees of freedom can be filtered according to the constraint relationship between a and b and between b and c to obtain 3 degrees of freedom, specifically including {b, d, e}.

[0111] In a specific embodiment, when the target components of the two-wheeled vehicle include seven components, namely, the rear wheel, the rear frame, the front frame, the front wheel, the front wheel axle, the rear wheel axle, and the pedal; two flexible connection suspensions, namely, the front suspension and the rear suspension; one rotating device, namely, the transmission device; and four ideal hinges for connecting the components, the total degree of freedom is 12 through the formula L = M1 × a - M2 × M1 = 7 × 6 - 2 × 5 - 4 * 5 = 10, and the first constraint relationship ω is obtained. 1 =ω0 ×i, the second constraint relationship ω 1 =ω 2 ×cos(α) and the third constraint relationship between the angular velocity ω of the rear frame around the Z axis and the rotation angle of the front frame. The total degree of freedom 12 is filtered according to the first constraint relationship, the second constraint relationship and the third constraint relationship to obtain 9 degrees of freedom, specifically including {x, y, z, δ, θ, α,y s1 ,y s2};

[0112] Among them, y s1 is the rotation of the rear wheel relative to the rear frame along the axis of the rear suspension, y s2 is the rotation of the front wheel relative to the front frame along the axial direction of the front suspension, S is the pedal in the two-wheeled vehicle coordinate system b (O b -X b Y b Z b ), α is the front frame in the two-wheeled vehicle coordinate system S b (O b -X b Y b Z b ) direction.

[0113] Step 102b: acquiring a description of a target motion scene of the target component of the two-wheeled vehicle according to the motion relationship of the target component of the two-wheeled vehicle.

[0114] In this embodiment, the description of the target motion scene includes:

[0115] (1) Speed ​​of two-wheeled vehicles and the angular velocity of the rear frame of the two-wheeled vehicle A description of the relationship between the

[0116]

[0117] Among them, ω 0 is the angular velocity of the pedal, ω 1 is the rear wheel speed, ω 2 is the front wheel speed, is the angular velocity of rotation, i is the transmission ratio of the transmission device of the two-wheeled vehicle;

[0118] u 1 is the front wheel center speed, u 2 is the rear wheel center speed;

[0119] R r is the rear wheel radius, R f is the front wheel radius, α is the direction turning angle;

[0120] L is the horizontal length between the front axle and the rear axle, L r is the horizontal length from the center of mass to the rear axle;

[0121] is the speed of the two-wheeled vehicle.

[0122] In this embodiment, the pedal rotation angular velocity is obtained by The rotation angle α of the front frame is , without considering the tire slip of the front and rear wheels of the two-wheeled vehicle, the movement speed of the two-wheeled vehicle is and the angular velocity of the rear frame Description of the relationship between .

[0123] It should be noted that the transmission ratio i values ​​of different two-wheeled vehicles are different; Figure 3 As shown, the above-mentioned center of mass refers to the average position of the mass distribution of the two-wheeled vehicle and its load during movement; the above-mentioned rear wheel axle refers to the center position of the tire of the rear wheel, and the front wheel axle refers to the center position of the tire of the front wheel.

[0124] (2) The posture of the two-wheeled vehicle in the global coordinate system A description of the relationship between the

[0125]

[0126] in, represents the longitudinal coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system, is the coordinate transformation matrix, is the unit direction vector.

[0127] Figure 3 A schematic diagram showing basic parameters of a two-wheeled vehicle in a specific embodiment of the present disclosure; Figure 4 A schematic diagram of motion analysis of a two-wheeled vehicle in a specific embodiment of the present disclosure is shown;

[0128] like Figure 3 and Figure 4 As shown in a specific embodiment 3, the two-wheeled vehicle is on the horizontal projection plane of the global coordinate system S (O-XYZ), and the instantaneous center of velocity of the two-wheeled vehicle is above the center of the rear wheel. It should be noted that the instantaneous center of velocity refers to the point in the plane figure where the velocity is equal to 0 at a certain moment, and the velocity of the center of the front wheel is u 1 , the speed of the rear wheel center is u2 , the velocity of the center of mass is The angular velocity of the rear frame of the two-wheeled vehicle is R r is the radius of the rear wheel, R f is the radius of the front wheel, L r is the horizontal length from the center of mass to the rear axle, h is the height of the center of mass from the horizontal ground, L is the horizontal length between the front and rear axles, L s is the rotation radius of the pedal when the two-wheeled vehicle is moving, without considering the sliding of the two-wheeled vehicle tire; obtain the pedal rotation angular velocity The rotation angle with the front frame is α, and the speed of the two-wheeled vehicle at this time can be obtained. and the angular velocity of the rear frame The relationship between them is described as:

[0129] Among them, ω 1 is the rear wheel speed, ω 2 is the front wheel speed, ω 0 is the angular velocity of the pedal, i is the transmission ratio of the two-wheeled vehicle;

[0130] You can also get The posture of the two-wheeled vehicle in the global coordinate system The relationship between them is described as:

[0131]

[0132] in, is the coordinate transformation matrix, is the unit direction vector.

[0133] (3) The motion balance equation of the two-wheeled vehicle in the target motion state includes:

[0134]

[0135] Among them, F t is the driving force, F fr is the rolling resistance of the rear wheel, F br is the braking resistance of the rear wheel, F w is the air resistance of the two-wheeled vehicle when it is traveling, β is the slope angle of the two-wheeled vehicle when it is traveling, F ff is the rolling resistance of the front wheel, F bf is the braking resistance of the front wheel, α is the direction of rotation angle, F i is the slope resistance, m is the total mass of the two-wheeled vehicle and its cargo, is the longitudinal component of acceleration, is the lateral component of acceleration, is the movement speed, is the angular velocity, is the rear wheel center speed u 2 The first derivative of L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, g is the acceleration of gravity, δ is the roll angle of the two-wheeled vehicle, and F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, L f is the horizontal length from the center of mass to the front wheel axle, h is the vertical height of the center of mass of the two-wheeled vehicle in the two-wheeled vehicle coordinate system, I y is the moment of inertia of the two-wheeler in the two-wheeler coordinate system, is the rotational angular acceleration of the two-wheeled vehicle in the two-wheeled vehicle coordinate system.

[0136] This embodiment is a motion equilibrium equation under a target motion state without considering the lateral force generated by the lateral slip and lateral stiffness of the front and rear wheels of the two-wheeled vehicle, wherein δ is the roll angle of the two-wheeled vehicle, that is, the rotation angle around the longitudinal axis of the two-wheeled vehicle; and because the pedal of the two-wheeled vehicle here converts the pedal rotation angular velocity of the two-wheeled vehicle into the rear wheel rotation speed according to a certain transmission ratio of the transmission device through a transmission device, and does not convert the pedal rotation angular velocity of the two-wheeled vehicle into the front wheel rotation speed according to a certain transmission ratio of the transmission device through a transmission device, therefore, the rear wheel has a driving force F t , and the front wheel does not have the driving force of the front wheel brought by the transmission ratio conversion of the transmission device; of course, in a possible implementation, the pedal of the two-wheeled vehicle can convert the pedal rotation angular velocity of the two-wheeled vehicle into the front wheel rotation speed according to a certain transmission ratio of the transmission device through the transmission device, thereby bringing driving force to the front wheel, and this application is not limited to this;

[0137] Specifically, the motion parameters in the motion balance equation of the two-wheeled vehicle in the target motion state include at least one of the following:

[0138] Driving force; air resistance when a two-wheeled vehicle is traveling; slope resistance; rolling resistance of the front wheels; rolling resistance of the rear wheels; ground reaction force of the front wheels; ground reaction force of the rear wheels.

[0139] In an optional embodiment of the present disclosure, by the formula:

[0140] Calculate the driving force F of the two-wheeled vehicle t ;

[0141] Among them, F s is the pedal force, p s is the power percentage, P max is the maximum input power of the two-wheeled vehicle, F t is the driving force, η is the efficiency of the transmission device of the two-wheeled vehicle, L sis the rotation radius of the pedal when the two-wheeled vehicle is moving, that is, the length of the crank arm on the pedal, i is the transmission ratio, R r is the rear wheel radius, ω 0 is the angular velocity of the pedal.

[0142] In this embodiment, the driving force F t It can be provided by humans and / or driving devices, and its specific input form includes power percentage p s ; Pedal force F s ; Pedal rotation angular velocity ω 0 . The input form is the input power percentage p s , through the power characteristic formula F s =9550·p s ·P max / w 0 Get pedal force F s .

[0143] It should be noted that the above input power percentage p s The pedal force F can also be obtained from the power characteristic table s , and the pedal force F can also be obtained through the power characteristic curve s , this application is not limited to this.

[0144] In an optional embodiment of the present disclosure, by the formula:

[0145] The rolling resistance of the front wheel and the rolling resistance of the rear wheel of the two-wheeled vehicle are calculated;

[0146] Among them, F ff is the rolling resistance of the front wheel, F fr is the rolling resistance of the rear wheel, C r is the rolling friction coefficient between the front and rear wheels of the two-wheeled vehicle and the ground, F nf is the positive pressure of the front wheel, F nr is the positive pressure of the rear wheel, γ is the slope of the ramp, L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, L f is the horizontal length from the center of mass to the front wheel axle, g is the acceleration due to gravity, m is the total mass of the two-wheeled vehicle and its contents, and G is the gravity of the two-wheeled vehicle and its contents.

[0147] In this embodiment, according to the positive pressure F of the front wheel nf and the positive pressure F of the rear wheel nr and the rolling friction coefficient C between the front and rear wheels of the two-wheeled vehicle and the ground r , through the formula: The rolling resistance of the front wheel and the rolling resistance of the rear wheel of the two-wheeled vehicle are calculated, where the positive pressure F of the front wheelnf and the positive pressure F of the rear wheel nr It is positively correlated with the gravity G of the two-wheeled vehicle and its cargo, the slope value γ of the ramp, and the horizontal length from the center of mass to the corresponding wheel axle, and is negatively correlated with the horizontal length between the front wheel axle and the rear wheel axle.

[0148] In an optional embodiment of the present disclosure, by the formula:

[0149] F w =1 / 2·C d ·A·ρ·v 2 Calculate the air resistance of the two-wheeled vehicle when it is traveling;

[0150] Among them, F w is the air resistance of the two-wheeled vehicle when traveling, C d is the air resistance coefficient, A is the frontal area of ​​the two-wheeled vehicle and its cargo, ρ is the air density, and v is the speed of the two-wheeled vehicle relative to the air flow.

[0151] In this embodiment, when the wind speed is zero, the speed v of the two-wheeled vehicle relative to the air flow is equal to the moving speed of the two-wheeled vehicle.

[0152] In an optional embodiment of the present disclosure, by the formula:

[0153] F i =m·g·sinγ to calculate the ramp resistance;

[0154] Among them, F i is the slope resistance, g is the acceleration of gravity, m is the total mass of the two-wheeled vehicle and its cargo, and γ is the slope value of the ramp.

[0155] In an optional embodiment of the present disclosure, the ground reaction force of the front wheel and the ground reaction force of the rear wheel vary under the influence of the excitation of the road on which the two-wheeled vehicle is located, and the motion differential equation of the two-wheeled vehicle is established as follows:

[0156]

[0157] Among them, F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, y g1 is the road displacement excitation of the front wheel, y g2 is the road displacement excitation of the rear wheel, m 1 is the equivalent mass component on the front wheel suspension, m 2 is the equivalent mass component on the rear wheel suspension, m is the total mass of the two-wheel vehicle, g is the gravitational acceleration, K 1 is the spring stiffness value on the front suspension, C 1 is the damping value of the front suspension, K 2 is the spring stiffness of the rear suspension, C2 is the damping value of the front suspension.

[0158] In this embodiment, the ground reaction force of the front wheels and the ground reaction force of the rear wheels can be obtained by solving the above-mentioned motion differential equation.

[0159] Step 102c, obtaining a preset two-wheeled vehicle motion simulation model according to the description of the target motion scene;

[0160] It should be noted that the above description of the target motion scene includes: the motion speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle Description of the relationship between The posture of the two-wheeled vehicle in the global coordinate system Description of the relationship between and the motion balance equation of the two-wheeled vehicle under the target motion state;

[0161] represents the longitudinal coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system; the target components include: at least one of the rear wheel, the rear frame, the front frame, the front wheel and the pedal.

[0162] Figure 5 A schematic diagram showing relevant parameters of a two-wheeled vehicle moving on a slope in a specific embodiment of the present disclosure is shown; Figure 6 A schematic diagram showing the forces of a two-wheeled vehicle moving on a ramp in a specific embodiment of the present disclosure is shown;

[0163] like Figure 5 and Figure 6 As shown in a specific embodiment, when the two-wheeled vehicle does not consider the lateral force generated by the lateral slip and cornering stiffness of the tire, it travels on a slope with a slope value of γ, the gravity of the two-wheeled vehicle and its load is G, and the driving torque of the rear wheel of the two-wheeled vehicle is T t , the brake torque of the rear wheel is T br , the braking torque of the front wheel of the two-wheeled vehicle is T bf , F nf is the ground reaction force of the front wheel on the ramp, F nr is the ground support reaction force of the rear wheel on the ramp. The force corresponding to the torque is calculated by the formula: T = F × R, where T is the torque, F is the force corresponding to the torque, and R is the radius of the tire; its motion balance equation is:

[0164]

[0165] Among them, F t is the driving force, F fr is the rolling resistance of the rear wheel, F br is the braking resistance of the rear wheel, F w is the air resistance of the two-wheeled vehicle when it is traveling, β is the slope angle of the two-wheeled vehicle when it is traveling, F ff is the rolling resistance of the front wheel, F bf is the braking resistance of the front wheel, α is the direction of rotation angle, F i is the slope resistance, m is the total mass of the two-wheeled vehicle and its cargo, is the longitudinal component of acceleration, is the lateral component of acceleration, is the movement speed, is the angular velocity, is the rear wheel center speed u 2 The first derivative of L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, g is the acceleration of gravity, δ is the roll angle of the two-wheeled vehicle, and F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, L f is the horizontal length from the center of mass to the front wheel axle, h is the vertical height of the center of mass of the two-wheeled vehicle in the two-wheeled vehicle coordinate system, I y is the moment of inertia of the two-wheeler in the two-wheeler coordinate system, is the rotational angular acceleration of the two-wheeled vehicle in the two-wheeled vehicle coordinate system.

[0166] The various motion parameters in the above motion balance equation can be calculated by the following formulas:

[0167] Formula 41, through Calculate the driving force F of the two-wheeled vehicle t ; Among them, F s is the pedal force, p s is the power percentage, P max is the maximum input power of the two-wheeled vehicle, F t is the driving force, η is the efficiency of the transmission device of the two-wheeled vehicle, L s is the turning radius of the pedal when the two-wheeled vehicle is moving, i is the transmission ratio, R r is the rear wheel radius, ω 0 is the angular velocity of the pedal.

[0168] Formula 42, by The rolling resistance of the front wheel and the rolling resistance of the rear wheel of the two-wheeled vehicle are calculated; where F ff is the rolling resistance of the front wheel, F fr is the rolling resistance of the rear wheel, C ris the rolling friction coefficient between the front and rear wheels of the two-wheeled vehicle and the ground, F nf is the positive pressure of the front wheel, F nr is the positive pressure of the rear wheel, γ is the slope of the ramp, L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, L f is the horizontal length from the center of mass to the front wheel axle, g is the acceleration due to gravity, m is the total mass of the two-wheeled vehicle and its contents, and G is the gravity of the two-wheeled vehicle and its contents.

[0169] Formula 43, through F w =1 / 2·C d ·A·ρ·v 2 Calculate the air resistance of the two-wheeled vehicle when it is traveling; where F w is the air resistance of the two-wheeled vehicle when traveling, C d is the air resistance coefficient, A is the frontal area of ​​the two-wheeled vehicle and its cargo, ρ is the air density, and v is the speed of the two-wheeled vehicle relative to the air flow.

[0170] Formula 44, through F i =m·g·sinγ to calculate the ramp resistance; where F i is the slope resistance, g is the acceleration of gravity, m is the total mass of the two-wheeled vehicle and its cargo, and γ is the slope value of the ramp.

[0171] Formula 45, by the differential equation of motion

[0172] Solve to obtain the ground reaction force of the front wheel and the ground reaction force of the rear wheel; where F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, y g1 is the road displacement excitation of the front wheel, y g2 is the road displacement excitation of the rear wheel, m 1 is the equivalent mass component on the front wheel suspension, m 2 is the equivalent mass component on the rear wheel suspension, m is the total mass of the two-wheel vehicle, g is the gravitational acceleration, K 1 is the spring stiffness value on the front suspension, C 1 is the damping value of the front suspension, K 2 is the spring stiffness of the rear suspension, C 2 is the damping value of the front suspension.

[0173] The motion balance equation is obtained by using the above formulas 41 to 44; combined with the motion speed of the two-wheeled vehicle in the specific embodiment 3 and the angular velocity of the rear frame Description of the relationship between The posture of the two-wheeled vehicle in the global coordinate system The relationship description can be used to obtain the preset two-wheeled vehicle motion simulation model.

[0174] Step 103, controlling the movement of the two-wheeled vehicle according to the target movement data, obtaining a control result, and outputting it.

[0175] In this embodiment, in the global coordinate system S (O-XYZ), the power control parameters of the target component are set, and the power control parameters here include:

[0176] Initial position (x 0 ,y 0 ,z 0 );

[0177] Initial posture

[0178] Initial speed of the two-wheeler;

[0179] Pedal force F s ;

[0180] Braking resistance F b ;

[0181] At least one of the direction rotation angles α;

[0182] Then we can get the position (x, y, z) and posture of the two-wheeled vehicle in the global coordinate system at each moment. By calculating the position (x, y, z) and posture of the two-wheeled vehicle in the global coordinate system The control can realize the control of the movement of the two-wheeled vehicle in the scene.

[0183] Here, the movement of the two-wheeled vehicle includes at least one of the following:

[0184] The motion trajectory of a two-wheeled vehicle; the motion posture of a two-wheeled vehicle; the dynamic load of a two-wheeled vehicle.

[0185] Control of movement includes at least one of the following:

[0186] Generation of motion trajectory; prediction of motion trajectory; control of motion posture.

[0187] In a specific embodiment, the parameters of the target components of the two-wheeled vehicle are shown in the following table:

[0188] parameter Parameter size unit Total mass of two-wheeled vehicle + vehicle load m 80 Kg <![CDATA[Horizontal offset L from the centroid position to the center of the rear axle r > 0.3 m Vertical offset from center of mass to ground h 0.9 m Front and rear wheelbase L 1.02 m Two-wheeled vehicle + cargo frontal area A 0.5 <![CDATA[m 2 ]]> Air density ρ 1.26 <![CDATA[Kg / m 3 ]]> <![CDATA[Air drag coefficient C d > 0.3 / Pedal crank arm length Ls 0.16 m Transmission ratio i 3.5 / Transmission efficiency η 0.98 / <![CDATA[Radius R of the front wheel f > 0.35 m <![CDATA[Coefficient of friction C of the front wheel with the ground r > 0.004 / <![CDATA[Rear wheel radius R r > 0.35 m <![CDATA[Coefficient of friction C of the rear wheel with the ground r > 0.004 / <![CDATA[Front suspension spring stiffness K 1 > 5.0 N / mm <![CDATA[Front suspension damping C 1 > 2.0 N / (mm / s) <![CDATA[Rear suspension spring stiffness K 2 > 5.0 N / mm <![CDATA[Rear suspension damping C 2 > 2.0 N / (mm / s)

[0189] Table 1

[0190] The power control parameters of the two-wheeled vehicle in the global coordinate system S (O-XYZ) include: initial position (x 0 ,y 0,z 0 )=(0,0,0); initial posture Initial velocity (0,0,0);

[0191] A continuous undulating road surface with slopes, bumps and potholes is set in the virtual scene, and a control signal is applied by a human and / or control device to a two-wheeled vehicle on the road surface. The control signal includes a pedal force F s Or power percentage p s , the braking percentage pf of the front wheel of the two-wheeled vehicle, the braking percentage pr of the rear wheel of the two-wheeled vehicle, and the direction rotation angle α of the two-wheeled vehicle;

[0192] Find the motion parameters of the two-wheeled vehicle: driving force; rolling resistance of the front wheel; rolling resistance of the rear wheel; rolling air resistance of the front wheel; rolling air resistance of the rear wheel; braking resistance of the front wheel; braking resistance of the rear wheel; air resistance when the two-wheeled vehicle is traveling; slope resistance;

[0193] According to the description of the target motion scene, the position (x, y, z) and posture of the two-wheeled vehicle in the global coordinate system S (O-XYZ) at any time can be calculated.

[0194] Figure 7 A schematic diagram of parameters of a target component in a two-wheeled vehicle in a specific embodiment of the present disclosure is shown; Figure 8 A schematic diagram showing the motion trajectory of a two-wheeled vehicle in a specific embodiment of the present disclosure is shown;

[0195] like Figure 7 and Figure 8 As shown, on a downhill road with bumps and potholes, a constant power coefficient F is applied to the two-wheeled vehicle. s =0N, F b =0N, α=0°. The motion trajectory of the two-wheeled vehicle is that the two-wheeled vehicle slides down from a height of 4.5m, passes the pit and finally reaches the horizontal section.

[0196] The preset two-wheeled vehicle motion simulation model in the embodiment of the present disclosure can be applied to the UE4 engine, but is certainly not limited to the engine. The motion control method of the two-wheeled vehicle in the scene in the above embodiment is achieved by obtaining the power control parameters of the target component of the two-wheeled vehicle in the preset scene; the power control parameters are input into the preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain the target motion data of the two-wheeled vehicle in the preset scene; wherein, the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target component of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene that considers the ground support reaction force; according to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain a control result, and output it; the problem that the prior art cannot realize the motion simulation of the two-wheeled vehicle, cannot effectively control the motion of the two-wheeled vehicle, and cannot meet the actual needs is solved, and the simulation of the motion of the two-wheeled vehicle in the virtual scene is realized, and the motion of the two-wheeled vehicle can be controlled according to the given power control parameters.

[0197] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present disclosure, which will not be described one by one here.

[0198] Fig. 9 is a schematic diagram of a motion control device for a two-wheeled vehicle in a scene provided by an embodiment of the present disclosure, see Fig. 9 , the device 900 comprises:

[0199] An acquisition module 901 is used to acquire a power control parameter of a target component of a two-wheeled vehicle in a preset scenario;

[0200] Processing module 902 is used to input power control parameters into a preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheeled vehicle in a preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled based on the degrees of freedom of the target components of the two-wheeled vehicle and the description of the preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force; according to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain a control result.

[0201] Optionally, a preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the target motion scene, including:

[0202] According to the constraint relationship between the target components of the two-wheeled vehicle, the total degree of freedom of the target components of the two-wheeled vehicle is obtained;

[0203] According to the motion relationship of the target component of the two-wheeled vehicle, a description of a preset motion scene of the target component of the two-wheeled vehicle is obtained;

[0204] According to the description of the target motion scene, a preset two-wheeled vehicle motion simulation model is obtained;

[0205] The description of the target motion scene includes: the speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle Description of the relationship between The posture of the two-wheeled vehicle in the global coordinate system Description of the relationship between and the motion balance equation of the two-wheeled vehicle under the target motion state;

[0206] represents the longitudinal coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameters of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system; δ is the angle around the X-axis of the two-wheeled vehicle, θ is the angle around the Y-axis of the two-wheeled vehicle, is the angle around the Z axis of the two-wheeled vehicle; the target components include: at least one of the rear wheel, the rear frame, the front frame, the front wheel and the pedal.

[0207] Optionally, obtaining the total degrees of freedom of the target components of the two-wheeled vehicle according to the constraint relationship between the target components of the two-wheeled vehicle includes:

[0208] The total degrees of freedom of the target components of the two-wheeled vehicle are obtained by the formula: L = M1 × a-M2 × M1; where L is the total degrees of freedom of the target components, M1 is the number of target components, a is the total number of position parameters and posture parameters of the two-wheeled vehicle in the global coordinate system, and M2 is the number of constraint hardware between the target components;

[0209] According to the constraint relationship between the motion parameters of the target parts of the two-wheeled vehicle, the total degrees of freedom are filtered to obtain the degrees of freedom of the target parts of the two-wheeled vehicle.

[0210] Optionally, according to the constraint relationship between the motion parameters between the target components of the two-wheeled vehicle, the total degrees of freedom are filtered to obtain the degrees of freedom of the target components of the two-wheeled vehicle, including:

[0211] Get the pedal rotation angular velocity ω of the two-wheeled vehicle 0 The first constraint relationship between the rear wheel rotation angle ω and the front wheel speed ω 2 The second constraint relationship between the rear wheel speed and the third constraint relationship between the angular velocity ω of the rear frame around the Z axis and the front frame angle;

[0212] According to at least one of the first constraint relationship, the second constraint relationship and the third constraint relationship, the total degree of freedom is filtered to obtain the degree of freedom of the target component of the two-wheeled vehicle.

[0213] Optionally, the speed of the two-wheeled vehicle and the angular velocity of the rear frame of the two-wheeled vehicle A description of the relationship between the

[0214]

[0215] Among them, ω 0 is the angular velocity of the pedal, ω 1 is the rear wheel speed, ω 2 is the front wheel speed, is the angular velocity of rotation, i is the transmission ratio of the transmission device of the two-wheeled vehicle;

[0216] u 1 is the front wheel center speed, u 2 is the rear wheel center speed;

[0217] R r is the rear wheel radius, R f is the front wheel radius, α is the direction turning angle;

[0218] L is the horizontal length between the front axle and the rear axle, L r is the horizontal length from the center of mass to the rear axle;

[0219] is the speed of the two-wheeled vehicle.

[0220] Optionally, The posture of the two-wheeled vehicle in the global coordinate system A description of the relationship between the

[0221]

[0222] in, is the coordinate transformation matrix, is the unit direction vector.

[0223] Optionally, the motion balance equation of the two-wheeled vehicle considering the ground support reaction force in the target motion state includes:

[0224]

[0225] Among them, F t is the driving force, F fr is the rolling resistance of the rear wheel, F br is the braking resistance of the rear wheel, F w is the air resistance of the two-wheeled vehicle when it is traveling, β is the slope angle of the two-wheeled vehicle when it is traveling, F ff is the rolling resistance of the front wheel, F bf is the braking resistance of the front wheel, α is the direction of rotation angle, F i is the slope resistance, m is the total mass of the two-wheeled vehicle and its cargo, is the longitudinal component of acceleration, is the lateral component of acceleration, is the movement speed, is the angular velocity, is the rear wheel center speed u 2 The first derivative of L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, g is the acceleration of gravity, δ is the roll angle of the two-wheeled vehicle, and F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, L f is the horizontal length from the center of mass to the front wheel axle, h is the vertical height of the center of mass of the two-wheeled vehicle in the two-wheeled vehicle coordinate system, I y is the moment of inertia of the two-wheeler in the two-wheeler coordinate system, is the rotational angular acceleration of the two-wheeled vehicle in the two-wheeled vehicle coordinate system.

[0226] The device provided by the embodiment of the present disclosure models a two-wheeled vehicle to obtain a preset two-wheeled vehicle motion simulation model, and inputs the power control parameters of the target components of the two-wheeled vehicle into the preset two-wheeled vehicle motion simulation model to obtain the target motion data of the two-wheeled vehicle, thereby controlling the motion of the two-wheeled vehicle; the motion of the two-wheeled vehicle can be simulated in a virtual scene, and the motion of the two-wheeled vehicle can be controlled according to the given power control parameters.

[0227] It should be noted that the motion control device for a two-wheeled vehicle in a scene provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the motion control device for a two-wheeled vehicle in a scene provided in the above embodiment and the motion control method embodiment for a two-wheeled vehicle in a scene belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0228] The motion control device of the two-wheeled vehicle in the scene in the embodiment of the present disclosure can be a virtual device, or a component, integrated circuit or chip in a server or terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present disclosure.

[0229] The motion control device of the two-wheeled vehicle in the scene in the embodiment of the present disclosure may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present disclosure.

[0230] The motion control device of a two-wheeled vehicle in a scene provided by the embodiment of the present disclosure can achieve Figures 2 to 8 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0231] like Fig.10 As shown, the embodiment of the present disclosure also provides an electronic device 1000, including a processor 1001, a memory 1002, and a program or instruction stored in the memory 1002 and executable on the processor 1001. When the program or instruction is executed by the processor 1001, each process of the above-mentioned two-wheeled vehicle motion control method embodiment in the scene is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. It should be noted that the electronic device in the embodiment of the present disclosure includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0232] Fig.11 A schematic diagram of the hardware structure of an electronic device for implementing an embodiment of the present disclosure.

[0233] The electronic device 1100 includes but is not limited to: a radio frequency unit 1101, a network module 1102, an audio output unit 1103, an input unit 1104, a sensor 1105, a display unit 1106, a user input unit 1107, an interface unit 1108, a memory 1109, and a processor 1110 and other components.

[0234] Those skilled in the art will appreciate that the electronic device 1100 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 1110 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Fig.11 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0235] It should be understood that in the embodiment of the present disclosure, the input unit 1104 may include a graphics processor (Graphics Processing Unit, GPU) 11041 and a microphone 11042, and the graphics processor 11041 processes the image data of the static picture or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 1106 may include a display panel 11061, and the display panel 11061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1107 includes a touch panel 11071 and other input devices 11072. The touch panel 11071 is also called a touch screen. The touch panel 11071 may include two parts: a touch detection device and a touch controller. Other input devices 11072 may include, but are not limited to, a physical keyboard, a function key (such as a volume control button, a switch button, etc.), a trackball, a mouse, and a joystick, which will not be repeated here. The memory 1109 can be used to store software programs and various data, including but not limited to applications and operating systems. The processor 1110 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 1110.

[0236] The embodiments of the present disclosure also provide a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned remote autonomous driving simulation control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0237] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0238] The disclosed embodiment further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned remote autonomous driving simulation control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0239] It should be understood that the chip mentioned in the embodiments of the present disclosure may also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

[0240] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0241] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present disclosure.

[0242] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, but the present disclosure is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present disclosure and the claims, all of which are within the protection of the present disclosure.

Claims

1. A method for controlling the motion of a two-wheeled vehicle in a scene, characterized in that: The method comprises: Obtaining power control parameters of a target component of a two-wheeled vehicle in a preset scenario; Inputting the power control parameters into a preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheeled vehicle in a preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of a preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force; Controlling the movement of the two-wheeled vehicle according to the target movement data to obtain a control result; The preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the target motion scene, including: According to the constraint relationship between the target components of the two-wheeled vehicle, obtaining the total degree of freedom of the target components of the two-wheeled vehicle; According to the motion relationship of the target component of the two-wheeled vehicle, obtaining a description of a preset motion scene of the target component of the two-wheeled vehicle; According to the description of the target motion scene, the preset two-wheeled vehicle motion simulation model is obtained; The description of the target motion scene includes: the motion speed of the two-wheeled vehicle and the rotational angular velocity of the rear frame of the two-wheeled vehicle Description of the relationship between and the posture of the two-wheeled vehicle in the global coordinate system Description of the relationship between and the motion balance equation of the two-wheeled vehicle under the target motion state; represents the longitudinal coordinate parameter of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameter of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system; δ is the angle around the X-axis of the two-wheeled vehicle, θ is the angle around the Y-axis of the two-wheeled vehicle, is the angle around the Z axis of the two-wheeled vehicle; the target component includes: at least one of a rear wheel, a rear frame, a front frame, a front wheel and a pedal; Wherein, according to the constraint relationship between the target components of the two-wheeled vehicle, obtaining the total degree of freedom of the target components of the two-wheeled vehicle comprises: The total degrees of freedom of the target components of the two-wheeled vehicle are obtained by the formula: M=M1×a-M2×M1; wherein M is the total degrees of freedom of the target components, M1 is the number of the target components, a is the total number of position parameters and posture parameters of the two-wheeled vehicle in the global coordinate system, and M2 is the number of constraint hardware between the target components; According to the constraint relationship between the motion parameters of the target component of the two-wheeled vehicle, the total degree of freedom is filtered to obtain the degree of freedom of the target component of the two-wheeled vehicle; Wherein, filtering the total degrees of freedom according to the constraint relationship between the motion parameters between the target components of the two-wheeled vehicle to obtain the degrees of freedom of the target components of the two-wheeled vehicle includes: Obtain a first constraint relationship between the pedal rotation angular velocity ω0 of the two-wheeled vehicle and the rear wheel rotation angle ω, a second constraint relationship between the front wheel speed ω2 and the rear wheel speed, and a third constraint relationship between the rear frame rotation angular velocity ω around the Z axis and the front frame rotation angle; The total degrees of freedom are filtered according to at least one of the first constraint relationship, the second constraint relationship and the third constraint relationship to obtain the degrees of freedom of the target component of the two-wheeled vehicle.

2. The motion control method of a two-wheeled vehicle in a scene according to claim 1, characterized in that: The movement speed of the two-wheeled vehicle and the rotational angular velocity of the rear frame of the two-wheeled vehicle A description of the relationship between the Wherein, ω0 is the rotational angular velocity of the pedal, ω1 is the rear wheel speed, ω2 is the front wheel speed, is the angular velocity of rotation, i is the transmission ratio of the transmission device of the two-wheeled vehicle; u1 is the center speed of the front wheel, u2 is the center speed of the rear wheel; R r is the rear wheel radius, R f is the front wheel radius, α is the direction turning angle; L is the horizontal length between the front axle and the rear axle. r is the horizontal length from the center of mass to the rear axle; is the movement speed of the two-wheeled vehicle.

3. The motion control method of a two-wheeled vehicle in a scene according to claim 1, characterized in that: and the posture of the two-wheeled vehicle in the global coordinate system A description of the relationship between the in, is the coordinate transformation matrix, is the unit direction vector.

4. The method for controlling the motion of a two-wheeled vehicle in a scene according to claim 1, characterized in that: The motion balance equation of the two-wheeled vehicle considering the ground support reaction force in the target motion state includes: Among them, F t is the driving force, F fr is the rolling resistance of the rear wheel, F br is the braking resistance of the rear wheel, F w is the air resistance of the two-wheeled vehicle when it is traveling, β is the slope angle of the two-wheeled vehicle when it is traveling, F ff is the rolling resistance of the front wheel, F bf is the braking resistance of the front wheel, α is the direction of rotation angle, F i is the slope resistance, m is the total mass of the two-wheeled vehicle and its cargo, is the longitudinal component of acceleration, is the lateral component of acceleration, is the moving speed of the two-wheeled vehicle, is the angular velocity, is the first-order derivative of the rear wheel center speed u2, L r is the horizontal length from the center of mass to the rear axle, L is the horizontal length between the front axle and the rear axle, g is the acceleration of gravity, δ1 is the roll angle of the two-wheeled vehicle, and F nr is the ground reaction force of the rear wheel, F nf is the ground reaction force of the front wheel, L f is the horizontal length from the center of mass to the front wheel axle, h is the vertical height of the center of mass of the two-wheeled vehicle in the two-wheeled vehicle coordinate system, I y is the moment of inertia of the two-wheeler in the two-wheeler coordinate system, is the rotational angular acceleration of the two-wheeled vehicle in the two-wheeled vehicle coordinate system.

5. A motion control device for a two-wheeled vehicle in a scene, characterized in that: The device comprises: An acquisition module, used to acquire power control parameters of a target component of a two-wheeled vehicle in a preset scenario; A processing module is used to input the power control parameters into a preset two-wheeled vehicle motion simulation model for motion simulation processing to obtain target motion data of the two-wheeled vehicle in a preset scene; wherein the preset two-wheeled vehicle motion simulation model is modeled according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of a preset motion scene, and the preset motion scene is a motion scene that takes into account the ground support reaction force; according to the target motion data, the motion of the two-wheeled vehicle is controlled to obtain a control result; The preset two-wheeled vehicle motion simulation model is obtained by modeling according to the degrees of freedom of the target components of the two-wheeled vehicle and the description of the target motion scene, including: According to the constraint relationship between the target components of the two-wheeled vehicle, obtaining the total degree of freedom of the target components of the two-wheeled vehicle; According to the motion relationship of the target component of the two-wheeled vehicle, obtaining a description of a preset motion scene of the target component of the two-wheeled vehicle; According to the description of the target motion scene, the preset two-wheeled vehicle motion simulation model is obtained; The description of the target motion scene includes: the motion speed of the two-wheeled vehicle and the rotational angular velocity of the rear frame of the two-wheeled vehicle Description of the relationship between and the posture of the two-wheeled vehicle in the global coordinate system Description of the relationship between and the motion balance equation of the two-wheeled vehicle under the target motion state; represents the longitudinal coordinate parameter of the two-wheeled vehicle in the global coordinate system, is the lateral coordinate parameter of the two-wheeled vehicle in the global coordinate system, represents the vertical coordinate parameter of the two-wheeled vehicle in the global coordinate system, is the position coordinate parameter of the two-wheeled vehicle in the global coordinate system; δ is the angle around the X-axis of the two-wheeled vehicle, θ is the angle around the Y-axis of the two-wheeled vehicle, is the angle around the Z axis of the two-wheeled vehicle; the target component includes: at least one of a rear wheel, a rear frame, a front frame, a front wheel and a pedal; Wherein, according to the constraint relationship between the target components of the two-wheeled vehicle, obtaining the total degree of freedom of the target components of the two-wheeled vehicle comprises: The total degrees of freedom of the target components of the two-wheeled vehicle are obtained by the formula: M=M1×a-M2×M1; wherein M is the total degrees of freedom of the target components, M1 is the number of the target components, a is the total number of position parameters and posture parameters of the two-wheeled vehicle in the global coordinate system, and M2 is the number of constraint hardware between the target components; According to the constraint relationship between the motion parameters of the target component of the two-wheeled vehicle, the total degree of freedom is filtered to obtain the degree of freedom of the target component of the two-wheeled vehicle; Wherein, filtering the total degrees of freedom according to the constraint relationship between the motion parameters between the target components of the two-wheeled vehicle to obtain the degrees of freedom of the target components of the two-wheeled vehicle includes: Obtain a first constraint relationship between the pedal rotation angular velocity ω0 of the two-wheeled vehicle and the rear wheel rotation angle ω, a second constraint relationship between the front wheel speed ω2 and the rear wheel speed, and a third constraint relationship between the rear frame rotation angular velocity ω around the Z axis and the front frame rotation angle; The total degrees of freedom are filtered according to at least one of the first constraint relationship, the second constraint relationship and the third constraint relationship to obtain the degrees of freedom of the target component of the two-wheeled vehicle.

6. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method for controlling the motion of a two-wheeled vehicle in a scene as described in any one of claims 1 to 4.

7. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the method for controlling the motion of a two-wheeled vehicle in a scene as described in any one of claims 1 to 4 are implemented.

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