A control system for a swing three-wheeled electric vehicle

Abstract

The present invention discloses a control system for a swinging three-wheeled electric vehicle, which includes a main control module arranged on the vehicle body and controlling various functional modules of the vehicle, a power supply module for supplying power to the motor drive, the main control module and other functional modules, an attitude module for obtaining the front and rear vehicle swing angles and performing vehicle attitude calculation and balance, a vehicle speed detection module for detecting the speed of the front wheels, i.e., the vehicle speed of the whole vehicle, a left wheel drive module and a right wheel drive module for respectively detecting the speeds of the left and right wheels and driving them, a signal detection module for detecting external signals, a signal output module for outputting vehicle information and prompts, a communication module covering short distances to long distances, and a vehicle remote positioning module. The present invention provides a control system for a swinging three-wheeled electric vehicle, which provides self-balancing during the driving process of the vehicle body and obtains vehicle state information.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and more particularly to a control system for a swinging three-wheeled electric drive vehicle. Background Art

[0002] Currently available three-wheeled electric vehicles, i.e. electric drive vehicles, are generally small three-wheeled vehicles with a motor driving a single front wheel and two rear wheels.

[0003] For existing electric vehicle technology, please refer to Chinese invention patent publication number CN111268006A, which discloses a control system for an electric delivery vehicle, including a power supply system, a two-in-one controller, a monitoring and control system, and a contour motor. The power supply system provides power to the contour motor, the two-in-one controller, and the detection and control system, while the monitoring and control system rechecks the signals from the two-in-one controller.

[0004] The prior art of swing-type vehicles can refer to the Chinese invention patent with authorization announcement number , which discloses a swing-type vehicle including a front body and front wheels, a rear body and left and right drive wheels, and a swing mechanism.

[0005] The above-mentioned existing technical solutions have the following drawbacks: electric delivery vehicles lack posture calculation and turning control, resulting in bumps and tilts during driving. Items in the container on top of the delivery vehicle chassis can easily shake, affecting the vehicle's balance. Swinging vehicles and electric delivery vehicles lack human-machine interaction, signal output modules that display vehicle status, short- to long-distance communication modules, and positioning modules, and lack the ability to acquire and debug vehicle status information. Summary of the Invention

[0006] The present invention provides a control system for a swinging three-wheeled electric drive vehicle, which enables the vehicle body to be self-balanced during driving and acquires vehicle status information.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A control system for a swinging three-wheeled electric drive vehicle includes a main control module installed on the vehicle body and controlling various functional modules of the vehicle, a power supply module for powering the motor drive, the main control module and other functional modules, a posture module for obtaining the front and rear vehicle swing angles and calculating and balancing the vehicle posture, a speed detection module for detecting the front wheel speed, that is, the speed of the entire vehicle, a left wheel drive module and a right wheel drive module for detecting the speed and driving of the left and right wheels respectively, a signal detection module for detecting external signals, a signal output module for outputting vehicle information and prompts, a communication module covering short to long distances, and a vehicle remote positioning module; wherein,

[0009] The power supply module includes a voltage transformation unit, a storage battery, and a power quantity feedback unit. The storage battery supplies power to the main control module and each functional module within the control system. The voltage transformation unit receives the high-voltage electricity output by the storage battery and converts it into the low-voltage electricity required by the specified unit. The power quantity feedback unit feeds back the electricity storage situation in the storage battery to the main control unit in real time and outputs it to the signal output unit through the main control unit. The display module of the signal output unit displays the power quantity situation in real time and gives a power shortage prompt through the display module and the voice output module after receiving the power shortage signal.

[0010] The main control module is connected to the power supply module, the attitude module, the vehicle speed detection module, the left wheel drive module, the right wheel drive module, the signal detection module, the signal output module, the communication module, and the positioning module. The main control module includes a calculation unit, a storage unit, a main control unit, and a turning control unit. The calculation unit calculates the vehicle speed change amount, vehicle position information, etc. The storage unit stores the necessary programs and data information for the operation of the main control module. The main control unit receives the feedback information from the functional modules and conveys control commands. The turning control unit obtains the vehicle speeds of the left and right wheels, calculates the speed change amounts of the left and right wheels through the relationship between the turning angle and the vehicle speed ratio of the left and right wheels, and transmits the information back to the main control unit of the main control module. The main control unit sends control commands to control the speed of the drive module to change to the calculated value. The main control module is powered by the power supply module, receives the front wheel speed information obtained from the vehicle speed detection module, the speed information of the left wheel speed sensor and the right wheel speed sensor, the swing angle information of the attitude module, the control, braking, pressure, and locking detection information of the signal detection module, the vehicle positioning information of the positioning module, the data transmitted by the communication module, and the power quantity feedback signal of the power supply module. The main control unit receives the signals from each functional module and outputs control instructions, feeds back the vehicle state information, and outputs data signals.

[0011] The attitude sensor in the attitude module includes two types of sensors, namely a three-axis gyroscope and a three-axis accelerometer, and contains a 16-bit A / D converter. The data fusion in the attitude module converts the analog information of the angle and acceleration obtained by the gyroscope and accelerometer sensors into digital information, calculates the reverse swing angle information for stabilizing the vehicle body attitude through the data fusion unit in the attitude module, and transmits the signal to the main control module.

[0012] The vehicle speed detection module is associated with the front wheel of the swinging tricycle body. The front wheel speed sensor of the vehicle speed detection module detects the front wheel speed and outputs it to the main control module.

[0013] The left wheel drive module and the right wheel drive module respectively receive the wheel speed information through the speed sensors and output it to the main control module. The turning control unit of the main control module resolves the speed return values of the left and right wheels. After receiving the control signals output by the main control module, the left wheel drive module and the right wheel drive module control the left and right wheels to drive, making the vehicle speed difference between the left and right wheels close to the ideal value to ensure the smoothness of the vehicle body turning.

[0014] The signal detection module includes a control detection unit, a braking detection unit, a pressure detection unit, and a locking detection unit. The signal detection module receives the states of the vehicle body grip, buttons, pressure sensors, and locking control and outputs them. After receiving the detection signals, the main control module executes corresponding control, braking, and locking signal control commands and outputs vehicle body state information.

[0015] The signal output module includes a display unit, a lamp control unit, and a voice output unit. The signal output module calls the vehicle state information output by the main control module and displays the vehicle body swing state before and after the vehicle, vehicle positioning information, vehicle body power status, vehicle speed, and vehicle fault information through the display module. The voice output module outputs voice prompts for vehicle control operations based on vehicle information and gives voice alarms for vehicle reverse, power shortage, and fault conditions. The lamp control unit includes turn signal control, reverse lamp control, night vision lamp control, and command feedback lamp control, and calls vehicle state information and control commands to supplement the signal output of the display unit and the voice output unit with light prompts;

[0016] The communication module includes a Bluetooth module, a 4G communication module, and a 5G communication module, covering the communication requirements of the vehicle from short distance to long distance; among them, the Bluetooth and 4G communication modules meet the low-speed transmission requirements for short and long distances, realizing data communication between the mobile terminal or PC and the swing three-wheel electric drive vehicle, and the 5G communication module meets the applications requiring high-throughput data communication;

[0017] The positioning module uses a Beidou navigation module to obtain vehicle positioning information (time, longitude, latitude, altitude), connects to the main control module through the UART serial port, and returns the positioning information to the main control module. The positioning information can be received by the main control module and sent to the terminal through the communication module.

[0018] Preferably, the power supply module includes a storage battery, a voltage conversion unit, and power feedback; the storage battery is used to supply power to the drive motors of the swing three-wheel vehicle (the left wheel drive motor and the right wheel drive motor); the voltage conversion unit converts the high-voltage electricity of the storage battery into low-voltage electricity and supplies power to the main control module, the attitude module, the left wheel drive module, the right wheel drive module, the signal detection module, the signal output module, the communication module, and the positioning module; the power feedback is used to detect the power status of the storage battery and feedback the power information to the main control module, and the main control module sends the power information to the signal output module for power display on the display unit.

[0019] By adopting the above technical solutions, the control system can realize separate power supply for the drive motor and the functional modules. The power charged by the user to the swing three-wheel electric drive vehicle is stored in the storage battery, and the power status and charging status can be obtained by the main control module and displayed in real time on the display screen.

[0020] Preferably, the attitude module includes an attitude sensor and a data fusion module. The main control module obtains the data of the attitude module through the I2C bus. The attitude sensor collects the body tilt angle and the inclination change speed information. Among them, the accelerometer and the gyroscope respectively obtain the acceleration information and the angular velocity information. In order to obtain an accurate body tilt angle value, the output values of the accelerometer and the gyroscope are fused, and the Kalman filtering method is used to recursively obtain the optimal body angle value.

[0021] Preferably, the attitude module outputs the vehicle body attitude information to the main control module, and the main control module sends the vehicle state information to the signal output module. The main control module integrates the body tilt angle, the vehicle body speed, the position, the left wheel vehicle speed, and the right wheel vehicle speed information, and controls the left wheel drive motor and the right wheel drive motor through a control algorithm.

[0022] Preferably, the left wheel drive module and the right wheel drive module respectively output the vehicle speed to the main control module through the left wheel vehicle speed sensor and the right wheel vehicle speed sensor. After integrating the information, the main control module sends control commands to the left wheel drive motor and the right wheel drive motor, respectively changing the left wheel and right wheel vehicle speeds.

[0023] By adopting the above technical solutions, the swinging three-wheel electric vehicle changes the speeds of the left wheel and the right wheel according to the body tilt angle and the vehicle speed, realizes the self-balancing of the vehicle body, and the body tilt angle is fed back to the user in real time through the display unit.

[0024] Preferably, the signal detection module includes a control detection unit, a brake detection unit, a pressure detection unit, and a locking detection unit. The control detection unit and the brake detection unit detect the body swing control, including the acceleration, steering, and braking controls of the user; the pressure detection unit obtains the information of whether the driver is in place through the pressure sensor under the seat. For the sudden decrease of the pressure information, the information is transmitted to the main control module for vehicle braking to ensure safety; the locking detection unit detects the locking control operation of the driver and outputs the information to the main control module.

[0025] Preferably, after receiving the locking control information, the main control module sends a locking control command to the locking mechanism. The vehicle body locking mechanism responds to the command, the vehicle body stops self-balancing, the main control module no longer dynamically controls the speed changes of the left wheel and the right wheel according to the body tilt angle, and the body tilt angle is fixed.

[0026] By adopting the above technical solutions, the swinging three-wheel electric vehicle can perform vehicle speed control, braking, and locking control according to the driver's operation. The vehicle can detect the seat pressure situation for emergency braking, enhancing safety.

[0027] Preferably, the signal output module includes a display unit, a lamp control unit, and a voice output unit. The signal output module receives the vehicle information and control commands transmitted by the main control module and calls the corresponding units to execute signal output.

[0028] Preferably, the OLED display screen under the display unit receives the vehicle body state (tilt angle) information, self-balancing mode switch state, vehicle position, power status, vehicle speed, and time information output by the main control unit and displays them; the lamp control module receives the control information sent by the main control module, executes the switching and adjustment of the driving lights, and controls the alarm light to flash for abnormal vehicle conditions; the voice output unit receives the command of the main control module, controls the electric vehicle audio to execute voice broadcasts, including position, vehicle speed, reverse, low power warning, safety warning, anti-theft alarm, control command feedback, self-balancing on and off prompts, etc.

[0029] By adopting the above technical solutions, the swinging three-wheel electric vehicle can feedback vehicle state information to users through pictures, light effects, and sounds, facilitating users to understand the vehicle conditions and perform operations. The acquisition of vehicle position, anti-theft alarm, safety warning, etc. enhances the vehicle safety and driver safety.

[0030] Preferably, the communication module includes a Bluetooth module, a 4G communication module, and a 5G communication module. Among them, the mobile device or PC is connected to the main control module through the Bluetooth module to realize low-speed applications such as vehicle state viewing and main control program setting; the device is connected to the main control module through the 4G communication module and the 5G communication module, supporting remote management, including vehicle state and position acquisition, remote parameter setting, program upgrade, anti-theft tracking, etc.; the 5G communication module supports high-throughput data communication between the device and the vehicle.

[0031] By adopting the above technical solutions, the device can communicate with the vehicle remotely, obtain vehicle state information at multiple device ends, and support remote setting and program upgrade; it supports short-distance Bluetooth communication to realize low-power and low-speed application functions.

[0032] Preferably, the positioning module is realized through a Beidou receiving module, and the Beidou receiving module is connected to the main control module through the UART serial port to obtain time, longitude, latitude, and altitude information and send the information to the main control module.

[0033] Preferably, after the main control module obtains the positioning information, it sends the information to the signal output module, and the display unit in the signal output module displays the positioning information on the OLED display screen; the main control module remotely sends the positioning information to the terminal through the 4G / 5G communication module, and the terminal can remotely view information such as the vehicle position.

[0034] By adopting the above technical solutions, both the driver and the terminal can obtain the vehicle positioning information, which helps to realize the vehicle remote positioning and remote management functions, and enhances the vehicle anti-loss function. Remote management includes parameter setting and program upgrade, and remotely operating the vehicle can greatly save labor and maintenance costs.

[0035] In summary, the present invention has the following beneficial effects:

[0036] 1. This control system can obtain the attitude information of the vehicle and calculate the attitude to obtain more accurate tilt angle information. When the vehicle turns, it dynamically changes the speeds of the left and right wheels according to the change of the vehicle body tilt angle to achieve vehicle self-balancing and ensure the stability of vehicle driving. The self-balancing function can be turned off through locking control. The locking mechanism fixes the vehicle body tilt angle, saving calculation amount and energy consumption without the need for balance, and flexibly adapting to the real-time needs of the driver.

[0037] 2. This system monitors the vehicle state in real time, and feeds back the vehicle's position, power, speed, attitude, and mode information through the signal output module, and responds to control commands from the display screen, light effects, and sound, optimizing the human-machine interaction experience.

[0038] 3. This system supports remote communication and positioning. Using the communication module and positioning module, the vehicle has the functions of remote management and positioning, supports functions such as remote parameter setting, program upgrade, position acquisition, and anti-loss tracking, ensuring the vehicle's safety and improving the convenience of vehicle information acquisition and debugging. Description of the Drawings

[0039] Figure 1 is the overall block diagram of the control system in the embodiment;

[0040] Figure 2 is the system block diagram highlighting the power supply module in the embodiment;

[0041] Figure 3 is the system block diagram highlighting the attitude module in the embodiment;

[0042] Figure 4 is the system block diagram highlighting the left wheel drive module in the embodiment;

[0043] Figure 5 is the system block diagram highlighting the right wheel drive module in the embodiment;

[0044] Figure 6 is the system block diagram highlighting the signal detection module in the embodiment;

[0045] Figure 7 is the system block diagram highlighting the signal output module in the embodiment;

[0046] Figure 8 is the system block diagram highlighting the communication module in the embodiment;

[0047] Figure 9 is the system block diagram highlighting the positioning module in the embodiment.

[0048] In the figure: 1, main control module; 2, power supply module; 3, attitude module; 4, vehicle speed detection module; 5, left wheel drive module; 6, right wheel drive module; 7, signal detection module; 8, signal output module; 9, communication module; 10, positioning module; 11, 4G communication module; 12, 5G communication module; 13, left wheel speed sensor; 14, right wheel speed sensor; 15, left wheel drive motor; 16, right wheel drive motor; 17, attitude sensor; 18, data fusion module; 19, Beidou receiving module; 20, device; 21, storage battery; 22, voltage conversion unit; 23, power feedback; 24, display unit; 25, lamp control unit; 26, voice output unit; 27, accelerometer; 28, gyroscope; 29, OLED display screen; 30, driving lamp; 31, warning lamp; 32, electric vehicle audio; 33, control detection unit; 34, braking detection unit; 35, pressure detection unit; 36, locking detection unit; 37, handle control; 38, pressure sensor; 39, locking control. Detailed implementation manner

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0050] The swing-type three-wheeled electric vehicle of the present invention mainly consists of a front wheel, two rear-wheel drives (left wheel and right wheel), a seat, a transportation box, a front vehicle body, a rear vehicle body, and a rotation locking mechanism between the front and rear vehicle bodies. The control system of the swing three-wheeled electric vehicle, as Figure 2 shown, includes drive motors arranged on the left and right sides of the vehicle body, a main control module, and various functional modules such as signal detection, output, drive, communication, and positioning. The swing three-wheeled electric vehicle is provided with a power supply module, and the variable voltage power supply module supplies power to the vehicle drive motor, the main control module, and other various functional modules.

[0051] As Figure 1 and Figure 2 shown, the variable voltage power supply module 2 includes a storage battery 21, a voltage conversion unit 22, and a power feedback unit 23. The high-voltage and low-voltage parts of the overall control system are separately powered. The storage battery 21 is used to supply power to the left wheel drive motor 15 and the right wheel drive motor 16 that provide power for the vehicle. The high-voltage electricity of the storage battery 21 is used to supply power to the main control module 1, the attitude module 3, the vehicle speed detection module 4, the left wheel drive module 5, the right wheel drive module 6, the signal detection module 7, the signal output module 8, the communication module 9, and the positioning module 10 after being processed by the high-voltage to low-voltage conversion of the voltage conversion unit 22.

[0052] As Figure 1 and Figure 6 shown, the signal detection module 7 includes a control detection unit 33, a braking detection unit 34, a pressure detection unit 35, and a locking detection unit 36. The signal detection module outputs the signals of the handle control 37, the pressure sensor 38, and the locking control 39 to each detection unit, and the detection unit outputs the signals to the main control module. The handle control 37 includes an acceleration control, a braking control, and a driving light control. When the main control module 1 receives an acceleration signal or a braking signal, it sends a control command to the left wheel drive module 5 and the right wheel drive module 6 to control the adjustment of the drive motor. When the pressure sensor 38 detects a sudden change in the pressure intensity, the pressure detection unit 35 sends a signal to the main control module 1. The main control module 1 outputs a braking command to control the motor braking and outputs a sound and an alarm light prompt through the signal output module 8 to ensure safety. After the driver uses the locking control 39, the main control module 1 receives the signal sent by the locking detection unit 36 and controls the locking mechanism to lock, the body tilt angle no longer changes, and the vehicle no longer makes self-balancing control for the rotation of the front and rear bodies. After that, the locking can be released through the locking control 39 and the vehicle self-balancing state can be restored.

[0053] As Figure 9 shown, the positioning module 10 uses a Beidou receiving module 19. The communication module 9 includes a Bluetooth module 40, a 4G communication module 11, and a 5G communication module 12. During the vehicle traveling process, it obtains the time, longitude, latitude, and altitude information output by the positioning module in real time, and sends it to the main control module 1 through the serial port. The main control module analyzes the information and outputs it to the signal output module 8. The signal output module receives the information and displays the vehicle position on the display screen 29 through the display unit 24. Through the communication module 9, the main control module can use the Bluetooth module 40, the 4G communication module 11, and the 5G communication module 14 to achieve short-distance and long-distance communications with the terminal. The Bluetooth module 40 meets the transmission requirements of short distance, low speed, and low power consumption. High-throughput data communication can be achieved through the 5G communication module 12. After the positioning information is obtained by the main control module, it is sent out through the communication module 9. The device is remotely managed through the signal transmission of the communication module 9 and the main control module 1, including vehicle information acquisition, remote parameter setting, program upgrade, etc., and can be remotely tracked to ensure vehicle anti-theft performance.

[0054] As Figure 1 and Figure 3As shown in the figure, the attitude module 3 includes an attitude sensor 17 and a data fusion module 18. The attitude sensor includes an accelerometer 27 and a gyroscope 28. During the vehicle's travel, when a turn in any direction and angle causes the front vehicle body to tilt relative to the rear vehicle body, the information obtained by the attitude sensor 17 is sent to the main control module 1 via data fusion 18. According to the test data, the main control module analyzes the tilt angle and adjusts the vehicle speeds of the left wheel drive module 5 and the right wheel drive module 6 to change the vehicle speed ratio and adjust the vehicle's balance state. The vehicle speed ratio of the left and right wheels and the vehicle body tilt angle satisfy the mathematical relationship obtained from the test data. When the signal detection module 7 detects the lock control 39 and outputs it to the main control module 1, the main control module 1 controls the locking mechanism to lock, fixing the vehicle tilt angle. The main control module 1 controls the left wheel drive 15 and the right wheel drive 16 only based on the vehicle speed obtained by the vehicle speed detection module 4 of the front wheels.

[0055] As Figure 1 and Figure 7 shown in the figure, the signal output module 8 includes a display unit 24, a lamp control unit 25, and a voice output unit 26. The main control module 1 receives the driving lamp signal of the handle control 37 sent by the signal detection module 7 and outputs a control command to the main control unit 25 to turn on or off the driving lamp 30. The main control module 1 receives the pressure detection signal output by the pressure detection unit 35, the power shortage signal output by the power feedback unit 23, the vehicle speed output by the vehicle speed detection unit 4, and the lock signal sent by the lock detection unit 36, analyzes them, and sends them to the signal output module 8. For vehicle abnormal conditions or control commands, through the lamp control unit 25 and the voice output unit 26, it controls the alarm lamp 1 and the electric vehicle speaker 32 to give alarm prompts and voice prompts or responses, optimizing the human-machine interaction experience in this way and ensuring the safety of the vehicle's travel. When the vehicle speed detection module 4 detects that the vehicle speed is higher than the preset value, the voice output module 26 gives a voice prompt to the driver. The vehicle state information received by the main control module 1 includes power information, vehicle speed information, positioning information, inclination angle information, and vehicle operation mode (self-balancing or locked). The main control module 1 outputs the above information to the display unit 24 in the signal output module 8, and the display unit feeds back the vehicle state information to the driver through the display screen 29.

[0056] As described above, it is only the preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A control system for a swinging three-wheeled electric vehicle, characterized in that, It includes a main control module, a power module, an attitude module that provides the acquisition of the front and rear vehicle swing angles and the calculation and balance of the vehicle attitude, a vehicle speed detection module that detects the speed of the front wheels, a left wheel drive module and a right wheel drive module that respectively detect the speeds of the left and right wheels and drive them, a signal detection module that detects external signals, a signal output module that outputs vehicle information and prompts, a communication module, and a vehicle remote positioning module, which are provided on the vehicle body and control various functional modules of the vehicle; The main control module is connected to the power module, the attitude module, the vehicle speed detection module, the left wheel drive module, the right wheel drive module, the signal detection module, the signal output module, the communication module, and the positioning module. The main control module includes a calculation unit, a storage unit, a main control unit, and a turning control unit. The calculation unit calculates the vehicle speed change amount, vehicle position information, etc. The storage unit stores the necessary programs and data information for the operation of the main control module. The main control unit receives the feedback information of the functional modules and conveys control commands. The turning control unit obtains the speeds of the left and right wheels, calculates the speed change amounts of the left and right wheels through the relationship between the turning angle and the speed ratio of the left and right wheels, and transmits the information back to the main control unit of the main control module. The main control unit sends control commands to control the speed of the drive module to change to the calculated value. The main control module is powered by the power module, receives the front wheel speed information obtained from the vehicle speed detection module, the speed information of the left wheel speed sensor and the right wheel speed sensor, the swing angle information of the attitude module, the control, braking, pressure, and locking detection information of the signal detection module, the vehicle positioning information of the positioning module, the data transmitted by the communication module, and the power feedback signal of the power module. The main control unit receives the signals of each functional module, outputs control instructions, feeds back vehicle state information, and outputs data signals; The power module includes a voltage transformation unit, a storage battery, and a power feedback unit. The storage battery supplies power to the main control module and each functional module in the control system. The voltage transformation unit receives the high-voltage electricity output by the storage battery and converts it into the low-voltage electricity required by the specified unit. The power feedback unit feeds back the electricity storage situation in the storage battery to the main control unit in real time and is output by the main control unit to the signal output unit. The display module of the signal output unit displays the power situation in real time and gives a power shortage prompt through the display module and the voice output module after receiving the power shortage signal.

2. A control system for a swinging three-wheeled electric vehicle according to claim 1, characterized in that, The attitude sensors in the attitude module include two types of sensors, namely a three-axis gyroscope and a three-axis accelerometer, which contain a 16-bit A / D converter. The data fusion in the attitude module converts the analog information of the angles and accelerations obtained by the gyroscope and accelerometer sensors into digital information, calculates the reverse swing angle information for stabilizing the vehicle body attitude through the data fusion unit in the attitude module, and transmits the signal to the main control module.

3. A control system for a swing three-wheeled electric vehicle according to claim 2, characterized in that The front wheel speed sensor of the vehicle speed detection module detects the front wheel speed and outputs it to the main control module.

4. A control system for a swing three-wheeled electric vehicle according to claim 3, characterized in that, The left wheel drive module and the right wheel drive module respectively receive the wheel speed information through the speed sensors and output it to the main control module. The turning control unit of the main control module resolves the speed return values of the left and right wheels. After receiving the control signals output by the main control module, the left wheel drive module and the right wheel drive module control the driving of the left and right wheels.

5. A swing three-wheeled electric vehicle control system according to claim 4, characterized in that, The signal detection module includes a control detection unit, a braking detection unit, a pressure detection unit, and a locking detection unit. The signal detection module receives the states of the vehicle body grip, buttons, pressure sensors, and locking control and outputs them. After receiving the detection signals, the main control module executes corresponding control, braking, and locking signal control commands and outputs vehicle body state information.

6. A control system for a swing three-wheeled electric vehicle according to claim 5, characterized in that, The signal output module includes a display unit, a lamp control unit, and a voice output unit. The signal output module calls the vehicle state information output by the main control module and displays the vehicle body swing state before and after the vehicle, vehicle positioning information, vehicle body power status, vehicle speed, and vehicle fault information through the display module. The voice output module outputs voice prompts for vehicle control operations based on the vehicle information and issues voice alarms for the vehicle's reverse, power shortage, and fault conditions. The lamp control unit includes turn signal control, reverse lamp control, night vision lamp control, and command feedback lamp control, and calls the vehicle state information and control commands to supplement the signal output of the display unit and the voice output unit with light prompts.

7. A swing three-wheel electric vehicle control system according to claim 6, characterized in that, The communication module includes a Bluetooth module, a 4G communication module, and a 5G communication module, covering the communication requirements of the vehicle from short distance to long distance; among them, the Bluetooth and 4G communication modules meet the low-speed transmission requirements for short and long distances, realizing data communication between the mobile terminal or PC and the swing three-wheel electric vehicle, and the 5G communication module meets the applications that require high-throughput data communication.

8. A control system for a swinging three-wheeled electric vehicle according to claim 7, characterized in that The positioning module uses the Beidou navigation module to obtain vehicle positioning information, connects to the main control module through the UART serial port, and returns the positioning information to the main control module. The positioning information can be sent to the terminal through the communication module after being received by the main control module.

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