Electric riding equipment, control methods and devices for electric riding equipment

Abstract

This specification provides an electric riding device, a control method for the electric riding device, and a device for controlling the electric riding device. Before implementation, an antenna box structure and a second circuit connected to a preset braking resistor can be introduced and installed in the existing electrical system of the electric riding device. During implementation, based on the aforementioned electric riding device, the state characteristic parameters of the electric riding device are acquired and a target operating mode matching the current state of the electric riding device is determined. Then, based on the aforementioned target operating mode, a matching target safety strategy is determined from multiple preset safety strategies. Finally, the operation of the electric riding device can be controlled according to the aforementioned state characteristic parameters and the target safety strategy. This allows for application to various different usage scenarios and operating modes, enabling safe and stable operation and control of the electric riding device at a lower cost, preventing damage to the electrical system of the electric riding device, and extending the service life of the electric riding device.

Description

Technical Field

[0001] This manual belongs to the field of electric vehicle technology, and in particular relates to electric riding equipment, control methods and devices for electric riding equipment. Background Technology

[0002] Currently, many electric riding devices are limited by factors such as cost, and their internal electrical systems are often relatively simple. This makes it easy for users to damage internal electrical components such as batteries and motors during use, thus affecting the lifespan of the electric riding devices.

[0003] Therefore, there is an urgent need for a method that can safely and stably operate and control electric riding equipment at a lower cost, thereby extending the service life of electric riding equipment. Summary of the Invention

[0004] This manual provides an electric riding device, a control method for the electric riding device, and a device that can be applied to various usage scenarios and working modes. It can safely and stably operate and control the electric riding device at a low cost, avoid damage to the electrical system of the electric riding device, and extend the service life of the electric riding device.

[0005] This specification provides an electric riding device, comprising at least: a battery, a controller, a preset braking resistor, a motor, an antenna box, and a battery management system; wherein, the battery management system is connected to the battery; the antenna box is connected to the controller via a first communication line, and the antenna box is connected to the battery management system via a second communication line; the controller is connected to the battery via a first circuit, the controller is connected to the preset braking resistor via a second circuit, and the controller is connected to the motor via a third circuit; the battery management system is used to collect battery parameters and send the battery parameters to the antenna box via the second communication line; the antenna box is used to process the battery parameters according to preset protocol rules and send the processed battery parameters to the controller via the first communication line; the controller is used to control the operation of the electric riding device by adjusting the current transport in the first, second, and third circuits according to the battery parameters and a corresponding target safety strategy.

[0006] This specification also provides a control method for an electric riding device, comprising: acquiring state characteristic parameters of the electric riding device; determining a target operating mode corresponding to the current state of the electric riding device based on the state characteristic parameters; determining a matching target safety policy from a plurality of preset safety policies based on the target operating mode; and controlling the operation of the electric riding device based on the state characteristic parameters and the target safety policy.

[0007] This specification also provides a control device for an electric riding device, comprising: an acquisition module for acquiring state characteristic parameters of the electric riding device; a determination module for determining a target operating mode corresponding to the current state of the electric riding device based on the state characteristic parameters; a matching module for determining a matching target safety policy from a plurality of preset safety policies based on the target operating mode; and a control module for controlling the operation of the electric riding device based on the state characteristic parameters and the target safety policy.

[0008] This specification also provides a computer storage medium storing computer instructions, which, when executed, perform the following steps: acquiring state characteristic parameters of an electric riding device; determining a target operating mode corresponding to the current state of the electric riding device based on the state characteristic parameters; determining a matching target safety policy from multiple preset safety policies based on the target operating mode; and controlling the operation of the electric riding device based on the state characteristic parameters and the target safety policy.

[0009] This specification provides an electric riding device, a control method for the electric riding device, and a device for controlling the electric riding device. Before implementation, an antenna box and a second circuit connected to a preset braking resistor can be introduced and installed into the existing electrical system architecture of the electric riding device. During implementation, based on the improved electric riding device, the target operating mode corresponding to the current state of the electric riding device can be determined by acquiring and analyzing the device's state characteristic parameters. Then, based on the target operating mode, a matching target safety strategy is determined from multiple preset safety strategies. Finally, the operation of the electric riding device can be precisely controlled based on the state characteristic parameters and the target safety strategy. This allows for application to various usage scenarios and operating modes, enabling safe and stable operation and control of the electric riding device at a relatively low cost, preventing impact and damage to the internal electrical system during operation, and extending the service life of the electric riding device. Attached Figure Description

[0010] To more clearly illustrate the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of one embodiment of the structural composition of the electric riding device provided in the embodiments of this specification;

[0012] Figure 2This is a flowchart illustrating a control method for an electric riding device provided in one embodiment of this specification.

[0013] Figure 3 This is a schematic diagram of the structural composition of an electronic device provided in one embodiment of this specification;

[0014] Figure 4 This is a schematic diagram of the structural composition of the control device of an electric riding device provided in one embodiment of this specification. Detailed Implementation

[0015] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0016] Considering existing electric riding devices such as two-wheeled and three-wheeled electric vehicles, unlike the more expensive four-wheeled electric vehicles, their internal electrical systems are generally simpler due to cost constraints. They support limited functions and often cannot simultaneously support multiple usage scenarios and functional modes, failing to provide effective protection for the internal electrical system in various situations. This makes it easy for users to damage the internal electrical system of electric riding devices during use, affecting their lifespan.

[0017] To address the root causes of the aforementioned problems and considering cost requirements, this specification provides an improved electric riding device. It requires minimal modification to the existing electrical system structure and incurs relatively low processing costs. Based on the original electrical system structure, an antenna box is introduced that connects both the controller and the battery management system via a communication line, providing the controller with battery parameters for subsequent control processing. Simultaneously, a protection circuit connected to a preset braking resistor is introduced and linked to the controller. This protection circuit allows for appropriate protection of the electrical system by adjusting the current transport in the circuit when necessary. Furthermore, multiple preset safety policies are pre-configured for various usage scenarios and operating modes. This allows the improved electric riding device to first accurately and automatically determine and identify the corresponding target operating mode by collecting and analyzing the device's state characteristic parameters. Then, based on the target operating mode, a matching target safety policy is selected from the multiple preset safety policies. Finally, the newly introduced improved structure is used to control the operation of the electric riding device according to the target safety policy. This allows the device to be well-suited for various usage scenarios and operating modes, and to operate and control the electric riding device safely and stably at a lower cost, preventing damage to the electrical system and extending the device's lifespan.

[0018] Based on the above considerations, please refer to Figure 1 As shown, this specification provides an electric device that may include at least the following structures: a battery (e.g., a lithium battery, which may be referred to as slave device 2), a controller (which may be referred to as slave device 1), a preset braking resistor, a motor (e.g., a brushless DC motor), an antenna box (which may be referred to as the master device), and a battery management system; wherein, the battery management system is connected to the battery; the antenna box is connected to the controller via a first communication line, and the antenna box is connected to the battery management system via a second communication line; the controller is connected to the battery via a first circuit, the controller is connected to the preset braking resistor via a second circuit, and the controller is connected to the motor via a third circuit;

[0019] The battery management system is used to collect battery parameters and send the battery parameters to the antenna box through the second communication line;

[0020] The antenna box is used to process the battery parameters according to preset protocol rules, and send the processed battery parameters to the controller through the first communication line;

[0021] The controller is used to control the operation of the electric riding device by adjusting the current transport in the first circuit, the second circuit, and the third circuit according to the battery parameters and the corresponding target safety strategy.

[0022] In some embodiments, the battery management system (BMS) described above can be connected to the battery to collect battery parameters in real time or at regular intervals (e.g., every 1 second).

[0023] The battery parameters mentioned above include at least the battery's maximum charging current. Furthermore, these battery parameters may also include other parameters related to the battery's state, such as maximum discharge current, undervoltage value, and pump-up voltage. This specification does not limit the inclusion of such parameters.

[0024] Specifically, the aforementioned battery management system can include two parts: a BMS chip and an MCU chip. Furthermore, the battery management system can be integrated inside the battery and connected to the battery cells.

[0025] In practice, the battery management system can first collect data such as cell temperature and SOC parameters from the battery, and then call a preset battery parameter algorithm to process the data to calculate the corresponding battery parameters. The battery management system can then send the calculated battery parameters to the antenna box in real time or periodically via a second communication line.

[0026] In some embodiments, the antenna box may be configured with preset protocol rules. These preset protocol rules may specifically include a first protocol rule matching the battery relationship system and a second protocol rule matching the controller. The antenna box may be connected via a first communication line and a second communication line (collectively referred to as the MODBUS bus) for information and data exchange.

[0027] It's important to note that the battery management system (BMS) uses a first protocol, meaning the battery parameters provided to the antenna box can be in a first data format (e.g., binary format) based on this protocol. However, the controller uses a second protocol, which differs from the first. Therefore, due to the existing electrical architecture, even if the controller can obtain the battery parameters from the BMS, it cannot directly read or use these parameters.

[0028] In practice, after receiving battery parameters in the first data format from the battery management system via the second communication line, the antenna box can first convert the battery parameters according to preset protocol rules to obtain battery parameters in the second data format based on the second protocol rules. Then, the antenna box can send the battery parameters in the second data format to the controller via the first communication line. In this way, the controller can directly read and use the obtained battery parameters.

[0029] In some embodiments, the controller may specifically incorporate an E-ABS electronic braking system, registers, and control circuitry.

[0030] Specifically, the aforementioned register can be used to store battery parameters transmitted by the antenna box. Furthermore, when storing these battery parameters in the register, a corresponding timestamp can be set for each stored battery parameter based on its reception time, thus distinguishing it from different battery parameters.

[0031] The aforementioned E-ABS electronic braking system utilizes the electronic commutation characteristics of a brushless system. By programming and controlling different motion states of the motor, it performs deceleration or braking operations. It also supports the recovery of regenerative energy generated during the above operations and charges the battery with the recovered regenerative energy in the form of electrical energy.

[0032] The aforementioned control circuit is used to control the specific operation of the controller.

[0033] In practical implementation, the controller can perform vehicle-battery matching in real-time or at set intervals, or upon triggering, to determine a matching and safe, reliable target control current parameter. This involves acquiring battery parameters from the register and extracting the maximum charging current. Then, based on the maximum charging current and a preset spike current, the target control current parameter for precisely controlling the E-ABS electronic braking system's operation and regenerative energy recovery is calculated. Furthermore, when necessary, this target control current parameter can be used as the upper limit of the E-ABS electronic braking system's processing current. This allows for precise control of the E-ABS electronic braking system during operation and regenerative energy recovery, while protecting the safety and stability of the electric riding device's internal electrical system and preventing impact and damage to the motor, battery, and other electrical components.

[0034] In some embodiments, the aforementioned vehicle-electric matching can be understood as a current matching method that determines a matching target control current parameter that meets the requirements by comprehensively considering the circuit conditions of the current electric riding device's electrical system and the recovered regenerative energy. Based on the target control current parameter, the E-ABS electronic braking system is activated and controlled. This enables automatic and precise recovery and utilization of regenerative energy during specific operational processes (e.g., deceleration, braking), while effectively protecting the electric riding device's electrical system and preventing damage to the internal circuit structure caused by the recovered regenerative energy.

[0035] In some embodiments, the controller can be connected to the battery via a first circuit, to a preset braking resistor via a second circuit, and to the motor via a third circuit. This allows the controller to selectively adjust the current transport characteristics of the first, second, and third circuits based on battery parameters and preset safety policies, thereby meeting diverse user needs and effectively controlling the electric riding device to operate safely and stably in various usage scenarios and working modes.

[0036] Specifically, for example, in some usage scenarios and operating modes, the battery needs to be discharged to drive the motor. At this time, the controller can control the second circuit to disconnect according to the target safety policy that matches the current target operating mode, and control the current to flow from the battery through the first and third circuits to the motor to drive the motor to run.

[0037] For example, in some usage scenarios and working modes, it is necessary to recover and utilize the regenerative energy generated by the motor. In this case, the controller can control the second circuit to disconnect according to the target safety strategy that matches the current target working mode, and control the recovered regenerative energy to flow out of the motor in the form of electrical energy through the third circuit and the first circuit, and flow into the battery to charge the battery.

[0038] For example, in some usage scenarios and working modes, it is necessary to release the excess abnormal energy recovered. In this case, the controller can control the second circuit (as a protective circuit) to be turned on according to the target safety strategy that matches the current target working mode, and control the abnormal energy to flow out of the motor in the form of electrical energy, through the third circuit and the second circuit, into the preset braking resistor and be released in the form of heat energy. This can prevent the abnormal energy from impacting and damaging the motor, battery and other structures in the electrical system.

[0039] For example, in some usage scenarios and operating modes, it is necessary to release excessive abnormal energy released by the battery due to circuit malfunction. In this case, the controller can control the second circuit to be turned on according to the target safety strategy that matches the current target operating mode, and control the abnormal energy to flow out of the battery in the form of electrical energy through the first and second circuits, and into the preset braking resistor to be released in the form of heat energy. This can prevent the abnormal energy from impacting and damaging the motor, battery and other structures in the electrical system.

[0040] In some embodiments, the controller may also pre-configure and store multiple preset security policies that correspond to multiple different operating modes.

[0041] In addition, the controller can also update multiple preset security policies stored locally by interacting with the cloud server of the relevant network platform.

[0042] Specifically, the cloud server can acquire and update multiple preset safety policies based on the operation records of electric riding devices collected during a certain period of time (e.g., one week), and generate corresponding update files. The update files are then provided to the controller via a wireless network to update the preset safety policies on the controller's local network.

[0043] In some embodiments, a preset MOSFET may be connected to the second circuit between the preset braking resistor and the controller. This preset MOSFET can be used to control the switching on and off of the second circuit.

[0044] In some embodiments, the aforementioned preset MOS transistor can also be a duty cycle adjustable MOS transistor, that is, it supports adjusting the duty cycle of the preset MOS transistor within a preset range.

[0045] Therefore, based on the above-mentioned preset MOSFET, in addition to controlling the on and off of the second circuit, the discharge power of the second circuit when discharging abnormal energy can also be changed by adjusting the preset duty cycle of the MOSFET. This allows for the targeted use of matching discharge power to specifically discharge abnormal energy according to specific circumstances and processing requirements.

[0046] Specifically, the aforementioned MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) can refer to a type of metal-oxide-semiconductor field-effect transistor, or simply a metal-oxide-semiconductor field-effect transistor.

[0047] In some embodiments, the aforementioned preset braking resistor is also connected to the external frame of the electric riding device to ground through the external frame of the electric riding device, thereby making it safer and more reliable to discharge abnormal energy through the preset braking resistor.

[0048] In some embodiments, the electric riding device may further include a state characteristic parameter acquisition device for acquiring state characteristic parameters of the electric riding device in real time or at regular intervals.

[0049] Specifically, the state characteristic parameters may include: the speed of the electric riding device, battery parameters, first circuit voltage, command parameters, etc.

[0050] Accordingly, the aforementioned status characteristic parameter acquisition device may specifically include one or more of the following: vehicle speed detector, HALL sensor installed on the motor, voltage detector installed in the first circuit, pressure sensor installed at the brake lever position, microphone for acquiring voice commands issued by the user, etc.

[0051] Of course, it should be noted that the state characteristic parameters and state characteristic parameter acquisition devices listed above are only illustrative. In actual implementation, more other types of state characteristic parameters and corresponding state characteristic parameter acquisition devices may be introduced depending on the specific circumstances and processing requirements. This specification does not limit this.

[0052] In some embodiments, the electric riding device may further include a processor. Specifically, the processor can be used to determine a target operating mode corresponding to the current state of the electric riding device based on currently collected state characteristic parameters; and then, based on the target operating mode, to determine a matching target safety policy for the controller from multiple preset safety policies. The controller can then control the electric riding device to operate safely and stably according to the target safety policy.

[0053] As can be seen from the above, the electric riding device provided in this specification takes into account the cost requirements of electric riding devices. Based on the original electrical system of the electric riding device, only an antenna box connected to the controller and battery management system via a first communication line and a second communication line respectively, and a second circuit connected to a preset braking resistor as a protection circuit, are introduced. This achieves an improvement to the electrical system of the electric riding device at a relatively low cost. Consequently, an electric riding device that is well-suited to various usage scenarios and operating modes, and operates safely and stably, can be obtained.

[0054] See Figure 2 As shown, this specification also provides a control method for the electric riding device, utilizing the aforementioned electric riding device. In specific implementation, this method may include the following:

[0055] S201: Obtain the status characteristic parameters of the electric riding device.

[0056] S202: Based on the state characteristic parameters, determine the target working mode corresponding to the current state of the electric riding device.

[0057] S203: Based on the target working mode, determine the matching target security policy from multiple preset security policies.

[0058] S204: Control the operation of the electric riding device according to the state characteristic parameters and the target safety strategy.

[0059] In some embodiments, the control process described above may be triggered and executed only when a change in the motion state of the electric riding device is detected.

[0060] In some embodiments, the state characteristic parameters may specifically include: the speed of the electric riding device, battery parameters, first circuit voltage, command parameters, etc. Of course, the state characteristic parameters listed above are merely illustrative. In specific implementations, other types of state characteristic parameters may be included depending on the specific circumstances and processing requirements.

[0061] In some embodiments, the battery parameters may specifically include: maximum charging current parameters, maximum discharging current parameters, undervoltage value parameters, etc.

[0062] In some embodiments, when a change in the motion state of the electric riding device is detected, the following battery parameter acquisition process is also triggered in parallel: the battery management system collects battery parameters in real time or periodically and sends the battery parameters to the antenna box; the antenna box, according to preset protocol rules, converts the battery parameters into a data format that matches the controller and then sends the battery parameters to the controller for subsequent use.

[0063] In some embodiments, the target operating mode may specifically include at least one of the following: a first type of undervoltage protection mode, a second type of undervoltage protection mode, a first type of deceleration mode, a second type of deceleration mode, a first type of braking mode, a second type of braking mode, an abnormal energy discharge mode, etc. Furthermore, depending on the specific circumstances and processing requirements, the above-mentioned target operating mode may also include, for example, a normal battery discharge mode, a pump-up voltage suppression mode, and other types of operating modes.

[0064] In some embodiments, the first type of undervoltage protection mode can be specifically understood as a preventative operating mode adopted when the battery's undervoltage parameter is greater than a preset undervoltage threshold. The second type of undervoltage protection mode can be specifically understood as a remedial operating mode adopted when the battery's undervoltage parameter is determined to be less than or equal to a preset undervoltage threshold. The first type of deceleration mode can be specifically understood as an operating mode that decelerates while simultaneously recovering and utilizing the regenerative energy generated during deceleration. The second type of deceleration mode can be specifically understood as an operating mode that decelerates without recovering and utilizing regenerative energy. The first type of braking mode can be specifically understood as an operating mode that brakes while simultaneously recovering and utilizing the regenerative energy generated during braking. The second type of braking mode can be specifically understood as an operating mode that brakes without recovering and utilizing regenerative energy. The abnormal energy discharge mode can be specifically understood as an operating mode that discharges abnormal energy present in the circuit of the electrical system.

[0065] Furthermore, the aforementioned normal battery discharge mode can be specifically understood as a working mode that controls battery discharge to drive motor operation. The aforementioned pump-up voltage suppression mode can be specifically understood as a working mode that suppresses and protects against pump-up voltage in the electrical system circuit caused by a sudden disconnection of the battery output.

[0066] In some embodiments, the aforementioned preset safety policy corresponds to at least one operating mode. Specifically, the preset safety policy may include rule data regarding how the controller should process data in the corresponding operating mode to maintain the safe and stable operation of the electric riding device.

[0067] Specifically, the preset security policy can be stored in the controller in the form of program code that the controller can read.

[0068] Furthermore, the controller can also store the matching relationship between preset security policies and working modes, as well as the determination rules for determining the working mode based on state feature parameters.

[0069] In some embodiments, before implementation, experimental testing of the electric riding device can be conducted to obtain a large amount of operational record data. This operational record data is then grouped according to usage scenarios and operating modes to obtain operational record data corresponding to each operating mode. Furthermore, clustering of state features can be performed on each group of operational record data to obtain a combination of state features corresponding to a specific operating mode, establishing a judgment rule for that operating mode. Simultaneously, training and learning can be performed on each group of operational record data to obtain a preset safety policy for that operating mode.

[0070] In some embodiments, determining a target operating mode matching the current state of the electric riding device based on the state characteristic parameters may specifically include: comparing the undervoltage value parameter with a preset undervoltage threshold; determining the target operating mode as a first type of undervoltage protection mode if the undervoltage value parameter is greater than or equal to the preset undervoltage threshold; and determining the target operating mode as a second type of undervoltage protection mode if the undervoltage value parameter is less than the preset undervoltage threshold. The preset undervoltage threshold can be obtained through pre-calibration testing, and its specific value can be set to 41.5V.

[0071] Through the above embodiments, by obtaining and utilizing the undervoltage value parameter in the battery parameters, it is possible to automatically and timely detect whether the dynamic undervoltage value of the battery is less than or equal to the preset undervoltage threshold, thereby accurately determining the corresponding working mode.

[0072] In some embodiments, when the target operating mode is determined to be a first type of undervoltage protection mode, the above-mentioned control of the electric riding device based on the state characteristic parameters and the target safety strategy may specifically include: correcting the undervoltage value parameter using a preset undervoltage correction parameter to obtain a corrected undervoltage value parameter; and executing the corrected undervoltage value parameter using the controller of the electric riding device.

[0073] In this embodiment, during specific implementation, a preset undervoltage correction parameter can be added to the measured undervoltage value parameter to correct the measured undervoltage value parameter, resulting in a corrected undervoltage value parameter. The corrected undervoltage value parameter is then returned to the controller's register so that the controller can subsequently execute the corrected undervoltage value parameter.

[0074] Specifically, the preset undervoltage correction parameter can be 0.5V. When the measured undervoltage value in the battery parameters is X, the corrected undervoltage value can be expressed as X + 0.5V.

[0075] Through the above embodiments, before the battery's undervoltage parameter is less than or equal to a preset undervoltage threshold, the undervoltage parameter can be specifically corrected and the corrected undervoltage parameter can be executed to prevent the battery from suddenly failing to discharge due to an excessively low undervoltage parameter.

[0076] In some embodiments, when the target operating mode is determined to be a second type of undervoltage protection mode, the above-mentioned control of the electric riding device operation based on the state characteristic parameters and the target safety strategy may specifically include the following: resetting the undervoltage value parameter using a preset undervoltage value to obtain the reset undervoltage value parameter; and executing the reset undervoltage value parameter using the controller of the electric riding device.

[0077] In this embodiment, a preset undervoltage value can be used to replace the measured undervoltage value parameter that is less than or equal to the preset undervoltage threshold, as the reset undervoltage value parameter. The reset undervoltage value parameter is then returned to the controller's register so that the controller can execute the reset undervoltage value parameter in the future. Specifically, the preset undervoltage value can be set to 42V.

[0078] Through the above embodiments, when the measured undervoltage value parameter of the battery is found to be less than or equal to the preset undervoltage threshold, the preset undervoltage value parameter can be used to reset it in a timely manner, thereby enabling corresponding remedial processing.

[0079] In some embodiments, determining a target operating mode that matches the current state of the electric riding device based on the state characteristic parameters may include the following: comparing the speed of the electric riding device with a preset speed limit and a preset speed limit threshold; wherein the preset speed limit is greater than the preset speed limit threshold; if the speed is greater than the preset speed limit threshold but less than the preset speed limit, the target operating mode is determined to be a first type of deceleration mode; if the speed is greater than or equal to the preset speed limit, the target operating mode is determined to be a second type of deceleration mode.

[0080] In this embodiment, the aforementioned preset upper speed limit can be understood as the speed value corresponding to the maximum regenerative energy that the battery can recover and utilize during deceleration, determined through experimental testing of the electric riding device. If the electric riding device is still controlled to recover and utilize regenerative energy during deceleration when the vehicle speed exceeds the aforementioned preset upper speed limit, it will easily damage the battery. Specifically, the aforementioned preset upper speed limit can be 37 km / h.

[0081] In this embodiment, the aforementioned preset speed limit can be determined based on traffic rules and / or a user-defined target speed limit level. In practice, a hysteresis algorithm can also be introduced and utilized to determine the preset speed limit threshold based on the target speed limit level.

[0082] Through the above embodiments, the speed of the electric riding device can be obtained and used to accurately and automatically detect and determine whether deceleration is required, and which working mode to use for deceleration.

[0083] In some embodiments, when the target operating mode is determined to be the first type of deceleration mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy. Specifically, this may include: determining the corresponding target control current parameter based on the maximum charging current parameter; then using the target control current parameter as the upper limit value of the deceleration current of the E-ABS electronic braking system, starting and using the E-ABS electronic braking system for deceleration; and recovering regenerative energy during the deceleration process.

[0084] Through the above embodiments, when it is determined that regenerative energy recovery and utilization should be carried out while decelerating, the target control current parameters that are matched, safe and reliable can be accurately determined through vehicle-electric matching; then, the target control current parameters can be used to safely and stably control the E-ABS electronic braking system to recover and utilize regenerative energy while decelerating.

[0085] In some embodiments, considering that when the E-ABS electronic braking system is activated and deceleration is performed, the battery discharge is usually stopped first, which may result in a pump-generated voltage that could threaten the circuitry of the electrical system.

[0086] Therefore, after activating and utilizing the E-ABS electronic braking system for deceleration, the method may further include the following: detecting whether a pump-up voltage occurs in the first circuit; if a pump-up voltage is detected in the first circuit, acquiring a pump-up voltage parameter; comparing the pump-up voltage parameter with a preset pump-up voltage threshold; and if it is determined that the pump-up voltage parameter is greater than or equal to the preset pump-up voltage threshold (i.e., determining the operating mode as pump-up voltage suppression mode), shutting down the E-ABS electronic braking system (according to a target safety strategy matching the pump-up voltage suppression mode). The specific value of the preset pump-up voltage can be 75V. The preset pump-up voltage can be obtained in advance through testing and calibration of the electric riding device.

[0087] In this embodiment, after the E-ABS electronic braking system is turned off, the mechanical braking system can be activated and used to replace the E-ABS electronic braking system for deceleration.

[0088] Through the above embodiments, the pump-up voltage that occurs during the deceleration process can be automatically and accurately detected, and targeted suppression of the pump-up voltage can be carried out, thereby better protecting the safe and stable operation of electric riding equipment.

[0089] In some embodiments, when the target operating mode is determined to be the second type of deceleration mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy. In specific implementation, this may include: determining not to activate the E-ABS electronic braking system, but to activate and utilize the mechanical braking system for specific deceleration, while not recovering and utilizing regenerative energy.

[0090] Through the above embodiments, the impact and damage to the electrical system caused by the recycling of regenerative energy generated during deceleration when the vehicle speed is too high can be effectively avoided, thereby protecting the stability and safety of the electric riding equipment.

[0091] In some embodiments, determining the target operating mode that matches the current state of the electric riding device based on the state characteristic parameters may include the following: based on the instruction parameters, if it is determined that the user has initiated a braking command, obtaining the speed of the electric riding device and comparing the speed of the electric riding device with a preset speed limit; if it is determined that the speed is less than the preset speed limit, determining the target operating mode as a first type of braking mode; if it is determined that the speed is greater than or equal to the preset speed limit, determining the target operating mode as a second type of braking mode.

[0092] In this embodiment, the aforementioned instruction parameters can specifically be trigger commands generated based on pressure change data collected by a pressure sensor located at the brake lever position. Specifically, the pressure change data between adjacent time points collected by the pressure sensor is used to determine whether the pressure on the brake lever has changed, thereby determining whether the user has squeezed the brake lever. If it is determined that the user has squeezed the brake lever, it can be determined that the user has initiated a braking operation, and a corresponding trigger command to indicate the braking operation can be generated.

[0093] The aforementioned command parameters can be trigger commands generated based on voice data collected by the microphone. Specifically, the microphone can be turned on to collect the user's voice data, and semantic keyword recognition can be performed on the voice data; if the keyword "brake" is recognized, it is determined that the user has initiated a braking operation, and then a corresponding trigger command to instruct the braking operation can be generated.

[0094] Through the above embodiments, the speed of the electric riding device can be automatically detected and determined with relatively accurate accuracy, and whether braking is required, as well as which working mode to use for braking.

[0095] In some embodiments, considering that when the E-ABS electronic braking system is activated and braking is performed, the battery discharge is usually stopped first, which may cause the pumped voltage to threaten the circuitry of the electrical system.

[0096] Therefore, after activating and utilizing the E-ABS electronic braking system for braking, the method may further include the following: detecting whether a pump-up voltage occurs in the first circuit; if a pump-up voltage is detected in the first circuit, acquiring pump-up voltage parameters; comparing the pump-up voltage parameters with a preset pump-up voltage threshold; and if it is determined that the pump-up voltage parameters are greater than or equal to the preset pump-up voltage threshold (i.e., determining the operating mode as pump-up voltage suppression mode), deactivating the E-ABS electronic braking system (according to a target safety strategy matching the pump-up voltage suppression mode). This allows the mechanical braking system to be activated and used instead of the E-ABS electronic braking system for braking.

[0097] Through the above embodiments, the pump-up voltage that occurs during the braking process can be automatically and accurately detected, and targeted suppression of the pump-up voltage can be carried out, thereby better protecting the safe and stable operation of electric riding equipment.

[0098] In some embodiments, when the target operating mode is determined to be the second type of braking mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy. In specific implementation, this may include: determining not to activate the E-ABS electronic braking system, but to activate and utilize the mechanical braking system for specific braking, while not recovering and utilizing regenerative energy during the braking process.

[0099] Through the above embodiments, the impact and damage to the electrical system caused by the recycling of regenerative energy generated during braking can be effectively avoided when the vehicle speed is too high, thereby protecting the stability and safety of the electric riding equipment.

[0100] In some embodiments, when the E-ABS electronic braking system is activated and used for deceleration, and the regenerative energy generated during deceleration is recovered and reused (or when the E-ABS electronic braking system is activated and used for braking, and the regenerative energy generated during braking is recovered and reused), excessive abnormal energy may appear in the electrical system circuit, causing impact and damage to the electrical structures such as the motor and battery in the circuit. To protect the safety and stability of the electrical system, the above-mentioned determination of a target operating mode matching the current state of the electric riding device based on the state characteristic parameters may, in specific implementation, include the following: comparing the first circuit voltage with a preset voltage threshold; if it is determined that the first circuit voltage is greater than the preset voltage threshold, determining the target operating mode as an abnormal energy discharge mode.

[0101] Specifically, the preset voltage threshold can be set to 60V. However, the preset voltage thresholds listed above are merely illustrative. In practice, other suitable voltage values ​​can be set as preset voltage thresholds depending on the specific circumstances and processing requirements. This specification does not limit this setting.

[0102] Through the above embodiments, it is possible to monitor and detect whether abnormal energy has appeared in the circuit based on the first circuit voltage between the controller and the battery, so that the detected abnormal energy can be discharged in a timely manner to protect the circuit safety.

[0103] In some embodiments, when the target operating mode is determined to be an abnormal energy discharge mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy. In specific implementation, this may include the following: using the controller of the electric riding device to connect a second circuit, and discharging the abnormal energy in the form of heat through a preset braking resistor in the second circuit.

[0104] Through the above embodiments, when abnormal energy is detected in the circuit, the second circuit can be connected in time and used as a protection circuit to introduce the abnormal energy into the second circuit and release it as heat through the preset braking resistor. This can effectively protect the stability and safety of the circuit and prevent the electrical structures such as batteries and motors in the circuit from being impacted and damaged by abnormal energy.

[0105] As can be seen from the above, based on the control method for the electric riding device provided in the embodiments of this specification, before specific implementation, the electrical system of the electric riding device can be improved accordingly at a lower cost: based on the original electrical system, an antenna box and a second circuit connected to a preset braking resistor are introduced and connected; in specific implementation, the electric riding device with the improved electrical system can be used to obtain and determine a target operating mode matching the current state of the electric riding device based on the state characteristic parameters of the electric riding device; then, based on the target operating mode, a matching target safety strategy is determined from multiple preset safety strategies; and then, based on the state characteristic parameters and the target safety strategy, the specific operation of the electric riding device can be controlled. This can comprehensively meet the diverse usage needs of users and control the electric riding device to operate safely and stably based on the corresponding safety strategy, making it suitable for various different usage scenarios and operating modes. This effectively avoids damage to the internal electrical system of the electric riding device during operation and extends the service life of the electric riding device.

[0106] This specification also provides an electronic device, including a processor and a memory for storing processor-executable instructions. Specifically, the processor can perform the following steps according to the instructions: acquiring state characteristic parameters of an electric riding device; determining a target operating mode corresponding to the current state of the electric riding device based on the state characteristic parameters; determining a matching target security policy from a plurality of preset security policies based on the target operating mode; and controlling the operation of the electric riding device based on the state characteristic parameters and the target security policy.

[0107] To execute the above instructions more accurately, please refer to... Figure 3As shown in the embodiments of this specification, another specific electronic device is also provided, which can be applied to an electric riding device and is connected to the controller, motor, battery, antenna box, and battery management system of the electric riding device.

[0108] Specifically, the electronic device includes the following structure: a network communication port, a processor, and a memory. These structures are connected by internal cables so that they can perform specific data interaction.

[0109] Specifically, the network communication port can be used to acquire the status characteristic parameters of the electric riding device.

[0110] Specifically, the processor can be used to determine a target operating mode corresponding to the current state of the electric riding device based on the state feature parameters; determine a matching target safety policy from multiple preset safety policies based on the target operating mode; and control the operation of the electric riding device based on the state feature parameters and the target safety policy.

[0111] Specifically, the memory can be used to store the corresponding instruction program.

[0112] In this embodiment, the network communication port can be a virtual port bound to different communication protocols, thereby enabling the sending or receiving of different data. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. Furthermore, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM or CDMA; it can also be a Wi-Fi chip; or it can be a Bluetooth chip.

[0113] In this embodiment, the processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This specification is not limiting.

[0114] In this embodiment, the memory may include multiple layers. In a digital system, anything that can store binary data can be a memory. In an integrated circuit, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0115] This specification also provides a computer storage medium based on the control method for the electric riding device described above. The computer storage medium stores computer program instructions, which, when executed, perform the following: acquiring state characteristic parameters of the electric riding device; determining a target operating mode corresponding to the current state of the electric riding device based on the state characteristic parameters; determining a matching target safety policy from multiple preset safety policies based on the target operating mode; and controlling the operation of the electric riding device based on the state characteristic parameters and the target safety policy.

[0116] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0117] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained in comparison with other implementation methods, and will not be repeated here.

[0118] See Figure 4 As shown, at the software level, this specification also provides a control device for an electric riding device, which may specifically include the following structural modules:

[0119] The acquisition module 401 can be used to acquire the state characteristic parameters of electric riding equipment.

[0120] The determining module 402 can be specifically used to determine the target working mode corresponding to the current state of the electric riding device based on the state characteristic parameters.

[0121] The matching module 403 can be specifically used to determine a matching target security policy from multiple preset security policies based on the target working mode.

[0122] The control module 404 can be used to control the operation of the electric riding device according to the state characteristic parameters and the target safety policy.

[0123] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described by dividing them into various modules according to their functions. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection between the devices or units shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0124] As can be seen from the above, the control device for electric riding equipment provided in the embodiments of this specification can be applied to a variety of different usage scenarios and working modes at a lower cost. It can safely and stably operate and control the electric riding equipment at a lower cost, avoid damage to the electrical system of the electric riding equipment, and extend the service life of the electric riding equipment.

[0125] While this specification provides the steps of operation for the methods described in the embodiments or flowcharts, more or fewer steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible order of execution among many steps and does not represent the only possible order. In actual device or client product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any particular order.

[0126] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0127] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0128] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this specification can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of this specification can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of this specification.

[0129] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. This specification can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0130] Although this specification has been described by way of examples, those skilled in the art will recognize that many variations and modifications are possible without departing from the spirit of this specification, and it is intended that the appended claims cover such variations and modifications without departing from the spirit of this specification.

Claims

1. An electric riding device, comprising at least: The system comprises a battery, a controller, a preset braking resistor, a motor, an antenna box, and a battery management system; wherein the battery management system is connected to the battery; the antenna box is connected to the controller via a first communication line, and the antenna box is connected to the battery management system via a second communication line; the controller is connected to the battery via a first circuit, the controller is connected to the preset braking resistor via a second circuit, and the controller is connected to the motor via a third circuit; the second circuit is also connected to a MOSFET with an adjustable duty cycle. The battery management system is used to collect battery parameters and send the battery parameters to the antenna box through the second communication line; The antenna box is used to process the battery parameters according to preset protocol rules, and send the processed battery parameters to the controller through the first communication line; The controller is used to control the operation of the electric riding device by adjusting the current transport in the first, second, and third circuits according to the battery parameters and the corresponding target safety strategy. This includes at least: comparing the speed of the electric riding device with a preset upper speed limit and a preset speed limit threshold; determining the target operating mode as a first-type deceleration mode when the speed is greater than the preset speed limit threshold but less than the preset upper speed limit; and determining the target operating mode as a second-type deceleration mode when the speed is greater than or equal to the preset upper speed limit. The first-type deceleration mode is a mode that decelerates while simultaneously recovering and utilizing the regenerative energy generated during deceleration; the second-type deceleration mode is a mode that decelerates without recovering and utilizing regenerative energy. When the target operating mode is the first-type deceleration mode, based on... Based on the maximum charging current parameter, the corresponding target control current parameter is determined; then, the target control current parameter is used as the upper limit of the deceleration current of the E-ABS electronic braking system, and the E-ABS electronic braking system is started and used for deceleration; during the deceleration process, regenerative energy is recovered; and after the E-ABS electronic braking system is started and used for deceleration, whether a pump-up voltage appears in the first circuit is detected; if a pump-up voltage is detected in the first circuit, the pump-up voltage parameter is collected; and the pump-up voltage parameter is compared with a preset pump-up voltage threshold; if it is determined that the pump-up voltage parameter is greater than or equal to the preset pump-up voltage threshold, the E-ABS electronic braking system is shut down; and the mechanical braking system is started and used to replace the E-ABS electronic braking system for deceleration.

2. A control method for an electric riding device, comprising: Acquire state characteristic parameters of an electric riding device; wherein the electric riding device includes at least: a battery, a controller, a preset braking resistor, a motor, an antenna box, and a battery management system; wherein the battery management system is connected to the battery; the antenna box is connected to the controller via a first communication line, and the antenna box is connected to the battery management system via a second communication line; the controller is connected to the battery via a first circuit, the controller is connected to the preset braking resistor via a second circuit, and the controller is connected to the motor via a third circuit; the second circuit is also connected to a MOSFET with an adjustable duty cycle; Based on the state characteristic parameters, a target operating mode corresponding to the current state of the electric riding device is determined; this includes: comparing the speed of the electric riding device with a preset speed limit and a preset speed threshold; if the speed is greater than the preset speed threshold but less than the preset speed limit, the target operating mode is determined to be a first-type deceleration mode; if the speed is greater than or equal to the preset speed limit, the target operating mode is determined to be a second-type deceleration mode; wherein, the first-type deceleration mode is a working mode that decelerates while simultaneously recovering and utilizing the regenerative energy generated during deceleration; the second-type deceleration mode is a working mode that decelerates without recovering and utilizing regenerative energy. Based on the target operating mode, a matching target security policy is determined from multiple preset security policies; Based on the state characteristic parameters and the target safety strategy, the operation of the electric riding device is controlled, including: when the target operating mode is the first type of deceleration mode, determining the corresponding target control current parameter based on the maximum charging current parameter; then using the target control current parameter as the upper limit value of the deceleration current of the E-ABS electronic braking system, starting and utilizing the E-ABS electronic braking system for deceleration; and recovering regenerative energy during the deceleration process; and after starting and utilizing the E-ABS electronic braking system for deceleration, detecting whether a pump-up voltage occurs in the first circuit; if a pump-up voltage is detected in the first circuit, collecting the pump-up voltage parameter; and comparing the pump-up voltage parameter with a preset pump-up voltage threshold; if it is determined that the pump-up voltage parameter is greater than or equal to the preset pump-up voltage threshold, shutting down the E-ABS electronic braking system; and starting and utilizing the mechanical braking system to replace the E-ABS electronic braking system for deceleration.

3. The method according to claim 2, wherein the state characteristic parameters include: The speed, battery parameters, and first circuit voltage of the electric riding device; And / or, the battery parameters include: maximum charging current parameter, maximum discharging current parameter, and undervoltage value parameter; And / or, the target operating mode includes at least one of the following: a first type of undervoltage protection mode, a second type of undervoltage protection mode, a first type of deceleration mode, a second type of deceleration mode, a first type of braking mode, a second type of braking mode, and an abnormal energy discharge mode.

4. The method according to claim 3, wherein determining a target operating mode matching the current state of the electric riding device based on the state characteristic parameters includes: The undervoltage value parameter is compared with a preset undervoltage threshold. If the undervoltage value parameter is determined to be greater than or equal to the preset undervoltage threshold, the target operating mode is determined to be the first type of undervoltage protection mode. If the undervoltage value parameter is determined to be less than the preset undervoltage threshold, the target operating mode is determined to be the second type of undervoltage protection mode.

5. The method according to claim 4, wherein when the target operating mode is determined to be a first type of undervoltage protection mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy, comprising: The undervoltage value parameter is corrected using a preset undervoltage correction parameter to obtain the corrected undervoltage value parameter; The corrected undervoltage parameter is executed using the controller of the electric riding device.

6. The method according to claim 4, wherein when the target operating mode is determined to be a second type of undervoltage protection mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy, comprising: The undervoltage value parameter is reset using a preset undervoltage value to obtain the reset undervoltage value parameter; The reset undervoltage value parameter is executed using the controller of the electric riding device.

7. The method according to claim 2, after activating and utilizing the E-ABS electronic braking system for deceleration, the method further includes: Detect whether a pump-up voltage appears in the first circuit; If a pump-up voltage is detected in the first circuit, the pump-up voltage parameter is acquired; and the pump-up voltage parameter is compared with a preset pump-up voltage threshold. If the pump-up voltage parameter is determined to be greater than or equal to a preset pump-up voltage threshold, the E-ABS electronic braking system is deactivated.

8. The method according to claim 3, further comprising determining a target operating mode matching the current state of the electric riding device based on the state characteristic parameters: The voltage of the first circuit is compared with a preset voltage threshold. If the voltage of the first circuit is determined to be greater than the preset voltage threshold, the target operating mode is determined to be the abnormal energy discharge mode.

9. The method according to claim 8, wherein when the target operating mode is determined to be an abnormal energy discharge mode, the operation of the electric riding device is controlled according to the state characteristic parameters and the target safety strategy, comprising: The controller of the electric riding device is used to connect the second circuit, and the abnormal energy is released in the form of heat through the preset braking resistor in the second circuit.

10. A control device for an electric riding device, comprising: An acquisition module is used to acquire state characteristic parameters of an electric riding device. The electric riding device includes at least: a battery, a controller, a preset braking resistor, a motor, an antenna box, and a battery management system. The battery management system is connected to the battery. The antenna box is connected to the controller via a first communication line and to the battery management system via a second communication line. The controller is connected to the battery via a first circuit, to the preset braking resistor via a second circuit, and to the motor via a third circuit. The second circuit also connects to a MOSFET with an adjustable duty cycle. The determination module is used to determine the target working mode corresponding to the current state of the electric riding device based on the state characteristic parameters. The matching module is used to determine a matching target security policy from multiple preset security policies based on the target working mode. The control module is used to control the operation of the electric riding device according to the state characteristic parameters and the target safety policy; Specifically, the determining module compares the speed of the electric riding device with a preset speed limit and a preset speed threshold. If the speed is greater than the preset speed threshold but less than the preset speed limit, the target operating mode is determined to be the first type of deceleration mode. If the speed is greater than or equal to the preset speed limit, the target operating mode is determined to be the second type of deceleration mode. The first type of deceleration mode is a mode that decelerates while simultaneously recovering and utilizing the regenerative energy generated during deceleration. The second type of deceleration mode is a mode that decelerates without recovering and utilizing regenerative energy. The control module is specifically used for: when the target operating mode is the first type of deceleration mode, determining the corresponding target control current parameter based on the maximum charging current parameter; then using the target control current parameter as the upper limit value of the deceleration current of the E-ABS electronic braking system, starting and utilizing the E-ABS electronic braking system for deceleration; and recovering regenerative energy during the deceleration process; and, after starting and utilizing the E-ABS electronic braking system for deceleration, detecting whether a pump-up voltage appears in the first circuit; if a pump-up voltage is detected in the first circuit, acquiring the pump-up voltage parameter; comparing the pump-up voltage parameter with a preset pump-up voltage threshold; if it is determined that the pump-up voltage parameter is greater than or equal to the preset pump-up voltage threshold, shutting down the E-ABS electronic braking system; and starting and utilizing the mechanical braking system to replace the E-ABS electronic braking system for deceleration.

11. A computer storage medium having stored thereon computer instructions that, when executed, perform the steps of the method according to any one of claims 2 to 9.

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