Vehicle speed control method, device and electric riding equipment

Abstract

The present specification provides a vehicle speed control method, device and electric riding equipment. Based on the method, before implementation, a preset first vehicle speed threshold interval can be introduced and used in advance to determine a target speed limit gear of a target electric riding equipment according to a hysteresis algorithm; during implementation, it can be detected whether the current vehicle speed of the target electric riding equipment is greater than the vehicle speed in the preset first vehicle speed threshold interval; in the case of determining that it is greater than the vehicle speed in the preset first vehicle speed threshold interval, it is further detected whether the current vehicle speed is less than a preset vehicle speed upper limit value; in the case of determining that it is less than the preset vehicle speed upper limit value, deceleration processing can be performed according to a preset deceleration processing rule; and during the deceleration process, regenerative energy recovery is performed. Thus, automatic triggering of deceleration processing for the target electric riding equipment can be realized, and the recovery of the regenerative amount generated during the deceleration process can be realized, and the jerk during the deceleration process can also be effectively reduced, and the riding experience of the user can be improved.

Description

Technical Field

[0001] This manual pertains to the field of electric vehicle technology, and particularly relates to vehicle speed control methods, devices, and electric riding equipment. Background Technology

[0002] Currently, apart from four-wheel drive electric vehicles, most electric riding devices (such as two-wheeled electric vehicles, which have relatively simple structures and low costs) do not support automatic deceleration or the automatic recovery of regenerative energy generated by the motor (e.g., a brushless DC motor) during deceleration. Furthermore, based on existing speed control methods, deceleration of electric riding devices can easily produce a jerky feeling, affecting the user's riding experience.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This manual provides a speed control method, device, and electric riding equipment to automatically trigger deceleration for the target electric riding equipment, recover the regenerative energy generated during deceleration, and effectively reduce the jerking sensation during deceleration, thereby improving the user's riding experience.

[0005] This specification provides a vehicle speed control method applied to a target electric riding device, comprising: detecting whether the current vehicle speed is greater than a speed within a preset first speed threshold range; wherein the preset first speed threshold range is a threshold range determined by pre-calling a hysteresis algorithm based on the target speed limit gear of the target electric riding device; if the current vehicle speed is determined to be greater than a speed within the preset first speed threshold range, detecting whether the current vehicle speed is less than a preset upper speed limit value; wherein the preset upper speed limit value is determined based on the battery status of the target electric riding device; if the current vehicle speed is determined to be less than the preset upper speed limit value, performing corresponding deceleration processing on the target electric riding device according to preset deceleration processing rules; and recovering regenerative energy during the deceleration process.

[0006] This specification also provides a vehicle speed control method applied to a target electric riding device, comprising: detecting whether the current vehicle speed is greater than a preset third vehicle speed threshold; wherein the preset third vehicle speed threshold is a vehicle speed threshold determined based on the target speed limit gear of the target electric riding device; if it is determined that the current vehicle speed is greater than the preset third vehicle speed threshold, detecting whether the current vehicle speed is less than a preset upper speed limit; if it is determined that the current vehicle speed is less than the preset upper speed limit, performing corresponding deceleration processing on the target electric riding device according to a preset deceleration processing rule; and performing regenerative energy recovery during the deceleration processing; wherein the preset deceleration processing rule is a deceleration processing rule based on vehicle-battery matching.

[0007] This specification also provides a vehicle speed control device, comprising: a first detection module, used to detect whether the current vehicle speed is greater than a preset first vehicle speed threshold range; wherein the preset first vehicle speed threshold range is a threshold range determined by pre-calling a hysteresis algorithm based on the target speed limit gear of the target electric riding device; a second detection module, used to detect whether the current vehicle speed is less than a preset upper speed limit value when it is determined that the current vehicle speed is greater than the preset first vehicle speed threshold range; wherein the preset upper speed limit value is determined based on the battery status of the target electric riding device; and a deceleration module, used to perform corresponding deceleration processing on the target electric riding device according to a preset deceleration processing rule when it is determined that the current vehicle speed is less than the preset upper speed limit value; and to perform regenerative energy recovery during the deceleration process.

[0008] This specification also provides an electric riding device, including: a processor and a memory for storing processor-executable instructions. When the processor executes the instructions, it performs the following steps: detecting whether the current vehicle speed is greater than a speed within a preset first speed threshold range; wherein, the preset first speed threshold range is a threshold range determined by pre-calling a hysteresis algorithm based on the target speed limit of the target electric riding device; if it is determined that the current vehicle speed is greater than a speed within the preset first speed threshold range, detecting whether the current vehicle speed is less than a preset upper speed limit; wherein, the preset upper speed limit is determined based on the battery status of the target electric riding device; if it is determined that the current vehicle speed is less than the preset upper speed limit, performing corresponding deceleration processing on the target electric riding device according to preset deceleration processing rules; and recovering regenerative energy during the deceleration process.

[0009] This specification also provides a computer storage medium storing computer instructions, which, when executed, perform the following: detecting whether the current vehicle speed is greater than a preset first speed threshold interval; wherein the preset first speed threshold interval is a threshold interval determined by pre-calling a hysteresis algorithm based on the target speed limit of the target electric riding device; if the current vehicle speed is determined to be greater than a speed within the preset first speed threshold interval, detecting whether the current vehicle speed is less than a preset upper speed limit; wherein the preset upper speed limit is determined based on the battery status of the target electric riding device; if the current vehicle speed is determined to be less than the preset upper speed limit, performing corresponding deceleration processing on the target electric riding device according to preset deceleration processing rules; and recovering regenerative energy during the deceleration process.

[0010] This specification provides a speed control method, device, and electric riding device. Based on this method, before implementation, a hysteresis algorithm can be pre-introduced and used to determine a preset first speed threshold range containing multiple speeds according to the target speed limit gear of the target electric riding device. During implementation, it can first detect whether the current speed of the target electric riding device is greater than the speed within the preset first speed threshold range. If the current speed is greater than the speed within the preset first speed threshold range, it can further detect whether the current speed is less than a preset upper speed limit determined based on the battery state of the target electric riding device. If the current speed is less than the preset upper speed limit, it can be determined that regenerative energy can be recovered while decelerating. Then, according to a preset deceleration processing rule based on vehicle-battery matching, a matching deceleration process is performed on the target electric riding device. During the deceleration process, regenerative energy generated by the motor, etc., is recovered and utilized. This enables automatic triggering of deceleration processing for the target electric riding device and recovery of regenerative energy generated during deceleration, effectively reducing the jerking sensation during deceleration and improving the user's riding experience. Attached Figure Description

[0011] 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.

[0012] Figure 1 This is a schematic flowchart of a vehicle speed control method provided in one embodiment of this specification;

[0013] Figure 2 This is a schematic diagram illustrating one embodiment of the vehicle speed control method provided in this specification, applied in a scenario example.

[0014] Figure 3 This is a schematic flowchart of a vehicle speed control method provided in one embodiment of this specification;

[0015] Figure 4 This is a schematic diagram of the structural composition of an electric riding device provided in one embodiment of this specification;

[0016] Figure 5 This is a schematic diagram of the structural composition of a vehicle speed control device provided in one embodiment of this specification. Detailed Implementation

[0017] 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.

[0018] Existing speed control methods are typically designed for four-wheel-drive electric vehicles. However, for electric riding devices such as two-wheeled electric vehicles, which have relatively simple structures and low costs, existing speed control methods are clearly unsuitable due to limitations in device structure and cost. This makes it difficult for existing speed control methods to automatically trigger deceleration for these relatively simple and low-cost electric riding devices, and to automatically recover the regenerative energy generated during deceleration.

[0019] Furthermore, based on existing speed control methods, the speed can easily oscillate around a certain threshold during deceleration. This causes the electric riding device to start decelerating, stop decelerating, and then start decelerating again, resulting in a noticeable jolt for the user, similar to the sudden on-off movement, which negatively impacts the riding experience.

[0020] To address the root cause of the aforementioned problems, this specification proposes pre-introducing and utilizing a hysteresis algorithm to determine two preset speed threshold intervals—a first and a second—each containing multiple vehicle speeds, based on the target speed limit of the target electric riding device, instead of one or two discrete speed thresholds. The speeds within the first speed threshold interval are greater than the speeds within the preset second speed threshold interval.

[0021] During the user's ride, the system automatically collects the current speed of the target electric riding device and checks if it exceeds a preset first speed threshold range. Only if the current speed exceeds this threshold range will subsequent deceleration according to preset deceleration rules be triggered. Based on these rules, regenerative energy recovery can be performed safely and reliably during deceleration. Furthermore, during deceleration, the system collects the decelerated speed at preset time intervals and checks if it falls below a preset second speed threshold range. Only if the decelerated speed falls below this threshold range will the E-ABS electronic braking system be deactivated, stopping the deceleration of the target electric riding device.

[0022] In this way, on the one hand, it can realize automatic triggering of deceleration processing for the target electric riding device and recovery of the regenerative energy generated during the deceleration process; on the other hand, it can also reduce the phenomenon of deceleration starting and stopping intermittently during the deceleration process, effectively reducing the jerking feeling experienced by the user during riding and improving the user's riding experience.

[0023] See Figure 1 As shown in the embodiments of this specification, a vehicle speed control method is provided. Specifically, this method is applied to one side of a target electric riding device. In specific implementation, the method may include the following:

[0024] S101: Detect whether the current vehicle speed is greater than the speed in the preset first vehicle speed threshold range; wherein, the preset first vehicle speed threshold range is a threshold range determined by calling the hysteresis algorithm in advance based on the target speed limit of the target electric riding device;

[0025] S102: If it is determined that the current vehicle speed is greater than the speed in the preset first vehicle speed threshold range, detect whether the current vehicle speed is less than the preset vehicle speed upper limit value; wherein, the preset vehicle speed upper limit value is determined according to the battery status of the target electric riding device.

[0026] S103: When it is determined that the current vehicle speed is less than the preset upper limit of vehicle speed, the target electric riding device is decelerated according to the preset deceleration processing rules; and during the deceleration process, regenerative energy is recovered.

[0027] In some embodiments, the aforementioned target electric riding device can be specifically understood as a riding device used by a user for riding, using electricity as a power source; and, unlike four-wheel drive electric vehicles, it is a riding device with a relatively simple structure and relatively low cost. Specifically, for example, it can be a two-wheeled electric vehicle, a three-wheeled electric vehicle, etc.

[0028] In some embodiments, a speed sensor may be pre-installed on the target electric riding device. When a user begins riding the target electric riding device, the speed sensor can be activated to collect the speed of the target electric riding device in real time.

[0029] In some embodiments, before riding, users can bind their devices (e.g., smartphones, tablets, smartwatches, etc.) to the target riding device using a terminal device with a built-in speed sensor or GPS locator. Accordingly, the speed of the target electric riding device can be obtained by collecting and using the speed data or GPS location data from the terminal device.

[0030] In some embodiments, the target electric riding device may further include the following structures: a battery management system (BMS), a controller, and an antenna box.

[0031] The aforementioned battery management system is connected to the battery of the target electric riding device and is used to collect battery parameters in real time or at regular intervals. These battery parameters include at least the battery's maximum charging current value.

[0032] The aforementioned controller may specifically incorporate an E-ABS electronic braking system, registers, and control circuitry. Specifically, the E-ABS electronic braking system utilizes the electronic commutation characteristics of a brushless system, controlling different motor motion states through programming to achieve deceleration. It also supports energy recovery during deceleration, converting the recovered energy into electrical energy to charge the battery.

[0033] The aforementioned antenna box is connected to the controller and the battery management system via connecting cables. The antenna box is also equipped with a first protocol rule matching the battery management system and a second protocol rule matching the controller, as preset protocol rules.

[0034] Based on the above structure, during actual operation, the battery management system can collect battery parameters in a first data format based on the first protocol rules, and send these parameters to the antenna box via a connecting cable. Upon receiving the battery parameters in the first data format, the antenna box can first convert them into a second data format that is readable and compatible with the controller, based on the second protocol rules, according to preset protocol rules (including the first and second protocol rules). The antenna box then sends these second data format parameters via the connecting cable and stores them in a register within the controller. Furthermore, the controller can extract the maximum charging current value from the battery parameters through vehicle-to-electrical matching; and based on this maximum charging current value, determine the target control current value used to activate and control the E-ABS electronic braking system for corresponding deceleration.

[0035] In some embodiments, the aforementioned target speed limit gear can be understood as a pre-set speed limit gear used to characterize the speed limit requirements for subsequent deceleration processing.

[0036] Specifically, the target speed limit can be a default speed limit set based on relevant traffic rules or local regulations. For example, the target speed limit could be the national standard speed limit of 25 km / h, as determined by traffic rules. Alternatively, the target speed limit can be a preset speed limit selected by the user from multiple available preset speed limit options provided by the system; these preset speed limit options are automatically generated by the system, and the speed value is less than or equal to the national standard speed limit. Finally, the target speed limit can be a custom speed limit set by the user based on their specific circumstances and actual needs, with a speed value less than or equal to the national standard speed limit.

[0037] In some embodiments, when a user needs to use a target electric riding device (e.g., a shared electric vehicle), they can first log in to the target electric riding device through their terminal device (e.g., a smartphone, or a related APP installed on the smartphone) to unlock it.

[0038] After the unlocking operation is completed, before the user rides the target electric riding device, the terminal device can first display the setting interface for the target speed limit gear of the target electric riding device to the user.

[0039] For details, please refer to Figure 2As shown in the image, the interface for setting the target speed limit for XX shared electric vehicles displays the following: the default speed limit is 25 km / h, based on national traffic regulations; users can select from multiple preset speed limits, such as preset speed limit 1: 23 km / h, preset speed limit 2: 21 km / h, preset speed limit 3: 19 km / h, etc.; and a custom speed limit input box for users to set their own. The custom speed limit input box also displays the message "Please enter a speed less than or equal to 25 km / h," reminding users that they must set their custom speed limit while adhering to traffic regulations.

[0040] The cloud server associated with the target electric riding device (or the processor built into the target electric riding device, or the smartphone used by the user to log in to the target electric riding device, etc.) can obtain the target speed limit set by the user through the target speed limit setting interface. Then, it can process the target speed limit by calling a hysteresis algorithm to calculate two corresponding threshold intervals, each containing multiple vehicle speeds. The threshold interval containing the relatively larger vehicle speed can be recorded as the preset first speed threshold interval, and the threshold interval containing the relatively smaller vehicle speed can be recorded as the preset second speed threshold interval.

[0041] Furthermore, the aforementioned preset first speed threshold range and preset second speed threshold range, which each contain multiple vehicle speeds, can be provided to the target electric riding device. This allows the target electric riding device to decelerate based on these two threshold ranges, rather than two separate thresholds. This reduces the phenomenon of deceleration occurring intermittently during subsequent deceleration, effectively reducing the jerking sensation experienced by the user during riding.

[0042] In some embodiments, taking the national standard speed limit of 25 km / h as the target speed limit as an example, the preset first speed threshold range determined by the hysteresis algorithm can be expressed as: [27-0.5 km / h, 27+0.5 km / h], and the preset second speed threshold range can be expressed as: [25-0.5 km / h, 25+0.5 km / h].

[0043] Of course, it should be noted that the preset first speed threshold range and preset second speed threshold range listed above are only illustrative. In actual implementation, depending on the specific situation and processing requirements, different target speed limit gears can be used to obtain other different preset first speed threshold ranges and preset second speed threshold ranges.

[0044] In some embodiments, the current vehicle speed collected at the current time point can be compared with the vehicle speed in a preset first vehicle speed threshold range to determine whether the current vehicle speed is greater than any vehicle speed in the preset first vehicle speed threshold range.

[0045] If the current speed exceeds all speeds within a preset first speed threshold range, it can be determined that the target electric riding device needs to be decelerated. Furthermore, by comparing the current speed with a preset upper speed limit, it can be determined whether regenerative energy recovery is necessary during the deceleration process.

[0046] The aforementioned preset speed limit can be determined based on the battery status of the target electric riding device. Specifically, it can be determined in advance by conducting extreme tests on the target electric riding device to identify the maximum energy value that the battery can withstand when charged based on recovered regenerative energy, and the corresponding speed value is used as the preset speed limit. For example, the preset speed limit could be 38 km / h. Of course, the preset speed limits listed above are merely illustrative.

[0047] In practice, due to differences in battery capacity, battery structure, and battery life of different electric riding devices, the corresponding preset speed limit can also be different.

[0048] In some embodiments, if the current vehicle speed is determined to be greater than or equal to a preset upper speed limit, it can be determined that if a deceleration mode simultaneously performing regenerative energy recovery is used, the recovered regenerative energy will likely damage the battery and even the entire electrical system of the target electric riding device. Therefore, it can be directly determined that a deceleration mode without regenerative energy recovery should be used.

[0049] Specifically, the vehicle speed can be reduced to a level below a preset second speed threshold using a conventional mechanical braking system. Furthermore, no regenerative energy recovery is performed during the deceleration process, thereby protecting the stability and safety of the target electric riding device's battery, electrical system, and other structures.

[0050] In some embodiments, if the current vehicle speed is determined to be less than a preset upper speed limit, it can be determined that if a deceleration mode simultaneously performing regenerative energy recovery is adopted, the probability that the recovered regenerative energy will cause damage to the battery or even the overall electrical system of the target electric riding device is relatively small. Therefore, it can be determined that a deceleration mode simultaneously performing regenerative energy recovery should be adopted.

[0051] Specifically, the target electric riding device can be decelerated according to preset deceleration rules; and regenerative energy can be recovered during the deceleration process.

[0052] In some embodiments, the aforementioned preset deceleration processing rule may specifically include a deceleration processing rule based on vehicle-electric matching. Based on this preset deceleration processing rule, a matching, safe, and reliable target control current value can be determined first through vehicle-electric matching; then, corresponding deceleration processing can be performed according to the target control current value, and the regenerative energy during the deceleration process can be recovered and utilized in a relatively safe and reliable manner.

[0053] In some embodiments, the aforementioned vehicle-electric matching can be understood as a current matching method that determines a matching target control current value that meets the requirements by comprehensively considering the circuit conditions of the electrical system of the target electric riding device and the recovered regenerative energy. Based on the aforementioned target control current value, activating and controlling the E-ABS electronic braking system can achieve automatic and precise recovery of regenerative energy during deceleration, while effectively protecting the electrical system of the target electric riding device and preventing damage to internal components such as the battery structure caused by the recovered regenerative energy.

[0054] Specifically, the aforementioned target control current value can be understood as a current parameter used to start and control the operation of the E-ABS electronic braking system that is compatible with the electrical system of the current target electric riding device and the regenerated energy recovered; and is safe, reliable, and will not damage the electrical system of the target electric riding device.

[0055] In some embodiments, the target electric riding device is decelerated according to a preset deceleration rule; and regenerative energy is recovered during the deceleration process. Specifically, this may include the following: obtaining the current maximum charging current value; based on the current maximum charging current value, starting and controlling the E-ABS electronic braking system to decelerate the target electric riding device; and recovering regenerative energy during the deceleration process.

[0056] In some embodiments, the above-mentioned method involves activating and controlling the E-ABS electronic braking system based on the current maximum charging current value to perform corresponding deceleration on the target electric riding device; and recovering regenerative energy during the deceleration process. Specifically, this may include the following: according to preset deceleration rules, through vehicle-battery matching, obtaining and determining a matching and safe, reliable target control current value based on the current maximum charging current value; activating the E-ABS electronic braking system; using the target control current value as the upper limit of the deceleration current, controlling the E-ABS electronic braking system to perform corresponding deceleration, and recovering regenerative energy during the deceleration process.

[0057] In some embodiments, determining the target control current value based on the current maximum charging current value may specifically include: calculating the difference between the maximum charging current value and a preset glitch current value as the target control current value.

[0058] Specifically, the aforementioned glitch current can be understood as the inherent error current in the circuit of the E-ABS electronic braking system. In practice, the preset glitch current parameter is subtracted from the maximum charging current parameter to eliminate the current error and obtain a more accurate target current parameter.

[0059] Before implementation, the target electric riding device can be pre-tested and calibrated for vehicle-electric matching to determine the preset glitch current value. The specific value of the preset glitch current can be 1A. Of course, the preset glitch current values ​​listed above are only illustrative.

[0060] In some embodiments, after determining the target control current value, the specific activation of the E-ABS electronic braking system may include: detecting whether the target control current value is less than a preset current threshold; if the target control current value is determined to be less than the preset current threshold, it can be determined not to activate the E-ABS electronic braking system. Correspondingly, a deceleration mode without regenerative energy recovery can be used for deceleration. This avoids the damage to the battery structure caused by forcibly charging a battery that is currently not supported for charging with the recovered regenerative energy.

[0061] In some embodiments, the preset current threshold can be a very small value. Specifically, the preset current threshold can be 0A or 0.0001A.

[0062] In some embodiments, during the process of controlling the E-ABS electronic braking system to decelerate the target electric riding device according to the current maximum charging current value, the method may further include the following: collecting the vehicle speed after deceleration at preset time intervals; detecting whether the vehicle speed after deceleration is less than the vehicle speed in a preset second vehicle speed threshold range; and turning off the E-ABS electronic braking system if it is determined that the vehicle speed after deceleration is less than the vehicle speed in the preset second vehicle speed threshold range.

[0063] This allows for a more accurate identification and determination that the vehicle speed after deceleration has met the speed limit requirements, thus enabling timely cessation of deceleration and deactivation of the E-ABS electronic braking system.

[0064] In some embodiments, before activating and controlling the E-ABS electronic braking system, the method may further include the following: disabling the throttle operation of the target electric riding device; and / or disabling the motor drive of the target electric riding device. This prevents the user from accelerating the target electric riding device by throttle operation, and also prevents the target electric riding device from utilizing the energy output from battery discharge to operate the motor and other equipment, thus preparing for subsequent safe and reliable deceleration.

[0065] In some embodiments, the target electric riding device may specifically include a two-wheeled electric vehicle, etc. Of course, the two-wheeled electric vehicle listed above is merely illustrative. Depending on the specific application scenario and processing requirements, the speed control method provided in this specification can also be extended to other types of electric riding devices, such as three-wheeled electric vehicles. This specification does not limit this application.

[0066] In some embodiments, after detecting whether the current vehicle speed is greater than the speed in a preset first speed threshold range, the method may further include the following: if it is determined that the current vehicle speed is less than or equal to the speed in the preset first speed threshold range, detect whether the current vehicle speed is less than the speed in a preset second speed threshold range; wherein, the preset second speed threshold range is a threshold range determined by pre-calling a hysteresis algorithm based on the target speed limit gear; the speed in the preset second speed threshold range is less than the speed in the preset first speed threshold range; if it is determined that the current vehicle speed is less than the speed in the preset second speed threshold range, maintain the throttle operation and motor drive.

[0067] Through the above embodiments, if it is determined that the current vehicle speed is lower than any speed within a preset second speed threshold range, it can be determined that deceleration is not currently required. Therefore, the throttle operation and motor drive can continue to be effective. In this case, the user can normally accelerate the target electric riding device by throttle operation; simultaneously, the target electric riding device can provide power to the motor by discharging the battery.

[0068] In some embodiments, after detecting whether the current vehicle speed is less than the vehicle speed in a preset second vehicle speed threshold range, the method may further include the following: if it is determined that the current vehicle speed is greater than or equal to the vehicle speed in a preset second vehicle speed threshold range, detect whether the current vehicle speed is greater than the vehicle speed in a preset first vehicle speed threshold range.

[0069] Through the above embodiments, when the vehicle speed is detected to be no less than the preset second speed threshold range, the target electric riding device will not immediately decelerate. Instead, it will trigger a comparison between the vehicle speed and the preset first speed threshold range. This effectively reduces the phenomenon of acceleration and deceleration during riding, reduces the user's sense of jerking, and improves the user's riding experience.

[0070] As can be seen from the above, the speed control method provided in the embodiments of this specification, before specific implementation, can pre-introduce and utilize a hysteresis algorithm to determine the corresponding preset first speed threshold range based on the target speed limit gear of the target electric riding device; during specific implementation, it can first detect whether the current speed of the target electric riding device is greater than the speed in the preset first speed threshold range; if it is determined that the current speed is greater than the speed in the preset first speed threshold range, it can further detect whether the current speed is less than the preset upper speed limit value determined based on the battery state of the target electric riding device; if it is determined that the current speed is less than the preset upper speed limit value, it can then decelerate the target electric riding device according to the preset deceleration processing rules; and during the deceleration process, regenerative energy is recovered. This enables automatic triggering of deceleration processing for the target electric riding device and recovery of regenerative energy generated during deceleration, and can also effectively reduce the jerking sensation during deceleration, improving the user's riding experience.

[0071] See Figure 3 As shown in the embodiments of this specification, another vehicle speed control method is also provided, applied to the target electric riding device. In specific implementation, it may include the following:

[0072] S301: Detect whether the current vehicle speed is greater than a preset third vehicle speed threshold; wherein, the preset third vehicle speed threshold is a vehicle speed threshold determined according to the target speed limit gear of the target electric riding device.

[0073] S302: If it is determined that the current vehicle speed is greater than a preset third vehicle speed threshold, detect whether the current vehicle speed is less than a preset upper limit vehicle speed; wherein, the preset upper limit vehicle speed is determined based on the battery status of the target electric riding device.

[0074] S303: When it is determined that the current vehicle speed is less than the preset upper limit of vehicle speed, the target electric riding device is decelerated according to the preset deceleration processing rules; and regenerative energy is recovered during the deceleration process; wherein, the preset deceleration processing rules are deceleration processing rules based on vehicle-electric matching.

[0075] In some embodiments, the target electric riding device is decelerated according to a preset deceleration rule; and regenerative energy is recovered during the deceleration process, including: determining a target control current value through vehicle-electric matching according to the preset deceleration rule; then activating and controlling the E-ABS electronic braking system according to the target control current value to decelerate the target electric riding device; and recovering regenerative energy during the deceleration process.

[0076] Specifically, the above-mentioned determination of the target control current value through vehicle-electric matching may include: obtaining the current maximum charging current value; and calculating the corresponding, safe and reliable target control current value based on the current maximum charging current value and the preset glitch current.

[0077] In some embodiments, during the process of controlling the E-ABS electronic braking system to perform corresponding deceleration on the target electric riding device, the method may further include: collecting the vehicle speed after deceleration at preset time intervals; detecting whether the vehicle speed after deceleration is less than a preset third vehicle speed threshold; and, if it is determined that the vehicle speed after deceleration is less than the preset third vehicle speed threshold, turning off the E-ABS electronic braking system and stopping the deceleration process.

[0078] Through the above embodiments, automatic deceleration processing of the target electric riding device can be triggered, and the regenerative energy generated during the deceleration process can be recovered. At the same time, the electrical system and circuit structure of the target electric riding device can be better protected, avoiding damage to the battery structure and other components caused by the recovered regenerative energy, and extending the service life of the target electric riding device.

[0079] This specification also provides an electric riding device, including at least a processor and a memory for storing processor-executable instructions. When the processor executes the instructions, it performs the following steps: detecting whether the current vehicle speed is greater than a speed within a preset first speed threshold range; wherein the preset first speed threshold range is a threshold range determined by pre-calling a hysteresis algorithm based on the target speed limit of the target electric riding device; if the current vehicle speed is determined to be greater than a speed within the preset first speed threshold range, detecting whether the current vehicle speed is less than a preset upper speed limit; wherein the preset upper speed limit is determined based on the battery state of the target electric riding device; if the current vehicle speed is determined to be less than the preset upper speed limit, performing corresponding deceleration processing on the target electric riding device according to preset deceleration processing rules; and recovering regenerative energy during the deceleration process.

[0080] To execute the above instructions more accurately, please refer to... Figure 4 As shown in the embodiments of this specification, another specific electric riding device is also provided, wherein the electric riding device includes at least a network communication port, a processor, and a memory. Furthermore, the electric riding device may also include a controller integrating an E-ABS electronic braking system, a battery, a battery management system, an antenna box, and other structures. The antenna box is connected to both the battery management system and the controller.

[0081] Specifically, the network communication port can be used to receive external commands (e.g., user commands for riding electric riding devices).

[0082] Specifically, the processor can be used to trigger a detection based on an external instruction to determine whether the current vehicle speed is greater than a preset first speed threshold range. The preset first speed threshold range is a threshold range determined by a pre-calculated hysteresis algorithm based on the target speed limit of the target electric riding device. If the current vehicle speed is determined to be greater than the preset first speed threshold range, the processor detects whether the current vehicle speed is less than a preset upper speed limit. The preset upper speed limit is determined based on the battery status of the target electric riding device. If the current vehicle speed is determined to be less than the preset upper speed limit, the processor performs corresponding deceleration processing on the target electric riding device according to preset deceleration rules. During the deceleration process, regenerative energy is recovered.

[0083] Specifically, the memory can be used to store the corresponding instruction program.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] This specification also provides a computer storage medium based on the above-described vehicle speed control method. The computer storage medium stores computer program instructions that, when executed, implement the following: detecting whether the current vehicle speed is greater than a preset first speed threshold interval; wherein the preset first speed threshold interval is a threshold interval determined by a pre-called hysteresis algorithm based on the target speed limit of the target electric riding device; if the current vehicle speed is determined to be greater than the preset first speed threshold interval, detecting whether the current vehicle speed is less than a preset upper speed limit; wherein the preset upper speed limit is determined based on the battery status of the target electric riding device; if the current vehicle speed is determined to be less than the preset upper speed limit, performing corresponding deceleration processing on the target electric riding device according to preset deceleration processing rules; and recovering regenerative energy during the deceleration process.

[0088] 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.

[0089] This specification also provides another computer storage medium based on the above-described vehicle speed control method. The computer storage medium stores computer program instructions that, when executed, implement the following: detecting whether the current vehicle speed is greater than a preset third vehicle speed threshold; wherein the preset third vehicle speed threshold is a speed threshold determined by a pre-called hysteresis algorithm based on the target speed limit of the target electric riding device; if the current vehicle speed is determined to be greater than the preset third vehicle speed threshold, detecting whether the current vehicle speed is less than a preset upper speed limit; wherein the preset upper speed limit is determined based on the battery status of the target electric riding device; if the current vehicle speed is determined to be less than the preset upper speed limit, performing corresponding deceleration processing on the target electric riding device according to preset deceleration processing rules; and recovering regenerative energy during the deceleration process.

[0090] 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.

[0091] See Figure 5 As shown, at the software level, this specification also provides a vehicle speed control device, which may specifically include the following structural modules:

[0092] The first detection module 501 can be used to detect whether the current vehicle speed is greater than the vehicle speed in the preset first vehicle speed threshold range; wherein, the preset first vehicle speed threshold range is a threshold range determined by calling the hysteresis algorithm in advance based on the target speed limit gear of the target electric riding device.

[0093] The second detection module 502 can be used to detect whether the current vehicle speed is less than a preset upper limit value when it is determined that the current vehicle speed is greater than the vehicle speed in a preset first vehicle speed threshold range; wherein, the preset upper limit value of vehicle speed is determined according to the battery status of the target electric riding device.

[0094] The deceleration module 503 can be used to decelerate the target electric riding device according to a preset deceleration rule when the current vehicle speed is determined to be less than a preset upper limit value; and to recover regenerative energy during the deceleration process.

[0095] 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.

[0096] As can be seen from the above, the speed control device provided in the embodiments of this specification can first detect whether the current speed of the target electric riding device is greater than the speed within a preset first speed threshold range through the first detection module; if it is determined that the current speed is greater than the speed within the preset first speed threshold range, the second detection module can further detect whether the current speed is less than a preset upper speed limit determined based on the battery state of the target electric riding device; if it is determined that the current speed is less than the preset upper speed limit, the deceleration module then decelerates the target electric riding device according to preset deceleration rules; and during the deceleration process, regenerative energy is recovered. This enables automatic triggering of deceleration for the target electric riding device and recovery of regenerative energy generated during deceleration, and can also effectively reduce the jerking sensation during deceleration, improving the user's riding experience.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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. A speed control method applied to a target electric riding device, comprising: Detect whether the current vehicle speed is greater than the speed in the preset first vehicle speed threshold range; wherein, the preset first vehicle speed threshold range is a threshold range determined by calling the hysteresis algorithm in advance based on the target speed limit of the target electric riding device; If the current vehicle speed is determined to be greater than the speed within a preset first speed threshold range, then it is checked whether the current vehicle speed is less than a preset upper speed limit; wherein, the preset upper speed limit is determined based on the battery status of the target electric riding device. If the current vehicle speed is determined to be less than the preset upper speed limit, the target electric riding device is decelerated according to the preset deceleration rules; and during the deceleration process, regenerative energy is recovered, including: obtaining the current maximum charging current value; based on the current maximum charging current value, activating and controlling the E-ABS electronic braking system to decelerate the target electric riding device accordingly; and during the deceleration process, regenerative energy is recovered.

2. The method according to claim 1, after detecting whether the current vehicle speed is greater than the vehicle speed in a preset first vehicle speed threshold range, the method further includes: If the current vehicle speed is determined to be less than or equal to the speed in a preset first speed threshold range, then it is detected whether the current vehicle speed is less than the speed in a preset second speed threshold range; wherein, the preset second speed threshold range is a threshold range determined by pre-calling the hysteresis algorithm based on the target speed limit gear; the speed in the preset second speed threshold range is less than the speed in the preset first speed threshold range. If the current vehicle speed is determined to be less than the speed within the preset second speed threshold range, the throttle operation and motor drive remain effective.

3. The method according to claim 2, after detecting whether the current vehicle speed is less than the vehicle speed within a preset second vehicle speed threshold range, the method further includes: If the current vehicle speed is determined to be greater than or equal to the speed in the preset second speed threshold range, then it is detected whether the current vehicle speed is greater than the speed in the preset first speed threshold range.

4. The method according to claim 1, wherein the target speed limit gear of the target electric riding device is determined in the following manner: Multiple preset speed limit options are displayed to users of the target electric riding device; Receive and respond to the user's selection, and set the preset speed limit option selected by the user as the target speed limit for the target electric riding device.

5. The method according to claim 1, wherein during the process of controlling the E-ABS electronic braking system to perform corresponding deceleration processing on the target electric riding device based on the current maximum charging current value, the method further includes: Collect the vehicle speed after deceleration at preset time intervals; Detect whether the vehicle speed after deceleration is less than the vehicle speed in the preset second vehicle speed threshold range; If the vehicle speed after deceleration is determined to be less than the speed within the preset second speed threshold range, the E-ABS electronic braking system will be deactivated.

6. The method according to claim 1, wherein the target electric riding device is decelerated accordingly by activating and controlling the E-ABS electronic braking system based on the current maximum charging current value; And during the deceleration process, regenerative energy recovery is carried out, including: Based on the current maximum charging current value, the target control current value is determined; Activate the E-ABS electronic braking system; The target control current value is used as the upper limit of the deceleration current to control the operation of the E-ABS electronic braking system, perform corresponding deceleration processing, and recover regenerative energy during the deceleration process.

7. The method according to claim 1, wherein the target electric riding device comprises a two-wheeled electric vehicle.

8. A speed control method applied to a target electric riding device, comprising: Detect whether the current vehicle speed is greater than a preset third vehicle speed threshold; wherein, the preset third vehicle speed threshold is a vehicle speed threshold determined based on the target speed limit gear of the target electric riding device; If the current vehicle speed is determined to be greater than the preset third vehicle speed threshold, then check whether the current vehicle speed is less than the preset upper limit of vehicle speed. If the current vehicle speed is determined to be less than the preset upper limit of vehicle speed, the target electric riding device is decelerated according to the preset deceleration processing rules; and regenerative energy is recovered during the deceleration process; wherein, the preset deceleration processing rules are deceleration processing rules based on vehicle-battery matching; the preset upper limit of vehicle speed is determined according to the battery status of the target electric riding device. The process of performing corresponding deceleration on the target electric riding device according to preset deceleration rules, and recovering regenerative energy during the deceleration process, includes: obtaining the current maximum charging current value; based on the current maximum charging current value, activating and controlling the E-ABS electronic braking system to perform corresponding deceleration on the target electric riding device; and recovering regenerative energy during the deceleration process.

9. A vehicle speed control device, comprising: The first detection module is used to detect whether the current vehicle speed is greater than the vehicle speed in the preset first vehicle speed threshold range; wherein, the preset first vehicle speed threshold range is a threshold range determined by calling the hysteresis algorithm in advance based on the target speed limit gear of the target electric riding device; The second detection module is used to detect whether the current vehicle speed is less than a preset upper limit value when the current vehicle speed is determined to be greater than the vehicle speed in the preset first vehicle speed threshold range; wherein the preset upper limit value is determined based on the battery status of the target electric riding device. The deceleration module is used to decelerate the target electric riding device according to a preset deceleration rule when the current vehicle speed is determined to be less than the preset upper limit of vehicle speed; and to recover regenerative energy during the deceleration process. Specifically, the deceleration module is used to: obtain the current maximum charging current value; based on the current maximum charging current value, activate and control the E-ABS electronic braking system to perform corresponding deceleration on the target electric riding device; and recover regenerative energy during the deceleration process.

10. An electric riding device, comprising at least: A processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the method according to any one of claims 1 to 7.

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 1 to 7.

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