A shift control method for an electric motorcycle

Abstract

The application provides a shift control method of an electric motorcycle, and the steps are as follows: obtaining the acceleration, the body posture, the real-time speed and the throttle grip change rate of the electric motorcycle; comparing the obtained information with preset threshold values, outputting the motor speed and the torque according to the comparison result; and controlling the shift mechanism of the electric motorcycle to execute corresponding shift instructions according to the output motor speed and torque. According to the scheme, the acceleration and deceleration processes can be actively realized, the driving system can be timely and actively adapted to the road surface, and the reliability of the shift mechanism and the stability during the driving process of the electric motorcycle are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control technology for electric motorcycles, and particularly relates to a gear shifting control method for electric motorcycles. Background Technology

[0002] Currently, conventional electric vehicle drive controllers only collect acceleration signals through the throttle and passively realize the acceleration and deceleration process. The drive system's adaptability to the road surface is passively received. Its disadvantages are that it cannot achieve precise control, and there is a common adaptation delay. Sudden current surges in the motor and electronic control reduce the reliability of the system.

[0003] With the development of intelligent driving control technology, document CN113883267A provides a method and device for shifting control of electric vehicle transmission, including: when the electric vehicle transmission is shifting gears, during the torque unloading phase of the shifting process, acquiring the current acceleration of the electric vehicle; determining the road slope of the current driving road of the electric vehicle based on the acquired acceleration; calculating the target torque of the drive motor according to the determined road slope; and adjusting the torque of the drive motor to the target torque to complete the shifting of the electric vehicle transmission.

[0004] The aforementioned electric vehicle transmission shift control method adjusts the target torque and achieves shifting based on the acquired acceleration and road slope information. However, the small undulations in the "flat road" section can also cause changes in the acquired road slope. Frequent acceleration and deceleration also occur in the "flat road" section, resulting in unsatisfactory control precision and accuracy, which needs to be improved. Summary of the Invention

[0005] The purpose of this invention is to provide a high-precision and accurate gear shifting control method for electric motorcycles.

[0006] To achieve the aforementioned objectives, the present invention adopts the following technical solution.

[0007] A method for controlling gear shifting in an electric motorcycle, characterized by the following steps:

[0008] Step 1: Obtain the acceleration, vehicle attitude, real-time speed, and throttle throttle change rate of the electric motorcycle;

[0009] Step 2: Compare the obtained information with the preset threshold, and output the motor speed and torque based on the comparison result;

[0010] Among them, when at least the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes, the real-time vehicle speed is not greater than 10km / h, and the throttle throttle change rate is within the preset change rate range", the electric motorcycle's driving state is determined, and the motor speed and torque corresponding to the electric motorcycle's head-up / head-down movement are output.

[0011] Step 3: Control the electric motorcycle's gear shifting mechanism to execute corresponding gear shifting commands based on the output motor speed and torque;

[0012] Step 4: During the operation of the electric motorcycle, steps 1-3 are executed cyclically, i.e., a closed-loop control method is adopted.

[0013] Furthermore, step 1 also includes:

[0014] Step 11: Obtain the distance S1 from reference point A to detection point A on the electric motorcycle, and obtain the distance S2 from reference point B to detection point B on the electric motorcycle. Reference point A and reference point B are located in the same vertical plane, and the distance sensor detection direction at reference point A and reference point B is directly in front of the electric motorcycle.

[0015] Step 12: Obtain the distance change pattern of the obtained distances S1 and S2 within a preset time period, which is 0.4-1 seconds;

[0016] In step 2,

[0017] SP1 determines that the electric motorcycle is pitching up when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not less than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from flat to pitching during the preset time period, and the obtained distances S1 and S2 both change from large to small and then to large again during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output and implemented.

[0018] SP2 determines that the electric motorcycle is tilting down when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than -10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from level to pitch during the preset time period, and the obtained distances S1 and S2 both decrease from their maximum values ​​during the preset time period". At the same time, the corresponding motor speed and torque for lifting the electric motorcycle are output.

[0019] SP3 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from a downward posture to a horizontal posture during a preset time period, and the obtained distances S1 and S2 both show a pattern of first decreasing from large and changing regularly before becoming a maximum value or decreasing from large and changing regularly during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0020] SP4 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, the throttle change rate is within the preset change rate range" and "the vehicle posture changes from a pitched position to a level position during a preset time period, and the obtained distances S1 and S2 are both at their maximum values ​​and do not change during the preset time period". At the same time, it outputs the corresponding motor speed and torque for the electric motorcycle to lift.

[0021] Furthermore, the distance sensor at reference point A is at least 80cm above the ground, and the distance sensor at reference point B is at least 40cm above the ground. More preferably, the distance sensor at reference point A is at least 80-100cm above the ground, and the distance sensor at reference point B is at least 40-50cm above the bottom surface.

[0022] Furthermore, when the roll angle of the electric motorcycle exceeds the preset safe angle range, the motor is controlled to stop; when the acceleration of the electric motorcycle changes drastically and exceeds the preset safe acceleration range, the motor is controlled to stop.

[0023] Furthermore, step 1 also includes:

[0024] Step 13: Obtain the distance S3 from reference point C to detection point C on the electric motorcycle. Reference point C and reference point A are located in the same vertical plane. The sensor at reference point C is angled downwards and the angle between it and the horizontal line at reference point C is 15-30°.

[0025] Step 14: Obtain the distance change pattern of the obtained distance S3 within a preset time period, which is 0.4-1 seconds;

[0026] When the obtained distance S3 exhibits a regular change pattern of "constant value - decreasing - constant value" within the preset time period, this regular change pattern is used as a necessary condition for SP1 and SP3; when the obtained distance S3 exhibits a regular change pattern of "constant value - rapidly increasing - constant value" within the preset time period, this regular change pattern is used as a necessary condition for SP2 and SP4.

[0027] Furthermore, step 1 also includes: step 10, acquiring the motor current, vehicle slope, and throttle throttle status in real time; when the acquired motor current is no greater than 20A, the acquired vehicle slope is no greater than 3°, and the acquired throttle throttle rotates counterclockwise, the intention of the electric motorcycle to lift its head is determined; or, when the acquired motor current is no greater than 20A, the acquired vehicle slope is no greater than 3°, and the acquired throttle throttle rotates clockwise, the intention of the electric motorcycle to lower its head is determined; the acquired intention of the electric motorcycle to drive is used as a prerequisite for SP1 and SP2.

[0028] Furthermore, based on the collected experience data, the preset threshold should be adjusted regularly, preferably once a month.

[0029] Beneficial effects: The solution of this invention cleverly avoids the impact of small undulations and frequent acceleration and deceleration operations on the accuracy of the judgment results in "flat" road sections, further improving the precision and accuracy of gear shift control. The roads involved in gear shift control cover typical road conditions such as "flat road-uphill road, flat road-downhill road, downhill road-flat road, and uphill road-flat road". By adopting the solution of this invention, the acceleration and deceleration process can be actively realized, enabling the drive system to adapt to the road surface in a timely and proactive manner, which greatly improves the reliability of the gear shift mechanism and the stability of the electric motorcycle during operation. Attached Figure Description

[0030] Figure 1 This is a schematic diagram showing the changes in reference points, detection points, and distances when the electric motorcycle transitions from a flat road to an uphill section in Example 2.

[0031] Figure 2 This is a schematic diagram showing the changes in the reference point, detection point, and distance obtained when the electric motorcycle transitions from a flat road to a downhill section in Example 2. Detailed Implementation

[0032] The present invention will be further described below with reference to embodiments. In this invention, the maximum value is determined according to the type of distance sensor. When the maximum distance that the distance sensor can detect is 100 meters, the maximum value is 100 meters; when the maximum distance that the distance sensor can detect is 200 meters, the maximum value is 200 meters. In this invention, acquiring data such as the acceleration, vehicle posture, real-time speed, throttle shift rate, throttle shift direction, distance from the reference point to the detection point, and vehicle pitch angle of the electric motorcycle are all techniques known to those skilled in the art and can be achieved using appropriate sensing systems. In this invention, the acceleration threshold and preset rate of change are determined by those skilled in the art based on the electric motorcycle's driving patterns / experience / actual driving conditions. In this invention, when the electric motorcycle tilts upward, the corresponding angle is the pitch angle, represented by +X°; when the electric motorcycle tilts downward, the corresponding angle is the depression angle, represented by -X°. In this invention, the program implementing each step / function of the electric motorcycle shift control method can be programmed by those skilled in the art of computer control technology.

[0033] Example 1

[0034] A method for controlling gear shifting in an electric motorcycle, comprising the following steps:

[0035] Step 1: Obtain the acceleration, vehicle posture, real-time speed, and throttle tachometer rate of change of the electric motorcycle; obtain the distance S1 from reference point A to detection point A on the electric motorcycle, and the distance S2 from reference point B to detection point B on the electric motorcycle. Reference points A and B are located in the same vertical plane, and the distance sensors at reference points A and B are pointing directly in front of the electric motorcycle; obtain the distance change pattern of the obtained distances S1 and S2 within a preset time period, which is any value in the range of 0.4-1 second; wherein, the distance sensor at reference point A is 80cm above the ground, and the distance sensor at reference point B is 40cm above the ground;

[0036] Step 2: Compare the obtained information with the preset threshold, and output the motor speed and torque based on the comparison result;

[0037] SP1 determines that the electric motorcycle is pitching up when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not less than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from flat to pitching during the preset time period, and the obtained distances S1 and S2 both change from large to small and then to large again during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output and implemented.

[0038] SP2 determines that the electric motorcycle is tilting down when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than -10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from level to pitch during the preset time period, and the obtained distances S1 and S2 both decrease from their maximum values ​​during the preset time period". At the same time, the corresponding motor speed and torque for lifting the electric motorcycle are output.

[0039] SP3 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from a downward posture to a horizontal posture during a preset time period, and the obtained distances S1 and S2 both show a pattern of first decreasing from large and changing regularly before becoming a maximum value or decreasing from large and changing regularly during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0040] SP4 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, the throttle change rate is within the preset change rate range" and "the vehicle posture changes from pitch to level during the preset time period, and the obtained distances S1 and S2 are both at their maximum values ​​and do not change during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0041] Step 3: Control the electric motorcycle's gear shifting mechanism to execute corresponding gear shifting commands based on the output motor speed and torque;

[0042] When the roll angle of the electric motorcycle exceeds the preset safe angle range, the motor is controlled to stop; when the acceleration of the electric motorcycle changes drastically and exceeds the preset safe acceleration range, the motor is controlled to stop.

[0043] Step 4: While the electric motorcycle is in motion, repeat steps 1-3 in a loop.

[0044] Example 2

[0045] A method for controlling gear shifting in an electric motorcycle, comprising the following steps:

[0046] Step 1: Obtain the electric motorcycle's acceleration, vehicle attitude, real-time speed, and throttle tachometer rate of change; combined with... Figure 1 and Figure 2 As shown, the distance S1 from reference point A to detection point A on the electric motorcycle is obtained, and the distance S2 from reference point B to detection point B on the electric motorcycle is obtained. Reference point A and reference point B are located in the same vertical plane, and the detection direction of the distance sensors at reference points A and B is directly in front of the electric motorcycle. The distance variation pattern of the obtained distances S1 and S2 within a preset time period is obtained, and the preset time period is 0.4-1 seconds. Among them, the distance sensor at reference point A is 90cm above the ground, and the distance sensor at reference point B is 45cm above the ground.

[0047] Obtain the distance S3 from reference point C to detection point C on the electric motorcycle. Reference point C and reference point A are located in the same vertical plane. The sensor at reference point C is angled downwards and the angle between the sensor and the horizontal line at reference point C is 25°. Obtain the distance change pattern of the obtained distance S3 within a preset time period, which is any value in the range of 0.4-1 second.

[0048] Step 2: Compare the obtained information with the preset threshold, and output the motor speed and torque based on the comparison result;

[0049] SP1, combined with Figure 1As shown, when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not less than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle throttle change rate is within the preset change rate range" and "the vehicle posture changes from horizontal to upward during the preset time period, the obtained distances S1 and S2 both show a pattern of decreasing and increasing within the preset time period, and the obtained distance S3 shows a pattern of constant value - decreasing - constant value within the preset time period", the electric motorcycle is determined to lift up, and the corresponding motor speed and torque of the electric motorcycle lifting up are output and realized.

[0050] SP2, combined with Figure 2 As shown, when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than -10°, the real-time vehicle speed is not greater than 10km / h, and the throttle throttle change rate is within the preset change rate range" and "the vehicle posture changes from level to pitch during the preset time period, the obtained distances S1 and S2 both decrease from a maximum value during the preset time period, and the obtained distance S3 both change from a constant value to a rapidly increasing value to a constant value during the preset time period", it is determined that the electric motorcycle is tilting down, and the corresponding motor speed and torque for lifting the electric motorcycle are output.

[0051] SP3, when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle throttle change rate is within the preset change rate range" and "the vehicle posture changes from a downward posture to a horizontal posture during a preset time period, and the obtained distances S1 and S2 both show a regular change from large to small and then to a maximum value or a regular change from large to small during the preset time period, and the obtained distance S3 shows a regular change from a constant value to a small value to a constant value during the preset time period", the electric motorcycle is determined to be flat-headed, and the corresponding motor speed and torque of the electric motorcycle are output.

[0052] SP4 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from pitch to level during the preset time period, the obtained distances S1 and S2 are both at maximum values ​​and do not change during the preset time period, and the obtained distance S3 is a regular change of constant value - rapidly increasing - constant value during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0053] Step 3: Control the electric motorcycle's gear shifting mechanism to execute corresponding gear shifting commands based on the output motor speed and torque;

[0054] When the roll angle of the electric motorcycle exceeds the preset safe angle range, the motor is controlled to stop; when the acceleration of the electric motorcycle changes drastically and exceeds the preset safe acceleration range, the motor is controlled to stop.

[0055] Step 4: While the electric motorcycle is in motion, repeat steps 1-3 in a loop.

[0056] Example 3

[0057] A method for controlling gear shifting in an electric motorcycle, comprising the following steps:

[0058] Step 1: Acquire the acceleration, vehicle posture, real-time speed, and throttle throttle change rate of the electric motorcycle; acquire the distance S1 from reference point A to detection point A on the electric motorcycle, and the distance S2 from reference point B to detection point B on the electric motorcycle. Reference points A and B are located in the same vertical plane, and the distance sensors at reference points A and B are pointing directly forward of the electric motorcycle; acquire the distance change patterns of the obtained distances S1 and S2 within a preset time period, which is any value within the range of 0.4-1 second; wherein, the distance sensor at reference point A is 100cm above the ground, and the distance sensor at reference point B is 50cm above the ground; acquire the motor current, vehicle slope, and throttle throttle status in real time;

[0059] Step 2: Compare the obtained information with the preset threshold, and output the motor speed and torque based on the comparison result;

[0060] SP1 determines that the electric motorcycle is tilting up when the following conditions are met simultaneously: "the obtained motor current is not greater than 20A, the obtained body slope is not greater than 3° and the obtained throttle throttle is rotated counterclockwise (in this case, it can be determined that the electric motorcycle has the intention to lift up); the obtained acceleration is within the preset acceleration threshold range, the body pitch angle changes and the pitch angle is not less than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle throttle change rate is within the preset change rate range" and "the body posture changes from flat to tilted up during the preset time period, and the obtained distances S1 and S2 both change from large to small and then to large again during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle lifting up are output and implemented.

[0061] SP2 determines that the electric motorcycle is tilting its head down when the following conditions are met simultaneously: "the obtained motor current is not greater than 20A, the obtained body slope is not greater than 3° and the obtained throttle handle is rotated clockwise (in this case, it can be determined that the electric motorcycle has the intention to tilt its head down); the obtained acceleration is within the preset acceleration threshold range, the body pitch angle changes and the pitch angle is not greater than -10°, the real-time vehicle speed is not greater than 10km / h, and the throttle handle change rate is within the preset change rate range" and "the body posture changes from flat to tilted during the preset time period, and the obtained distances S1 and S2 both decrease from their maximum values ​​during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0062] SP3 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, and the throttle change rate is within the preset change rate range" and "the vehicle posture changes from a downward posture to a horizontal posture during a preset time period, and the obtained distances S1 and S2 both show a pattern of first decreasing from large and changing regularly before becoming a maximum value or decreasing from large and changing regularly during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0063] SP4 determines that the electric motorcycle is flat when the following conditions are met simultaneously: "the obtained acceleration is within the preset acceleration threshold range, the vehicle pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10km / h, the throttle change rate is within the preset change rate range" and "the vehicle posture changes from pitch to level during the preset time period, and the obtained distances S1 and S2 are both at their maximum values ​​and do not change during the preset time period". At the same time, the corresponding motor speed and torque of the electric motorcycle are output.

[0064] Step 3: Control the electric motorcycle's gear shifting mechanism to execute corresponding gear shifting commands based on the output motor speed and torque;

[0065] When the roll angle of the electric motorcycle exceeds the preset safe angle range, the motor is controlled to stop; when the acceleration of the electric motorcycle changes drastically and exceeds the preset safe acceleration range, the motor is controlled to stop.

[0066] Step 4: While the electric motorcycle is in motion, repeat steps 1-3 in a loop.

[0067] In practical applications, the preset threshold should be adjusted regularly based on the collected experience data, preferably once a month.

[0068] This invention cleverly avoids the impact of small undulations and frequent acceleration / deceleration on the accuracy of judgment results on "flat" road sections, further improving the precision and accuracy of gear shift control. The road conditions covered by the gear shift control include typical "flat-uphill, flat-downhill, downhill-flat, and uphill-flat" road situations. Using the solution of this invention, acceleration and deceleration processes can be actively realized, allowing the drive system to adapt to the road surface in a timely and proactive manner, significantly improving the reliability of the gear shift mechanism and the stability of the electric motorcycle during operation. The solution of this invention can accurately predict / determine the gear shift when the front wheel of the electric motorcycle switches / transitions to another road (e.g., the front wheel is on an uphill section, and the rear wheel is on a flat / uphill section), providing a gear shift command 1-5 seconds in advance compared to existing gear shift control technologies.

Claims

1. A shift control method for an electric motorcycle, characterized by, The steps are as follows: Step 1, obtain the acceleration, body posture, real-time speed and throttle grip rate of change of the electric motorcycle; Step 2, compare the obtained information with the preset threshold value, and output the motor speed and torque according to the comparison result; Wherein, at least when the conditions of "the obtained acceleration is in the preset acceleration threshold value range, the body pitch angle changes, the real-time speed is not greater than 10 km / h, and the throttle grip rate of change is in the preset change rate range" are met at the same time, it is determined that the electric motorcycle is in a running state, and the motor speed and torque corresponding to the electric motorcycle in a head-up, head-down or flat-head state are outputted; Step 3, control the electric motorcycle gear shifting mechanism to execute the corresponding gear shifting instruction according to the outputted motor speed and torque; Step 4, during the running of the electric motorcycle, steps 1-3 are executed in a loop; Step 1 further comprises: Step 11, obtaining the distance S1 from the reference point A to the detection point A on the electric motorcycle, and obtaining the distance S2 from the reference point B to the detection point B on the electric motorcycle, the reference point A and the reference point B are located in the same vertical plane, and the detection direction of the distance sensor at the reference point A and the reference point B is the front direction of the electric motorcycle; Step 12, obtaining the distance change rule of the obtained distances S1 and S2 within a preset time period, and the preset time period is 0.4-1 second; In step 2, SP1, when the conditions of "the obtained acceleration is in the preset acceleration threshold value range, the body pitch angle changes and the pitch angle is not less than +10°, the real-time speed is not greater than 10 km / h, and the throttle grip rate of change is in the preset change rate range" and "the body posture changes from a flat posture to a head-up posture within a preset time period, and the obtained distances S1 and S2 both change from large to small and then to large within the preset time period" are met at the same time, it is determined that the electric motorcycle is in a head-up state, and the corresponding motor speed and torque of the electric motorcycle are outputted and implemented; SP2, when the conditions of "the obtained acceleration is in the preset acceleration threshold value range, the body pitch angle changes and the pitch angle is not greater than -10°, the real-time speed is not greater than 10 km / h, and the throttle grip rate of change is in the preset change rate range" and "the body posture changes from a flat posture to a head-down posture within a preset time period, and the obtained distances S1 and S2 both change from a maximum value to small" are met at the same time, it is determined that the electric motorcycle is in a head-down state, and the corresponding motor speed and torque of the electric motorcycle are outputted; SP3, when the conditions of "the obtained acceleration is in the preset acceleration threshold value range, the body pitch angle changes and the pitch angle is not greater than +10°, the real-time speed is not greater than 10 km / h, and the throttle grip rate of change is in the preset change rate range" and "the body posture changes from a head-down posture to a flat posture within a preset time period, and the obtained distances S1 and S2 both change from large to small and then to a maximum value within the preset time period" are met at the same time, it is determined that the electric motorcycle is in a flat-head state, and the corresponding motor speed and torque of the electric motorcycle are outputted; SP4, when the conditions of "the obtained acceleration is in the preset acceleration threshold interval, the body pitch angle changes and the pitch angle is not greater than +10°, the real-time vehicle speed is not greater than 10 km / h, and the throttle handle change rate is in the preset change rate interval" and "the body posture changes from the upward posture to the flat posture in the preset time period, and the obtained distances S1 and S2 are both maximum values and have no change in the preset time period" are met at the same time, it is determined that the electric motorcycle is flat, and the corresponding motor speed and torque of the electric motorcycle are output.

2. The electric motorcycle shift control method of claim 1, wherein: The distance sensor at the reference point A has a height from the ground of not less than 80 cm, and the distance sensor at the reference point B has a height from the ground of not less than 40 cm.

3. The electric motorcycle shift control method of claim 2, wherein: When it is obtained that the roll angle of the electric motorcycle exceeds the preset safe angle interval, the motor is controlled to stop.

4. The electric motorcycle shift control method of claim 3, wherein: When it is obtained that the acceleration of the electric motorcycle changes sharply and exceeds the preset safe acceleration interval, the motor is controlled to stop.

5. The electric motorcycle gear shifting control method according to any one of claims 1-4, characterized in that, Step 1 further comprises: Step 13, obtaining the distance S3 from the reference point C to the detection point C on the electric motorcycle, the reference point C and the reference point A are located in the same vertical plane, the sensor at the reference point C is inclined downward and the included angle between the sensor at the reference point C and the horizontal line is 15°-30°; Step 14, obtaining the distance change law of the obtained distance S3 in the preset time period, the preset time period is 0.4-1 second; When the obtained distance S3 has the change law 1 of "constant value-smaller-constant value" in the preset time period, the change law 1 is taken as a necessary condition for SP1 and SP3; when the obtained distance S3 has the change law 2 of "constant value-sharply larger-constant value" in the preset time period, the change law 2 is taken as a necessary condition for SP2 and SP4.

6. The electric motorcycle shift control method of claim 5, wherein, Step 1 further comprises: Step 10, obtaining the motor current, the body slope and the throttle handle state in real time; when the obtained motor current is not greater than 20 A, the obtained body slope is not greater than 3°, and the obtained throttle handle rotates counterclockwise at acceleration, it is determined that the electric motorcycle has a head-up driving intention; or when the obtained motor current is not greater than 20 A, the obtained body slope is not greater than 3°, and the obtained throttle handle rotates clockwise, it is determined that the electric motorcycle has a head-down driving intention; the obtained electric motorcycle driving intention is taken as a prerequisite condition for SP1 and SP2.

7. The electric motorcycle shift control method of claim 6, wherein: The preset threshold is corrected regularly in combination with the collected experience data.

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