Electrically-assisted bicycle driving method, electrically-assisted bicycle and storage medium

Abstract

The present application provides a driving method, device, electronic device and storage medium for an electric assist vehicle. The method includes: adjusting the driving mode of the electric assist vehicle according to the operation difference information between motors, determining a target adjusted motor, and controlling the start or stop of each motor according to the target adjusted motor. It can achieve adjusting the driving mode of the electric assist vehicle at any time according to the actual operation state of each motor of the electric assist vehicle during the operation of the electric assist vehicle, and can realize the automatic control of the switching of the driving mode of the electric assist vehicle through a controller, which can improve the use performance of the electric assist vehicle and extend the service life of the driving component and the auxiliary energy device.

Description

Technical Field

[0001] The present application relates to the field of electric assist vehicles, and more particularly, to an electric assist vehicle driving method, an electric assist vehicle, and a storage medium. Background Art

[0002] An electric assist vehicle is a mechatronic personal vehicle that, on the basis of an ordinary vehicle, is equipped with auxiliary energy sources, motors, controllers, twist grips, brake handles, cadence sensors, and other drive components, as well as a display instrument system.

[0003] In the prior art, an electric assist vehicle installs a battery as an auxiliary energy source to provide auxiliary driving force through a battery-driven motor. However, currently, the driving mode of the electric assist vehicle is fixed, and an auxiliary driving force is provided by a single motor. When the electric assist vehicle needs to provide a large driving force, it is likely to cause an excessive load on the motor, resulting in a large current discharge of the battery in a short time, damaging the battery's power storage capacity and service life. Summary of the Invention

[0004] The purpose of the present application is to provide an electric assist driving method, device, electronic device, and storage medium to address the deficiencies in the above prior art, and to achieve switching of the driving mode according to the actual operating state during the operation of the electric assist vehicle.

[0005] To achieve the above objective, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides an electric assist driving method applied to a main controller in an electric assist vehicle. The method includes:

[0007] Receiving the actual operating data of each slave motor sent by each slave controller in the electric assist vehicle, and obtaining the actual operating data of the main motor;

[0008] If the current driving mode of the electric assist vehicle is a multi-drive mode, determining the operating difference information between the main motor and each slave motor according to the actual operating data of the main motor and the actual operating data of each slave motor;

[0009] Determining whether to adjust the driving mode of the electric assist vehicle according to the operating difference information. If so, determining a target adjustment motor according to the operating difference information and the current driving mode;

[0010] Sending a driving instruction to at least one slave controller according to the target adjustment motor, and / or controlling the main motor to start or stop, where the driving instruction is used to instruct the at least one slave motor to start or stop.

[0011] Optionally, the operating difference information includes: the difference in motor speeds;

[0012] Determine whether to adjust the driving mode of the electric assist vehicle according to the operation difference information. If so, determine the target adjusted motor according to the operation difference information and the current driving mode, including:

[0013] If the difference in motor speeds between the motors is greater than a preset threshold, determine to adjust the driving mode of the electric assist vehicle, and determine the target adjusted motor according to the current driving mode of the electric assist vehicle and a first adjustment strategy, where the first adjustment strategy is used to indicate stopping the operation of the target adjusted motor.

[0014] Optionally, sending a driving instruction to at least one slave controller according to the target adjusted motor includes:

[0015] If the target adjusted motor is any one of the slave motors, send a first driving instruction to the slave controller corresponding to the slave motor with the minimum speed, where the first driving instruction is used to indicate that the slave controller corresponding to the slave motor with the minimum speed controls the slave motor with the minimum speed to stop operating;

[0016] If the target adjusted motor is all slave motors, send a second driving instruction to each slave controller, where the second driving instruction is used to indicate that each slave controller controls the corresponding slave motor to stop operating;

[0017] If the target adjusted motor is the main motor, control the main motor to stop operating.

[0018] Optionally, the operation difference information includes: the difference in motor speeds;

[0019] Determine whether to adjust the driving mode of the electric assist vehicle according to the operation difference information. If so, determine the target adjusted motor according to the operation difference information and the current driving mode, including:

[0020] If the difference in motor speeds between the motors is less than a preset threshold, determine to adjust the driving mode of the electric assist vehicle, and determine the target adjusted motor according to the current driving mode of the electric assist vehicle and a second adjustment strategy, where the second adjustment strategy is used to indicate starting the operation of the target adjusted motor.

[0021] Optionally, sending a driving instruction to at least one slave controller according to the target adjusted motor includes:

[0022] If the target adjusted motor is any one of the slave motors, send a third driving instruction to the slave controller corresponding to the slave motor with the minimum speed, where the third driving instruction is used to indicate that the slave controller corresponding to the slave motor with the minimum speed controls the slave motor with the minimum speed to start operating;

[0023] If the target adjustment motor is all slave motors, send a fourth drive instruction to each slave controller, and the fourth drive instruction is used to instruct each slave controller to control the corresponding slave motor to start running;

[0024] If the target adjustment motor is the master motor, control the master motor to start running.

[0025] Optionally, it further includes:

[0026] Receive a communication instruction;

[0027] Determine whether the format and content of the communication instruction are valid;

[0028] If the format of the communication instruction is valid and the content is valid, parse and process the communication instruction.

[0029] Optionally, the communication instruction includes: target address, index, sub-index, start bit, check bit, end bit;

[0030] The determination of whether the format and content of the communication instruction are valid includes:

[0031] If the target address is the same as the address identifier of the master controller, and the index and the sub-index exist in the target index list, it is determined that the format of the communication instruction is valid, where the target index list is used to record the valid index information between the master controller and the instrument device;

[0032] If the start bit is the same as the preset start bit corresponding to the master controller, and the result of verification according to the check bit is verification passed, and the end bit is the same as the preset end bit corresponding to the master controller, it is determined that the content of the communication instruction is valid.

[0033] Optionally, the communication instruction further includes: valid data length and valid data, and further includes:

[0034] If the valid data length is the same as the length corresponding to the valid data, generate a check value according to the communication instruction, and determine whether the check value is the same as the check bit. If so, it is determined that the result of verification according to the check bit is verification passed;

[0035] If the valid data length is greater than the length corresponding to the valid data, use the excess sub-data in the valid data as the new check bit, generate a check value according to the data with the preset length in the communication instruction, and determine whether the check value is the same as the new check bit. If so, it is determined that the result of verification according to the check bit is verification passed.

[0036] Second aspect, an embodiment of the present application provides an electric assist vehicle, which includes a main controller, a main motor connected to the main controller, at least one slave controller, and at least one slave motor corresponding to and connected to each slave controller;

[0037] The main controller is used to execute the steps of the method described in the first aspect above.

[0038] Third aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executed to perform the steps of the electric assist vehicle driving method described in the first aspect above.

[0039] The beneficial effects of the present application are as follows:

[0040] An electric assist vehicle driving method, device, electronic device and storage medium provided by the present application can adjust the driving mode of the electric assist vehicle according to the operation difference information between the motors, determine the adjusted target driving mode, and control the start or stop of each motor according to the target driving mode. During the operation of the electric assist vehicle, the driving mode of the electric assist vehicle can be adjusted at any time according to the actual operation state of each motor of the electric assist vehicle, and the automatic control of the switching of the driving mode of the electric assist vehicle can be realized through the controller, which can improve the use performance of the electric assist vehicle and extend the service life of the driving components and auxiliary energy equipment. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is a schematic structural diagram of an electric assist vehicle provided by an embodiment of the present application;

[0043] Figure 2 It is a schematic flowchart of an electric assist vehicle driving method provided by an embodiment of the present application;

[0044] Figure 3 It is a schematic flowchart of receiving an instrument communication instruction provided by an embodiment of the present application. Detailed Embodiments

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. It should be understood that the accompanying drawings in this application are only for the purposes of illustration and description, and are not used to limit the protection scope of this application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of this application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without a logical context relationship may be reversed or implemented simultaneously. In addition, those skilled in the art may add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of this application.

[0046] In addition, the described embodiments are only some embodiments of this application, rather than all embodiments. The components of the embodiments of this application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application claimed, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative efforts belong to the scope of protection of this application.

[0047] It should be noted that the term "including" will be used in the embodiments of this application to indicate the existence of the features stated thereafter, but does not exclude the addition of other features.

[0048] Figure 1 The following is a schematic structural diagram of an electric assist vehicle provided for the embodiments of this application. As Figure 1 shown, this method is applied to the main controller in the electric assist vehicle. The electric assist vehicle includes a main controller, a main motor connected to the main controller, at least one slave controller, and at least one slave motor connected to and corresponding to the at least one slave controller one by one. The main controller is respectively connected to the main motor and the at least one slave controller. The main controller is used to control the operating state of the main motor and is also used for communication connection with the at least one slave controller. For example, the main controller sends drive instructions and acquisition instructions to each slave controller. Among them, the drive instruction indicates a drive signal for the main controller to control the operating state of each slave motor connected to each slave controller, and the acquisition instruction indicates an acquisition signal for the main controller to acquire the execution result or a state acquisition signal of each slave motor connected to each slave controller; each slave controller is electrically connected to each slave motor, and each slave controller is used to control the operating state of the slave motor connected to the slave controller. The main controller uses the method of the embodiments of this application to control the main motor and each slave motor, so that the electric assist vehicle can adjust the driving mode in multiple modes according to the drive instructions of the main controller.

[0049] Optionally, a main controller, a main motor connected to the main controller, at least one slave controller, and at least one slave motor respectively corresponding to and connected to each slave controller, wherein the main controller can be used to execute the method steps in the following method embodiments.

[0050] Optionally, the electric assist vehicle may further include an instrument device. The instrument may include an instrument controller and an instrument key unit. The instrument controller can be connected to the main controller, and a key signal can be sent to the instrument controller through the key unit. The instrument controller sends a communication instruction to the main controller according to the received key signal, wherein the key signal can indicate the selection of a driving mode.

[0051] Optionally, the electric assist vehicle may further include a power source 1 and a power source 2. The main controller may further include a main controller unit and a main control power supply circuit. Each slave controller may further include each slave controller unit and each slave control power supply circuit. Among them, the power source 1 can be connected to the main control power supply circuit for supplying power to the main controller unit and the main motor; the power source 2 can be connected to each slave control power supply circuit for supplying power to each slave controller unit and each slave motor.

[0052] Figure 2 The flowchart of an electric assist vehicle driving method provided by an embodiment of the present application, and the execution subject of this method is the main controller in the electric assist vehicle as described above. As Figure 2 shown, this method includes:

[0053] S101. Receive the actual operation data of each slave motor sent by each slave controller in the electric assist vehicle, and obtain the actual operation data of the main motor.

[0054] Optionally, the main controller receives the actual operation data of each slave motor sent by each slave controller and obtains the actual operation data of the main motor. Specifically, each slave controller can obtain the actual operation data of each slave motor connected to each slave controller, and send the obtained actual operation data of each slave motor to the main controller. The main controller receives the actual operation data of each slave motor sent by each slave controller. During the operation of the main motor, the main controller can obtain the actual operation data of the main motor connected to the main controller. Among them, the actual operation data may include the actual operation speed value of the motor. During the operation of the electric assist vehicle, the operation speeds of each motor may be the same or different.

[0055] Optionally, the main controller and the main motor can be installed on the front wheel of the electric assist vehicle, and the operation state of the main motor is controlled by the main controller so that the front wheel of the electric assist vehicle rotates; each slave controller and each slave motor can be installed on each rear wheel of the electric assist vehicle, and the operation state of each slave motor is controlled by each slave controller so that each rear wheel rotates.

[0056] Exemplarily, for an electric assist bicycle that may include a front wheel and a rear wheel, the electric assist bicycle includes a main controller and a slave controller, a main motor and a slave motor. Among them, the main controller is electrically connected to the main motor, and at the same time, the main controller and the main motor are installed on the front wheel of the electric assist bicycle. The slave controller is electrically connected to the slave motor, and at the same time, the slave controller and the slave motor are installed on the rear wheel of the electric assist bicycle; the main controller is communicatively connected to the slave controller and can communicate with the slave controller.

[0057] Exemplarily, for an electric assist tricycle that may include a front wheel, a rear left wheel, and a rear right wheel, the electric assist tricycle may include a main controller and two slave controllers, a main motor and two slave motors, such as slave controller 1 and slave controller 2, slave motor 1 and slave motor 2; among them, the main controller is electrically connected to the main motor, and at the same time, the main controller and the main motor can be installed on the front wheel of the electric assist tricycle; slave controller 1 is electrically connected to slave motor 1, and at the same time, slave controller 1 and slave motor 1 are installed on the rear left wheel; slave controller 2 is electrically connected to slave motor 2, and at the same time, slave controller 2 and slave motor 2 are installed on the rear right wheel; the main controller is communicatively connected to slave controller 1 and slave controller 2 and can communicate with slave controller 1 and slave controller 2.

[0058] S102. If the current driving mode of the electric assist vehicle is a multi-drive mode, determine the operation difference information between the main motor and each slave motor according to the actual operation data of the main motor and the actual operation data of each slave motor.

[0059] Optionally, the electric assist vehicle can have multiple driving modes during operation, specifically including a single-drive mode and a multi-drive mode. Among them, for the single-drive mode, it can include: front-wheel single-drive mode, rear-wheel single-drive mode. For the multi-drive mode, it can include a three-drive mode, a front-and-rear-wheel dual-drive mode, and a rear-wheel dual-drive mode. The three-drive mode means that the front-wheel main motor, the rear left-wheel slave motor, and the rear right-wheel slave motor are all operating. The rear-wheel dual-drive mode means that the rear left-wheel slave motor and the rear right-wheel slave motor are operating and the front-wheel main motor is not operating. The front-and-rear-wheel dual-drive mode means that the front-wheel main motor and the left rear-wheel slave motor are operating and the right rear-wheel slave motor is not operating, or the front-wheel main motor and the right rear-wheel slave motor are operating and the left rear-wheel slave motor is not operating.

[0060] Optionally, in the multi-drive mode, the operation difference information between the main motor and each slave motor can be determined, or the operation difference information between each slave motor can be determined. Among them, the operation difference information can indicate the rotational speed difference between each motor. S103. According to the operation difference information, determine whether to adjust the driving mode of the electric assist vehicle. If so, determine the target adjustment motor according to the operation difference information and the current driving mode.

[0061] Optionally, based on the operation difference information determined in S102 above, it can be determined whether to adjust the driving mode of the electric assist vehicle. If so, based on the operation difference information and the current driving mode, a target adjustment motor is determined using a preset method, where the target adjustment motor can refer to each slave motor or the main motor.

[0062] In another implementable manner, during the operation of the electric assist vehicle, the driving mode of the electric assist vehicle can also be adjusted through an instrument device. The instrument device can send a communication instruction to the main controller, where the communication instruction refers to the driving mode that needs to be adjusted. The main controller sends a driving instruction to each slave controller according to the received communication instruction or controls the start or stop of the main motor.

[0063] S104. Send a driving instruction to at least one slave controller according to the target adjustment motor, and / or control the start or stop of the main motor.

[0064] Among them, the driving instruction indicates the start or stop of at least one slave motor.

[0065] Optionally, if the target adjustment motors determined by the method in S103 above are slave motor 1 and slave motor 2, the main controller can send driving instructions to slave controller 1 and slave controller 2; if the target adjustment motor determined by the method in S103 above is the main motor, the main control can control the main motor to stop or start.

[0066] In this embodiment, by adjusting the driving mode of the electric assist vehicle according to the operation difference information between each motor and the current driving mode, determining the target adjustment motor and controlling the start or stop of each motor according to the target adjustment motor, it can be realized that during the operation of the electric assist vehicle, the driving mode of the electric assist vehicle is adjusted at any time according to the actual operation state of each motor of the electric assist vehicle, and the automatic control of the switching of the driving mode of the electric assist vehicle can be realized through the controller, which can improve the use performance of the electric assist vehicle and extend the service life of the driving component and the auxiliary energy device.

[0067] Optionally, the above operation difference information may include: the motor speed difference.

[0068] Optionally, in step S103 above, according to the operation difference information, it is determined whether to adjust the driving mode of the electric assist vehicle. If so, according to the operation difference information and the current driving mode, determining the target adjustment motor may include:

[0069] Optionally, if the motor speed difference between each motor is greater than a preset threshold, it is determined to adjust the driving mode of the electric assist vehicle, and according to the current driving mode of the electric assist vehicle and the first adjustment strategy, the target adjustment motor is determined, where the first adjustment strategy refers to the strategy of stopping the operation of the motor with the minimum speed.

[0070] Exemplarily, if the current driving mode of the electric assist vehicle is the rear-wheel dual-drive mode and the rotational speed difference between the slave motors is greater than a preset threshold, where the rotational speed of slave motor 1 is greater than that of slave motor 2, then it is determined to adjust the driving mode of the electric assist vehicle, and the target adjustment motor is determined to be slave motor 2 according to the current driving mode of the electric assist vehicle and the first adjustment strategy, that is, slave motor 2 is stopped.

[0071] Exemplarily, if the current driving mode of the electric assist vehicle is the triple-drive mode and the rotational speed difference between the main motor and the slave motors is greater than a preset threshold, then it is determined to adjust the driving mode of the electric assist vehicle. Among them, if the rotational speed of the main motor is greater than that of slave motor 1 and the rotational speed difference between them is greater than the preset threshold, then the determined target adjustment motor is slave motor 1, and slave motor 1 is stopped.

[0072] Exemplarily, the preset threshold can be, for example, 7 revolutions per minute.

[0073] Optionally, the step of sending a driving instruction to at least one slave controller according to the target adjustment motor in step S104 may include:

[0074] Optionally, if the target drive is any one of the slave motors, then a first driving instruction is sent to the slave controller corresponding to the slave motor with the lowest rotational speed. The first driving instruction is used to instruct the slave controller corresponding to the slave motor with the lowest rotational speed to control the slave motor with the lowest rotational speed to stop running. The any one of the slave motors may refer to one slave motor or multiple slave motors, but not all slave motors.

[0075] Exemplarily, if the current driving mode is the rear-wheel dual-drive mode and the rotational speed difference between slave motor 1 and slave motor 2 is greater than the preset threshold, and the rotational speed of slave motor 1 is greater than that of slave motor 2, then the main controller sends a first driving instruction to slave controller 2. Slave controller 2 can cut off the power supply for slave motor 2 according to the first driving instruction, so that slave motor 2 stops running. At this time, it is switched to the left rear-wheel single-drive mode.

[0076] Exemplarily, if the current driving mode is the rear-wheel dual-drive mode and the rotational speed difference between slave motor 2 and slave motor 1 is greater than the preset threshold, and the rotational speed of slave motor 2 is greater than that of slave motor 1, then the main controller sends a first driving instruction to slave controller 1. Slave controller 1 can cut off the power supply for slave motor 1 according to the first driving instruction, so that slave motor 1 stops running. At this time, it is switched to the right rear-wheel single-drive mode.

[0077] Exemplarily, if the current driving mode is a three-drive mode, the rotational speed difference between the main motor and the slave motor 1 is greater than a preset threshold, the rotational speed between the main motor and the slave motor 2 is less than the preset threshold, and the rotational speed of the main motor is greater than that of the slave motor 1, then the main controller sends a first driving instruction to the slave controller 1, and the slave controller 1 can cut off the power supply for the slave motor 1 according to this first driving instruction, so that the slave motor 1 stops running. At this time, it switches to a front-right-rear-wheel dual-drive mode.

[0078] Exemplarily, if the current driving mode is a three-drive mode, the rotational speed difference between the main motor and the slave motor 2 is greater than a preset threshold, the rotational speed between the main motor and the slave motor 1 is less than the preset threshold, and the rotational speed of the main motor is greater than that of the slave motor 2, then the main controller sends a first driving instruction to the slave controller 2, and the slave controller 2 can cut off the power supply for the slave motor 2 according to this first driving instruction, so that the slave motor 2 stops running. At this time, it switches to a front-left-rear-wheel dual-drive mode. Optionally, if the target driving mode is all slave motors, a second driving instruction is sent to each slave controller, and this second driving instruction is used to instruct each slave controller to control the corresponding slave motor to stop running.

[0079] Exemplarily, if the current driving mode is a three-drive mode, and the differences between the rotational speed of the main motor and the rotational speeds of both the slave motor 1 and the slave motor 2 are greater than the preset threshold, then the main controller can send a second driving instruction to both the slave controller 1 and the slave controller 2. The slave controller 1 can cut off the power supply for the slave motor 1 according to this second driving instruction, so that the slave motor 1 stops running. The slave controller 2 can cut off the power supply for the slave motor 2 according to this second driving instruction, so that the slave motor 2 stops running. At this time, it switches to a front-wheel single-drive mode.

[0080] Optionally, if the target driving mode is the main motor, control the main motor to stop running. If the current driving mode is a three-drive mode, the rotational speed difference between the slave motor 1 and the main motor is greater than the preset threshold, and the rotational speed difference between the slave motor 2 and the main motor is also greater than the preset threshold, then the rotational speeds of both the slave motor 1 and the slave motor 2 are greater than that of the main motor. At this time, the main controller controls the main motor connected to the main controller to stop running and cuts off the power supply for the main motor. At this time, it switches to a rear-wheel dual-drive mode.

[0081] Optionally, the slave controllers in the present application can be communicatively connected. Each slave controller can obtain the actual operation data of the slave motors connected to other slave controllers. That is to say, the slave controller 1 can obtain the running rotational speed of the slave motor 2 through the slave controller 2, and the slave controller 2 can obtain the running rotational speed of the slave motor 1 through the slave controller 1. When a slave controller obtains the running rotational speeds of other slave controllers, it can control the running states of the slave motors according to the rotational speed differences between the slave motors.

[0082] In this embodiment, the master controller controls the operating states of the motors by the rotational speed differences between the motors, so that the function of switching the driving mode during the operation of the electric assist vehicle can be realized.

[0083] Optionally, in step S103, according to the operation difference information, it is determined whether to adjust the driving mode of the electric assist vehicle. If so, the target adjustment motor can be determined according to the operation difference information and the current driving mode, and may include:

[0084] Optionally, if the rotational speed difference between the motors is less than a preset threshold, it is determined to adjust the driving mode of the electric assist vehicle, and the target adjustment motor is determined according to the current driving mode of the electric assist vehicle and the second adjustment strategy. The second adjustment strategy refers to the strategy of starting and operating the motor with the lowest rotational speed.

[0085] Exemplarily, if the current driving mode of the electric assist vehicle is the rear-wheel single-drive mode and the rotational speed difference between the slave motors is less than the preset threshold, it is determined to adjust the driving mode of the electric assist vehicle. Among them, the rotational speed of slave motor 1 is less than that of slave motor 2, and according to the current driving mode of the electric assist vehicle and the second adjustment strategy, the target adjustment motor is determined to be slave motor 1, and slave motor 1 is started.

[0086] Optionally, the sending of the driving instruction to at least one slave controller according to the target adjustment motor may include:

[0087] Optionally, if the target driving mode is any slave motor, a third driving instruction is sent to the slave controller corresponding to the slave motor with the lowest rotational speed. The third driving instruction is used to instruct the slave controller corresponding to the slave motor with the lowest rotational speed to control the slave motor with the lowest rotational speed to start and operate. The any slave motor may refer to one slave motor or multiple slave motors, but not all slave motors.

[0088] Optionally, if the target adjustment motor is all slave motors, a fourth driving instruction is sent to each slave controller, where the fourth driving instruction is used to instruct each slave controller to control the corresponding slave motor to start and operate.

[0089] Optionally, if the target adjustment motor is the main motor, the main motor is controlled to start and operate.

[0090] Figure 3 The flowchart of a process for receiving a communication instruction provided by an embodiment of the present application is as Figure 3 shown:

[0091] S201. Receive a communication instruction. Optionally, the communication instruction received by the master controller can be a communication instruction sent by the instrument device to the master controller. Among them, the instrument device can send a control execution instruction and a status acquisition instruction to the master controller; it can also be a communication instruction sent by each slave controller to the master controller. Among them, each slave controller can send a status feedback instruction to the master controller. The status feedback instruction means that after the master controller sends a status acquisition instruction to each slave controller, each slave controller can send a status feedback instruction to the master controller, and the master controller can send the information in the status feedback instructions sent by each slave controller it receives to the instrument device for display through the instrument device.

[0092] Optionally, as described above Figure 1 In the structural schematic diagram of the electric assist vehicle shown, the instrument of the electric assist vehicle is electrically connected to the master control. The instrument can only communicate with the master controller, realizing the transmission of communication instruction signals between the instrument and the master controller. Since the master controller and each slave controller can communicate with each other, the instrument can communicate indirectly with each slave controller through the master controller.

[0093] Optionally, the communication instruction can be a control execution instruction, a status acquisition instruction, and a status feedback instruction. Among them, the control execution instruction can be used to control the operating states of the main motor and each slave motor; the signal sent by the master controller to the instrument can be from the master controller or the execution result feedback instruction and status feedback instruction from each slave controller. At the same time, the signal sent by the master controller to each slave controller can be from the master controller or the communication instruction sent by the instrument. Each slave controller can send a status feedback instruction to the master controller, and the master controller can send the status feedback instructions sent by each slave controller to the instrument for display through the instrument.

[0094] S202. Determine whether the format and content of the communication instruction are valid.

[0095] Optionally, the master controller can use a preset method to determine whether the format and content of the received communication instruction are valid.

[0096] It should be noted that the instrument, the master controller, and each slave controller can all be the receivers of the communication instruction and can also be the senders of the communication instruction; that is to say, when any one of the instrument, the master controller, and each slave controller sends a certain communication instruction, the other components can receive the communication instruction. Therefore, for the receiver, it is necessary to determine whether the format and content of the communication instruction are valid. If it is valid, the receiver can process the communication instruction. If it is invalid, there is no need to process the received communication instruction and it can be directly discarded.

[0097] S203. If the format and content of the communication instruction are valid, then parse and process the communication instruction.

[0098] Optionally, if the master controller determines that the format and content of the received communication instruction are valid, it indicates that the master controller can parse and process the received communication instruction accordingly.

[0099] It should be noted that the master controller mentioned above is only used as an example of the receiver of the communication instruction. For other components such as instrument devices or slave controllers, they can also be used as the receiver in the above steps S201 - S203 and execute the method steps of S201 - S203.

[0100] Optionally, the communication instruction may include: target address, index, sub - index, start bit, check bit, end bit. Among them, the target address is used to indicate the address of the receiver of the communication instruction, the source address is used to indicate the address of the sender, and the index and sub - index are used to indicate whether the receiver is allowed to execute the communication instruction.

[0101] Optionally, determining whether the format and content of the communication instruction in the above step S201 are valid may include:

[0102] If the target address is the same as the address identifier of the master controller, and the index and sub - index exist in the target index list, then the master controller determines that the format of the communication instruction is valid. Here, the target index list is used to record the valid index information between the master controller and the instrument device.

[0103] Table 1 is an example of the target index list. As shown in Table 1, the target index table may include index, sub - index, function, data, and description. Among them, the index may include the above - mentioned index and sub - index, the function indicates controller information, and the data may indicate the function corresponding to the specific data.

[0104]

[0105]

[0106] Table 1

[0107] Taking the target index table shown in Table 1 above as an example, in the communication protocol, it can be preset that the start bit for the master controller to send a communication instruction is 0x41, the address of the master controller and the addresses of each slave controller are both 0x02, and the address of the instrument is 0x01. The preset index between the master controller and the instrument is: index 0x30, sub-index 0x00, and the preset index between the master controller and each slave controller is 0xaf, sub-index 0x00. Therefore, when the communication instruction sent by the instrument is “, start bit + target address 0x02 + source address 0x01 + instruction identifier + index 0x30 + sub-index 0x00 + valid data length + valid data + check bit + end bit”, since the target address is 0x02, both the master controller and each slave controller will receive this communication instruction. Because index 0x30 + sub-index 0x00 exists in the target index list of the master controller but does not exist in the target index lists of each slave controller, and there is no index value and sub-index value in the target index lists of each slave controller that can communicate with the instrument, it can be determined that this communication instruction is in a valid format for the master controller, that is to say, it is determined that this communication instruction is sent by the instrument to the master controller.

[0108] In another example, if a communication instruction sent by the master controller is “start bit 0x41 + target address 0x02 + source address 0x02 + instruction identifier + index 0xaf + sub-index 0x00 + valid data length + valid data + check bit + end bit”, then both each slave controller and the instrument will receive this communication instruction as the receiving party. Then, both the instrument and each slave controller will respectively judge the received communication instruction. Specifically, the target address can be judged, that is, it is judged whether the target address in the received communication instruction is the same as its own address. The address of the instrument is 0x01, so the instrument judges that this target address is different from the instrument address, so the instrument is not a valid receiving party. Further, the index is judged, that is, it is judged whether the first index 0xaf and the first sub-index 0x00 exist in the target index table. For the target index table of each slave controller, there exist the index value 0xaf and the sub-index value 0x00, then,

[0109] The valid receiving party of this communication instruction is each slave controller. This communication instruction is a communication instruction sent by the master controller to each slave controller.

[0110] Optionally, if the start bit is the same as the preset start bit corresponding to the master controller, and the result of verification according to the check bit is verification passed, and the end bit is the same as the preset end bit corresponding to the master controller, then it is determined that the content of the communication instruction is valid.

[0111] It should be noted that for the communication instructions and status acquisition instructions sent by the master controller, the instrument and each slave controller can all be the receivers. The method for judging the format and content validity of the received drive instructions and status acquisition instructions is the same as the aforementioned method, and will not be elaborated here.

[0112] In this embodiment, by judging the validity of the received communication instructions by the receiver, the accuracy of the receiver's processing of the received communication instructions can be ensured, avoiding the execution of the received communication instructions by an invalid receiver and thus executing incorrect communication instructions, thereby improving the accuracy of switching the drive mode.

[0113] Optionally, the above method may further include:

[0114] Optionally, if the effective data length is the same as the length corresponding to the effective data length, a check value is generated according to the communication instruction, and it is determined whether this check value is the same as the check bit. If so, it is determined that the result of verification according to the check bit is verification passed.

[0115] Optionally, when the received communication instruction includes a check bit, the check value in the received communication instruction is judged against this check bit to determine whether the check value is the same as the check bit. Among them, the check value can be a check value generated according to the start bit, target address, source address, instruction identifier, index, sub-index, effective data length, and effective data in the communication instruction.

[0116] Optionally, if the effective data length is greater than the length corresponding to the effective data, the excess sub-data in the effective data is used as a new check bit, a check value is generated according to the communication instruction, and it is determined whether this check value is the same as the new check bit. If so, it is determined that the result of verification according to the new check bit is verification passed; if not, the communication instruction is discarded.

[0117] Among them, the excess sub-data can indicate the next bit of data where the effective data exceeds the effective data length. Then, the next bit of data exceeding the effective data length is used as the new check bit, and it is judged whether the check value generated according to the start bit, target address, source address, instruction identifier, index, sub-index, effective data length, and effective data in the communication instruction is the same as this new check bit. If the same, it can be determined that the result of verification by the new check bit is verification passed; if not, the communication instruction is discarded.

[0118] Optionally, if the effective data length is less than the length corresponding to the effective data, the check bit is judged as data, that is, there is no check bit in this communication instruction, and this communication instruction is directly discarded.

[0119] It should be noted that for the communication instructions sent by the master controller, the instrument and each slave controller can both be the receivers. The method for judging the format and content validity of the received communication instructions is the same as the aforementioned method, which will not be elaborated here.

[0120] Optionally, if the instrument can send drive mode instructions. Exemplarily, if the three-drive mode instruction is 0x05, the front-wheel single-drive mode instruction is 0x1E, and the rear-wheel dual-drive mode instruction is 0x1F, indicating that the instruction for each electric start is 0x01 and the instruction for each motor stop is 0x03. Then when the instrument sends a communication instruction of "start bit 0x42 + target address 0x02 + source address 0x01 + instruction 0x01 + index 0x30 + sub-index 0x07 + valid data length + valid data 0x05 (three-drive) + check bit + end bit 0x0E", the receiving master controller starts the main motor. At the same time, the master controller sends a drive instruction of "start bit 0x41 + target address 0x02 + source address 0x02 + instruction 0x01 + index 0xaf + sub-index 0x00 + valid data length + valid data 0x1F (rear-wheel dual-drive) + check bit + end bit 0x0E" to each slave controller. Slave controller 1 receives the drive instruction and executes the start of slave motor 1, and slave controller 2 receives the drive instruction and executes the start of slave motor 2.

[0121] Optionally, during the operation of the motors, each controller can monitor and record the execution status of each motor connected to it. Then the master controller can monitor the operating state of the main motor, and each slave controller can monitor the operating states of the slave motors connected to each slave controller. After that, each slave controller can send the operating states of the slave motors to the master controller, and the master controller sends the operating state data of each slave controller and the operating state data of the main motor to the instrument. Through the instrument, the operating states of each motor can be displayed, and the user can switch the drive mode of the current electric assist vehicle according to the operating states of each motor displayed on the instrument.

[0122] Optionally, the parsing and processing of the communication instruction in the above step S203 may include:

[0123] Optionally, the master controller parses the instruction identifier and the valid data from the communication instruction. Among them, the instruction identifier can indicate whether the instruction is to start or stop each motor, and the valid data can indicate the target drive mode.

[0124] Optionally, the master controller sends drive instructions to at least one slave controller according to the instruction identifier and the valid data, and / or controls the start or stop of the main motor.

[0125] Exemplarily, if the instrument sends a three-drive mode, the main controller controls the main motor to start and sends drive instructions to slave controller 1 and slave controller 2. Slave controller 1 receives the drive instructions and executes the start of slave-controlled motor 1, and slave controller 2 receives the drive instructions and executes the start of slave motor 2.

[0126] Exemplarily, if the instrument sends a rear-wheel dual-drive mode, the main controller sends drive instructions to slave controller 1 and slave controller 2. Slave controller 1 receives the drive instructions and executes the start of slave-controlled motor 1, and slave controller 2 receives the drive instructions and executes the start of slave motor 2.

[0127] Exemplarily, if the instrument sends a front-wheel single-drive mode, the main controller controls the main motor to start.

[0128] In this embodiment, the main controller can control each slave controller according to the communication instructions received from the instrument, and can realize the function of switching the drive mode of the electric assist vehicle through the instrument during the operation of the electric assist vehicle.

[0129] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the method steps in the method embodiment of the above-mentioned electric assist vehicle driving method.

[0130] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the method embodiments, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or modules can be in electrical, mechanical or other forms.

[0131] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0132] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. An electric assist vehicle driving method, characterized in that, The main controller applied to an electric assist bicycle, the method includes: Receiving the actual operation data of each slave motor sent by each slave controller in the electric assist bicycle, and obtaining the actual operation data of the main motor; If the current driving mode of the electric assist bicycle is a multi-drive mode, determining the operation difference information between the main motor and each slave motor according to the actual operation data of the main motor and the actual operation data of each slave motor; Determining whether to adjust the driving mode of the electric assist bicycle according to the operation difference information, and if so, determining the target adjustment motor according to the operation difference information and the current driving mode; Sending a driving instruction to at least one slave controller according to the target adjustment motor, and / or controlling the main motor to start or stop, wherein the driving instruction is used to instruct the at least one slave motor to start or stop.

2. The electric assist vehicle driving method according to claim 1, characterized in that, The operation difference information includes: the motor speed difference; The determining whether to adjust the driving mode of the electric assist bicycle according to the operation difference information, and if so, determining the target adjustment motor according to the operation difference information and the current driving mode includes: If the motor speed difference between each motor is greater than a preset threshold, determining to adjust the driving mode of the electric assist bicycle, and determining the target adjustment motor according to the current driving mode of the electric assist bicycle and the first adjustment strategy, the first adjustment strategy is used to instruct to stop the operation of the target adjustment motor.

3. The electric assist vehicle driving method according to claim 2, characterized in that, The sending a driving instruction to at least one slave controller according to the target adjustment motor includes: If the target adjustment motor is any one of the slave motors, sending a first driving instruction to the slave controller corresponding to the slave motor with the minimum speed, the first driving instruction is used to instruct the slave controller corresponding to the slave motor with the minimum speed to control the slave motor with the minimum speed to stop running; If the target adjustment motor is all slave motors, sending a second driving instruction to each slave controller, the second driving instruction is used to instruct each slave controller to control the corresponding slave motor to stop running; If the target adjustment motor is the main motor, controlling the main motor to stop running.

4. The electric assist vehicle driving method according to claim 1, characterized in that, The operation difference information includes: the motor speed difference; The determining whether to adjust the driving mode of the electric assist bicycle according to the operation difference information, and if so, determining the target adjustment motor according to the operation difference information and the current driving mode includes: If the motor speed difference between each motor is less than a preset threshold, determining to adjust the driving mode of the electric assist bicycle, and determining the target adjustment motor according to the current driving mode of the electric assist bicycle and the second adjustment strategy, the second adjustment strategy is used to instruct to start the operation of the target adjustment motor.

5. The electric assist vehicle driving method according to claim 4, characterized in that, The sending a driving instruction to at least one slave controller according to the target adjustment motor includes: If the target adjustment motor is any one of the slave motors, sending a third driving instruction to the slave controller corresponding to the slave motor with the minimum speed, the third driving instruction is used to instruct the slave controller corresponding to the slave motor with the minimum speed to control the slave motor with the minimum speed to start running; If the target adjustment motor is all slave motors, a fourth drive instruction is sent to each slave controller, and the fourth drive instruction is used to instruct each slave controller to control the corresponding slave motor to start running; If the target adjustment motor is the main motor, control the main motor to start running.

6. The electric assist vehicle driving method according to claim 1, characterized in that, It further includes: Receiving a communication instruction; Determining whether the format and content of the communication instruction are valid; If the format of the communication instruction is valid and the content is valid, the communication instruction is parsed and processed.

7. The electric assist vehicle driving method according to claim 6, characterized in that, The communication instruction includes: target address, index, sub-index, start bit, check bit, end bit; The determining whether the format and content of the communication instruction are valid includes: If the target address is the same as the address identifier of the master controller, and the index and the sub-index exist in the target index list, it is determined that the format of the communication instruction is valid, where the target index list is used to record the valid index information between the master controller and the instrument device; If the start bit is the same as the preset start bit corresponding to the master controller, and the result of verification according to the check bit is verification passed, and the end bit is the same as the preset end bit corresponding to the master controller, it is determined that the content of the communication instruction is valid.

8. The electric assist vehicle driving method according to claim 7, characterized in that, The communication instruction further includes: valid data length and valid data, and further includes: If the valid data length is the same as the length corresponding to the valid data, a check value is generated according to the communication instruction, and it is determined whether the check value is the same as the check bit. If so, it is determined that the result of verification according to the check bit is verification passed; If the valid data length is greater than the length corresponding to the valid data, the excess sub-data in the valid data is used as the new check bit, a check value is generated according to the data of the preset length in the communication instruction, and it is determined whether the check value is the same as the new check bit. If so, it is determined that the result of verification according to the check bit is verification passed.

9. An electric assist vehicle, characterized in that, It includes: A master controller, a main motor connected to the master controller, at least one slave controller, and at least one slave motor corresponding to and connected to each slave controller; The master controller is used to execute the steps of the electric assist vehicle driving method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the electric assist vehicle driving method according to any one of claims 1-8.

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