Electric vehicle control method and device, computer device and storage medium

Abstract

The present disclosure provides an electric vehicle control method and device, computer equipment and storage medium, wherein the method comprises: determining the holding state of a user driving the target electric vehicle; in the case that the holding state is an unholding state, determining the driving speed of the target electric vehicle, and generating a target control instruction matched with the driving speed; and sending the target control instruction to a target device on the target electric vehicle corresponding to the target control instruction, so as to control the target electric vehicle through the target device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, in particular, to an electric vehicle control method and device, computer equipment and storage medium. BACKGROUND

[0002] With the deepening of environmental protection concept, the use of electric vehicles is also becoming more and more popular. The electric vehicle generally controls the speed through the knob on the handle. Many users usually only hold the right handlebar that can control the speed of the electric vehicle when driving, and do not hold the left handlebar. When the moving speed of the electric vehicle is fast, traffic accidents are likely to occur by adopting this single-handed handlebar posture. Therefore, how to constrain the non-standard driving behavior of the user becomes a problem to be solved. SUMMARY

[0003] The present disclosure at least provides an electric vehicle control method, device, computer equipment and storage medium.

[0004] In a first aspect, the present disclosure provides an electric vehicle control method, which comprises: determining a handlebar state of a user driving a target electric vehicle; in the case that the handlebar state is an un-held handlebar state, determining a running speed of the target electric vehicle, and generating a target control instruction matched with the running speed; and sending the target control instruction to a target device on the target electric vehicle corresponding to the target control instruction, so as to control the target electric vehicle through the target device.

[0005] In an optional implementation, the determination of the handlebar state of the user driving the target electric vehicle comprises: obtaining a target capacitance value measured by a capacitance sensor on a handlebar of the target electric vehicle; and determining the handlebar state of the user driving the target electric vehicle based on the target capacitance value.

[0006] In an optional implementation, the obtaining of the target capacitance value measured by the capacitance sensor on the handlebar of the target electric vehicle comprises: obtaining a plurality of candidate capacitance values measured by the capacitance sensor at a preset time interval within a preset time period before the current time; and determining the target capacitance value based on the plurality of candidate capacitance values.

[0007] In an optional implementation, the determination of the handlebar state of the user driving the target electric vehicle based on the target capacitance value comprises: in the case that the target capacitance value is located in a first threshold interval set in advance, determining that the handlebar state is a held handlebar state; and in the case that the target capacitance value is located in a second threshold interval set in advance, determining that the handlebar state is an un-held handlebar state.

[0008] In an optional implementation, the first threshold interval includes a threshold interval corresponding to at least one hand state and / or a threshold interval corresponding to at least one handlebar posture.

[0009] In an optional implementation, the generating the target control instruction matched with the driving speed includes: generating a first target control instruction for controlling a motor output torque of the target electric vehicle when the driving speed is not higher than a target speed threshold; and the sending the target control instruction to a target device corresponding to the target control instruction on the target electric vehicle includes: sending the first target control instruction to a motor controller of the target electric vehicle to control the motor output torque through the motor controller.

[0010] In an optional implementation, the generating the target control instruction matched with the driving speed includes: generating a second target control instruction for displaying prompt information when the driving speed is higher than a target speed threshold; and the sending the target control instruction to a target device corresponding to the target control instruction on the target electric vehicle includes: sending the second target control instruction to a display device on the target electric vehicle to display prompt information through the display device.

[0011] In an optional implementation, the method further includes determining the target speed threshold according to the following method: determining a driving gear or a driving direction of the target electric vehicle; and determining a target speed threshold matched with the driving gear or the driving direction.

[0012] In an optional implementation, before determining the handlebar state of the user driving the target electric vehicle, the method further includes: determining a riding intention of the user based on a plurality of detection components of the target electric vehicle; and determining the handlebar state of the user driving the target electric vehicle when the riding intention is a preparation for riding or a riding.

[0013] In a second aspect, the embodiments of the present disclosure further provide an electric vehicle control device, including: a determination unit configured to determine a handlebar state of a user driving the target electric vehicle; a generation unit configured to determine a driving speed of the target electric vehicle and generate a target control instruction matched with the driving speed when the handlebar state is an un-held handlebar state; and a sending unit configured to send the target control instruction to a target device corresponding to the target control instruction on the target electric vehicle to control the target electric vehicle through the target device.

[0014] In a third aspect, the embodiments of the present disclosure further provide a computer device, comprising a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the computer device is running, the processor communicates with the memory through the bus, and the machine readable instructions are executed by the processor to perform the steps of the first aspect or any possible implementation manner of the first aspect.

[0015] In a fourth aspect, the embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program, when the computer program is executed by a processor, the steps of the first aspect or any possible implementation manner of the first aspect are performed.

[0016] In the embodiments of the present disclosure, the holding state of the user driving the target electric vehicle can be determined first, that is, it is determined whether the user holds the handlebar; then in the case that the holding state is the non-holding state, the target control instruction matched with the driving speed is generated, and the target control instruction is sent to the target device corresponding to the target control instruction on the target electric vehicle, so as to control the target electric vehicle through the target device.

[0017] In the above embodiments, the target electric vehicle can be controlled by generating the control instruction when the user does not hold the handlebar, such as controlling the target electric vehicle to display prompt information to prompt the user to hold the handlebar, or controlling the target electric vehicle to stop, so as to prompt the user driving the target electric vehicle and improve the driving safety; in addition, since the target control instruction is determined based on the driving speed of the target electric vehicle, different target control instructions can be matched for the user under different driving speeds, so as to improve the driving safety in different driving scenarios.

[0018] In order to make the above objectives, features and advantages of the present disclosure more apparent, clear and easy to understand, the following will specifically describe the preferred embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. The drawings are incorporated into the specification and form a part of the specification, which show the embodiments consistent with the present disclosure, and are used to explain the technical solutions of the present disclosure together with the specification. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be considered as a limitation to the scope, and other related drawings can also be obtained by those skilled in the art without any creative effort.

[0020] Figure 1 A flowchart of an electric vehicle control method provided by the embodiments of the present disclosure is shown.

[0021] Figure 2 A flow chart of a method for determining a handle state is shown.

[0022] Figure 3 A schematic diagram of an electric vehicle control device is shown.

[0023] Figure 4 A schematic diagram of a computer device is shown. DETAILED DESCRIPTION

[0024] In order to make the objects, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following will be combined with the accompanying drawings for the embodiments of the present disclosure to clearly and completely describe the technical solutions of the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The components of the embodiments of the present disclosure described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed present disclosure, but only represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present disclosure.

[0025] A driving control device (such as a knob for driving the vehicle forward) is usually arranged on the right handle of the electric vehicle. The user can control the speed of the vehicle forward by using the driving control device. However, many users usually only hold the right handle that can control the speed of the electric vehicle forward when driving, and do not hold the left handle, which is easy to cause traffic accidents.

[0026] In the related art, a pressure sensor is arranged on the handle to detect whether the user holds the handle. When it is detected that the user does not hold the handle with both hands, the motor controller of the electric vehicle is directly controlled to stop outputting torque, that is, the power output is cut off. However, this method can cause the electric vehicle running at a high speed to suddenly lose power and quickly decrease the speed, and thus traffic accidents such as rear-end collision can occur.

[0027] In addition, since the knob for controlling the speed of the electric vehicle is relatively sensitive, the user may accidentally touch the knob. For example, when the electric vehicle is parked, the user may also accidentally touch the knob, so that the electric vehicle suddenly moves forward, causing danger.

[0028] Based on the above research, the present disclosure provides an electric vehicle control method and device, computer equipment and storage medium. In the embodiment of the present disclosure, the grip state of the user driving the target electric vehicle can be determined first, that is, it is determined whether the user holds the handlebar. Then, in the case where the grip state is the non-grip state, a target control instruction matched with the driving speed is generated, and the target control instruction is sent to the target device corresponding to the target control instruction on the target electric vehicle, so as to control the target electric vehicle through the target device.

[0029] In the above embodiment, the target electric vehicle can be controlled by generating a control instruction when the user does not hold the handlebar, such as controlling the target electric vehicle to display prompt information to prompt the user to hold the handlebar, or controlling the target electric vehicle to stop, etc. Therefore, the user driving the target electric vehicle can be prompted, and the driving safety can be improved. In addition, since the target control instruction is determined based on the driving speed of the target electric vehicle, different target control instructions can be matched for the user under different driving speeds, so as to improve the driving safety in different driving scenarios.

[0030] It should be noted that similar reference numerals and letters refer to similar items throughout the accompanying drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0031] The term "and / or" herein only describes an association relationship, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B and C can mean including any one or more elements selected from the set consisting of A, B and C.

[0032] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the type of personal information involved in the present disclosure, the use range, the use scenario, etc. should be informed to the user and the authorization of the user should be obtained through appropriate means according to relevant laws and regulations.

[0033] For example, in response to receiving the user's active request, the user is sent prompt information to explicitly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Therefore, the user can voluntarily choose whether to provide personal information to the computer equipment, application program, server or storage medium, etc. software or hardware that performs the operation of the technical solutions of the present disclosure.

[0034] As an optional but non-limiting implementation, in response to receiving the active request of the user, the sending of the prompt information to the user can be in the form of a pop-up window, in which the prompt information can be presented in the form of text. In addition, the pop-up window can also carry a selection control for the user to select "agree" or "disagree" to provide personal information to the computer device.

[0035] It can be understood that the above notification and user authorization process is only illustrative and does not limit the implementation of the present disclosure, and other ways that meet the relevant laws and regulations can also be applied to the implementation of the present disclosure.

[0036] For the convenience of understanding the present embodiment, first, a kind of electric vehicle control method disclosed by the present embodiment is introduced in detail, the execution subject of the electric vehicle control method provided by the present embodiment is generally a computer device with certain computing power, which is for example a central controller. In some possible implementation, the electric vehicle control method can be realized by the processor calling the computer readable instructions stored in the memory.

[0037] Referring to Figure 1 The flow chart of the electric vehicle control method provided by the present embodiment is shown, and the method comprises steps 101-103, wherein:

[0038] Step 101, determine the grip state of the user driving the target electric vehicle.

[0039] The target electric vehicle is a driving device driven by an electric motor, and the target electric vehicle can include an electric two-wheeled vehicle and an electric three-wheeled vehicle. The target electric vehicle can be, for example, a private electric vehicle or a shared electric vehicle. The shared electric vehicle is a public transportation tool put into public areas.

[0040] The target electric vehicle is installed with a central controller, which can acquire data collected by a plurality of devices installed on the target electric vehicle, and can also generate and send control instructions to control the plurality of devices on the target electric vehicle. The central controller can transmit data to each device through a line connected to each device respectively, or can transmit data to multiple devices through any bus, which can be, for example, a Controller Area Network (CAN).

[0041] The handle state of the user can be used to represent the state when the user grips two handlebars of the target electric vehicle, or can be used to represent the state when the user grips any handlebar of the target electric vehicle, and the handle state can include a held handle state and a non-held handle state, the held handle state indicating that the user holds the handlebar, and the non-held handle state indicating that the user does not hold the handlebar.

[0042] In a possible implementation, since the user needs to control the speed of the vehicle through the power handle, the user is likely to keep the power handle in a handle state, and therefore the handle state of the user on the non-power handle can be detected, for example, if the control knob of the target electric vehicle is located on the right handlebar, the right handlebar is the power handle, and the left handlebar is the non-power handle, and the handle state on the left handlebar can be detected.

[0043] In another possible implementation, in order to improve driving safety, the handle state detection can be performed on both the power handle and the non-power handle.

[0044] In step 102, when the handle state is in the non-held handle state, the driving speed of the target electric vehicle is determined, and a target control instruction matched with the driving speed is generated.

[0045] When the user driving the target electric vehicle is in the non-held handle state, the target electric vehicle is moving forward, and a traffic accident is likely to occur, and therefore, when the handle state is in the non-held handle state, a target control instruction for controlling the target electric vehicle can be generated; in order to ensure the safety of the user, different control methods can be adopted when the target electric vehicle is at different speeds, that is, different target control instructions are generated, and through different target control instructions, the target electric vehicle can be controlled in different ways, for example, the user can be prompted to hold the handlebar, or the moving speed of the target electric vehicle can be controlled.

[0046] Therefore, when it is determined that the handle state is in the non-held handle state, the driving speed of the target electric vehicle can be determined first, and then different target control instructions can be generated according to different driving speeds, and the target control instructions are sent to the target device corresponding to the target control instructions to perform the operation corresponding to the target control instructions.

[0047] The target device can include a device (such as an indicator light, an instrument panel, a display screen, etc.) for instructing the user driving the target electric two-wheeled vehicle to adjust the handle state, and a device (such as a motor, etc.) for controlling the driving speed of the vehicle, and the operation corresponding to the target control instruction can be, for example, the indicator light flickering, the target electric vehicle decelerating, playing a prompt voice, etc.

[0048] In a possible implementation, a Hall sensor is installed in the motor of the target electric vehicle, and the driving speed of the target electric vehicle can be measured by the Hall sensor when the driving speed of the target electric vehicle is determined. Here, the Hall sensor can send the driving speed of the target electric vehicle to the central controller after measuring the driving speed of the target electric vehicle.

[0049] Here, the driving speed of the target electric vehicle can be determined after the handle state is determined to be the non-handle state, or can be detected in real time.

[0050] Step 103: Send the target control instruction to a target device corresponding to the target control instruction on the target electric vehicle to control the target electric vehicle through the target device.

[0051] Here, the target device is a device for instructing the user driving the target electric vehicle to adjust the handle state, different target control instructions can be used to control different target devices on the target electric vehicle, and the target device can instruct the user by direct display, such as playing voice, displaying prompt light, etc., or the target device can instruct the user by controlling the driving speed of the target electric vehicle, such as controlling the motor output torque, controlling the brake, etc.

[0052] In a possible implementation, before determining the handle state of the user driving the target electric vehicle, the riding intention of the user can be determined based on a plurality of detection components of the target electric vehicle, and then the handle state of the user driving the target electric vehicle is determined when the riding intention is ready to ride or is riding.

[0053] Specifically, the central controller can obtain the state information of the detection component of the target electric vehicle, and when the state information meets the preset condition corresponding to the detection component, the riding intention of the user can be determined. For example, the to-be-detected device can include a kickstand and a saddle, the state information of the kickstand can include an open state and a parking state, and the state information of the saddle can include an unoccupied state and an occupied state.

[0054] Here, when determining the state information of the saddle, a pressure sensor can be installed under the saddle, and when a first voltage value (or a first current value) output by the pressure sensor is detected to exceed a first voltage threshold value (or a first current threshold value) set in advance, the state information of the saddle can be determined to be the occupied state. For example, if the first voltage threshold value is 5V, when the first voltage value is 6V, the state information of the saddle is determined to be the occupied state, and when the first voltage value is 4V, the state information of the saddle is determined to be the unoccupied state.

[0055] In a possible implementation, when the state information of the kickstand is the parking state and / or the state information of the seat is the unoccupied state, it is determined that the riding intention is the preparation for riding or the riding, and it is determined that the riding intention is the non-preparation for riding. At this time, if the user mistakenly touches the driving knob on the handlebar (the control device that triggers the control of the motor output torque), the target electric vehicle may move forward, which may cause danger. Therefore, in the case that the riding intention is the non-preparation for riding, the prohibition driving instruction can be generated and sent to the motor controller of the target electric vehicle to instruct the motor to prohibit the output of the torque. In this way, even if the user mistakenly triggers the driving knob, the motor does not output the torque, so that the target electric vehicle does not move, and the safety of the target electric vehicle is improved.

[0056] In a possible implementation, when the state information of the kickstand is the parking state and / or the state information of the seat is the unoccupied state, it is determined that the riding intention is the preparation for riding or the riding, and it is determined that the riding intention is the non-preparation for riding. At this time, if the user mistakenly touches the driving knob on the handlebar (the control device that triggers the control of the motor output torque), the target electric vehicle may move forward, which may cause danger. Therefore, in the case that the riding intention is the non-preparation for riding, the prohibition driving instruction can be generated and sent to the motor controller of the target electric vehicle to instruct the motor to prohibit the output of the torque. In this way, even if the user mistakenly triggers the driving knob, the motor does not output the torque, so that the target electric vehicle does not move, and the safety of the target electric vehicle is improved.

[0057] In a possible implementation, the handlebar of the target electric vehicle is provided with a capacitive sensor. When determining the holding state of the user driving the target electric vehicle, the following steps 201 to 202 can be adopted: Figure 2

[0058] Step 201, obtaining a target capacitance value measured by the capacitive sensor on the handlebar of the target electric vehicle;

[0059] Step 202, determining the holding state of the user driving the target electric vehicle based on the target capacitance value.

[0060] Here, since the capacitive sensor outputs a default capacitance value in the case that it is not contacted by an object, and the capacitance value output by the capacitive sensor changes when the object contacts the capacitive sensor, the target capacitance value output by the capacitive sensor can be used to determine whether the user driving the target electric vehicle holds the handlebar.

[0061] ​In actual applications, the capacitance value output by the capacitive sensor can be unstable due to changes in the grip posture of the user or hand sweating, etc. Therefore, in a possible implementation, when obtaining the target capacitance value measured by the capacitive sensor on the handlebar of the target electric vehicle, a plurality of candidate capacitance values measured by the capacitive sensor at preset time intervals within a preset time period before the current time can be obtained first, and then the target capacitance value can be determined based on the plurality of candidate capacitance values, so that the obtained target capacitance value is more accurate.

[0062] Specifically, the capacitive sensor can collect a candidate capacitance value every preset time interval (the preset time interval is less than the preset time period) and send the candidate capacitance value to the central controller. In this way, the central controller can obtain a plurality of candidate capacitance values collected by the capacitive sensor every preset time period, and then the central controller can determine the target capacitance value based on the plurality of candidate capacitance values.

[0063] For example, the preset time interval is 50 ms, the preset time period is 500 ms, and the capacitive sensor can collect a candidate capacitance value every 50 ms and send it to the central controller. Therefore, the central controller can obtain 10 candidate capacitance values collected by the capacitive sensor every 500 ms, and determine the target capacitance value based on the 10 candidate capacitance values.

[0064] In a possible implementation, when the target capacitance value is determined based on the plurality of candidate capacitance values, the target capacitance value can be determined based on any of the following methods, for example:

[0065] Method one: determining the median value (also known as the median) of the plurality of candidate capacitance values, and taking the median value of the plurality of candidate capacitance values as the target capacitance value.

[0066] For example, if the plurality of candidate capacitance values include 730 millifarads, 730 millifarads, 740 millifarads, 740 millifarads, and 750 millifarads, the median value of the plurality of candidate capacitance values is 740 millifarads, and the target capacitance value is 740 millifarads.

[0067] Method two: determining the average value of the plurality of candidate capacitance values, and taking the average value of the plurality of candidate capacitance values as the target capacitance value.

[0068] For example, if the plurality of candidate capacitance values include 730 millifarads, 730 millifarads, 740 millifarads, 740 millifarads, and 750 millifarads, the average value of the plurality of candidate capacitance values is 738 millifarads, and the target capacitance value is 738 millifarads.

[0069] Here, when the target capacitance value is determined based on the plurality of candidate capacitance values, other data processing methods can also be used to obtain the target capacitance value, which is not limited in the present application.

[0070] In a possible implementation, when the holding state of the user driving the target electric vehicle is determined based on the target capacitance value, the holding state can be determined as a holding state when the target capacitance value is in a pre-set first threshold interval, and the holding state can be determined as a non-holding state when the target capacitance value is in a pre-set second threshold interval.

[0071] For example, the first threshold interval is 730 millifarad to 750 millifarad, and the second threshold interval is 690 millifarad to 710 millifarad. If the target capacitance value is 740 millifarad, the target capacitance value is in the first threshold interval, and the holding state is determined as a holding state. If the target capacitance value is 700 millifarad, the target capacitance value is in the second threshold interval, and the holding state is determined as a non-holding state.

[0072] In a possible implementation, the first threshold interval includes at least one threshold interval corresponding to a hand state and / or at least one threshold interval corresponding to a holding posture. The hand state can represent the medium or state of the contact part between the user's hand and the handle, such as direct contact between the hand skin and the handle, contact between the hand gloves and the handle, contact between the hand in a wet state and the handle, etc. The holding posture is used to represent the posture of the hand when gripping the handle, such as wrapping the handle with the palm, pinching the handle with the fingers, etc.

[0073] Specifically, different hand states and / or holding postures can correspond to a first threshold interval, respectively. When the target capacitance value is in any pre-set first threshold interval, the holding state can be determined as a holding state, and the current hand state and / or holding posture of the user can be determined.

[0074] For example, the first threshold interval includes a first threshold interval (740 millifarad to 750 millifarad) corresponding to a hand state 1 and a holding posture 1, a first threshold interval (750 millifarad to 760 millifarad) corresponding to the hand state 1 and a holding posture 2, a first threshold interval (760 millifarad to 770 millifarad) corresponding to a hand state 2 and a holding posture 1, a first threshold interval (770 millifarad to 780 millifarad) corresponding to the hand state 2 and the holding posture 2, and the second threshold interval is (690 millifarad to 710 millifarad). When the target capacitance value is 755 millifarad, the holding state can be determined as a holding state, the hand state of the user is hand state 1, and the holding posture of the user is holding posture 2.

[0075] In a possible implementation, in the case that the target capacitance value is not located in the first threshold interval and the second threshold interval, it can be determined that the target capacitance threshold acquisition is incorrect, and the target capacitance value is discarded. For example, if the target capacitance value is 780 millifarads, the first threshold interval is 740 millifarads-750 millifarads, and the second threshold interval is 700 millifarads-710 millifarads, it is determined that the target capacitance value acquisition is incorrect and is discarded.

[0076] The following describes a method for setting the first threshold interval and the second threshold interval:

[0077] The first threshold interval can be obtained according to the following method: obtaining a plurality of first test capacitance values collected by the capacitance sensor when the handlebars of the target electric vehicle are held, and determining the first threshold interval according to the plurality of first test capacitance values.

[0078] In a possible implementation, the first threshold interval can be a capacitance value interval between a maximum capacitance value and a minimum capacitance value in the plurality of first test capacitance values. For example, the plurality of first test capacitance values can include 740 millifarads, 740 millifarads, 745 millifarads, and 750 millifarads, and the first preset threshold is 740 millifarads-750 millifarads.

[0079] Alternatively, in another possible implementation, a first intermediate capacitance value can be determined based on the plurality of first test capacitance values, and the first threshold interval can be determined based on a first preset percentage and the first intermediate capacitance value. The first intermediate capacitance value can be a median value, an average value, a mode value of the plurality of first test capacitance values, or a value calculated according to other data processing methods, which is not limited herein.

[0080] For example, the plurality of first test capacitance values include 730 millifarads, 740 millifarads, and 750 millifarads. If the first intermediate capacitance value is a median value of the plurality of first test capacitance values, the first intermediate capacitance value is 740 millifarads. If the first preset percentage is 10%, 740*(1-10%) is 666 millifarads, and 740*(1+10%) is 814 millifarads. Therefore, the first threshold interval is 666 millifarads-814 millifarads.

[0081] Similarly, the second threshold interval can be obtained according to the following method: obtaining a plurality of second test capacitance values collected by the capacitance sensor when the handlebars of the target electric vehicle are not held, and determining the second threshold interval according to the plurality of second test capacitance values.

[0082] Specifically, in one possible implementation, the second threshold interval can be a capacitance value interval between a maximum capacitance value and a minimum capacitance value in the plurality of second test capacitance values. For example, the plurality of second test capacitance values can include 700 millifarads, 690 millifarads, 695 millifarads, and 710 millifarads, and the first preset threshold value can be 690 millifarads to 710 millifarads.

[0083] Alternatively, in another possible implementation, a second intermediate capacitance value can be determined based on the plurality of second test capacitance values, and then the second threshold interval can be determined based on a second preset percentage and the second intermediate capacitance value. The intermediate capacitance value can be a median value, an average value, a mode value of the plurality of second test capacitance values, or a value calculated according to other data processing methods, which is not limited herein.

[0084] For example, the plurality of second test capacitance values include 690 millifarads, 700 millifarads, and 710 millifarads, the second intermediate capacitance value is 700 millifarads if the second intermediate capacitance value is an average value of the plurality of second test capacitance values, 700*(1-5%) = 665 millifarads and 700*(1+5%) = 735 millifarads if the second preset percentage is 5%, and the second threshold interval is 665 millifarads to 735 millifarads.

[0085] In another possible implementation, a pressure sensor is installed on a handlebar of the target electric vehicle, and when determining the handle holding state of the user driving the target electric vehicle, a target voltage value (or a target current value) measured by the pressure sensor on the handlebar of the target electric vehicle can be obtained, and then the handle holding state of the user driving the target electric vehicle can be determined based on the target voltage value (or the target current value).

[0086] Specifically, the handle holding state can be determined as a handle holding state when the target voltage value (or the target current value) is located in a third preset threshold interval, and the handle holding state can be determined as a non-handle holding state when the target voltage value (or the target current value) is located in a fourth preset threshold interval, wherein the third threshold interval is determined based on voltage values (or current values) measured by the pressure sensor in a plurality of handle holding states, and the fourth threshold interval is determined based on voltage values (or current values) measured by the pressure sensor in a plurality of non-handle holding states.

[0087] For example, the third preset threshold value is 5V to 7V, and the fourth preset threshold value is 2V to 4V, and when the target voltage value is 3V, the handle holding state of the user driving the target electric vehicle can be determined as a non-handle holding state.

[0088] Alternatively, the gripping state can be determined as the gripped state when the target voltage value (or target current value) exceeds a pre-set target voltage threshold (or target current threshold), and the gripping state can be determined as the non-gripped state when the target voltage value (or target current value) does not exceed the pre-set target voltage threshold (or target current threshold).

[0089] For example, the target voltage threshold is 10V, the gripping state is determined as the gripped state when the target voltage value is 12V, and the gripping state is determined as the non-gripped state when the target voltage value is 9V.

[0090] Alternatively, in order to avoid the above-mentioned detection errors of the gripping state, the two detection methods can be combined, i.e., the pressure sensor and the capacitive sensor are arranged on the handle at the same time, and then the gripping state is detected based on the detection values of the two sensors at the same time. When the gripping state is determined as the non-gripped state based on the detection values of the two sensors, the subsequent processing steps are executed. Alternatively, when the gripping state is determined as the non-gripped state based on the detection value of any sensor, the subsequent processing steps are executed, so as to avoid the detection errors caused by the detection accuracy of the sensor.

[0091] In a possible implementation, for the user who does not grip the handle, the target electric vehicle can be controlled to decelerate or stop when the target electric vehicle travels at a low speed. Specifically, a first target control instruction for controlling the motor output torque of the target electric vehicle can be generated when the travel speed does not exceed a target speed threshold, and then the first target control instruction is sent to the motor controller of the target electric vehicle, so as to control the motor output torque through the motor controller.

[0092] Here, the motor is a driving device for driving the tire of the target electric vehicle to rotate, the target speed threshold is a pre-set value, and the first target control instruction is exemplarily an instruction for stopping the motor output torque of the target electric vehicle, or an instruction for reducing the motor output torque of the target electric vehicle, such as reducing the pre-set travel speed per second until stopping, or reducing the pre-set torque per second until the motor stops outputting torque.

[0093] For example, the target speed threshold is 5km / h, the first target control instruction for controlling the motor to stop outputting torque can be generated when the travel speed is 3km / h, and the first target control instruction is sent to the motor controller. After receiving the instruction, the motor controller can control the motor to stop outputting torque, so as to make the target electric vehicle stop moving forward.

[0094] In a possible implementation, for a user who does not hold the handle, if the motor output torque is directly stopped when the target electric vehicle is running at a high speed, rear-end collision is likely to occur. Even if the electric vehicle is running on a slope, if the motor output torque is suddenly stopped, the electric vehicle may slide down from the slope. Therefore, in this case, a prompt information can be displayed to prompt the user driving the target electric vehicle that the user currently does not hold the handle. Specifically, when the running speed exceeds a target speed threshold, a second target control instruction for controlling display of the prompt information can be generated, and then the second target control instruction is sent to a display device on the target electric vehicle, so that the display device displays the prompt information.

[0095] Here, the prompt information can be used to prompt the user to hold the handle, and the display device can be, for example, an indicator light, an instrument panel, a display screen, or the like. The second target control instruction can be, for example, control of turning on or flashing of the indicator light, control of turning of an instrument panel pointer or turning on of the instrument panel, or control of display of the prompt information (such as “Please hold the handle”) on the display screen.

[0096] For example, when the running speed is 6 km / h, the target speed threshold can be 5 km / h, the second target control instruction for controlling display of the prompt information can be generated, and the second target control instruction is sent to the display device. After receiving the instruction, the display device can display the prompt information according to the second target control instruction.

[0097] In a possible implementation, after the target control instruction is sent to the display device on the target electric vehicle, or after the first preset time (for example, 30 seconds) after the second target control instruction is generated, a first target control instruction for controlling the motor output torque of the target electric vehicle can be further generated, and then the target control instruction is sent to a motor controller of the target electric vehicle, so that the motor controller controls the motor output torque. In this way, after the user is prompted to hold the handle, the moving speed of the target electric vehicle can be reduced, or the movement of the target electric vehicle can be stopped, so that the user stops driving the target electric vehicle without holding the handle.

[0098] For example, after the second target control instruction for controlling the indicator light to flash is generated, the first target control instruction for controlling the motor to stop outputting torque can be generated. In this way, when the user does not hold the handle and the target electric vehicle runs at a high speed, the user is first reminded by the indicator light that the user does not hold the handle, and then the target electric vehicle is stopped, so that the user is prepared before the target electric vehicle is stopped, and the safety is improved.

[0099] In a possible implementation, since the target electric vehicle usually drives at a high speed in the forward direction and at a low speed in the reverse direction, and the reverse direction is more dangerous than the forward direction, different target speed thresholds can be set for different driving directions such as the forward direction and the reverse direction. Specifically, when determining the target speed threshold, the driving gear or the driving direction of the target electric vehicle can be determined first, and then a target speed threshold matched with the driving gear or the driving direction can be determined.

[0100] The driving gear can include a forward gear and a reverse gear, and the driving direction can include a forward direction and a reverse direction. The central controller stores target speed thresholds matched with the driving gear or the driving direction. After the driving gear or the driving direction of the target electric vehicle is determined, a corresponding target speed threshold can be queried according to the driving gear or the driving direction of the target electric vehicle, and then a target control instruction can be generated according to the target speed threshold by using the method for determining the target control instruction.

[0101] For example, a target control threshold matched with the forward gear is 5 km / h, and a target control threshold matched with the reverse gear is 3 km / h. When the driving gear is detected to be the forward gear, the target control threshold is determined to be 5 km / h.

[0102] In a possible implementation, the target electric vehicle further includes a voice playing device. When the handle state is the non-holding state, a prompt voice can be played by the voice playing device. For example, the prompt voice can be "please hold the handle tightly".

[0103] In a possible implementation, in order to prevent a user driving the target electric vehicle from holding the handle incorrectly, such as holding the handle while holding other objects (such as a mobile phone or a bag) in the hand, which can cause danger, the central controller further stores a target hand state and / or a target handle posture. When the hand state and / or the handle posture is detected to be the target hand state and / or the target handle posture, a third target control instruction can be generated and sent to a display device on the target electric vehicle, so as to prompt the user to hold the handle correctly by using the display device. For example, the third target control instruction can make the display screen display "please hold the handle correctly", or make an indicator light flicker.

[0104] In a possible implementation, after detecting that the handle state is the non-holding state, if the user holds the handle correctly, i.e., detecting that the handle state is updated from the non-holding state to the holding state, a fourth target control instruction can be generated, and the fourth target control instruction is sent to a target device corresponding to the fourth target control instruction on the target electric vehicle to stop the target control instruction being executed by the target device. The target control instruction being executed by the target device includes but is not limited to the first target control instruction, and / or the second target control instruction, and / or the third target control instruction. In this way, after the user adopts the correct holding posture after being prompted, the target electric vehicle can be restored to the normal driving state.

[0105] For example, when the indicator light of the target electric vehicle flashes based on the second target control instruction, if it is detected that the handle state is updated from the non-holding state to the holding state, the flashing of the indicator light is stopped.

[0106] The electric vehicle control method provided by the embodiments of the present disclosure can first determine the handle state of the user driving the target electric vehicle, i.e., determine whether the user holds the handle; then in the case that the handle state is the non-holding state, a target control instruction matching the driving speed is generated, and the target control instruction is sent to a target device corresponding to the target control instruction on the target electric vehicle to control the target electric vehicle through the target device. In this way, when the user does not hold the handle, the target electric vehicle can be controlled by generating a control instruction, such as controlling the target electric vehicle to display prompt information to prompt the user to hold the handle, or controlling the target electric vehicle to stop, so as to prompt the user driving the target electric vehicle and improve the driving safety. In addition, since the target control instruction is determined based on the driving speed of the target electric vehicle, different target control instructions can be matched for the user at different driving speeds to improve the driving safety in different driving scenarios.

[0107] Those skilled in the art can understand that the writing order of each step in the above method of the specific implementation does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0108] Based on the same inventive concept, the embodiments of the present disclosure also provide an electric vehicle control device corresponding to the electric vehicle control method. Since the principle of solving problems of the device in the embodiments of the present disclosure is similar to the above-mentioned electric vehicle control method, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described herein.

[0109] Reference Figure 3As shown, a schematic diagram of an electric vehicle control device provided by an embodiment of the present disclosure is shown, and the device comprises a determination unit 31, a generation unit 32, and a sending unit 33.

[0110] The determination unit 31 is configured to determine a handle state of a user driving the target electric vehicle.

[0111] The generation unit 32 is configured to determine a driving speed of the target electric vehicle in a case where the handle state is an unhandle state, and generate a target control instruction matched with the driving speed.

[0112] The sending unit 33 is configured to send the target control instruction to a target device corresponding to the target control instruction on the target electric vehicle, so as to control the target electric vehicle through the target device.

[0113] In the embodiment of the present disclosure, the handle state of the user driving the target electric vehicle can be determined first, that is, it is determined whether the user holds the handle; then in a case where the handle state is an unhandle state, a target control instruction matched with the driving speed is generated, and the target control instruction is sent to a target device corresponding to the target control instruction on the target electric vehicle, so as to control the target electric vehicle through the target device.

[0114] In the above embodiment, the target electric vehicle can be controlled through the generation of the control instruction when the user does not hold the handle, such as controlling the target electric vehicle to display prompt information to prompt the user to hold the handle, or controlling the target electric vehicle to stop, so as to prompt the user driving the target electric vehicle and improve the driving safety; in addition, since the target control instruction is determined based on the driving speed of the target electric vehicle, different target control instructions can be matched for the user under different driving speeds, so as to improve the driving safety in different driving scenarios.

[0115] In a possible implementation, the determination unit 31 is further configured to: acquire a target capacitance value measured by a capacitance sensor on a handle of the target electric vehicle; and determine the handle state of the user driving the target electric vehicle based on the target capacitance value.

[0116] In a possible implementation, the determination unit 31 is further configured to: acquire a plurality of candidate capacitance values measured by the capacitance sensor at a preset time interval within a preset time period before the current time; and determine the target capacitance value based on the plurality of candidate capacitance values.

[0117] In a possible implementation, the determining unit 31 is further configured to: determine that the handle state is a held handle state when the target capacitance value is located in a first preset threshold interval; and determine that the handle state is a non-held handle state when the target capacitance value is located in a second preset threshold interval.

[0118] In a possible implementation, the first threshold interval includes a threshold interval corresponding to at least one hand state and / or a threshold interval corresponding to at least one handle posture.

[0119] In a possible implementation, the generating unit 32 is further configured to: generate a first target control instruction for controlling the motor output torque of the target electric vehicle when the driving speed does not exceed a target speed threshold; and the sending unit 33 is further configured to: send the first target control instruction to a motor controller of the target electric vehicle, so that the motor controller controls the motor output torque.

[0120] In a possible implementation, the generating unit 32 is further configured to: generate a second target control instruction for controlling display of prompt information when the driving speed exceeds the target speed threshold; and the sending unit 33 is further configured to: send the second target control instruction to a display device on the target electric vehicle, so that the display device displays the prompt information.

[0121] In a possible implementation, the generating unit 32 is further configured to: determine a driving gear or a driving direction of the target electric vehicle; and determine a target speed threshold matched with the driving gear or the driving direction.

[0122] In a possible implementation, the determining unit 31 is further configured to: determine a riding intention of the user based on a plurality of detection components of the target electric vehicle; and determine a handle state of a user driving the target electric vehicle when the riding intention is a preparation for riding or a riding.

[0123] The description of the processing procedure of each module in the apparatus and the interaction procedure between the modules can refer to the related description in the method embodiments, which will not be repeated here.

[0124] Corresponding to the electric vehicle control method in Figure 1 , the embodiments of the present disclosure further provide a computer device 400, as shown in Figure 4 , a structural schematic diagram of the computer device 400 provided by the embodiments of the present disclosure, which includes:

[0125] The processor 41, the memory 42, and the bus 43; the memory 42 is used for storing execution instructions, including the internal memory 421 and the external memory 422; the internal memory 421 here is also called the internal memory, used for temporarily storing operation data in the processor 41 and data exchanged with the external memory 422 such as a hard disk, the processor 41 exchanges data with the external memory 422 through the internal memory 421, when the computer equipment 400 runs, the processor 41 and the memory 42 communicate through the bus 43, so that the processor 41 executes the following instructions:

[0126] Determine the handle state of the user driving the target electric vehicle;

[0127] In the case of the handle state being the non-handle state, determine the driving speed of the target electric vehicle, and generate a target control instruction matched with the driving speed;

[0128] Send the target control instruction to a target device corresponding to the target control instruction on the target electric vehicle, so as to control the target electric vehicle through the target device.

[0129] The embodiment of the present disclosure further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the steps of the electric vehicle control method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer readable storage medium.

[0130] The embodiment of the present disclosure further provides a computer program product, and the computer program product carries a program code. The instructions included in the program code can be used to execute the steps of the electric vehicle control method described in the above method embodiment. For details, refer to the above method embodiment, which will not be described here.

[0131] The above computer program product can be specifically implemented by hardware, software or a combination thereof. In an optional embodiment, the computer program product is specifically embodied as a computer storage medium. In another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (Software Development Kit, SDK) and the like.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here. In several embodiments provided in the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and another division can be made in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0133] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0134] In addition, the functional units in each embodiment of the present disclosure can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0135] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present disclosure essentially or the part of the prior art or the part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the various embodiments of the present disclosure. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program codes that can be stored in the medium.

[0136] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present disclosure, used to illustrate the technical solutions of the present disclosure, and are not intended to limit the present disclosure. The protection scope of the present disclosure is not limited thereto. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easy changes to the technical solutions described in the foregoing embodiments, or easily think of changes or equivalent replacements for some of the technical features; and these modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method for controlling an electric vehicle, characterized in that, The central controller applied to the target electric vehicle includes: Determine the grip position of the user driving the target electric vehicle on the non-powered grip; When the grip is in an ungripped state, the driving speed of the target electric vehicle is determined, and if the driving speed does not exceed a target speed threshold, a first target control command is generated to control the motor output torque of the target electric vehicle; the target speed threshold is determined according to the driving gear or driving direction of the target electric vehicle, and the target speed threshold is different for different driving gears or driving directions. The first target control command is sent to the motor controller of the target electric vehicle to control the output torque of the motor through the motor controller, thereby controlling the target electric vehicle.

2. The method according to claim 1, characterized in that, Determining the grip state of the user driving the target electric vehicle includes: Obtain the target capacitance value measured by the capacitance sensor on the handlebars of the target electric vehicle; Based on the target capacitance value, the grip state of the user driving the target electric vehicle is determined.

3. The method according to claim 2, characterized in that, The step of obtaining the target capacitance value measured by the capacitance sensor on the handlebars of the target electric vehicle includes: Obtain multiple candidate capacitance values ​​measured by the capacitance sensor at preset time intervals within a preset time period prior to the current moment; The target capacitance value is determined based on the plurality of candidate capacitance values.

4. The method according to claim 2 or 3, characterized in that, Determining the grip state of the user driving the target electric vehicle based on the target capacitance value includes: If the target capacitance value is within a preset first threshold range, the grip state is determined to be a gripped state; and, If the target capacitance value is within a pre-set second threshold range, the grip state is determined to be an ungrip state.

5. The method according to claim 4, characterized in that, The first threshold interval includes at least one threshold interval corresponding to a hand state and / or at least one threshold interval corresponding to a grip posture.

6. The method according to claim 1, characterized in that, The method further includes: If the driving speed exceeds the target speed threshold, a second target control command is generated to control the display of prompt information; The second target control command is sent to the display device on the target electric vehicle to display a prompt message.

7. The method according to claim 1, characterized in that, Before determining the grip position of the user driving the target electric vehicle, the method further includes: Based on multiple detection components of the target electric vehicle, the user's riding intention is determined; In cases where the riding intention is to prepare for riding or is already riding, the grip state of the user driving the target electric vehicle is determined.

8. An electric vehicle control device, characterized in that, The central controller applied to the target electric vehicle includes: A determining unit is used to determine the grip state of a user driving the target electric vehicle on a non-powered grip; The generation unit is used to determine the driving speed of the target electric vehicle when the grip state is in the ungripped state, and to generate a first target control command for controlling the motor output torque of the target electric vehicle when the driving speed does not exceed a target speed threshold; the target speed threshold is determined according to the driving gear or driving direction of the target electric vehicle, and the target speed threshold is different for different driving gears or driving directions. The sending unit is used to send the first target control command to the motor controller of the target electric vehicle, so as to control the output torque of the motor through the motor controller, and to control the target electric vehicle through the motor.

9. A computer device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory via the bus, and the machine-readable instructions, when executed by the processor, perform the steps of the electric vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the electric vehicle control method as described in any one of claims 1 to 7.

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