Scooter parking control method and apparatus

Abstract

This invention relates to a scooter parking control method and device, and to scooter parking control technology. The method involves scooter control before braking: before the scooter enters braking mode, kp = k1, ki = 0, and the braking speed loop output pi_out = 0, where k1 is a constant value; after the scooter enters braking mode, the given speed is zero, and the speed loop output is fed into the current loop; it determines whether the current speed is greater than the target speed; if the current speed is greater than the target speed, from the moment the scooter enters braking mode, the kp value is gradually increased until the scooter speed drops to the target speed (3 km / h); if the current speed is not greater than the target speed, kp remains unchanged, and the ki value is gradually increased until the scooter speed drops to zero. This PI control of the speed loop solves the problem of reducing the scooter speed to zero when parking on a ramp.

Description

Technical Field

[0001] This invention relates to the field of scooter parking control technology, and more particularly to a scooter parking control method and device. Background Technology

[0002] Currently, many four-wheeled electric scooters only have electronic brakes and no mechanical brakes. Therefore, the scooter's braking function can only be achieved by using the reverse braking torque of the motor to stop. However, on slopes, the scooter often experiences a downward force exceeding the braking force, causing it to fail to stop. This necessitates optimizing the existing control algorithm to output appropriate braking current (not exceeding the maximum braking current) for different slope conditions, allowing the scooter to stop on the slope.

[0003] Problems: Currently, the common practice for electronic braking is to set the speed loop's input speed to 0, and the speed loop's output is fed to the current loop. The speed loop's kp is not 0, but ki is 0. If ki is not 0, the speed loop's output will still be a large value when the scooter's speed is 0, causing the scooter to move in the opposite direction after its speed drops to 0. If ki is 0, the scooter will not be able to stop on a ramp and will continue to glide at a low speed. Another method for electronic braking is to short-circuit the three phases of the motor at low braking speeds. This generates a large braking torque, but this torque is uncontrollable. Furthermore, if there is no speed at this point, no braking torque will be generated, so the scooter will not come to a complete stop on a ramp and will continue to move at a low speed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the problem that the existing four-wheeled scooter control methods cannot achieve parking on a ramp to reduce the speed to 0, thereby providing a scooter parking control method and device.

[0005] To address the aforementioned technical problems, the present invention discloses at least one method and apparatus for controlling the parking of a scooter.

[0006] In a first aspect, the present invention discloses an embodiment of a scooter parking control method, comprising: Scooter control before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value; Scooter control during braking; The scooter control during the braking process includes: Determine if the current speed is greater than the target speed; If the current speed is greater than the target speed, the kp value will be gradually increased from the moment the scooter enters braking mode until the scooter speed is reduced to the target speed (3km / h). If the current speed is not greater than the target speed, start decelerating the scooter to the target speed, keep kp constant, and gradually increase the ki value until the scooter speed drops to zero.

[0007] Optionally, pi_out can be limited as the ki value is gradually increased from the point where the scooter decelerates to the target speed until the scooter speed drops to zero.

[0008] Optionally, the gradual increase of kp means: gradually increasing kp according to a linear increasing law, and the cumulative value a of kp each time is determined according to the actual braking effect.

[0009] Optionally, the gradual increase of ki is: ki is gradually increased according to a linear increasing law, and the cumulative value a of ki each time is determined according to the actual braking effect.

[0010] Optionally, before controlling the scooter during the braking process, the method further includes: determining whether the scooter is currently in braking mode; if the scooter is not currently in braking mode, then re-initializing kp, ki, and pi_out; the scooter control during the braking process is: if the scooter is currently in braking mode, then the scooter control during the braking process is initiated.

[0011] Secondly, embodiments of the present invention also provide a scooter parking control device, comprising: Scooter control module before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value; The scooter control module during braking; The scooter control module for the braking process includes: The speed determination submodule is used to determine whether the current speed is greater than the target speed; The scooter control submodule, if the current speed is greater than the target speed, will gradually increase the kp value from the moment the scooter enters braking mode until the scooter speed drops to the target speed (3km / h); if the current speed is not greater than the target speed, kp will remain unchanged and the ki value will gradually increase until the scooter speed drops to zero.

[0012] Optionally, the scooter control submodule limits pi_out as it gradually increases the ki value from the point where the scooter decelerates to the target speed until the scooter speed drops to zero. The limiting needs to be based on the actual test results. If pi_out is too small, the scooter speed will not be able to drop to 0, and if pi_out is too large, the wheels will lock up.

[0013] Optionally, it also includes: a judgment module, used to determine whether the scooter is currently in braking mode; if the scooter is not currently in braking mode, then kp, ki, and pi_out are reinitialized; if the scooter receives a braking signal and is currently in braking mode, then the scooter control module of the braking process enters the scooter control of the braking process.

[0014] Thirdly, the present invention also discloses a computer device, including: 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 when the machine-readable instructions are executed by the processor, the steps of the first aspect above, or any possible implementation of the first aspect, are performed.

[0015] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the first aspect or any possible implementation thereof.

[0016] The technical solutions provided by the embodiments of the present invention can have the following beneficial effects: Before the scooter enters braking mode, let kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value. If the current speed is greater than the target speed, the kp value is gradually increased from the moment the scooter enters braking mode until the scooter speed drops to the target speed (3km / h). If the current speed is not greater than the target speed, kp remains unchanged, and the ki value is gradually increased until the scooter speed drops to zero. In this scheme, kp and ki are adjustable during the scooter control process. By adjusting kp (proportional adjustment coefficient) and ki (integral adjustment coefficient), the scooter can be parked on the ramp. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A flowchart of a scooter parking control method provided by an embodiment of the present invention is shown; Figure 2 A flowchart of another scooter parking control method provided by an embodiment of the present invention is shown; Figure 3 This diagram illustrates the structure of a scooter parking control device provided in an embodiment of the present invention. Figure 4 A schematic diagram of the structure of a computer device provided by an embodiment of the present invention is shown. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the summary of the invention.

[0020] Example 1 like Figure 1 The flowchart shown is a scooter parking control method provided by an embodiment of the present invention. This method enables the scooter to be parked on a ramp with its speed reduced to 0. The method includes: S11: Scooter control before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value.

[0021] S12: Scooter control during braking.

[0022] Specifically, S12 includes: S121: Determine whether the current speed is greater than the target speed.

[0023] S122: If the current speed is greater than the target speed, the kp value will be gradually increased from the moment the scooter enters braking mode until the scooter speed is reduced to the target speed.

[0024] The target speed can be set according to actual needs, such as 3km / h, which will not be elaborated on here.

[0025] S123: If the current speed is not greater than the target speed, or if the scooter speed is reduced to the target speed by PI control, the ki value is gradually increased from the point where the scooter decelerates to the target speed until the scooter speed is reduced to zero.

[0026] Understandably, the technical solution provided in this embodiment sets kp=k1 and ki=0 before the scooter enters braking mode, and sets the braking speed loop output pi_out=0, where k1 is a constant value. If the current speed is greater than the target speed, the kp value is gradually increased from the moment the scooter enters braking mode until the scooter speed drops to the target speed (3km / h). If the current speed is not greater than the target speed, kp remains unchanged and the ki value is gradually increased from the moment the scooter decelerates to the target speed until the scooter speed drops to zero. In this solution, kp and ki are adjustable during the scooter control process. By adjusting kp (proportional adjustment coefficient) and ki (integral adjustment coefficient), the scooter can be parked on the ramp.

[0027] Example 2 like Figure 2 As shown, as an improvement to the above embodiments, the present invention discloses another scooter parking control method provided in the embodiments, the method comprising: S21: Scooter control before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value.

[0028] S22: Determine whether the scooter is currently in braking mode.

[0029] S23: If braking mode is not currently in operation, reinitialize kp, ki, and pi_out.

[0030] S24: If the scooter is currently in braking mode, then the scooter controls the braking process.

[0031] Specifically, S24 includes: S241: Determine if the current speed is greater than the target speed.

[0032] S242: If the current speed is greater than the target speed, the kp value will be gradually increased from the moment the scooter enters braking mode until the scooter speed is reduced to the target speed (3km / h).

[0033] S243: If the current speed is not greater than the target speed, or if the scooter speed is reduced to the target speed by PI control, the ki value is gradually increased from the point where the scooter decelerates to the target speed until the scooter speed is reduced to zero.

[0034] In some alternative embodiments, pi_out is limited as the ki value is gradually increased from the point where the scooter decelerates to the target speed until the scooter speed drops to zero.

[0035] It should be noted that pi_out equals 32767, which corresponds to the maximum braking current. The initial value of pi_out is set to 25000. If you want to increase the braking force, increase pi_out; if you want to decrease the braking force, decrease pi_out. If pi_out is too small, the vehicle speed will not be reduced to 0; if pi_out is too large, the wheels will lock up.

[0036] In some optional embodiments, the gradual increase of kp is as follows: kp is gradually increased according to a linear increase rule, and the cumulative value 'a' of kp each time is determined according to the actual braking effect. Specifically, the above code {kp = kp+a;} is called once every 50ms, and the default value of 'a' is 50. If you want to improve the braking response speed, increase the value of 'a'; if you want to reduce the braking response speed, decrease the value of 'a'.

[0037] In some optional embodiments, the gradual increase of ki is as follows: ki is gradually increased according to a linear increase law, and the cumulative value a of kp each time is determined according to the actual braking effect. Specifically, the above code {ki = ki+a;} is called once every 50ms, and the default value of a is 50. If you want to improve the braking response speed, you increase the value of a; if you want to reduce the braking response speed, you decrease the value of a.

[0038] To facilitate understanding, the following provides a detailed description of some aspects of the embodiments of the present invention: The scooter parking control method provided in this embodiment of the invention first initializes the braking speed loop's kp and ki. If the scooter is not in braking mode, kp = k1 (a constant value), ki = 0, and the braking speed loop output pi_out = 0. When the scooter enters braking mode, kp is gradually increased, ensuring that the scooter's speed can be reduced to below speed v1 (3 km / h) (cases where the load exceeds the maximum braking torque are not considered). When the scooter decelerates to below speed v1, ki gradually increases, allowing the scooter to stop on both flat roads and slopes. However, pi_out needs to be limited; excessive output can cause wheel lockup. When the scooter is not in braking mode, kp, ki, and pi_out are reinitialized.

[0039] It is understood that in the technical solution provided in this embodiment, before the scooter enters the braking mode, kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value; if the current speed is greater than the target speed, the kp value is gradually increased from the time the scooter enters the braking mode until the scooter speed is reduced to the target speed (3km / h); if the current speed is not greater than the target speed, or after the scooter speed is reduced to the target speed through PI control, the ki value is gradually increased from the time the scooter decelerates to the target speed until the scooter speed is reduced to zero. In this solution, kp and ki are adjustable during the scooter control process. By adjusting kp (proportional adjustment coefficient) and ki (integral adjustment coefficient), the scooter can be parked on the ramp.

[0040] Example 3 like Figure 3 As shown, this embodiment of the invention also provides a scooter parking control device, comprising: Scooter control module 31 before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value.

[0041] The scooter control module 32 during the braking process.

[0042] The scooter control module 32 for the braking process includes: The speed judgment submodule 321 is used to determine whether the current speed is greater than the target speed.

[0043] The scooter control submodule 322, if the current speed is greater than the target speed, will gradually increase the kp value from the moment the scooter enters braking mode until the scooter speed drops to the target speed (3km / h); if the current speed is not greater than the target speed, will keep kp constant and gradually increase the ki value from the moment the scooter decelerates to the target speed until the scooter speed drops to zero.

[0044] In some alternative embodiments, the scooter control submodule limits pi_out as it gradually increases the ki value from the point where the scooter decelerates to the target speed until the scooter speed drops to zero. The limiting needs to be based on the actual test results. If pi_out is too small, the speed of the scooter will not be reduced to 0. If pi_out is too large, the wheels will lock up.

[0045] In some alternative embodiments, the device further includes: The judgment module 33 is used to determine whether the scooter is currently in braking mode.

[0046] Initialization module 34 is used to reinitialize kp, ki, and pi_out if the scooter is not currently in braking mode.

[0047] If the scooter is currently in braking mode, then the scooter control module 32 for the braking process will enter the scooter control for the braking process.

[0048] Understandably, the technical solution provided in this embodiment sets kp=k1 and ki=0 before the scooter enters braking mode, and sets the braking speed loop output pi_out=0, where k1 is a constant value. If the current speed is greater than the target speed, the kp value is gradually increased from the moment the scooter enters braking mode until the scooter speed drops to the target speed (3km / h). If the current speed is not greater than the target speed, kp remains unchanged and the ki value is gradually increased from the moment the scooter decelerates to the target speed until the scooter speed drops to zero. In this solution, kp and ki are adjustable during the scooter control process. By adjusting kp (proportional adjustment coefficient) and ki (integral adjustment coefficient), the scooter can be parked on the ramp.

[0049] Example 4 Based on the same technical concept, embodiments of this application also provide a computer device, including a memory 1 and a processor 2, such as... Figure 4 As shown, the memory 1 stores a computer program, and the processor 2 executes the computer program to implement the scooter parking control method described above.

[0050] The memory 1 includes at least one type of readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, memory 1 can be an internal storage unit of the scooter parking control system, such as a hard disk. In other embodiments, memory 1 can be an external storage device of the scooter parking control system, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Furthermore, memory 1 can include both internal and external storage units of the scooter parking control system. Memory 1 can be used not only to store application software and various data installed in the scooter parking control system, such as the code of the scooter parking control program, but also to temporarily store data that has been output or will be output.

[0051] In some embodiments, processor 2 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run program code stored in memory 1 or process data, such as executing a scooter parking control program.

[0052] Understandably, the technical solution provided in this embodiment sets kp=k1 and ki=0 before the scooter enters braking mode, and sets the braking speed loop output pi_out=0, where k1 is a constant value. If the current speed is greater than the target speed, the kp value is gradually increased from the moment the scooter enters braking mode until the scooter speed drops to the target speed (3km / h). If the current speed is not greater than the target speed, kp remains unchanged and the ki value is gradually increased from the moment the scooter decelerates to the target speed until the scooter speed drops to zero. In this solution, kp and ki are adjustable during the scooter control process. By adjusting kp (proportional adjustment coefficient) and ki (integral adjustment coefficient), the scooter can be parked on the ramp.

[0053] The present invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the scooter parking control method described in the above-described method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0054] The computer program product of the scooter parking control method disclosed in the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the scooter parking control method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0055] The present invention also discloses a computer program that, when executed by a processor, implements any of the methods described in the foregoing embodiments. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0056] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0057] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0058] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0059] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0060] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0061] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0062] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0063] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A scooter parking control method, characterized in that, include: Scooter control before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value; Scooter control during braking; The scooter control during the braking process includes: Determine if the current speed is greater than the target speed; If the current speed is greater than the target speed, the kp value will be gradually increased from the moment the scooter enters braking mode until the scooter speed is reduced to the target speed. If the current speed is not greater than the target speed, keep kp constant and gradually increase the ki value until the scooter speed drops to zero. Before controlling the scooter during the braking process, determine whether the scooter is currently in braking mode; If the scooter is not currently in braking mode, reinitialize kp, ki, and pi_out. The scooter control during the braking process is as follows: if the scooter is currently in braking mode, then the scooter control during the braking process is initiated. During the process of gradually increasing the ki value from the moment the scooter decelerates to the target speed until the scooter speed drops to zero, pi_out is limited. The gradual increase of kp means that kp is gradually increased according to a linear increasing rule; The gradual increase of ki means that ki is gradually increased according to a linear increasing pattern.

2. A scooter parking control device, characterized in that, include Scooter control module before braking: Before the scooter enters braking mode, set kp=k1, ki=0, and the braking speed loop output pi_out=0, where k1 is a constant value; The scooter control module during braking; The scooter control module for the braking process includes: The speed determination submodule is used to determine whether the current speed is greater than the target speed; The scooter control submodule, if the current speed is greater than the target speed, will gradually increase the kp value from the moment the scooter enters braking mode until the scooter speed drops to the target speed; if the current speed is not greater than the target speed, will keep kp constant and gradually increase the ki value from the moment the scooter decelerates to the target speed until the scooter speed drops to zero. The judgment module is used to determine whether the scooter is currently in braking mode; if the scooter is not currently in braking mode, kp, ki, and pi_out are reinitialized. If the scooter is currently in braking mode, then the scooter control module for the braking process will enter the scooter control for the braking process.

3. The scooter parking control device according to claim 2, characterized in that, The scooter control submodule limits the pi_out value as the scooter decelerates to the target speed and gradually increases the ki value until the scooter speed drops to zero.

4. A computer device, characterized in that, include: The system includes 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 via the bus. When the machine-readable instructions are executed by the processor, the scooter parking control method as described in claim 1 is performed.

5. 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 scooter parking control method as described in claim 1.

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