Motorcycle control method, system and motorcycle

Abstract

This application discloses a motorcycle control method, system, and motorcycle, relating to the field of vehicle control technology. The method includes: detecting whether the motorcycle's main drive wheel is slipping; when slippage is detected, acquiring the motorcycle's driving state based on a throttle operation signal, wherein the driving state is either electromagnetic braking or acceleration; when the driving state is electromagnetic braking, reducing the braking force output by the main drive wheel; when the driving state is acceleration, reducing the driving force output by the main drive wheel. This application's technical solution can detect whether wheel slippage occurs during motorcycle operation. When slippage is detected, this application can adaptively adjust the braking force or driving force output by the main drive wheel, thereby suppressing motorcycle slippage and improving motorcycle driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a motorcycle control method, system and motorcycle. Background Technology

[0002] Currently, motorcycles, especially electric motorcycles, have become a very popular mode of transportation. Motorcycle riders can easily express their driving intentions using the throttle. For example, the rider can turn the throttle to make the motorcycle's motor output greater driving force (torque), which can then be transmitted step-by-step to the main drive wheel (usually the rear wheel) through mechanisms such as the clutch, gearbox, and transmission, thereby accelerating the motorcycle. Alternatively, the rider can turn the throttle to zero, causing the motorcycle's motor to output electromagnetic braking force, ultimately bringing the motorcycle to a stop.

[0003] However, in the existing motorcycle control methods, according to the preset settings, when the rider returns the throttle angle to zero, the motor will only output a fixed or preset braking force. When the rider turns the throttle, the motor will only output the driving force that is adapted to the throttle signal. It cannot make additional adjustments or adapt to various road conditions. When the motorcycle is traveling on a low-traction road surface, if the braking force or driving force exceeds the maximum value of the friction between the road surface and the tires, the motorcycle is prone to wheel slippage, thereby endangering driving safety. Summary of the Invention

[0004] This application provides a motorcycle control method, system, storage medium, and motorcycle, which can detect whether wheel slippage occurs during motorcycle operation. When slippage is detected, the braking force or driving force output by the motorcycle is adaptively adjusted to suppress the slippage and improve motorcycle driving safety.

[0005] In a first aspect, embodiments of this application provide a motorcycle control method, the method comprising:

[0006] Check if the motorcycle's main drive wheel is showing signs of slipping;

[0007] When a slippage tendency is detected in the main drive wheel of the motorcycle, the driving state of the motorcycle is obtained according to the throttle operation signal of the motorcycle. The driving state is either electromagnetic braking state or acceleration state.

[0008] When the driving state is electromagnetic braking state, the braking force output by the main drive wheel of the motorcycle is reduced.

[0009] When the driving state is in acceleration state, the driving force output by the main drive wheel of the motorcycle is reduced.

[0010] In one possible implementation, the step of detecting whether the main drive wheel of the motorcycle is slipping includes:

[0011] The first wheel speed of the main drive wheel is collected, and the rate of change of the first wheel speed is detected to exceed a preset first threshold. If the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface; and / or

[0012] The first wheel speed of the main drive wheel and the second wheel speed of the motorcycle driven wheel are collected, and it is detected whether the difference between the first wheel speed and the second wheel speed exceeds a second preset threshold. When the difference between the first wheel speed and the second wheel speed exceeds the second threshold, it is determined that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface.

[0013] In one possible implementation, the step of reducing the output of the braking force on the main drive wheel of the motorcycle includes:

[0014] Output a first control signal to control the motor of the motorcycle to reduce the output of braking force; and / or

[0015] A second control signal is output to limit the speed of the driven wheel of the motorcycle, thereby effectively reducing the braking force output by the main drive wheel of the motorcycle.

[0016] In one possible implementation, the step of reducing the output of the driving force of the motorcycle's main drive wheel includes:

[0017] Output a third control signal to control the motor of the motorcycle to reduce the output of driving force; and / or

[0018] A fourth control signal is output to limit the speed of the main drive wheel of the motorcycle, thereby effectively reducing the driving force output by the main drive wheel of the motorcycle.

[0019] Secondly, embodiments of this application provide a motorcycle control system, the system including a slip detection device, a throttle, and an electronic controller, wherein the slip detection device and the throttle are respectively connected to the electronic controller;

[0020] The slippage detection device is used to detect whether the main drive wheel of the motorcycle is slipping.

[0021] The electronic controller is used to obtain the driving status of the motorcycle based on the throttle operation signal of the motorcycle, wherein the driving status is electromagnetic braking state or acceleration state.

[0022] The electronic controller is also configured to output a control signal that reduces the braking force output by the main drive wheel of the motorcycle when it detects that the main drive wheel of the motorcycle is slipping and the driving state is electromagnetic braking state.

[0023] The electronic controller is further configured to output a control signal that reduces the driving force output by the main drive wheel of the motorcycle when it detects that the main drive wheel of the motorcycle is slipping and the driving state is an acceleration state.

[0024] In one possible implementation, the slippage detection device is used to acquire a first wheel speed of the main drive wheel and detect whether the rate of change of the first wheel speed exceeds a preset first threshold. If the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface; and / or

[0025] The slippage detection device is used to collect the first wheel speed of the main drive wheel and the second wheel speed of the motorcycle driven wheel, and detect whether the difference between the first wheel speed and the second wheel speed exceeds a second preset threshold. When the difference between the first wheel speed and the second wheel speed exceeds the second threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface.

[0026] In one possible implementation, the electronic controller includes a motor controller connected to the motor of the motorcycle;

[0027] The motor controller is configured to output a first control signal when it detects that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface and the driving state is electromagnetic braking state, so as to control the motor of the motorcycle to reduce the output of braking force.

[0028] The motor controller is further configured to output a third control signal when it detects that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface and the driving state is an acceleration state, so as to control the motor of the motorcycle to reduce the output of driving force.

[0029] In one possible implementation, the electronic controller includes a body controller connected to the brakes of the main drive wheel and the brakes of the motorcycle's driven wheel.

[0030] The vehicle body controller is used to output a second control signal when it detects that the main drive wheel of the motorcycle has a tendency to slip relative to the road surface and the driving state is electromagnetic braking state, so as to control the brake of the driven wheel of the motorcycle to brake, thereby limiting the speed of the driven wheel of the motorcycle.

[0031] The vehicle controller is further configured to output a fourth control signal when it detects that the main drive wheel of the motorcycle has a tendency to slip relative to the road surface and the driving state is an acceleration state, so as to control the brake of the main drive wheel to brake, thereby limiting the speed of the main drive wheel of the motorcycle.

[0032] In one possible implementation, the electronic controller includes a motor controller and a body controller, the motor controller being connected to the motorcycle's motor, and the body controller being connected to the brake of the main drive wheel and the brake of the motorcycle's driven wheel; the motor controller and the body controller are connected via a communication bus.

[0033] The motor controller is used to output a first control signal to control the motor of the motorcycle to reduce the output of braking force when it detects that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface and the driving state is electromagnetic braking state; the body controller is used to output a second control signal to control the brake of the driven wheel of the motorcycle to brake, thereby limiting the speed of the driven wheel of the motorcycle.

[0034] The motor controller is further configured to output a third control signal when it detects that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface and the driving state is an acceleration state, so as to control the motor of the motorcycle to reduce the output of driving force; the body controller is further configured to output a fourth control signal to control the brake of the main drive wheel to brake, thereby limiting the speed of the main drive wheel of the motorcycle.

[0035] Thirdly, embodiments of this application also provide a motorcycle, which includes the motorcycle control system described in the second aspect above.

[0036] In the above technical solution, the first step is to detect whether the main drive wheel of the motorcycle has a relative slippage tendency with the road surface. If a relative slippage tendency is detected, the motorcycle's driving state is obtained based on the throttle, which is divided into electromagnetic braking state and acceleration state. In the electromagnetic braking state, the output of braking force of the main drive wheel of the motorcycle is reduced. In the acceleration state, the output of driving force of the main drive wheel of the motorcycle is reduced. In this way, the slippage phenomenon of the motorcycle can be suppressed and the driving safety of the motorcycle can be improved. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A functional logic block diagram of a motorcycle control system provided in this application embodiment;

[0039] Figure 2 This is a schematic diagram of the structure of a motorcycle control system provided in an embodiment of this application;

[0040] Figure 3 This is a schematic diagram of another motorcycle control system provided in an embodiment of this application;

[0041] Figure 4 This is a schematic diagram of another motorcycle control system provided in an embodiment of this application;

[0042] Figure 5 This is a flowchart illustrating a motorcycle control method provided in an embodiment of this application. Detailed Implementation

[0043] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0044] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0045] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0046] Figure 1 This is a functional block diagram of a motorcycle control system provided in one embodiment of the present invention.

[0047] like Figure 1 As shown, the motorcycle control system in this embodiment includes: a slip detection device 101, a throttle 102, and an electronic controller 103. Each component in the motorcycle control system can be implemented using hardware or software.

[0048] The slippage detection device 101 is used to detect whether the main drive wheel of the motorcycle has a relative slippage tendency with the road surface. Specifically, the slippage detection device 101 may include one sensor or a combination of multiple sensors. For example, the slippage detection device 101 can detect the first wheel speed of the main drive wheel of the motorcycle by using a speed sensor installed at the main drive wheel of the motorcycle (e.g., the rear wheel of the motorcycle), and determine whether the motorcycle is slipping with the road surface by the absolute value of the rate of change of the first wheel speed. When the rate of change of the first wheel speed exceeds a preset first threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface.

[0049] In addition, for motorcycles with a defined transmission relationship (specifically, the transmission chain includes the motor, gearbox, drive shaft, drive wheel, etc., and parameters such as the gear ratio in the gearbox are known), the slippage detection device 101 can also obtain the speed of the motorcycle's main drive wheel through other sensors, such as the rotary transformer and encoder inside the motor, etc., which will not be listed here.

[0050] The slip detection device 101 can also be implemented by combining multiple sensors. For example, the slip detection device 101 may include a wheel speed sensor installed on the main drive wheel and a wheel speed sensor installed on the driven wheel. By collecting the first wheel speed of the main drive wheel and the second wheel speed of the motorcycle's driven wheel, and detecting whether the difference between the first wheel speed and the second wheel speed exceeds a second preset threshold, it is determined that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface when the difference between the first wheel speed and the second wheel speed exceeds the second threshold.

[0051] In this embodiment, the throttle 102 is used by the motorcycle driver to perform driving operations on the motorcycle, thereby generating a throttle operation signal. For example, when the driver needs to accelerate, he turns the throttle 102, and when the driver returns the throttle 102 to zero angle, the motorcycle will decelerate.

[0052] The electronic controller 103 is used to acquire the motorcycle's driving status based on the throttle operation signal. The driving status includes electromagnetic braking status and acceleration status. Specifically, when the rider turns the throttle 102, the electronic controller 103 identifies the motorcycle's driving status as acceleration status, and the motor controller drives the motor to output positive torque. When the rider returns the throttle 102 to zero angle, the electronic controller 103 identifies the motorcycle's driving status as electromagnetic braking status, and the motor controller drives the motor to output negative torque.

[0053] The electronic controller 103 is further configured to output a control signal to reduce the braking force of the motorcycle's main drive wheel when a relative slippage tendency between the motorcycle's main drive wheel and the road surface is detected, and the driving state is electromagnetic braking; the electronic controller 103 is also configured to output a control signal to reduce the driving force of the motorcycle when a relative slippage tendency between the motorcycle's main drive wheel and the road surface is detected, and the driving state is acceleration. It is easy to understand that when the motorcycle's main drive wheel slips relative to the road surface, the torque output by the motorcycle's drive wheel exceeds the maximum value of the friction between the road surface and the tire. Therefore, in order to suppress slippage, it is necessary to reduce the overall torque level. This means that in electromagnetic braking state, it is necessary to adaptively reduce the output level of the main drive wheel's braking force, and in acceleration state, it is necessary to adaptively reduce the output level of the main drive wheel's driving force.

[0054] The motorcycle control system provided in the above embodiment first detects whether the main drive wheel of the motorcycle has a relative slippage tendency with the road surface. If a relative slippage tendency is detected, the system obtains the motorcycle's driving state based on the throttle, which is divided into electromagnetic braking state and acceleration state. In electromagnetic braking state, the system controls and reduces the output of braking force on the main drive wheel of the motorcycle. In acceleration state, the system controls and reduces the output of driving force on the main drive wheel of the motorcycle. This can suppress the slippage phenomenon of the motorcycle and improve the driving safety of the motorcycle.

[0055] Figure 2 This is a schematic diagram of a motorcycle control system provided in one embodiment of this application. The motorcycle control system in this embodiment includes a rear wheel speed sensor 201, an electronic throttle 202, and a motor controller 203. The motor controller 203 is connected to the motor 204.

[0056] In this embodiment, the motorcycle's main drive wheel is the rear wheel, and the front wheel is the driven wheel. The rear wheel speed sensor 201 is used to detect the first rotational speed of the motorcycle's rear wheel. The motor controller 203 is connected to the rear wheel speed sensor 201 and is used to detect whether the rate of change of the first wheel speed exceeds a preset first threshold. When the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the motorcycle's main drive wheel has a relative slippage tendency with the road surface.

[0057] The motor controller 203 is also connected to the electronic throttle 202 and is used to obtain the motorcycle's driving status based on the throttle operation signal of the motorcycle. The driving status includes electromagnetic braking status and acceleration status.

[0058] The motor controller 203 is also used to output a first control signal when it detects that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface and the driving state is electromagnetic braking state, so as to control the motor of the motorcycle to reduce the output of braking force.

[0059] The motor controller 203 is also used to output a third control signal when it detects that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface and the driving state is acceleration, so as to control the motor of the motorcycle to reduce the output of driving force.

[0060] Specifically, in the embodiments of this application, the motor controller 203 can change the magnitude of the driving force and braking force by controlling the magnitude of the driving current and the feedback current of the motor 204. For example, the motor controller 203 can change the magnitude of the driving current and the feedback current by controlling the switching state of the bridge arm switch transistor. The magnitude of the driving current determines the magnitude of the driving force, while the magnitude of the feedback current determines the magnitude of the braking force.

[0061] Figure 3 This is a schematic diagram of a motorcycle control system provided in another embodiment of this application. The motorcycle control system in this embodiment includes a rear wheel speed sensor 301, an electronic throttle 202, a motor controller 3031, a chassis controller 3032, a front wheel brake 305, and a rear wheel brake 306. The motor controller 3031 is connected to the motor 304. The chassis controller 3032 is connected to the front wheel brake 305 and the rear wheel brake 306, respectively. The motor controller 3031 is connected to the chassis controller 3032 via a communication bus, which may be, but is not limited to, a CAN communication bus.

[0062] In this embodiment, the motorcycle's main drive wheel is the rear wheel, and the front wheel is the driven wheel. The rear wheel speed sensor 301 is used to detect the first rotational speed of the motorcycle's rear wheel. The motor controller 3031 is connected to the rear wheel speed sensor 301 and is used to detect whether the rate of change of the first wheel speed exceeds a preset first threshold. When the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the motorcycle's main drive wheel has a relative slippage tendency with the road surface. In this embodiment, the vehicle body controller 3032 is also connected to the rear wheel sensor 301 and can also determine whether the motorcycle's rear wheel is slipping with the road surface based on whether the rate of change of the first wheel speed exceeds the preset first threshold.

[0063] The motor controller 3031 is also connected to the electronic throttle 302 to obtain the motorcycle's driving status based on the throttle operation signal. The driving status includes electromagnetic braking status and acceleration status. The body controller 3032 is connected to the motor controller 3031 via a communication bus, and therefore can also obtain the motorcycle's driving status.

[0064] When the motor controller 3031 or the body controller 3032 determines that the drive wheel has a tendency to slip and the vehicle is in electromagnetic braking mode, the motor controller 3031 outputs a first control signal to control the motorcycle's motor to reduce the output of braking force; while the body controller 3032 outputs a second control signal to control the motorcycle's front wheel brake 305 to brake, thereby limiting the speed of the motorcycle's driven wheel, thus effectively reducing the braking force output of the motorcycle's main drive wheel.

[0065] When the motor controller 3031 or the body controller 3032 determines that the drive wheel has a tendency to slip and the vehicle is in an acceleration state, the motor controller 3031 outputs a third control signal to control the motorcycle motor to reduce the output of driving force; the body controller 3032 outputs a fourth control signal to control the motorcycle's rear wheel brake 306 to brake, thereby limiting the speed of the motorcycle's main drive wheel, thus effectively reducing the driving force output by the motorcycle's drive wheel.

[0066] exist Figure 4 This application also provides a motorcycle control system. The motorcycle control system in this embodiment includes a rear wheel speed sensor 401, an electronic throttle 402, a body controller 4032, a front wheel brake 405, and a rear wheel brake 406. The body controller 4032 is connected to both the front wheel brake 405 and the rear wheel brake 406. The electronic throttle 402 is connected to the body controller 4032.

[0067] In this embodiment, the motorcycle's main drive wheel is the rear wheel, and the front wheel is the driven wheel. The rear wheel speed sensor 401 is used to detect the first rotational speed of the motorcycle's rear wheel. The vehicle controller 4032 is connected to the rear wheel speed sensor 401 and is used to detect whether the rate of change of the first wheel speed exceeds a preset first threshold. When the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the motorcycle's main drive wheel has a relative slippage tendency with the road surface.

[0068] The body controller 4032 is connected to the electronic throttle 402 and is used to obtain the motorcycle's driving status based on the throttle operation signal. The driving status includes electromagnetic braking status and acceleration status.

[0069] When the vehicle is in electromagnetic braking mode, the vehicle body controller 3032 outputs a second control signal to control the front wheel brake 405 of the motorcycle to brake, thereby limiting the speed of the driven wheel of the motorcycle and effectively reducing the braking force output by the main drive wheel of the motorcycle.

[0070] When the vehicle is in an acceleration state, the body controller 4032 outputs a fourth control signal to control the rear wheel brake 406 of the motorcycle to brake, thereby limiting the speed of the main drive wheel of the motorcycle and thus effectively reducing the driving force output by the main drive wheel of the motorcycle.

[0071] like Figure 5 In one embodiment of this application, a motorcycle control method is also provided. Specifically, the motorcycle control method includes:

[0072] S51 detects whether the main drive wheel of the motorcycle has a tendency to slip relative to the road surface.

[0073] Specifically, this step can be: collecting the first wheel speed of the main drive wheel and detecting whether the rate of change of the first wheel speed exceeds a preset first threshold. If the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface.

[0074] This step can also be: collecting the first wheel speed of the main drive wheel and the second wheel speed of the motorcycle's driven wheel, and detecting whether the difference between the first wheel speed and the second wheel speed exceeds a second preset threshold. If the difference between the first wheel speed and the second wheel speed exceeds the second threshold, it is determined that the motorcycle's main drive wheel has a relative slipping tendency with the road surface.

[0075] This step specifically detects whether the main drive wheel has a relative tendency to slip with the road surface. It can also be a combination of the two methods mentioned above, which will not be elaborated on here.

[0076] S52, when it detects that the main drive wheel of the motorcycle has a tendency to slip relative to the road surface, obtains the driving status of the motorcycle based on the throttle operation signal of the motorcycle. The driving status includes electromagnetic braking status and acceleration status.

[0077] If the obtained motorcycle driving status is electromagnetic braking, then step S53 is executed; if the obtained motorcycle driving status is acceleration, then step S54 is executed.

[0078] S53, when the vehicle is in electromagnetic braking mode, reduces the output of braking force on the main drive wheel of the motorcycle.

[0079] Specifically, in the embodiments of this application, reducing the output of the braking force of the motorcycle's main drive wheel can be achieved by directly reducing the electromagnetic braking force output by the motorcycle motor. For example, a first control signal can be output to control the motorcycle motor to reduce the output of the electromagnetic braking force. Alternatively, the output of the braking force of the motorcycle's main drive wheel can be reduced by using an equivalent method. For example, a second control signal can be output to limit the speed of the motorcycle's driven wheel, thereby effectively reducing the braking force output by the motorcycle's main drive wheel.

[0080] This step of reducing the motorcycle's braking force output can also be achieved through a combination of the two methods mentioned above. Details will not be elaborated further.

[0081] S54 reduces the output of the motorcycle's driving force when the vehicle is in an acceleration state.

[0082] Specifically, similar to reducing the braking force output of the motorcycle's main drive wheel, this step reduces the driving force output of the motorcycle's main drive wheel in the following ways:

[0083] Output a third control signal to control the motorcycle's motor to reduce the output of driving force; and / or

[0084] A fourth control signal is output to limit the speed of the motorcycle's main drive wheel, thereby effectively reducing the driving force output by the motorcycle's main drive wheel.

[0085] The motorcycle control method provided in the above-described embodiments first detects whether the main drive wheel of the motorcycle has a relative slippage tendency with the road surface. If a relative slippage tendency is detected, the motorcycle's driving state is obtained based on the throttle, which is divided into an electromagnetic braking state and an acceleration state. In the electromagnetic braking state, the output of the braking force of the main drive wheel of the motorcycle is reduced. In the acceleration state, the output of the driving force of the main drive wheel of the motorcycle is reduced. This can suppress the slippage phenomenon of the motorcycle and improve the driving safety of the motorcycle.

[0086] The motorcycle control method provided in this application can be stored in a motorcycle control program. The motorcycle control program includes at least one computer-executable instruction. The motorcycle control program can be stored in a storage medium.

[0087] This application also provides a motorcycle, which may include the motorcycle control system described in the foregoing embodiments of this application. The motorcycle can detect whether wheel slippage occurs during driving, and when slippage is detected, adaptively adjust the braking force or driving force output by the motorcycle to suppress slippage and improve motorcycle driving safety.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] 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 custom logic functions or processes, and the scope of the preferred embodiments of this application 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 should be understood by those skilled in the art to which embodiments of this application pertain.

[0091] In the embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the division of units and modules is merely a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0092] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0093] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A motorcycle control method characterized by, The method includes: Check if the motorcycle's main drive wheel is showing signs of slipping; When a slippage tendency is detected in the main drive wheel of the motorcycle, the driving state of the motorcycle is obtained according to the throttle operation signal of the motorcycle. The driving state is either electromagnetic braking state or acceleration state. When the driver turns the throttle, the driving state of the motorcycle is identified as acceleration state. When the driver returns the throttle angle to zero, the driving state of the motorcycle is identified as electromagnetic braking state. When the driving state is electromagnetic braking state, the braking force output by the main drive wheel of the motorcycle is reduced. When the driving state is in acceleration state, the driving force output by the main drive wheel of the motorcycle is reduced; The step of reducing the braking force output by the main drive wheel of the motorcycle includes: Output a first control signal, which instructs the motor of the motorcycle to reduce the output of the electromagnetic braking force; and / or Output a second control signal, the second control signal being used to instruct the driven wheel of the motorcycle to limit its speed; The step of reducing the driving force output by the main drive wheel of the motorcycle includes: Output a third control signal, the third control signal being used to instruct the motor of the motorcycle to reduce the output of driving force; and / or A fourth control signal is output, which is used to instruct the speed limit of the main drive wheel of the motorcycle.

2. The method of claim 1, wherein, The step of detecting whether the main drive wheel of the motorcycle is slipping includes: The first wheel speed of the main drive wheel is collected, and the rate of change of the first wheel speed is detected to exceed a preset first threshold. If the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface; and / or The first wheel speed of the main drive wheel and the second wheel speed of the motorcycle driven wheel are collected, and it is detected whether the difference between the first wheel speed and the second wheel speed exceeds a second preset threshold. When the difference between the first wheel speed and the second wheel speed exceeds the second preset threshold, it is determined that the main drive wheel of the motorcycle has a relative slipping tendency with the road surface.

3. A motorcycle control system, characterized in that, The system includes a slip detection device, a throttle, and an electronic controller, wherein the slip detection device and the throttle are respectively connected to the electronic controller; The slippage detection device is used to detect whether the main drive wheel of the motorcycle is slipping. The electronic controller is used to obtain the driving state of the motorcycle based on the throttle operation signal of the motorcycle. The driving state is either electromagnetic braking state or acceleration state. When the driver turns the throttle, the driving state of the motorcycle is identified as acceleration state; when the driver returns the throttle angle to zero, the driving state of the motorcycle is identified as electromagnetic braking state. The electronic controller is also configured to output a control signal that reduces the braking force output by the main drive wheel of the motorcycle when it detects that the main drive wheel of the motorcycle is slipping and the driving state is electromagnetic braking state. The electronic controller is also configured to output a control signal that reduces the driving force output by the main drive wheel of the motorcycle when it detects that the main drive wheel of the motorcycle is slipping and the driving state is an acceleration state. The electronic controller includes a motor controller and a body controller. The motor controller is connected to the motorcycle's motor, and the body controller is connected to the brakes of the main drive wheel and the driven wheel. When the main drive wheel of the motorcycle is detected to have a tendency to slip relative to the road surface, and the driving state is electromagnetic braking state, the motor controller outputs a first control signal to control the motor of the motorcycle to reduce the output of braking force, and / or the body controller outputs a second control signal to control the brake of the driven wheel of the motorcycle to brake. When the main drive wheel of the motorcycle is detected to have a tendency to slip relative to the road surface, and the driving state is an acceleration state, the motor controller outputs a third control signal to control the motor of the motorcycle to reduce the output of driving force, and / or the body controller outputs a fourth control signal to control the brake of the main drive wheel to brake.

4. The system according to claim 3, characterized in that, The slippage detection device is used to collect the first wheel speed of the main drive wheel and detect whether the rate of change of the first wheel speed exceeds a preset first threshold. When the rate of change of the first wheel speed exceeds the preset first threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface; and / or The slippage detection device is used to collect the first wheel speed of the main drive wheel and the second wheel speed of the motorcycle driven wheel, and detect whether the difference between the first wheel speed and the second wheel speed exceeds a second preset threshold. When the difference between the first wheel speed and the second wheel speed exceeds the second preset threshold, it is determined that the main drive wheel of the motorcycle has a relative slippage tendency with the road surface.

5. The system according to claim 3, characterized in that, The motor controller and the body controller are connected via a communication bus.

6. A motorcycle, characterized in that, The motorcycle includes a motorcycle control system as described in any one of claims 3-5.

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