Electronic transmission control method, device, equipment and storage medium

Abstract

The application discloses an electronic transmission control method, device and equipment and a storage medium, relates to the technical field of transmissions, and is applied to a bicycle provided with an electronic transmission and comprising the following steps: acquiring speeds corresponding to each preset indexing time point in a preset time period before a current time, so as to obtain a plurality of target running speeds; calculating a bicycle running speed at a next indexing time point by using the plurality of target running speeds and based on a regression model created in advance, so as to obtain a predicted running speed; judging whether the predicted running speed reaches a preset upshift parameter or a downshift parameter; and if the predicted running speed reaches the upshift parameter or the downshift parameter, controlling the electronic transmission to perform an upshift operation or a downshift operation. The application can perform the upshift or downshift operation in advance by predicting the speed and judging whether the predicted speed reaches the preset shift parameter, so that the execution time of the motor is offset, the shift lag is reduced, and the experience of a user is improved.

Description

Technical Field

[0001] This application relates to the field of transmission technology, and in particular to an electronic transmission control method, device, equipment, and storage medium. Background Technology

[0002] Currently, automatic electronic transmissions, such as internal and external transmissions, typically use small motors as the driving force for gear shifting. When performing gear shifts using this motor, a certain amount of operation time and stabilization time are required to ensure successful shifting. For example, it takes approximately one second from the moment the controller issues a shift command to the moment the motor completes the shift operation. However, when speed changes drastically, frequent gear shifts are required. In such cases, the shifting time can result in a slow shift response, thus affecting the user experience. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide an electronic transmission control method, device, equipment, and storage medium that can perform upshift or downshift operations in advance, offsetting the execution time of the motor, reducing shift lag, and improving the user experience. The specific solution is as follows:

[0004] In a first aspect, this application discloses an electronic gearbox control method, applied to a bicycle equipped with an electronic gearbox, comprising:

[0005] Obtain the speed corresponding to each preset division time point within a preset time period before the current moment, and obtain multiple target driving speeds;

[0006] The bicycle speed at the next division time point is calculated by using multiple target speeds and based on a pre-created regression model, thus obtaining the predicted speed.

[0007] Determine whether the predicted driving speed has reached the preset upshift or downshift parameter;

[0008] If the predicted driving speed reaches the upshift parameter or the downshift parameter, the electronic transmission is controlled to perform an upshift or downshift operation.

[0009] Optionally, obtaining the speeds corresponding to each preset time interval within a preset time period prior to the current moment to obtain multiple target driving speeds includes:

[0010] The rotation angle of the rotating magnet at each preset indexing time point within a preset time period prior to the current moment is detected by a Hall sensor to obtain multiple rotation angle information; wherein, the Hall sensor and the magnet are installed on the bicycle;

[0011] The bicycle speed corresponding to each preset division time point is calculated using the turning angle information to obtain multiple target speeds.

[0012] Optionally, obtaining the speeds corresponding to each preset time interval within a preset time period prior to the current moment to obtain multiple target driving speeds includes:

[0013] The speeds at various preset time points within a preset time period prior to the current moment are obtained using GPS, resulting in multiple target driving speeds.

[0014] Optionally, the step of calculating the bicycle speed at the next division time point using multiple target speeds and based on a pre-created regression model to obtain the predicted speed includes:

[0015] Multiple target speeds are input into a pre-created regression model, and the least squares method is used to solve the regression model to predict the bicycle speed at the next division time point, thus obtaining the predicted speed.

[0016] Optionally, the electronic transmission control method further includes:

[0017] Create a cache queue; wherein the cache queue is used to store the target driving speed, the predicted driving speed, the upshift parameters, and the downshift parameters.

[0018] Optionally, determining whether the predicted driving speed has reached the preset upshift or downshift parameter includes:

[0019] The bicycle's driving status is determined based on the predicted driving speed;

[0020] If the driving state is an acceleration state, then determine whether the predicted driving speed has reached the preset upshift parameter;

[0021] If the driving state is a deceleration state, then determine whether the predicted driving speed has reached the preset downshift parameter.

[0022] Optionally, the step of calculating the bicycle speed at the next division time point using multiple target speeds and based on a pre-created regression model to obtain the predicted speed includes:

[0023] By utilizing multiple target speeds and based on a pre-created regression model, the bicycle speed at the next division time point and multiple subsequent division time points is calculated to obtain the predicted speed.

[0024] Secondly, this application discloses an electronic gearbox control device, applied to a bicycle equipped with an electronic gearbox, comprising:

[0025] The driving speed acquisition module is used to acquire the speed corresponding to each preset division time point within a preset time period before the current moment, and obtain multiple target driving speeds;

[0026] The speed prediction module is used to calculate the bicycle speed at the next division time point by utilizing multiple target speeds and based on a pre-created regression model, thereby obtaining the predicted speed.

[0027] The judgment module is used to determine whether the predicted driving speed has reached the preset upshift or downshift parameter;

[0028] The shift operation module is used to control the electronic transmission to perform an upshift or downshift operation if the predicted driving speed reaches the upshift parameter or the downshift parameter.

[0029] Thirdly, this application discloses an electronic device, including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the aforementioned electronic transmission control method.

[0030] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned electronic transmission control method.

[0031] As can be seen, this application is applied to bicycles equipped with electronic gears. First, it acquires the speeds corresponding to various preset time intervals within a preset time period prior to the current moment, obtaining multiple target speeds. Then, using these target speeds and a pre-created regression model, it calculates the bicycle speed at the next time interval, obtaining a predicted speed. Next, it determines whether the predicted speed has reached a preset upshift or downshift parameter. If the predicted speed has reached the upshift or downshift parameter, it controls the electronic gears to perform an upshift or downshift operation. This application predicts the speed at the next time interval using a pre-created regression model and determines whether the predicted speed has reached the preset shift parameters, enabling upshifts or downshifts in advance. This offsets the motor's execution time, reduces shift lag, and thus improves the user experience. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0033] Figure 1 This is a flowchart of an electronic transmission control method disclosed in this application;

[0034] Figure 2 This is a schematic diagram of the time points of each indexing step when a wheel rotates one revolution, as disclosed in this application.

[0035] Figure 3 This is a schematic diagram illustrating a specific driving speed prediction disclosed in this application;

[0036] Figure 4 This is a schematic diagram illustrating a specific driving speed range division disclosed in this application;

[0037] Figure 5 This is a schematic diagram of a specific gear shifting speed parameter disclosed in this application;

[0038] Figure 6 This is a specific diagram illustrating the comparison of gear shift times disclosed in this application;

[0039] Figure 7 This is a flowchart of a specific electronic transmission control method disclosed in this application;

[0040] Figure 8 This is a schematic diagram of the structure of an electronic transmission control device disclosed in this application;

[0041] Figure 9 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] This application discloses an electronic gearbox control method, applied to bicycles equipped with electronic gearboxes. See [link to relevant documentation]. Figure 1 As shown, the method includes:

[0044] Step S11: Obtain the speed corresponding to each preset division time point within the preset time period before the current time, and obtain multiple target driving speeds.

[0045] It should be noted that the electronic gear control scheme proposed in this application is applied to Ebike bicycles (i.e., Electric Bikes, also known as electric-assisted bicycles) equipped with a motor and electronic gears. These Ebike bicycles utilize batteries and electric motors to provide auxiliary power. Unlike traditional bicycles, the Ebike bicycles in this application use batteries and electric motors to provide auxiliary power, making riding easier and more convenient. It should be noted that the electric motor is typically installed in the middle of the wheel or frame and can be supplied with the required electrical energy by the battery. The electric motor installed in the wheel is generally called a rear-mounted motor, and the electric motor installed in the middle of the frame is generally called a mid-mounted motor.

[0046] The electronic gearbox includes, but is not limited to, internal and external gearboxes. In this embodiment, the bicycle speed corresponding to each preset division time point within a preset time period before the current moment is first acquired to obtain multiple target speeds. In a specific implementation, the speed corresponding to each preset division time point when the wheel completes one revolution within a preset time period before the current moment can be acquired; wherein, the time for the wheel to complete one revolution is related to the number of preset division time points N, and the number of preset division time points N can be selected according to actual application requirements. The time for the wheel to complete one revolution = t*N, where t is the division time between two adjacent preset division time points. For example, see... Figure 2 As shown, when the number of preset division time points N = 6 and the current time is tn, the bicycle speed at the 6 preset division time points when the wheel rotates once before the current time tn, i.e., t(n-5) to tn, is obtained.

[0047] In one specific implementation, the speeds corresponding to each preset division time point within a preset time period prior to the current time are obtained to obtain multiple target driving speeds. Specifically, this can include obtaining the speeds corresponding to each preset division time point within a preset time period prior to the current time using GPS (Global Positioning System). That is, GPS technology can be used to obtain the speeds corresponding to each preset division time point within a preset time period prior to the current time.

[0048] Step S12: Calculate the bicycle speed at the next division time point using multiple target speeds and a pre-created regression model to obtain the predicted speed.

[0049] In this embodiment, after obtaining multiple target driving speeds by acquiring the speeds corresponding to each preset division time point within a preset time period before the current moment, these multiple target driving speeds can be further input into a pre-created regression model. This allows for regression analysis using the model to predict the bicycle's driving speed at the next division time point, i.e., predicting the driving speed at the next division time point, thus obtaining the predicted driving speed. The regression model includes, but is not limited to, linear regression, logistic regression, polynomial regression, stepwise regression, ridge regression, lasso regression, and elasticNet regression.

[0050] In one specific implementation, the bicycle speed at the next division time point is calculated using multiple target speeds and a pre-created regression model to obtain the predicted speed. Specifically, this may include: inputting multiple target speeds into a pre-created regression model and solving the regression model using the least squares method to predict the bicycle speed at the next division time point, thus obtaining the predicted speed. In this embodiment, after obtaining multiple target speeds, see... Figure 3 As shown, multiple target speeds can be input into a pre-created regression model. Then, the least squares method is used to solve the polynomial F(x) fitted by the regression model, thereby calculating the bicycle speed at the next time division point. Figure 3 In t(n+1).

[0051] Step S13: Determine whether the predicted driving speed has reached the preset upshift or downshift parameter.

[0052] In this embodiment, after predicting the bicycle's speed at the next division time point, it is possible to directly determine whether the bicycle's speed is decreasing or increasing based on the predicted speed. Furthermore, it is determined whether the predicted speed has reached the preset upshift or downshift parameter. It should be noted that the preset upshift or downshift parameter can be set according to actual application requirements; for example, see [reference needed]. Figure 4 As shown, when the bicycle's speed is pre-divided into six speed ranges: 0–14, 14–18, 18–22, 22–26, 26–30, and >30, the upshift and downshift parameters can be set as follows: Figure 5 The speed values ​​shown.

[0053] In this embodiment, a cache queue can be pre-created; the cache queue is used to store the target driving speed, the predicted driving speed, the upshift parameters, and the downshift parameters. Furthermore, to save storage space in the cache queue, the latest data can be stored at the head of the queue, and data at the end of the queue can be periodically deleted.

[0054] Step S14: If the predicted driving speed reaches the upshift or downshift parameter, control the electronic transmission to perform an upshift or downshift operation.

[0055] In this embodiment, if the predicted driving speed reaches the preset upshift or downshift parameter, the electronic transmission is directly controlled to perform the corresponding upshift or downshift operation. For example, see... Figure 5 As shown, when Figure 3 When the predicted driving speed at time t(n+1) is 26.5 km / h, the current driving speed will be downshifted, from fifth gear to fourth gear. For details, see [link to details]. Figure 6 As shown, after speed prediction by this scheme and gear shifting operation based on the predicted speed, upshifting or downshifting can be performed in advance, which offsets the motor's execution time and effectively reduces shifting lag.

[0056] It should be noted that before the bicycle in this application performs a gear shift operation through the gearbox, the power input to the motor module needs to be interrupted or the current to the motor module needs to be limited, and this needs to be maintained for a specific time until the gear shift operation is completed, and then the power input to the motor module is restored or the current to the motor module is released.

[0057] As can be seen, this embodiment of the application is applied to bicycles equipped with electronic gears. First, the speeds corresponding to various preset time intervals within a preset time period prior to the current moment are obtained to acquire multiple target speeds. Then, using these multiple target speeds and a pre-created regression model, the bicycle speed at the next time interval is calculated to obtain a predicted speed. Next, it is determined whether the predicted speed has reached a preset upshift or downshift parameter. If the predicted speed has reached the upshift or downshift parameter, the electronic gears are controlled to perform an upshift or downshift operation. This embodiment of the application, by predicting the speed and determining whether the predicted speed has reached the preset shift parameters, can perform upshift or downshift operations in advance, offsetting the motor's execution time, reducing shift lag, and thus improving the user experience.

[0058] Besides predicting speed for early gear shifting, predicted torque can also be used, or a combination of both. Torque sensors are typically mounted on the bottom bracket or crank of a bicycle and can detect both static and dynamic torque with high sensitivity. By collecting the deformation of deformable components and converting it into an electrical signal, the controller processes the data to control the motor's speed and output torque. There are two types of torque sensors: one uses a spring component, converting the displacement of the spring under stress into an electrical signal; this type of torque sensor has poor accuracy, short lifespan, and poor stability. The other type collects the micro-deformation of a torsional deformation sleeve; this type of torque sensor has high accuracy, long lifespan, and good stability. Due to the lack of suitable linear elastic materials, this type of torque sensor can only use materials that are relatively close to linear elasticity to make the torsional deformation sleeve. Then, it undergoes extremely demanding processing to make the deformation of the torsional deformation sleeve approximate linear under stress. This places high demands on the materials and processing technology of the torsional deformation sleeve, resulting in high cost.

[0059] The torque sensor includes a first torque sensor and a second torque sensor. The first torque sensor is used to detect the pedaling force of the rider on the right pedal, and the second torque sensor is used to detect the pedaling force of the rider on the left pedal. As the second pedaling force, the torque sensor can sense the magnitude of the user's pedaling force in a timely manner, and the torque sensing algorithm outputs the corresponding electric assist accordingly. This makes acceleration and deceleration during riding smoother and more efficient, and also makes reasonable use of the electric assist output, thereby achieving the effects of energy saving and extending the range.

[0060] Corresponding to the electronic transmission control method based on predicted travel speed, if the unit of the upshift or downshift parameter corresponding to the predicted travel speed is speed unit (km / h), then the unit of the upshift or downshift parameter corresponding to the predicted torque is torque unit (N·m). It's important to note that the shift logic based on predicted travel speed is exactly the opposite of the shift logic based on predicted torque. The faster the travel speed, the higher the gear should be; conversely, the greater the torque, indicating greater pedaling force from the rider (meaning the vehicle is going uphill or needs rapid acceleration), the lower the gear should be. Aside from the differences mentioned above, the steps in the electronic transmission control method based on predicted torque are the same as those in the electronic transmission control method based on predicted travel speed.

[0061] This application discloses a specific electronic gearbox control method, applied to a bicycle equipped with an electronic gearbox. See [link to relevant documentation]. Figure 7 As shown, the method includes:

[0062] Step S21: The rotation angle of the rotating magnet corresponding to each preset division time point within the preset time period before the current moment is detected by the Hall sensor to obtain multiple rotation angle information; wherein, the Hall sensor and the magnet are installed on the bicycle.

[0063] In this embodiment, when the electronic gearbox is an internal gearbox, the rotation angle (i.e., rotational speed) of the rotating magnet corresponding to each preset indexing time point within a preset time period prior to the current moment can be detected by a Hall sensor, thereby obtaining multiple rotation angle information; wherein, the Hall sensor and the magnet are mounted on the bicycle. Furthermore, it should be noted that the number of magnets can be selected according to actual needs.

[0064] Step S22: Calculate the bicycle speed corresponding to each preset division time point using the corner information to obtain multiple target speeds.

[0065] In this embodiment, after obtaining multiple corner information, the product of the corner information and the corresponding wheel diameter can be further calculated to obtain the bicycle speed corresponding to each preset division time point.

[0066] Step S23: Calculate the bicycle speed at the next division time point and multiple division time points after the next division time point using multiple target driving speeds and based on a pre-created regression model, to obtain the predicted driving speed.

[0067] In this embodiment, after obtaining the speeds corresponding to each preset division time point within a preset time period before the current moment, the bicycle speed at the next division time point and multiple division time points after the next division time point can be calculated using multiple target driving speeds and a pre-created regression model, thus obtaining the predicted driving speed. For example, see... Figure 3 As shown, by solving the pre-created regression model using the least squares method, not only can the driving speed at time t(n+1) be calculated, but the driving speed at times t(n+2), t(n+3), etc., can also be calculated using the curve fitted by the polynomial F(x).

[0068] Step S24: Determine the bicycle's driving status based on the predicted driving speed.

[0069] In this embodiment, after obtaining the predicted driving speed, the driving state of the bicycle can be directly determined based on the predicted driving speed. The driving state specifically includes acceleration state and deceleration state, that is, whether the speed at time t(n+1) has increased or decreased compared to the previous time t(n).

[0070] Step S25: If the driving state is in the acceleration state, determine whether the predicted driving speed has reached the preset upshift parameter.

[0071] In this embodiment, if the above driving state is an acceleration state, it is further determined whether the above predicted driving speed has reached the preset upshift parameter.

[0072] Step S26: If the driving state is deceleration, determine whether the predicted driving speed has reached the preset downshift parameter.

[0073] In this embodiment, if the above driving state is a deceleration state, it is further determined whether the above predicted driving speed has reached the preset downshift parameter.

[0074] Step S27: If the predicted driving speed reaches the upshift or downshift parameter, control the electronic transmission to perform an upshift or downshift operation.

[0075] For a more detailed explanation of step S27, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0076] As can be seen, this embodiment first obtains multiple target speeds by sensing the magnet through a Hall sensor at each preset division time point within a preset time period before the current moment. Then, using these multiple target speeds and a pre-created regression model, it calculates the bicycle speed at the next division time point and multiple subsequent division time points to obtain a predicted speed. Next, it determines the bicycle's driving state based on the predicted speed. If the driving state is a deceleration state, it determines whether the predicted speed has reached the preset downshift parameter. Finally, if the predicted speed has reached the upshift or downshift parameter, it controls the electronic gearbox to perform an upshift or downshift operation. This embodiment, through the Hall sensor and magnet, can accurately obtain the speed corresponding to each preset division time point and predict the speed for multiple subsequent division time points, enabling upshift or downshift operations in advance, offsetting the motor's execution time, and reducing shift lag.

[0077] Accordingly, this application also discloses an electronic gearbox control device, applied to a bicycle equipped with an electronic gearbox, see [link to relevant documentation]. Figure 8 As shown, the device includes:

[0078] The driving speed acquisition module 11 is used to acquire the speed corresponding to each preset division time point within a preset time period before the current time, and obtain multiple target driving speeds;

[0079] Speed ​​prediction module 12 is used to calculate the bicycle speed at the next division time point by using multiple target speeds and based on a pre-created regression model, so as to obtain the predicted speed.

[0080] The judgment module 13 is used to determine whether the predicted driving speed has reached the preset upshift or downshift parameter;

[0081] The shift operation module 14 is used to control the electronic transmission to perform upshift or downshift operation if the predicted driving speed reaches the upshift or downshift parameter.

[0082] The specific workflow of each of the above modules can be found in the relevant content disclosed in the foregoing embodiments, and will not be repeated here.

[0083] As can be seen, this embodiment of the application is applied to bicycles equipped with electronic gears. First, the speeds corresponding to each preset division time point within a preset time period prior to the current moment are obtained, resulting in multiple target speeds. Then, using these multiple target speeds and a pre-created regression model, the bicycle speed at the next division time point is calculated to obtain the predicted speed. Next, it is determined whether the predicted speed has reached a preset upshift or downshift parameter. If the predicted speed has reached the upshift or downshift parameter, the electronic gears are controlled to perform an upshift or downshift operation. This embodiment of the application predicts the speed at the next division time point through a pre-created regression model and determines whether the predicted speed has reached the preset shift parameters, enabling upshift or downshift operations to be performed in advance. This offsets the motor's execution time, reduces shift lag, and thus improves the user experience.

[0084] In one specific embodiment, when the electronic gear shifter control device of this application is applied to an Ebike bicycle equipped with a mid-drive motor and an internal derailleur, and the rider needs to shift gears during riding, the mid-drive motor drives the internal derailleur's transmission mechanism to rotate at high speed via the chain drive mechanism. Because the ratchet exerts a large force on the pawl at this time, the pawl is essentially stuck and cannot be freely pressed or released. Therefore, during the rotation of the electronic gear shifter control device, the pawl exerts a large force on the notched side of the pawl controller. In other words, the pawl exerts significant shifting resistance on the pawl controller, easily leading to shifting failure. Therefore, during shifting operations, it is necessary to limit the current to the mid-drive motor or interrupt it for 1-3 seconds. By limiting the current or interrupting, the rotational speed of the transmission mechanism is reduced, thereby reducing the force of the ratchet on the pawl and improving the success rate of shifting. It should be noted that this electronic gear shifter control device is also applicable to rear-drive motors and external derailleurs.

[0085] In some specific embodiments, the driving speed acquisition module 11 may specifically include:

[0086] The corner detection unit is used to detect the corner of the rotating magnet at each preset division time point within a preset time period before the current moment using a Hall sensor, and obtain multiple corner information; wherein, the Hall sensor and the magnet are installed on the bicycle;

[0087] The first speed acquisition unit is used to calculate the bicycle speed at each preset division time point using the turning angle information, and obtain multiple target speeds.

[0088] In some specific embodiments, the driving speed acquisition module 11 may specifically include:

[0089] The second driving speed acquisition unit is used to acquire the speed corresponding to each preset division time point within a preset time period before the current time through GPS, and obtain multiple target driving speeds.

[0090] In some specific embodiments, the velocity prediction module 12 may specifically include:

[0091] The first speed prediction unit is used to input multiple target speeds into a pre-created regression model and solve the regression model using the least squares method to predict the bicycle speed at the next division time point, thus obtaining the predicted speed.

[0092] In some specific embodiments, the electronic transmission control device may further include:

[0093] The cache queue creation unit is used to create a cache queue; the cache queue is used to store the target driving speed, the predicted driving speed, upshift parameters, and downshift parameters.

[0094] In some specific embodiments, the determination module 13 may specifically include:

[0095] The driving status determination unit is used to determine the driving status of the bicycle based on the predicted driving speed.

[0096] The upshift determination unit is used to determine whether the predicted driving speed has reached the preset upshift parameter if the driving state is an acceleration state.

[0097] The downshift determination unit is used to determine whether the predicted driving speed has reached the preset downshift parameter if the driving state is a deceleration state.

[0098] In some specific embodiments, the velocity prediction module 12 may specifically include:

[0099] The second speed prediction module is used to calculate the bicycle speed at the next division time point and multiple division time points after the next division time point by using multiple target driving speeds and based on a pre-created regression model, so as to obtain the predicted driving speed.

[0100] Furthermore, embodiments of this application also disclose an electronic device, Figure 9 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0101] Figure 9 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the electronic transmission control method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0102] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0103] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0104] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the electronic transmission control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program capable of performing other specific tasks.

[0105] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned disclosed electronic transmission control method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0106] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0107] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0109] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0110] The above provides a detailed description of an electronic transmission control method, apparatus, device, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An electronic derailleur control method applied to a bicycle on which an electronic derailleur is mounted, characterized by, include: Obtain the speed corresponding to each preset division time point within a preset time period before the current moment, and obtain multiple target driving speeds; The bicycle speed at the next division time point is calculated by using multiple target speeds and based on a pre-created regression model, thus obtaining the predicted speed. Determine whether the predicted driving speed has reached the preset upshift or downshift parameter; If the predicted driving speed reaches the upshift parameter or the downshift parameter, then the electronic transmission is controlled to perform an upshift operation or a downshift operation. The step of obtaining the speed corresponding to each preset division time point within a preset time period before the current moment to obtain multiple target travel speeds includes: obtaining the speed corresponding to each preset division time point within a preset time period before the current moment, and obtaining the rider's pedaling force detected by the torque sensor to obtain multiple target travel speeds and multiple target torques; the torque sensor is installed on the bicycle's bottom bracket or crank, including a first torque sensor and a second torque sensor, wherein the first torque sensor is used to detect the rider's pedaling force on the right pedal, and the second torque sensor is used to detect the rider's pedaling force on the left pedal; The step of using multiple target speeds and calculating the bicycle speed at the next division time point based on a pre-created regression model to obtain the predicted speed includes: using multiple target speeds and multiple target torques and calculating the bicycle speed at the next division time point and the rider's pedaling force based on a pre-created regression model to obtain the predicted speed and predicted torque. The step of controlling the electronic transmission to perform an upshift or downshift operation if the predicted driving speed reaches the upshift parameter or the downshift parameter includes: if the predicted driving speed and the predicted torque reach the upshift parameter or the downshift parameter, controlling the electronic transmission to perform an upshift or downshift operation; the magnitude of the predicted driving speed is directly proportional to the gear level of the upshift or downshift; the magnitude of the predicted torque is inversely proportional to the gear level of the upshift or downshift.

2. The electronic transmission control method of claim 1, wherein The process of obtaining the speeds corresponding to each preset time interval within a preset time period prior to the current moment, and obtaining multiple target driving speeds, includes: The rotation angle of the rotating magnet at each preset indexing time point within a preset time period prior to the current moment is detected by a Hall sensor to obtain multiple rotation angle information; wherein, the Hall sensor and the magnet are installed on the bicycle; The bicycle speed corresponding to each preset division time point is calculated using the turning angle information to obtain multiple target speeds.

3. The electronic transmission control method of claim 1, wherein The process of obtaining the speeds corresponding to each preset time interval within a preset time period prior to the current moment, and obtaining multiple target driving speeds, includes: The speeds at various preset time points within a preset time period prior to the current moment are obtained using GPS, resulting in multiple target driving speeds.

4. The electronic transmission control method of claim 1, wherein The step of calculating the bicycle speed at the next division time point using multiple target speeds and based on a pre-created regression model to obtain the predicted speed includes: Multiple target speeds are input into a pre-created regression model, and the least squares method is used to solve the regression model to predict the bicycle speed at the next division time point, thus obtaining the predicted speed.

5. The electronic transmission control method of claim 1, wherein, Also includes: Create a cache queue; wherein the cache queue is used to store the target driving speed, the predicted driving speed, the upshift parameters, and the downshift parameters.

6. The electronic transmission control method according to claim 1, characterized in that, The step of determining whether the predicted driving speed has reached the preset upshift or downshift parameter includes: The bicycle's driving status is determined based on the predicted driving speed; If the driving state is an acceleration state, then determine whether the predicted driving speed has reached the preset upshift parameter; If the driving state is a deceleration state, then determine whether the predicted driving speed has reached the preset downshift parameter.

7. The electronic transmission control method according to any one of claims 1 to 6, characterized in that, The step of calculating the bicycle speed at the next division time point using multiple target speeds and based on a pre-created regression model to obtain the predicted speed includes: By utilizing multiple target speeds and based on a pre-created regression model, the bicycle speed at the next division time point and multiple subsequent division time points is calculated to obtain the predicted speed.

8. An electronic gear shifter control device, applied to a bicycle equipped with an electronic gear shifter, characterized in that, include: The driving speed acquisition module is used to acquire the speed corresponding to each preset division time point within a preset time period before the current moment, and obtain multiple target driving speeds; The speed prediction module is used to calculate the bicycle speed at the next division time point by utilizing multiple target speeds and based on a pre-created regression model, thereby obtaining the predicted speed. The judgment module is used to determine whether the predicted driving speed has reached the preset upshift or downshift parameter; The shift operation module is used to control the electronic transmission to perform an upshift operation or a downshift operation if the predicted driving speed reaches the upshift parameter or the downshift parameter. The speed acquisition module is used to acquire the speed corresponding to each preset division time point within a preset time period before the current moment, as well as the pedaling force of the rider detected by the torque sensor, to obtain multiple target speeds and multiple target torques; the torque sensor is installed on the bottom bracket or crank of the bicycle, including a first torque sensor and a second torque sensor, wherein the first torque sensor is used to detect the pedaling force of the rider on the right pedal, and the second torque sensor is used to detect the pedaling force of the rider on the left pedal; The speed prediction module is used to calculate the bicycle speed and the rider's pedaling force at the next division time point using multiple target speeds and multiple target torques and based on a pre-created regression model, so as to obtain the predicted speed and predicted torque. The shifting operation module is used to control the electronic transmission to perform an upshift or downshift operation if the predicted driving speed and the predicted torque reach the upshift parameter or the downshift parameter; the magnitude of the predicted driving speed is directly proportional to the gear level of the upshift or downshift; the magnitude of the predicted torque is inversely proportional to the gear level of the upshift or downshift.

9. An electronic device, characterized in that, It includes a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the electronic transmission control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the electronic transmission control method as described in any one of claims 1 to 7.

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