A control method for preventing an electric bicycle from slipping and falling, an electric bicycle, and a storage medium

Abstract

The application provides an anti-skidding and falling control method for an electric bicycle, the electric bicycle and a storage medium. The current driving state information of the electric bicycle is obtained, the historical position data set of the electric bicycle within a preset time length before the current time is obtained, and the vector motion path of the electric bicycle is determined. Whether the area located in front of the electric bicycle and within a preset range from the current position has a potential skidding and falling area is determined according to the current position and the vector motion path. The passing speed threshold of the electric bicycle under the current state is determined according to the potential skidding and falling area. When the current running speed is greater than the passing speed threshold, the deceleration reference position is determined according to the potential skidding and falling area, so as to determine the deceleration limited time, and the running speed of the electric bicycle is controlled to be reduced to below the passing speed threshold within the deceleration limited time. The application can determine the type and quantity of the potential skidding and falling area to obtain a deceleration strategy and prevent the rider from skidding and falling.

Description

Technical Field

[0001] This invention relates to the field of electric bicycle technology, and in particular to a control method for preventing electric bicycles from slipping and falling, an electric bicycle, and a storage medium. Background Technology

[0002] With social progress, people's awareness of green travel has gradually increased, and shared electric bicycles have emerged. Electric bicycle travel is lightweight, convenient, fast, and cheap, and has become an important part of people's travel.

[0003] When riding an electric bicycle, riders are prone to slipping and falling, especially when going downhill or around bends, if they are riding too fast. This is particularly common in rainy or snowy weather. Such slipping and falling while riding an electric bicycle can easily lead to traffic accidents and seriously threaten the safety of riders and passersby.

[0004] Currently, existing technologies lack effective solutions for preventing slippage and falls on electric bicycles. Riders generally rely on subjective judgment and riding habits, which can easily lead to falls when passing through slippery sections, thus posing a safety hazard to riders.

[0005] In view of this, it is necessary to propose a control method, a motorcycle and storage medium to prevent slipping and falling of electric bicycles in order to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0006] The main objective of this invention is to provide a control method, a motorcycle, and a storage medium for preventing slippage and falls on electric bicycles, in order to solve the problem that existing electric bicycles are generally ridden based on the rider's subjective judgment and personal habits, which easily leads to falls when passing through slippery road sections, seriously threatening the safety of riders and passersby.

[0007] To achieve the above objectives, the present invention provides a control method for preventing slippage and falls on electric bicycles, comprising the following steps:

[0008] S1, Obtain the current driving status information of the electric bicycle; wherein, the current driving status information includes the current operating speed and current position of the electric bicycle;

[0009] S2, obtain the historical location dataset of the electric bicycle within a preset time period before the current moment, and determine the vector motion path of the electric bicycle based on the historical location dataset;

[0010] S3, based on the current position and the vector motion path, determine whether there is a potential slip and fall area in the area in front of the electric bicycle and within a preset range from the current position;

[0011] S4, when there is a potential slippage and fall area at the current position within a preset range, determine the passage speed threshold of the electric bicycle in the current state based on the potential slippage and fall area;

[0012] S5, determine whether the current running speed is greater than the passage speed threshold, and when the current running speed is greater than the passage speed threshold, determine the deceleration reference position based on the potential slip and fall area;

[0013] S6, determine the deceleration limit time based on the deceleration reference position and the current position, and control the running speed of the electric bicycle to be reduced to below the traffic speed threshold within the deceleration limit time.

[0014] Preferably, step S4 specifically includes the following steps:

[0015] S41, when the current position has a potential slip and fall area within a preset range, determine the type of the potential slip and fall area;

[0016] S42, when the type of the potential slip and fall area is a turning area with a turning radius smaller than a preset radius, a corresponding reference value for passage speed is determined based on the turning radius of the turning area; when the type of the potential slip and fall area is a downhill area with a slope greater than a preset slope, a corresponding reference value for passage speed is determined based on the slope of the downhill area; when the type of the potential slip and fall area is a slip and fall marking area with a slip and fall record number greater than a preset number, a corresponding reference value for passage speed is determined based on the slip and fall record number of the slip and fall marking area.

[0017] S43, collect all the traffic speed reference values ​​corresponding to the potential slip and fall areas to obtain a traffic speed reference value set, and take the minimum value in the traffic speed reference value set as the traffic speed threshold.

[0018] Preferably, in step S42, "determining the corresponding traffic speed reference value based on the turning radius of the turning area" specifically includes the steps of: determining the traffic speed reference value corresponding to the potential slip and fall area according to a first preset algorithm and the turning radius of the turning area; wherein, the first preset algorithm is that the traffic speed reference value is proportional to the turning radius;

[0019] And / or:

[0020] Step S42, "determining the corresponding reference value of traffic speed based on the slope of the downhill area", specifically includes the following steps: determining the reference value of traffic speed corresponding to the potential slip and fall area according to the second preset algorithm and the slope of the downhill area; wherein, the second preset algorithm is that the reference value of traffic speed is inversely proportional to the slope of the downhill area;

[0021] And / or:

[0022] Step S42, "determining the reference value of the passage speed corresponding to the potential slip and fall area based on the number of slip and fall records in the slip and fall marking area," specifically includes the following steps: determining the reference value of the passage speed corresponding to the potential slip and fall area according to the third preset algorithm and the number of slip and fall records in the slip and fall marking area; wherein, the third preset algorithm is that the reference value of the passage speed is inversely proportional to the number of slip and fall records.

[0023] Preferably, the "potential slip and fall area" in step S3 is specifically set through the following steps:

[0024] S31, acquire road condition information within a preset area of ​​the urban area, and integrate the road condition information to establish a road condition database; wherein, the road condition information includes the overall location of the driving road, the turning radius of the driving road, the slope of the driving road corresponding to the driving direction, the location of slip and fall records on the driving road, and the number of slips and falls corresponding to each slip and fall record location.

[0025] S32, determine the potential slip and fall areas from the road condition database; wherein, the potential slip and fall areas include one or more of the following: turning areas with a turning radius smaller than a preset radius, downhill areas with a slope greater than a preset slope, and slip and fall marking areas with a slip and fall record number greater than a preset number.

[0026] Preferably, step S5, "determining the deceleration reference position based on the potential slippage and fall area," specifically includes the following steps:

[0027] S51, when there is one potential slip and fall area, determine the area shape of the potential slip and fall area based on the potential slip and fall area;

[0028] S52, determine the deceleration reference position based on the shape of the region.

[0029] Preferably, step S5, "determining the deceleration reference position based on the potential slippage and fall area," specifically includes the following steps:

[0030] S500, when there are multiple potential slip and fall areas, determine the potential slip and fall area that is closest to the current position among the multiple potential slip and fall areas;

[0031] S501, Determine the area shape of the potential slip and fall area based on the nearest potential slip and fall area;

[0032] S502, determine the deceleration reference position based on the shape of the region.

[0033] Preferably, step S52 specifically includes the following steps:

[0034] S521, the potential slip and fall area is divided into multiple grid cells, and a two-dimensional coordinate system containing the potential slip and fall area is established; wherein, an area less than half an area is counted as 0 cells, and an area more than half an area is counted as 1 cell.

[0035] S522, take the center point of each grid cell as the corresponding grid cell position;

[0036] S523, collect all grid cell positions to obtain a grid cell position set, and use the arithmetic mean of the grid cell position set as the deceleration reference position.

[0037] The present invention also provides an electric bicycle, including a vehicle body and a control system disposed on the vehicle body, wherein the control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the above-described electric bicycle anti-slip and fall control method.

[0038] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described control method for preventing electric bicycles from slipping and falling.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] This invention provides a control method, a bicycle, and a storage medium for preventing slippage and falls on electric bicycles. By acquiring the current driving state information of the electric bicycle, obtaining a historical position dataset of the electric bicycle within a preset time period before the current moment, and determining the vector motion path of the electric bicycle, the method determines whether there are potential slippage and fall areas within a preset range in front of the electric bicycle based on the current position and the vector motion path. Based on the potential slippage and fall areas, a passing speed threshold for the electric bicycle in the current state is determined. When the current speed exceeds the passing speed threshold, a deceleration reference position is determined based on the potential slippage and fall areas to determine a deceleration limit time, and the electric bicycle's speed is controlled to decrease to below the passing speed threshold within the deceleration limit time. This application can determine whether there are potential slippage and fall areas based on the current position, and obtain different passing speed reference values ​​based on the type and number of potential slippage and fall areas. Using the minimum value among the passing speed reference values ​​as the passing speed threshold can maximize the prevention of slippage and falls during riding, avoiding falls caused solely by the rider's subjective judgment and personal habits. It can adapt to changes in road conditions in real time based on the location of the electric bicycle, achieving relatively accurate control. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of a process in one embodiment of the present invention;

[0043] Figure 2 This is a flowchart illustrating the specific steps included in S4 of an embodiment of the present invention.

[0044] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0048] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0049] Please see the appendix Figure 1-2 This invention provides a control method for preventing electric bicycles from slipping and falling, comprising the following steps:

[0050] S1, Obtain the current driving status information of the electric bicycle; wherein, the current driving status information includes the current operating speed and current position of the electric bicycle; it should be noted that, considering that electric bicycles are prone to slipping and falling during riding, especially in rainy or snowy weather, this application mainly considers the scenario of the electric bicycle in motion, by obtaining the current driving status information of the electric bicycle, that is, obtaining the current operating speed and current position of the electric bicycle. The acquisition of speed and position is a mature method and will not be elaborated here. In another embodiment, the change in the operating status of the electric bicycle can also be obtained to determine whether the electric bicycle is in a riding state.

[0051] S2, Obtain the historical location dataset of the electric bicycle within a preset time period before the current moment, and determine the vector movement path of the electric bicycle based on the historical location dataset. It should be noted that, in order to determine the area the electric bicycle might pass through during its journey, this application obtains the historical location dataset of the electric bicycle within a preset time period before the current moment, and determines the vector movement path of the electric bicycle based on the historical location dataset. The preset time period before the current moment refers to a preset time period traversed backward from the current moment. The vector movement path of the electric bicycle can be determined based on the historical location dataset, thereby excluding road segments already traversed by the electric bicycle (i.e., the rear area of ​​the electric bicycle).

[0052] S3. Based on the current position and the vector movement path, determine whether there is a potential slippage / fall area within a preset range in front of the electric bicycle and at a distance of the current position. Considering the actual situation, areas already passed by the electric bicycle can be disregarded. Therefore, this application determines whether there is a potential slippage / fall area within a preset range in front of the electric bicycle and at a distance of the current position based on the current position and the vector movement path. It should be noted that, in practice, users do not currently input a destination location when using electric bicycles, meaning the position of the electric bicycle after the current position is uncertain. This means that if there is a potential slippage / fall area in front of the electric bicycle within the preset range, the electric bicycle may pass through that area. In a specific example, the preset range can be set as a circular area with a radius of 50m centered on the electric bicycle.

[0053] S4, when there is a potential slip and fall area at the current position within a preset range, determine the passage speed threshold of the electric bicycle in the current state based on the potential slip and fall area; the potential slip and fall area includes one or more of the following: a turning area with a turning radius smaller than a preset radius, a downhill area with a slope greater than a preset slope, and a slip and fall marking area with a slip and fall record number greater than a preset number.

[0054] S5, determine whether the current running speed is greater than the passage speed threshold. If the current running speed is greater than the passage speed threshold, determine a deceleration reference position based on the potential slippage and fall area. That is, the current running speed of the electric bicycle is relatively high. If it passes through the potential slippage and fall area at the current speed, there is a risk of slipping and falling. In order to prevent slipping and falling, this application determines a deceleration reference position based on the potential slippage and fall area to prepare for deceleration in advance.

[0055] S6. A deceleration time limit is determined based on the deceleration reference position and the current position, and the speed of the electric bicycle is controlled to decrease to below the traffic speed threshold within the deceleration time limit. It is understood that the deceleration time limit can be determined based on the position between two points, for example, using t = s / v, where s is the distance between the deceleration reference position and the current position, and v is the current speed. Based on this, the speed of the electric bicycle is controlled to decrease to below the traffic speed threshold within the deceleration time limit to prevent the electric bicycle from slipping and falling when passing through a potential slippage / fall area.

[0056] This application can determine the presence of potential slippery and fall-prone areas based on the current location. Different reference speed values ​​are derived based on the type and number of these potential slippery and fall-prone areas. Using the minimum of these reference speed values ​​as the speed threshold can minimize the risk of slipping and falling while riding an electric bicycle, avoiding falls caused solely by the rider's subjective judgment and personal habits. It can adapt to changes in road conditions in real time based on the electric bicycle's position, achieving relatively accurate control.

[0057] In a preferred embodiment of the present invention, step S4 specifically includes the following steps:

[0058] S41, when the current position has a potential slip and fall area within a preset range, determine the type of the potential slip and fall area; wherein, the potential slip and fall area includes one or more of the following: a turning area with a turning radius smaller than a preset radius, a downhill area with a slope greater than a preset slope, and a slip and fall marking area with a slip and fall record number greater than a preset number.

[0059] S42, when the type of the potential slip and fall area is a turning area with a turning radius smaller than a preset radius, a corresponding reference value for passage speed is determined based on the turning radius of the turning area; when the type of the potential slip and fall area is a downhill area with a slope greater than a preset slope, a corresponding reference value for passage speed is determined based on the slope of the downhill area; when the type of the potential slip and fall area is a slip and fall marking area with a slip and fall record number greater than a preset number, a corresponding reference value for passage speed is determined based on the slip and fall record number of the slip and fall marking area.

[0060] S43, collect all the traffic speed reference values ​​corresponding to the potential slip and fall areas to obtain a traffic speed reference value set, and take the minimum value in the traffic speed reference value set as the traffic speed threshold.

[0061] It is worth noting that, in order to maximize the safety of e-bike riding and prevent slippage and falls, this embodiment collects a set of reference speed values ​​corresponding to all potential slippage and fall areas, and uses the minimum value in this set as the speed threshold. For example, if potential slippage and fall areas near the e-bike include turning areas with a turning radius smaller than a preset radius, downhill areas with a slope greater than a preset slope, and slippage and fall marked areas with more than a preset number of slippage and fall records, and there are multiple such areas, the corresponding reference speed values ​​are used as the speed threshold for the e-bike to pass through. It should be noted that since the user's destination is unclear during actual riding, the e-bike may pass through any of the potential slippage and fall areas from its current position. Therefore, by taking the minimum value, the e-bike is ensured to ride at a safe speed in the current environment.

[0062] As a preferred implementation, step S42, "determining the corresponding traffic speed reference value based on the turning radius of the turning area", specifically includes the steps of: determining the traffic speed reference value corresponding to the potential slip and fall area according to a first preset algorithm and the turning radius of the turning area; wherein, the first preset algorithm is that the traffic speed reference value is proportional to the turning radius;

[0063] And / or:

[0064] Step S42, "determining the corresponding reference value of traffic speed based on the slope of the downhill area", specifically includes the following steps: determining the reference value of traffic speed corresponding to the potential slip and fall area according to the second preset algorithm and the slope of the downhill area; wherein, the second preset algorithm is that the reference value of traffic speed is inversely proportional to the slope of the downhill area;

[0065] And / or:

[0066] Step S42, "determining the reference value of the passage speed corresponding to the potential slip and fall area based on the number of slip and fall records in the slip and fall marking area," specifically includes the following steps: determining the reference value of the passage speed corresponding to the potential slip and fall area according to the third preset algorithm and the number of slip and fall records in the slip and fall marking area; wherein, the third preset algorithm is that the reference value of the passage speed is inversely proportional to the number of slip and fall records.

[0067] This embodiment provides a first preset algorithm, a second preset algorithm, and a third preset algorithm, which can obtain a relatively accurate reference value for travel speed. This embodiment considers the correlation that the smaller the turning radius (i.e., the more concentrated the turns), the easier it is to slip and fall; the greater the slope of the downhill area (the steeper the slope), the easier it is to slip and fall; and the greater the number of slip and fall records in the slip and fall marking area, the easier it is to slip and fall. Therefore, the first preset algorithm is set as a direct proportional function, and the second and third preset algorithms are set as inverse proportional functions. Based on the first preset algorithm, the second preset algorithm, and the third preset algorithm, after determining the type of potential slip and fall area, the travel speed reference value corresponding to the potential slip and fall area can be quickly obtained. That is, as the position of the electric bicycle changes, the number and type of potential slip and fall areas within the preset range can be obtained in real time through the current position, and the corresponding travel speed reference value can be obtained.

[0068] Furthermore, it should be noted that the above-mentioned sum / or relationship can be determined by those skilled in the art as needed. In an optional embodiment, the three are related by sum, that is, in step S42, "determining the corresponding reference value of traffic speed based on the turning radius of the turning area" specifically includes the steps of: determining the reference value of traffic speed corresponding to the potential slip and fall area according to the first preset algorithm and the turning radius of the turning area; wherein, the first preset algorithm is that the reference value of traffic speed is proportional to the turning radius; and in step S42, "determining the corresponding reference value of traffic speed based on the slope of the downhill area" specifically includes the steps of: according to The reference speed value corresponding to the potential slip and fall area is determined according to the second preset algorithm and the slope of the downhill area; wherein, the second preset algorithm is that the reference speed value is inversely proportional to the slope of the downhill area; and step S42, "determining the reference speed value corresponding to the potential slip and fall area based on the number of slip and fall records in the slip and fall marking area", specifically includes the following steps: determining the reference speed value corresponding to the potential slip and fall area according to the third preset algorithm and the number of slip and fall records in the slip and fall marking area; wherein, the third preset algorithm is that the reference speed value is inversely proportional to the number of slip and fall records.

[0069] As a preferred implementation, the "potential slip and fall area" in step S3 is specifically set through the following steps:

[0070] S31, acquire road condition information within a preset area of ​​the urban area, and integrate the road condition information to establish a road condition database; wherein, the road condition information includes the overall location of the driving road, the turning radius of the driving road, the slope of the driving road corresponding to the driving direction, the location of slip and fall records on the driving road, and the number of slips and falls corresponding to each slip and fall record location.

[0071] S32, determine the potential slippage and fall areas from the road condition database; wherein, the potential slippage and fall areas include one or more of the following: turning areas with a turning radius smaller than a preset radius, downhill areas with a slope greater than a preset slope, and slippage and fall marking areas with a slippage and fall record count greater than a preset number. It is worth noting that in this embodiment, the potential slippage and fall areas are obtained through an established road condition database. Specifically, road condition information within a preset area of ​​the urban area can be obtained. The size of the preset area can be set by technical personnel in the relevant field as needed. For example, the electronic fence defined by the electric bicycle brand can be used as the preset area of ​​the urban area. It is understood that the road condition information is known. For example, the overall location of the driving road, the turning radius of the driving road, and the slope of the road can all be retrieved and matched through the basic road information database. The slippage and fall record locations of the driving road and the slippage and fall count corresponding to each slippage and fall record location can be statistically analyzed by technical personnel based on the location and number of slippage and fall incidents of the electric bicycles, and this data can be entered into the road condition database.

[0072] It is worth noting for those skilled in the art that the potential slip and fall areas in this application include three types: turning areas with a turning radius smaller than a preset radius, downhill areas with a slope greater than a preset slope, and slip and fall marked areas where the number of slip and fall records exceeds a preset number. Turning areas include, for example, left and right turn areas at intersections, and roads with a certain curvature radius. It is understandable that the smaller the turning radius, the easier it is to slip and fall while riding an electric bicycle; similarly, the steeper the downhill slope, the easier it is to slip and fall while riding an electric bicycle; and areas with a higher number of slip and fall records are also more likely to result in slip and fall during subsequent riding.

[0073] This embodiment acquires road condition information within a preset urban area and integrates the road condition information to establish a road condition database. Based on the current location of the electric bicycle, it can identify potential slippage and fall areas within the preset range. By analyzing the type of potential slippage and fall areas, it can obtain the corresponding deceleration time limit in real time, thereby reducing the speed of the electric bicycle before it reaches the potential slippage and fall area, thus preventing slippage and fall.

[0074] In a preferred embodiment, step S5, "determining the deceleration reference position based on the potential slippage and fall area," specifically includes the following steps:

[0075] S51, when there is one potential slip and fall area, determine the area shape of the potential slip and fall area based on the potential slip and fall area;

[0076] S52, determine the deceleration reference position based on the shape of the region.

[0077] In a preferred embodiment, step S5, "determining the deceleration reference position based on the potential slippage and fall area," specifically includes the following steps:

[0078] S500, when there are multiple potential slip and fall areas, determine the potential slip and fall area that is closest to the current position among the multiple potential slip and fall areas;

[0079] S501, Determine the area shape of the potential slip and fall area based on the nearest potential slip and fall area;

[0080] S502, determine the deceleration reference position based on the shape of the region.

[0081] Those skilled in the art will understand that there may be one or more potential skidding and falling areas. When there are multiple potential skidding and falling areas, the distances of these areas from the current location are different. In order to reduce the speed of the electric bicycle to below the passing speed threshold in the shortest possible time and to prevent the electric bicycle from skidding and falling as much as possible, this embodiment determines the potential skidding and falling area closest to the current location among the multiple potential skidding and falling areas. It is understood that the location of each potential skidding and falling area can be obtained from the road condition database established in the above steps, based on the nearest potential skidding and falling area. The region determines the shape of the potential skidding and falling area, and determines the deceleration reference position based on the shape of the region. It should be noted that since the shape of each type of potential skidding and falling area is different, in order to obtain a more accurate deceleration timing, this embodiment further determines the shape of the potential skidding and falling area and obtains the deceleration reference position based on the shape of the region. The specific determination method can be through the grid division method described later, or it can be directly taken from the road conditions. The deceleration reference position obtained in this way is relatively close to the current position. The deceleration time determined by this position can make the electric bicycle quickly reduce its speed and prevent the electric bicycle from skidding and falling.

[0082] In a preferred embodiment, step S52 specifically includes the following steps:

[0083] S521, the potential slip and fall area is divided into multiple grid cells, and a two-dimensional coordinate system containing the potential slip and fall area is established; wherein, an area less than half a grid cell is counted as 0 cells, and an area more than half a grid cell is counted as 1 cell; S522, the center point of each grid cell is taken as the corresponding grid cell position; S523, all grid cell positions are collected to obtain a grid cell position set, and the arithmetic mean of the grid cell position set is used as the deceleration reference position.

[0084] It is understandable that step S52, which involves determining a better deceleration reference position based on the shape of the potential slippage and fall area when there is only one such area, is addressed in this embodiment by dividing the potential slippage and fall area into multiple grid cells. For example, a main grid division range (which can be a rectangle including the potential slippage and fall area) is established based on the outline boundary of the potential slippage and fall area. Then, this main range is divided into multiple squares, and a two-dimensional coordinate system including the potential slippage and fall area is established. The center point of each grid cell is taken as the corresponding grid cell position, and the arithmetic mean of the set of grid cell positions is taken as the deceleration reference position. This allows for the determination of a better deceleration reference position, which serves as a time reference for subsequent control of the electric bicycle's deceleration.

[0085] In other embodiments, after aggregating all grid cell positions to obtain a grid cell position set, the center point of the grid cell closest to the current position of the electric bicycle can be used as the deceleration reference position, which can also be used as a preferred deceleration reference position.

[0086] The present invention also provides an electric bicycle, including a vehicle body and a control system disposed on the vehicle body, wherein the control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the above-described electric bicycle anti-slip and fall control method.

[0087] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described control method for preventing electric bicycles from slipping and falling.

[0088] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A control method for preventing slippage and falls on electric bicycles, characterized in that, Including the following steps: S1, Obtain the current driving status information of the electric bicycle; wherein, the current driving status information includes the current operating speed and current position of the electric bicycle; S2, obtain the historical location dataset of the electric bicycle within a preset time period before the current moment, and determine the vector motion path of the electric bicycle based on the historical location dataset; S3, based on the current position and the vector motion path, determine whether there is a potential slip and fall area in the area in front of the electric bicycle and within a preset range from the current position; S4, when there is a potential slippage and fall area at the current position within a preset range, determine the passage speed threshold of the electric bicycle in the current state based on the potential slippage and fall area; S5, determine whether the current running speed is greater than the passage speed threshold, and when the current running speed is greater than the passage speed threshold, determine the deceleration reference position based on the potential slip and fall area; S6, determine the deceleration limit time based on the deceleration reference position and the current position, and control the running speed of the electric bicycle to be reduced to below the traffic speed threshold within the deceleration limit time; Step S4 specifically includes the following steps: S41, when the current position has a potential slip and fall area within a preset range, determine the type of the potential slip and fall area; S42, when the type of the potential slip and fall area is a turning area with a turning radius smaller than a preset radius, a corresponding reference value for passage speed is determined based on the turning radius of the turning area; when the type of the potential slip and fall area is a downhill area with a slope greater than a preset slope, a corresponding reference value for passage speed is determined based on the slope of the downhill area; when the type of the potential slip and fall area is a slip and fall marking area with a slip and fall record number greater than a preset number, a corresponding reference value for passage speed is determined based on the slip and fall record number of the slip and fall marking area. S43, collect all the traffic speed reference values ​​corresponding to the potential slip and fall areas to obtain a traffic speed reference value set, and take the minimum value in the traffic speed reference value set as the traffic speed threshold.

2. The control method for preventing slippage and falls on electric bicycles according to claim 1, characterized in that, In step S42, "determining the corresponding traffic speed reference value based on the turning radius of the turning area" specifically includes the following steps: determining the traffic speed reference value corresponding to the potential slip and fall area according to a first preset algorithm and the turning radius of the turning area; wherein, the first preset algorithm is that the traffic speed reference value is proportional to the turning radius; And / or: Step S42, "determining the corresponding reference value of traffic speed based on the slope of the downhill area", specifically includes the following steps: determining the reference value of traffic speed corresponding to the potential slip and fall area according to the second preset algorithm and the slope of the downhill area; wherein, the second preset algorithm is that the reference value of traffic speed is inversely proportional to the slope of the downhill area; And / or: Step S42, "determining the reference speed value corresponding to the potential slip and fall area based on the number of slip and fall records in the slip and fall marking area," specifically includes the following steps: determining the reference speed value corresponding to the potential slip and fall area according to the third preset algorithm and the number of slip and fall records in the slip and fall marking area; wherein, the third preset algorithm is that the reference speed value and the number of slip and fall records are inversely proportional.

3. The control method for preventing slippage and falls on electric bicycles according to claim 1, characterized in that, The "potential slip and fall area" in step S3 is specifically set through the following steps: S31, acquire road condition information within a preset area of ​​the urban area, and integrate the road condition information to establish a road condition database; wherein, the road condition information includes the overall location of the driving road, the turning radius of the driving road, the slope of the driving road corresponding to the driving direction, the location of slip and fall records on the driving road, and the number of slips and falls corresponding to each slip and fall record location. S32, determine the potential slip and fall areas from the road condition database; wherein, the potential slip and fall areas include one or more of the following: turning areas with a turning radius smaller than a preset radius, downhill areas with a slope greater than a preset slope, and slip and fall marking areas with a slip and fall record number greater than a preset number.

4. The control method for preventing slippage and falls on electric bicycles according to claim 1, characterized in that, The step S5, "determining the deceleration reference position based on the potential slip and fall area," specifically includes the following steps: S51, when there is one potential slip and fall area, determine the area shape of the potential slip and fall area based on the potential slip and fall area; S52, determine the deceleration reference position based on the shape of the region.

5. The control method for preventing slippage and falls on electric bicycles according to claim 1, characterized in that, The step S5, "determining the deceleration reference position based on the potential slip and fall area," specifically includes the following steps: S500, when there are multiple potential slip and fall areas, determine the potential slip and fall area that is closest to the current position among the multiple potential slip and fall areas; S501, Determine the area shape of the potential slip and fall area based on the nearest potential slip and fall area; S502, determine the deceleration reference position based on the shape of the region.

6. The control method for preventing slippage and falls on electric bicycles according to claim 4, characterized in that, Step S52 specifically includes the following steps: S521, the potential slip and fall area is divided into multiple grid cells, and a two-dimensional coordinate system containing the potential slip and fall area is established; wherein, an area less than half an area is counted as 0 cells, and an area more than half an area is counted as 1 cell. S522, take the center point of each grid cell as the corresponding grid cell position; S523, collect all grid cell positions to obtain a grid cell position set, and use the arithmetic mean of the grid cell position set as the deceleration reference position.

7. An electric bicycle, comprising a vehicle body, characterized in that, It also includes a control system disposed on the vehicle body, wherein the control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the control method for preventing slippage and fall of an electric bicycle as described in any one of claims 1 to 6.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for preventing slippage and falls of electric bicycles as described in any one of claims 1 to 6.

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