An electric vehicle control method and system

Abstract

The present specification relates to the field of electric vehicle control, in particular to an electric vehicle control method, the electric vehicle having a handle capable of realizing forward and backward movement of the electric vehicle. The method comprises: obtaining a handle rotation angle detected by an angle sensor; determining which interval of a handle control range the handle rotation angle is located in; and controlling the electric vehicle to move forward, backward or stop. The handle control range is determined in advance based on an angle detection range of the angle sensor and a handle rotation angle range, and the handle control range is divided into a forward private interval, a backward private interval, a center interval and a common interval in advance, and the forward private interval and the backward private interval are respectively provided with a forward flag bit and a backward flag bit. The electric vehicle control method of the present specification widens the detection of a larger handle angle range by the angle sensor on the basis of meeting the use requirements of users, and does not need to install a Hall component in the handle, thereby reducing the cost.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of electric vehicle control, and particularly to an electric vehicle control method and system. Background Technology

[0002] Speed ​​control grips are commonly used in electric vehicles, electric boats, or other electric vehicles. Electric vehicle control systems that utilize grips for forward and backward movement need to recognize the grip's rotation direction to control forward and backward movement, and also need to recognize the grip's rotation angle to control the vehicle's speed.

[0003] Typically, a grip incorporates an angle sensor. Current control systems use this sensor to detect changes in the magnetic field, then use an MCU (Microcontroller Unit) to calculate the grip's rotation angle. This approach requires the MCU to perform the calculations, placing high demands on its accuracy. Furthermore, it is limited by the angle sensor's detection range (typically 180 degrees). Current angle sensors only consider grip rotation angles within their detection range; when the rotation angle exceeds the sensor's maximum detectable angle (180 degrees), it cannot detect the rotation. Adding Hall effect sensors to the grip, while achieving a wider angle detection range, significantly increases costs. Summary of the Invention

[0004] The embodiments of this specification provide an electric vehicle control method and system designed to solve one or more of the problems described above and other potential problems.

[0005] To achieve the above objectives, the following technical solution is provided: According to a first aspect of the specification, a method for controlling an electric vehicle is provided, the electric vehicle having a handle that enables it to move forward and backward, characterized in that the method comprises: Acquire the grip rotation angle detected by the angle sensor; The system determines which interval of the handle rotation angle falls within the handle control range and controls the electric vehicle to move forward, backward, or stop accordingly. Specifically, this includes: controlling the electric vehicle to move forward when the handle rotation angle is detected to be within a forward private interval of the handle control range; controlling the electric vehicle to move backward when the handle rotation angle is detected to be within a backward private interval of the handle control range; controlling the electric vehicle to stop when the handle rotation angle is detected to be within the center interval of the handle control range; controlling the electric vehicle to move forward when the handle rotation angle moves from the forward private interval into a shared interval of the handle control range; and controlling the electric vehicle to move backward when the handle rotation angle moves from the backward private interval into the shared interval of the handle control range. The grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range. The grip control range is also predetermined to be divided into the forward private zone, the backward private zone, the center zone and the common zone. The forward private zone and the backward private zone are respectively equipped with forward flag and backward flag.

[0006] The electric vehicle control method of this specification not only expands the detection range of the angle sensor for a larger angle of the handle while meeting the user's needs, but also eliminates the need to install Hall effect components in the handle, greatly reducing costs.

[0007] In some embodiments, the grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range, and the grip control range is pre-divided into the forward private zone, the backward private zone, the center zone, and the common zone, including: Obtain the angle value of the initial position of the grip and confirm it as the center point angle value, and determine the center interval based on the center point angle value; The forward maximum angle value is determined by summing the center point angle value and the maximum forward rotation angle value within the grip rotation angle range; the backward maximum angle value is determined by summing the difference between the maximum angle value of the angle sensor's angle detection range and the maximum backward rotation angle value within the grip rotation angle range with the center point angle value; the common interval is determined based on the backward maximum angle value and the forward maximum angle value. The forward private interval is located between the central interval and the common interval. The backward private interval includes a first backward private interval and a second backward private interval. The first backward private interval extends from the minimum angle value of the sensor detection range to the left end point of the central interval, and the second backward private interval extends from the right end point of the common interval to the maximum angle value of the angle sensor detection range. The grip control range is sequentially divided into the first backward interval, the center interval, the forward private interval, the shared interval, and the second backward private interval.

[0008] In some embodiments, the left endpoint of the central interval is set as the backward origin, and the right endpoint of the central interval is set as the forward origin; when the grip rotation angle is detected to be within the forward private interval or entering the shared interval from the forward private interval within the grip control range, the control speed of the grip is obtained based on the forward origin using a proportional method; when the grip rotation angle is detected to be within the backward private interval or entering the shared interval from the backward private interval within the grip control range, the control speed of the grip is obtained based on the backward origin using the proportional method.

[0009] In some embodiments, obtaining the control speed of the grip based on the forward origin using a proportional method includes: the control speed of the grip = ((current angle value of the grip - angle value of the forward origin) / maximum forward rotation angle value of the grip rotation angle range) * maximum rotation speed of the electric vehicle; obtaining the speed of the grip based on the backward origin using the proportional method includes: the control speed of the grip = -((current angle value of the grip - angle value of the backward origin) / maximum backward rotation angle value of the grip rotation angle range) * maximum rotation speed of the electric vehicle; wherein, when the electric vehicle is moving forward, the control speed of the grip is positive; when the electric vehicle is moving backward, the control speed of the grip is negative.

[0010] In some embodiments, controlling the electric vehicle to stop when the grip rotation angle is detected to be within the central interval of the grip control range includes setting the control speed of the grip within the central interval to 0.

[0011] In some embodiments, detecting the grip rotation angle entering the shared range from the forward private range within the grip control range includes detecting that the grip rotation angle at the current moment and at multiple previous moments are respectively located in the forward private range and the shared range within the grip control range, and then determining that the grip rotation angle has entered the shared range from the forward private range within the grip control range; detecting the grip rotation angle entering the shared range from the backward private range within the grip control range includes detecting that the grip rotation angle at the current moment and at multiple previous moments are respectively located in the backward private range and the shared range within the grip control range, and then determining that the grip rotation angle has entered the shared range from the backward private range within the grip control range.

[0012] In some embodiments, when the electric vehicle is detected to be moving forward and the handle rotation angle moves from the shared area within the handle control range into the reverse private area, if the control speed of the handle at the current moment changes in the opposite direction to the control speed of the handle at the previous moment, then the control speed of the handle at the previous moment is output as the current actual control speed of the handle; when the electric vehicle is detected to be moving backward and the handle rotation angle moves from the shared area within the handle control range into the forward private area, if the control speed of the handle at the current moment changes in the opposite direction to the control speed of the handle at the previous moment, then the control speed of the handle at the previous moment is output as the current actual control speed of the handle.

[0013] According to a second aspect of this specification, an electric vehicle control system is provided, the electric vehicle having a handle that enables it to move forward and backward, the system comprising: an acquisition module, a detection module, an identification module and a control module; The acquisition module is used to acquire the grip rotation angle detected by the angle sensor; The detection module is used to detect whether the grip rotation angle is within the forward private zone, backward private zone, center zone, or common zone of the grip control range. The identification module is used to identify the forward flag and the backward flag respectively provided in the forward private interval and the backward private interval; The control module is configured to control the electric vehicle to move forward when the detection module detects that the handle rotation angle is within the forward private zone of the handle control range; control the electric vehicle to move backward when the detection module detects that the handle rotation angle is within the backward private zone of the handle control range; control the electric vehicle to stop when the detection module detects that the handle rotation angle is within the center zone of the handle control range; control the electric vehicle to move forward when the detection module detects that the handle rotation angle has moved from the forward private zone of the handle control range into the shared zone; and control the electric vehicle to move backward when the detection module detects that the handle rotation angle has moved from the backward private zone of the handle control range into the shared zone. The grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range.

[0014] In some embodiments, a setting module is further included for setting the grip control range, wherein the specific setting process includes: The setting module is used to set the angle value of the initial position of the grip to the center point angle value, and to set the center interval based on the center point angle value; The sum of the center point angle value and the maximum forward rotation angle value of the grip rotation angle range is set as the forward furthest angle value; the sum of the difference between the maximum angle value of the angle sensor's angle detection range and the maximum backward rotation angle value of the grip rotation angle range, and the center point angle value, is set as the backward furthest angle value; the backward furthest angle value and the forward furthest angle value are used to set the common interval; The forward private interval is set between the central interval and the common interval. The backward private interval includes a first backward private interval and a second backward private interval. The first backward private interval extends from the minimum angle value of the sensor detection range to the left end point of the central interval, and the second backward private interval extends from the right end point of the common interval to the maximum angle value of the angle sensor detection range. The grip control range is sequentially set as the first backward interval, the center interval, the forward private interval, the shared interval, and the second backward private interval.

[0015] In some embodiments, the control module includes: The detection unit is configured to, when the detection module detects that the handle rotation angle is within the forward private zone of the handle control range, control the electric vehicle to move forward at a control speed calculated by the speed calculation unit; when the detection module detects that the handle rotation angle is within the backward private zone of the handle control range, control the electric vehicle to move backward at a control speed calculated by the speed calculation unit; and when the detection module detects that the handle rotation angle is within the center zone of the handle control range, control the electric vehicle to stop. The speed calculation unit is used to calculate the control speed of the grip based on the right endpoint of the central interval using a proportional method when the detection unit detects that the grip rotation angle is within the forward private interval or enters the shared interval from the forward private interval within the grip control range; and to calculate the control speed of the grip based on the left endpoint of the central interval using a proportional method when the detection unit detects that the grip rotation angle is within the backward private interval or enters the shared interval from the backward private interval within the grip control range; and to assign the control speed of the grip in the central interval to 0 when the detection unit detects that the grip rotation angle is within the central interval within the grip control range. Attached Figure Description

[0016] The above and other objects, features, and advantages of embodiments of this specification will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of this specification are illustrated in the drawings by way of example and not limitation.

[0017] Figure 1 A flowchart illustrating an electric vehicle control method provided in an embodiment of this specification; Figure 2 A schematic diagram of grip control provided for embodiments of this specification; Figure 3 This is a schematic diagram showing the distribution of the grip control range in each interval as provided in the embodiments of this specification.

[0018] a - Minimum angle value of the sensor detection range, b - Left endpoint of the center interval, c - Center point angle value, d - Right endpoint of the center interval, e - Farthest backward angle value, f - Farthest forward angle value, g - Maximum angle value of the sensor detection range, h - Maximum backward rotation angle value of the grip rotation angle range, i - Maximum forward rotation angle value of the grip rotation angle range, (a,b) - First backward interval, (b,d) - Center interval, (d,e) - Forward private interval, (e,f) - Shared interval, (f,g) - Second backward private interval.

[0019] In the various figures, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0020] Preferred embodiments of this specification will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of this specification are shown in the drawings, it should be understood that this specification may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this specification will be thorough and complete, and will fully convey the scope of this specification to those skilled in the art.

[0021] The term "comprising" and its variations as used herein signify an open-ended inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". Terms such as "upper", "lower", "front", "rear", etc., indicating placement or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are used only for the purpose of describing the principles of this specification, and are not intended to indicate or imply that the elements referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as limiting this specification.

[0022] The following detailed description, in conjunction with the accompanying drawings, illustrates an embodiment of an electric vehicle control method and system. Figure 1 A flowchart illustrating an embodiment of the control method for an electric vehicle is shown. The electric vehicle control method of this embodiment includes a handle enabling it to move forward and backward. S01. Obtain the grip rotation angle detected by the angle sensor; S02. Determine which range of the grip rotation angle falls within the grip control range, and control the electric vehicle to move forward, backward, or stop; specifically including: When the rotation angle of the grip is detected to be within the forward private range of the grip control range, the electric vehicle is controlled to move forward. When the rotation angle of the grip is detected to be within the private reversing range of the grip control range, the electric vehicle is controlled to reverse. When the rotation angle of the grip is detected to be within the central range of the grip control range, the electric vehicle is controlled to stop. When the grip rotation angle is detected to move from the private forward zone to the public zone within the grip control range, the electric vehicle is identified and controlled to move forward by the aforementioned forward flag. When the grip rotation angle is detected to move from the private reversing zone within the grip control range into the shared zone, the electric vehicle is identified and controlled to reverse via the reversing flag.

[0023] The method described in this specification is executed by a controller (e.g., an MCU) within the electric vehicle, controlling the electric vehicle to move forward, backward, or stop based on the handle rotation angle detected by an angle sensor. This method can utilize an angle sensor with a detection angle smaller than the handle rotation angle to monitor handle rotation and control the electric vehicle to run or stop.

[0024] This method not only expands the angle sensor's detection range for a wider angle of the grip while meeting user needs, but also enables control of electric vehicles to move forward, backward, or stop. Furthermore, it eliminates the need for Hall effect sensors within the grip, significantly reducing costs.

[0025] Before step S01, step S00 is also included: the grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range, and the grip control range is pre-divided into the forward private interval, the backward private interval, the center interval and the common interval, and the forward private interval and the backward private interval are respectively provided with forward flag and backward flag.

[0026] In step S00, the schematic diagram of the grip control and the schematic diagram of the distribution of each interval of the grip control range are respectively as follows: Figure 2 , Figure 3 As shown, step S00 includes: S1. Obtain the angle value of the initial position of the grip and confirm it as the center point angle value c. Determine the center interval (b, d) based on the center point angle value c. S2. Determine the forward maximum angle value f based on the sum of the center point angle value c and the maximum forward rotatable angle value i within the grip rotation angle range; determine the backward maximum angle value e based on the sum of the difference between the maximum angle value g of the angle sensor's angle detection range and the maximum backward rotatable angle value h within the grip rotation angle range and the center point angle value c; determine the common interval (e, f) based on the backward maximum angle value e and the forward maximum angle value f. S3. The forward private interval (d,e) is located between the central interval (b,d) and the shared interval (e,f); S4. The first retreat private interval (a, b) extends from the minimum angle value a of the sensor detection range to the left endpoint b of the central interval, and the second retreat private interval (f, g) extends from the right endpoint f of the shared interval to the maximum angle value g of the angle sensor's angle detection range. In step S1, after rotating the handle, it is impossible for the handle to return to the initial angle value with 100% precision. The central interval (b, d) is divided by ±5 degrees based on the center point angle value c. The center point angle value c is not limited, but this specification preferably specifies that the center point angle value c is 20 degrees, that is, the central interval (b, d) is 15 degrees to 25 degrees. When the handle rotation angle is within the central interval (b, d) within the control range of the handle, it indicates that the electric vehicle is in a stopped state.

[0027] In step S2, the maximum forward rotation angle i of the grip rotation angle range is 135 degrees, meaning the furthest forward angle f is 155 degrees. The maximum angle g of the angle sensor's angle detection range is 180 degrees, the maximum backward rotation angle h of the grip rotation angle range is 135 degrees, and the furthest backward angle e is 65 degrees. That is, based on the furthest backward angle e and the furthest forward angle h, the common interval (e, f) is determined to be 65 degrees to 155 degrees. When the grip rotation angle is within the common interval (e, f) of the grip control range, it indicates that the electric vehicle is moving forward or backward.

[0028] In step S3, the forward private range (d, e) is 25 degrees to 65 degrees. When the grip rotation angle is within the forward private range (d, e) of the grip control range, it indicates that the electric vehicle is in a forward state.

[0029] In step S4, the reversing private range includes a first reversing private range (a, b) and a second reversing private range (f, g), where the first reversing private range (a, b) is 0 degrees to 15 degrees, and the second reversing private range (f, g) is 155 degrees to 180 degrees. When the grip rotation angle is within the reversing private range of the grip control range, it indicates that the electric vehicle is in a reversing state.

[0030] The angle sensor has an angle detection range of 0 degrees to 180 degrees, while the handle rotation angle range is -135 degrees to 0 degrees to 135 degrees. The angle detection range of the angle sensor is smaller than the handle rotation angle range, causing the angle sensor to detect a certain angle interval (i.e., the shared interval) that could indicate either forward or backward movement of the electric vehicle. Therefore, a forward marker is set in the forward private interval, and a backward marker is set in the backward private interval. The direction of travel of the electric vehicle in the shared interval is determined by identifying the forward and backward markers.

[0031] In step S01, the grip is equipped with the angle sensor, which detects the rotation angle of the grip by detecting changes in the magnetic field.

[0032] like Figure 3 As shown, the angle detection range of the angle sensor is (a, g). Figure 2 As shown, the rotation angle range of the handle is (i, h), specifically including (h, c) and (c, i). When the handle is at the initial position c, rotating it clockwise controls the electric vehicle to move forward. When the handle is at the initial position c, rotating it counterclockwise controls the electric vehicle to move backward. The maximum angle that the handle can rotate forward corresponds to the angle value at position i, and the maximum angle that the handle can rotate backward corresponds to the angle value at position h.

[0033] In one example, the angle sensor has an angle detection range of 0 degrees to 180 degrees, and the handle rotation angle range is -135 degrees to 0 degrees to 135 degrees, with a total handle rotation angle range of 270 degrees. The initial position of the handle corresponds to 0 degrees within the handle rotation angle range. Rotating the handle clockwise at this position controls the electric vehicle to move forward; rotating the handle counterclockwise at this position controls the electric vehicle to move backward. The maximum forward and backward rotation angles of the handle are both half of the handle rotation angle range, specifically 135 degrees for both forward and backward rotations.

[0034] The grip rotation angle corresponds to which interval within the grip control range. Based on the grip rotation angle, it is determined which interval within the grip control range the electric vehicle is located in, and the electric vehicle is controlled to move forward, backward, or stop.

[0035] Step S02 includes: S21. Set the left endpoint b of the central interval as the backward origin and the right endpoint d of the central interval as the forward origin. S22. When the grip rotation angle is detected to be within the forward private zone or entering the shared zone from the forward private zone, the control speed of the grip is obtained based on the forward origin using a proportional method, and the electric vehicle is controlled to move forward according to the obtained control speed of the grip; when the grip rotation angle is detected to be within the backward private zone or entering the shared zone from the backward private zone, the control speed of the grip is obtained based on the backward origin using the proportional method, and the electric vehicle is controlled to move backward according to the obtained control speed of the grip.

[0036] In step S21, since the electric vehicle is in a stopped state when the rotation angle of the handle is within the central interval of the handle control range, the control speed of the handle is 0, and the forward and backward movements of the electric vehicle are two opposite directions, the control speed of the handle should be calculated based on different origins. Therefore, the left and right endpoints of the central interval are set as the backward origin and the forward origin, respectively. The backward origin is the left endpoint of the central interval, and the angle value corresponding to the backward origin is 15 degrees. The forward origin is the right endpoint of the central interval, and the angle value corresponding to the forward origin is 25 degrees.

[0037] In step S22, when the electric vehicle moves forward, the control speed of the handle is calculated based on the origin of movement using a proportional method. The forward movement of the electric vehicle includes two cases: (1) The grip rotation angle is located within the forward private range of the grip control range; (2) The grip rotation angle moves from the forward private zone into the shared zone.

[0038] The control speed of the grip = ((current angle value of the grip - forward origin angle value) / forward rotation maximum angle value of the grip rotation angle range) * the maximum speed of the electric vehicle, where the forward origin angle value is 25 degrees and the forward rotation maximum angle value of the grip rotation angle range is 135 degrees.

[0039] When the electric vehicle reverses, the control speed of the handle is calculated using a proportional method based on the reversing origin. The reversing of the electric vehicle includes two cases: (1) The grip rotation angle is located within the backward private range of the grip control range; (2) The grip rotation angle moves from the private rearward zone into the public zone.

[0040] The control speed of the grip = -((current angle value of the grip - angle value of the reversing origin) / maximum reversible angle value of the grip rotation angle range) * maximum speed of the electric vehicle, where the reversing origin angle value is 15 degrees and the maximum reversible angle value of the grip rotation angle range is 135 degrees.

[0041] Because the electric vehicle moves forward and backward in opposite directions, the control speed of the handle should also be a correspondingly opposite value. When the electric vehicle moves forward, the control speed of the handle is set to a positive value. When the electric vehicle moves backward, the control speed of the handle is set to a negative value.

[0042] Furthermore, if the grip rotation angle at the current moment and several previous moments are detected to be within the forward private zone and the shared zone respectively within the grip control range, it can be known that the grip rotation angle has entered the shared zone from the forward private zone within the grip control range. The forward flag is used to identify and control the electric vehicle to move forward. Similarly, if the grip rotation angle at the current moment and several previous moments are within the backward private zone and the shared zone respectively within the grip control range, it can be known that the grip rotation angle has entered the shared zone from the backward private zone within the grip control range. The backward flag is used to identify and control the electric vehicle to move backward.

[0043] Since the forward private zone and the backward private zone each have boundaries with the shared zone and there is no buffer, when the user rotates the grip forcefully, the grip rotation angle will overflow into the zone in the opposite direction, leading to misjudgment and the reverse output of the grip control speed. To solve this problem, the following embodiment is adopted: When the electric vehicle is detected to be moving forward, and the handle rotation angle moves from the shared area within the handle control range into the reverse private area, if the control speed of the handle at the current moment changes in the opposite direction to the control speed of the handle at the previous moment, then the control speed of the handle at the previous moment is output as the current actual control speed of the handle. When the electric vehicle is detected to be moving backward, and the handle rotation angle moves from the shared area within the handle control range into the forward private area, if the control speed of the handle at the current moment changes in the opposite direction to the control speed of the handle at the previous moment, then the control speed of the handle at the previous moment is output as the current actual control speed of the handle.

[0044] In one or more embodiments of this specification, the electric vehicle control method is performed by the electric vehicle control system.

[0045] The electric vehicle control system may include at least an acquisition module, a detection module, an identification module, a control module, and a setting module, wherein: The acquisition module is used to acquire the grip rotation angle detected by the angle sensor.

[0046] The detection module is used to detect whether the grip rotation angle is within the forward private zone, backward private zone, center zone, or common zone of the grip control range.

[0047] The identification module is used to identify the forward flag and backward flag provided in the forward private interval and the backward private interval, respectively.

[0048] The control module is configured to: control the electric vehicle to move forward when the detection module detects that the handle rotation angle is within the forward private zone of the handle control range; control the electric vehicle to move backward when the detection module detects that the handle rotation angle is within the backward private zone of the handle control range; control the electric vehicle to stop when the detection module detects that the handle rotation angle is within the center zone of the handle control range; control the electric vehicle to move forward when the detection module detects that the handle rotation angle has moved from the forward private zone into the shared zone of the handle control range and the forward marker is detected by the recognition module; and control the electric vehicle to move backward when the detection module detects that the handle rotation angle has moved from the backward private zone into the shared zone of the handle control range and the backward marker is detected by the recognition module.

[0049] The grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range.

[0050] The setting module is used to set the angle value of the initial position of the grip to the center point angle value, and to set the center interval based on the center point angle value.

[0051] The sum of the center point angle value and the maximum forward rotation angle value within the grip rotation angle range is set as the forward furthest angle value. The sum of the difference between the maximum angle value of the angle sensor's angle detection range and the maximum backward rotation angle value within the grip rotation angle range, and the center point angle value, is set as the backward furthest angle value. The backward furthest angle value and the forward furthest angle value are used to set the common interval.

[0052] The forward private interval is located between the central interval and the shared interval. The backward private interval includes a first backward private interval and a second backward private interval. The first backward private interval extends from the minimum angle value of the sensor's detection range to the left endpoint of the central interval. The second backward private interval extends from the right endpoint of the shared interval to the maximum angle value of the angle sensor's detection range.

[0053] The grip control range is sequentially set as the first backward interval, the center interval, the forward private interval, the shared interval, and the second backward private interval.

[0054] The control module includes: The detection unit is configured to, when the detection module detects that the handle rotation angle is within the forward private zone of the handle control range, control the electric vehicle to move forward at a control speed calculated by the speed calculation unit; when the detection module detects that the handle rotation angle is within the backward private zone of the handle control range, control the electric vehicle to move backward at a control speed calculated by the speed calculation unit; and when the detection module detects that the handle rotation angle is within the center zone of the handle control range, control the electric vehicle to stop. The speed calculation unit is used to calculate the control speed of the grip based on the right endpoint of the central interval using a proportional method when the detection unit detects that the grip rotation angle is within the forward private interval or enters the shared interval from the forward private interval within the grip control range; and to calculate the control speed of the grip based on the left endpoint of the central interval using a proportional method when the detection unit detects that the grip rotation angle is within the backward private interval or enters the shared interval from the backward private interval within the grip control range; and to assign the control speed of the grip in the central interval to 0 when the detection unit detects that the grip rotation angle is within the central interval within the grip control range.

[0055] While several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of this specification. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0056] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

[0057] Various embodiments of this specification have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for controlling an electric vehicle, the electric vehicle having a handle that enables it to move forward and backward, characterized in that the method... include: Acquire the grip rotation angle detected by the angle sensor; The system determines which interval of the handle rotation angle falls within the handle control range and controls the electric vehicle to move forward, backward, or stop accordingly. Specifically, this includes: controlling the electric vehicle to move forward when the handle rotation angle is detected to be within a forward private interval of the handle control range; controlling the electric vehicle to move backward when the handle rotation angle is detected to be within a backward private interval of the handle control range; controlling the electric vehicle to stop when the handle rotation angle is detected to be within the center interval of the handle control range; controlling the electric vehicle to move forward when the handle rotation angle moves from the forward private interval into a shared interval of the handle control range; and controlling the electric vehicle to move backward when the handle rotation angle moves from the backward private interval into the shared interval of the handle control range. The grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range. The grip control range is also predetermined to be divided into the forward private zone, the backward private zone, the center zone and the common zone. The forward private zone and the backward private zone are respectively equipped with forward flag and backward flag. The grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range, and is pre-divided into the forward private zone, the backward private zone, the center zone, and the shared zone, including: Obtain the angle value of the initial position of the grip and confirm it as the center point angle value, and determine the center interval based on the center point angle value; The forward maximum angle value is determined by summing the center point angle value and the maximum forward rotation angle value within the grip rotation angle range; the backward maximum angle value is determined by summing the difference between the maximum angle value of the angle sensor's angle detection range and the maximum backward rotation angle value within the grip rotation angle range with the center point angle value; the common interval is determined based on the backward maximum angle value and the forward maximum angle value. The forward private interval is located between the central interval and the common interval. The backward private interval includes a first backward private interval and a second backward private interval. The first backward private interval extends from the minimum angle value of the sensor detection range to the left end point of the central interval, and the second backward private interval extends from the right end point of the common interval to the maximum angle value of the angle sensor detection range. The grip control range is sequentially divided into the first backward interval, the center interval, the forward private interval, the shared interval, and the second backward private interval.

2. The method according to claim 1, characterized in that, The left endpoint of the central interval is set as the backward origin, and the right endpoint of the central interval is set as the forward origin. When the grip rotation angle is detected to be within the forward private interval or entering the shared interval from the forward private interval, the control speed of the grip is obtained based on the forward origin using a proportional method. When the grip rotation angle is detected to be within the backward private interval or entering the shared interval from the backward private interval, the control speed of the grip is obtained based on the backward origin using the proportional method.

3. The method according to claim 2, wherein obtaining the control speed of the grip based on the forward origin using a proportional method comprises: the control speed of the grip = ((current angle value of the grip - angle value of the forward origin) / maximum forward rotatable angle value of the grip rotation angle range) * maximum speed of the electric vehicle; and obtaining the speed of the grip based on the backward origin using the proportional method comprises: the control speed of the grip = -((current angle value of the grip - angle value of the backward origin) / maximum backward rotatable angle value of the grip rotation angle range) * maximum speed of the electric vehicle; wherein, When the electric vehicle moves forward, the control speed of the handle is positive; when the electric vehicle moves backward, the control speed of the handle is negative.

4. The method according to claim 2, wherein when the rotation angle of the grip is detected to be within the central interval of the grip control range, controlling the electric vehicle to stop includes setting the control speed of the grip within the central interval to 0.

5. The method according to claim 1, wherein detecting the grip rotation angle from the forward private zone to the shared zone within the grip control range includes, If the grip rotation angle at the current moment and at several previous moments are respectively located within the forward private interval and the shared interval of the grip control range, then it is determined that the grip rotation angle has entered the shared interval from the forward private interval within the grip control range. Detecting the grip rotation angle entering the shared interval from the backward private interval within the grip control range includes detecting that the grip rotation angle at the current moment and at several previous moments are respectively located within the backward private interval and the shared interval of the grip control range, then it is determined that the grip rotation angle has entered the shared interval from the backward private interval within the grip control range.

6. The method according to claim 1, characterized in that, Also includes: When the electric vehicle is detected to be moving forward, and the handle rotation angle moves from the shared area within the handle control range into the reverse private area, if the control speed of the handle at the current moment changes in the opposite direction to the control speed of the handle at the previous moment, then the control speed of the handle at the previous moment is output as the current actual control speed of the handle; when the electric vehicle is detected to be moving backward, and the handle rotation angle moves from the shared area within the handle control range into the forward private area, if the control speed of the handle at the current moment changes in the opposite direction to the control speed of the handle at the previous moment, then the control speed of the handle at the previous moment is output as the current actual control speed of the handle.

7. A control system for an electric vehicle, the electric vehicle having a handle for moving forward and backward, the system comprising: The module includes an acquisition module, a detection module, an identification module, and a control module. The acquisition module is used to acquire the grip rotation angle detected by the angle sensor; The detection module is used to detect whether the grip rotation angle is within the forward private zone, backward private zone, center zone, or common zone of the grip control range. The identification module is used to identify the forward flag and the backward flag respectively provided in the forward private interval and the backward private interval; The control module is configured to control the electric vehicle to move forward when the detection module detects that the handle rotation angle is within the forward private zone of the handle control range; control the electric vehicle to move backward when the detection module detects that the handle rotation angle is within the backward private zone of the handle control range; control the electric vehicle to stop when the detection module detects that the handle rotation angle is within the center zone of the handle control range; control the electric vehicle to move forward when the detection module detects that the handle rotation angle has moved from the forward private zone of the handle control range into the shared zone; and control the electric vehicle to move backward when the detection module detects that the handle rotation angle has moved from the backward private zone of the handle control range into the shared zone. The grip control range is predetermined based on the angle detection range of the angle sensor and the grip rotation angle range; The control system also includes a setting module for setting the control range of the grip, the specific setting process of which includes: The setting module is used to set the angle value of the initial position of the grip to the center point angle value, and to set the center interval based on the center point angle value; The sum of the center point angle value and the maximum forward rotation angle value of the grip rotation angle range is set as the forward furthest angle value; the sum of the difference between the maximum angle value of the angle sensor's angle detection range and the maximum backward rotation angle value of the grip rotation angle range, and the center point angle value, is set as the backward furthest angle value; the backward furthest angle value and the forward furthest angle value are used to set the common interval; The forward private interval is set between the central interval and the common interval. The backward private interval includes a first backward private interval and a second backward private interval. The first backward private interval extends from the minimum angle value of the sensor detection range to the left end point of the central interval, and the second backward private interval extends from the right end point of the common interval to the maximum angle value of the angle sensor detection range. The grip control range is sequentially set as the first backward interval, the center interval, the forward private interval, the shared interval, and the second backward private interval.

8. The system according to claim 7, wherein the control module comprises: The detection unit is configured to, when the detection module detects that the handle rotation angle is within the forward private zone of the handle control range, control the electric vehicle to move forward at a control speed calculated by the speed calculation unit; when the detection module detects that the handle rotation angle is within the backward private zone of the handle control range, control the electric vehicle to move backward at a control speed calculated by the speed calculation unit; and when the detection module detects that the handle rotation angle is within the center zone of the handle control range, control the electric vehicle to stop. The speed calculation unit is used to calculate the control speed of the grip based on the right endpoint of the central interval using a proportional method when the detection unit detects that the grip rotation angle is within the forward private interval or enters the shared interval from the forward private interval within the grip control range; and to calculate the control speed of the grip based on the left endpoint of the central interval using a proportional method when the detection unit detects that the grip rotation angle is within the backward private interval or enters the shared interval from the backward private interval within the grip control range; and to assign the control speed of the grip in the central interval to 0 when the detection unit detects that the grip rotation angle is within the central interval within the grip control range.

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