An automatic switching method and device for turn signals on two-wheeled vehicles

Abstract

This invention discloses an automatic switching method and device for turn signals on and off of a two-wheeled vehicle, relating to the field of vehicle control. The method includes: if the vehicle's tilt angle or steering angle is greater than a first angle threshold, calculating a turning time threshold and a cumulative steering duration at the current sampling moment; if the first timing period has not been exceeded, and the cumulative steering duration at the current sampling moment is not less than the turning time threshold, activating the turn signal in the corresponding direction according to the steering direction at the current sampling moment, and resetting the cumulative steering duration at the current sampling moment to zero, proceeding to the step of automatically turning off the turn signal; if the cumulative steering duration at the current sampling moment is less than the turning time threshold, calculating the turning time threshold and the cumulative steering duration at the next sampling moment; if the first timing period has been exceeded, resetting the cumulative steering duration at the current sampling moment to zero. This method can accurately determine the user's steering intention, thereby reducing the probability of accidental turn signal activation.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and in particular to an automatic switching method and device for turn signals on two-wheeled vehicles. Background Technology

[0002] Both four-wheeled and two-wheeled vehicles frequently cause traffic accidents due to lane changes caused by failure to use turn signals in advance. Sometimes, users are lazy or forget to use their turn signals and suddenly change lanes, easily catching following vehicles off guard and causing accidents. Currently, the industry urgently needs a device and algorithm that can automatically activate turn signals. Sometimes, users forget to turn off their turn signals, causing inconvenience to other vehicles on the road, and leaving turn signals on also consumes extra battery power, which is unsafe and environmentally unfriendly. Currently, the industry urgently needs a device and algorithm that can automatically deactivate turn signals.

[0003] The application of automatic turn signal switching in the two-wheeled electric vehicle industry is relatively limited, mainly due to the high implementation difficulty. The same automatic turn signal switching algorithm used in the four-wheeled vehicle industry is not feasible. The biggest difference is that four-wheeled vehicles can turn without steering, while two-wheeled electric vehicles generally do. Due to the complex turning mechanism of two-wheeled electric vehicles, the following problems typically arise:

[0004] Sometimes, users turn the steering wheel simply to avoid a small obstacle. Although the steering angle is large, the steering wheel will immediately straighten. At this time, the user does not intend to turn or change lanes. If a conventional automatic turn signal switching system is used, it will cause a misjudgment.

[0005] Users may intentionally sway the vehicle while riding, but only for the sake of seeking excitement. Although the swaying amplitude is large, even much greater than the tilt amplitude when going through a 90-degree turn, the user still has no intention of turning. Using a conventional turn signal automatic switching system will cause a misjudgment.

[0006] After completing a turn, a rider may adjust their riding posture by swaying the handlebars or the frame, even though they are actually riding in a straight line or in an S-shape. A conventional automatic turn signal system might misinterpret this as the rider still turning. However, in an S-shape, there is no intention to change lanes, and a conventional automatic turn signal system could cause the left turn signal to be on intermittently, leading to a series of misinterpretations.

[0007] Another method on the market connects vehicles to servers and uses map data to activate turn signals in advance and deactivate them after cornering. However, testing revealed several issues with this method. Firstly, the latency is too high; often, the vehicle has already completed the turn before the turn signal is deactivated, and secondly, when changing lanes in multi-lane roads, the map shows the vehicle traveling in a straight line, preventing the turn signal from activating. Finally, it is too heavily influenced by the accuracy of the vehicle's GPS positioning, making it difficult to accurately determine the user's intentions. Summary of the Invention

[0008] To address the aforementioned problems and technical needs, the inventors have proposed an automatic switching method and device for turn signals on two-wheeled vehicles. This method accurately determines the user's turning / centering intentions, thereby solving the problem of accidental turn signal activation. The technical solution of this invention is as follows:

[0009] In a first aspect, this application provides an automatic switching method for a two-wheeled vehicle's turn signal, wherein the automatic activation method for the two-wheeled vehicle's turn signal includes:

[0010] Real-time monitoring of vehicle tilt angle and steering wheel angle;

[0011] If any angle is greater than the first angle threshold, calculate the turning time threshold and the cumulative turning time at the current sampling moment;

[0012] If the first timing period has not been exceeded, compare the turning time threshold at the current sampling moment with the magnitude of the cumulative turning time.

[0013] When the cumulative turning time at the current sampling moment is not less than the turning time threshold at the current sampling moment, turn on the corresponding turn signal according to the steering direction at the current sampling moment, and clear the cumulative turning time at the current sampling moment to zero, and proceed to the steps of the automatic turn-off method for two-wheeled vehicles.

[0014] If the cumulative turning time at the current sampling moment is less than the turning time threshold at the current sampling moment, calculate the turning time threshold and the cumulative turning time at the next sampling moment.

[0015] If the first timing period is exceeded, the cumulative steering time at the current sampling moment will be reset to zero, and real-time monitoring of vehicle tilt angle and steering wheel angle will be re-executed.

[0016] A further technical solution involves calculating the turning time threshold for the current / next sampling moment, including:

[0017] The turning time threshold is adjusted in real time based on the vehicle speed, body tilt angle and steering angle read at each sampling moment;

[0018] The formula for calculating the turning time threshold at the current sampling moment is:

[0019] T i (t)=T i (t-1)+[Q(t-1)-Q(t)] / Q(t-1)+[W(t-1)-W(t)] / W(t-1)+[E(t-1)-E(t)] / E(t-1);

[0020] Among them, T i (t) represents the calculated turning time threshold at the current sampling moment, T i(t-1) is the turning time threshold of the previous sampling time, Q(t-1), W(t-1), and E(t-1) are the vehicle tilt angle, steering angle, and vehicle speed read at the previous sampling time, respectively, and Q(t), W(t), and E(t) are the vehicle tilt angle, steering angle, and vehicle speed read at the current sampling time, respectively.

[0021] A further technical solution involves calculating the turning time threshold for the current / next sampling moment, which also includes:

[0022] Initial turning time threshold T i The formula for calculating (1) is:

[0023] T i (1)=K+a / Q(1)+b / W(1)+c / E(1);

[0024] Where Q(1), W(1), and E(1) are the vehicle body tilt angle, steering angle, and vehicle speed read for the first time, respectively, and K, a, b, and c are fixed constants.

[0025] A further technical solution involves calculating the cumulative turning duration at the current / next sampling time, including:

[0026] Based on the turning time T1(t) at the current sampling time and the cumulative turning time T at the previous sampling time o (t-1), calculate the cumulative turning time T at the current sampling moment. o (t), the calculation formula is:

[0027] T o (t)=T o (t-1)+u*T1(t);

[0028] Where T1(t) is a fixed value;

[0029] The value of u represents the steering angle or body tilt angle at the current sampling moment. When the steering angle or body tilt angle at the current sampling moment is different from the steering angle or body tilt angle at the previous sampling moment, u takes a negative value; when the directions are the same, u takes a positive value.

[0030] A further technical solution is that the automatic shut-off method for the turn signals of two-wheeled vehicles includes:

[0031] Real-time monitoring of vehicle tilt angle and steering wheel angle;

[0032] If any angle is less than the second angle threshold, calculate the homing time threshold and the cumulative homing time at the current sampling moment;

[0033] Compare the current sampling time threshold for the homing time with the magnitude of the cumulative homing duration;

[0034] When the cumulative time for alignment at the current sampling moment is not less than the alignment time threshold at the current sampling moment, turn off the currently flashing turn signal and clear the cumulative time for alignment at the current sampling moment to zero, and proceed to the steps of the automatic turn signal activation method for two-wheeled vehicles.

[0035] If the cumulative time for alignment at the current sampling moment is less than the alignment time threshold at the current sampling moment, calculate the alignment time threshold and the cumulative time for alignment at the next sampling moment.

[0036] A further technical solution involves calculating the homing time threshold for the current / next sampling moment, including:

[0037] The return-to-center time threshold is adjusted in real time based on the vehicle speed read at each sampling moment;

[0038] The formula for calculating the homing time threshold at the current sampling moment is:

[0039] T j (t)=T j (t-1)+[E(t-1)-E(t)] / E(t-1);

[0040] Among them, T j (t) represents the calculated homing time threshold at the current sampling moment, T j (t-1) is the homing time threshold of the previous sampling time, and E(t-1) and E(t) are the vehicle speed read at the previous sampling time and the vehicle speed read at the current sampling time, respectively.

[0041] A further technical solution involves calculating the homing time threshold for the current / next sampling moment, which also includes:

[0042] Initial return-to-normal time threshold T j The formula for calculating (1) is:

[0043] T j (1) = K + c / E(1);

[0044] Where E(1) is the vehicle speed read for the first time, and K and c are fixed constants.

[0045] A further technical solution involves calculating the cumulative time of positive feedback at the current / next sampling moment, including:

[0046] Based on the current sampling time T2(t) and the cumulative sampling time T of the previous sampling time p (t-1), calculate the cumulative time T for the positive feedback at the current sampling moment.p (t), the calculation formula is:

[0047] T p (t)=T p (t-1)+T2(t);

[0048] Here, T2(t) is set to a fixed value.

[0049] A further technical solution is that the automatic shut-off method for two-wheeled vehicle turn signals also includes:

[0050] Start a timer when entering the automatic shutdown method;

[0051] If the cumulative time for alignment at the current sampling time is still less than the threshold for alignment time at the current sampling time after the second timing period has elapsed, the currently flashing turn signal will be turned off directly, and the cumulative time for alignment at the current sampling time will be cleared to zero, thus entering the step of the automatic turn signal activation method for two-wheeled vehicles.

[0052] Secondly, this application also provides an automatic switch device for a two-wheeled vehicle's turn signal, comprising:

[0053] Interconnected central processing units and controllers;

[0054] An accelerometer with a gyroscope mounted on the central processing unit is installed at the steering wheel to collect the three-axis angular velocity and three-axis acceleration data of the whole vehicle. The central processing unit performs attitude calculation to obtain the heading angle of the whole vehicle as the steering angle of the steering wheel, and also obtains the roll angle of the whole vehicle as the body tilt angle.

[0055] The speed control throttle and motor are mounted on the controller, which is used to provide vehicle speed to the central processing unit;

[0056] The central processing unit is used to implement the steps of the method described in the first aspect.

[0057] The beneficial technical effects of this invention are:

[0058] The automatic turn signal switching method and device for two-wheeled vehicles provided in this application integrates vehicle posture sensing, steering wheel steering sensing, vehicle speed, and a time counter to more accurately determine the user's intention to steer or return the vehicle to center. When the vehicle posture or steering wheel steering meets a set angle threshold, the turning time threshold and the centering time threshold are dynamically adjusted in real time to match changes in the user's riding behavior. Lowering the time threshold means it is easier to trigger the automatic turn signal on / off, while raising the time threshold means it is more difficult to trigger it. This reduces the probability of accidental turn signal activation during user-initiated actions or non-lane-changing turns. Based on this, the new steering and centering intention determination algorithm can more accurately execute the automatic turn signal switching action of the two-wheeled vehicle. Furthermore, by designing a fault-tolerant mechanism related to the second timing period, the problem of users forgetting to turn off the turn signal is completely solved. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the automatic switch device for the turn signals of a two-wheeled vehicle provided in this application.

[0060] Figure 2 This is a flowchart of the automatic activation method for the turn signals of a two-wheeled vehicle provided in this application.

[0061] Figure 3 This is a flowchart of the automatic shut-off method for the turn signals of a two-wheeled vehicle provided in this application. Detailed Implementation

[0062] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0063] Please refer to Figure 1 As shown, this application provides an automatic turn signal switching device for a two-wheeled vehicle. The central processing unit (CPU) is the algorithm hub of the entire vehicle and can be placed on the instrument panel or the ECU. An accelerometer sensor with a gyroscope is mounted on the CPU. A commercially available six-axis or nine-axis accelerometer sensor can be used. This embodiment preferably uses a low-cost six-axis accelerometer sensor, placed inside the instrument panel on the handlebars. This sensor collects the vehicle's three-axis angular velocity and three-axis acceleration data. Combined with the attitude calculation algorithm inside the CPU, the vehicle's attitude is sensed. Specifically, the CPU performs attitude calculations on the acquired three-axis angular velocity and acceleration data to obtain the vehicle's attitude information based on the navigation coordinate system, including roll angle, pitch angle, and yaw angle. The yaw angle is used as the handlebar steering angle, and the roll angle is used as the vehicle tilt angle. Optionally, the handlebar steering angle can also be obtained by a steering sensor installed on the handlebars.

[0064] The automatic switching device also includes a controller that communicates with the central processing unit and is responsible for controlling the vehicle speed. The controller is connected to the speed control throttle and the motor respectively. After the vehicle starts, the controller adjusts the vehicle speed by sensing the rotation amplitude of the speed control throttle and then provides the real-time vehicle speed to the central processing unit.

[0065] This application also provides an automatic switching method for turn signals on a two-wheeled vehicle, implemented based on the aforementioned automatic switching device. The algorithm mainly runs within a central processing unit (CPU), which acquires the vehicle's tilt angle, handlebar steering angle, and riding speed (vehicle speed) in real time. Using these data, dynamically changing time thresholds are designed to accurately determine the user's steering / centering intention. Figure 2 As shown, the automatic activation method for the turn signals of a two-wheeled vehicle includes the following steps:

[0066] Step 1: Real-time monitoring of vehicle tilt angle and steering wheel angle. In this embodiment, vehicle tilt angle and steering wheel angle data are obtained at a sampling frequency of 10Hz.

[0067] Step 2: If any angle is greater than the first angle threshold, calculate the turning time threshold and the cumulative turning duration at the current sampling time. This embodiment specifically includes the following sub-steps:

[0068] Step 2.1: When the vehicle body tilt angle is greater than the first angle threshold of 5° or the steering angle of the steering wheel is greater than the first angle threshold of 5°, proceed to the next step of the process; otherwise, end the current process. At this time, it is determined that the user has no steering intention, and return to step 1 until the next steering intention appears.

[0069] Step 2.2: Read the vehicle speed at the current sampling time, and set the turning time threshold based on the vehicle speed, vehicle tilt angle, and steering angle at the current sampling time.

[0070] The principle for setting the turning time threshold is that the faster the vehicle speed, the smaller the turning time threshold, and vice versa; the larger the steering angle, the smaller the turning time threshold, and vice versa; the larger the vehicle lean angle, the smaller the turning time threshold, and vice versa. A simplified initial turning time threshold T... i (1) The calculation formula is: T i (1) = K + a / Q(1) + b / W(1) + c / E(1), where Q(1), W(1), and E(1) are the vehicle tilt angle, steering angle, and speed read for the first time, respectively; K, a, b, and c are fixed constants that can be subjectively set and tested. The simulation process of the turning time threshold is called the algorithm tuning process. The tuning method is to conduct experiments with various riding intentions until the set constants make the algorithm's judgment accuracy reach the ideal value. If the four constants have been set, the initial turning time threshold T can be calculated when the central processing unit reads the angle information and speed information for the first time. i(1) The purpose of the turning time threshold is to distinguish whether the user has the intention to turn. When the cumulative time of a series of actions reaches the threshold, it is considered that the user has the intention to turn. When the cumulative time of a certain action does not reach the threshold, it is considered that the user does not have the intention to turn.

[0071] The turning time threshold is not static. If the user's riding behavior changes abruptly, the threshold needs to be adjusted accordingly. The threshold is adjusted at a frequency of 10Hz, meaning the turning time threshold is adjusted in real time based on the vehicle speed, lean angle, and steering angle read at each sampling moment. The formula for calculating the turning time threshold at the current sampling moment is:

[0072] T i (t)=T i (t-1)+[Q(t-1)-Q(t)] / Q(t-1)+[W(t-1)-W(t)] / W(t-1)+[E(t-1)-E(t)] / E(t-1),

[0073] Among them, T i (t) represents the calculated turning time threshold at the current sampling moment, T i (t-1) represents the turning time threshold at the previous sampling time. Q(t-1), W(t-1), and E(t-1) are the vehicle tilt angle, steering angle, and speed read at the previous sampling time, respectively. Q(t), W(t), and E(t) are the vehicle tilt angle, steering angle, and speed read at the current sampling time, respectively. By dynamically adjusting the turning time threshold, the threshold decreases when the vehicle tilt angle / steering angle increases, and increases when the vehicle speed increases, and vice versa. A lower turning time threshold means it is easier to trigger the turn signal automatically, while a higher threshold means it is more difficult to trigger the turn signal automatically. Therefore, this real-time dynamic threshold revision algorithm can solve the problem of complex and variable user riding operations, making the judgment of riding intention more accurate and enabling dynamic correction.

[0074] Step 2.3: Based on the turning time T1(t) at the current sampling time and the cumulative turning duration T at the previous sampling time... o (t-1), calculate the cumulative turning time T at the current sampling moment. o (t), the calculation formula is: T o (t)=T o (t-1)+u*T1(t).

[0075] Each entry into this stage requires accumulating historical data. In the formula, T1(t) is typically set to a fixed value of 1 / 10 of a second (data sampling frequency is 10Hz). The value of u represents the steering angle or vehicle tilt angle at the current sampling moment, which can be obtained using a gyroscope. u also has positive and negative values: when the steering direction or vehicle tilt direction at the current sampling moment differs from that at the previous sampling moment, u takes a negative value; when the directions are the same, u takes a positive value. The advantage of this design is that when the user adjusts the steering wheel back to the center (i.e., the direction changes), the accumulated steering time calculated by this formula will decrease, preventing the accumulated steering time from reaching the turning time threshold and thus avoiding the problem of users accidentally activating the turn signal due to fancy maneuvers.

[0076] Step 3: Action Timeout Detection. When entering Step 2.2, start the timer. If the cumulative turning time at the current sampling time is still less than the turning time threshold at the current sampling time after the first timeout period, the cumulative turning time at the current sampling time is cleared to zero, and Step 1 is re-executed until the next turning intention occurs; otherwise, proceed to Step 4.

[0077] The advantage of setting a timeout is that if a user is riding in an S-shape, the calculation of the continuous turning time will be repeated, but it will never reach the turning time threshold. To avoid consuming computing power, the process can be terminated in time, indicating that the user has no intention to turn. Since the turning time is usually 3-10 seconds, it is recommended to set the first timing time to 10 seconds. If the turning intention is still unclear after 10 seconds, the process should exit and wait for the next trigger.

[0078] Step 4: If the first timing period has not been exceeded, compare the turning time threshold T at the current sampling time. i (t) and the cumulative time of turning T o The magnitude of T is used to determine whether the user has the intention to turn. o (t)≥T i If (t), then it is considered that there is a turning intention, proceed to step 5, if T o (t) < T i If (t), it is considered that there is no intention to turn, and proceed to step 6.

[0079] Step 5: Turn on the turn signal in the direction of the steering wheel at the current sampling time, and reset the cumulative steering time at the current sampling time to zero, then proceed to the steps of the automatic turn-off method for two-wheeled vehicles.

[0080] Step 6: Calculate the turning time threshold and the cumulative turning time at the next sampling moment, i.e., return to step 2.2.

[0081] The aforementioned automatic turn signal activation method for two-wheeled vehicles incorporates a multi-parameter correction strategy, enabling rapid adjustments based on the user's dynamic riding behavior and significantly reducing the risk of accidental turn signal activation. Once the user completes a turn, the automatic turn signal deactivation process begins. This process requires determining the user's intention to straighten the handlebars and promptly turning off the turn signal after the handlebars return to the center position. Straightening the handlebars means returning the handlebars from a non-forward direction to a forward direction. For example... Figure 3 As shown, the automatic shut-off method for two-wheeled vehicle turn signals includes the following steps:

[0082] Step 7: Real-time monitoring of vehicle tilt angle and steering wheel angle. In this embodiment, vehicle tilt angle and steering wheel angle data are obtained at a sampling frequency of 10Hz.

[0083] Step 8: If any angle is less than the second angle threshold, calculate the homing time threshold and the cumulative homing duration at the current sampling time. This embodiment specifically includes the following sub-steps:

[0084] Step 8.1: When the vehicle body tilt angle is less than the second angle threshold of 3° or the steering angle of the steering wheel is less than the second angle threshold of 3°, it is considered that the steering wheel has basically returned to center and has the intention to return to center. Proceed to the next step. Otherwise, end the current process. At this time, it is determined that the vehicle is still turning and return to step 7 until the next intention to return to center appears.

[0085] Step 8.2: Read the vehicle speed at the current sampling time and use it to set the return-to-center time threshold.

[0086] The principle for setting the return-to-center time threshold is that the faster the vehicle speed, the smaller the return-to-center time threshold, and vice versa. A simplified initial return-to-center time threshold T... j (1) The calculation formula is: T j (1) = K + c / E(1), where E(1) is the vehicle speed read for the first time, and K and c are fixed constants. The method for setting the constants is the same as that described in step 2.2, and will not be repeated here. If the two constants have been set, the initial return-to-center time threshold T can be calculated when the central processing unit reads the vehicle speed information for the first time. j (1) The function of the return time threshold is to determine whether the user has completed the return of the head. When the cumulative time of a series of actions reaches the threshold, it is considered that the user has completed the return of the head. When the cumulative time of the return action does not reach the threshold, it is considered that the user has not completed the return of the head.

[0087] The return-to-center time threshold is not static. If the user's riding behavior changes abruptly, the threshold needs to be adjusted accordingly. The adjustment frequency of the threshold is 10Hz, meaning that the return-to-center time threshold is adjusted in real time based on the vehicle speed read at each sampling moment. Therefore, the formula for calculating the return-to-center time threshold at the current sampling moment is:

[0088] T j (t)=T j (t-1)+[E(t-1)-E(t)] / E(t-1), where T j (t) represents the calculated homing time threshold at the current sampling moment, T j (t-1) represents the centering time threshold at the previous sampling time, and E(t-1) and E(t) represent the vehicle speed read at the previous sampling time and the vehicle speed read at the current sampling time, respectively. By dynamically adjusting the centering time threshold, the threshold can be lowered when the vehicle speed increases and higher when the vehicle speed decreases. A lower centering time threshold means it is easier to trigger the turn signal to turn off automatically, while a higher threshold means it is more difficult to trigger the turn signal to turn off automatically. Therefore, this real-time dynamic threshold revision algorithm can solve the problem of complex and variable user riding operations, making the judgment of riding intentions more accurate and enabling dynamic correction.

[0089] Step 8.3: Based on the current sampling time T2(t) and the cumulative time T of the previous sampling time, p (t-1), calculate the cumulative time T for the positive feedback at the current sampling moment. p (t), the calculation formula is: T p (t)=T p (t-1)+T2(t).

[0090] Each time this stage is entered, historical data needs to be accumulated. In the formula, T2(t) is usually set to a fixed value of 1 / 10 of a second (data sampling frequency is 10Hz). It should be noted that the accumulated time for returning to center is reset to zero when the user turns again. The advantage of doing this is that it can solve the problem of judging continuous staged turns.

[0091] Step 9: Action Timeout Judgment. When entering the automatic turn-off method, start the timer to start timing. If the cumulative time for the return to center at the current sampling time is still less than the return to center time threshold when the second timing time has expired, directly turn off the currently flashing turn signal and clear the cumulative time for the return to center at the current sampling time to zero, and enter the automatic turn-on method for two-wheeled vehicles, that is, return to step 1; otherwise, proceed to step 10.

[0092] The benefit of setting a timeout is to prevent subtle user operations from causing the return-to-center time to accumulate and fail to reach the return-to-center time threshold. It is recommended to set the second timeout to 10-30 seconds. Once the time is up, the turn signal will automatically turn off. Since the turning time of a vehicle is usually 3-10 seconds, turning off the turn signal after more than 10 seconds is a safety setting.

[0093] Step 10: If the second timing period has not been exceeded, compare the homing time threshold T at the current sampling time. j (t) and the cumulative time T for the recoveryp The magnitude of T is used to determine whether the user has completed the headlight return to center. p (t)≥T j If (t), then it is considered that the head has returned to the correct position, proceed to step 11, if T p (t) < T j If (t), then it is assumed that the vehicle is still turning, and proceed to step 12.

[0094] Step 11: After confirming that the steering wheel is straight, turn off the currently flashing turn signal and reset the cumulative time for straightening at the current sampling moment to zero, and proceed to the steps of the automatic turn signal activation method for two-wheeled vehicles.

[0095] Step 12: Calculate the homing time threshold and the cumulative homing duration at the next sampling time, i.e., return to step 8.2.

[0096] The above-mentioned automatic turn-off method for two-wheeled vehicles has a multi-parameter correction strategy, which can make timely adjustments based on the user's dynamic riding situation, has high accuracy in judging the intention to return to center, and can turn off the turn signal at a faster speed, thus improving the user experience. If you want to delay turning off the turn signal, you can also add a delay operation at the end of the process.

[0097] The above descriptions are merely preferred embodiments of this application, and the present invention is not limited to the above embodiments. It is understood that other improvements and variations directly derived or conceived by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included within the protection scope of the present invention.

Claims

1. An automatic switching method for turn signals on a two-wheeled vehicle, characterized in that, The automatic activation methods for turn signals on two-wheeled vehicles include: Real-time monitoring of vehicle tilt angle and steering wheel angle; If any angle is greater than the first angle threshold, calculate the turning time threshold and the cumulative turning time at the current sampling moment; If the first timing period has not been exceeded, compare the turning time threshold at the current sampling moment with the magnitude of the cumulative turning time. When the cumulative turning time at the current sampling moment is not less than the turning time threshold at the current sampling moment, the turn signal in the corresponding direction is turned on according to the steering direction at the current sampling moment, and the cumulative turning time at the current sampling moment is cleared to zero, thus entering the step of the automatic turning off method for two-wheeled vehicles. If the cumulative turning time at the current sampling moment is less than the turning time threshold at the current sampling moment, calculate the turning time threshold and the cumulative turning time at the next sampling moment. If the first timing period is exceeded, the cumulative steering time at the current sampling moment will be cleared to zero, and the real-time monitoring of vehicle tilt angle and steering wheel angle will be re-executed. The methods for calculating the turning time threshold at the current / next sampling time include: The turning time threshold is adjusted in real time based on the vehicle speed, body tilt angle and steering angle read at each sampling moment; The formula for calculating the turning time threshold at the current sampling moment is: T i (t)=T i (t-1)+[Q(t-1)-Q(t)] / Q(t-1)+[W(t-1)-W(t)] / W(t-1)+[E(t-1)-E(t)] / E(t-1); Among them, T i (t) represents the calculated turning time threshold at the current sampling moment, T i (t-1) is the turning time threshold of the previous sampling time, Q(t-1), W(t-1), and E(t-1) are the vehicle tilt angle, steering angle, and vehicle speed read at the previous sampling time, respectively, and Q(t), W(t), and E(t) are the vehicle tilt angle, steering angle, and vehicle speed read at the current sampling time, respectively. Initial turning time threshold T i The formula for calculating (1) is: T i (1)=K+a / Q(1) +b / W(1) +c / E(1); Where Q(1), W(1), and E(1) are the vehicle body tilt angle, steering angle, and vehicle speed read for the first time, respectively, and K, a, b, and c are fixed constants.

2. The automatic switching method for turn signals on a two-wheeled vehicle according to claim 1, characterized in that, Methods for calculating the cumulative duration of the turn at the current / next sampling time include: Based on the turning time T1(t) at the current sampling time and the cumulative turning time T at the previous sampling time o (t-1), calculate the cumulative turning time T at the current sampling moment. o (t), the calculation formula is: T o (t)=T o (t-1)+u*T1(t); Where T1(t) is a fixed value; The value of u represents the steering angle or body tilt angle at the current sampling moment. When the steering angle or body tilt angle at the current sampling moment is different from the steering angle or body tilt angle at the previous sampling moment, u takes a negative value; when the directions are the same, u takes a positive value.

3. The automatic switching method for turn signals on a two-wheeled vehicle according to claim 1, characterized in that, The automatic shut-off method for the two-wheeled vehicle's turn signals includes: Real-time monitoring of vehicle tilt angle and steering wheel angle; If any angle is less than the second angle threshold, calculate the homing time threshold and the cumulative homing duration at the current sampling time; Compare the homing time threshold and the magnitude of the cumulative homing duration at the current sampling moment; When the cumulative time for alignment at the current sampling moment is not less than the alignment time threshold at the current sampling moment, the currently flashing turn signal is turned off, and the cumulative time for alignment at the current sampling moment is cleared to zero, and the automatic activation method for the two-wheeled vehicle turn signal is entered. If the cumulative time for alignment at the current sampling moment is less than the alignment time threshold at the current sampling moment, calculate the alignment time threshold and the cumulative time for alignment at the next sampling moment.

4. The automatic switching method for turn signals on a two-wheeled vehicle according to claim 3, characterized in that, Methods for calculating the homing time threshold at the current / next sampling time include: The return-to-center time threshold is adjusted in real time based on the vehicle speed read at each sampling moment; The formula for calculating the homing time threshold at the current sampling moment is: T j (t)=T j (t-1)+[E(t-1)-E(t)] / E(t-1); Among them, T j (t) represents the calculated homing time threshold at the current sampling moment, T j (t-1) is the homing time threshold of the previous sampling time, and E(t-1) and E(t) are the vehicle speed read at the previous sampling time and the vehicle speed read at the current sampling time, respectively.

5. The automatic switching method for turn signals on a two-wheeled vehicle according to claim 4, characterized in that, Methods for calculating the homing time threshold at the current / next sampling time also include: Initial return-to-normal time threshold T j The formula for calculating (1) is: T j (1)=K+c / E(1); Where E(1) is the vehicle speed read for the first time, and K and c are fixed constants.

6. The automatic switching method for turn signals on a two-wheeled vehicle according to claim 3, characterized in that, Methods for calculating the cumulative time of homing at the current / next sampling moment include: Based on the current sampling time T2(t) and the cumulative sampling time T of the previous sampling time p (t-1), calculate the cumulative time T for the positive feedback at the current sampling moment. p (t), the calculation formula is: T p (t)=T p (t-1)+T2(t); Here, T2(t) is assumed to be a fixed value.

7. The automatic switching method for turn signals on a two-wheeled vehicle according to claim 3, characterized in that, The automatic shut-off method for the two-wheeled vehicle turn signals also includes: A timer is started when the automatic shutdown method is entered; If the cumulative time for alignment at the current sampling moment is still less than the threshold time for alignment at the current sampling moment after the second timing period has elapsed, the currently flashing turn signal will be turned off directly, and the cumulative time for alignment at the current sampling moment will be cleared to zero, and the automatic activation method for the turn signal of the two-wheeled vehicle will proceed.

8. An automatic switch device for a two-wheeled vehicle's turn signal, characterized in that, include: Interconnected central processing units and controllers; An accelerometer with a gyroscope is mounted on the central processing unit. The accelerometer is installed on the steering wheel and is used to collect the three-axis angular velocity and three-axis acceleration data of the whole vehicle. In conjunction with the central processing unit, the attitude calculation is performed to obtain the heading angle of the whole vehicle as the steering angle of the steering wheel, and the roll angle of the whole vehicle as the body tilt angle. A speed control throttle and a motor are mounted on the controller, which is used to provide vehicle speed to the central processing unit; The central processing unit is used to implement the steps of the method according to any one of claims 1 to 7.

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