Electric scooter driving safety control system

Abstract

The present invention discloses an electric scooter driving safety control system, which relates to the technical field of driving safety control and specifically comprises: an electric scooter driving state monitoring module, an electric scooter driving state evaluation module, and an electric scooter driving safety control module, wherein the electric scooter driving monitoring module monitors and obtains control information and state information, and transmits the control information and state information to the electric scooter driving state evaluation module, the electric scooter driving state evaluation module evaluates the state of the electric scooter during driving according to the control information and state information of the electric scooter during driving monitored by the electric scooter driving monitoring module, and obtains multiple indicators about the driving state of the electric scooter, the electric scooter driving safety control module presets indicator thresholds for multiple indicators about the driving state of the electric scooter, and determines the electric scooter driving safety control method by comparing the indicators with their corresponding indicator thresholds.

Description

Technical Field

[0001] The present invention belongs to the technical field of driving safety control, and in particular relates to a driving safety control system for an electric scooter. Background Art

[0002] Currently, the shared mobility sector offers a diverse range of options, including bicycles, cars, and electric scooters. Each mode of transportation has its own unique characteristics and limitations: bicycles are easy to maintain but are limited by speed and physical exertion; cars are known for their high speed and large capacity, but come with high costs and environmental challenges; electric scooters strike a balance between speed and space, but their charging and maintenance processes are cumbersome. In particular, manual handling and plugging in charging cables not only require locating the low-battery vehicle first, but also pose safety risks and technical challenges such as tipping over while the scooter is in autonomous operation.

[0003] Currently, there is no mature technical solution for evaluating various status information that may affect the driving safety of the electric scooter based on the basic control information of the electric scooter, so as to implement safety control for the safety issues that exist during the driving of the electric scooter. Summary of the Invention

[0004] The purpose of the present invention is to provide an electric scooter driving safety control system to solve the technical problem in the prior art of how to evaluate various status information that may affect the driving safety of the electric scooter during driving based on the basic control information of the electric scooter.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] Electric scooter driving safety control system, including:

[0007] The electric scooter driving state monitoring module is used to determine the control information of the electric scooter and the state information of the electric scooter during driving in each time period;

[0008] The electric scooter driving state evaluation module includes a driving speed state evaluation unit, a driving acceleration state evaluation unit, a steering control state evaluation unit, a load state evaluation unit and a driving state comprehensive evaluation unit.

[0009] The driving speed state evaluation unit is used to determine a driving speed state index;

[0010] The driving acceleration state evaluation unit is used to determine a driving acceleration state index;

[0011] The steering control state evaluation unit is used to determine the steering degree index;

[0012] The load status evaluation unit is used to determine the load status index;

[0013] The driving state comprehensive evaluation unit is used to determine the evaluation index of the driving state of the electric scooter;

[0014] The electric scooter driving safety control module is pre-set with indicator thresholds for various indicators related to the electric scooter's driving status. By comparing the indicators with their corresponding indicator thresholds, the electric scooter driving safety control method is determined.

[0015] Furthermore, by determining the control information of the electric scooter and the state information of the electric scooter during the driving process in each time period, specifically, setting a time point every t time period, and determining a time period every b time points, b>2, and the length of each time period is (b-1)t, the control information of the electric scooter and the state information of the electric scooter during the driving process in each time period are determined, wherein the control information includes: braking response time, braking control degree, acceleration response time, acceleration control degree and steering degree; the state information includes: driving speed state data, driving acceleration state data, steering state data and load state data;

[0016] Furthermore, the control information of the electric scooter specifically includes:

[0017] Among them, the braking response time represents the time from when the driver uses the brake device of the electric scooter to when the electric scooter starts to decelerate, which is expressed as td;

[0018] Using the formula Indicates the degree of braking control, where vm represents the maximum speed that the electric scooter can reach, dm represents the ideal displacement distance of the electric scooter from the start of braking to the time when the speed reaches 0 after the electric scooter reaches vm, and t1 represents the time taken for the electric scooter to reach 0 speed after the electric scooter reaches vm. The ideal state refers to a driving environment with no obstacles, no slope changes, and a dry, flat road surface without bumps.

[0019] Acceleration response time, which represents the time from the electric scooter's acceleration device to the electric scooter starting to accelerate, is expressed as ta;

[0020] Using the formula Indicates the degree of acceleration control, where am represents the maximum acceleration that the electric scooter can achieve, a(t) represents the acceleration of the electric scooter changing with time when the electric scooter maintains a straight line under ideal conditions and the acceleration changes from 0 to am, and t2 represents the shortest time consumed by the electric scooter from 0 acceleration to am;

[0021] Using the formula Indicates the steering degree of the electric scooter at time x, where d represents the steering degree, g is a constant, and x represents the time point x. Indicates the acute angle between the original axis of the electric scooter's direction of travel and the axis of the steering wheel. Set the monitoring angle threshold O. When the acute angle between the original axis of the electric scooter's direction of travel and the axis of the steering wheel is When it is less than or equal to 0, Equal to 0, in this embodiment, g is set to 1, and O is set to 5°.

[0022] Furthermore, the state information of the electric scooter during driving in each time period specifically includes:

[0023] The driving speed status data includes the average driving speed of the electric scooter within a time period and the instantaneous driving speed at each time point within the time period;

[0024] The driving acceleration state data includes the average driving acceleration of the electric scooter within a time period and the instantaneous driving acceleration at each time point within the time period;

[0025] The steering control state data includes the number of turns of the electric scooter in a time period;

[0026] The load status data includes the load size of the electric scooter during driving.

[0027] Furthermore, the driving speed state evaluation unit is used to determine the driving speed state index using the formula represents the driving speed status index, where i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, Represents the average speed of the i-th time period, v(x) represents the instantaneous speed at the x-th time point, and the driving speed state index of each time period is calculated. The driving speed state of the electric scooter is safer in the time period with a larger driving speed state index.

[0028] Furthermore, the driving acceleration state evaluation unit is used to determine the driving acceleration state index using the formula Represents the driving acceleration state index, where i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, represents the average acceleration in the i-th time period, a(x) represents the instantaneous acceleration at the x-th time point, e represents the base of the logarithm of natural numbers, d(x) represents the degree of steering at the x-th time point, and the driving acceleration state index of each time period is calculated. The driving speed state of the electric scooter is safer in the time period with a larger driving acceleration state index.

[0029] Furthermore, the steering control state evaluation unit is used to determine the steering degree index using the formula represents the steering control index, where i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, a(x) represents the instantaneous acceleration at the x-th moment, v(x) represents the instantaneous speed at the x-th moment, (b-1)t is the length of each time period, d(x) represents the degree of steering at the x-th moment, and the steering control state index of each time period is calculated. The steering control state of the electric scooter is safer in the time period with a larger steering control state index.

[0030] Furthermore, the load status evaluation unit is used to determine the load status index using the formula Represents the load status index, where gz(x) represents the load size of the electric scooter at the xth time point, i represents the i-th time period, represents the first time point in the i-th time period, represents the last time point in the i-th time period, and G represents the load threshold of the electric scooter, that is, the maximum weight that the electric scooter can carry while meeting the normal driving function of the electric scooter.

[0031] Furthermore, the driving state comprehensive evaluation unit is used to determine the driving state evaluation index of the electric scooter, using the formula represents the evaluation index of the electric scooter's driving state, where Sd(i) represents the driving speed state index of the i-th time period, Js(i) represents the driving acceleration state index of the i-th time period, Zs(i) represents the steering control state index of the i-th time period, and Gz(i) represents the load state index of the i-th time period. Represents the weight coefficient of the driving speed status index, Indicates the weight coefficient of the driving acceleration state index, Represents the weight coefficient of the steering control state index, represents the weight coefficient of the load status index, and .

[0032] Furthermore, the electric scooter driving safety control module sets a driving speed state index threshold, a driving acceleration state index threshold, a steering control state index threshold, a load state index threshold, and an electric scooter driving state evaluation index threshold, collectively referred to as an index threshold, and refers to the driving speed state index, driving acceleration state index, steering control state index, load state index, and electric scooter driving state evaluation index of each time period as an index, and compares the size relationship between each time index and its corresponding index threshold.

[0033] If any two or more indicators are less than or equal to their corresponding indicator thresholds within a moment, the maximum acceleration limit is 0, the braking device actively works, and reaches the maximum braking effect within t time. The acceleration limit is released when the speed is equal to 0, and the braking device no longer actively works;

[0034] If only one indicator is less than or equal to its corresponding indicator threshold at a time, the maximum acceleration limit is 0, the braking device works actively, and reaches the maximum braking effect within t time. When the speed is equal to r, the acceleration limit is released, and the braking device no longer works actively. , V represents the maximum speed that the electric scooter can reach as set by the manufacturer;

[0035] If all indicators at a moment are greater than or equal to their corresponding indicator thresholds, no processing is performed.

[0036] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0037] 1. The present invention provides a rich basis for comprehensively evaluating the driving safety of electric scooters through detailed classification and real-time monitoring of their control and status information. This information helps capture the changing trends of different states of the electric scooter during driving, thereby accurately evaluating its driving safety.

[0038] 2. The present invention determines various status evaluation indicators based on electric scooter control information and electric scooter status information at different driving time periods, thereby achieving a comprehensive and multi-dimensional evaluation of the electric scooter's driving safety. This helps to promptly determine the possibility of safety risks occurring during the scooter's driving process and facilitates the formulation of more targeted control strategies.

[0039] 3. The present invention monitors various indicators in different time periods in real time and compares them with corresponding thresholds. When abnormal situations occur during the driving of the electric scooter, the system automatically identifies and adopts corresponding safety control strategies, which helps to improve the intelligence and automation level of the electric scooter. The automated safety control strategy can reduce the intervention and burden of the driver, and help improve driving efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 The flowchart of the electric scooter driving safety control system is shown;

[0042] Figure 2 The flowchart of the electric scooter driving state evaluation module is shown;

[0043] Figure 3 A step diagram of a method for controlling the safety of electric scooters is shown. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] like Figure 1 、 Figure 2 、 Figure 3 As shown, the electric scooter driving safety control system provided by this embodiment specifically includes: an electric scooter driving state monitoring module, an electric scooter driving state evaluation module, and an electric scooter driving safety control module.

[0046] The electric scooter driving monitoring module sets a time point every t time periods, and determines a time period every b time points, where b>2 and the duration of each time period is (b-1)t. The module uses sensor equipment to monitor in real time to determine the control information of the electric scooter and the status information of the electric scooter during driving in each time period. The control information includes: braking response time, braking control level, acceleration response time, acceleration control level and steering level; the status information includes: driving speed status data, driving acceleration status data, steering status data and load status data.

[0047] Among them, the braking response time represents the time from when the driver uses the brake device of the electric scooter to when the electric scooter starts to decelerate, which is expressed as td;

[0048] Using the formula Indicates the degree of braking control, where vm represents the maximum speed that the electric scooter can reach, dm represents the ideal displacement distance of the electric scooter from the start of braking to the time when the speed reaches 0 after the electric scooter reaches vm, and t1 represents the time taken for the electric scooter to reach 0 speed after the electric scooter reaches vm. The ideal state refers to a driving environment with no obstacles, no slope changes, and a dry, flat road surface without bumps.

[0049] Acceleration response time, which represents the time from the electric scooter's acceleration device to the electric scooter starting to accelerate, is expressed as ta;

[0050] Using the formula Indicates the degree of acceleration control, where am represents the maximum acceleration that the electric scooter can achieve, a(t) represents the acceleration of the electric scooter changing with time when the electric scooter maintains a straight line under ideal conditions and the acceleration changes from 0 to am, and t2 represents the shortest time consumed by the electric scooter from 0 acceleration to am;

[0051] Using the formula Indicates the steering degree of the electric scooter at time x, where d represents the steering degree, g is a constant, and x represents the time point x. Indicates the acute angle between the original axis of the electric scooter's direction of travel and the axis of the steering wheel. Set the monitoring angle threshold O. When the acute angle between the original axis of the electric scooter's direction of travel and the axis of the steering wheel is When it is less than or equal to 0, Equal to 0, in this embodiment, g is set to 1, and O is set to 5°.

[0052] The driving speed status data includes the average driving speed of the electric scooter within a time period and the instantaneous driving speed at each time point within the time period;

[0053] The driving acceleration state data includes the average driving acceleration of the electric scooter within a time period and the instantaneous driving acceleration at each time point within the time period;

[0054] The steering control state data includes the number of turns of the electric scooter in a time period;

[0055] The load status data includes the load size of the electric scooter during driving;

[0056] The electric scooter driving monitoring module transmits the control information and status information obtained from the monitoring to the electric scooter driving status evaluation module, and the electric scooter driving status evaluation module analyzes and evaluates the driving status of the electric scooter.

[0057] The electric scooter driving state evaluation module includes: a driving speed state evaluation unit, a driving acceleration state evaluation unit, a steering control state evaluation unit, a load state evaluation unit and a driving state comprehensive evaluation unit. According to the control information and state information of the electric scooter during driving monitored by the electric scooter driving monitoring module, the driving speed state data, driving acceleration state data, steering control state data and load state data of the electric scooter during driving are evaluated respectively to obtain a driving speed state index, a driving acceleration state index and a load state index. The driving speed state index, the driving acceleration state index, the steering degree index and the load state index are combined to obtain the electric scooter driving state evaluation index.

[0058] Furthermore, the driving speed state evaluation unit determines a driving speed state index according to the braking response time td, the braking control degree zd and the driving speed state. The formula for calculating the driving speed state index is as follows:

[0059] ;

[0060] Among them, Sd(i) represents the driving speed state index of the i-th time period, i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, represents the average speed in the i-th time period, v(x) represents the instantaneous speed at the x-th time point, and d(x) represents the degree of turning at the x-th time point. The driving speed state index of each time period is calculated. The driving speed state of the electric scooter is safer in the time period with a larger driving speed state index.

[0061] Furthermore, the driving acceleration state evaluation unit determines the driving speed state index through the acceleration response time, the acceleration control degree and the driving acceleration state data. The formula for calculating the driving acceleration state index is as follows:

[0062] ;

[0063] Among them, Js(i) represents the driving acceleration state index of the i-th time period, i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, represents the average acceleration of the i-th time period, a(x) represents the instantaneous acceleration at the x-th time point, e represents the base of the logarithm of natural numbers, d(x) represents the degree of steering at the x-th time point, and the driving acceleration state index of each time period is calculated. The electric scooter is safer in the time period with a larger driving acceleration state index;

[0064] Furthermore, the steering control state evaluation unit determines a steering control state index through the steering degree, the driving speed state data, the driving acceleration state data and the time length. The formula for calculating the steering control state index is as follows:

[0065] ;

[0066] Among them, Zs(i) represents the steering control state index of the i-th time period, i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, a(x) represents the instantaneous acceleration at the x-th moment, v(x) represents the instantaneous speed at the x-th moment, (b-1)t is the length of each time period, d(x) represents the degree of steering at the x-th moment, and the steering control state index of each time period is calculated. The steering control state of the electric scooter is safer in the time period with a larger steering control state index;

[0067] Furthermore, the load state evaluation unit represents the load state index by the load size of the electric scooter in the time period i. The formula for calculating the load state index is as follows:

[0068] ;

[0069] Among them, Gz(i) represents the load status index of the i-th time period, gz(x) represents the load size of the electric scooter at the x-th time point, i represents the i-th time period, represents the first time point in the i-th time period, represents the last time point in the i-th time period, G represents the load threshold of the electric scooter, that is, the maximum weight that the electric scooter can carry while meeting the normal driving function of the electric scooter. In this embodiment, G is equal to 85 kg;

[0070] Furthermore, the driving state comprehensive evaluation unit obtains the electric scooter driving state evaluation index by comprehensively calculating the driving speed state index, the driving acceleration state index, the steering degree index, and the load state index. The formula for calculating the electric scooter driving state evaluation index is as follows:

[0071] ;

[0072] Where Sd(i) represents the driving speed state index of the i-th time period, Js(i) represents the driving acceleration state index of the i-th time period, Zs(i) represents the steering control state index of the i-th time period, and Gz(i) represents the load state index of the i-th time period. Represents the weight coefficient of the driving speed status index, Indicates the weight coefficient of the driving acceleration state index, Represents the weight coefficient of the steering control state index, represents the weight coefficient of the load status index, and These weight coefficients can be determined according to specific circumstances and needs, and are usually jointly formulated and confirmed by professionals or relevant stakeholders. In this embodiment, , , , .

[0073] The electric scooter driving safety control module sets the driving speed state index threshold, driving acceleration state index threshold, steering control state index threshold, load state index threshold and electric scooter driving state evaluation index threshold, collectively referred to as index thresholds. The driving speed state index, driving acceleration state index, steering control state index, load state index and electric scooter driving state evaluation index of each time period are collectively referred to as indicators, and the size relationship between each time index and its corresponding indicator threshold is compared.

[0074] If any two or more indicators are less than or equal to their corresponding indicator thresholds within a moment, the maximum acceleration limit is 0, the braking device actively works, and reaches the maximum braking effect within t time. The acceleration limit is released when the speed is equal to 0, and the braking device no longer actively works;

[0075] If only one indicator is less than or equal to its corresponding indicator threshold at a time, the maximum acceleration limit is 0, the braking device works actively, and reaches the maximum braking effect within t time. When the speed is equal to r, the acceleration limit is released, and the braking device no longer works actively. , V represents the maximum speed that the electric scooter can reach as set by the manufacturer;

[0076] If all indicators at a moment are greater than or equal to their corresponding indicator thresholds, no processing is performed.

[0077] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

[0078] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The electric scooter driving safety control system is characterized by: include: The electric scooter driving state monitoring module is used to determine the control information of the electric scooter and the state information of the electric scooter during driving in each time period; The electric scooter driving state assessment module includes a driving speed state assessment unit, a driving acceleration state assessment unit, a steering control state assessment unit, a load state assessment unit, and a driving state comprehensive assessment unit; The driving speed state evaluation unit is used to determine a driving speed state index; The driving acceleration state evaluation unit is used to determine a driving acceleration state index; The steering control state evaluation unit is used to determine the steering degree index; The load status evaluation unit is used to determine the load status index; The driving state comprehensive evaluation unit is used to determine the evaluation index of the driving state of the electric scooter; The electric scooter driving safety control module is used to preset the index thresholds of various indicators in the driving state of the electric scooter and compare the size relationship between each time index and its corresponding index threshold; If any two or more indicators are less than or equal to their corresponding indicator thresholds within a moment, the maximum acceleration limit is 0, the braking device actively works, and reaches the maximum braking effect within t time. The acceleration limit is released when the speed is equal to 0, and the braking device no longer actively works; If only one indicator is less than or equal to its corresponding indicator threshold at a time, the maximum acceleration limit is 0, the braking device works actively, and reaches the maximum braking effect within t time. When the speed is equal to r, the acceleration limit is released, and the braking device no longer works actively. , V represents the maximum speed that the electric scooter can reach as set by the manufacturer; If all indicators at a moment are greater than or equal to their corresponding indicator thresholds, no processing is performed.

2. The electric scooter driving safety control system according to claim 1, characterized in that: Determine the control information of the electric scooter and the status information of the electric scooter during driving in each time period, specifically: A time point is set every t time points, and a time period is determined every b time points, b>2, and the length of each time period is (b-1)t. The control information of the electric scooter and the state information of the electric scooter during driving in each time period are determined.

3. The electric scooter driving safety control system according to claim 2, characterized in that: The control information of the electric scooter includes braking response time td, braking control degree zd, acceleration response time ta, acceleration control degree js and steering degree d(x); Braking response time td represents the time from when the driver applies the brakes of the electric scooter to when the electric scooter starts to decelerate; Braking control degree using formula Indicates, vm represents the maximum speed that the electric scooter can reach, t1 represents the time consumed by the electric scooter from the start of braking to the speed reaching 0 after reaching vm, and dm represents the displacement distance of the electric scooter when the electric scooter keeps braking from vm to the speed reaching 0 when it keeps moving in a straight line; The acceleration response time ta represents the time from when the driver uses the electric scooter’s acceleration device to when the electric scooter starts to accelerate; Acceleration control degree js utilization formula Indicates, where am represents the maximum acceleration that the electric scooter can reach, a(t) represents the acceleration of the electric scooter changing from 0 to am over time, and t2 represents the time consumed when the electric scooter's acceleration is 0 to am; The degree of steering d(x) is calculated using the formula Indicates that g is a constant, x represents the time point x, The acute angle between the original axis of the electric scooter's direction of travel and the axis of the steering wheel.

4. The electric scooter driving safety control system according to claim 2, characterized in that: Status information of the electric scooter during driving in each time period, including driving speed status data, driving acceleration status data, steering control status data, and load status data; The driving speed status data includes the average driving speed of the electric scooter within a time period and the instantaneous driving speed at each time point within the time period; The driving acceleration state data includes the average driving acceleration of the electric scooter within a time period and the instantaneous driving acceleration at each time point within the time period; The steering control state data includes the number of turns of the electric scooter in a time period; The load status data includes the load size of the electric scooter during driving.

5. The electric scooter driving safety control system according to claim 3, characterized in that: The driving speed status evaluation unit is used to determine the driving speed status index. The specific method is as follows: Using the formula represents the driving speed status index, where i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, represents the average speed in the i-th time period, v(x) represents the instantaneous speed at the x-th time point, and d(x) represents the degree of turning at the x-th time point.

6. The electric scooter driving safety control system according to claim 3, characterized in that: The driving acceleration state evaluation unit is used to determine the driving acceleration state index. The specific method is as follows: Using the formula Represents the driving acceleration state index, where i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, represents the average acceleration in the i-th time period, a(x) represents the instantaneous acceleration at the x-th time point, e represents the base of the logarithm of natural numbers, and d(x) represents the degree of steering at the x-th time point.

7. The electric scooter driving safety control system according to claim 3, characterized in that: The steering control state evaluation unit is used to determine the steering degree index. The specific method is as follows: Using the formula represents the steering control index, where i represents the i-th time period, represents the first time point in the i-th time period, represents the last moment in the i-th time period, a(x) represents the instantaneous acceleration at the x-th moment, v(x) represents the instantaneous velocity at the x-th moment, (b-1)t is the length of each time period, and d(x) represents the degree of steering at the x-th moment.

8. The electric scooter driving safety control system according to claim 3, characterized in that: The load status evaluation unit is used to determine the load status index. The specific method is as follows: Using the formula Represents the load status index, where gz(x) represents the load size of the electric scooter at the xth time point, i represents the i-th time period, represents the first time point in the i-th time period, represents the last time point in the i-th time period, and G represents the load threshold of the electric scooter.

9. The electric scooter driving safety control system according to claim 1, characterized in that: The driving state comprehensive evaluation unit is used to determine the evaluation index of the electric scooter's driving state. The specific method is as follows: Using the formula represents the evaluation index of the electric scooter's driving state, where Sd(i) represents the driving speed state index of the i-th time period, Js(i) represents the driving acceleration state index of the i-th time period, Zs(i) represents the steering control state index of the i-th time period, and Gz(i) represents the load state index of the i-th time period. Represents the weight coefficient of the driving speed status index, Indicates the weight coefficient of the driving acceleration state index, Represents the weight coefficient of the steering control state index, represents the weight coefficient of the load status index, and .

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