Control method, two-wheeled vehicle and computer readable storage medium

Abstract

The embodiment of the invention discloses a control method, a two-wheeled vehicle and a computer readable storage medium. The control method is suitable for a main control unit of the two-wheeled vehicle and is configured to respond to a received locking instruction, the parking angle of the two-wheeled vehicle is obtained, and the parking angle of the two-wheeled vehicle is determined by the angle collected by the angular speed of the main control unit and motion data collected by a motor controller of the two-wheeled vehicle. And when the parking angle of the two-wheeled vehicle meets the vehicle parking condition, a locking instruction is sent to a motor controller of the two-wheeled vehicle so as to lock the two-wheeled vehicle. In the embodiment of the invention, the detection error of the main control unit is reduced through the motion data collected by the motor controller, so that the difficulty of returning the vehicle by a user is reduced, and the use experience of the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a control method, a two-wheeled vehicle and a computer-readable storage medium. Background Art

[0002] With the rapid development of the shared vehicle industry, more and more people choose to travel by shared vehicles. In order to help shared vehicle users to park in a standardized manner, in the prior art, users can only successfully return the shared vehicle when the shared vehicle meets the parking conditions, such as 90-degree parking.

[0003] However, the main control unit of a shared vehicle usually has detection errors, resulting in the actual parking angle of the shared vehicle being inconsistent with the actual detection angle obtained by detection. This will increase the difficulty for users to return the shared vehicle and reduce the user experience. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a control method, a two-wheeled vehicle and a computer-readable storage medium, so as to reduce the detection error of the main control unit through the motion data collected by the motor controller, thereby reducing the difficulty of the user returning the vehicle and improving the user's experience.

[0005] In a first aspect, an embodiment of the present invention provides a control method applicable to a main control unit of a two-wheeled vehicle, the method comprising:

[0006] In response to receiving a locking instruction, obtaining a parking angle of the target vehicle, the parking angle being determined according to a first angle and motion data of the target vehicle, the first angle being acquired by a first angular velocity sensor, the first angular velocity sensor being an angular velocity sensor of the main control unit, and the motion data being acquired by a motor control unit of the target vehicle;

[0007] In response to the parking angle satisfying the vehicle parking condition, the locking instruction is sent to the motor control unit to lock the target vehicle.

[0008] In a second aspect, an embodiment of the present invention provides a two-wheeled vehicle, the two-wheeled vehicle comprising:

[0009] the vehicle body, including the frame and steering components;

[0010] A motor control unit is fixedly arranged inside the vehicle frame;

[0011] Locking parts;

[0012] A main control unit includes a first angular velocity sensor, the main control unit is fixedly arranged inside the steering component, the main control unit is configured to obtain a parking angle of the two-wheeled vehicle in response to receiving a locking instruction, the parking angle is determined according to a first angle and motion data of the two-wheeled vehicle, the first angle is collected by the first angular velocity sensor, and the motion data is collected by the motor control unit, and in response to the parking angle meeting the vehicle parking condition, the locking instruction is sent to the locking component to lock the two-wheeled vehicle.

[0013] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer program instructions, wherein the computer program instructions implement the method described in the first aspect when executed by a processor.

[0014] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method described in the first aspect.

[0015] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising a computer program / instructions, which are executed by a processor to implement the method as described in the first aspect.

[0016] The control method of the embodiment of the present invention is applicable to the main control unit of the two-wheeled vehicle, and is configured to obtain the parking angle of the two-wheeled vehicle in response to receiving a locking instruction, wherein the parking angle of the two-wheeled vehicle is determined by the angle obtained by the angular velocity acquisition of the main control unit and the motion data acquired by the motor controller of the two-wheeled vehicle, and then when the parking angle of the two-wheeled vehicle meets the vehicle parking conditions, a locking instruction is sent to the motor controller of the two-wheeled vehicle to lock the two-wheeled vehicle. In the embodiment of the present invention, the detection error of the main control unit is reduced by the motion data acquired by the motor controller, thereby reducing the difficulty of the user returning the vehicle and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0018] Figure 1 is a structural block diagram of a shared vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of the positions of a motor control unit and a master control unit according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of an electronic device according to an embodiment of the present invention;

[0021] Figure 4 is a flow chart of a control method according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of the position of a target vehicle and a road edge according to an embodiment of the present invention;

[0023] Figure 6 is a flow chart of a control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for those skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, flows, components and circuits are not described in detail.

[0025] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0026] At the same time, it should be understood that in the following description, "circuit" refers to a conductive loop composed of at least one element or subcircuit through electrical connection or electromagnetic connection. When an element or circuit is said to be "connected to" another element or an element / circuit is said to be "connected between" two nodes, it can be directly coupled or connected to another element or there can be an intermediate element, and the connection between the elements can be physical, logical, or a combination thereof. On the contrary, when an element is said to be "directly coupled to" or "directly connected to" another element, it means that there is no intermediate element between the two.

[0027] Unless the context clearly requires otherwise, the words "include", "comprising" and similar words throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

[0028] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0029] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0030] In the embodiment of the present invention, a shared motorcycle is used as an example for explanation. A shared motorcycle platform is an online rental platform that provides users with motorcycle sharing services in public service areas such as campuses, subway stations, bus stops, and residential areas. Users can unlock the shared motorcycles for use by themselves and return the shared motorcycles by themselves after use. In order to improve the convenience of travel, more and more people choose to become shared motorcycle users. With the continuous increase in the number of shared motorcycle users, the frequency of use of shared motorcycles has become more and more frequent.

[0031] In the prior art, users can only successfully return shared motorcycles when they meet the parking conditions, such as parking at 90 degrees (that is, the parking angle of the shared motorcycle is perpendicular to the road). However, in order to ensure that the main control unit of the shared motorcycle is not easily malfunctioning due to moisture or water ingress, the main control unit of the shared vehicle is usually set inside the steering component of the shared motorcycle in the prior art. This setting method makes the main control unit of the shared vehicle prone to angular deflection, which will lead to detection errors in the detection results, that is, the actual parking angle of the shared vehicle is inconsistent with the actual detection angle obtained by the detection, which will increase the difficulty of users returning the shared vehicle and reduce the user experience.

[0032] In order to solve the above problems, the embodiments of the present invention provide a control method, a two-wheeled vehicle and a computer-readable storage medium. Figure 1 is a structural block diagram of a shared vehicle according to an embodiment of the present invention. Figure 1 As shown, the shared vehicle of this embodiment is a two-wheeled vehicle, including a vehicle body 11, a motor control unit 12, a locking component 13 and a main control unit 14, wherein the motor control unit 12, the locking component 13 and the main control unit 14 can establish a communication connection through a bus.

[0033] In the embodiment of the present invention, the vehicle body 11 can be an existing two-wheeled vehicle structure. A two-wheeled vehicle, also known as a bicycle, a bicycle or a single vehicle, is a small two-wheeled land vehicle, mainly composed of a guide system, a drive system and a brake system. Among them, the guide system is mainly composed of steering components such as handlebars, front forks, front axles, and front wheels. The rider of the two-wheeled vehicle can change the driving direction of the two-wheeled vehicle and maintain the balance of the vehicle body by manipulating the handlebars. The drive system is also called a transmission system or a walking system, which is composed of components such as pedals, a middle shaft, a pressure plate, a crank, a chain, a flywheel, a rear axle, and a rear wheel. The rider of the two-wheeled vehicle can apply a downward force to the pedals and transmit through components such as cranks, chains, flywheels, and rear axles, so that the two-wheeled vehicle can move forward. The brake system is mainly composed of brake components, and the rider of the two-wheeled vehicle can reduce the driving speed of the two-wheeled vehicle by manipulating the brakes. The existing two-wheeled vehicle structures are all to directly or indirectly install the above components on the basic structure of the vehicle body 11, that is, the frame. According to actual needs, other components, such as lights, bells, etc., may also be arranged on the frame of the vehicle body 11.

[0034] The motor control unit 12 is an integrated circuit mainly used to control the motor to work in a set direction, speed, angular velocity, and response time. In this embodiment, the motor control unit 12 is fixedly arranged inside the frame of the vehicle body 11, and can collect motion data of the shared vehicle during the travel of the shared vehicle. Common motor control units 12 can be AC ​​motor controllers, DC motor controllers, stepper motor controllers, servo motor controllers, etc.

[0035] The locking component 13 can be various existing electronic locks, such as a Bluetooth lock, an APP lock, a remote control lock, etc. The locking component 13 at least includes a lock body, which can be opened to unlock the two-wheeled vehicle, or closed to lock the two-wheeled vehicle under the control of the main control unit 14. In this embodiment, the locking component 13 can be fixedly arranged on the vehicle body 11.

[0036] The main control unit 14 may be any existing controller, such as a CPU (Central Processing Unit), a single-chip microcomputer, a chip, etc. The main control unit 14 is provided with an angular velocity sensor (i.e., a first angular velocity sensor) for collecting the heading angle of the shared vehicle, wherein the angular velocity sensor may be a gyroscopic angular velocity sensor, a Hall angular velocity sensor, a capacitive angular velocity sensor, a piezoelectric angular velocity sensor, etc. In this embodiment, the main control unit 14 may also be fixedly disposed inside the steering component of the vehicle body 11.

[0037] Figure 2 Schematic diagram of the positions of the motor control unit and the master control unit in an embodiment of the present invention. Figure 2As shown, area 22 is where the steering component is located in the body 11 of the shared vehicle, and area 22 is where the frame is located in the body 11 of the shared vehicle. In this embodiment, the motor control unit of the shared vehicle can be set at any position in area 22, and the master control unit of the shared vehicle can be set at any position in area 21.

[0038] In the embodiment of the present invention, the main control unit 14 is configured to obtain the parking angle of the two-wheeled vehicle when receiving the locking instruction. The parking angle is determined according to the first angle acquired by the first angular velocity sensor and the motion data of the two-wheeled vehicle acquired by the motor control unit 12. When the parking angle meets the vehicle parking condition, the locking instruction is sent to the locking component 13 to lock the two-wheeled vehicle.

[0039] In an optional implementation of the embodiment of the present invention, the main control unit 14 is configured to determine the motion state of the two-wheeled vehicle according to the motion data, and when the motion state of the two-wheeled vehicle indicates that the two-wheeled vehicle has not moved, the first angle (i.e., the third angle) at which the motion state was most recently detected to indicate that the two-wheeled vehicle moved is determined as the parking angle of the two-wheeled vehicle.

[0040] In an optional implementation of the embodiment of the present invention, an angular velocity sensor (i.e., a second angular velocity sensor, not shown in the figure) and a wheel speed data sensor (not shown in the figure) are also provided in the motor control unit 12, and the motion data includes the second angle acquired by the second angular velocity sensor and the wheel speed data acquired by the wheel speed data sensor. The main control unit 14 is configured to determine the parking angle of the two-wheeled vehicle according to the weighted sum of the first angle and the second angle of the two-wheeled vehicle, wherein the weight of the first angle and the weight of the second angle are determined according to the wheel speed data.

[0041] In an optional implementation of the embodiment of the present invention, the two-wheeled vehicle further includes a communication unit (not shown in the figure). According to actual needs, the communication unit can be a short-distance communication unit, such as a zigbee communication unit, a Bluetooth communication unit, etc., or a long-distance communication unit, such as a GPRS (General Packet Radio Service) communication unit, a cellular mobile communication unit, etc. The communication unit is configured to receive a fourth angle, which is acquired by an angular velocity sensor (i.e., a third angular velocity sensor) of a terminal that establishes a communication connection with the main control unit 14, and the terminal is at least one of a user terminal and a helmet of the two-wheeled vehicle. The main control unit 14 is configured to determine the parking angle of the two-wheeled vehicle based on the first angle, the fourth angle, and the motion data.

[0042] In an optional implementation of the embodiment of the present invention, the main control unit 14 is configured to receive the parking angle of the two-wheeled vehicle sent by the motor control unit 12.

[0043] In an optional implementation of an embodiment of the present invention, the two-wheeled vehicle also includes a voice broadcast unit (not shown in the figure), and the main control unit 14 is configured to control the voice broadcast unit to broadcast a first prompt in response to the parking angle of the two-wheeled vehicle satisfying the vehicle parking conditions to indicate that the two-wheeled vehicle is locked.

[0044] In an optional implementation of an embodiment of the present invention, the two-wheeled vehicle also includes a voice broadcast unit (not shown in the figure), and the main control unit 14 is configured to control the voice broadcast unit to broadcast a second prompt in response to the parking angle of the two-wheeled vehicle not meeting the vehicle parking conditions, so as to prompt the refusal to lock the two-wheeled vehicle.

[0045] The control method of the embodiment of the present invention includes, in response to receiving a locking instruction, obtaining a parking angle of a two-wheeled vehicle, wherein the parking angle of the two-wheeled vehicle is determined by an angle acquired by an angular velocity acquired by a main control unit and motion data acquired by a motor controller of the two-wheeled vehicle, and then when the parking angle of the two-wheeled vehicle meets the vehicle parking condition, sending a locking instruction to the motor controller of the two-wheeled vehicle to lock the two-wheeled vehicle. In the embodiment of the present invention, the detection error of the main control unit is reduced by the motion data acquired by the motor controller, thereby reducing the difficulty of the user returning the vehicle and improving the user experience.

[0046] Figure 3 is a schematic diagram of an electronic device according to an embodiment of the present invention. Figure 3 The electronic device 3 shown can be a terminal or a server, which is a general data processing device, which includes a general computer hardware structure, which at least includes a processor 301 and a memory 302. The processor 301 and the memory 302 are connected via a bus 303. The memory 302 is suitable for storing instructions or programs executable by the processor 301. The processor 301 can be an independent microprocessor or a collection of one or more microprocessors. Thus, the processor 301 executes the commands stored in the memory 302, thereby executing the method flow of the embodiment of the present invention as described above to realize the processing of data and the control of other devices. The bus 303 connects the above-mentioned multiple components together, and at the same time connects the above-mentioned components to the display controller 304 and the display device and the input / output (I / O) device 305. The input / output (I / O) device 305 can be a mouse, a keyboard, a modem, a network interface, a touch input device, a somatosensory input device, a printer, and other devices known in the art. Typically, the input / output (I / O) device 305 is connected to the system through an input / output (I / O) controller 306.

[0047] The memory 302 may store software components such as operating systems, communication devices, interaction devices, and applications. Each of the above-mentioned devices and applications corresponds to a set of executable program instructions that implement one or more functions and methods described in the embodiments of the invention.

[0048] The flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present invention described above describe various aspects of the present invention. It should be understood that each block of the flowchart and / or block diagram and the combination of the blocks in the flowchart legend and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that (via the processor of a computer or other programmable data processing device) instructions are created to implement the device for the function / action specified in the flowchart and / or block diagram block or block.

[0049] At the same time, as will be appreciated by those skilled in the art, various aspects of the embodiments of the present invention may be implemented as a system, method or computer program product. Therefore, various aspects of the embodiments of the present invention may take the form of a complete hardware implementation, a complete software implementation (including firmware, resident software, microcode, etc.), or an implementation that combines software aspects with hardware aspects, which may generally be referred to herein as a "circuit," "device," or "system." In addition, aspects of the present invention may take the form of a computer program product implemented in one or more computer-readable media having a computer-readable program code implemented thereon.

[0050] Any combination of one or more computer-readable media can be utilized. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, (but not limited to) electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or apparatuses, or any suitable combination of the foregoing. More specific examples (non-exhaustive enumeration) of computer-readable storage media will include the following: an electrical connection with one or more wires, a portable computer floppy disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of an embodiment of the present invention, a computer-readable storage medium can be any tangible medium that can contain or store a program used by an instruction execution system, device or apparatus or a program used in conjunction with an instruction execution system, device or apparatus.

[0051] A computer readable signal medium may include a propagated data signal having a computer readable program code implemented therein, such as in baseband or as part of a carrier wave. Such propagated signals may take any of a variety of forms, including but not limited to electromagnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any of the following computer readable media: not a computer readable storage medium, and may communicate, propagate, or transmit a program used by or in conjunction with an instruction execution system, device, or apparatus.

[0052] Computer program code for performing operations for various aspects of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, PHP, Python, etc., and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server as a stand-alone software package. In the latter case, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0053] The following is an explanation of the method by way of an embodiment. Figure 4 is a flow chart of the control method of an embodiment of the present invention. Figure 4 As shown, the method of this embodiment includes the following steps:

[0054] Step S100, in response to receiving a locking instruction, obtaining a parking angle of the target vehicle.

[0055] In actual applications, depending on the different locking methods of the vehicle, the main control unit of the two-wheeled vehicle (hereinafter referred to as the main control unit) can receive the locking instruction in different ways, which is not limited in this embodiment. For example, if the vehicle locking method is to send the locking instruction through the shared vehicle application or the shared vehicle applet, the main control unit can receive the locking instruction through the communication unit of the shared bicycle; if the vehicle locking method is to receive the locking instruction through the locking button (including the physical button and the virtual button displayed on the touch screen) set on the shared vehicle, if the locking button is triggered, the main control unit can receive the locking instruction through the bus.

[0056] In order to control the two-wheeled vehicle to complete acceleration, deceleration, braking and other operations according to the instructions of the main control unit, the motor control unit of the two-wheeled vehicle (hereinafter referred to as the motor control unit) can collect the motion data of the target vehicle (i.e., the two-wheeled vehicle) at a preset time interval (such as per second). Therefore, in this step, after receiving the locking instruction, the main control unit can obtain the first angle collected by the angular velocity sensor inside the main control unit and the motion data of the two-wheeled vehicle collected by the motor control unit to determine the parking angle of the two-wheeled vehicle. In this embodiment, the parking angle of the two-wheeled vehicle is also the angle between the positive direction of the two-wheeled vehicle and the edge of the road.

[0057] The angle collected by the angular velocity sensor is actually the heading angle of the two-wheeled vehicle, that is, the angle between the positive direction of the steering component or the positive direction of the frame and the true north direction. Therefore, the main control unit can further determine the heading angle of the two-wheeled vehicle based on the first angle and the motion data, and then determine the parking angle of the two-wheeled vehicle based on the heading angle of the two-wheeled vehicle and the extension direction of the road edge. Specifically, the extension direction of the road edge can be determined in various ways, such as the main control unit can obtain the extension direction of the road edge through the geomagnetic system set near the road, or send a data acquisition request to the server according to the positioning information to obtain the extension direction of the road edge, etc. This embodiment does not limit this.

[0058] Figure 5 Schematic diagram of the position of the target vehicle and the road edge in an embodiment of the present invention. Figure 5 As shown, vehicle 50 is the target vehicle, L1 represents the due north direction, and L2 represents the positive direction of vehicle 50 , so the angle ∠51 between L1 and L2 represents the heading angle of vehicle 50 , and the angle ∠52 between L2 and the road edge represents the parking angle of vehicle 50 .

[0059] In an optional implementation, the main control unit can determine the motion state of the two-wheeled vehicle based on the motion data collected by the motor control unit, and when it is determined that the motion state of the two-wheeled vehicle indicates that the two-wheeled vehicle has not moved, the main control unit can determine the parking angle of the two-wheeled vehicle based on the first angle when the motion state detected most recently indicates that the two-wheeled vehicle has moved. That is, when the two-wheeled vehicle moves, the main control unit will update the parking angle of the two-wheeled vehicle according to the first angle collected by the first angular velocity sensor at a preset time interval; and when the two-wheeled vehicle stops moving, the main control unit will no longer update the parking angle of the two-wheeled vehicle.

[0060] According to the actual structural arrangement of the two-wheeled vehicle, the two-wheeled vehicle can be provided with different detection units for detecting the motion data of the two-wheeled vehicle. For example, a positioning system for collecting the positioning data of the two-wheeled vehicle can be provided, such as a GPS positioning system (Global Positioning System), a Beidou satellite navigation system, etc., a wheel speed data sensor for collecting the wheel speed data of the two-wheeled vehicle can also be provided, such as an inductive wheel speed sensor, a Hall wheel speed sensor, a magnetoresistive wheel speed sensor, etc., and an acceleration sensor for collecting the acceleration of the two-wheeled vehicle can also be provided, such as a piezoelectric acceleration sensor, a piezoresistive acceleration sensor, a capacitive acceleration sensor, etc. Therefore, the motion data of the two-wheeled vehicle can include the positioning data, wheel speed data, acceleration, etc. of the two-wheeled vehicle. Therefore, in the present embodiment, when the motion data of the vehicle meets the vehicle static condition, such as the distance between the continuous multiple adjacent positioning coordinates of the two-wheeled vehicle is less than the preset distance, the wheel speed data of the two-wheeled vehicle is less than the preset speed, and the acceleration of the two-wheeled vehicle is less than the preset acceleration, the main control unit can determine that the two-wheeled vehicle has not moved.

[0061] For example, vehicle B1 is the target vehicle. The main control unit of vehicle B1 can determine that the heading angle sequence of vehicle B1 is (18°, 21°, 22°, 25°, 23°, 20°, 19°, 43°, 62°, 80°, 88°, 70°, 46°) according to the first angle of vehicle B1 detected by the first angular velocity sensor, wherein the motion states corresponding to 18°, 21°, 22°, 25°, 23°, 20°, 19°, 43°, 62°, 80° and 88° all represent that vehicle B1 has moved, and the motion states corresponding to 70° and 46° all represent that vehicle B1 has not moved. The main control unit of vehicle B1 can then use the most recently detected motion state to represent the heading angle of the two-wheeled vehicle when it moves, that is, 88°, as the parking angle of vehicle B1.

[0062] In an optional implementation, the motor control unit includes a wheel speed data sensor and a second angular velocity sensor, wherein the wheel speed data sensor is used to collect wheel speed data in the motion data of the two-wheeled vehicle, and the second angular velocity sensor is used to collect the second angle in the motion data of the two-wheeled vehicle. Further, the wheel speed data sensor may include an inductive wheel speed sensor for detecting whether the wheel in the wheel speed data of the two-wheeled vehicle rotates and a Hall wheel speed sensor for collecting the wheel speed in the wheel speed data of the two-wheeled vehicle. Therefore, the main control unit can determine the weight corresponding to the first angle and the weight corresponding to the second angle according to the wheel speed data of the two-wheeled vehicle, and determine the parking angle of the two-wheeled vehicle according to the weighted sum of the first angle and the second angle.

[0063] The lower the wheel speed of the two-wheeled vehicle, the higher the possibility that the steering component of the two-wheeled vehicle is inconsistent with the angle of the frame of the two-wheeled vehicle, which makes it easier for the first angular velocity sensor of the main control unit to produce detection errors, while the second angle collected by the second angular velocity sensor is not easily affected by the wheel speed. Therefore, in this optional implementation method, the weight corresponding to the first angle can be proportional to the wheel speed, that is, the higher the wheel speed, the higher the weight corresponding to the first angle, and vice versa.

[0064] Optionally, the weight corresponding to the first angle and the weight corresponding to the second angle can be determined based on the wheel speeds of multiple vehicles of the same model as the two-wheeled vehicle, the first angle at the same wheel speed, the second angle and the actual angle of the vehicle to determine the mapping relationship between the wheel speed and the weight, thereby determining the weight corresponding to the first angle and the weight corresponding to the second angle based on the wheel speed of the two-wheeled vehicle and the mapping relationship between the wheel speed and the weight, and then determining the heading angle of the two-wheeled vehicle, thereby determining the parking angle of the two-wheeled vehicle based on the heading angle of the two-wheeled vehicle. Specifically, the heading angle ∠ of the two-wheeled vehicle can be determined by the following formula:

[0065] ∠car=∠1*n+∠2*(1-n);

[0066] Among them, ∠1 is the first angle, n is the weight corresponding to the first angle ∠1, ∠2 is the second angle, (1-n) is the weight corresponding to the second angle ∠2, and n is a real number greater than or equal to 0 and less than or equal to 1.

[0067] In an optional implementation, the target vehicle is also equipped with a helmet that can establish a communication connection with the main control unit, and / or the user establishes a communication connection between the terminal (i.e., the user terminal) and the main control unit, so that the main control unit can control the communication unit of the two-wheeled vehicle to receive the angular velocity sensor set in the helmet, and / or the angular velocity sensor set in the user terminal, that is, the fourth angle collected by the third angular velocity sensor, thereby determining the parking angle of the two-wheeled vehicle based on the fourth angle.

[0068] When determining the parking angle of the two-wheeled vehicle according to the fourth angle, the main control unit may determine the parking angle of the two-wheeled vehicle with reference to the above two optional implementation methods, that is, determine the motion state of the two-wheeled vehicle according to the fourth angle and the motion data of the two-wheeled vehicle, and when the motion state indicates that the two-wheeled vehicle has not moved, determine the parking angle of the two-wheeled vehicle according to the third angle; or, the weights of the first angle, the second angle and the fourth angle may be determined according to the wheel speed, thereby determining the parking angle of the two-wheeled vehicle according to the weighted sum of the first angle, the second angle and the fourth angle, which will not be repeated here.

[0069] In an optional implementation, the motor control unit can also determine the heading angle of the two-wheeled vehicle according to the first angle and the motion data of the two-wheeled vehicle, and determine the parking angle of the two-wheeled vehicle according to the heading angle of the two-wheeled vehicle, and then send the parking angle of the two-wheeled vehicle to the main control unit, so that the main control unit can obtain the parking angle of the two-wheeled vehicle. The motor control unit can determine the parking angle of the two-wheeled vehicle with reference to the above three optional implementations, which will not be repeated here.

[0070] Step S200: In response to the parking angle satisfying the vehicle parking condition, a locking instruction is sent to a locking component of the target vehicle.

[0071] In this step, the main control unit can determine whether the parking angle of the two-wheeled vehicle meets the vehicle parking condition. If the vehicle parking condition is met, the main control unit can send a locking instruction to the locking component of the two-wheeled vehicle to lock the two-wheeled vehicle.

[0072] Optionally, when the vehicle parking condition is 90-degree parking, in order to facilitate the user to return the two-wheeled vehicle, the vehicle parking condition can be set so that the parking angle of the two-wheeled vehicle belongs to a preset angle range, such as [75°, 105°].

[0073] The control method of the embodiment of the present invention is applicable to the main control unit of the two-wheeled vehicle, and is configured to obtain the parking angle of the two-wheeled vehicle in response to receiving a locking instruction, wherein the parking angle of the two-wheeled vehicle is determined by the angle obtained by the angular velocity acquisition of the main control unit and the motion data acquired by the motor controller of the two-wheeled vehicle, and then when the parking angle of the two-wheeled vehicle meets the vehicle parking conditions, a locking instruction is sent to the motor controller of the two-wheeled vehicle to lock the two-wheeled vehicle. In the embodiment of the present invention, the detection error of the main control unit is reduced by the motion data acquired by the motor controller, thereby reducing the difficulty of the user returning the vehicle and improving the user experience.

[0074] Figure 6 is a flow chart of the control method of an embodiment of the present invention. Figure 6 As shown, the method of this embodiment includes the following steps:

[0075] Step S100', in response to receiving the locking instruction, obtaining the parking angle of the target vehicle.

[0076] Step S200', in response to the parking angle satisfying the vehicle parking condition, sending a locking instruction to the locking component of the target vehicle.

[0077] In this embodiment, the implementation of step S100 ′ and step S200 ′ is similar to the implementation of step S100 and step S200 , and will not be described in detail herein.

[0078] Step S300', in response to the parking angle satisfying the vehicle parking condition, controlling the voice broadcast unit of the target vehicle to broadcast a first prompt.

[0079] In this embodiment, the two-wheeled vehicle may also be provided with a voice broadcast unit. Therefore, after determining that the parking angle meets the vehicle parking conditions, the main control unit may directly control the voice broadcast unit of the target vehicle to broadcast the first prompt, or after determining that the locking component of the two-wheeled vehicle is successfully locked, control the voice broadcast unit to broadcast the first prompt, so that the user can perceive that the two-wheeled vehicle has been locked, that is, the return is successful.

[0080] Step S400', in response to the parking angle not satisfying the vehicle parking condition, controlling the voice broadcast unit of the target vehicle to broadcast a second prompt.

[0081] In this step, if the parking angle of the two-wheeled vehicle does not meet the vehicle parking conditions, it means that the user does not park in a standardized manner, so the main control unit can control the voice broadcast unit to broadcast the second prompt to refuse to lock the two-wheeled vehicle.

[0082] The control method of the embodiment of the present invention is applicable to the main control unit of the two-wheeled vehicle, and is configured to obtain the parking angle of the two-wheeled vehicle in response to receiving the locking instruction, wherein the parking angle of the two-wheeled vehicle is determined by the angle obtained by the angular velocity acquisition of the main control unit and the motion data acquired by the motor controller of the two-wheeled vehicle, and then when the parking angle of the two-wheeled vehicle meets the vehicle parking condition, the locking instruction is sent to the motor controller of the two-wheeled vehicle to lock the two-wheeled vehicle, and the voice broadcast unit of the two-wheeled vehicle is controlled to broadcast the first message to prompt that the two-wheeled vehicle is locked; when the parking angle of the two-wheeled vehicle does not meet the vehicle parking condition, the voice broadcast unit of the two-wheeled vehicle is controlled to broadcast the second message to prompt the refusal to lock the two-wheeled vehicle. In the embodiment of the present invention, the detection error of the main control unit is reduced by the motion data acquired by the motor controller, thereby reducing the difficulty of the user returning the vehicle while standardizing the user's parking behavior, and improving the user's experience.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method, applicable to a main control unit of a two-wheeled vehicle, characterized in that: The method comprises: In response to receiving a locking instruction, obtaining a parking angle of the target vehicle, the parking angle being determined according to a first angle and motion data of the target vehicle, the first angle being acquired by a first angular velocity sensor, the first angular velocity sensor being an angular velocity sensor of the main control unit, and the motion data being acquired by a motor control unit of the target vehicle; In response to the parking angle satisfying the vehicle parking condition, the locking instruction is sent to a locking component of the target vehicle to lock the target vehicle.

2. The method according to claim 1, characterized in that The step of obtaining the parking angle of the target vehicle includes: Determining the motion state of the target vehicle according to the motion data; In response to the motion state indicating that the target vehicle has not moved, the parking angle is determined according to a third angle of the target vehicle, where the third angle is the first angle when the motion state indicating that the target vehicle has moved was last detected.

3. The method according to claim 1, characterized in that The motion data includes wheel speed data of the target vehicle and a second angle, wherein the second angle is acquired by a second angular velocity sensor, and the second angular velocity sensor is an angular velocity sensor of the motor control unit; The step of obtaining the parking angle of the target vehicle includes: The parking angle is determined according to a weighted sum of the first angle and the second angle, and the weight corresponding to the first angle and the weight corresponding to the second angle are determined according to the wheel speed data.

4. The method according to claim 1, characterized in that: Obtaining the parking angle of the target vehicle includes: Controlling the communication unit of the target vehicle to receive a fourth angle, where the fourth angle is acquired by a third angular velocity sensor, where the third angular velocity sensor is an angular velocity sensor of a terminal that establishes a communication connection with the main control unit, where the terminal is at least one of a user terminal and a helmet of the target vehicle; The parking angle is determined based on the first angle, the fourth angle, and the motion data.

5. The method according to claim 1, characterized in that The step of obtaining the parking angle of the target vehicle includes: Receive the parking angle sent by the motor control unit.

6. The method according to claim 1, characterized in that The method further comprises: In response to the parking angle satisfying the vehicle parking condition, the voice broadcast unit of the target vehicle is controlled to broadcast a first prompt to prompt that the target vehicle has been locked.

7. The method according to claim 1, characterized in that The method further comprises: In response to the parking angle not satisfying the vehicle parking condition, the voice broadcast unit of the target vehicle is controlled to broadcast a second prompt to prompt a refusal to lock the target vehicle.

8. A two-wheeled vehicle, characterized in that: The two-wheeled vehicle comprises: the vehicle body, including the frame and steering components; A motor control unit is fixedly arranged inside the vehicle frame; Locking parts; A main control unit includes a first angular velocity sensor, the main control unit is fixedly arranged inside the steering component, the main control unit is configured to obtain a parking angle of the two-wheeled vehicle in response to receiving a locking instruction, the parking angle is determined according to a first angle and motion data of the two-wheeled vehicle, the first angle is collected by the first angular velocity sensor, and the motion data is collected by the motor control unit, and in response to the parking angle meeting the vehicle parking condition, the locking instruction is sent to the locking component to lock the two-wheeled vehicle.

9. The two-wheeled vehicle according to claim 8, characterized in that: The main control unit is configured as follows: The motion state of the two-wheeled vehicle is determined according to the motion data, and in response to the motion state indicating that the two-wheeled vehicle has not moved, a third angle of the two-wheeled vehicle is determined as the parking angle, and the third angle is the first angle when the motion state indicating that the two-wheeled vehicle has moved was last detected.

10. The two-wheeled vehicle according to claim 8, characterized in that: The motor control unit includes a second angular velocity sensor and a wheel speed data sensor, the motion data includes the wheel speed data of the two-wheeled vehicle and a second angle, the second angle is acquired by the second angular velocity sensor, and the wheel speed data is acquired by the wheel speed data sensor; The main control unit is configured as follows: The parking angle is determined according to a weighted sum of the first angle and the second angle, and the weight corresponding to the first angle and the weight corresponding to the second angle are determined according to the wheel speed data.

11. The two-wheeled vehicle according to claim 8, characterized in that: The two-wheeled vehicle further comprises a communication unit; The communication unit is configured to receive a fourth angle, where the fourth angle is acquired by a third angular velocity sensor, where the third angular velocity sensor is an angular velocity sensor of a terminal that establishes a communication connection with the main control unit, and the terminal is at least one of a user terminal and a helmet of the two-wheeled vehicle; The main control unit is also configured as: The parking angle is determined based on the first angle, the fourth angle, and the motion data.

12. The two-wheeled vehicle according to claim 8, characterized in that: The main control unit is configured as follows: Receive the parking angle sent by the motor control unit.

13. The two-wheeled vehicle according to claim 8, characterized in that: The two-wheeled vehicle also includes a voice broadcast unit; The main control unit is also configured as: In response to the parking angle satisfying the vehicle parking condition, the voice broadcast unit is controlled to broadcast a first prompt to prompt that the two-wheeled vehicle has been locked.

14. The two-wheeled vehicle according to claim 8, characterized in that: The two-wheeled vehicle also includes a voice broadcast unit; The main control unit is also configured as: In response to the parking angle not satisfying the vehicle parking condition, the voice broadcast unit is controlled to broadcast a second prompt to prompt a refusal to lock the two-wheeled vehicle.

15. A computer-readable storage medium storing computer program instructions, characterized in that: The computer program instructions implement the method according to any one of claims 1 to 7 when executed by a processor.

16. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1 to 7.

17. A computer program product comprising a computer program / instructions, characterized in that The computer program / instructions are executed by a processor to implement the method according to any one of claims 1-7.

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