Electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium

Abstract

The present invention provides an electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium, and relates to the technical field of electric-assisted bicycles. The method comprises: determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle; determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state; determining the working mode of the electric-assisted bicycle according to a control signal and the driving mode, and determining the output characteristics of a driving module according to the working mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal, and is used to control the adaptive switching mode of the electric-assisted bicycle.

Description

Technical Field

[0001] The present invention relates to the technical field of electric-assisted bicycles, and in particular to an electric-assisted bicycle mode control method and device, an electric-assisted bicycle and a medium. Background Art

[0002] With the development of motor and battery technology, electric-assisted bicycles came into being. Electric-assisted bicycles are different from traditional two-wheeled electric vehicles. They are small in size, light in weight, and can be driven by both human power and electricity. The electric-assisted components on electric-assisted bicycles can provide additional electric assistance when users are riding, helping users cope with various road conditions.

[0003] In some electric-assisted bicycle solutions, a mode switch button is set for users to manually switch the driving mode. However, this manual control method brings learning costs to users, and when the driving mode selected by the user does not match the current road conditions, it may be dangerous. In addition, during riding, when the road conditions change, the user needs to manually switch the driving mode, which also poses a safety hazard. Summary of the invention

[0004] The problem solved by the present invention is how to control the adaptive switching mode of an electric power-assisted bicycle.

[0005] In order to solve the above problems, the present invention provides an electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium.

[0006] In a first aspect, the present invention provides a method for controlling an electric power-assisted bicycle mode, comprising:

[0007] Determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle;

[0008] determining a driving mode of the electric-assisted bicycle according to a vehicle driving type of the electric-assisted bicycle and the environmental state;

[0009] The operating mode of the electric-assisted bicycle is determined according to a control signal and the driving mode, and the output characteristics of the driving module are determined according to the operating mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

[0010] Optionally, determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle includes:

[0011] Obtaining a static gravity acceleration component of the electric-assisted bicycle;

[0012] Acquire the current acceleration of the electric-assisted bicycle, and when the current acceleration is less than a first acceleration threshold, determine the gravity acceleration component according to the static gravity acceleration component, wherein the vehicle posture includes the current acceleration;

[0013] The slope angle of the electric-assisted bicycle is determined according to the gravity acceleration component, and the environmental state is determined according to the slope angle, wherein the environmental state includes downhill, uphill, flat road and complex road section.

[0014] Optionally, determining the slope angle of the electric-assisted bicycle according to the gravity acceleration component, and determining the environmental state according to the slope angle comprises:

[0015] When the slope angle meets a preset condition within a preset time period, the environmental state is determined as the complex road section, wherein the preset condition includes at least one of a change in the slope angle being higher than a preset change threshold, a change frequency being higher than a preset frequency threshold, and a lateral acceleration exceeding a preset lateral acceleration threshold.

[0016] Optionally, determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state includes:

[0017] Acquiring cadence data of the electric-assisted bicycle, wherein the cadence data includes at least one of cadence and cadence acceleration;

[0018] When the cadence is less than the first cadence and the environmental state is uphill, the driving mode is determined to be the power-assisted pushing mode;

[0019] When the cadence is less than the first cadence and the environmental state is not uphill, determining the driving mode as a non-assisted propulsion mode;

[0020] When the cadence data satisfies a first cadence condition and the environmental state is uphill, determining the driving mode as a first riding mode, wherein the first cadence condition includes that the cadence is greater than the first cadence and the cadence acceleration is greater than the first cadence acceleration;

[0021] When the environmental state is uphill and the cadence data does not meet the first cadence condition, or the environmental state is not uphill, the driving mode is determined as the second riding mode, wherein, in the first riding mode, in response to the motor driving signal, the motor output torque increases linearly, and in the second riding mode, in response to the motor driving signal, the output torque is determined according to the motor driving signal.

[0022] Optionally, determining the working mode of the electric-assisted bicycle according to the control signal and the driving mode, and determining the output characteristics of the driving module according to the working mode includes:

[0023] When the control signal is a mode switching signal, switching the operating mode to a target operating mode indicated by the mode switching signal;

[0024] When the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal;

[0025] When the control signal is a driving signal, the target operating mode is determined according to the target acceleration indicated by the driving signal, wherein when the target acceleration is greater than a preset acceleration, the racing mode is used as the target operating mode, and when the target acceleration is less than or equal to the preset acceleration, the commuting mode is used as the target operating mode, wherein the racing mode includes controlling the motor to output torque at maximum power, and the commuting mode includes controlling the motor to output torque at the target acceleration.

[0026] Optionally, when the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal includes:

[0027] When the driving mode is the first riding mode, a target braking acceleration is determined according to the braking signal; when the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed with dynamic recovery acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed with the maximum recovery acceleration, and combined braking is performed through a braking module.

[0028] Optionally, when the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal further includes:

[0029] When the driving mode is the second riding mode, determining the target braking acceleration according to the braking signal;

[0030] When the speed of the electric-assisted bicycle is greater than or equal to a preset speed, determining whether the target braking acceleration is greater than a maximum recovery acceleration;

[0031] When the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed at the target braking acceleration through kinetic energy recovery; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the brake module;

[0032] When the speed of the electric-assisted bicycle is less than the preset speed, determining whether the target braking acceleration is greater than the maximum recovery acceleration;

[0033] When the target braking acceleration is less than or equal to the maximum recovery acceleration, determine whether the target braking acceleration is less than the preset braking acceleration. When the target braking acceleration is less than the preset braking acceleration, perform braking with dynamic recovery acceleration through kinetic energy recovery. When the target braking acceleration is greater than or equal to the preset braking acceleration, perform braking with the target braking acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration, and the maximum recovery acceleration is greater than or equal to the preset braking acceleration.

[0034] When the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the braking module.

[0035] The beneficial effects of the electric power-assisted bicycle mode control method of the present invention are:

[0036] The current environment of the electric-assisted bicycle is determined according to the vehicle posture, and the current driving intention of the user is preliminarily determined according to the vehicle driving type, and the driving mode of the electric-assisted bicycle is preliminarily determined. By combining the subjective intention of the user and the objective environment of the electric-assisted bicycle, the motor output characteristics that are more suitable for the current environment are determined to increase the accuracy of the driving mode switching. Further, the working mode of the electric-assisted bicycle is determined by the control signal and the determined driving mode, and the working mode is further subdivided to finally determine the output characteristics of the driving module. By preliminarily determining the driving mode, the driving type of the driving module can be determined more quickly. By further determining the working mode, the output characteristics of the driving module can be determined more accurately, and finally the adaptive mode switching of the electric-assisted bicycle is realized.

[0037] In a second aspect, the present invention further provides an electric-assisted bicycle mode control device, comprising:

[0038] An environment recognition module, used to determine the environment state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle;

[0039] A driving mode switching module, used to determine the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state;

[0040] The working mode switching module is used to determine the working mode of the electric assisted bicycle according to the control signal and the driving mode, and determine the output characteristics of the driving module according to the working mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

[0041] In a third aspect, the present invention further provides an electric-assisted bicycle, comprising a memory and a processor;

[0042] The memory is used to store computer programs;

[0043] The processor is used to implement the electric-assisted bicycle mode control method as described above when executing the computer program.

[0044] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the electric-assisted bicycle mode control method as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of a method for controlling a mode of an electric-assisted bicycle according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of a detailed flow chart of step S200 of the electric-assisted bicycle mode control method according to an embodiment of the present invention;

[0047] Figure 3 An exemplary diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0049] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0050] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0051] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0052] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0053] In view of the problems existing in the above-mentioned related technologies, the present embodiment provides an electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium.

[0054] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling an electric power-assisted bicycle mode, comprising:

[0055] Step S100: determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle.

[0056] In one embodiment, a six-axis sensor is provided in the electric-assisted bicycle for obtaining posture changes of the X-axis, Y-axis and Z-axis, wherein the X-axis represents the axis of the electric-assisted bicycle in the front-to-back direction, the Y-axis represents the axis of the electric-assisted bicycle in the left-to-right direction, and the Z-axis represents the axis of the electric-assisted bicycle in the up-to-down direction. The six-axis sensor can assist in determining the acceleration of the electric-assisted bicycle in the front-to-back direction, the lateral acceleration in the left-to-right direction when turning, and the up-and-down acceleration relative to the ground when going uphill or downhill. The static gravity acceleration component represents the gravity acceleration to which the electric-assisted bicycle is subjected when the electric-assisted bicycle is stationary. In this embodiment, the static acceleration is obtained in advance when the electric-assisted bicycle is unlocked.

[0057] Since electric-assisted bicycles are light and small in size, their use environment is different from that of traditional two-wheeled electric vehicles. For example, electric-assisted bicycles can adapt to mountain environments and have good adaptability on unpaved roads. Users can ride on urban, rural or mountainous roads, which makes the road conditions faced by electric-assisted bicycles more complicated. It is necessary to determine the environmental state of the electric-assisted bicycle, and then switch the driving mode of the electric-assisted bicycle according to the environmental state to cope with complex road conditions. For example, when the environmental state is an unpaved road section, the output characteristics of the motor are automatically switched according to the uphill and downhill conditions; when the environment is a paved road section, the motor output characteristics that are different from those of the unpaved road section are determined according to the uphill and downhill conditions to enhance the user's riding experience.

[0058] Step S200: determining a driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state.

[0059] In one embodiment, the driving mode of the electric-assisted bicycle is determined according to the driving type and environmental state of the electric-assisted bicycle. In the embodiment of the present invention, the driving mode represents the preliminary driving mode of the electric-assisted bicycle, which is used to preliminarily determine the current riding mode, such as the pushing mode, the riding mode, etc. The vehicle driving type is used to measure the current driving composition of the electric-assisted bicycle, such as human-driven and motor-driven. In the process of determining the driving mode of the electric-assisted bicycle, the vehicle driving type is used to determine the subjective intention of the user; the environmental state is used to determine the objective environment in which the electric-assisted bicycle is located, and then determine the output characteristics of the motor that is more suitable for the current objective environment. For example, when the pedaling frequency of the electric-assisted bicycle is 0 and the pedaling frequency acceleration is also 0, the electric-assisted bicycle may be in a pushing state or a sliding state. The weight sensor set on the seat is used to determine whether it is riding. If the weight data obtained by the seat weight sensor is 0, it is determined that the current state is the pushing state; if the weight data obtained by the seat weight sensor is in a preset weight range, it is determined that the current state is the riding state. In other embodiments, the vehicle drive type is determined by the cadence data and the motor drive signal. For example, when there is no motor drive signal and only the cadence data exists, it is determined that the current state is human-powered; when there is a motor drive signal, it is determined that the current state is motor-powered or human-motor hybrid drive; when there is no motor drive signal and the cadence and cadence acceleration are both 0, it is determined that the current state is pushing or riding gliding.

[0060] Step S300, determining the operating mode of the electric-assisted bicycle according to the control signal and the driving mode, and determining the output characteristics of the driving module according to the operating mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

[0061] In one embodiment, the working mode refers to a further subdivided mode under the driving mode, which is used to determine the output characteristics of the output module according to the control signal under the determined driving mode after determining the subjective intention of the user and the objective environment of the electric-assisted bicycle. For example, when receiving a brake signal, a brake strategy more suitable for the current driving mode is obtained according to the brake signal; when receiving a drive signal, a drive strategy more suitable for the current driving mode is obtained according to the drive signal; when receiving a mode switching signal, the working mode indicated by the mode switching signal is switched.

[0062] Optionally, when the control signal is a mode switching signal, it is determined whether the electric-assisted bicycle meets the switching condition. If so, the operating mode is switched to the target operating mode indicated by the mode switching signal. If not, the current operating mode is maintained. The switching condition includes that the environmental state is not downhill and the speed of the electric-assisted bicycle is less than a preset speed, the environmental state is downhill and the speed of the electric-assisted bicycle is less than a second preset speed, and the second preset speed is less than the preset speed.

[0063] In one embodiment, the preset speed is a safe speed on a flat road or uphill section, and the second preset speed is a safe speed on a downhill section. When the electric assisted bicycle is within the safe speed, the current operating mode can be changed according to the user's active adjustment. When the vehicle speed is higher than the safe speed, in order to ensure safety and prevent sudden changes in motor torque or vehicle speed after switching the operating mode, the user is not allowed to actively switch the operating mode.

[0064] In this embodiment, the current environment of the electric-assisted bicycle is determined according to the vehicle posture, and the user's current driving intention is preliminarily determined according to the vehicle drive type, and the drive mode of the electric-assisted bicycle is preliminarily determined. By combining the user's subjective intention and the objective environment of the electric-assisted bicycle, the motor output characteristics that are more suitable for the current environment are determined, thereby increasing the accuracy of drive mode switching; further, the operating mode of the electric-assisted bicycle is determined by control signals and the determined drive mode, and the operating mode is further subdivided to ultimately determine the output characteristics of the drive module. By preliminarily determining the drive mode, the drive type of the drive module can be determined more quickly, and by further determining the operating mode, the output characteristics of the drive module can be determined more accurately, thereby ultimately achieving adaptive mode switching of the electric-assisted bicycle.

[0065] Optionally, determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle includes:

[0066] Obtaining a static gravity acceleration component of the electric-assisted bicycle;

[0067] Acquire the current acceleration of the electric-assisted bicycle, and when the current acceleration is less than a first acceleration threshold, determine the gravity acceleration component according to the static gravity acceleration component, wherein the vehicle posture includes the current acceleration;

[0068] The slope angle of the electric-assisted bicycle is determined according to the gravity acceleration component, and the environmental state is determined according to the slope angle, wherein the environmental state includes downhill, uphill, flat road and complex road section.

[0069] Specifically, the current acceleration of the electric-assisted bicycle is determined based on the six-axis gyroscope. Determining the gravity acceleration component requires that the current acceleration component is less than a first acceleration threshold. If the current acceleration is less than the first acceleration threshold, the gravity acceleration component can be determined based on the static gravity acceleration component, thereby determining the current slope angle of the electric-assisted bicycle based on the gravity acceleration component.

[0070] Optionally, determining the slope angle of the electric-assisted bicycle according to the gravity acceleration component, and determining the environmental state according to the slope angle comprises:

[0071] When the slope angle meets a preset condition within a preset time period, the environmental state is determined as the complex road section, wherein the preset condition includes at least one of a change in the slope angle being higher than a preset change threshold, a change frequency being higher than a preset frequency threshold, and a lateral acceleration exceeding a preset lateral acceleration threshold.

[0072] Specifically, due to the versatility of electric-assisted bicycles, unpaved sections or more complex mountain sections must also be considered when setting environmental conditions. By determining whether the preset conditions are met within a preset time period, it is determined whether the current section is a complex section, and a unique driving and braking strategy is formulated for complex sections, thereby improving the accuracy of the electric-assisted bicycle mode switching.

[0073] In one embodiment, when the slope angle changes greatly within a preset time period, it means that the current road section has a large degree of undulation; when the slope angle changes frequently, it means that the current road section has more drastic undulations; when the lateral acceleration exceeds the preset lateral acceleration, it means that the current road section is more winding. The above three situations can all be judged as complex road sections.

[0074] When the environment is a complex road section, the driving mode of the electric-assisted bicycle is determined according to the vehicle driving type. When the driving type of the electric-assisted bicycle is pushing, if it is currently on an uphill slope, the driving mode is switched to the power-assisted pushing mode; if it is currently on a flat ground or downhill, the driving mode is switched to the non-power-assisted pushing mode.

[0075] When the driving type of the electric assisted bicycle is riding, in response to the braking signal, the braking force is determined according to the braking signal; in response to the driving signal, the target acceleration is determined according to the driving signal. When the target acceleration is greater than the preset acceleration, it means that the highest acceleration capacity is required, and the motor is controlled to accelerate with maximum torque; when the target acceleration is less than the preset acceleration, it means that a higher acceleration capacity is not required at present, and the motor is controlled to accelerate according to the target acceleration determined by the driving signal.

[0076] Alternatively, if Figure 2 As shown, the step of determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state includes:

[0077] Step S210, obtaining cadence data of the electric-assisted bicycle, wherein the cadence data includes at least one of cadence and cadence acceleration.

[0078] Step S220: when the cadence is less than the first cadence and the environmental state is uphill, the driving mode is determined to be the power-assisted pushing mode.

[0079] Step S230: when the cadence is less than the first cadence and the environmental state is not uphill, the driving mode is determined as a non-assisted propulsion mode.

[0080] Step S240, when the cadence data satisfies a first cadence condition and the environmental state is uphill, determining the driving mode as a first riding mode, wherein the first cadence condition includes that the cadence is greater than the first cadence and the cadence acceleration is greater than the first cadence acceleration.

[0081] Step S250, when the environmental state is uphill and the cadence data does not meet the first cadence condition, or the environmental state is not uphill, the driving mode is determined as the second riding mode, wherein, in the first riding mode, in response to the motor drive signal, the motor output torque increases linearly, and in the second riding mode, in response to the motor drive signal, the output torque is determined according to the motor drive signal.

[0082] In one embodiment, the user's preliminary subjective intention is determined based on the cadence and the environmental state of the electric-assisted bicycle. For example, if the first cadence is set to 0, then when the cadence data is greater than 0, it is determined that the user is in a pushing state, and the environmental state is further determined. When the environmental state is uphill, the driving mode is determined to be a power-assisted pushing mode, the motor is controlled to output a preset torque, and the motor output speed is controlled within the pushing speed. In one embodiment, the pushing speed is 5 km / h. When the environmental state is flat and downhill, the driving mode is determined to be a non-power-assisted pushing mode, and the pushing speed is limited to the pushing speed.

[0083] In another embodiment, when the cadence is greater than the first cadence, it indicates that under this condition, the user's cadence is high and is in a fast riding state; when the cadence acceleration is greater than the first cadence acceleration, the user's cadence changes from low to high quickly and requires rapid acceleration, and it is further determined whether the environmental state is uphill. When the environmental state is uphill, the driving mode is determined to be the first riding mode that requires a higher output power of the motor, wherein the first riding mode is mainly used to assist the user to accelerate faster on the uphill, and the motor output torque is linearly increased according to the motor drive signal until the motor torque is output to the torque corresponding to the motor drive signal. When the environmental state is flat road or downhill, the driving mode is determined to be the second riding mode, which is mainly used to enable the user to drive smoothly on flat roads and downhill, and the output torque is determined by the motor drive signal.

[0084] Optionally, determining the working mode of the electric-assisted bicycle according to the control signal and the driving mode, and determining the output characteristics of the driving module according to the working mode includes:

[0085] When the control signal is a mode switching signal, the operating mode is switched to a target operating mode indicated by the mode switching signal.

[0086] When the control signal is a braking signal, the target operating mode is determined according to the driving mode and the braking signal.

[0087] When the control signal is a driving signal, the target operating mode is determined according to the target acceleration indicated by the driving signal, wherein when the target acceleration is greater than a preset acceleration, the racing mode is used as the target operating mode, and when the target acceleration is less than or equal to the preset acceleration, the commuting mode is used as the target operating mode, wherein the racing mode includes controlling the motor to output torque at maximum power, and the commuting mode includes controlling the motor to output torque at the target acceleration.

[0088] In an embodiment of the present invention, the target acceleration can be obtained by mapping the cadence data, or by mapping the rotation angle of the accelerator handle set on the handle. For example, when the electric-assisted bicycle is not provided with an accelerator handle, the target acceleration is determined according to the current cadence or cadence acceleration by setting a mapping table in which the cadence, cadence acceleration and target acceleration correspond one to one; in another embodiment, the electric-assisted bicycle is provided with an accelerator handle, and when the user twists the accelerator handle, the target acceleration can be determined according to the current accelerator handle angle according to the preset angle-target acceleration mapping table.

[0089] In one embodiment, the working mode can be actively switched by a mode switching signal, and the working mode can also be switched by a braking signal and a driving signal, so that the working mode of the electric-assisted bicycle matches the current situation. When the control signal is a mode switching signal, the electric-assisted bicycle is switched to the target working mode according to the mode switching signal. When the control signal is a braking signal, the braking strategy required by the current electric-assisted bicycle is determined according to the driving mode. For example, when the electric-assisted bicycle is on a downhill slope, the braking demand is stronger than that on an uphill slope, and the same braking signal has different braking forces. Similarly, when the control signal is a driving signal, the user's subjective needs can be determined according to the target acceleration indicated by the driving signal. When the target acceleration is greater than the preset acceleration, it means that the user needs a higher acceleration and has a strong acceleration demand. To ensure this demand, the racing mode is used as the target working mode, and the motor outputs torque at maximum power, so that the electric-assisted bicycle reaches the required speed faster; when the target acceleration is less than or equal to the preset acceleration, it means that the user does not need a higher acceleration, so the commuting mode is used as the target working mode, and the output torque is determined according to the target acceleration.

[0090] Optionally, when the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal includes:

[0091] When the driving mode is the first riding mode, a target braking acceleration is determined according to the braking signal; when the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed with dynamic recovery acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed with the maximum recovery acceleration, and combined braking is performed through a braking module.

[0092] In one embodiment, when the driving mode is the first riding mode, it means that the electric-assisted bicycle is currently on an uphill slope, and the target braking acceleration is determined according to the braking signal, wherein the target braking acceleration represents the braking acceleration to be achieved by the electric-assisted bicycle. The maximum recovery acceleration represents the maximum braking acceleration that the kinetic energy recovery module can provide. When the target braking acceleration is less than or equal to the maximum recovery acceleration, it means that the kinetic energy recovery module can independently provide braking. At this time, the recovery acceleration is provided by the kinetic energy recovery module at a preset ratio. For example, when the preset ratio is 1:1, kinetic energy recovery is provided according to the target braking acceleration, and when the preset ratio is 1:0.5, the braking acceleration of kinetic energy recovery is provided at half of the target braking acceleration. Since the speed of the uphill slope is often lower than that of the flat road and the downhill slope, and the requirements for emergency braking when going uphill are not as high as those required in other environmental states, the dynamic recovery strategy is used for kinetic energy recovery, and different kinetic energy recovery strategies can be determined for different situations to save the user's physical strength and the electric energy of the electric-assisted bicycle. When the target braking acceleration is greater than the maximum recovery acceleration, it means that the kinetic energy recovery module alone cannot meet the braking demand, and the maximum recovery acceleration is used for kinetic energy recovery, and the braking module is used for joint braking. For example, when the maximum recovery acceleration is 0.2g, the target braking acceleration is 0.3g, then the kinetic energy recovery of the maximum recovery acceleration is performed through the kinetic energy recovery module, and the braking module bears the braking acceleration of 0.1g. Among them, g represents the acceleration due to gravity.

[0093] Optionally, when the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal further includes:

[0094] When the driving mode is the second riding mode, the target braking acceleration is determined according to the braking signal.

[0095] When the speed of the electric-assisted bicycle is greater than or equal to a preset speed, it is determined whether the target braking acceleration is greater than a maximum recovery acceleration.

[0096] When the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed at the target braking acceleration through kinetic energy recovery; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the braking module.

[0097] When the speed of the electric-assisted bicycle is less than the preset speed, it is determined whether the target braking acceleration is greater than the maximum recovery acceleration.

[0098] When the target braking acceleration is less than or equal to the maximum recovery acceleration, determine whether the target braking acceleration is less than the preset braking acceleration. When the target braking acceleration is less than the preset braking acceleration, braking is performed with dynamic recovery acceleration through kinetic energy recovery. When the target braking acceleration is greater than or equal to the preset braking acceleration, braking is performed with the target braking acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration, and the maximum recovery acceleration is greater than or equal to the preset braking acceleration.

[0099] When the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the braking module.

[0100] When the driving mode is the second riding mode, the target braking acceleration is determined according to the braking signal. The second riding mode represents an environmental state other than uphill. When the speed is greater than the preset speed, if braking is required, the user's desired target speed must be reached at the fastest speed, so conventional kinetic energy recovery is required for braking. When the target braking acceleration is less than or equal to the maximum recovery acceleration, kinetic energy recovery can be performed through the kinetic energy recovery module, and kinetic energy recovery braking is performed with the target braking acceleration. When the target braking acceleration is greater than the maximum recovery acceleration, joint braking is performed through the kinetic energy recovery module and the braking module.

[0101] When the speed of the electric-assisted bicycle is less than the preset speed, the speed of the electric-assisted bicycle is low, and it is further determined whether the target braking acceleration is less than the preset braking acceleration. If it is less than, it means that the braking force required by the user is small, and the braking acceleration can be reduced by a certain proportion, and kinetic energy recovery braking is performed through a dynamic recovery strategy. When the target braking acceleration is greater than or equal to the preset braking acceleration, it means that the user needs a better braking effect, and braking is performed according to the target braking acceleration. When the target braking acceleration is greater than the maximum recovery speed, it means that the user needs a better braking effect and the kinetic energy recovery module cannot meet the braking requirements at the same time, and kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the braking module.

[0102] An embodiment of the present invention provides an electric power-assisted bicycle mode control device, comprising:

[0103] An environment recognition module, used to determine the environment state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle;

[0104] A driving mode switching module, used to determine the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state;

[0105] The working mode switching module is used to determine the working mode of the electric assisted bicycle according to the control signal and the driving mode, and determine the output characteristics of the driving module according to the working mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

[0106] like Figure 3 As shown, an electric-assisted bicycle provided by an embodiment of the present invention includes an electronic device 300, and the electronic device 300 includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the electric-assisted bicycle mode control method as described above when executing the computer program.

[0107] In other words, an electric-assisted bicycle includes an electronic device 300, wherein the electronic device 300 includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; and the processor 320 is used to perform the following operations when executing the computer program:

[0108] Determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle;

[0109] determining a driving mode of the electric-assisted bicycle according to a vehicle driving type of the electric-assisted bicycle and the environmental state;

[0110] The operating mode of the electric-assisted bicycle is determined according to a control signal and the driving mode, and the output characteristics of the driving module are determined according to the operating mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

[0111] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the electric-assisted bicycle mode control method as described above is implemented.

[0112] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0113] Determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle;

[0114] determining a driving mode of the electric-assisted bicycle according to a vehicle driving type of the electric-assisted bicycle and the environmental state;

[0115] The operating mode of the electric-assisted bicycle is determined according to a control signal and the driving mode, and the output characteristics of the driving module are determined according to the operating mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

[0116] An electronic device 300 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 300 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 300 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0117] The electronic device 300 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0118] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0119] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for controlling an electric power-assisted bicycle mode, characterized in that: include: Determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle; Determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state includes: acquiring the cadence data of the electric-assisted bicycle, wherein the cadence data includes at least one of the cadence and the cadence acceleration; when the cadence is less than the first cadence and the environmental state is uphill, determining the driving mode as the power-assisted pushing mode; when the cadence is less than the first cadence and the environmental state is not uphill, determining the driving mode as the non-power-assisted pushing mode; when the cadence data meets the first cadence condition and the environmental state is uphill, determining the driving mode as the first riding mode, wherein the first cadence condition includes that the cadence is greater than the first cadence and the cadence acceleration is greater than the first cadence acceleration; when the environmental state is uphill and the cadence data does not meet the first cadence condition, or the environmental state is not uphill, determining the driving mode as the second riding mode, wherein in the first riding mode, in response to the motor driving signal, the motor output torque increases linearly, and in the second riding mode, in response to the motor driving signal, the output torque is determined according to the motor driving signal; The operating mode of the electric-assisted bicycle is determined according to a control signal and the driving mode, and the output characteristics of the driving module are determined according to the operating mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

2. The electric-assisted bicycle mode control method according to claim 1, characterized in that: Determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle includes: Obtaining a static gravity acceleration component of the electric-assisted bicycle; Acquire the current acceleration of the electric-assisted bicycle, and when the current acceleration is less than a first acceleration threshold, determine the gravity acceleration component according to the static gravity acceleration component, wherein the vehicle posture includes the current acceleration; The slope angle of the electric-assisted bicycle is determined according to the gravity acceleration component, and the environmental state is determined according to the slope angle, wherein the environmental state includes downhill, uphill, flat road and complex road section.

3. The electric-assisted bicycle mode control method according to claim 2, characterized in that: Determining the slope angle of the electric-assisted bicycle according to the gravity acceleration component, and determining the environmental state according to the slope angle includes: When the slope angle meets a preset condition within a preset time period, the environmental state is determined as the complex road section, wherein the preset condition includes at least one of a change in the slope angle being higher than a preset change threshold, a change frequency being higher than a preset frequency threshold, and a lateral acceleration exceeding a preset lateral acceleration threshold.

4. The electric-assisted bicycle mode control method according to claim 1, characterized in that: Determining the working mode of the electric-assisted bicycle according to the control signal and the driving mode, and determining the output characteristics of the driving module according to the working mode includes: When the control signal is a mode switching signal, switching the operating mode to a target operating mode indicated by the mode switching signal; When the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal; When the control signal is a driving signal, the target operating mode is determined according to the target acceleration indicated by the driving signal, wherein when the target acceleration is greater than a preset acceleration, the racing mode is used as the target operating mode, and when the target acceleration is less than or equal to the preset acceleration, the commuting mode is used as the target operating mode, wherein the racing mode includes controlling the motor to output torque at maximum power, and the commuting mode includes controlling the motor to output torque at the target acceleration.

5. The electric-assisted bicycle mode control method according to claim 4, characterized in that: When the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal includes: When the driving mode is the first riding mode, a target braking acceleration is determined according to the braking signal; when the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed with dynamic recovery acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed with the maximum recovery acceleration, and combined braking is performed through a braking module.

6. The electric-assisted bicycle mode control method according to claim 4, characterized in that: When the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal further comprises: When the driving mode is the second riding mode, determining the target braking acceleration according to the braking signal; When the speed of the electric-assisted bicycle is greater than or equal to a preset speed, determining whether the target braking acceleration is greater than a maximum recovery acceleration; When the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed at the target braking acceleration through kinetic energy recovery; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the brake module; When the speed of the electric-assisted bicycle is less than the preset speed, determining whether the target braking acceleration is greater than the maximum recovery acceleration; When the target braking acceleration is less than or equal to the maximum recovery acceleration, determine whether the target braking acceleration is less than the preset braking acceleration. When the target braking acceleration is less than the preset braking acceleration, perform braking with dynamic recovery acceleration through kinetic energy recovery. When the target braking acceleration is greater than or equal to the preset braking acceleration, perform braking with the target braking acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration, and the maximum recovery acceleration is greater than or equal to the preset braking acceleration. When the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the braking module.

7. An electric power-assisted bicycle mode control device, characterized in that: include: An environment recognition module, used to determine the environment state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle; A driving mode switching module, for determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state, comprising: obtaining the cadence data of the electric-assisted bicycle, wherein the cadence data includes at least one of the cadence and the cadence acceleration; when the cadence is less than the first cadence and the environmental state is uphill, determining the driving mode as the power-assisted pushing mode; when the cadence is less than the first cadence and the environmental state is not uphill, determining the driving mode as the non-power-assisted pushing mode; when the cadence data meets the first cadence condition and the environmental state is not uphill, determining the driving mode as the non-power-assisted pushing mode. When the state is uphill, the driving mode is determined as the first riding mode, wherein the first cadence condition includes that the cadence is greater than the first cadence and the cadence acceleration is greater than the first cadence acceleration; when the environmental state is uphill and the cadence data does not meet the first cadence condition, or the environmental state is not uphill, the driving mode is determined as the second riding mode, wherein in the first riding mode, in response to the motor drive signal, the motor output torque increases linearly, and in the second riding mode, in response to the motor drive signal, the output torque is determined according to the motor drive signal; The working mode switching module is used to determine the working mode of the electric assisted bicycle according to the control signal and the driving mode, and determine the output characteristics of the driving module according to the working mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal.

8. An electric power-assisted bicycle, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the electric-assisted bicycle mode control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the electric-assisted bicycle mode control method according to any one of claims 1 to 6 is implemented.

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