Power-assisted bicycle control method and device, power-assisted bicycle and readable storage medium

Abstract

The invention discloses a power-assisted bicycle control method and device, a power-assisted bicycle and a readable storage medium, and relates to the field of automatic control. The power-assisted bicycle is provided with a motor, and the method comprises the steps that target slope information, set by a user, of the power-assisted bicycle is obtained; according to the current gradient information and the target gradient information, the target output torque of the motor is determined, and the current gradient information is the gradient information of the road where the power-assisted bicycle runs currently; and controlling the output torque of the motor according to the target output torque and the output torque threshold value of the motor. According to the method, by controlling the output torque of the motor, assistance or resistance can be provided for riding of a user, so that the training environment set by the user is simulated, and the purpose of training through the assistance bicycle is achieved.

Description

Technical Field

[0001] The present application relates to the field of automated control, and in particular to a power-assisted bicycle control method and device, a power-assisted bicycle, and a computer-readable storage medium. Background Art

[0002] An electric-assisted bicycle (e-bike) is a bicycle with electric assistance, also known as an assisted bicycle. An assisted bicycle uses an electric motor to provide assistance to the rider, which can reduce the rider's physical exertion and improve the riding experience. However, although this assisted mode is convenient, it cannot meet the needs of users who want to do high-intensity training through riding. Summary of the invention

[0003] The embodiments of the present application provide a motor control method and device for a power-assisted bicycle, and a power-assisted bicycle, which can provide assistance or resistance for a user's riding to simulate a training environment set by the user.

[0004] In a first aspect, the present application provides a method for controlling a power-assisted bicycle, wherein the power-assisted bicycle is provided with a motor, and the method comprises: obtaining target slope information of the power-assisted bicycle set by a user; determining a target output torque of the motor based on current slope information and the target slope information, wherein the current slope information is slope information of a road on which the power-assisted bicycle is currently traveling; and controlling the output torque of the motor based on the target output torque and an output torque threshold of the motor.

[0005] In a possible implementation, the output torque threshold includes a first threshold and / or a second threshold, the first threshold is the maximum torque of the motor's forward output, and the second threshold is the maximum torque of the motor's reverse output; controlling the output torque of the motor according to the target output torque and the output torque threshold of the motor includes one or more of the following: when the target output torque is a forward torque and the target output torque is less than or equal to the first threshold, controlling the output torque to be the target output torque; when the target output torque is a forward torque and the target output torque is greater than the first threshold, controlling the output torque to be the first threshold; when the target output torque is a reverse torque and the absolute value of the target output torque is less than or equal to the second threshold, controlling the output torque to be the target output torque; or, when the target output torque is a reverse torque and the absolute value of the target output torque is greater than the second threshold, controlling the output torque to be a reverse torque and controlling the absolute value of the output torque to be the second threshold.

[0006] In a possible implementation, the target output torque satisfies:

[0007] T mot =ΔF*R,

[0008] Among them, T mot is the target output torque, ΔF represents the difference between the target slope resistance and the current slope resistance, the target slope resistance represents the slope resistance when the slope is the slope indicated by the target slope information, the current slope resistance represents the slope resistance when the slope is the slope indicated by the current slope information, and R is the wheel radius of the power-assisted bicycle.

[0009] In a possible implementation, the target slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ set The current slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ current The product, where θ set is the angle of the slope indicated by the target slope information, θ current is the angle of the slope indicated by the target slope information.

[0010] In a possible implementation, the first threshold is determined according to the pedaling speed of the user, the current maximum allowable discharge current of the battery of the power-assisted bicycle, and the current actual voltage of the battery; and / or the second threshold is determined according to the pedaling speed of the user, the current maximum allowable feedback current of the battery of the power-assisted bicycle, and the current actual voltage of the battery.

[0011] In a possible implementation manner, the first threshold satisfies:

[0012] T A_max =(P dsg *9550) / Pedal spd , and / or,

[0013] The second threshold satisfies:

[0014] T R_max =(P rechg *9550) / Pedal spd ;

[0015] Among them, T A_max is the first threshold, P dsg The maximum output power currently allowed by the battery, Pedal spd is the pedaling speed of the user, T R_max is the second threshold, P rechg is the maximum regenerative power currently allowed by the battery, T A_max and TR_max The unit is Newton meter.

[0016] In a possible implementation, the method further includes: acquiring a target riding distance set by the user; and controlling the motor to stop working when the actual riding distance of the user is equal to the target riding distance.

[0017] In a second aspect, a power-assisted bicycle control device is provided, wherein the power-assisted bicycle is provided with a motor, comprising: an acquisition module for acquiring target slope information of the power-assisted bicycle set by a user; a determination module for determining a target output torque of the motor based on current slope information and the target slope information, wherein the current slope information is slope information of a road on which the power-assisted bicycle is currently traveling; and a control module for controlling the output torque of the motor based on the target output torque and an output torque threshold of the motor.

[0018] In a possible implementation, the output torque threshold includes a first threshold and / or a second threshold, the first threshold is the maximum torque of the motor's forward output, and the second threshold is the maximum torque of the motor's reverse output; controlling the output torque of the motor according to the target output torque and the output torque threshold of the motor includes one or more of the following: when the target output torque is a forward torque and the target output torque is less than or equal to the first threshold, controlling the output torque to be the target output torque; when the target output torque is a forward torque and the target output torque is greater than the first threshold, controlling the output torque to be the first threshold; when the target output torque is a reverse torque and the absolute value of the target output torque is less than or equal to the second threshold, controlling the output torque to be the target output torque; or, when the target output torque is a reverse torque and the absolute value of the target output torque is greater than the second threshold, controlling the output torque to be a reverse torque and controlling the absolute value of the output torque to be the second threshold.

[0019] In a possible implementation, the target output torque satisfies:

[0020] T mot =ΔF*R,

[0021] Among them, T mot is the target output torque, ΔF represents the difference between the target slope resistance and the current slope resistance, the target slope resistance represents the slope resistance when the slope is the slope indicated by the target slope information, the current slope resistance represents the slope resistance when the slope is the slope indicated by the current slope information, and R is the wheel radius of the power-assisted bicycle.

[0022] In a possible implementation, the target slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ set The current slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ current The product, where θ set is the angle of the slope indicated by the target slope information, θ current is the angle of the slope indicated by the target slope information.

[0023] In a possible implementation, the first threshold is determined according to the pedaling speed of the user, the current maximum allowable discharge current of the battery of the power-assisted bicycle, and the current actual voltage of the battery; and / or the second threshold is determined according to the pedaling speed of the user, the current maximum allowable feedback current of the battery of the power-assisted bicycle, and the current actual voltage of the battery.

[0024] In a possible implementation manner, the first threshold satisfies:

[0025] T A_max =(P dsg *9550) / Pedal spd , and / or,

[0026] The second threshold satisfies:

[0027] T R_max =(P rechg *9550) / Pedal spd ;

[0028] Among them, T A_max is the first threshold, P dsg The maximum output power currently allowed by the battery, Pedal spd is the pedaling speed of the user, T R_max is the second threshold, P rechg is the maximum regenerative power currently allowed by the battery, T A_max and T R_max The unit is Newton meter.

[0029] In a possible implementation, the acquisition unit is further used to acquire the target riding distance set by the user; and the control unit is further used to control the motor to stop working when the actual riding distance of the user is equal to the target riding distance.

[0030] In a third aspect, an embodiment of the present application provides a power-assisted bicycle control device, comprising a processor, wherein the processor is coupled to a memory, wherein the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the device executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0031] In a fourth aspect, an embodiment of the present application provides a power-assisted bicycle, comprising the power-assisted bicycle control device provided in the second aspect or the third aspect.

[0032] In a fifth aspect, an embodiment of the present application provides a power-assisted bicycle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method in the above-mentioned first aspect or any possible implementation manner of the first aspect when executing the computer program.

[0033] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer storage medium stores a computer program. When the computer program is executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is executed.

[0034] In a seventh aspect, an embodiment of the present application provides a computer program product, which includes computer program instructions. When the computer program instructions are executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is executed.

[0035] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0036] According to the power-assisted bicycle control method provided in the embodiment of the present application, the output torque of the motor is controlled according to the target slope information set by the user, and the user's riding can be provided with assistance or resistance, so as to simulate a training environment with a slope set by the user, and achieve the purpose of training through a power-assisted bicycle. The solution provided in the embodiment of the present application can not only meet professional training needs and realize personalized training, but also help to increase the challenge and fun of riding, thereby attracting more fitness enthusiasts and professional athletes to use power-assisted bicycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic flow chart of a power-assisted bicycle control method provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the slope provided in the embodiment of the present application;

[0039] Figure 3 A schematic diagram of a control system in a power-assisted bicycle provided in an embodiment of the present application;

[0040] Figure 4 A schematic flow chart of a power-assisted bicycle control method provided in an embodiment of the present application;

[0041] Figure 5 A schematic flow chart of a power-assisted bicycle control method provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of a power-assisted bicycle control device provided in an embodiment of the present application;

[0043] Figure 7 A schematic structural diagram of another power-assisted bicycle control device provided in an embodiment of the present application;

[0044] Figure 8 A schematic structural diagram of a power-assisted bicycle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0046] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0047] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0048] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0049] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0050] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0051] In order to solve the problem that power-assisted bicycles in current technology cannot meet the needs of users who want to perform high-intensity training through riding, the present application provides a power-assisted bicycle control method, which can control the motor to output corresponding torque according to the user's training goals, such as target slope information, to meet the user's training needs.

[0052] The power-assisted bicycle control method provided in the present application can be applied to a power-assisted bicycle. For example, the power-assisted bicycle control method provided in the present application can be executed by a power-assisted bicycle. The power-assisted bicycle is provided with a motor. In some embodiments, the motor is a mid-mounted motor.

[0053] In some embodiments, a controller is provided on the power-assisted bicycle, and the controller is used to control the operation of the power-assisted bicycle. For example, the power-assisted bicycle control method provided in the present application can be executed by the controller.

[0054] Exemplarily, the controller is a motor control module (also referred to as a motor controller), which is used to control the operation of the motor.

[0055] Exemplarily, the controller includes a motor control module and a battery management module, and the battery management module is used to manage the charging and discharging of the battery.

[0056] In one example, the motor control module is a field-oriented control (FOC) module.

[0057] The method provided in this application is described in detail below.

[0058] Figure 1 1 is a schematic flow chart of a power-assisted bicycle control method provided in an embodiment of the present application. The method 100 may include S110 to S130, and each step is described below.

[0059] S110, obtaining target slope information of the power-assisted bicycle set by the user.

[0060] The power-assisted bicycle of the embodiment of the present application can provide a training mode for the user (or rider), and the user can set the parameters of the training mode. Since the user can flexibly set the parameters of the training mode according to his own needs, the solution provided by the embodiment of the present application can meet the training needs of users at different levels.

[0061] In one implementation, a display screen is provided on the power-assisted bicycle, and the user can set parameters of the training mode by performing corresponding operations on the display screen.

[0062] In another implementation, the user can set the parameters of the training mode through an application (App) or applet on an electronic device that communicates with the power-assisted bicycle. For example, the electronic device can be a mobile phone, a tablet, a computer, a wearable device, etc. For example, the electronic device can communicate with the power-assisted bicycle through technologies such as Bluetooth, cellular network, or wireless fidelity (wifi).

[0063] The parameters of the aforementioned training mode may include slope information. In the embodiment of the present application, the slope information set by the user this time is referred to as target slope information. By setting the target slope information, the user hopes that the power-assisted bicycle can provide a training environment in which the slope information is the target slope information.

[0064] The target slope information indicates the target slope or the angle of the target slope (also referred to as the target slope angle). For example, the target slope information is the target slope or the angle of the target slope (also referred to as the slope angle).

[0065] Slope refers to the ratio of the height of the road to the horizontal distance, which is generally expressed as a percentage, but can also be expressed as a decimal. For example, slope = (height of the road / horizontal distance) * 100%. The angle of the slope is the angle between the slope of the road and the horizontal plane.

[0066] for example, Figure 2 A schematic diagram of the slope is shown in Figure 1. Figure 2 The slope of this section of road is 30%, that is, the vertical height rises by 30 meters when the horizontal distance advances by 100 meters. The angle of this section of road, that is, the angle of the slope, is 16.7°.

[0067] Optionally, the parameters of the aforementioned training mode may also include a training distance. The training distance set by the user this time may be referred to as a target training distance. That is, under the target slope information, the distance that the user wishes to train is the target training distance. For example, the target training distance is 3 km.

[0068] S120, determining a target output torque of a motor provided on the power-assisted bicycle according to the current slope information and the target slope information.

[0069] The current slope information is the slope information of the road on which the power-assisted bicycle is currently traveling. The current slope information indicates the current slope or the angle of the current slope (also referred to as the current slope angle). For example, the current slope information is the current slope or the angle of the current slope. Exemplarily, a slope acquisition module may be provided on the power-assisted bicycle, and the slope acquisition module may acquire the current slope information in real time. For example, the slope acquisition module may be a slope sensor.

[0070] The target output torque is a theoretical output torque, which is used to compensate for the slope resistance so that the slope resistance of the power-assisted bicycle is equal to the slope resistance of the slope indicated by the target slope information (i.e., the target slope resistance). In other words, if the output torque of the motor is the target output torque, the riding experience of the user is that the power-assisted bicycle is traveling on a road with a slope of the target slope.

[0071] It should be understood that the slope resistance (also known as ramp resistance, slope additional resistance or ramp additional resistance, etc.) refers to the force that hinders the forward movement of the power-assisted bicycle due to the existence of the slope during the travel of the power-assisted bicycle.

[0072] It can be understood that if the current slope is uphill and the current slope is greater than the target slope, for example, the current slope is 30° and the target slope is 15°, the target output torque is a positive torque, that is, the target output torque is a positive number. The positive torque is used to provide assistance, and the motor can reduce the burden of the rider by outputting a positive torque, so that the slope resistance is consistent with the target slope resistance. If the current slope is uphill and the current slope is less than the target slope, for example, the current slope is 15° and the target slope is 30°, the target output torque is a reverse torque (or negative torque), that is, the target output torque is a negative number. Negative torque is used to provide resistance, and the motor can increase the burden of the rider by outputting a reverse torque, so that the slope resistance is consistent with the target slope resistance.

[0073] In some embodiments, the target output torque satisfies the following formula (1):

[0074] T mot =ΔF*R (1)

[0075] Among them, T mot is the target output torque, ΔF represents the difference between the target slope resistance and the current slope resistance, the target slope resistance represents the slope resistance when the slope is the slope indicated by the target slope information, the current slope resistance represents the slope resistance when the slope is the slope indicated by the current slope information, and R is the wheel radius of the power-assisted bicycle.

[0076] In a possible implementation, the target slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ set The product of setThe angle of the slope indicated by the target slope information.

[0077] In a possible implementation, the current slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ current Product, θ current The angle of the slope indicated by the target slope information.

[0078] For example, the sum of the gravity of the power-assisted bicycle and the user can be collected by a corresponding sensor (e.g., a gravity sensor) on the power-assisted bicycle. Alternatively, the gravity of the power-assisted bicycle can be pre-stored on the power-assisted bicycle, and the gravity of the user can be set by the user (e.g., the user can set his gravity when setting the parameters of the training mode), and the sum of the gravity of the power-assisted bicycle and the user can be obtained based on the pre-stored gravity of the power-assisted bicycle and the gravity of the user set by the user.

[0079] It should be understood that gravity = mass * g, where g is the acceleration of gravity. Therefore, the gravity of the power-assisted bicycle and the gravity of the user can be obtained by respectively obtaining the mass of the power-assisted bicycle and the mass of the user, or the sum of the masses of the power-assisted bicycle and the user can be obtained by obtaining the sum of the masses of the power-assisted bicycle and the user. For example, the sum of the masses of the power-assisted bicycle and the user can be obtained by a mass sensor, or the mass of the power-assisted bicycle can be pre-stored on the power-assisted bicycle, and the mass of the user can be set by the user (for example, the user can set its mass when setting the parameters of the training mode).

[0080] In one example, the target slope resistance satisfies the following formula (2):

[0081] F target =W total *g*sinθ set (2)

[0082] The current slope resistance satisfies the following formula (3):

[0083] F current =W total *g*sinθ current (3)

[0084] In the above formula, F target Indicates the target slope resistance, F current Indicates the current slope resistance, W total is the sum of the mass of the power-assisted bicycle and the mass of the user, g is the acceleration due to gravity, θ set and θ current The meaning is as described above.

[0085] For example, in practice, we can first calculate F according to formula (2): target, and calculate F according to formula (3) current Then, T is calculated according to formula (1) mot , T can also be directly calculated according to the equivalent transformation of formula (1) mot For example, an equivalent transformation of formula (1) is the following formula (4):

[0086] T mot =(W total *g*sinθ set -W total *g*sinθ current )*R (4)

[0087] S130, controlling the output torque of the motor according to the target output torque and the output torque threshold of the motor.

[0088] By controlling the output torque of the motor, it is possible to provide assistance or resistance for the user's riding. The output torque of the motor is limited by the output torque threshold of the motor. When designing the output torque of the motor, it is necessary to consider both the target output torque and the output torque threshold of the motor, so as to make the user's riding effect as close to or consistent with the riding effect of the target slope as possible.

[0089] According to the power-assisted bicycle control method provided in the embodiment of the present application, the output torque of the motor is controlled according to the target slope information set by the user, and the user's riding can be provided with assistance or resistance, so as to simulate a training environment with a slope set by the user, and achieve the purpose of training through a power-assisted bicycle. The solution provided in the embodiment of the present application can not only meet professional training needs and realize personalized training, but also help to increase the challenge and fun of riding, thereby attracting more fitness enthusiasts and professional athletes to use power-assisted bicycles.

[0090] In some embodiments, the output torque threshold of the motor includes a first threshold and / or a second threshold, and both the first threshold and the second threshold are positive numbers. The first threshold may also be referred to as the maximum torque of the motor's forward output, and the second threshold may also be referred to as the maximum torque of the motor's reverse output. Accordingly, S130 may specifically include one or more of the following:

[0091] When the target output torque is a positive torque and the target output torque is less than or equal to a first threshold, the output torque of the motor is controlled to be the target output torque; when the target output torque is a positive torque and the target output torque is greater than the first threshold, the output torque of the motor is controlled to be the first threshold; when the target output torque is a reverse torque and the absolute value of the target output torque is less than or equal to a second threshold, the output torque of the motor is controlled to be the target output torque (that is, the output torque of the motor is a reverse torque and the output torque of the motor is the absolute value of the target output torque); or, when the target output torque is a reverse torque and the absolute value of the target output torque is greater than the second threshold, the output torque of the motor is controlled to be a reverse torque and the absolute value of the output torque of the motor is controlled to be the second threshold.

[0092] That is to say, if the absolute value of the target output torque is within the output torque threshold range of the motor, the motor can be controlled to make its output torque equal to the target output torque, so that the power-assisted bicycle can be driven on a road with a slope equal to the target slope. If the absolute value of the target output torque is not within the output torque threshold range of the motor, the motor can be controlled to make its output torque equal to the output torque threshold of the motor, so that the power-assisted bicycle can be driven on a road with a slope as close to the target slope as possible.

[0093] In summary, if the current slope is uphill and the current slope is greater than the target slope, the rider's burden can be reduced by controlling the motor to output a forward torque equal to or close to the target output torque, so that the user's riding effect is consistent with or close to the riding effect of the target slope. If the current slope is uphill and the current slope is less than the target slope, the rider's burden or riding resistance can be increased by controlling the motor to output a reverse torque equal to or close to the absolute value of the target output torque, so that the user's riding effect is consistent with or close to the riding effect of the target slope, helping the user improve physical fitness and endurance.

[0094] It should be noted that the embodiment of the present application does not limit the output torque of the motor to the absolute value of the target output torque or the output torque threshold of the motor. In practice, the output torque of the motor may also be a value close to the absolute value of the target output torque or the output torque threshold of the motor, or the output torque of the motor may also be determined by combining other factors.

[0095] The output torque threshold of the motor designed in the above scheme includes a first threshold and a second threshold. As an alternative design of the above scheme, the output torque threshold of the motor can also be designed to include the aforementioned first threshold and a third threshold, the third threshold is a negative number, the third threshold is the opposite of the second threshold, or the absolute value of the third threshold is the maximum torque of the motor output in reverse. Accordingly, S130 may specifically include one or more of the following:

[0096] When the target output torque is a positive torque and the target output torque is less than or equal to a first threshold, the output torque of the motor is controlled to be the target output torque; when the target output torque is a positive torque and the target output torque is greater than the first threshold, the output torque of the motor is controlled to be the first threshold; when the target output torque is a reverse torque and the target output torque is greater than a third threshold, the output torque of the motor is controlled to be the target output torque (i.e., the output torque of the motor is a reverse torque and the absolute value of the output torque of the motor is the absolute value of the target output torque); or, when the target output torque is a reverse torque and the absolute value of the target output torque is less than or equal to the third threshold, the output torque of the motor is controlled to be the third threshold (i.e., the output torque of the motor is a reverse torque and the absolute value of the output torque of the motor is the third threshold).

[0097] In one possible implementation, the first threshold is determined based on the pedaling speed of the user, the current maximum allowable discharge current of the battery of the power-assisted bicycle, and the current actual voltage of the battery; and / or, the second threshold is determined based on the pedaling speed of the user, the current maximum allowable feedback current of the battery of the power-assisted bicycle (or the current maximum allowable charging current of the battery), and the current actual voltage of the battery.

[0098] For example, a cadence acquisition module may be provided on the power-assisted bicycle, and the cadence acquisition module may acquire the user's pedaling speed in real time. For example, the cadence acquisition module may be a cadence sensor or a power meter.

[0099] The pedaling speed of the user may also be referred to as the crank cadence. For example, the crank cadence may be measured by the number of revolutions per minute of the pedals during riding, i.e., the unit of the crank cadence may be revolutions per minute (rpm). For example, the crank cadence is 60 revolutions per minute.

[0100] In one example, the first threshold satisfies the following formula (5):

[0101] T A_max =(P dsg *k) / Pedal spd (5)

[0102] Among them, T A_max is the first threshold, P dsg Pedal is the maximum output power allowed by the battery. spd is the user's pedaling speed, and k is a constant. dsg =U bat *I dsg , U bat is the actual voltage of the battery, I dsg The maximum discharge current allowed by the battery.

[0103] It should be noted that, in practice, we can first use the formula P dsg =U bat *I dsg Calculate P dsg Then, T is calculated according to formula (5) A_max , T can also be directly calculated according to the equivalent transformation of formula (5) A_max For example, an equivalent transformation of formula (5) is the following formula (6):

[0104] T A_max =(U bat *I dsg *k) / Pedal spd (6)

[0105] In one example, the second threshold absolute value satisfies the following formula (7):

[0106] T R_max =(P rechg *k) / Pedal spd (7)

[0107] Among them, T R_max is the second threshold, P rechg The maximum regenerative power currently allowed by the battery indicates the maximum power that the battery can absorb under the current working conditions. spd The meanings of and k refer to the above description of Pedal in formula (5). spd and k. P rechg =U bat *I rechg , U bat and U in the previous article bat Same meaning, I rechg The maximum regenerative current allowed by the battery.

[0108] It should be noted that, in practice, we can first use the formula P rechg =U bat *I rechg Calculate P rechg Then, T is calculated according to formula (7) R_max , T can also be directly calculated according to the equivalent transformation of formula (7) R_max . Exemplarily, an equivalent transformation of formula (7) is the following formula (8):

[0109] T A_max =(U bat *I rechg *k) / Pedal spd (8)

[0110] For example, k in the above formula is 9550, and accordingly, T A_max and T R_max The unit is Newton-meter (N-m). It should be understood that the present application does not limit the value of k, and the value of k may also be other values ​​commonly used in the art.

[0111] The method 100 may be performed after the power-assisted bicycle enters the training mode. For example, a corresponding operation by a user on a display screen on the power-assisted bicycle or an App or applet on an electronic device may cause the power-assisted bicycle to enter the training mode.

[0112] As mentioned above, the parameters of the training mode may also include a target training distance. In some embodiments, the target training distance may also be obtained, and when the user's current riding distance is less than or equal to the target training distance, the above method 100 is executed, and when the user's current riding distance is equal to the target training distance, the training mode may be ended (or exited).

[0113] Based on this solution, users can switch freely between normal power-assist mode and training mode to meet the different needs of daily commuting and professional training.

[0114] In a possible implementation, ending the training mode specifically includes: controlling the motor to stop working.

[0115] For example, after the training mode ends, the motor automatically returns to the OFF position and waits for the user to switch the gear again; after entering the OFF position, the motor stops working.

[0116] The above describes the power-assisted bicycle control method provided by the embodiment of the present application. The embodiment of the present application also provides a power-assisted bicycle, which may include Figure 3 A control system 300 is shown.

[0117] See also Figure 3 , Figure 3 3 is a schematic diagram of a control system 300 in a power-assisted bicycle provided in an embodiment of the present application. The control system 300 includes a cadence acquisition module 310, a wheel speed acquisition module 320, a slope acquisition module 330, an output torque planning module 340, and a motor control module 350. In some embodiments, the function of the output torque planning module 340 can be integrated into the motor control module 350.

[0118] The control system 300 may obtain parameters set by the user, such as target slope information and target training distance.

[0119] In some embodiments, the power-assisted bicycle may further include an information interaction module 360. The control system 300 may obtain parameters set by the user through the information interaction module 360. Specifically, the user may set the parameters of the training mode through the information interaction module 360, and may start or end the training mode through the information interaction module 360. The information interaction module 360 ​​may provide the parameters of the training mode to the control system 300 and instruct the control system 300 to start or end the training mode. For the parameters of the training mode, reference may be made to the relevant description in the method 100, which will not be repeated here. Exemplarily, the information interaction module 360 ​​may be a human-machine interface (HMI).

[0120] The cadence acquisition module 310 is used to acquire the pedaling speed of the user. For example, the cadence acquisition module 310 may be a cadence sensor.

[0121] Wheel speed collection module 320: used to collect the speed of the power-assisted bicycle, and the riding distance of the user can be calculated according to the speed of the power-assisted bicycle.

[0122] Slope acquisition module 330: used to obtain slope information of real-time road conditions.

[0123] The output torque planning module 340 is used to determine the target output torque described above, determine the output torque of the motor according to the target output torque and the output torque threshold of the motor, and output the determined output torque of the motor to the motor control module 350 .

[0124] The output torque planning module 340 can be used with Figure 3 The battery management module 370 of the power-assisted bicycle interacts with the battery management module 370. Specifically, the battery management module 370 is used to monitor the operating status of the battery, monitor and collect the status parameters of the battery, analyze and calculate the status parameters, etc. Exemplarily, the state parameters of the battery may include the state of power (SOP). SOP is used to describe the maximum power that the battery can safely provide in the current state. SOP is calculated based on factors such as the current voltage, temperature, and state of charge (SOC) of the battery. SOP can provide information such as the maximum discharge current currently allowed by the battery and the maximum feedback current currently allowed by the battery.

[0125] In some embodiments, the battery management module 370 may calculate the output torque threshold of the motor described above according to the state parameters of the battery (eg, SOP).

[0126] In other embodiments, the battery management module 370 may provide the output torque planning module 340 with the battery status parameters, so that the output torque planning module 340 may calculate the output torque threshold of the motor according to the battery status parameters.

[0127] For details on how to calculate the output torque threshold of the motor, please refer to the previous related content, which will not be repeated here.

[0128] It should be understood that the specific operations performed by the output torque planning module 340 can refer to the description of S110 to S130 above, which will not be repeated here.

[0129] In one example, the battery management module 370 may be a battery management system (BMS).

[0130] The motor control module 350 controls the motor 380 of the power-assisted bicycle according to the output torque of the motor input by the output torque planning module 340. In one example, the motor control module 350 is a FOC module.

[0131] Combine the following Figure 3 The control system 300 shown is used to illustrate a specific example of the power-assisted bicycle control method provided in the embodiment of the present application.

[0132] Figure 4 This is a schematic flow chart of a specific example of the power-assisted bicycle control method provided in the embodiment of the present application. The steps of the flow chart are described below. It should be understood that Figure 4 For concepts or terms in the method shown that are the same as those in method 100 , unless otherwise specifically described below, reference may be made to the contents in method 100 . Figure 4 The modules involved are Figure 3 The corresponding modules shown, such as Figure 4 The output torque planning module in is Figure 3 The output torque planning module 340 in.

[0133] S401, the output torque planning module obtains the parameters of the training mode set by the user from the information interaction module.

[0134] Exemplarily, the output torque planning module may obtain the parameters of the training mode when the user starts the training mode.

[0135] Exemplarily, the parameters of the training mode may include target slope information, target training distance, and user quality.

[0136] S402, the pedaling frequency acquisition module, the wheel speed acquisition module and the slope acquisition module respectively send the collected pedaling speed of the user, the speed of the power-assisted bicycle and the current slope information to the output torque planning module.

[0137] The embodiments of the present application do not limit the timing when the cadence acquisition module, wheel speed acquisition module, and slope acquisition module send corresponding parameters to the torque planning module. For example, after the torque planning module receives the parameters of the training mode, it can obtain the corresponding parameters from the cadence acquisition module, wheel speed acquisition module, and slope acquisition module. For another example, after the power-assisted bicycle is powered on, the cadence acquisition module, wheel speed acquisition module, and slope acquisition module can send corresponding parameters to the torque planning module.

[0138] S403, the battery management module sends the battery status parameters to the output torque planning module.

[0139] For example, the battery status parameters may include the maximum feedback current currently allowed by the battery, the maximum discharge current currently allowed by the battery, and the current actual voltage of the battery.

[0140] S404: The output torque planning module determines the target output torque according to the target slope information and the current slope information.

[0141] For example, the output torque planning module can determine the target output torque according to the above formula (4).

[0142] S405: The output torque planning module determines a first threshold and a second threshold according to the state parameters of the battery and the pedaling speed of the user.

[0143] For example, the battery management module may determine the first threshold value according to the aforementioned formula (6), and determine the second threshold value according to the aforementioned formula (8).

[0144] S406: The output torque planning module determines the output torque of the motor according to the target output torque and the first threshold, or according to the target output torque and the second threshold.

[0145] For details on how to implement S406, please refer to the above description of S130, which will not be repeated here.

[0146] S407 , controlling the motor according to the output torque of the motor determined in S406 .

[0147] It should be understood that the purpose of S407 is to make the actual output torque of the motor the output torque of the motor determined in S406 .

[0148] In summary, according to the power-assisted bicycle control method provided in the embodiment of the present application, the output torque planning module can determine and control the output torque of the motor based on the parameters obtained from the cadence acquisition module, the wheel speed acquisition module, the slope acquisition module and the battery management module, as well as the parameters input by the user, so as to provide assistance or resistance to the user's riding, thereby achieving the purpose of simulating a training environment with a slope set by the user.

[0149] Figure 5 This is another specific example of a schematic flow chart of the power-assisted bicycle control method provided in the embodiment of the present application. The steps of the flow chart are described below. It should be understood that Figure 4 If the concepts or terms in the method shown are the same as those in method 100, they can all refer to the content in method 100 unless otherwise specified below. Figure 5 The method shown and Figure 1 The execution body of the method 100 shown can be the same, for example Figure 5 The method shown can be Figure 3 The control system 300 shown performs.

[0150] S501, determining whether the power-assisted bicycle enters a training mode.

[0151] If the power-assisted bicycle enters the training mode, S502 is executed; otherwise, S501 is continued to be executed.

[0152] Exemplarily, if a first operation of the user is received, it is determined that the power-assisted bicycle enters the training mode. The first operation may be a corresponding operation of the user on a display screen on the power-assisted bicycle.

[0153] For example, the user enters the training mode editing interface through the display screen on the bicycle, sets the relevant parameters of the training mode (such as target slope information and target training distance), and clicks the "OK" control on the interface, and the power-assisted bicycle enters the training mode, where the "OK" control is used to control the power-assisted bicycle to enter the training mode.

[0154] Exemplarily, if instruction information sent by an electronic device connected to the power-assisted bicycle is received, it is determined that the power-assisted bicycle enters the training mode, wherein the instruction information is used to instruct the power-assisted bicycle to enter the training mode.

[0155] For example, the user enters the training mode editing interface through the corresponding App or applet on the electronic device, sets the relevant parameters of the training mode (such as target slope information and target training distance), and clicks the "OK" control on the interface, and the electronic device sends the instruction information to the power-assisted bicycle. The power-assisted bicycle enters the training mode according to the instruction information.

[0156] S502, determining a target output torque of the motor according to the current slope information and the target slope information.

[0157] S503: Determine the output torque of the motor according to the target output torque and the output torque threshold of the motor.

[0158] For details about S503 and S504, please refer to the relevant description in the method 100 above, which will not be repeated here.

[0159] S504 , controlling the operation of the motor according to the output torque of the motor determined in S503 .

[0160] In this step, controlling the operation of the motor means controlling the actual output torque of the motor to be the output torque of the motor determined in S504 .

[0161] S505: Determine whether the user's current riding distance is equal to the target training distance.

[0162] If the user's current riding distance is equal to the target training distance, execute S506 ; otherwise, execute S502 .

[0163] S506, controlling the motor to stop running.

[0164] Controlling the motor to stop running is used to make the power-assisted bicycle exit the training mode.

[0165] According to the method provided in the embodiment of the present application, the user can flexibly set the training parameters (i.e., the parameters of the training mode) according to their own needs. After the power-assisted bicycle enters the training mode, by controlling the output torque of the motor, it can provide power or resistance for the user's riding, so as to simulate the training environment set by the user, and achieve the purpose of training through the power-assisted bicycle. In addition, the user can freely switch between the normal power-assisted mode and the training mode to meet the different needs of daily commuting and professional training.

[0166] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0167] Figure 6 Schematic diagram of a power-assisted bicycle control device provided in an embodiment of the present application. The power-assisted bicycle is provided with a motor. Figure 6 , the device 600 may include an acquisition module 610 , a determination module 620 and a control module 630 .

[0168] The acquisition module 610 is used to obtain the target slope information of the power-assisted bicycle set by the user; the determination module 620 is used to determine the target output torque of the motor according to the current slope information and the target slope information, wherein the current slope information is the slope information of the road on which the power-assisted bicycle is currently traveling; the control module 630 is used to control the output torque of the motor according to the target output torque and the output torque threshold of the motor.

[0169] In one possible implementation, the output torque threshold includes a first threshold and / or a second threshold, the first threshold is the maximum torque of the motor's forward output, and the second threshold is the maximum torque of the motor's reverse output; the control module 630 is specifically used for one or more of the following: when the target output torque is a forward torque and the target output torque is less than or equal to the first threshold, the output torque is controlled to be the target output torque; when the target output torque is a forward torque and the target output torque is greater than the first threshold, the output torque is controlled to be the first threshold; when the target output torque is a reverse torque and the absolute value of the target output torque is less than or equal to the second threshold, the output torque is controlled to be the target output torque; or, when the target output torque is a reverse torque and the absolute value of the target output torque is greater than the second threshold, the output torque is controlled to be a reverse torque and the absolute value of the output torque is controlled to be the second threshold.

[0170] In a possible implementation, the target output torque satisfies:

[0171] T mot =ΔF*R,

[0172] Among them, T mot is the target output torque, ΔF represents the difference between the target slope resistance and the current slope resistance, the target slope resistance represents the slope resistance when the slope is the slope indicated by the target slope information, the current slope resistance represents the slope resistance when the slope is the slope indicated by the current slope information, and R is the wheel radius of the power-assisted bicycle.

[0173] In a possible implementation, the target slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ set The current slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ current The product, where θ set is the angle of the slope indicated by the target slope information, θ current is the angle of the slope indicated by the target slope information.

[0174] In a possible implementation, the first threshold is determined according to the pedaling speed of the user, the current maximum allowable discharge current of the battery of the power-assisted bicycle, and the current actual voltage of the battery; and / or the second threshold is determined according to the pedaling speed of the user, the current maximum allowable feedback current of the battery of the power-assisted bicycle, and the current actual voltage of the battery.

[0175] In a possible implementation manner, the first threshold satisfies:

[0176] T A_max =(P dsg *9660) / Pedal spd , and / or,

[0177] The second threshold satisfies:

[0178] T R_max =(P rechg *9660) / Pedal spd ;

[0179] Among them, T A_max is the first threshold, P dsg The maximum output power currently allowed by the battery, Pedal spd is the pedaling speed of the user, T R_max is the second threshold, P rechg is the maximum regenerative power currently allowed by the battery, T A_max and T R_max The unit is Newton meter.

[0180] In a possible implementation, the acquisition unit is further used to acquire the target riding distance set by the user; the control unit is further used to stop the motor from working when the actual riding distance of the user is equal to the target riding distance.

[0181] It should be noted that the information interaction, execution process and other contents between the modules in the above-mentioned device 600 are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0182] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment 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 software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0183] Figure 7 is a schematic diagram of the structure of another power-assisted bicycle control device provided in an embodiment of the present application. Figure 7 , the apparatus 700 may include: at least one processor 710 ( Figure 7 Only one processor is shown in the figure). Optionally, the apparatus 700 may also include a memory 720 and a computer program 730 stored in the memory 720 and executable on the at least one processor 710. The processor 710 is used to implement the method in any of the above method embodiments. Exemplarily, when the processor 710 executes the computer program 730, the method in any of the above method embodiments is implemented.

[0184] The processor 710 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0185] In some embodiments, the memory 720 may be an internal storage unit of the power-assisted bicycle, such as a hard disk or memory provided in the power-assisted bicycle. In other embodiments, the memory 720 may also be an external storage device of the power-assisted bicycle, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the power-assisted bicycle. Furthermore, the memory 720 may also include both an internal storage unit and an external storage device of the power-assisted bicycle. The memory 720 is used to store an operating system, an application program, a boot loader, data, and other programs, such as the program code of the computer program. The memory 720 may also be used to temporarily store data that has been output or is to be output.

[0186] Figure 8 800 is a schematic diagram of the structure of a power-assisted bicycle 800 provided in an embodiment of the present application. Figure 8 The power-assisted bicycle 800 includes: Figure 6 The device 600 is shown.

[0187] Alternatively, the power-assisted bicycle 800 includes: Figure 7 The device 700 is shown.

[0188] The present application also provides a power-assisted bicycle. The structure of the power-assisted bicycle can be Figure 7 The structure of the device 700 shown is the same. The processor in the power-assisted bicycle is used to implement the method in any of the above method embodiments. Exemplarily, the processor in the power-assisted bicycle implements the method in any of the above method embodiments when executing the processor computer program 730 in the power-assisted bicycle.

[0189] The embodiments of the present application also provide a power-assisted bicycle, which can execute the method in any of the above method embodiments.

[0190] Exemplarily, the power-assisted bicycle in the embodiment of the present application may be an electric power-assisted bicycle such as an electric bicycle, an electric motorcycle or an electric power-assisted bicycle.

[0191] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0192] An embodiment of the present application provides a computer program product. When the computer program product is run on a power-assisted bicycle, the power-assisted bicycle can implement the steps in the above-mentioned various method embodiments.

[0193] It should be noted that the above-mentioned computer-readable storage medium can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM) and other memories; it can also be various electronic devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0194] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0195] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart 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, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0196] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0197] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0198] The above are merely exemplary embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A power-assisted bicycle control method, characterized in that: The power-assisted bicycle is provided with a motor, and the method comprises: Acquiring target slope information of the power-assisted bicycle set by a user; Determining the target output torque of the motor according to the current slope information and the target slope information, wherein the current slope information is the slope information of the road on which the power-assisted bicycle is currently traveling; The output torque of the motor is controlled according to the target output torque and an output torque threshold of the motor.

2. The method according to claim 1, characterized in that The output torque threshold includes a first threshold and / or a second threshold, the first threshold is the maximum torque output by the motor in the forward direction, and the second threshold is the maximum torque output by the motor in the reverse direction; The controlling the output torque of the motor according to the target output torque and the output torque threshold of the motor includes one or more of the following: When the target output torque is a positive torque and the target output torque is less than or equal to the first threshold, controlling the output torque to be the target output torque; When the target output torque is a positive torque and the target output torque is greater than the first threshold, controlling the output torque to be the first threshold; When the target output torque is a reverse torque and the absolute value of the target output torque is less than or equal to the second threshold, the output torque is controlled to be the target output torque; or, When the target output torque is a reverse torque and the absolute value of the target output torque is greater than the second threshold, the output torque is controlled to be a reverse torque and the absolute value of the output torque is controlled to be the second threshold.

3. The method according to claim 1 or 2, characterized in that The target output torque satisfies: T mot =ΔF*R, Among them, T mot is the target output torque, ΔF represents the difference between the target slope resistance and the current slope resistance, the target slope resistance represents the slope resistance when the slope is the slope indicated by the target slope information, the current slope resistance represents the slope resistance when the slope is the slope indicated by the current slope information, and R is the wheel radius of the power-assisted bicycle.

4. The method according to claim 3, characterized in that The target slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ set The current slope resistance is the sum of the gravity of the power-assisted bicycle and the user and sinθ current The product, where θ set is the angle of the slope indicated by the target slope information, θ current is the angle of the slope indicated by the target slope information.

5. The method according to claim 2, characterized in that The first threshold is determined according to the pedaling speed of the user, the current maximum discharge current allowed by the battery of the power-assisted bicycle, and the current actual voltage of the battery; and / or, The second threshold is determined according to the pedaling speed of the user, the maximum regenerative current currently allowed by the battery of the power-assisted bicycle, and the current actual voltage of the battery.

6. The method according to claim 5, characterized in that The first threshold satisfies: T A_max =(P dsg *9550) / Pedal spd , and / or, The second threshold satisfies: T R_max =(P rechg *9550) / Pedal spd ; Among them, T A_max is the first threshold, P dsg The maximum output power currently allowed by the battery, Pedal spd is the pedaling speed of the user, T R_max is the second threshold, P rechg is the maximum regenerative power currently allowed by the battery, T A_max and T R_max The unit is Newton·meter (N·m).

7. The method according to claim 1 or 2, characterized in that: The method further comprises: Obtaining the target riding distance set by the user; When the actual riding distance of the user is equal to the target riding distance, the motor is controlled to stop working.

8. A power-assisted bicycle control device, characterized in that: The power-assisted bicycle is provided with a motor, including: An acquisition module, used for acquiring target slope information of the power-assisted bicycle set by a user; a determination module, configured to determine a target output torque of the motor according to current slope information and the target slope information, wherein the current slope information is slope information of a road on which the power-assisted bicycle is currently traveling; A control module is used to control the output torque of the motor according to the target output torque and an output torque threshold of the motor.

9. A power-assisted bicycle, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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