Motorcycle and control method thereof

Abstract

The invention provides a motorcycle and a control method thereof.The control method of the motorcycle comprises the steps that vehicle information of the motorcycle is collected through an attitude sensor and sent to a power controller through an electronic stabilization system, and the vehicle information comprises a vertical acceleration signal and a roll angle speed signal; if the acceleration signal in the vertical direction is larger than or equal to the target acceleration threshold value and the roll angle speed signal is larger than or equal to the target angular speed threshold value, it is determined that the motorcycle rolls over, and the driving device is controlled to interrupt power output. The safety of driving the motorcycle can be improved.

Description

Technical Field

[0001] The present application belongs to the field of two-wheeled motor vehicles, and in particular, relates to a motorcycle and a control method thereof. Background Art

[0002] A motorcycle is a two-wheeled motor vehicle. During the driving process, if the motorcycle rider cannot keep the motorcycle body balanced, it will cause the motorcycle to fall. For example, when turning, the motorcycle rider may press the motorcycle body too low and lose balance, causing the motorcycle to fall. Another example is that due to environmental factors (such as rainy and snowy weather), the motorcycle body loses control and causes the motorcycle to fall.

[0003] When a motorcycle falls, the motorcycle engine will continue to run, posing a threat to the safety of the motorcycle rider or the user riding the motorcycle. At the same time, when the motorcycle falls, the motorcycle engine continues to run, which will also increase the degree of damage to the mechanical parts. Therefore, a solution that can improve the safety of motorcycles is urgently needed. Summary of the invention

[0004] The embodiment of the present application discloses a motorcycle and a control method thereof, which solves the technical problem of low safety caused by the motorcycle rolling over and failure to interrupt power output in time.

[0005] The present application provides a motorcycle, comprising a body; wheels, including a front wheel and a rear wheel; a suspension system, including a front suspension and a rear suspension, wherein the front wheel is connected to the body via the front suspension, and the rear wheel is connected to the body via the rear suspension; a control system, arranged on the body, for controlling the operation of the motorcycle; an electronic stability system, arranged on the body, for forwarding vehicle information collected by a posture sensor of the motorcycle, wherein the vehicle information includes a vertical acceleration signal and a roll angular velocity signal; a drive device, arranged on the body, for driving at least one of the front wheel and the rear wheel; a power controller, wherein the power controller can determine the state of the motorcycle according to the signal transmitted by the electronic stability system; when the motorcycle rolls over, the power controller controls the drive device to interrupt power output.

[0006] In some optional embodiments of the present application, the vehicle information collected by the posture sensor also includes a roll angle, and the motorcycle further includes: when the power controller determines that the motorcycle has rolled over based on the vertical acceleration signal, the roll angular velocity signal and the roll angle collected by the sensor, controlling the drive device to interrupt power output.

[0007] In some optional embodiments of the present application, the motorcycle also includes a body controller: the body controller is arranged on the body, and is used to determine the road condition information of the road on which the motorcycle is traveling; the body controller sends the road condition information to the electronic stability system; the power controller determines the target acceleration threshold and target angular velocity threshold for judging whether the motorcycle rolls over by receiving the road condition information sent by the electronic stability system.

[0008] In some optional embodiments of the present application, the motorcycle also includes a spring pressure sensor: the spring pressure sensor is arranged on the vehicle body, and is used to detect the compression of the vehicle spring, and send the compression to the body controller; the body controller obtains the weight of the user riding the motorcycle based on the compression and the standard weight parameter of the motorcycle; the body controller obtains the road condition information based on the deformation of the spring obtained according to the standard weight parameter and the weight of the user.

[0009] In some optional embodiments of the present application, the engine also includes a throttle, an injector, and an ignition coil: when it is determined that the motorcycle has overturned, the power controller is used to control the throttle to close, and is also used to control the injector to close so that the injection amount of the injector is zero, and is also used to control the ignition coil to stop igniting.

[0010] The present application also provides a control method for a motorcycle, which is applied to a motorcycle, wherein the motorcycle includes a posture sensor, an electronic stability system, a drive device and a power controller, and the method includes: collecting vehicle information of the motorcycle through the posture sensor, and sending the vehicle information to the power controller through the electronic stability system, wherein the vehicle information includes a vertical acceleration signal and a roll angular velocity signal; if the vertical acceleration signal is greater than or equal to a target acceleration threshold, and the roll angular velocity signal is greater than or equal to a target angular velocity threshold, it is determined that the motorcycle has rolled over, and the drive device is controlled to interrupt power output.

[0011] In some optional embodiments of the present application, the vehicle information also includes a roll angle, and the method further includes: if the vertical acceleration signal is greater than or equal to the target acceleration threshold, and the roll angular velocity signal is greater than or equal to the target angular velocity threshold, and the roll angle is greater than or equal to the target angle threshold, it is determined that the motorcycle has rolled over, and the drive device is controlled to interrupt power output.

[0012] In some optional embodiments of the present application, the motorcycle also includes a body controller, and the method also includes: the body controller sends the determined road condition information to the electronic stability system, and sends the road condition information to the power controller through the electronic stability system; the power controller determines the target acceleration threshold and the target angular velocity threshold according to the road condition information, including: if the driving road surface is determined to be a flat road surface according to the road condition information, the first acceleration threshold is determined as the target acceleration threshold, and the first angular velocity threshold is determined as the target angular velocity threshold; or, if the driving road surface is determined to be a non-flat road surface according to the road condition information, the second acceleration threshold is determined as the target acceleration threshold, and the second angular velocity threshold is determined as the target angular velocity threshold; the first acceleration threshold is less than the second acceleration threshold, and the first angular velocity threshold is less than the second angular velocity threshold.

[0013] In some optional embodiments of the present application, the motorcycle also includes a spring pressure sensor, and the method also includes: obtaining a standard weight parameter of the motorcycle; sending the compression of the vehicle spring detected by the spring pressure sensor to the body controller; the body controller obtains the weight of a user driving the motorcycle based on the standard weight parameter and the compression; obtains the deformation of the vehicle spring based on the standard weight parameter and the weight of the user; if the deformation is greater than or equal to a preset deformation threshold, determining that the driving road surface is a non-flat road surface; if the deformation is less than the preset deformation threshold, determining that the driving road surface is a flat road surface.

[0014] In some optional embodiments of the present application, the engine further includes a throttle, an injector, and an ignition coil. When it is determined that the motorcycle has rolled over, the method further includes: controlling the throttle to close; controlling the injector to close so that the amount of fuel injected by the injector is zero; and controlling the ignition coil to stop igniting.

[0015] In the embodiments of the present application, the vertical acceleration signal and the roll angular velocity signal can be detected by the attitude sensor, and the judgment conditions for whether the motorcycle has rolled over can be obtained without the need for additional detection devices. This can improve the accuracy of detecting whether the motorcycle has rolled over to a certain extent, and it can be judged in time whether the motorcycle has rolled over, and the driving device can be controlled to interrupt the power output, thereby improving the safety of the driver or passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a motorcycle provided in an embodiment of the present application.

[0017] Figure 2 This is a flow chart of a motorcycle control method provided in the first embodiment of the present application.

[0018] Figure 3 This is a flow chart of a motorcycle control method provided in the second embodiment of the present application.

[0019] Figure 4 This is a flow chart of a motorcycle control method provided in the third embodiment of the present application.

[0020] Figure 5 This is a structural schematic diagram of a motorcycle provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0021] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given by way of example for reference.

[0022] It should be noted that in this application, "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0023] The embodiments of the present application provide a motorcycle and a control method for the motorcycle, which can determine whether the motorcycle has rolled over by using the vertical acceleration signal and the roll angular velocity signal collected by the sensor. In order to better understand the motorcycle and the control method for the motorcycle provided by the embodiments of the present application, the structure of the motorcycle of the present application is first described below.

[0024] Figure 1 is a schematic diagram of the structure of a motorcycle provided in an embodiment of the present application, such as Figure 1As shown, the motorcycle 10 provided in the embodiment of the present application includes a body 101, wheels 102, a suspension system 103, a control system 104, an electronic stability system 105, a posture sensor 106, a driving device 107, a power controller 108, a body controller 109 and a spring pressure sensor 110. Among them, the wheels 102 include a front wheel 1021 and a rear wheel 1022, the suspension system 103 includes a front suspension 1031 and a rear suspension 1032, the front wheel 1021 is connected to the body 101 through the front suspension 1031, and the rear wheel 1022 is connected to the body 101 through the rear suspension 1032. The control system 104 is arranged on the vehicle body 101 and is used to control the operation of the motorcycle 10. The electronic stability system 105 is arranged on the vehicle body 101 and is used to forward the vehicle information collected by the posture sensor 106 of the motorcycle 10 and the road condition information determined by the vehicle body controller 109. The electronic stability system 105 is also used to adjust the stability of the motorcycle 10. The drive device 107 is connected to the vehicle body 101 and is used to provide power to the motorcycle 10. The power controller 108 is used to determine whether a rollover occurs. The vehicle body controller 109 is used to determine the road condition information of the road surface on which the motorcycle 10 is traveling. The spring pressure sensor 110 is arranged on the wheel 102 and is used to detect the compression amount of the vehicle spring of the wheel 102.

[0025] The driving device 107 may be a motor or an engine.

[0026] In some embodiments of the present application, the motorcycle 10 further includes a bus, the attitude sensor 106 sends the collected signal to the electronic stability system 105 for signal processing or signal forwarding, the electronic stability system 105 sends the signal to the bus, the power controller 108 can collect the signal on the bus, obtain the signal sent by the electronic stability system 105, and can judge the current state of the motorcycle 10, such as rollover, side sliding, power off, parking, ready to drive, and driving, etc. The bus can be an RS485 bus.

[0027] The motorcycle 10 mentioned in the embodiment of the present application can be various types of motorcycles, and the embodiment of the present application does not limit the type of motorcycle.

[0028] In one example, the wheel 102 includes a front wheel 1021 and a rear wheel 1022, such as an electric two-wheeled vehicle, a street car, a sports car, a cruiser, a touring car, a rally car, an off-road vehicle, a flat tire car, a scooter, a curved beam car, etc. In another example, the wheel 102 includes a front wheel 1021 and two rear wheels 1022, such as a three-wheeled motorcycle, etc.

[0029] The electronic stability system 105 mentioned in the embodiment of the present application can be an anti-lock brake system (ABS) and / or a motorcycle stability control system (MSC). The anti-lock brake system is used to prevent the wheels from locking during emergency braking, thereby improving driving safety and stability. The motorcycle stability control system is used to improve the driving stability and safety of the motorcycle.

[0030] The attitude sensor 106 mentioned in the embodiment of the present application can be a six-axis sensor, which is a device that can measure the force and torque applied by an object in six degrees of freedom. The attitude sensor 106 includes an accelerometer and a gyroscope. According to the accelerometer, the acceleration signals of the motorcycle 10 on the X-axis, Y-axis, and Z-axis can be collected, such as the acceleration signal on the Y-axis (vertical acceleration signal). According to the gyroscope, the roll angular velocity signal of the motorcycle 10 on the X-axis, Y-axis, and Z-axis can be collected, such as the roll angular velocity signal on the Y-axis. The attitude sensor 106 also includes three axial force sensors and three axial torque sensors, which can measure the force and torque of the motorcycle 10 on the X-axis, Y-axis, and Z-axis.

[0031] In some embodiments of the present application, the engine also includes a throttle, an injector, and an ignition coil. The power controller 108 is connected to the throttle, the injector, and the ignition coil (not shown in the figure). When the power controller 108 determines that the motorcycle 10 has rolled over, it can control the drive device to interrupt power output (turn off the engine), close the throttle, close the injector, and control the ignition coil to stop ignition, thereby improving the safety of the motorcycle 10 when it rolls over.

[0032] In some embodiments of the present application, the power controller 108 is connected to the body controller 109, which is the hub of information management and communication in the motorcycle 10. The body controller 109 includes body devices (rearview mirrors, doors, trunk), in-car devices (lighting, rear air conditioning, rear control), convenience devices (lighting, side pedals, sun visors) and safety devices (remote keyless entry, anti-start system, alarm system). The body controller 109 can manage various power loads of the motorcycle 10 and has diagnostic functions. In addition, the body controller 109 also provides motor drive technology (DC, PWM wide pulse modulation technology). When the drive device 107 interrupts the power output, it can send an interruption power output signal to the body controller 109 so that the body controller 109 cuts off the power supply.

[0033] The indication Figure 1This is only an example of the motorcycle 10 and does not constitute a limitation of the motorcycle 10. The motorcycle 10 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the motorcycle 10 may also include a charging device, an instrument, a motor controller, etc.

[0034] In order to solve the technical problem that the relevant technology fails to timely determine that the motorcycle has rolled over, resulting in low safety, please refer to Figure 2 As shown, Figure 2 is a flowchart of a motorcycle control method provided by the first embodiment of the present application, which is applied to a motorcycle (e.g. Figure 1 According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted.

[0035] Step S201, collecting vehicle information of the motorcycle through a posture sensor, and sending the vehicle information to a power controller through an electronic stability system.

[0036] In some embodiments of the present application, the sensor installed on the motorcycle may be a posture sensor, through which vehicle information of the motorcycle may be collected. The vehicle information may include signals generated by the motorcycle in the X-axis direction, the Y-axis direction, and the Z-axis direction. For example, the Y-axis direction is called the vertical direction, and the posture sensor may collect vertical acceleration signals, roll angular velocity signals, roll angles, impact forces in the vertical direction, etc.

[0037] In some embodiments of the present application, the electronic stability system includes an anti-lock braking system and / or a motorcycle stability control system. When the sensor collects vehicle information, the vehicle information can be sent to the electronic stability system. In one example, the electronic stability system can analyze the state of the vehicle based on the received vehicle information, for example, to prevent the wheels from locking during emergency braking based on the vehicle information. In another example, in order to allow the electronic stability system to communicate and share data with other systems in the motorcycle, the electronic stability system can send vehicle information to the power controller, so that the electronic stability system can work in conjunction with the power controller.

[0038] In some embodiments of the present application, the electronic stability system can transmit vehicle information to the power controller via a bus. The electronic stability system can also send vehicle information to a bus connected to the power controller, and the power controller can collect vehicle information sent by the electronic stability system from the bus by polling. Polling is a method of periodically sending inquiries.

[0039] Step S202: If the vertical acceleration signal is greater than or equal to the target acceleration threshold, and the roll angular velocity signal is greater than or equal to the target angular velocity threshold, it is determined that the motorcycle has rolled over, and the driving device is controlled to interrupt power output.

[0040] In some embodiments of the present application, after the motorcycle is started, the power controller receives in real time the vertical acceleration signal and the roll angular velocity signal sent by the electronic stability system. If the vertical acceleration signal is greater than or equal to the target acceleration threshold, and the roll angular velocity signal is greater than or equal to the target angular velocity threshold, it is determined that the motorcycle has rolled over.

[0041] In some embodiments of the present application, after it is determined that the motorcycle has rolled over, continuing to run the motorcycle engine will increase the risk of damage to mechanical components. Then, after the power controller determines that the motorcycle has rolled over, it controls the drive device to interrupt power output, and the power controller controls the throttle to close and the injector to close so that the fuel injection amount of the injector is zero, and controls the ignition coil to stop igniting, thereby avoiding mechanical failure of the motorcycle.

[0042] In other embodiments of the present application, after it is determined that the motorcycle has rolled over, continued operation of the motorcycle engine may cause injury to the rider and passengers. For example, because the engine does not interrupt power output, a person may be caught in the wheels. Therefore, the engine can send a power output interruption signal to the body controller to control the wheels to stop running.

[0043] In other embodiments of the present application, after it is determined that the motorcycle has rolled over, a message can also be sent to an emergency contact. For example, the motorcycle includes a local area network, which is a controller area network (CAN) network. When the local area network is a CAN network, at least one CAN bus is provided on the motorcycle. After the communication module is connected to the CAN bus, it obtains the status information of the motorcycle. If a rollover occurs, a prompt message is sent to the emergency contact.

[0044] In the embodiments of the present application, the present application can detect the vertical acceleration signal and the roll angular velocity signal through the attitude sensor, and can obtain the judgment conditions of whether the motorcycle has rolled over without the need for additional detection devices, which can improve the accuracy of detecting whether the motorcycle has rolled over to a certain extent.

[0045] Figure 3 is a flow chart of a control method for a motorcycle provided in the second embodiment of the present application. In order to avoid misjudgment, the motorcycle can also detect the roll angle as one of the conditions for judging the rollover of the motorcycle during driving, such as Figure 3 As shown, the following steps are included:

[0046] Step S301, collecting vehicle information of the motorcycle through a posture sensor, and sending the vehicle information to a power controller through an electronic stability system.

[0047] In some embodiments of the present application, the vehicle information may include a vertical acceleration signal, a roll angular velocity signal, and a roll angle. Figure 2 The description of step S201 in the illustrated embodiment will not be repeated here.

[0048] Step S302, determining whether the vertical acceleration signal is greater than or equal to a target acceleration threshold, whether the roll angular velocity signal is greater than or equal to a target angular velocity threshold, and whether the roll angle is greater than or equal to a target angle threshold.

[0049] In some embodiments of the present application, the target acceleration threshold, the target angular velocity threshold, and the target angle threshold can be preset by the user. The target acceleration threshold can be 9.3 m / s 2 , the target angular velocity threshold may be 20 radians per second (rad / s), and the target angle threshold may be 75°.

[0050] In some other embodiments of the present application, the target acceleration threshold and the target angular velocity threshold can also be dynamically adjusted according to the road condition information of the road on which the motorcycle is traveling (e.g. Figure 4 The present application is not limited to this embodiment.

[0051] In some embodiments of the present application, if the vertical acceleration signal is less than the target acceleration threshold, or the roll angular velocity signal is less than the target angular velocity threshold, or the roll angle is less than the target angle threshold, step S303 is executed.

[0052] In some embodiments of the present application, if the vertical acceleration signal is greater than or equal to the target acceleration threshold, and the roll angular velocity signal is greater than or equal to the target angular velocity threshold, and the roll angle is greater than or equal to the target angle threshold, the process jumps to step S304.

[0053] Step S303, determining that the motorcycle has not rolled over.

[0054] In some embodiments of the present application, if it is determined that the motorcycle has not rolled over, related operations after the rollover will not be performed.

[0055] In other embodiments of the present application, if the attitude sensor detects that the roll angle is a warning angle at this time, a warning prompt is issued to prompt the user to maintain the balance of the vehicle, wherein the vertical direction is the Y axis and the parallel direction is the X axis, and the preset angle can be the deflection angle of the Y axis to the X axis, for example, the warning angle can be 30° or 40°. When the motorcycle rolls over, the deflection angle of the Y axis to the X axis is greater than the warning angle, for example, 75°. The above is just an example, and the warning angle can be set according to the type of motorcycle, and this application is not limited.

[0056] Step S304: determine that the motorcycle has overturned, and control the driving device to interrupt power output.

[0057] In some embodiments of the present application, the specific description of step S304 can be found in Figure 2 Step S202 of the illustrated embodiment.

[0058] In the embodiment of the present application, by simultaneously detecting the vertical acceleration signal, the roll angular velocity signal and the roll angle, it is determined whether the motorcycle has rolled over, which can avoid misjudgment to a certain extent and improve safety.

[0059] Figure 4 This is a flowchart of a motorcycle control method provided by the third embodiment of the present application. Since the road surface on which the motorcycle is driven may be a flat road surface or an uneven road surface, in order to avoid misjudgment, the target acceleration threshold and target angular velocity threshold used to determine whether the motorcycle has rolled over can be dynamically adjusted based on the road condition information. The road condition information can indicate whether the road surface is a flat road surface or an uneven road surface. A flat road surface may refer to a road surface without obstacles, and an uneven road surface may refer to an uneven road surface. Figure 4 The embodiment shown comprises the following steps:

[0060] Step S401, obtaining the standard weight parameter of the motorcycle.

[0061] In some embodiments of the present application, the standard weight parameter of the motorcycle can be determined according to the motorcycle model, and the present application is not limited to this. The body controller can pre-store the standard weight parameter, and the standard weight parameter can be input by the user according to the motorcycle model, and the present application is not limited to this.

[0062] Step S402: sending the compression amount of the vehicle spring detected by the spring pressure sensor to the vehicle body controller.

[0063] In some embodiments of the present application, the spring pressure sensor can be used to detect the compression amount of the vehicle spring of the motorcycle, for example, the compression amount of the spring of the wheel. The body controller can receive the compression amount detected by the spring pressure sensor. Continue to step S403.

[0064] Step S403: the vehicle body controller obtains the weight of the user riding the motorcycle according to the standard weight parameter and the compression amount.

[0065] In some embodiments of the present application, the body controller can calculate the weight of the user based on the standard weight parameter and the compression amount. For example, if there is no user on the motorcycle, the body controller can obtain the initial compression amount. If there is a user on the motorcycle, the difference between the initial compression amount and the compression amount is calculated, and the weight of the user can be inferred based on the difference. The above is just an example, and the actual application is not limited to this. Among them, the compression amount can be collected before the motorcycle starts running.

[0066] In some embodiments of the present application, the weight of the user may also be preset, and the corresponding weight may be set according to the user who frequently uses the motorcycle, and the present application does not limit this.

[0067] Step S404, obtaining the deformation amount of the vehicle spring according to the standard weight parameter and the weight of the user.

[0068] In some embodiments of the present application, the deformation amount of the vehicle spring may be the deformation value generated by the vehicle spring during driving. In this case, the deformation amount may be obtained according to the standard weight parameter and the weight of the user during driving.

[0069] Step S405: determining whether the deformation amount is greater than or equal to a preset deformation threshold.

[0070] In some embodiments of the present application, different driving roads will have different effects on motorcycles. For example, when a motorcycle is driving on an uneven road, the motorcycle needs more force to maintain balance. Under the action of the force, the deformation amount of the vehicle spring will be greater. Therefore, the road condition can be determined according to the deformation amount.

[0071] In some embodiments of the present application, if the deformation amount is greater than or equal to a preset deformation threshold, the process continues to execute step S406 ; if the deformation amount is less than the preset deformation threshold, the process jumps to execute step S407 .

[0072] Step S406, determining that the driving road surface is a non-flat road surface.

[0073] Step S407, determining that the driving road surface is a flat road surface.

[0074] In an embodiment of the present application, by utilizing the road condition information determined by the vehicle body controller, the drive device can dynamically adjust the target angular velocity threshold and the target angular velocity threshold according to the road condition information, reduce errors, and promptly determine whether the motorcycle has rolled over, thereby improving safety.

[0075] Figure 5FIG. 1 is a schematic diagram of the structure of a motorcycle provided by another embodiment of the present application. Figure 5 As shown, the motorcycle 10 also includes, but is not limited to, a memory 109 and a processor 110 , and a computer program stored in the memory 109 and executable on the processor 110 , such as a control program of the motorcycle.

[0076] Those skilled in the art will appreciate that the schematic diagram is merely an example of the motorcycle 10 and does not constitute a limitation on the motorcycle 10 , which may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the motorcycle 10 may also include input and output devices, network access devices, buses, etc.

[0077] The processor 110 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. The processor 110 is the computing core and control center of the motorcycle 10, and uses various interfaces and lines to connect various parts of the entire motorcycle 10, and obtain the control system of the motorcycle 10 and various installed applications, program codes, etc.

[0078] The processor 110 obtains the control system of the motorcycle 10 and various installed applications. The processor 110 obtains the application to implement the steps in the above-mentioned various motorcycle control method embodiments, such as Figure 2 .

[0079] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 109 and acquired by the processor 110 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the acquisition process of the computer program in the motorcycle 10.

[0080] The memory 109 can be used to store computer programs and / or modules. The processor 110 implements various functions of the motorcycle 10 by running or acquiring computer programs and / or modules stored in the memory 109 and calling data stored in the memory 109. The memory 109 can mainly include a program storage area and a data storage area, wherein the program storage area can store the control system, at least one application required for a function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the vehicle-mounted device, etc. In addition, the memory 109 can include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0081] The memory 109 may be an external memory and / or an internal memory of the motorcycle 10. Further, the memory 109 may be a memory in a physical form, such as a memory stick, a TF card (Trans-flash Card), and the like.

[0082] If the modules / units integrated in the motorcycle 10 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is obtained by the processor 110, it can implement the steps of the above-mentioned motorcycle control method embodiment.

[0083] The computer program includes computer program code, which may be in source code form, object code form, an accessible file or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM).

[0084] Combination Figure 2 The memory 109 in the motorcycle 10 stores a plurality of instructions to implement a control method for the motorcycle, and the processor 110 can obtain a vertical acceleration signal and a roll angular velocity signal, thereby determining whether the motorcycle has rolled over.

[0085] Specifically, the specific implementation method of the processor 110 for the above instructions can refer to Figure 2 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0086] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division, and there may be other division methods in actual implementation. The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0087] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A motorcycle, comprising: Vehicle body; Wheels, including front wheels and rear wheels; A suspension system, comprising a front suspension and a rear suspension, wherein the front wheels are connected to the vehicle body via the front suspension, and the rear wheels are connected to the vehicle body via the rear suspension; A control system, arranged on the motorcycle body, for controlling the operation of the motorcycle; An electronic stability system, arranged on the vehicle body, for forwarding vehicle information collected by a posture sensor of the motorcycle, wherein the vehicle information includes a vertical acceleration signal and a roll angular velocity signal; A driving device, disposed on the vehicle body, the driving device being used to drive at least one of the front wheel and the rear wheel; a power controller capable of determining a state of the motorcycle based on a signal transmitted by the electronic stability system; Features: When the motorcycle rolls over, the power controller controls the driving device to interrupt power output.

2. The motorcycle according to claim 1, characterized in that: The vehicle information collected by the attitude sensor also includes a roll angle. When the vertical acceleration signal, the roll angular velocity signal and the roll angle all exceed preset values, the power controller controls the drive device to interrupt power output.

3. The motorcycle according to claim 1, characterized in that: The motorcycle further comprises a body controller: the body controller is arranged on the vehicle body and is used to determine the road condition information of the road on which the motorcycle is traveling; The vehicle body controller sends the road condition information to the electronic stability system; The power controller determines a target acceleration threshold and a target angular velocity threshold for judging whether the motorcycle has rolled over by receiving the road condition information sent by the electronic stability system.

4. The motorcycle according to claim 3, characterized in that: The motorcycle further comprises a spring pressure sensor: the spring pressure sensor is arranged on the vehicle body, and is used to detect the compression amount of the vehicle spring, and send the compression amount to the vehicle body controller; The body controller obtains the weight of the user riding the motorcycle according to the compression amount and the standard weight parameter of the motorcycle; The vehicle body controller obtains the road condition information based on the deformation of the spring obtained according to the standard weight parameter and the weight of the user.

5. The motorcycle according to claim 1, characterized in that: The motorcycle also includes a throttle, a fuel injector, and an ignition coil: When it is determined that the motorcycle has overturned, the power controller is used to control the throttle valve to close, and is also used to control the injector to close so that the injection amount of the injector is zero, and is also used to control the ignition coil to stop ignition.

6. A motorcycle control method, applied to a motorcycle, characterized in that: The motorcycle includes a posture sensor, an electronic stability system, a drive device and a power controller, and the method includes: The vehicle information of the motorcycle is collected by the attitude sensor, and the vehicle information is sent to the power controller by the electronic stability system, wherein the vehicle information includes a vertical acceleration signal and a roll angular velocity signal; If the vertical acceleration signal is greater than or equal to a target acceleration threshold, and the roll angular velocity signal is greater than or equal to a target angular velocity threshold, it is determined that the motorcycle has rolled over, and the drive device is controlled to interrupt power output.

7. The control method of a motorcycle according to claim 6, characterized in that: The vehicle information also includes a roll angle, and the method further includes: If the vertical acceleration signal is greater than or equal to the target acceleration threshold, and the roll angular velocity signal is greater than or equal to the target angular velocity threshold, and the roll angle is greater than or equal to the target angle threshold, it is determined that the motorcycle has rolled over, and the drive device is controlled to interrupt power output.

8. The control method of a motorcycle according to claim 6, characterized in that: The motorcycle further includes a body controller, and the method further includes: The vehicle body controller sends the determined road condition information to the electronic stability system, and the electronic stability system sends the road condition information to the power controller; The power controller determines the target acceleration threshold and the target angular velocity threshold according to the road condition information, including: If the driving road surface is determined to be a flat road surface according to the road condition information, the first acceleration threshold is determined as the target acceleration threshold, and the first angular velocity threshold is determined as the target angular velocity threshold; or, If the driving road surface is determined to be a non-flat road surface according to the road condition information, the second acceleration threshold is determined as the target acceleration threshold, and the second angular velocity threshold is determined as the target angular velocity threshold; The first acceleration threshold is smaller than the second acceleration threshold, and the first angular velocity threshold is smaller than the second angular velocity threshold.

9. The control method of a motorcycle according to claim 8, characterized in that: The motorcycle further includes a spring pressure sensor, and the method further includes: Obtaining a standard weight parameter of the motorcycle; sending the compression amount of the vehicle spring detected by the spring pressure sensor to the vehicle body controller; The vehicle body controller obtains the weight of the user riding on the motorcycle according to the standard weight parameter and the compression amount; Obtaining a deformation amount of the vehicle spring according to the standard weight parameter and the weight of the user; If the deformation amount is greater than or equal to a preset deformation threshold, determining that the driving road surface is an uneven road surface; If the deformation amount is less than a preset deformation threshold, it is determined that the driving road surface is a flat road surface.

10. The control method of a motorcycle according to claim 6, characterized in that: The driving device is an engine, and the engine includes a throttle, an injector, and an ignition coil. When it is determined that the motorcycle has overturned, the method further includes: Controlling the throttle valve to close; Controlling the fuel injector to close so that the fuel injection amount of the fuel injector is zero; The ignition coil is controlled to stop ignition.

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