Tricycle balance control method

Abstract

The invention provides a tricycle vehicle balance control method, and belongs to the technical field of vehicle control, and the method comprises the steps: obtaining the actual measurement data of a vehicle under the condition that the vehicle runs, the actually-measured data comprises an actually-measured vehicle speed of the vehicle collected by the vehicle speed sensor, an actually-measured steering angle of the vehicle collected by the steering wheel angle sensor and an actually-measured inclination angle of the vehicle collected by the roll angle sensor; the actually measured inclination angle is the measured inclination angle of the inclination part of the vehicle relative to the non-inclination part of the vehicle; based on the mass distribution of the inclined part and the non-inclined part and the measured data, establishing a moment balance model to obtain a calculation result; and according to the calculation result, the roll motor is controlled to carry out balance control on the vehicle.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of vehicle control, and in particular to a method for controlling the balance of a tricycle. Background Art

[0002] With the widespread use of smaller vehicles such as bicycles, battery vehicles or tricycles, more and more attention has been paid to the safety of such vehicles. In particular, the center of gravity of such vehicles will shift when turning, making the vehicle prone to tipping over. The prior art usually uses the detected vehicle speed, steering angle and tilt angle to control the balance of the vehicle for controlling the rollover of the vehicle. The detected tilt angle is the tilt angle of the driving wheel relative to the road surface or the tilt angle of the vehicle body relative to the road surface. However, since there is also an angle deviation between the driving wheel and the vehicle body, the vehicle will still roll at a large angle during the control process. Summary of the invention

[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for balance control of a three-wheeled vehicle.

[0004] According to a first aspect of the present disclosure, an embodiment of a vehicle balance control method for a three-wheeled vehicle is provided, wherein the vehicle includes a vehicle speed sensor, a steering wheel angle sensor, a roll angle sensor, and a roll motor, and the method includes:

[0005] When the vehicle is traveling, obtaining measured data of the vehicle, wherein the measured data includes a measured vehicle speed collected by the vehicle speed sensor, a measured steering angle of the vehicle collected by the steering wheel angle sensor, and a measured tilt angle of the vehicle collected by the roll angle sensor, wherein the measured tilt angle is a measured tilt angle of an inclined portion of the vehicle relative to a non-inclined portion of the vehicle;

[0006] Based on the mass distribution of the inclined portion and the non-inclined portion and the measured data, a moment balance model is established to obtain a calculation result;

[0007] According to the calculation result, the roll motor is controlled to perform balance control on the vehicle.

[0008] Optionally, the method according to claim 1 is characterized in that the establishing of a moment balance model based on the mass distribution of the inclined portion and the non-inclined portion and the measured data to obtain a calculation result comprises:

[0009] Establishing a torque balance model according to the measured vehicle speed, the measured steering angle, and the mass distribution of the inclined portion and the non-inclined portion to obtain a desired inclination angle;

[0010] The deviation angle between the measured tilt angle and the expected tilt angle is determined and used as a calculation result.

[0011] Optionally, the moment balance model includes a first equation reflecting the balance of gravity and centrifugal force between the inclined portion and the non-inclined portion of the vehicle, a second equation reflecting a first turning radius of the inclined portion of the vehicle, and a third equation reflecting a second turning radius of the non-inclined portion of the vehicle;

[0012] The step of establishing a torque balance model according to the measured vehicle speed, the measured steering angle, and the mass distribution between the inclined portion and the non-inclined portion to obtain a desired inclination angle includes:

[0013] The measured vehicle speed is input into the first equation, and the measured steering angle is input into the second equation and the third equation respectively to obtain the expected tilt angle.

[0014] Optionally, the measured data also includes a road surface inclination angle;

[0015] When the measured road surface inclination angle is 0, the first equation is that the sum of the first centrifugal force component and the second centrifugal force component is equal to the first gravity component; wherein the first centrifugal force component is the product of the first centrifugal force, the mass center height of the inclined portion and the cosine value of the desired inclination angle, the second centrifugal force component is the product of the second centrifugal force and the mass center height of the non-inclined portion, and the first gravity component is the product of the first gravity and the sine value of the desired inclination angle; the first centrifugal force is obtained based on the mass of the inclined portion, the measured vehicle speed and the first turning radius, the second centrifugal force is obtained based on the mass of the non-inclined portion, the measured vehicle speed and the second turning radius, and the first gravity is obtained based on the mass and mass center height of the inclined portion;

[0016] When the measured road surface inclination angle is not 0, the first equation is that the sum of the third centrifugal force component and the fourth centrifugal force component is equal to the sum of the second gravity component and the third gravity component; wherein the third centrifugal force component is the product of the first centrifugal force, the center of mass height of the inclined portion and the cosine value of the target inclination angle, the fourth centrifugal force component is the product of the second centrifugal force, the center of mass height of the inclined portion and the cosine value of the road surface inclination angle, the second gravity component is the product of the second gravity, the center of mass height of the non-inclined portion and the sine value of the road surface inclination angle, and the third gravity component is the product of the first gravity, the center of mass height of the inclined portion and the sine value of the target inclination angle; the target inclination angle is the sum of the expected inclination angle and the road surface inclination angle.

[0017] Optionally, the second equation is the sum of the square of the first component and the square of the second component equal to the square of the first turning radius; wherein the first component is the wheelbase of the vehicle divided by the tangent of the measured steering angle minus the product of the center of mass height of the inclined portion and the desired inclination angle, and the second component is the distance between the center of mass of the vehicle and the center of the non-inclined portion.

[0018] Optionally, the third equation is the wheelbase of the vehicle divided by the tangent of the measured steering angle, which is equal to the second turning radius.

[0019] Optionally, in the case where the vehicle is a one front-wheel steering and two rear-wheel drive vehicle, the distance between the center of mass of the vehicle and the center of the non-inclined portion is one third of the wheelbase of the vehicle.

[0020] Optionally, controlling a roll motor of the vehicle to perform balance control on the vehicle according to the calculation result includes:

[0021] Inputting the calculation result into a preset controller to obtain a torque value for a roll motor of the vehicle;

[0022] According to the torque value, the roll motor of the vehicle is controlled to change the tilt angle of the tilted portion of the vehicle relative to the non-tilted portion of the vehicle, and the step of acquiring the measured data of the vehicle is continued.

[0023] Optionally, the controller is a PID controller.

[0024] Optionally, before inputting the calculation result into a preset controller to obtain the torque value of the roll motor of the vehicle, the method further includes:

[0025] The calculation result is subjected to low-pass filtering to obtain a processed calculation result; wherein the low-pass filtering includes removing high-frequency noise generated by vehicle vibration and / or vehicle steering vibration.

[0026] According to a second aspect of the present disclosure, there is also provided a tricycle vehicle balance control device, comprising:

[0027] a data acquisition module, configured to acquire measured data of the vehicle when the vehicle is traveling, wherein the measured data includes a measured vehicle speed acquired by the vehicle speed sensor, a measured steering angle acquired by the steering wheel angle sensor, and a measured tilt angle acquired by the roll angle sensor, wherein the measured tilt angle is a measured tilt angle of an inclined portion of the vehicle relative to a non-inclined portion of the vehicle;

[0028] A result obtaining module is used to establish a moment balance model based on the mass distribution of the inclined portion and the non-inclined portion and the measured data to obtain a calculation result;

[0029] A balance control module is used to control the roll motor to balance the vehicle according to the calculation result.

[0030] According to the third aspect of the present disclosure, an embodiment of a three-wheeled vehicle balance control device is also provided, the three-wheeled vehicle balance control device includes a memory and a processor, the memory stores a computer program, and the processor is used to execute the three-wheeled vehicle balance control method according to the first aspect of the present disclosure under the control of the computer program.

[0031] According to a fourth aspect of the present disclosure, a computer storage medium is further provided, wherein a computer program is stored in the storage medium, and the computer program enables a processor to execute the deposit display method according to the first aspect or the second aspect of the present disclosure.

[0032] According to a fifth aspect of the present disclosure, a vehicle is also provided, the vehicle comprising the three-wheeled vehicle balance control device as described in the second aspect or the third aspect.

[0033] According to the method provided in the embodiment of the present disclosure, actual measured data reflecting the inclined part and non-inclined part of the vehicle and the mass distribution of the two are actually measured, and a torque balance model is constructed to obtain a calculation result. According to the calculation result, the vehicle's roll motor is controlled to make the inclination angle of the inclined part and non-inclined part of the vehicle close to the expected inclination angle, so that the driver can maintain balance during the vehicle turning process, thereby improving the stability of the vehicle.

[0034] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope.

[0036] Figure 1 It is a schematic diagram of the composition structure of a tricycle vehicle balance control system that can be used to implement the embodiment of the present disclosure;

[0037] Figure 2 is a flow chart of a tricycle vehicle balance control method according to some embodiments;

[0038] Figure 3is a schematic diagram showing a vehicle roll according to some embodiments;

[0039] Figure 4 is a flow chart of a tricycle vehicle balance control method according to other embodiments;

[0040] Figure 5 is a flow chart of a tricycle vehicle balance control method according to other embodiments;

[0041] Figure 6 is a structural schematic diagram of a tricycle vehicle balance control method according to some embodiments;

[0042] Figure 7 is a schematic structural diagram of a tricycle vehicle balance control device according to some embodiments;

[0043] Figure 8 is a schematic diagram of the hardware structure of a tricycle vehicle balance control device according to some embodiments. DETAILED DESCRIPTION

[0044] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0046] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0047] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0048] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] It should be noted that all actions of obtaining signals, instructions, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0050] <Hardware configuration and application scenarios>

[0051] The disclosed embodiments relate to an application scenario in which a driver can control the balance of the vehicle through a balance adjustment device of the vehicle while driving the vehicle.

[0052] Figure 1 1 is a schematic diagram of the composition structure of a tricycle vehicle balance control system that can be used to implement the tricycle vehicle balance control method of the embodiment of the present disclosure. The tricycle vehicle balance control system can be applied to vehicle usage scenarios as a whole. Figure 1 As shown, the three-wheel vehicle balance control system may include a vehicle 1000, and the vehicle 1000 may be a three-wheel electric vehicle, which is not limited here.

[0053] In some embodiments, Figure 1 As shown, the vehicle 1000 may include a processor 1100 , a memory 1200 , an interface device 1300 , and a communication device 1400 .

[0054] The processor 1100 is used to execute a computer program, which can be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The memory 1200 includes, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, etc. The interface device 1300 includes, for example, various bus interfaces, such as a serial bus interface (including a USB interface), a parallel bus interface, etc. The communication device 1400 is capable of wired or wireless communication; the communication device 1400 may include, for example, any module for WLAN, GPRS, 3G / 4G / 5G remote communication.

[0055] In some embodiments, the memory 1200 of the server 1000 is used to store a computer program, which is used to control the processor 1100 to operate to implement the tricycle vehicle balance control method according to the embodiment of the present disclosure. A technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0056] <Method Example>

[0057] Figure 2 A flow chart of a tricycle vehicle balance control method according to some embodiments is shown. The method of this embodiment is implemented by a vehicle, such as a Figure 1 1000 vehicles in.

[0058] like Figure 2 As shown, the tricycle vehicle balance control method of this embodiment may include the following steps S210 to S230:

[0059] Step S210, when the vehicle is moving, obtaining measured data of the vehicle, wherein the measured data includes the measured vehicle speed collected by a vehicle speed sensor, the measured steering angle of the vehicle collected by a steering wheel angle sensor, and the measured tilt angle of the vehicle collected by a roll angle sensor, wherein the measured tilt angle is the measured tilt angle of the inclined portion of the vehicle relative to the non-inclined portion of the vehicle.

[0060] In this embodiment, the vehicle can directly start to obtain the measured data of the vehicle when the vehicle starts or starts. The vehicle can also obtain the measured data of the vehicle in a specific scenario, such as a scenario where the vehicle is turning by identifying the rotation of the vehicle's steering wheel, that is, obtaining the measured data of the vehicle when the vehicle turns.

[0061] In this embodiment, the vehicle is equipped with different sensors, such as a steering wheel angle sensor, a vehicle speed sensor, a roll angle sensor, etc., which are not limited here. The vehicle speed sensor can detect the vehicle speed during the current driving process, that is, the measured vehicle speed. The steering wheel angle sensor detects the steering angle of the vehicle during the current driving process, that is, the measured steering angle. The roll angle sensor detects the tilt angle of the tilted part of the vehicle relative to the non-tilted part of the vehicle, that is, the measured tilt angle. Figure 3 For example, the inclined part of the vehicle includes the vehicle body, and the non-inclined part of the vehicle includes the left rear wheel and the right rear wheel of the vehicle. The measured inclination angle can be the angle θ formed by the inclination of the vehicle body during driving relative to the first vertical line, wherein the first vertical line is the vertical line connecting the left rear wheel and the right rear wheel. In other words, the inclination angle of the inclined part of the vehicle relative to the first vertical line can reflect the inclination angle of the inclined part of the vehicle relative to the non-inclined part of the vehicle.

[0062] Step S220, based on the mass distribution of the inclined portion and the non-inclined portion and the measured data, a moment balance model is established to obtain a calculation result.

[0063] In some embodiments, the moment balance model includes a first equation reflecting the balance of gravity and centrifugal force between the inclined portion and the non-inclined portion of the vehicle, a second equation reflecting the first turning radius of the inclined portion of the vehicle, and a third equation reflecting the second turning radius of the non-inclined portion of the vehicle. Based on this, step S220 may include: inputting the measured vehicle speed into the first equation, and inputting the measured steering angle into the second equation and the third equation respectively, to obtain the desired tilt angle. In other words, since the non-inclined portion of the vehicle is in contact with the road surface, and the inclined portion of the vehicle is relatively far from the road surface, the center of gravity of the non-inclined portion and the inclined portion of the vehicle are offset to different degrees during the turning process. In other words, by distinguishing the turning radius of the inclined portion and the non-inclined portion of the vehicle, the centrifugal force corresponding to the inclined portion and the non-inclined portion can be obtained more realistically, and then the first equation constructed by distinguishing the gravity and centrifugal force corresponding to the inclined portion and the non-inclined portion of the vehicle can more accurately reflect the overall force and moment balance of the vehicle, so that the desired tilt angle obtained according to the moment balance model constructed above can keep the vehicle balanced.

[0064] In some embodiments, the vehicle is also equipped with a road surface inclination (roll angle) sensor, which can detect the road surface inclination angle. That is, the measured data obtained by the vehicle also includes the road surface inclination angle.

[0065] When the measured road surface inclination angle is 0, the first equation is that the sum of the first centrifugal force component and the second centrifugal force component is equal to the first gravity component; wherein the first centrifugal force component is the product of the first centrifugal force, the center of mass height of the inclined portion and the cosine value of the desired inclination angle, the second centrifugal force component is the product of the second centrifugal force and the center of mass height of the non-inclined portion, and the first gravity component is the product of the first gravity and the sine value of the desired inclination angle; the first centrifugal force is obtained based on the mass of the inclined portion, the measured vehicle speed and the first turning radius, the second centrifugal force is obtained based on the mass of the non-inclined portion, the measured vehicle speed and the second turning radius, and the first gravity is obtained based on the mass and center of mass height of the inclined portion.

[0066] In some examples, the centroid of the inclined portion may be set to the center point of the inclined portion, e.g. Figure 3 The O point in the figure, then the distance between the center point of the inclined part and the road surface is the height of the center of mass of the inclined part, and the center of mass of the non-inclined part can be set to the left rear wheel P 1 and right rear wheel P 2 The ideal center point P in the middle 3 , then the ideal center point O 3 The distance from the road surface is the height of the center of mass of the non-inclined part.

[0067] In some examples, the first equation can be expressed as follows:

[0068]

[0069] In the formula, m t is the mass of the inclined part, V is the measured vehicle speed, R is the first turning radius, h is the height of the center of mass of the inclined part, θ is the expected inclination angle, m u is the mass of the non-inclined part, R u is the second turning radius, h u is the centroid height of the non-inclined part.

[0070] In other words, through the above first equation, the second equation and the third equation, the expected tilt angle of the vehicle on a road with a slope or a slope of almost 0 can be obtained, so as to subsequently control the roll motor of the vehicle through the expected tilt angle.

[0071] When the measured road surface inclination angle is not 0, the first equation is that the sum of the third centrifugal force component and the fourth centrifugal force component is equal to the sum of the second gravity component and the third gravity component; wherein the third centrifugal force component is the product of the first centrifugal force, the center of mass height of the inclined portion and the cosine value of the target inclination angle, the fourth centrifugal force component is the product of the second centrifugal force, the center of mass height of the inclined portion and the cosine value of the road surface inclination angle, the second gravity component is the product of the second gravity, the center of mass height of the non-inclined portion and the sine value of the road surface inclination angle, and the third gravity component is the product of the first gravity, the center of mass height of the inclined portion and the sine value of the target inclination angle; the target inclination angle is the sum of the expected inclination angle and the road surface inclination angle.

[0072] In some examples, such as Figure 3 As shown, the first equation can be expressed as follows:

[0073]

[0074] In the formula, m t is the mass of the inclined part, V is the measured vehicle speed, R is the first turning radius, h is the height of the center of mass of the inclined part, θ is the expected inclination angle, θ r is the road inclination angle, m u is the mass of the non-inclined part, R u is the second turning radius, h u is the centroid height of the non-inclined part.

[0075] In other words, through the above first equation, the second equation and the third equation, the expected tilt angle of the vehicle on the road with a slope greater than 0 can be obtained, so as to subsequently control the roll motor of the vehicle through the expected tilt angle.

[0076] In some embodiments, the second equation is that the sum of the square of the first component and the square of the second component is equal to the square of the first turning radius; wherein the first component is the wheelbase of the vehicle divided by the tangent of the measured steering angle minus the product of the center of mass height of the inclined portion and the desired tilt angle, and the second component is the distance between the center of mass of the vehicle and the center of the non-inclined portion.

[0077] In some examples, the second equation can be expressed as follows:

[0078]

[0079] Right now:

[0080]

[0081] Where R is the first turning radius, a is the wheelbase of the vehicle, δ is the measured steering angle, h is the height of the center of mass of the inclined portion, θ is the desired inclination angle, and b is the distance between the set center of mass and the center of the non-inclined portion.

[0082] In some embodiments, the third equation is that the wheelbase of the vehicle divided by the tangent of the measured steering angle equals the second turning radius.

[0083] In some examples, the third equation can be expressed as follows:

[0084]

[0085] In the formula, R u is the second turning radius, a is the wheelbase of the vehicle, and δ is the measured steering angle.

[0086] In some embodiments, where the vehicle is a three-wheel vehicle with one front wheel steered and two rear wheels driven, the distance between the center of mass of the vehicle and the center of the non-inclined portion is one third of the wheelbase of the vehicle.

[0087] In some examples, when the distance between the center of mass of the vehicle and the center of the non-inclined portion is one third of the wheelbase of the vehicle, the second equation may be expressed as follows:

[0088]

[0089] Where R is the first turning radius, a is the wheelbase of the vehicle, δ is the measured steering angle, h is the height of the center of mass of the inclined part, and θ is the expected inclination angle. is the distance between the set center of mass and the center of the non-inclined part.

[0090] In some examples, the vehicle may also be a tricycle of other forms. For example, when two front wheels are turned and one rear wheel is driven, the distance between the center of mass of the vehicle and the center of the non-inclined portion changes, and the distance can be set manually and is not limited here. In other words, the constructed moment balance model can be applied to different forms of vehicles, so that the tricycle vehicle balance control method has a large application space.

[0091] In some embodiments, step S220 may include the following steps S410 to S420:

[0092] Step S410, establishing a torque balance model according to the measured vehicle speed, the measured steering angle and the mass distribution of the inclined part and the non-inclined part to obtain a desired inclination angle.

[0093] Step S420, determining the deviation angle between the measured tilt angle and the expected tilt angle, and using it as the calculation result.

[0094] In this embodiment, for the deviation angle, it can be pre-set that when the deviation angle is a positive angle, the inclined portion is controlled to rotate clockwise relative to the non-inclined portion, and when the deviation angle is a negative angle, the inclined portion is controlled to rotate counterclockwise relative to the non-inclined portion; it can also be pre-set that when the deviation angle is a negative angle, the inclined portion is controlled to rotate clockwise relative to the non-inclined portion, and when the deviation angle is a positive angle, the inclined portion is controlled to rotate counterclockwise relative to the non-inclined portion. It can be set artificially and is not limited here.

[0095] Step S230: According to the calculation result, the roll motor is controlled to balance the vehicle.

[0096] In this embodiment, after the deviation angle is obtained, the output shaft of the roll motor can be controlled to rotate forward or reverse, so that the measured tilt angle of the vehicle is adjusted to the desired tilt angle.

[0097] In other words, the actual tilt angle reflecting the mass distribution between the tilted part and the non-tilted part of the vehicle is measured, and the expected tilt angle is obtained using a balancing algorithm. The deviation value between the measured tilt angle and the expected tilt angle is used as reference data to control the vehicle's balance adjustment device, so that the tilt angles of the tilted part and the non-tilted part of the vehicle are close to the expected tilt angle, allowing the driver to maintain balance during vehicle turning and improve vehicle stability.

[0098] In some embodiments, Figure 5 As shown, step S230 may include the following steps S510 to S520:

[0099] Step S510, inputting the calculation result into a preset controller to obtain the torque value of the roll motor of the vehicle.

[0100] In some embodiments, the preset controller may be a PID controller, and the PID controller may output a corresponding torque value according to the deviation angle. The processing process of the PID controller outputting a corresponding torque value according to the input deviation angle is a prior art and will not be specifically described here. In other words, the PID controller can reduce the occurrence of excessive adjustment of the above-mentioned roll motor, thereby improving the user experience.

[0101] Step S520, controlling the roll motor of the vehicle to change the tilt angle of the tilted portion of the vehicle relative to the non-tilted portion of the vehicle according to the torque value, and continuing the step of acquiring actual measurement data of the vehicle.

[0102] In this embodiment, the direct torque control system (DTC) can control the vehicle's roll motor according to the above torque value to adjust the vehicle's measured tilt angle to a desired tilt angle. The specific control process is prior art and will not be elaborated here.

[0103] In some embodiments, the method further includes the following step S400 before step S410:

[0104] Step S400, performing low-pass filtering on the calculation result to obtain a processed calculation result; wherein the low-pass filtering includes removing high-frequency noise generated by vehicle vibration and / or vehicle steering vibration.

[0105] In some examples, such as Figure 6 As shown in FIG. 1 , after the measured steering angle δ and the measured speed V are input to perform the desired tilt angle calculation, the desired tilt angle limit is performed to remove some sharp point values ​​in the signal reflecting the desired tilt angle, and the signal reflecting the desired tilt angle θ after the sharp point values ​​are removed is obtained. Then, the detected signal reflecting the measured tilt angle θ is converted into the desired tilt angle θ. d The deviation signal between the signal of the desired tilt angle θ and the signal reflecting the desired tilt angle θ reflects the deviation angle θ. e , the deviation signal is input into a low pass filter (LPF), the low pass filter can perform low pass filtering on the deviation signal, filter out the high frequency noise in the deviation signal, obtain the processed deviation signal, and then calculate the deviation angle θ reflected by the deviation signal. e Input into the PID controller to achieve closed-loop control of the vehicle. In other words, by setting a low-pass filter, the high-frequency noise in the signal reflecting the deviation angle can be filtered out, thereby improving the accuracy of vehicle roll control.

[0106] <Equipment Embodiment>

[0107] The disclosed embodiment also provides a tricycle vehicle balance control device, such as Figure 7 As shown, the tricycle vehicle balance control device 700 may include a data acquisition module 710 , a result acquisition module 720 and a balance control module 730 .

[0108] The data acquisition module 710 is used to acquire measured data of the vehicle when the vehicle is traveling, wherein the measured data includes a measured vehicle speed acquired by a vehicle speed sensor, a measured steering angle acquired by a steering wheel angle sensor, and a measured tilt angle acquired by a roll angle sensor, wherein the measured tilt angle is a measured tilt angle of an inclined portion of the vehicle relative to a non-inclined portion of the vehicle;

[0109] The result obtaining module 720 is used to establish a moment balance model based on the mass distribution of the inclined part and the non-inclined part and the measured data to obtain the calculation result;

[0110] The balance control module 730 is used to control the roll motor to balance the vehicle according to the calculation result.

[0111] In some embodiments, the result obtaining module 720 is also used to establish a torque balance model based on the measured vehicle speed, the measured steering angle and the mass distribution of the inclined part and the non-inclined part to obtain the expected tilt angle; determine the deviation angle between the measured tilt angle and the expected tilt angle, and use it as the calculation result.

[0112] In some embodiments, the result obtaining module 720 is further used to input the measured vehicle speed into the first equation, and input the measured steering angle into the second equation and the third equation respectively, to obtain the expected tilt angle.

[0113] In some embodiments, the balance control module 730 is also used to input the calculation results into a preset controller to obtain a torque value for the vehicle's roll motor; according to the torque value, the vehicle's roll motor is controlled to change the inclination angle of the inclined part of the vehicle relative to the non-inclined part of the vehicle, and continue to obtain the vehicle's actual measured data.

[0114] In some embodiments, the tricycle vehicle balance control device 700 also includes a filtering processing module, which is used to perform low-pass filtering on the calculation results to obtain processed calculation results; wherein, the low-pass filtering includes removing high-frequency noise generated by vehicle shaking and / or vehicle steering shaking.

[0115] like Figure 8 As shown, the tricycle vehicle balance control device 800 may include a memory 820 and a processor 810, the memory 820 stores a computer program, and the processor 810 is used to execute the tricycle vehicle balance control method according to any method embodiment under the control of the computer program.

[0116] The tricycle vehicle balance control device 800 is similar to Figure 1 The vehicle 1000 shown may have the same hardware structure, or may have other hardware structures, which are not limited here.

[0117] The present disclosure also provides an embodiment of a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the three-wheeled vehicle balance control method according to any embodiment of the present disclosure is implemented.

[0118] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0119] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0120] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0121] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0122] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0123] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0124] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0125] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of a module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0126] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A tricycle vehicle balance control method, It is characterized in that The vehicle includes a vehicle speed sensor, a steering wheel angle sensor, a roll angle sensor, and a roll motor, and the method includes: When the vehicle is traveling, obtaining measured data of the vehicle, wherein the measured data includes a measured vehicle speed acquired by the vehicle speed sensor, a measured steering angle of the vehicle acquired by the steering wheel angle sensor, and a measured tilt angle of the vehicle acquired by the roll angle sensor, wherein the measured tilt angle is a measured tilt angle of an inclined portion of the vehicle relative to a non-inclined portion of the vehicle; Based on the mass distribution of the inclined portion and the non-inclined portion and the measured data, a moment balance model is established to obtain a calculation result; According to the calculation result, the roll motor is controlled to perform balance control on the vehicle.

2. The method according to claim 1, It is characterized in that The step of establishing a moment balance model based on the mass distribution of the inclined portion and the non-inclined portion and the measured data to obtain a calculation result includes: Establishing a torque balance model according to the measured vehicle speed, the measured steering angle, and the mass distribution of the inclined portion and the non-inclined portion to obtain a desired inclination angle; The deviation angle between the measured tilt angle and the expected tilt angle is determined and used as a calculation result.

3. The method according to claim 1, It is characterized in that The moment balance model includes a first equation reflecting the balance of gravity and centrifugal force between the inclined portion and the non-inclined portion of the vehicle, a second equation reflecting a first turning radius of the inclined portion of the vehicle, and a third equation reflecting a second turning radius of the non-inclined portion of the vehicle; The step of establishing a torque balance model according to the measured vehicle speed, the measured steering angle, and the mass distribution between the inclined portion and the non-inclined portion to obtain a desired inclination angle includes: The measured vehicle speed is input into the first equation, and the measured steering angle is input into the second equation and the third equation respectively to obtain the expected tilt angle.

4. The method according to claim 3, It is characterized in that The measured data also includes a road surface inclination angle; When the measured road surface inclination angle is 0, the first equation is that the sum of the first centrifugal force component and the second centrifugal force component is equal to the first gravity component; wherein the first centrifugal force component is the product of the first centrifugal force, the mass center height of the inclined portion and the cosine value of the desired inclination angle, the second centrifugal force component is the product of the second centrifugal force and the mass center height of the non-inclined portion, and the first gravity component is the product of the first gravity and the sine value of the desired inclination angle; the first centrifugal force is obtained based on the mass of the inclined portion, the measured vehicle speed and the first turning radius, the second centrifugal force is obtained based on the mass of the non-inclined portion, the measured vehicle speed and the second turning radius, and the first gravity is obtained based on the mass and mass center height of the inclined portion; When the measured road surface inclination angle is not 0, the first equation is that the sum of the third centrifugal force component and the fourth centrifugal force component is equal to the sum of the second gravity component and the third gravity component; wherein the third centrifugal force component is the product of the first centrifugal force, the center of mass height of the inclined portion and the cosine value of the target inclination angle, the fourth centrifugal force component is the product of the second centrifugal force, the center of mass height of the inclined portion and the cosine value of the road surface inclination angle, the second gravity component is the product of the second gravity, the center of mass height of the non-inclined portion and the sine value of the road surface inclination angle, and the third gravity component is the product of the first gravity, the center of mass height of the inclined portion and the sine value of the target inclination angle; the target inclination angle is the sum of the expected inclination angle and the road surface inclination angle.

5. The method according to claim 3, It is characterized in that The second equation is that the sum of the square of the first component and the square of the second component is equal to the square of the first turning radius; wherein the first component is the wheelbase of the vehicle divided by the tangent of the measured steering angle minus the product of the center of mass height of the inclined portion and the desired inclination angle, and the second component is the distance between the center of mass of the vehicle and the center of the non-inclined portion.

6. The method according to claim 3, It is characterized in that The third equation is that the wheelbase of the vehicle divided by the tangent of the measured steering angle equals the second turning radius.

7. The method according to claim 5, It is characterized in that In the case where the vehicle is a one front-wheel steering and two rear-wheel drive vehicle, the distance between the center of mass of the vehicle and the center of the non-inclined portion is one third of the wheelbase of the vehicle.

8. The method according to any one of claims 1 to 7, It is characterized in that According to the calculation result, controlling the roll motor of the vehicle to perform balance control on the vehicle comprises: Inputting the calculation result into a preset controller to obtain a torque value for a roll motor of the vehicle; According to the torque value, the roll motor of the vehicle is controlled to change the tilt angle of the tilted portion of the vehicle relative to the non-tilted portion of the vehicle, and the step of acquiring the measured data of the vehicle is continued.

9. The method according to claim 8, It is characterized in that The controller is a PID controller.

10. The method according to claim 8, It is characterized in that Before inputting the calculation result into a preset controller to obtain the torque value of the roll motor of the vehicle, the method further includes: The calculation result is subjected to low-pass filtering to obtain a processed calculation result; wherein the low-pass filtering includes removing high-frequency noise generated by vehicle vibration and / or vehicle steering vibration.

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