Tricycle vehicle balance control method

Abstract

The present disclosure provides a tricycle vehicle balance control method, which belongs to the technical field of vehicle control. The method comprises the following steps: acquiring measured data of the vehicle when the vehicle is running, wherein the measured data comprises measured vehicle speed collected by a vehicle speed sensor, measured steering angle of the vehicle collected by a steering wheel angle sensor, and measured tilt angle of the vehicle collected by a roll angle sensor, the measured tilt angle being a tilt angle of a tilting part of the vehicle relative to a non-tilting part of the vehicle; establishing a torque balance model based on the mass distribution of the tilting part and the non-tilting part and the measured data, to obtain a calculation result; and controlling the roll motor to balance control the vehicle according to the calculation result.

Description

Technical Field

[0001] This disclosure relates to the technical field of vehicle control, and more particularly to a method for controlling the balance of a three-wheeled vehicle. Background Technology

[0002] With the widespread use of smaller vehicles such as bicycles, electric scooters, and tricycles, the safety of these vehicles has become increasingly important. In particular, the center of gravity of these vehicles shifts when turning, making them prone to tipping over. Current technologies for controlling vehicle roll typically utilize detected vehicle speed, steering angle, and tilt angle to maintain balance. The detected tilt angle is either the tilt angle of the drive wheels relative to the road surface or the tilt angle of the vehicle body relative to the road surface. However, because there is also an angular deviation between the drive wheels and the vehicle body, the vehicle can still experience a significant tilt during the control process. Summary of the Invention

[0003] One objective of this disclosure is to provide a new technical solution for the balance control of a tricycle.

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

[0005] While the vehicle is in motion, the measured data of the vehicle is acquired, including the measured vehicle speed collected by the vehicle speed sensor, the measured steering angle of the vehicle collected by the steering wheel angle sensor, and the measured tilt angle of the vehicle collected by the roll angle sensor. The measured tilt angle is the angle of tilt of the tilted part of the vehicle relative to the non-tilted part of the vehicle.

[0006] Based on the mass distribution of the inclined and non-inclined parts and the measured data, a torque balance model is established, and the calculation results are obtained.

[0007] Based on the calculation results, the tilt motor is controlled to perform balance control on the vehicle.

[0008] Optionally, according to the method of claim 1, the step of establishing a torque balance model based on the mass distribution of the inclined portion and the non-inclined portion and the measured data, and obtaining the calculation results, includes:

[0009] Based on the measured vehicle speed, measured steering angle, and mass distribution of the inclined and non-inclined parts, a torque balance model is established to obtain the desired tilt angle.

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

[0011] Optionally, the torque balance model includes a first equation reflecting the balance of the tilted and non-tilted parts of the vehicle under gravity and centrifugal force, a second equation reflecting the first turning radius of the tilted part of the vehicle, and a third equation reflecting the second turning radius of the non-tilted part of the vehicle.

[0012] The step of establishing a torque balance model based on the measured vehicle speed, measured steering angle, and mass distribution between the tilted and non-tilted portions to obtain the desired tilt angle includes:

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

[0014] Optionally, the measured data may also include the road surface tilt angle;

[0015] When the measured road surface inclination angle is 0, the first equation states that the sum of the first centrifugal force component and the second centrifugal force component equals the first gravitational force component; wherein, the first centrifugal force component is the product of the first centrifugal force, the height of the center of mass of the inclined portion, and the cosine of the desired inclination angle; the second centrifugal force component is the product of the second centrifugal force and the height of the center of mass of the non-inclined portion; and the first gravitational force component is the product of the first gravity and the sine 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 of the inclined portion and the height of its center of mass.

[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 equals 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 height of the center of mass of the inclined part, and the cosine of the target inclination angle; the fourth centrifugal force component is the product of the second centrifugal force, the height of the center of mass of the inclined part, and the cosine of the road surface inclination angle; the second gravity component is the product of the second gravity, the height of the center of mass of the non-inclined part, and the sine of the road surface inclination angle; and the third gravity component is the product of the first gravity, the height of the center of mass of the inclined part, and the sine of the target inclination angle; the target inclination angle is the sum of the desired inclination angle and the road surface inclination angle.

[0017] Optionally, the second equation is that the sum of the squares of the first component and the second component equals 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 height of the center of gravity of the inclined portion and the desired tilt angle, and the second component is the distance between the center of gravity of the vehicle and the center of the non-tilted portion.

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

[0019] Optionally, when the vehicle is a front-wheel steering, rear-wheel drive vehicle, the distance between the center of gravity of the vehicle and the center of the non-tilted portion is one-third of the wheelbase of the vehicle.

[0020] Optionally, controlling the vehicle's tilt motor to perform balance control based on the calculation result includes:

[0021] The calculation results are input into a preset controller to obtain the torque value of the tilt motor for the vehicle;

[0022] Based on the torque value, the vehicle's tilt motor is controlled to change the tilt angle of the tilted part of the vehicle relative to the non-tilted part of the vehicle, and the step of acquiring the vehicle's measured data continues.

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

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

[0025] The calculation results are subjected to low-pass filtering to obtain the processed calculation results; 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 this disclosure, a three-wheeled vehicle balance control device is also provided, comprising:

[0027] The data acquisition module is used to acquire measured data of the vehicle while the vehicle is in motion. The measured data includes the measured vehicle speed collected by the vehicle speed sensor, the measured vehicle steering angle collected by the steering wheel angle sensor, and the measured vehicle tilt angle collected by the roll angle sensor. The measured tilt angle is the measured tilt angle of the tilted part of the vehicle relative to the non-tilted part of the vehicle.

[0028] The result acquisition module is used to establish a torque balance model based on the mass distribution of the inclined part and the non-inclined part and the measured data, and to obtain the calculation results.

[0029] The balance control module is used to control the tilt motor to perform balance control on the vehicle based on the calculation results.

[0030] According to a third aspect of this disclosure, an embodiment of a tricycle vehicle balance control device is also provided, the tricycle vehicle balance control device including a memory and a processor, the memory storing a computer program, the processor being configured to execute the tricycle vehicle balance control method according to a first aspect of this disclosure under the control of the computer program.

[0031] According to a fourth aspect of this disclosure, a computer storage medium is also provided, wherein the storage medium stores a computer program that causes a processor to execute the storage display method according to a first or second aspect of this disclosure.

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

[0033] According to the method provided in this disclosure, actual measured data reflecting the tilted and non-tilted parts of the vehicle and their mass distribution are obtained, and a torque balance model is constructed to obtain the calculation results. Based on the calculation results, the vehicle's tilt motor is controlled so that the tilt angle of the tilted and non-tilted parts of the vehicle is close to the desired tilt angle, so that the driver can maintain balance during vehicle turning and improve vehicle stability.

[0034] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and therefore should not be regarded as a limitation on the scope.

[0036] Figure 1 This is a schematic diagram of the composition structure of a three-wheeled vehicle balance control system that can be used to implement the embodiments of this disclosure;

[0037] Figure 2 This is a flowchart illustrating a tricycle vehicle balance control method according to some embodiments;

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

[0039] Figure 4 This is a flowchart illustrating a tricycle vehicle balance control method according to other embodiments;

[0040] Figure 5 This is a flowchart illustrating a tricycle vehicle balance control method according to other embodiments;

[0041] Figure 6 This is a structural schematic diagram illustrating a method for controlling the balance of a tricycle, based on some embodiments.

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

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

[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, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0045] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0046] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

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

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

[0049] It should be noted that all actions involving the acquisition of signals, instructions, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant equipment.

[0050] <Hardware Configuration and Application Scenarios>

[0051] This disclosure relates to an application scenario where a driver can control the vehicle's balance using a vehicle balance adjustment device while driving.

[0052] Figure 1 This is a schematic diagram of the composition of a tricycle vehicle balance control system that can be used to implement the tricycle vehicle balance control method of the embodiments of this disclosure. This tricycle vehicle balance control system can be applied as a whole to various vehicle usage scenarios. Figure 1 As shown, the tricycle vehicle balance control system may include a vehicle 1000, which may be a tricycle electric vehicle, but this is not limited here.

[0053] In some embodiments, such as 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 computer programs, which can be written using instruction sets of architectures such as x86, Arm, RISC, MIPS, and SSE. The memory 1200 includes, for example, ROM (Read-Only Memory), RAM (Random Access Memory), and non-volatile memory such as a hard disk. The interface device 1300 includes, for example, various bus interfaces, such as serial bus interfaces (including USB interfaces), parallel bus interfaces, 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 stores a computer program that controls the processor 1100 to operate in order to implement a tricycle vehicle balance control method according to embodiments of the present disclosure. Those skilled in the art can design instructions based on the disclosed scheme. How the instructions control the processor to operate is well known in the art and will not be described in detail here.

[0056] <Method Implementation>

[0057] Figure 2 This diagram illustrates a flow chart of a three-wheeled vehicle balance control method according to some embodiments. The method in this embodiment is implemented by a vehicle, such as... Figure 1 There are 1,000 vehicles in the fleet.

[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: While the vehicle is in motion, acquire the vehicle's measured data, which includes the vehicle's measured speed collected by the vehicle speed sensor, the vehicle's measured steering angle collected by the steering wheel angle sensor, and the vehicle's measured tilt angle collected by the roll angle sensor. The measured tilt angle is the angle of inclination of the tilted part of the vehicle relative to the non-tilted part of the vehicle.

[0060] In this embodiment, the vehicle can begin acquiring its measured data directly upon starting or starting the engine. Alternatively, the vehicle can acquire its measured data in specific scenarios, such as determining if the vehicle is turning by recognizing steering wheel rotation; that is, acquiring measured data while the vehicle is turning.

[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's current speed, i.e., the measured speed; the steering wheel angle sensor detects the vehicle's current steering angle, i.e., the measured steering angle; and the roll angle sensor detects the tilt angle of the vehicle's tilted portion relative to its non-tilted portion, i.e., the measured tilt angle. Figure 3 For example, the tilting part of the vehicle includes the vehicle body, and the non-tilting part includes the left and right rear wheels. The measured tilt angle can be the angle θ formed by the tilt of the vehicle body relative to a first vertical line during driving, where the first vertical line is the perpendicular line connecting the left and right rear wheels. In other words, the tilt angle of the vehicle's tilting part relative to the first vertical line reflects the tilt angle of the vehicle's tilting part relative to the non-tilting part.

[0062] Step S220: Based on the mass distribution and measured data of the inclined and non-inclined parts, establish a torque balance model and obtain the calculation results.

[0063] In some embodiments, the torque balance model includes a first equation reflecting the balance of gravity and centrifugal force between the tilted and non-tilted parts of the vehicle, a second equation reflecting the first turning radius of the tilted part of the vehicle, and a third equation reflecting the second turning radius of the non-tilted part 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 and third equations respectively to obtain the desired tilt angle. In other words, since the non-tilted part of the vehicle is in contact with the road surface, while the tilted part is relatively far from the road surface, the degree of center of gravity shift between the non-tilted and tilted parts of the vehicle is different during turning. That is, by distinguishing the turning radii of the tilted and non-tilted parts of the vehicle, a more realistic centrifugal force corresponding to the tilted and non-tilted parts can be obtained. Furthermore, the first equation constructed by distinguishing the gravity and centrifugal force corresponding to the tilted and non-tilted parts of the vehicle can more accurately reflect the overall force and torque balance of the vehicle, so that the desired tilt angle obtained according to the torque balance model constructed above can keep the vehicle in balance.

[0064] In some embodiments, the vehicle is also equipped with a road tilt (roll angle) sensor that can detect the road tilt angle, meaning that the measured data that the vehicle can acquire also includes the road tilt 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 equals the first gravity component; wherein, the first centrifugal force component is the product of the first centrifugal force, the height of the center of mass of the inclined part, and the cosine of the desired inclination angle; the second centrifugal force component is the product of the second centrifugal force and the height of the center of mass of the non-inclined part; and the first gravity component is the product of the first gravity and the sine of the desired inclination angle; the first centrifugal force is obtained based on the mass of the inclined part, the measured vehicle speed, and the first turning radius; the second centrifugal force is obtained based on the mass of the non-inclined part, the measured vehicle speed, and the second turning radius; and the first gravity is obtained based on the mass of the inclined part and the height of the center of mass.

[0066] In some examples, the centroid of the inclined section can be set as the center point of the inclined section, for example... Figure 3 If we consider point O in the equation, then the distance between the center point of the inclined section and the road surface is the height of the center of mass of the inclined section. The center of mass of the non-inclined section can be set as the ideal center point P3 between the left rear wheel P1 and the right rear wheel P2. Then, the distance between this ideal center point O3 and the road surface is the height of the center of mass of the non-inclined section.

[0067] In some cases, the first equation can be expressed as the following expression:

[0068]

[0069] In the formula, m tLet V be the mass of the inclined section, V be the measured vehicle speed, R be the first turning radius, h be the height of the center of gravity of the inclined section, θ be the desired inclination angle, and m be the mass of the inclined section. u For the mass of the non-inclined portion, R u h is the second turning radius. u The height of the centroid of the non-inclined part.

[0070] In other words, by using the first, second, and third equations above, we can obtain the desired tilt angle of the vehicle on a road surface with a slope or a slope of almost zero, thereby enabling the subsequent control of the vehicle's tilt motor by using this desired 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; where the third centrifugal force component is the product of the first centrifugal force, the height of the center of mass of the inclined part, and the cosine of the target inclination angle; the fourth centrifugal force component is the product of the second centrifugal force, the height of the center of mass of the inclined part, and the cosine of the road surface inclination angle; the second gravity component is the product of the second gravity, the height of the center of mass of the non-inclined part, and the sine of the road surface inclination angle; and the third gravity component is the product of the first gravity, the height of the center of mass of the inclined part, and the sine of the target inclination angle; the target inclination angle is the sum of the desired 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 the following expression:

[0073]

[0074] In the formula, m t Let V be the mass of the inclined section, R be the measured vehicle speed, h be the first turning radius, h be the height of the center of gravity of the inclined section, and θ be the desired inclination angle. r Let m be the road surface inclination angle. u For the mass of the non-inclined portion, R u h is the second turning radius. u The height of the centroid of the non-inclined part.

[0075] In other words, by using the first, second, and third equations above, we can obtain the desired tilt angle of the vehicle on a road surface with a slope greater than 0, thereby enabling the subsequent control of the vehicle's tilt motor using this desired tilt angle.

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

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

[0078]

[0079] Right now:

[0080]

[0081] In the formula, 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 gravity of the inclined part, θ is the desired tilt angle, and b is the distance between the set center of gravity and the center of the non-inclined part.

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

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

[0084]

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

[0086] In some embodiments, when the vehicle is a three-wheeled vehicle with one front wheel steering and two rear wheels driven, the distance between the vehicle's center of gravity and the center of the non-tilted portion is one-third of the vehicle's wheelbase.

[0087] In some cases, when the distance between the vehicle's center of gravity and the center of the non-tilted portion is one-third of the vehicle's wheelbase, the second equation can be expressed as follows:

[0088]

[0089] In the formula, R is the first turning radius, a is the vehicle's wheelbase, δ is the measured steering angle, h is the height of the center of gravity of the inclined part, and θ is the desired tilt angle. The distance between the set center of mass and the center of the non-inclined part.

[0090] In some examples, the vehicle can also be other types of tricycles, such as those with two front wheels steering and one rear-wheel drive. The distance between the vehicle's center of gravity and the center of the non-tilted portion changes; this distance can be set manually and is not limited here. In other words, the constructed torque balance model can be applied to different types of vehicles, making the application scope of this tricycle vehicle balance control method quite broad.

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

[0092] Step S410: Based on the measured vehicle speed, measured steering angle, and mass distribution of the tilted and non-tilted parts, establish a torque balance model to obtain the desired tilt angle.

[0093] Step S420: Determine the deviation angle between the measured tilt angle and the desired tilt angle, and use it as the calculation result.

[0094] In this embodiment, for the deviation angle, it can be preset that when the deviation angle is positive, the inclined part rotates clockwise relative to the non-inclined part, and when the deviation angle is negative, the inclined part rotates counterclockwise relative to the non-inclined part; alternatively, when the deviation angle is negative, the inclined part rotates clockwise relative to the non-inclined part, and when the deviation angle is positive, the inclined part rotates counterclockwise relative to the non-inclined part. This can be set manually and is not limited here.

[0095] Step S230: Based on the calculation results, control the tilt motor to perform balance control on the vehicle.

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

[0097] In other words, the actual tilt angle, which reflects the mass distribution between the tilted and non-tilted parts of the vehicle, is measured, and the desired tilt angle is obtained using a balance algorithm. The deviation between the measured tilt angle and the desired tilt angle is used as reference data to control the vehicle's balance adjustment device, so that the tilt angles of the tilted and non-tilted parts of the vehicle are close to the desired tilt angle, enabling the driver to maintain balance during vehicle turning and improving vehicle stability.

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

[0099] Step S510: Input the calculation results into the preset controller to obtain the torque value of the vehicle's tilt motor.

[0100] In some embodiments, the preset controller can be a PID controller. The PID controller outputs a corresponding torque value based on the deviation angle. The process of the PID controller outputting a corresponding torque value based on the input deviation angle is prior art and will not be described in detail here. In other words, the PID controller can reduce the occurrence of excessive tilt motor adjustment, thereby improving the user experience.

[0101] Step S520: Based on the torque value, control the vehicle's tilt motor to change the tilt angle of the tilted part of the vehicle relative to the non-tilted part of the vehicle, and continue to acquire the vehicle's measured data.

[0102] In this embodiment, the direct torque control system (DTC) can control the vehicle's tilt motor to adjust the vehicle's measured tilt angle to the desired tilt angle based on the aforementioned torque value. The specific control process is existing technology and will not be described here.

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

[0104] Step S400: Perform low-pass filtering on the calculation results to obtain the processed calculation results; 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, after inputting the measured steering angle δ and measured speed V to calculate the desired tilt angle, tilt angle limits are applied to remove some spike values ​​from the signal reflecting the desired tilt angle, resulting in a signal reflecting the desired tilt angle θ after removing spike values. Then, the detected signal reflecting the measured tilt angle θ is used to calculate the desired tilt angle θ. d The deviation signal between the signal and the signal reflecting the desired tilt angle θ, which reflects the deviation angle θ e The deviation signal is input into a low-pass filter (LPF). This LPF performs low-pass filtering on the deviation signal, removing high-frequency noise to obtain a processed deviation signal. The deviation angle θ reflected by this deviation signal is then... e The input is fed into the PID controller to achieve closed-loop control of the vehicle. In other words, by setting a low-pass filter, high-frequency noise in the signal reflecting the deviation angle can be filtered out, improving the accuracy of vehicle roll control.

[0106] <Equipment Example>

[0107] This disclosure 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 while the vehicle is in motion. The measured data includes the measured vehicle speed collected by the vehicle speed sensor, the measured vehicle steering angle collected by the steering wheel angle sensor, and the measured vehicle tilt angle collected by the roll angle sensor. The measured tilt angle is the angle of tilt of the tilted part of the vehicle relative to the non-tilted part of the vehicle.

[0109] The result is that module 720 is used to establish a torque balance model based on the mass distribution and measured data of the inclined and non-inclined parts, and to obtain the calculation results.

[0110] The balance control module 730 is used to control the tilt motor to balance the vehicle based on the calculation results.

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

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

[0113] In some embodiments, the balance control module 730 is further configured to input the calculation results into a preset controller to obtain the torque value of the vehicle's tilt motor; according to the torque value, control the vehicle's tilt motor to change the tilt angle of the tilted part of the vehicle relative to the non-tilted part of the vehicle, and continue to acquire the vehicle's measured data.

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

[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 embodiment of the method under the control of the computer program.

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

[0117] This disclosure also provides an embodiment of a computer storage medium storing a computer program that, when executed by a processor, implements a three-wheeled vehicle balance control method according to any embodiment of this disclosure.

[0118] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0119] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

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

[0121] The computer program instructions used to perform the operations of this 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 the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving 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., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0122] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of 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 to cause a series of operational steps to be 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 perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0126] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A method for controlling the balance of a tricycle, characterized in that, The vehicle includes a vehicle speed sensor, a steering wheel angle sensor, a roll angle sensor, and a roll motor; the method includes: While the vehicle is in motion, the measured data of the vehicle is acquired, including the measured vehicle speed collected by the vehicle speed sensor, the measured steering angle of the vehicle collected by the steering wheel angle sensor, and the measured tilt angle of the vehicle collected by the roll angle sensor. The measured tilt angle is the angle of inclination of the tilted part of the vehicle relative to the non-tilted part of the vehicle. Based on the mass distribution of the inclined and non-inclined parts and the measured data, a torque balance model is established, and the calculation results are obtained. Based on the calculation results, the tilt motor is controlled to perform balance control on the vehicle. The torque balance model includes a first equation reflecting the balance of the tilted and non-tilted parts of the vehicle under gravity and centrifugal force, a second equation reflecting the first turning radius of the tilted part of the vehicle, and a third equation reflecting the second turning radius of the non-tilted part of the vehicle. The step of establishing a torque balance model based on the measured vehicle speed, measured steering angle, and mass distribution between the tilted and non-tilted portions to obtain the desired tilt angle includes: The measured vehicle speed is input into the first equation, and the measured steering angle is input into the second and third equations respectively to obtain the desired tilt angle.

2. The method according to claim 1, characterized in that, Based on the mass distribution of the inclined and non-inclined portions and the measured data, a torque balance model is established to obtain calculation results, including: Based on the measured vehicle speed, measured steering angle, and mass distribution of the inclined and non-inclined parts, a torque balance model is established to obtain the desired tilt angle. The deviation angle between the measured tilt angle and the desired tilt angle is determined and used as the calculation result.

3. The method according to claim 1, characterized in that, The measured data also includes the road surface tilt angle; When the measured road surface inclination angle is 0, the first equation states that the sum of the first centrifugal force component and the second centrifugal force component equals the first gravitational force component; wherein, the first centrifugal force component is the product of the first centrifugal force, the height of the center of mass of the inclined portion, and the cosine of the desired inclination angle; the second centrifugal force component is the product of the second centrifugal force and the height of the center of mass of the non-inclined portion; and the first gravitational force component is the product of the first gravity and the sine 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 of the inclined portion and the height of its center of mass. 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 height of the center of mass of the inclined part, and the cosine of the target inclination angle; the fourth centrifugal force component is the product of the second centrifugal force, the height of the center of mass of the inclined part, and the cosine of the road surface inclination angle; the second gravity component is the product of the second gravity, the height of the center of mass of the non-inclined part, and the sine of the road surface inclination angle; and the third gravity component is the product of the first gravity, the height of the center of mass of the inclined part, and the sine of the target inclination angle; the target inclination angle is the sum of the desired inclination angle and the road surface inclination angle.

4. The method according to claim 1, characterized in that, The second equation is that the sum of the squares of the first component and 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 height of the center of gravity of the inclined part and the desired tilt angle, and the second component is the distance between the center of gravity of the vehicle and the center of the non-tilted part.

5. The method according to claim 1, characterized in that, The third equation states that the wheelbase of the vehicle divided by the tangent of the measured steering angle equals the second turning radius.

6. The method according to claim 4, characterized in that, When the vehicle is a front-wheel steering, rear-wheel drive vehicle, the distance between the vehicle's center of gravity and the center of the non-tilted portion is one-third of the vehicle's wheelbase.

7. The method according to any one of claims 1 to 6, characterized in that, The step of controlling the vehicle's tilt motor to perform balance control based on the calculation results includes: The calculation results are input into a preset controller to obtain the torque value of the tilt motor for the vehicle; Based on the torque value, the vehicle's tilt motor is controlled to change the tilt angle of the tilted part of the vehicle relative to the non-tilted part of the vehicle, and the step of acquiring the vehicle's measured data continues.

8. The method according to claim 7, characterized in that, The controller is a PID controller.

9. The method according to claim 7, characterized in that, Before inputting the calculation result into a preset controller to obtain the torque value for the vehicle's tilt motor, the process further includes: The calculation results are subjected to low-pass filtering to obtain the processed calculation results; wherein, the low-pass filtering includes removing high-frequency noise generated by vehicle vibration and / or vehicle steering vibration.

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