Balance control method of two-wheeled vehicle, controller, two-wheeled vehicle and medium

Abstract

The embodiment of the invention provides a balance control method of a two-wheeled vehicle, a controller, the two-wheeled vehicle and a medium, under the condition that a self-balance mode of the two-wheeled vehicle is started and the steering angle of a vehicle head reaches a preset angle, the acceleration control quantity of the two-wheeled vehicle is determined according to the detection quantity and vehicle parameters of the two-wheeled vehicle, and the acceleration control quantity of the two-wheeled vehicle is calculated according to the acceleration control quantity. And then operating parameters of a driving motor of the two-wheeled vehicle are adjusted through the acceleration control quantity of the two-wheeled vehicle, the driving motor can be controlled to rotate forwards or backwards due to the fact that the acceleration control quantity has the direction so as to drive the two-wheeled vehicle to move forwards or backwards, and the rotating speed of the driving motor can be controlled due to the magnitude of the acceleration control quantity. Therefore, the vehicle speed of the two-wheeled vehicle can be controlled in the process of driving the two-wheeled vehicle to advance or retreat, and a certain transverse acceleration component can be brought in the process of controlling the longitudinal acceleration of the two-wheeled vehicle due to the fact that the steering angle of the vehicle head reaches the preset angle, so that the inclination angle of the vehicle body is adjusted. Parking self-balancing of the two-wheeled vehicle can be achieved.

Description

Technical Field

[0001] This application relates to the field of two-wheeled vehicles, and particularly to a balance control method, a controller, a two-wheeled vehicle, and a medium for a two-wheeled vehicle. Background Art

[0002] With the increasing number of users of two-wheeled vehicles, users have higher and higher requirements for the intelligence level of vehicles, and the self-balancing function of vehicles is a function that more and more users are concerned about.

[0003] Current two-wheeled vehicles can only achieve driving balance. When the vehicle speed is low, auxiliary support is needed, and they do not have the ability of vehicle parking self-balancing. Summary of the Invention

[0004] Embodiments of this application provide a balance control method, a controller, a two-wheeled vehicle, and a medium for a two-wheeled vehicle to achieve parking self-balancing of the two-wheeled vehicle.

[0005] In a first aspect, an embodiment of this application provides a balance control method for a two-wheeled vehicle, which is applicable to an in-line two-wheeled vehicle including a drive motor, and includes:

[0006] When the two-wheeled vehicle turns on the self-balancing mode, obtain the detection quantities of the two-wheeled vehicle, where the detection quantities include the body tilt angle, the body tilt angular velocity, and the vehicle speed;

[0007] When the steering angle of the front of the two-wheeled vehicle reaches a preset angle, determine the acceleration control quantity of the two-wheeled vehicle according to the detection quantities and vehicle parameters of the two-wheeled vehicle, and the acceleration control quantity has a corresponding direction and magnitude;

[0008] Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control quantity of the two-wheeled vehicle, and drive the two-wheeled vehicle to move forward or backward to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle to corresponding target quantities, so that the two-wheeled vehicle reaches parking self-balancing.

[0009] In a possible implementation manner, the method further includes:

[0010] When the two-wheeled vehicle turns on the self-balancing mode, obtain the vehicle moving distance of the two-wheeled vehicle;

[0011] The adjusting the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control quantity of the two-wheeled vehicle, and driving the two-wheeled vehicle to move forward or backward to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle to corresponding target quantities includes:

[0012] Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, and drive the two-wheeled vehicle forward or backward to adjust the vehicle moving distance and the body tilt angular velocity of the two-wheeled vehicle to reach the corresponding target amounts, so that the body tilt angle and the vehicle speed of the two-wheeled vehicle reach the corresponding target amounts.

[0013] In a possible implementation manner, when the two-wheeled vehicle turns on the self-balancing mode, obtaining the vehicle moving distance of the two-wheeled vehicle includes:

[0014] When the two-wheeled vehicle turns on the self-balancing mode, calculate the vehicle moving distance of the two-wheeled vehicle according to the vehicle speed in the detection amounts of the two-wheeled vehicle.

[0015] In a possible implementation manner, the adjusting the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, driving the two-wheeled vehicle forward or backward to adjust the body tilt angle and the vehicle speed of the two-wheeled vehicle to the corresponding target amounts, so that the two-wheeled vehicle reaches parking self-balancing includes:

[0016] Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, and drive the two-wheeled vehicle forward or backward to adjust the body tilt angle and the vehicle speed of the two-wheeled vehicle;

[0017] In the case that at least one of the adjusted body tilt angle and the adjusted vehicle speed does not reach the corresponding target amount, re-determine the acceleration control amount of the two-wheeled vehicle according to the vehicle parameters and the detection amounts including the adjusted body tilt angle and the adjusted vehicle speed;

[0018] Adjust the operating parameters of the drive motor of the two-wheeled vehicle again according to the re-determined acceleration control amount, and drive the two-wheeled vehicle forward or backward to adjust the body tilt angle and the vehicle speed of the two-wheeled vehicle to the corresponding target amounts, so that the two-wheeled vehicle reaches parking self-balancing.

[0019] In a possible implementation manner, at least one of the corresponding target amounts of the vehicle moving distance, the body tilt angular velocity, the body tilt angle and the vehicle speed of the two-wheeled vehicle is zero.

[0020] In a possible implementation manner, the method further includes:

[0021] When obtaining the body tilt angle in the detection amounts of the two-wheeled vehicle through the sensor module, if there is an error in the body tilt angle in the detection amounts of the two-wheeled vehicle, compensate and correct the body tilt angle in the detection amounts of the two-wheeled vehicle so that the corresponding target amount of the vehicle moving distance of the two-wheeled vehicle is zero.

[0022] In a possible implementation, obtaining the detection quantity of the two-wheeled vehicle includes:

[0023] When a first sensor module is provided on the body of the two-wheeled vehicle, obtaining the body tilt angle and body tilt angular velocity of the two-wheeled vehicle detected by the first sensor module; or,

[0024] When a second sensor module is provided on the handlebar of the two-wheeled vehicle, obtaining the head roll angle and head roll angular velocity of the two-wheeled vehicle detected by the second sensor module, and based on the head roll angle of the two-wheeled vehicle, the head roll angular velocity, and the fork tilt angle in the vehicle parameters of the two-wheeled vehicle, transforming to obtain the body tilt angle and body tilt angular velocity of the two-wheeled vehicle.

[0025] In a possible implementation, before determining the acceleration control quantity of the two-wheeled vehicle according to the detection quantity and vehicle parameters of the two-wheeled vehicle when the head steering angle of the two-wheeled vehicle reaches a preset angle, the method further includes:

[0026] When a third sensor module is provided on the head of the two-wheeled vehicle, obtaining the head steering angle of the two-wheeled vehicle detected by the third sensor module;

[0027] Or, obtaining the lateral acceleration component and body acceleration component of the two-wheeled vehicle, and determining the head steering angle of the two-wheeled vehicle according to the lateral acceleration component and body acceleration component.

[0028] In a possible implementation, before determining the acceleration control quantity of the two-wheeled vehicle according to the detection quantity and vehicle parameters of the two-wheeled vehicle when the head steering angle of the two-wheeled vehicle reaches a preset angle, the method further includes:

[0029] Controlling the head of the two-wheeled vehicle to rotate to the preset angle through a steering device provided on the head of the two-wheeled vehicle.

[0030] In a possible implementation, the vehicle parameters include: vehicle own parameters;

[0031] When the two-wheeled vehicle is rear-wheel drive, the vehicle own parameters include at least one of the center of gravity height of the two-wheeled vehicle, the distance between the front and rear wheels of the two-wheeled vehicle, and the distance between the center of gravity and the rear wheel of the two-wheeled vehicle;

[0032] When the two-wheeled vehicle is front-wheel drive, the vehicle's own parameters include at least one of the following: the height of the center of gravity of the two-wheeled vehicle, the distance between the front and rear wheels of the two-wheeled vehicle, and the distance between the center of gravity of the two-wheeled vehicle and the front wheel.

[0033] In a possible implementation, the vehicle parameters further include rider parameters.

[0034] The method further includes:

[0035] Obtaining the vehicle's own parameters and / or the rider parameters configured through a preset application or the instrument panel of the two-wheeled vehicle;

[0036] Or, when a fourth sensor module is provided on the seat of the two-wheeled vehicle, detecting the rider parameters through the fourth sensor module.

[0037] In a possible implementation, the method further includes:

[0038] In response to a self-balancing activation instruction, controlling the two-wheeled vehicle to activate the self-balancing mode.

[0039] In a possible implementation, the response to the self-balancing activation instruction includes:

[0040] Responding to a first preset operation on a preset button of the two-wheeled vehicle;

[0041] Or, responding to a first voice control;

[0042] Or, responding to a second preset operation on the braking device of the two-wheeled vehicle.

[0043] In a possible implementation, the method further includes:

[0044] When the two-wheeled vehicle is in the self-balancing mode, if any one of the body tilt angle, vehicle speed, and vehicle travel distance of the two-wheeled vehicle exceeds a corresponding preset threshold, the self-balancing mode is turned off.

[0045] In a possible implementation, the method further includes:

[0046] When the two-wheeled vehicle turns off the self-balancing mode, the driver and passengers are prompted in a preset manner.

[0047] In a possible implementation, the method further includes:

[0048] In response to a self-balancing deactivation instruction, turning off the self-balancing mode of the two-wheeled vehicle.

[0049] In a possible implementation manner, the response to the self-balancing shutdown instruction includes:

[0050] Responding to a rotation operation of the throttle grip of the two-wheeled vehicle;

[0051] Or, responding to a third preset operation on a preset key of the two-wheeled vehicle;

[0052] Or, responding to a fourth preset operation on the braking device of the two-wheeled vehicle;

[0053] Or, responding to second voice control.

[0054] In a possible implementation manner, the method further includes:

[0055] When the two-wheeled vehicle is in the self-balancing mode, in response to a user's operation instruction, controlling the two-wheeled vehicle to move.

[0056] In a second aspect, an embodiment of the present application provides a controller, including: a memory, a processor;

[0057] The memory stores computer execution instructions;

[0058] The processor executes the computer execution instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementation manners of the first aspect.

[0059] In a third aspect, the present application provides a two-wheeled vehicle and the controller described in the second aspect.

[0060] In a possible implementation manner, the controller is disposed in a motor controller, a vehicle control unit or an instrument unit of the two-wheeled vehicle.

[0061] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored, and when the computer execution instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0062] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the above first aspect and / or various possible implementation manners of the first aspect.

[0063] The balance control method, controller, two-wheeled vehicle, and medium for a two-wheeled vehicle provided in this application, when the two-wheeled vehicle turns on the self-balancing mode, obtain the detection quantity of the two-wheeled vehicle. When the steering angle of the front of the two-wheeled vehicle reaches a preset angle, determine the acceleration control quantity of the two-wheeled vehicle according to the detection quantity of the two-wheeled vehicle and the vehicle parameters, and then adjust the operating parameters of the drive motor of the two-wheeled vehicle through the acceleration control quantity of the two-wheeled vehicle. Since the acceleration control quantity has a direction, it can control the drive motor to rotate forward or backward to drive the two-wheeled vehicle forward or backward, and the acceleration control quantity has a magnitude, which can control the rotational speed of the drive motor. Therefore, during the process of driving the two-wheeled vehicle forward or backward, the vehicle speed of the two-wheeled vehicle can be controlled, and because the steering angle of the front reaches the preset angle, during the process of controlling the longitudinal acceleration of the two-wheeled vehicle, a certain lateral angular velocity component will be brought, so that the body tilt angle can be adjusted. Therefore, when the body tilt angle and the vehicle speed of the two-wheeled vehicle reach the corresponding target quantities, the parking self-balancing of the two-wheeled vehicle can be achieved. Brief Description of the Drawings

[0064] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0065] Figure 1 Schematic diagram of the process of the balance control method for the two-wheeled vehicle provided in this application Figure 1 ;

[0066] Figure 2 Schematic diagram of the parking self-balancing of the two-wheeled vehicle provided in this application;

[0067] Figure 3 Schematic diagram of the simulation provided in this application;

[0068] Figure 4 Schematic diagram of the process of the balance control method for the two-wheeled vehicle provided in this application Figure 2 ;

[0069] Figure 5 Schematic diagram of the process of the balance control method for the two-wheeled vehicle provided in this application Figure 3 ;

[0070] Figure 6 Schematic diagram of the structure of the controller provided in this application.

[0071] Through the above drawings, the clear embodiments of this application have been shown, and there will be more detailed descriptions later. These drawings and text descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0072] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0073] With the increasing number of users of two-wheeled vehicles, users' requirements for the intelligence level of two-wheeled vehicles are getting higher and higher. For example, users pay more attention to the realization of autonomous driving for two-wheeled vehicles, and the self-balancing of two-wheeled vehicles is an important influencing factor for realizing autonomous driving.

[0074] Exemplarily, a mechanical flywheel can be added to utilize the axial self-stability of the gyroscope to keep the vehicle from falling. However, in order to maintain the balance of the vehicle body, the flywheel has a relatively large mass and needs to maintain high-speed rotation. Therefore, it will increase the vehicle body mass and power consumption, affect the vehicle driving range, and the production cost is relatively high.

[0075] Exemplarily, during the driving process, by continuously adjusting the direction of the vehicle head, the balance of the vehicle body is adjusted. However, it can only achieve driving balance. When the vehicle speed is low, auxiliary support must be relied on, and it does not have the ability of parking self-balancing. And two-wheeled vehicles are very prone to roll over at low speeds, and the state is unstable. It is relatively difficult to achieve the low-speed balance of two-wheeled vehicles.

[0076] Therefore, a balance control method for a two-wheeled vehicle in the present application, when the two-wheeled vehicle turns on the self-balancing mode, adjusts the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle to drive the two-wheeled vehicle forward or backward. During the process of driving the two-wheeled vehicle forward or backward, the body tilt angle and vehicle speed of the two-wheeled vehicle are adjusted to corresponding target values, so as to be able to achieve the parking self-balancing of the vehicle. And there is no need to make too many modifications to the existing structure of the vehicle, reducing the impact on the vehicle driving range and lowering the production cost.

[0077] It should be noted that the balance control method for a two-wheeled vehicle provided in the present application is applicable to in-line two-wheeled vehicles including drive motors, such as two-wheeled vehicles with two wheels on the same straight line, such as electric bicycles and electric motorcycles.

[0078] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0079] Figure 1Flow schematic of the balance control method for a two-wheeled vehicle provided by this application Figure 1 , such as Figure 1 shown, the method includes:

[0080] S101. When the two-wheeled vehicle turns on the self-balancing mode, obtain the detection quantities of the two-wheeled vehicle, where the detection quantities include the body tilt angle, the body tilt angular velocity, and the vehicle speed.

[0081] Exemplarily, for the two-wheeled vehicle to turn on the self-balancing mode, it can be that a two-wheeled vehicle with a self-balancing function turns on the self-balancing function when it needs to achieve parking self-balancing. When the two-wheeled vehicle turns on the self-balancing mode, parking self-balancing can be achieved through the solution of this application. Parking self-balancing can refer to that the two-wheeled vehicle remains upright without auxiliary support in a stopped or low-speed state, such as Figure 2 shown, the specific low speed can be determined according to the actual situation of the vehicle.

[0082] It should be noted that the two-wheeled vehicle can turn on the self-balancing mode whether there is a driver or not.

[0083] The applicant has found through research that the variables affecting the body tilt trend include the body tilt angle, the vehicle acceleration, the vehicle speed, and the head steering angle. The body tilt trend can be characterized by the body tilt angular acceleration, which is the rate of change of the body tilt angular velocity with time and describes the change trend of the body tilt angular velocity. The applicant further studies and finds that when the head steering angle is fixed, the vehicle acceleration will affect the body tilt angle, the body tilt angular velocity, and the vehicle speed, such as Figure 3 shown, Figure 3 shows the simulation results of the body tilt angle, the body tilt angular velocity, and the vehicle speed when the vehicle acceleration is a variable. When the vehicle acceleration tends to zero, the body tilt angle, the body tilt angular velocity, and the vehicle speed also tend to zero.

[0084] Among them, the body tilt angle refers to the degree of tilt of the two-wheeled vehicle in the lateral (transverse) direction. For example, the angle of tilt of the vehicle when turning inward; the body tilt angular velocity refers to the rate of change of the body tilt angle with time; the vehicle speed refers to the traveling speed of the two-wheeled vehicle along the forward direction; the vehicle acceleration refers to the rate of change of the vehicle speed with time; the head steering angle refers to the rotation angle of the head (such as the front wheel) relative to the longitudinal axis of the two-wheeled vehicle.

[0085] Therefore, in this step, the detection quantities of the two-wheeled vehicle are obtained, and the detection quantities include the body tilt angle, the body tilt angular velocity, and the vehicle speed, so as to determine the acceleration control quantity of the vehicle corresponding to the parking self-balancing subsequently. Among them, the detection quantity can be understood as a parameter that can be detected through sensors, etc. Exemplarily, the body tilt angular velocity can also be obtained by calculating the detected body tilt angle.

[0086] Exemplarily, when a sensor module is pre-installed on the two-wheeled vehicle, the body tilt angle, the body tilt angular velocity, and the vehicle speed of the two-wheeled vehicle can be detected through this sensor module. When a sensor module is not pre-installed on the two-wheeled vehicle, through simple modification, a sensor module can be added to detect the body tilt angle, the body tilt angular velocity, and the vehicle speed of the two-wheeled vehicle, so as to avoid excessive modification of the existing structure of the vehicle and reduce the production cost. Among them, the sensor module can include an electronic gyro sensor, an attitude sensor, an inertial measurement unit (Inertial Measurement Unit, IMU), a speed sensor, etc.

[0087] Exemplarily, considering that the data measured by the sensor is usually relative to the sensor's own coordinate system, the installation direction of the sensor will affect the measurement result. To ensure the accuracy of the measurement data, it is necessary to ensure that the coordinate system of the sensor is consistent with the coordinate system of the vehicle. If the sensor is not installed in the front-back, left-right, and up-down directions of the vehicle, the data measured by the sensor may deviate from the actual state of the vehicle. Therefore, if the installation direction of the sensor is aligned with the standard coordinate system of the vehicle (usually one axis of the coordinate system corresponds to the front-back, left-right, and up-down directions respectively), the data measured by the sensor can be directly used for the state detection of the vehicle without additional space conversion. If the installation direction of the sensor is not aligned with the standard coordinate system of the vehicle, the data measured by the sensor needs to be spatially transformed to convert the data measured by the sensor into the coordinate system of the vehicle. For example, a rotation matrix, etc. can be used for spatial transformation.

[0088] Therefore, in some alternative embodiments, when a first sensor module is provided on the body of the two-wheeled vehicle, considering that the vehicle coordinate system is established based on the body, the coordinate system of the first sensor module is consistent with the vehicle coordinate system, and no space conversion is required. The body tilt angle and the body tilt angular velocity of the two-wheeled vehicle detected by the first sensor module are obtained, and the body tilt angle and the body tilt angular velocity detected by the first sensor module are used as the body tilt angle and the body tilt angular velocity of the two-wheeled vehicle. The first sensor module can include, for example, an electronic gyro sensor, an attitude sensor, an inertial measurement unit, etc.

[0089] In some alternative embodiments, when a second sensor module is provided on the handlebar of a two-wheeled vehicle, considering that the coordinate system of the second sensor module is inconsistent with the vehicle coordinate system, a spatial transformation is required to obtain the head roll angle and head roll angular velocity of the two-wheeled vehicle detected by the second sensor module, and based on the head roll angle, head roll angular velocity of the two-wheeled vehicle and the fork tilt angle in the vehicle parameters of the two-wheeled vehicle, the body tilt angle and body tilt angular velocity of the two-wheeled vehicle are obtained by transformation.

[0090] Among them, the head roll angle is the tilt angle of the head (such as the front wheel) relative to the vehicle longitudinal axis; the head roll angular velocity is the rate of change of the head roll angle over time; the fork tilt angle is the tilt angle of the fork relative to the direction perpendicular to the ground. The second sensor module can include, for example, an electronic gyro sensor, an attitude sensor, an inertial measurement unit, etc.

[0091] For example, the rotation of the head relative to the body is described using a rotation matrix, and then based on the rotation matrix, the head roll angle, head roll angular velocity and fork tilt angle of the two-wheeled vehicle are used to determine the body tilt angle and body tilt angular velocity of the two-wheeled vehicle.

[0092] In some alternative embodiments, the user can determine whether the vehicle needs to achieve parking self-balancing according to the actual situation. If needed, a self-balancing instruction can be sent to the two-wheeled vehicle. Correspondingly, the two-wheeled vehicle responds to the self-balancing instruction and controls the two-wheeled vehicle to enter the self-balancing mode.

[0093] Exemplarily, the self-balancing instruction can be a first preset operation on a preset button of the two-wheeled vehicle, can be a first voice, or can be a second preset operation on the braking device of the two-wheeled vehicle. Correspondingly, the two-wheeled vehicle can respond to the first preset operation on the preset button of the two-wheeled vehicle; can respond to the first voice control; can respond to the second preset operation on the braking device of the two-wheeled vehicle.

[0094] For example, the preset button can be a dedicated button corresponding to the self-balancing function, or can be a button corresponding to an existing other function, such as a turn signal button, a headlight (high beam and low beam) button, a horn button, a switch button, etc. The first preset operation can include short pressing, long pressing, toggling, pulling, etc. The first voice can include relevant voice instructions for turning on self-balancing. The second preset operation can include continuous multiple pressing operations, such as continuously pressing 3 times within 5 s.

[0095] S102. When the head steering angle of the two-wheeled vehicle reaches a preset angle, determine the acceleration control amount of the two-wheeled vehicle according to the detected quantity and vehicle parameters of the two-wheeled vehicle.

[0096] Among them, the acceleration control amount has a corresponding direction and magnitude. The head steering angle is the deflection angle of the front wheel relative to the vehicle longitudinal axis.

[0097] Exemplarily, if it is necessary to achieve the parking self - balance of a two - wheel vehicle, the front of the two - wheel vehicle needs to turn in advance, so that during the process of controlling the longitudinal acceleration of the two - wheel vehicle, a certain lateral angular velocity component will be brought, and then the body tilt angle of the two - wheel vehicle can be effectively controlled. Among them, the front of the two - wheel vehicle can turn to the left or to the right.

[0098] When the front - end angle is fixed, the vehicle acceleration will affect the body tilt angle, the body tilt angular velocity and the vehicle speed, as Figure 2 shown. Therefore, the vehicle acceleration can be used as a control quantity, and the vehicle tilt angle, the vehicle tilt angular velocity and the vehicle speed can be used as state quantities or control results.

[0099] In addition, considering that vehicle parameters will also affect the body tilt angle, the body tilt angular velocity and the vehicle speed. Vehicle parameters can include the height of the center of gravity, the distance between the center of gravity and the rear wheel, the distance between the center of gravity and the front wheel, the distance between the front wheel and the rear wheel, the body weight, the wheel diameter, etc.

[0100] Therefore, in this step, when the front - end steering angle of the two - wheel vehicle reaches a preset angle, according to the body tilt angle, the body tilt angular velocity, the vehicle speed, and the vehicle parameters of the two - wheel vehicle, the acceleration control quantity of the two - wheel vehicle is determined. The acceleration control quantity of the two - wheel vehicle refers to the acceleration that makes the body tilt angle, the body tilt angular velocity and the vehicle speed tend to the corresponding target quantities.

[0101] In some optional embodiments, a Proportion Integration Differentiation (PID) controller, a Linear Quadratic Regulator (LQR), a Model Predictive Control (MPC), a Nonlinear Model Predictive Control (NMPC), etc. can be used to determine the acceleration control quantity of the two - wheel vehicle according to the detected quantities of the two - wheel vehicle and the vehicle parameters.

[0102] For example, according to the dynamic characteristics of the two - wheel vehicle, a system model describing the vehicle motion state is established. The model includes state variables such as the body tilt angle, the body tilt angular velocity, the vehicle speed, etc., and vehicle parameters (such as mass, moment of inertia, etc.). Then, the changes of state variables such as the body tilt angle, the body tilt angular velocity, the vehicle speed, etc. of the two - wheel vehicle under different control inputs are simulated through the model, and the output of the PID controller is used as the control input of the acceleration to determine the acceleration control quantity.

[0103] For example, taking the body tilt angle, body tilt angular velocity, and vehicle speed of a two-wheeled vehicle as state variables, a state space model is established according to the dynamic characteristics and kinematic equations of the vehicle (such as including vehicle parameters such as the mass and wheelbase of the vehicle) to describe the change of the vehicle state over time. The acceleration is determined as the control input, and the vehicle state is changed by adjusting the acceleration. Then, according to the requirements for vehicle stability and maneuverability, a state weight matrix Q is defined to measure the importance of different state variables, and a control weight matrix R is defined to measure the cost of the control input. Using the LQR algorithm, based on the state space model, state weight matrix Q, and control weight matrix R, the optimal state feedback gain matrix K is solved. Subsequently, state variables such as the body tilt angle, body tilt angular velocity, and vehicle speed are measured in real time. According to the measured state variables and the optimal state feedback gain matrix K, the current control input, that is, the acceleration control amount, is calculated.

[0104] Again, for example, the corresponding relationship between the vehicle acceleration, vehicle tilt angle, vehicle speed, and vehicle parameters can also be measured through experiments, and the acceleration control amount that can make the vehicle tilt angle and vehicle speed reach the corresponding target values is determined according to the corresponding relationship.

[0105] Exemplarily, in order to achieve better control effects, the head steering angle can be maintained at a relatively large value. When the head is swung to the maximum limit on one side, the system has good controllability and the head will not swing easily.

[0106] In some alternative embodiments, when a third sensor module is provided on the head of the two-wheeled vehicle, the head steering angle of the two-wheeled vehicle detected by the third sensor module is obtained to acquire the head steering angle of the two-wheeled vehicle. The third sensor module can, for example, include an angle sensor.

[0107] In some alternative embodiments, the lateral acceleration component and the body acceleration component of the two-wheeled vehicle are obtained, and based on the lateral acceleration component and the body acceleration component, the head steering angle of the two-wheeled vehicle is determined, so that the head steering angle can be deduced even when no sensor is provided on the head of the two-wheeled vehicle, saving hardware costs.

[0108] Among them, the lateral acceleration component refers to the acceleration generated perpendicular to the driving direction. The body acceleration component refers to the acceleration of the vehicle in the driving direction and is related to the driving force and resistance of the vehicle.

[0109] Exemplarily, the lateral acceleration component and the body acceleration component of the two-wheeled vehicle can be detected according to an inertial measurement unit. The inertial measurement unit can be built-in with a three-axis gyroscope and a three-axis acceleration sensor.

[0110] In some alternative embodiments, when a steering device is provided at the front end of a two-wheeled vehicle, the steering device provided at the front end of the two-wheeled vehicle can be used to control the front end of the two-wheeled vehicle to rotate to a preset angle, thereby enabling automatic control of the front-end steering.

[0111] In some alternative embodiments, the front end can also be rotated to the preset angle by manually rotating the handlebar. In this embodiment, the preset angle can be the maximum angle at which the front end can rotate, which is convenient for controlling the front end to rotate to the preset angle.

[0112] It should be noted that since the front end can turn to the left or to the right, when the turning angles to the left and to the right are the same, the control directions are different, that is, the acceleration control amounts are different. Therefore, it is necessary to calculate the acceleration of the vehicle after determining the steering angle of the front end of the two-wheeled vehicle.

[0113] In some alternative embodiments, the vehicle parameters include the vehicle's own parameters. When the two-wheeled vehicle is rear-wheel drive, the vehicle's own parameters include at least one of the center-of-gravity height of the two-wheeled vehicle, the distance between the front and rear wheels of the two-wheeled vehicle, and the distance between the center of gravity and the rear wheel of the two-wheeled vehicle, so that when the two-wheeled vehicle is rear-wheel drive, the parking self-balance of the two-wheeled vehicle can be achieved by controlling the vehicle acceleration. When the two-wheeled vehicle is front-wheel drive, the vehicle's own parameters include at least one of the center-of-gravity height of the two-wheeled vehicle, the distance between the front and rear wheels of the two-wheeled vehicle, and the distance between the center of gravity and the front wheel of the two-wheeled vehicle (for example, the distance between the center of gravity and the center of the front wheel of the two-wheeled vehicle), so that when the two-wheeled vehicle is rear-wheel drive, the parking self-balance of the two-wheeled vehicle can be achieved by controlling the vehicle acceleration.

[0114] In some alternative embodiments, considering that not only the vehicle's own parameters can affect the vehicle's tilt angle and vehicle speed, but the rider's parameters can also affect the vehicle's tilt angle and vehicle speed. For example, if the rider's weight distribution is heavier at the front and lighter at the rear, the vehicle may be prone to tilting. For example, if the rider's weight is too large, the vehicle speed will be reduced. Therefore, the vehicle parameters include the rider's parameters and the vehicle's own parameters, and the rider's parameters can include the rider's weight and height, etc.

[0115] Considering that the position of the center of gravity is related to the rider's weight, vehicle size, weight and installation position of the motor, weight and installation position of the battery, etc., therefore, in the above embodiments, when determining the acceleration control amount, the factor of vehicle parameters is considered to improve the accuracy of control.

[0116] Exemplarily, vehicle own parameters and / or rider parameters set through a preset application or the dashboard of a two-wheeled vehicle can be obtained. For example, the preset application is an application corresponding to the two-wheeled vehicle. The user can set the vehicle own parameters of the two-wheeled vehicle in the preset application, and can also set the rider parameters in the preset application. After obtaining the vehicle parameters of the two-wheeled vehicle, the preset application can send the vehicle parameters to the electronic device so that the electronic device can determine the acceleration control amount based on the vehicle parameters.

[0117] Exemplarily, when a fourth sensor module is provided on the seat of the two-wheeled vehicle, the rider parameters are detected by the fourth sensor module. The fourth sensor module can include, for example, a weight sensor.

[0118] S103. Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, and drive the two-wheeled vehicle to move forward or backward to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle to corresponding target values, so that the two-wheeled vehicle achieves parking self-balancing.

[0119] In the embodiments of the present application, the operating parameters of the drive motor of the two-wheeled vehicle are adjusted according to the acceleration control amount of the two-wheeled vehicle. Since the acceleration control amount has magnitude and direction, the rotation speed and steering of the drive motor can be adjusted, so that the two-wheeled vehicle can be driven forward or backward. For example, by controlling the drive motor current to change the acceleration of the two-wheeled vehicle, the current can be positive or negative. When the current is positive, the wheel acceleration is positive, and when the current is negative, the vehicle acceleration is negative. By controlling the longitudinal acceleration of the vehicle, when the vehicle head turns to a preset angle, a certain lateral acceleration component will be brought, so as to achieve the purpose of adjusting the vehicle tilt angle and realize the parking self-balancing of the two-wheeled vehicle.

[0120] In some alternative embodiments, when the two-wheeled vehicle is in the self-balancing mode, in response to the user's operation instruction, the two-wheeled vehicle is controlled to move, so that when the two-wheeled vehicle is in the self-balancing mode, the movement of the vehicle can be manually controlled to meet the driving needs of the rider. For example, in the balance control mode of turning the vehicle head to the left, when the body is manually tilted to the left and the self-balancing control algorithm controls to reach a new balance, an effect of the vehicle moving forward is generated. When the body is manually tilted to the right and the self-balancing control algorithm controls to reach a new balance, an effect of the vehicle moving backward is generated.

[0121] In some alternative embodiments, when the two-wheeled vehicle is in the self-balancing mode, if any one of the body tilt angle, vehicle speed, and vehicle travel distance of the two-wheeled vehicle exceeds the corresponding preset threshold, the self-balancing mode is turned off to improve the safety of the two-wheeled vehicle. For example, when the two-wheeled vehicle is in the self-balancing mode, if the body tilt angle of the two-wheeled vehicle is large, it may not be able to continue to achieve parking self-balancing at this time and is prone to tipping over. Therefore, the self-balancing mode can be turned off. For another example, if the vehicle speed of the two-wheeled vehicle is too high, if the vehicle continues to be controlled to achieve parking self-balancing at this time, it may affect the safety of the rider and passenger. Therefore, the self-balancing mode can be turned off. For another example, if the vehicle travel distance of the two-wheeled vehicle is large, it may cause the vehicle to be in an inappropriate lane or position. At this time, the self-balancing mode can be turned off.

[0122] In some other alternative embodiments, in response to the self-balancing off command, the self-balancing mode of the two-wheeled vehicle is turned off. In this embodiment, the user can determine whether to turn off the self-balancing mode of the two-wheeled vehicle according to the actual situation. If it is necessary to turn off, a self-balancing off command can be sent. Correspondingly, the two-wheeled vehicle can respond to the self-balancing off command and turn off the self-balancing mode of the two-wheeled vehicle.

[0123] Exemplarily, it can respond to the rotation operation of the throttle grip of the two-wheeled vehicle; it can respond to the third preset operation on the preset button of the two-wheeled vehicle; it can respond to the fourth preset operation on the braking device of the two-wheeled vehicle; it can respond to the second voice control.

[0124] The preset button can be, for example, a dedicated button corresponding to the self-balancing function, or a button corresponding to an existing other function, such as a turn signal button, a headlight button (high beam and low beam), a horn button, a switch button, etc. The third preset operation can include, for example, a short press, a long press, a toggle, a pull, etc. The fourth preset operation can include, for example, a multiple pressing operation. The second voice can include relevant voice commands for turning off the self-balancing. It should be noted that the third preset operation is different from the first preset operation, and the fourth preset operation is different from the second preset operation, so as to distinguish between the self-balancing mode on and the self-balancing mode off.

[0125] In some alternative embodiments, when the two-wheeled vehicle is in the self-balancing off mode, the rider and passenger are prompted by a preset method, so that the rider and passenger can take timely risk avoidance measures such as braking and putting feet down to improve the safety of the rider and passenger. The preset method can be, for example, a light prompt, a voice prompt, a vibration prompt, etc.

[0126] Exemplarily, by enabling the two-wheeled vehicle to achieve parking balance, it is possible to avoid putting down the side stand during temporary parking, to keep the feet off the ground during short-term parking on land, to bring convenience for people with limited height to ride tall vehicles, to increase the flexibility of the vehicle, and to improve the user experience.

[0127] For the two-wheeled vehicle balance control method provided by this application, when the two-wheeled vehicle is in the self-balancing mode, the operating parameters of the drive motor of the two-wheeled vehicle are adjusted according to the acceleration control amount of the two-wheeled vehicle to drive the two-wheeled vehicle forward or backward. During the process of driving the two-wheeled vehicle forward or backward, the body tilt angle and vehicle speed of the two-wheeled vehicle are adjusted to corresponding target values, so that the vehicle can achieve parking self-balancing.

[0128] Figure 4 It is a schematic flow of the two-wheeled vehicle balance control method provided by this application Figure 2 , as Figure 4 shown, the method includes:

[0129] S201. When the two-wheeled vehicle is in the self-balancing mode, obtain the detection quantities of the two-wheeled vehicle, where the detection quantities include the body tilt angle, body tilt angular velocity, and vehicle speed.

[0130] S202. When the front steering angle of the two-wheeled vehicle reaches a preset angle, determine the acceleration control amount of the two-wheeled vehicle according to the detection quantities and vehicle speed of the two-wheeled vehicle.

[0131] S203. Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, and drive the two-wheeled vehicle forward or backward to adjust the vehicle moving distance and body tilt angular velocity of the two-wheeled vehicle to corresponding target values, so that the body tilt angle and vehicle speed of the two-wheeled vehicle reach corresponding target values, and the two-wheeled vehicle achieves parking self-balancing.

[0132] Exemplarily, when the two-wheeled vehicle is in the self-balancing mode, obtain the vehicle moving distance of the two-wheeled vehicle so as to control the position of the two-wheeled vehicle. For example, during the process of driving the two-wheeled vehicle forward or backward, obtain the vehicle moving distance of the two-wheeled vehicle so as to control the two-wheeled vehicle to return to the origin according to the vehicle moving distance of the two-wheeled vehicle.

[0133] For example, when the two-wheeled vehicle tilts to the left, the body tilt angle and body tilt angular velocity are recorded as negative values. When the two-wheeled vehicle tilts to the right, the body tilt angle and body tilt angular velocity are recorded as positive values. When the two-wheeled vehicle tilts to the left, determine the acceleration control amount of the two-wheeled vehicle as the first acceleration, and determine the operating parameters of the drive motor of the two-wheeled vehicle as the first operating parameters according to the first acceleration. Then, control the drive motor to operate at the first operating parameters to control the two-wheeled vehicle to drive forward, and during the process of the two-wheeled vehicle driving forward, control the two-wheeled vehicle to change from tilting to the left to tilting to the right. Correspondingly, the body tilt angular velocity of the two-wheeled vehicle gradually decreases to a corresponding intermediate value, so that the body tilt angle also gradually decreases to a corresponding intermediate value.

[0134] Subsequently, determine the acceleration control amount of the two-wheeled vehicle as the second acceleration, and determine the operating parameters of the drive motor of the two-wheeled vehicle as the second operating parameters according to the second acceleration. Control the drive motor to operate under the second operating parameters to control the two-wheeled vehicle to move backward, and during the backward movement of the two-wheeled vehicle, control the two-wheeled vehicle to change from tilting to the right to standing upright without tilting. Correspondingly, the body tilt angular velocity of the two-wheeled vehicle gradually increases to the corresponding target value, and the body tilt angle gradually increases to the corresponding target value, so that the vehicle movement distance and the body tilt angular velocity can be controlled to the corresponding target values, and further the body tilt angle and the vehicle speed of the two-wheeled vehicle can be controlled to the corresponding target values.

[0135] In some alternative embodiments, when the two-wheeled vehicle is in the self-balancing mode, calculate the vehicle movement distance of the two-wheeled vehicle according to the vehicle speed in the detected quantities of the two-wheeled vehicle. For example, calculate the product of the vehicle speed and the driving time to obtain the vehicle movement distance.

[0136] In some alternative embodiments, at least one of the corresponding target values of the vehicle movement distance, the body tilt angular velocity, the body tilt angle, and the vehicle speed of the two-wheeled vehicle is zero, so that the two-wheeled vehicle can achieve parking self-balancing. For example, the vehicle movement distance, the body tilt angular velocity, the body tilt angle, and the vehicle speed of the two-wheeled vehicle are all zero, realizing the parking self-balancing of the two-wheeled vehicle. Another example is that the body tilt angle and the vehicle tilt angular velocity of the two-wheeled vehicle are zero, while the vehicle movement distance and the vehicle speed of the two-wheeled vehicle are not zero, realizing the low-speed self-balancing of the two-wheeled vehicle.

[0137] In some specific embodiments, when the body tilt angle in the detected quantities of the two-wheeled vehicle is obtained through the sensor module, there may be a static error in the sensor module. For example, a certain installation error will be introduced during installation, resulting in a measurement error when the sensor module measures. This error will cause the two-wheeled vehicle to still have a tilting tendency when the body tilt angle of the two-wheeled vehicle is controlled to zero, and this tendency will cause the body tilt angle to continue to increase. Adjusting the body tilt angle will cause the vehicle movement distance to continue to increase. Therefore, the installation error and the measurement error of the sensor module can be compensated by the vehicle movement distance. Therefore, if there is an error in the body tilt angle in the detected quantities of the two-wheeled vehicle, resulting in an error in the movement distance control, the body tilt angle in the detected quantities of the two-wheeled vehicle can be compensated and corrected by the distance error, so that the corresponding target value of the vehicle movement distance of the two-wheeled vehicle is zero, thereby compensating for the static error of the sensor.

[0138] The balance control method of the two-wheeled vehicle provided by this application adjusts the body tilt angular velocity and the vehicle movement distance of the two-wheeled vehicle to the corresponding target values during the process of driving the two-wheeled vehicle forward or backward, so that the body tilt angle and the vehicle speed of the two-wheeled vehicle reach the corresponding target values, thereby enabling the vehicle to achieve parking self-balancing.

[0139] Figure 5 Flow schematic of the balance control method for the two-wheeled vehicle provided in this application Figure 3 , such as Figure 5 shown, step S103: Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, drive the two-wheeled vehicle forward or backward, so as to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle to corresponding target amounts, and make the two-wheeled vehicle achieve parking self-balancing, which may include:

[0140] S301: Adjust the operating parameters of the drive motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, drive the two-wheeled vehicle forward or backward, so as to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle.

[0141] In the embodiment of this application, since the acceleration control amount has magnitude and direction, the rotation speed and steering of the drive motor can be adjusted, so that the two-wheeled vehicle can be driven forward or backward. During the process of driving the two-wheeled vehicle forward or backward, the rotation speed of the drive motor can be controlled to control the acceleration or deceleration of the drive motor, so as to control the vehicle speed, and centripetal force or centrifugal force can be generated to adjust the body tilt angle of the two-wheeled vehicle, and achieve the parking self-balancing of the two-wheeled vehicle.

[0142] S302: In the case that at least one of the adjusted body tilt angle and the adjusted vehicle speed does not reach the corresponding target amount, re-determine the acceleration control amount of the two-wheeled vehicle according to the vehicle parameters and the detected amount including the adjusted body tilt angle and the adjusted vehicle speed.

[0143] In this embodiment, after adjusting the body tilt angle and vehicle speed according to the acceleration control amount, there may be a situation where the adjusted body tilt angle and / or vehicle speed do not reach the corresponding target amount. In the case that at least one of the adjusted body tilt angle and the adjusted vehicle speed does not reach the corresponding target amount, the parking self-balancing of the two-wheeled vehicle cannot be achieved. At this time, steps S101 and S102 can be referred to, and the acceleration control amount of the two-wheeled vehicle can be re-determined according to the vehicle parameters, as well as the adjusted body tilt angle, body tilt angular velocity and vehicle speed.

[0144] S303: Adjust the operating parameters of the drive motor of the two-wheeled vehicle again according to the re-determined acceleration control amount, drive the two-wheeled vehicle forward or backward, so as to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle to corresponding target amounts, and make the two-wheeled vehicle achieve parking self-balancing.

[0145] In this embodiment, according to the re-determined acceleration control amount of the two-wheeled vehicle, the operating parameters of the drive motor of the two-wheeled vehicle are adjusted again. The re-adjusted acceleration control amount has a magnitude and a direction, so that the rotational speed and steering of the drive motor can be adjusted, and thus the two-wheeled vehicle can be driven forward or backward. During the process of driving the two-wheeled vehicle forward or backward, the rotational speed of the drive motor can be controlled to control the acceleration or deceleration of the drive motor, so as to control the vehicle speed. And since when the vehicle head turns to a preset angle, a certain lateral acceleration component can be brought by controlling the longitudinal acceleration of the two-wheeled vehicle, the purpose of adjusting the vehicle tilt angle can be achieved.

[0146] Correspondingly, by continuously adjusting the acceleration control amount and continuously adjusting the operating parameters of the drive motor, the body tilt angle and vehicle speed of the vehicle can be continuously adjusted until the body tilt angle and vehicle speed of the two-wheeled vehicle reach the corresponding target values. When the body tilt angle and vehicle speed of the two-wheeled vehicle reach the corresponding target values, the parking self-balancing of the two-wheeled vehicle can be achieved.

[0147] The balance control method of the two-wheeled vehicle provided by the embodiment of the present application continuously adjusts the acceleration control amount and continuously adjusts the body tilt angle and vehicle speed of the two-wheeled vehicle until the body tilt angle and vehicle speed of the two-wheeled vehicle reach the corresponding target values, so that the two-wheeled vehicle achieves parking self-balancing.

[0148] Figure 6 It is a schematic structural diagram of the controller provided by the present application. As Figure 6 shown, the controller 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. Among them, the processor 501, the memory 502, and the communication component 503 are connected through a bus 504.

[0149] In the specific implementation process, at least one processor 501 executes the computer execution instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0150] For the specific implementation process of the processor 501, reference can be made to the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0151] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU for short), or other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by the execution of the hardware processor, or implemented by the combination of the hardware and software modules in the processor.

[0152] The memory may include a random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0153] The bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0154] Exemplarily, the controller 50 may further include an attitude sensor 504, and the attitude sensor 504 is configured to detect the above detection quantity of the two-wheeled vehicle and send it to the processor 501.

[0155] This application also provides a two-wheeled vehicle, including the above controller.

[0156] In some alternative embodiments, the controller may be disposed in the motor controller, the vehicle control unit or the instrument unit of the two-wheeled vehicle.

[0157] Correspondingly, if the controller is disposed in the motor controller of the two-wheeled vehicle, the software of the motor controller can be upgraded, so that the balance control method of the two-wheeled vehicle of the present application can be implemented. If the controller is disposed in the vehicle control unit of the two-wheeled vehicle, the software of the vehicle control unit can be upgraded, so that the balance control method of the two-wheeled vehicle of the present application can be implemented. If the controller is disposed in the instrument unit of the two-wheeled vehicle, the software of the instrument unit can be upgraded, so that the balance control method of the two-wheeled vehicle of the present application can be implemented.

[0158] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0159] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the above method is implemented.

[0160] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A two-wheeled vehicle balance control method, applicable to an in-line two-wheeled vehicle including a drive motor, characterized in that: include: When the two-wheeled vehicle is in a self-balancing mode, obtaining a detection quantity of the two-wheeled vehicle, the detection quantity including a vehicle body tilt angle, a vehicle body tilt angular velocity, and a vehicle speed; When the steering angle of the front of the two-wheeled vehicle reaches a preset angle, determining the acceleration control amount of the two-wheeled vehicle according to the detection amount and vehicle parameters of the two-wheeled vehicle, wherein the acceleration control amount has a corresponding direction and magnitude; The operating parameters of the driving motor of the two-wheeled vehicle are adjusted according to the acceleration control amount of the two-wheeled vehicle, and the two-wheeled vehicle is driven forward or backward to adjust the body inclination angle and vehicle speed of the two-wheeled vehicle to corresponding target amounts, so that the two-wheeled vehicle achieves parking self-balancing.

2. The method according to claim 1, characterized in that The method further comprises: When the two-wheeled vehicle is in a self-balancing mode, obtaining a vehicle moving distance of the two-wheeled vehicle; The method of adjusting the operating parameters of the driving motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle to drive the two-wheeled vehicle forward or backward to adjust the body inclination angle and vehicle speed of the two-wheeled vehicle to corresponding target amounts includes: The operating parameters of the driving motor of the two-wheeled vehicle are adjusted according to the acceleration control amount of the two-wheeled vehicle, and the two-wheeled vehicle is driven forward or backward, so as to adjust the vehicle moving distance and the body tilt angular velocity of the two-wheeled vehicle to reach corresponding target amounts, so that the body tilt angle and the vehicle speed of the two-wheeled vehicle reach corresponding target amounts.

3. The method according to claim 2, characterized in that When the two-wheeled vehicle is in a self-balancing mode, obtaining the vehicle moving distance of the two-wheeled vehicle includes: When the two-wheeled vehicle starts the self-balancing mode, the vehicle moving distance of the two-wheeled vehicle is calculated according to the vehicle speed in the detection quantity of the two-wheeled vehicle.

4. The method according to claim 1, characterized in that: The method of adjusting the operating parameters of the driving motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle to drive the two-wheeled vehicle forward or backward, so as to adjust the body inclination angle and vehicle speed of the two-wheeled vehicle to corresponding target amounts, so that the two-wheeled vehicle achieves parking self-balancing, includes: adjusting the operating parameters of the driving motor of the two-wheeled vehicle according to the acceleration control amount of the two-wheeled vehicle, driving the two-wheeled vehicle forward or backward, so as to adjust the body tilt angle and vehicle speed of the two-wheeled vehicle; re-determining the acceleration control amount of the two-wheeled vehicle based on the vehicle parameter and the detection amount including the adjusted vehicle body tilt angle and the adjusted vehicle speed when at least one of the adjusted vehicle body tilt angle and the adjusted vehicle speed does not reach the corresponding target amount; The operating parameters of the driving motor of the two-wheeled vehicle are adjusted again according to the re-determined acceleration control amount, and the two-wheeled vehicle is driven forward or backward to adjust the body inclination angle and vehicle speed of the two-wheeled vehicle to corresponding target amounts, so that the two-wheeled vehicle achieves parking self-balancing.

5. The method according to claim 2, characterized in that: At least one of the respective target quantities of the vehicle moving distance, the vehicle body tilt angular velocity, the vehicle body tilt angle, and the vehicle speed of the two-wheeled vehicle is zero.

6. The method according to claim 5, characterized in that The method further comprises: When the body tilt angle in the detection amount of the two-wheeled vehicle is obtained by the sensor module, if there is an error in the body tilt angle in the detection amount of the two-wheeled vehicle, the body tilt angle in the detection amount of the two-wheeled vehicle is compensated and corrected so that the corresponding target amount of the vehicle moving distance of the two-wheeled vehicle is zero.

7. The method according to any one of claims 1 to 6, characterized in that The obtaining of the detection amount of the two-wheeled vehicle comprises: In the case where a first sensor module is provided on the body of the two-wheeled vehicle, obtaining the body tilt angle and body tilt angular velocity of the two-wheeled vehicle detected by the first sensor module; or In the case where a second sensor module is provided on the handlebar of the two-wheeled vehicle, the front roll angle and the front roll angular velocity of the two-wheeled vehicle detected by the second sensor module are obtained, and the body inclination angle and the body inclination angular velocity of the two-wheeled vehicle are converted according to the front roll angle, the front roll angular velocity of the two-wheeled vehicle and the front fork inclination angle in the vehicle parameters of the two-wheeled vehicle.

8. The method according to any one of claims 1 to 6, characterized in that When the front steering angle of the two-wheeled vehicle reaches a preset angle, before determining the acceleration control amount of the two-wheeled vehicle according to the detection amount and vehicle parameters of the two-wheeled vehicle, the method further includes: In the case where a third sensor module is provided on the front of the two-wheeled vehicle, obtaining a front steering angle of the two-wheeled vehicle detected by the third sensor module; Or, a lateral acceleration component and a body acceleration component of the two-wheeled vehicle are obtained, and a front steering angle of the two-wheeled vehicle is determined according to the lateral acceleration component and the body acceleration component.

9. The method according to any one of claims 1 to 6, characterized in that: When the front steering angle of the two-wheeled vehicle reaches a preset angle, before determining the acceleration control amount of the two-wheeled vehicle according to the detection amount and vehicle parameters of the two-wheeled vehicle, the method further includes: The front of the two-wheeled vehicle is controlled to rotate to the preset angle by a steering device arranged on the front of the two-wheeled vehicle.

10. The method according to any one of claims 1 to 6, characterized in that: The vehicle parameters include: vehicle parameters; In the case where the two-wheeled vehicle is rear-wheel driven, the vehicle parameters include: at least one of the height of the center of gravity of the two-wheeled vehicle, the distance between the front wheel and the rear wheel of the two-wheeled vehicle, and the distance between the center of gravity of the two-wheeled vehicle and the rear wheel; In the case where the two-wheeled vehicle is front-wheel drive, the vehicle parameters include at least one of the height of the center of gravity of the two-wheeled vehicle, the distance between the front wheel and the rear wheel of the two-wheeled vehicle, and the distance between the center of gravity of the two-wheeled vehicle and the front wheel.

11. The method according to claim 10, characterized in that The vehicle parameters also include: rider parameters; The method further comprises: Acquiring the vehicle's own parameters and / or the rider's parameters configured through a preset application or a dashboard of the two-wheeled vehicle; Alternatively, when a fourth sensor module is provided on the seat of the two-wheeled vehicle, the rider parameter is detected by the fourth sensor module.

12. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In response to the self-balancing start instruction, the two-wheeled vehicle is controlled to start a self-balancing mode.

13. The method according to claim 12, characterized in that The responding to the self-balancing start instruction comprises: In response to a first preset operation on a preset button of the two-wheeled vehicle; or, in response to a first voice control; Or, in response to a second preset operation of a brake device of the two-wheeled vehicle.

14. The method according to claim 2, characterized in that The method further comprises: When the two-wheeled vehicle is in the self-balancing mode, if any one of the body tilt angle, vehicle speed and vehicle moving distance of the two-wheeled vehicle exceeds a corresponding preset threshold, the self-balancing mode is turned off.

15. The method according to claim 14, characterized in that The method further comprises: When the two-wheeled vehicle turns off the self-balancing mode, the driver is prompted in a preset manner.

16. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In response to the self-balancing off instruction, the self-balancing mode of the two-wheeled vehicle is turned off.

17. The method according to claim 16, characterized in that The responding to the self-balancing shut down instruction comprises: In response to a rotation operation of a throttle handle of the two-wheeled vehicle; or, in response to a third preset operation on a preset button of the two-wheeled vehicle; or, in response to a fourth predetermined operation of a brake device of the two-wheeled vehicle; Or, in response to a second voice control.

18. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When the two-wheeled vehicle is in the self-balancing mode, the two-wheeled vehicle is controlled to move in response to an operation instruction of a user.

19. A controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 18.

20. A two-wheeled vehicle, characterized in that: Comprising the controller as claimed in claim 19.

21. The two-wheeled vehicle according to claim 20, characterized in that The controller is arranged in a motor controller, a vehicle control unit or an instrument unit of the two-wheeled vehicle.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 18 when executed by a processor.

23. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 18 when being executed by a processor.

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