Riding control method and device, electric riding vehicle, controller, storage medium and program product

Abstract

The invention discloses a riding control method and device, an electric riding vehicle, a controller, a storage medium and a program product. The method comprises the steps that the electric riding vehicle is controlled to be ridden according to a first riding mode, and the first riding mode is a riding mode that the position of a rotor of a motor is detected through a Hall sensor; the running state of the Hall sensor is detected in the first riding mode, if the running state of the Hall sensor is abnormal, the electric riding vehicle is controlled to ride according to a second riding mode, and the second riding mode is a riding mode that the position of a rotor of the motor is detected through a Hall-free position observer; wherein the Hall-free position observer determines the rotor position of the motor based on the current of the motor.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a riding control method and device, an electric riding vehicle, a controller, a storage medium, and a program product. Background Art

[0002] The motor of an electric riding vehicle consists of a stator and a rotor. Among them, coils (which can also be called windings) are fixed on the stator, and the rotor is made of a permanent magnet. During the operation of the motor, Hall sensors fixed on the stator detect the rotor position and thus output position signals; the motor controller switches the current direction of the coils (i.e., controls the current phase of the coils) according to the position signals, so as to drive the rotor to run smoothly and output high torque through the magnetic field generated by the coils.

[0003] However, as a physical component, the Hall sensor is vulnerable to factors such as vibration, humidity, aging, or circuit faults. Once damaged, the motor controller will directly stop the motor because it cannot obtain the position signal, resulting in the user being forced to interrupt the ride, especially in remote or emergency scenarios, which may cause potential safety hazards. Summary of the Invention

[0004] To solve the above technical problems, embodiments of the present application provide a riding control method and device, an electric riding vehicle, a controller, a computer storage medium, and a computer program product.

[0005] The riding control method provided by the embodiments of the present application is applied to an electric riding vehicle, which is driven by a motor, and a Hall sensor for detecting the rotor position of the motor is installed on the motor; the method includes:

[0006] Controlling the electric riding vehicle to ride in a first riding mode, where the first riding mode is a riding mode in which the rotor position of the motor is detected by the Hall sensor;

[0007] Detecting the operating state of the Hall sensor in the first riding mode. If the operating state of the Hall sensor is abnormal, controlling the electric riding vehicle to ride in a second riding mode, where the second riding mode is a riding mode in which the rotor position of the motor is detected by a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor based on the current of the motor.

[0008] In some embodiments, the method further includes:

[0009] Determining the detection error of the sensorless position observer in the second riding mode. If the detection error of the sensorless position observer is greater than or equal to a first error threshold, it is determined that the operating state of the second riding mode is abnormal;

[0010] When the operating state of the second riding mode is abnormal, control the motor power of the electric riding vehicle not to exceed a first power value and / or control the vehicle speed of the electric riding vehicle not to exceed a first speed value.

[0011] In some embodiments, the determining the detection error of the sensorless position observer includes:

[0012] Estimate the current noise of the motor based on the current of the motor;

[0013] Determine the detection error of the sensorless position observer based on the current noise of the motor.

[0014] In some embodiments, the method further includes:

[0015] When the operating state of the second riding mode is abnormal, output a first prompt message through a prompt device of the electric riding vehicle, where the first prompt message is used to prompt that the operating state of the second riding mode is abnormal and / or prompt the user to use a first operation to restart the second riding mode.

[0016] In some embodiments, the method further includes:

[0017] After detecting the first operation triggered by the user, control the electric riding vehicle to restart the second riding mode.

[0018] In some embodiments, the first operation includes one or more of the following operations: throttle operation, braking operation, button operation.

[0019] In some embodiments, the detecting the operating state of the Hall sensor includes:

[0020] Detect three-phase signals of the Hall sensor, where the three-phase signals include a U-phase signal, a V-phase signal, and a W-phase signal, and the W-phase signal is generated by the Hall sensor for the magnetic field generated by the rotor of the motor;

[0021] If at least one of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, determine that the operating state of the Hall sensor is abnormal;

[0022] If none of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, determine that the operating state of the Hall sensor is not abnormal.

[0023] In some embodiments, the detecting the three-phase signals of the Hall sensor includes:

[0024] Monitor the level changes of the U-phase signal, the V-phase signal, and the W-phase signal within the first period to obtain the level jump trajectories of the U-phase signal, the V-phase signal, and the W-phase signal;

[0025] For each of the U-phase signal, the V-phase signal, and the W-phase signal:

[0026] If the level jump trajectory of this signal within the first period is consistent with the preset jump trajectory, it is determined that this signal has no abnormality;

[0027] If the level jump trajectory of this signal within the first period is continuously high level or continuously low level, it is determined that this signal has an abnormality; or, if the level jump trajectory of this signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that this signal has an abnormality.

[0028] In some embodiments, the method further includes:

[0029] When the electric riding vehicle is in the second riding mode, control the electric riding vehicle to enter the function limit mode, where controlling the electric riding vehicle to enter the function limit mode includes one or more of the following:

[0030] Control the motor power of the electric riding vehicle not to exceed the second power value;

[0031] Control the vehicle speed of the electric riding vehicle not to exceed the second vehicle speed value;

[0032] Turn off the reverse function of the electric riding vehicle;

[0033] Turn off the energy recovery function of the electric riding vehicle;

[0034] Turn off the electric brake function of the electric riding vehicle.

[0035] In some embodiments, the method further includes:

[0036] When the electric riding vehicle is in the second riding mode, output a second prompt message through the prompt device of the electric riding vehicle, and the second prompt message is used to prompt that the electric riding vehicle is in the second riding mode.

[0037] The riding control device provided by the embodiments of the present application is applied to an electric riding vehicle, and the electric riding vehicle is driven by a motor, and a Hall sensor for detecting the rotor position of the motor is installed on the motor. The device includes:

[0038] A control unit for controlling the electric riding vehicle to ride in a first riding mode, where the first riding mode is a riding mode in which the rotor position of the motor is detected by the Hall sensor;

[0039] A processing unit for detecting the operating state of the Hall sensor in the first riding mode;

[0040] The control unit is configured to, if the operating state of the Hall sensor is abnormal, control the electric riding vehicle to ride in a second riding mode, where the second riding mode is a riding mode in which the rotor position of the motor is detected by a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor based on the current of the motor.

[0041] In some embodiments, the processing unit is configured to determine the detection error of the sensorless position observer in the second riding mode, and if the detection error of the sensorless position observer is greater than or equal to a first error threshold, determine that the operating state of the second riding mode is abnormal;

[0042] The control unit is further configured to, when the operating state of the second riding mode is abnormal, control the motor power of the electric riding vehicle not to exceed a first power value and / or control the vehicle speed of the electric riding vehicle not to exceed a first speed value.

[0043] In some embodiments, the processing unit is configured to estimate the current noise of the motor based on the current of the motor; and determine the detection error of the sensorless position observer based on the current noise of the motor.

[0044] In some embodiments, the control unit is configured to, when the operating state of the second riding mode is abnormal, output a first prompt message through a prompt device of the electric riding vehicle, where the first prompt message is used to prompt that the operating state of the second riding mode is abnormal and / or prompt the user to restart the second riding mode by a first operation.

[0045] In some embodiments, the control unit is configured to, after detecting the first operation triggered by the user, control the electric riding vehicle to restart the second riding mode.

[0046] In some embodiments, the first operation includes one or more of the following operations: throttle operation, braking operation, button operation.

[0047] In some embodiments, the processing unit is configured to detect three-phase signals of the Hall sensor, the three-phase signals including a U-phase signal, a V-phase signal, and a W-phase signal, and the W-phase signal is generated by the Hall sensor in response to a magnetic field generated by a rotor of the motor; if at least one of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is abnormal; if none of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is normal.

[0048] In some embodiments, the processing unit is configured to monitor the level changes of the U-phase signal, the V-phase signal, and the W-phase signal within a first period to obtain the level jump trajectories of the U-phase signal, the V-phase signal, and the W-phase signal; for each of the U-phase signal, the V-phase signal, and the W-phase signal: if the level jump trajectory of the signal within the first period is consistent with a preset jump trajectory, it is determined that the signal is normal; if the level jump trajectory of the signal within the first period is continuously high level or continuously low level, it is determined that the signal is abnormal; or, if the level jump trajectory of the signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the signal is abnormal.

[0049] In some embodiments, the control unit is configured to control the electric riding vehicle to enter a function limitation mode when the electric riding vehicle is in the second riding mode, where controlling the electric riding vehicle to enter the function limitation mode includes one or more of the following:

[0050] Control the motor power of the electric riding vehicle not to exceed a second power value;

[0051] Control the vehicle speed of the electric riding vehicle not to exceed a second vehicle speed value;

[0052] Turn off the reverse function of the electric riding vehicle;

[0053] Turn off the energy recovery function of the electric riding vehicle;

[0054] Turn off the electric braking function of the electric riding vehicle.

[0055] In some embodiments, the control unit is configured to output a second prompt message through a prompt device of the electric riding vehicle when the electric riding vehicle is in the second riding mode, and the second prompt message is used to prompt that the electric riding vehicle is in the second riding mode.

[0056] The electric riding vehicle provided by the embodiment of the present application includes a motor and a controller, and a Hall sensor for detecting the rotor position of the motor is installed on the motor; wherein,

[0057] The motor is used to drive the electric riding vehicle;

[0058] The controller is used to control the electric riding vehicle to ride in a first riding mode, and the first riding mode is a riding mode in which the rotor position of the motor is detected by the Hall sensor; the operating state of the Hall sensor is detected in the first riding mode. If the operating state of the Hall sensor is abnormal, the electric riding vehicle is controlled to ride in a second riding mode, and the second riding mode is a riding mode in which the rotor position of the motor is detected by a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor based on the current of the motor.

[0059] The controller provided by the embodiment of the present application includes: a processor and a memory, and the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the above-mentioned riding control method.

[0060] The computer-readable storage medium provided by the embodiment of the present application is used to store a computer program, and the computer program enables a computer to execute the above-mentioned riding control method.

[0061] The computer program product provided by the embodiment of the present application includes computer program instructions, and the computer program instructions enable a computer to execute the above-mentioned riding control method.

[0062] In the technical solution of the embodiment of the present application, the electric riding vehicle has two riding modes, namely a first riding mode and a second riding mode. Among them, the first riding mode is a riding mode in which the rotor position of the motor is detected by a Hall sensor (which can also be called a Hall riding mode or a sensor riding mode), and the second riding mode is a riding mode in which the rotor position of the motor is detected by a sensorless position observer (which can also be called a sensorless riding mode or a sensorless riding mode); the operating state of the Hall sensor is detected in the first riding mode, and after the operating state of the Hall sensor is abnormal, the electric riding vehicle is controlled to ride in the second riding mode. In this way, after the operating state of the Hall sensor is abnormal, the electric riding vehicle can automatically switch to the second riding mode. In the second riding mode, the rotor position of the motor can still be determined by the sensorless position observer based on the current of the motor, so that the motor controller can effectively control the operation of the motor according to the rotor position of the motor, improving the reliability and user experience of the electric riding vehicle. Description of the Drawings

[0063] Figure 1 It is a schematic diagram of a motor;

[0064] Figure 2 It is a schematic diagram of a motor coil and a switch circuit;

[0065] Figure 3 It is a schematic flow diagram of the riding control method provided by the embodiment of the present application;

[0066] Figure 4 It is a schematic diagram of the structural composition of the riding control device provided by the embodiment of the present application;

[0067] Figure 5 It is a schematic diagram of the structure of the electric riding vehicle provided by the embodiment of the present application;

[0068] Figure 6 It is a schematic structural diagram of a controller provided by the embodiment of the present application. Detailed implementation manners

[0069] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0070] It should be noted that in the embodiments of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the embodiments of the present application, the character " / " generally represents an "or" relationship between the associated objects before and after.

[0071] To facilitate the understanding of the technical solutions in the embodiments of the present application, the following describes the related technologies in the embodiments of the present application. The following related technologies can be arbitrarily combined with the technical solutions in the embodiments of the present application as optional solutions, and they all fall within the protection scope of the embodiments of the present application.

[0072] A Hall sensor is a magnetic field sensor based on the Hall effect. Its main function is to detect the rotor position of the motor and output a position signal. The motor controller determines the rotor position of the motor by reading the position signal output by the Hall sensor, and thus controls the current direction of the motor coil (which can also be called a winding) according to the rotor position of the motor (that is, controls the current phase of the coil), so as to drive the rotor to run smoothly and output high torque through the magnetic field generated by the coil.

[0073] Figure 1It is a schematic diagram of an electric motor. The electric motor consists of a stator and a rotor. Among them, coils (which can also be called windings) are fixed on the stator, and the rotor is made of a permanent magnet. As Figure 1 shown, three groups of coils are fixed on the stator, namely the red (U) phase coil, the green (V) phase coil, and the blue (W) phase coil; the rotor has a north (N) magnetic pole and a south (S) magnetic pole.

[0074] The three groups of coils of the electric motor are connected to the motor controller through a switching circuit. The motor controller changes the current direction of the three groups of coils (that is, controls the current phase of the coils) by controlling the opening and closing of the switching circuit. The switching circuit can be implemented by transistors. As Figure 2 shown, Figure 2 schematically shows the schematic diagram of the motor coils and the switching circuit. The switching circuit is composed of 6 transistors (denoted as Tr1~Tr6). These transistors alternately repeat ON and OFF in a certain order, and can realize the change of the current direction of the coils. For example: in stage ①, transistors Tr1 and Tr6 are in the ON state. At this time, the coil current flows from the U phase to the W phase. The U phase is magnetized into the N pole, and the W phase is magnetized into the S pole. Therefore, the rotor rotates 30°. In stage ②, transistors Tr2 and Tr6 are in the ON state. At this time, the coil current flows from the V phase to the W phase. The V phase is magnetized into the N pole, and the W phase is magnetized into the S pole. Therefore, the rotor continues to rotate 30°. In stage ③, transistors Tr2 and Tr4 are in the ON state. At this time, the coil current flows from the V phase to the U phase. The V phase is magnetized into the N pole, and the U phase is magnetized into the S pole. Therefore, the rotor continues to rotate 30°. By controlling the opening and closing of the switching circuit through the above process, the continuous rotation of the rotor can be realized.

[0075] Hall sensors are installed on the stator of the electric motor. Generally, Hall sensors are installed at intervals of 120°. When the rotor of the electric motor rotates, the magnetic field generated by the magnetic poles of the rotor will change periodically; after the Hall sensors detect the magnetic field change, they output Hall signals proportional to the magnetic field strength. This Hall signal is related to the rotor position. Therefore, this Hall signal can also be called a position signal. The motor controller can determine the rotor position of the electric motor according to the Hall signal, and thus control the current direction of the motor coils according to the rotor position of the electric motor.

[0076] The Hall signals output by the Hall sensors are three-phase signals. The three-phase signals include U-phase signals, V-phase signals, and W-phase signals. The U-phase signal / V-phase signal / W-phase signal is represented by high and low levels. In binary coding, the high level is denoted as 1, and the low level is denoted as 0. The following Table 1 gives the correspondence between the rotor position and the three-phase signals. Based on the correspondence shown in Table 1, the rotor position can be obtained based on the three-phase signals.

[0077]

[0078]

[0079] Table 1: Corresponding relationship between rotor position and three-phase signals

[0080] The motor controller turns on each transistor in the switching circuit in sequence according to the Hall signals, so that current flows through the corresponding coil, and a magnetic field is formed by the coil to drive the rotor to rotate. As an important physical component in the motor, the Hall sensor plays a crucial role. However, once the Hall sensor is damaged, the motor controller will directly stop the motor because it cannot obtain the position signal, resulting in the user being forced to interrupt the ride, especially in remote or emergency scenarios, which may pose safety hazards. Therefore, the following technical solutions of the embodiments of the present application are proposed. The technical solutions of the present application are described in detail below through specific embodiments.

[0081] It should be noted that the first riding mode described in the embodiments of the present application is a riding mode that detects the rotor position of the motor through a Hall sensor. Regarding the specific implementation of "detecting the rotor position of the motor by the Hall sensor", the corresponding rotor position can be obtained according to the three-phase signals output by the Hall sensor and the corresponding relationship shown in Table 1 above. The first riding mode can also have other names, including but not limited to Hall riding mode, sensor riding mode, etc.

[0082] It should be noted that the second riding mode described in the embodiments of the present application is a riding mode that detects the rotor position of the motor through a sensorless position observer. Among them, the sensorless position observer determines the rotor position of the motor based on the current of the motor. Specifically, the sensorless position observer uses a sensorless position estimation algorithm to estimate the rotor position of the motor based on the current of the motor. The embodiments of the present application do not limit the "sensorless position estimation algorithm". In some embodiments, a mathematical model between the motor current and the rotor position is constructed, and the rotor position corresponding to the current can be estimated through this mathematical model. The second riding mode can also have other names, including but not limited to sensorless riding mode, sensorless riding mode, emergency riding mode, etc.

[0083] It should be noted that the electric riding vehicle described in the embodiments of the present application can be an electric two-wheeler, an electric motorcycle, an electric bicycle, an electric scooter, etc., which is different from a vehicle of the automobile type.

[0084] Figure 3 is a schematic flowchart of a riding control method provided by an embodiment of the present application, which is applied to an electric riding vehicle. The electric riding vehicle is driven by a motor, and a Hall sensor for detecting the rotor position of the motor is installed on the motor; as Figure 3 shown, the riding control method includes the following steps:

[0085] Step 301: Control the electric riding vehicle to ride in the first riding mode, where the first riding mode is a riding mode that detects the rotor position of the motor through a Hall sensor.

[0086] Step 302: Detect the operating state of the Hall sensor in the first riding mode. If the operating state of the Hall sensor is abnormal, control the electric riding vehicle to ride in the second riding mode, where the second riding mode is a riding mode that detects the rotor position of the motor through a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor based on the current of the motor.

[0087] In some embodiments, the detecting the operating state of the Hall sensor includes:

[0088] Detect the three-phase signals of the Hall sensor. The three-phase signals include a U-phase signal, a V-phase signal, and a W-phase signal, and the W-phase signal is generated by the magnetic field generated by the rotor of the motor on the Hall sensor;

[0089] If at least one of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is abnormal;

[0090] If none of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is not abnormal.

[0091] In some embodiments, the detecting the three-phase signals of the Hall sensor includes:

[0092] Monitor the level change of the U-phase signal, the V-phase signal, and the W-phase signal within the first period to obtain the level jump trajectory of the U-phase signal, the V-phase signal, and the W-phase signal;

[0093] For each of the U-phase signal, the V-phase signal, and the W-phase signal:

[0094] If the level jump trajectory of the signal within the first period is consistent with the preset jump trajectory, it is determined that the signal is not abnormal;

[0095] If the level jump trajectory of the signal within the first period is continuously high level or continuously low level, it is determined that the signal is abnormal; or, if the level jump trajectory of the signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the signal is abnormal.

[0096] In some embodiments, the first period is a phase change period. Here, the voltages of the U-phase signal / V-phase signal / W-phase signal change periodically as the rotor rotates, and the first period is the voltage change period of the U-phase signal / V-phase signal / W-phase signal (i.e., the phase change period). Referring to Table 1 above, within one phase change period, the rotor position changes from 0° to 360°, the level jump trajectory of the U-phase signal is high level - high level - low level - low level - low level - high level, the level jump trajectory of the V-phase signal is low level - high level - high level - high level - low level - low level, and the level jump trajectory of the W-phase signal is low level - low level - low level - high level - high level - high level.

[0097] It should be noted that the preset jump trajectory refers to the level jump trajectory of the U-phase signal / V-phase signal / W-phase signal when the rotor is running normally. For example, the level jump trajectories of the U-phase signal / V-phase signal / W-phase signal determined according to Table 1 above are the preset jump trajectories. It should be noted that the preset jump trajectories of the U-phase signal, V-phase signal, and W-phase signal are different from each other.

[0098] For the U-phase signal, if the level jump trajectory of the U-phase signal within the first period is consistent with the preset jump trajectory, it is determined that the U-phase signal is normal; if the level jump trajectory of the U-phase signal within the first period is continuously high level or continuously low level, it is determined that the U-phase signal is abnormal; or, if the level jump trajectory of the U-phase signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the U-phase signal is abnormal.

[0099] For the V-phase signal, if the level jump trajectory of the V-phase signal within the first period is consistent with the preset jump trajectory, it is determined that the V-phase signal is normal; if the level jump trajectory of the V-phase signal within the first period is continuously high level or continuously low level, it is determined that the V-phase signal is abnormal; or, if the level jump trajectory of the V-phase signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the V-phase signal is abnormal.

[0100] For the W-phase signal, if the level jump trajectory of the W-phase signal within the first period is consistent with the preset jump trajectory, it is determined that the W-phase signal is normal; if the level jump trajectory of the W-phase signal within the first period is continuously high level or continuously low level, it is determined that the W-phase signal is abnormal; or, if the level jump trajectory of the W-phase signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the W-phase signal is abnormal.

[0101] After determining whether the U-phase signal, V-phase signal, and W-phase signal are abnormal through the above method, if at least one of the U-phase signal, V-phase signal, and W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is abnormal; if none of the U-phase signal, V-phase signal, and W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is normal.

[0102] In the embodiments of the present application, if the operating state of the Hall sensor is abnormal, the electric riding vehicle is controlled to ride in the second riding mode. Specifically, if the operating state of the Hall sensor is abnormal, the connection between the Hall sensor and the motor controller is disconnected to prevent the motor controller from reading incorrect Hall signals (i.e., the above three-phase signals) from the Hall sensor.

[0103] In some embodiments, the method further includes: when the electric riding vehicle is in the second riding mode, controlling the electric riding vehicle to enter a function restriction mode, where controlling the electric riding vehicle to enter the function restriction mode includes one or more of the following:

[0104] Controlling the motor power of the electric riding vehicle not to exceed a second power value;

[0105] Controlling the vehicle speed of the electric riding vehicle not to exceed a second vehicle speed value;

[0106] Turning off the reverse function of the electric riding vehicle;

[0107] Turning off the energy recovery function of the electric riding vehicle;

[0108] Turning off the electric braking function of the electric riding vehicle.

[0109] For example: when the electric riding vehicle is in the second riding mode, restricting the motor power not to exceed 50%-70% of the rated power, or in other words, restricting the maximum output power of the motor to 50%-70% of the rated power.

[0110] For example: when the electric riding vehicle is in the second riding mode, restricting the vehicle speed not to exceed 21 km / h.

[0111] For example: when the electric riding vehicle is in the second riding mode, turning off the reverse function of the electric riding vehicle, that is, disabling the reverse function.

[0112] For example: when the electric riding vehicle is in the second riding mode, turning off the energy recovery function of the electric riding vehicle, that is, disabling the energy recovery function.

[0113] For example: when the electric riding vehicle is in the second riding mode, turning off the electric braking function of the electric riding vehicle, that is, disabling the electric braking function.

[0114] It should be noted that the purpose of the above-mentioned motor power limitation / speed limitation is to ensure as much as possible that the current of the motor is stable. Since the hall-less position observer estimates the rotor position of the motor based on the current of the motor, the accuracy of the hall-less position observer for detecting the rotor position can be improved.

[0115] It should be noted that the above-mentioned reverse function / energy recovery function / electric braking function will cause excessive current fluctuations in the motor during use. After these functions are turned off, the current of the motor can be ensured to be stable as much as possible. Since the hall-less position observer estimates the rotor position of the motor based on the current of the motor, the accuracy of the hall-less position observer for detecting the rotor position can be improved.

[0116] In some embodiments, the method further includes: when the electric riding vehicle is in the second riding mode, outputting a second prompt message through a prompt device of the electric riding vehicle, where the second prompt message is used to prompt that the electric riding vehicle is in the second riding mode.

[0117] For example: the prompt device is a multimedia screen, and there is a multimedia screen at the front of the electric riding vehicle. The multimedia screen can but is not limited to display the following information: vehicle speed, remaining power, lighting mode, riding mode, etc. When the electric riding vehicle is in the second riding mode, the multimedia screen displays that the riding mode is the second riding mode; when the electric riding vehicle is in the first riding mode, the multimedia screen displays that the riding mode is the first riding mode or does not display the riding mode. Here, the display form of the riding mode can be text or icons, etc. The embodiments of the present application do not limit the display form of the riding mode.

[0118] For example: the prompt device is an ambient light, and there is an ambient light around the front of the electric riding vehicle. When the electric riding vehicle is in the second riding mode, the ambient light lights up in a first set state, and the first set state can be, for example, red or dazzling color; when the electric riding vehicle is in the first riding mode, the ambient light lights up in a second set state or is not lit, and the second set state can be, for example, blue or green.

[0119] In some embodiments, the method further includes: determining the detection error of the hall-less position observer in the second riding mode. If the detection error of the hall-less position observer is greater than or equal to a first error threshold, it is determined that the operating state of the second riding mode is abnormal; when the operating state of the second riding mode is abnormal, controlling the motor power of the electric riding vehicle not to exceed a first power value and / or controlling the vehicle speed of the electric riding vehicle not to exceed a first speed value.

[0120] When an electric riding vehicle starts and stops frequently or climbs a heavy load, there will be a large noise in the motor current. For a sensorless position observer that relies on current estimation to determine the rotor position, the estimated position error will be too large due to the current noise (i.e., the detection error is large). At this time, if the motor controller still uses the rotor position estimated by the sensorless position observer to control the motor operation, it may cause the motor to malfunction or even burn out due to excessive motor current. Based on this, if the detection error of the sensorless position observer is greater than or equal to the first error threshold, it is determined that the operating state of the second riding mode is abnormal; when the operating state of the second riding mode is abnormal, the motor power of the electric riding vehicle is controlled not to exceed the first power value and / or the vehicle speed of the electric riding vehicle is controlled not to exceed the first speed value.

[0121] For example: when the operating state of the second riding mode is abnormal, the motor power of the electric riding vehicle is controlled to slowly decrease from the current power value to 5% of the rated power value according to a set method, or the motor power is restricted not to exceed 5% of the rated power value.

[0122] For example: when the operating state of the second riding mode is abnormal, the vehicle speed of the electric riding vehicle is controlled to slowly decrease from the current vehicle speed to 5 km / h according to a set method, or the vehicle speed is restricted not to exceed 5 km / h.

[0123] It should be noted that the purpose of the above motor power restriction / vehicle speed restriction is to cut off or reduce the power of the electric riding vehicle. On the one hand, it can ensure user safety. On the other hand, it can protect the motor controller from overcurrent and thus prevent it from being burned out.

[0124] The detection error of the sensorless position observer refers to the detection error of the rotor position. When the rotor position is represented by an angle, the detection error of the sensorless position observer is represented by an angle error. Correspondingly, the first error threshold is an angle error threshold, such as π / 4. When the angle error detected by the sensorless position observer is greater than or equal to π / 4, it can be determined that the operating state of the second riding mode is abnormal.

[0125] In some embodiments, the determination of the detection error of the sensorless position observer includes:

[0126] Estimate the current noise of the motor based on the current of the motor;

[0127] Determine the detection error of the sensorless position observer based on the current noise of the motor.

[0128] Here, the greater the current noise, the greater the detection error of the sensorless position observer; conversely, the smaller the current noise, the smaller the detection error of the sensorless position observer. A mathematical model between the current noise and the detection error can be constructed, and based on this mathematical model, the detection error corresponding to the current noise can be estimated.

[0129] In some embodiments, the method further includes: when an abnormal operation state of the second riding mode occurs, outputting a first prompt message through a prompt device of the electric riding vehicle, where the first prompt message is used to prompt that the operation state of the second riding mode is abnormal and / or prompt the user to use a first operation to restart the second riding mode.

[0130] For example: the prompt device is a multimedia screen, and there is a multimedia screen at the front of the electric riding vehicle. The multimedia screen can display, but is not limited to, the following information: vehicle speed, remaining power, lighting mode, abnormal prompt information. When an abnormal operation state of the second riding mode occurs, the abnormal prompt information (i.e., the first prompt message) is used to prompt that the operation state of the second riding mode is abnormal and / or prompt the user to use a first operation to restart the second riding mode. Here, the display form of the abnormal prompt information can be text or icons, etc., and the embodiments of the present application do not limit the display form of the abnormal prompt information.

[0131] For example: the prompt device is an ambient light, and there is an ambient light around the front of the electric riding vehicle. When an abnormal operation state of the second riding mode occurs, the ambient light lights up in a third set state, and the third set state can be, for example, flashing.

[0132] In some embodiments, the method further includes: after detecting a first operation triggered by the user, controlling the electric riding vehicle to restart the second riding mode. In some embodiments, the first operation includes one or more of the following operations: throttle operation, braking operation, button operation.

[0133] For example: the user triggers the electric riding vehicle to restart the second riding mode through a throttle operation.

[0134] For example: the user triggers the electric riding vehicle to restart the second riding mode through a braking operation.

[0135] For example: the user triggers the electric riding vehicle to restart the second riding mode through a button operation.

[0136] After the electric riding vehicle restarts the second riding mode, the motor current is reset to a set value, the motor current is in a stable state, or the motor current noise can be ignored. In this case, the rotor position estimated by the sensorless position observer based on the motor current is accurate, thus achieving the purpose of restoring the second riding mode from an abnormal state.

[0137] In the technical solution of the embodiment of the present application, the electric riding vehicle has two riding modes, namely the first riding mode and the second riding mode. Among them, the first riding mode is a riding mode that detects the rotor position of the motor through a Hall sensor (which can also be called the Hall riding mode or the sensor riding mode), and the second riding mode is a riding mode that detects the rotor position of the motor through a sensorless position observer (which can also be called the sensorless riding mode or the sensorless riding mode); the operating state of the Hall sensor is detected in the first riding mode, and after the operating state of the Hall sensor is abnormal, the electric riding vehicle is controlled to ride according to the second riding mode. In this way, after the operating state of the Hall sensor is abnormal, the electric riding vehicle can automatically switch to the second riding mode. In the second riding mode, the rotor position of the motor can still be determined based on the current of the motor by the sensorless position observer, so that the motor controller can effectively control the operation of the motor according to the rotor position of the motor, improving the reliability and user experience of the electric riding vehicle. In addition, when the operating state of the second riding mode is abnormal, a prompt message is used to prompt that the operating state of the second riding mode is abnormal and / or prompt the user to perform a first operation to restart the second riding mode. After detecting the first operation triggered by the user, the electric riding vehicle is controlled to restart the second riding mode. After the electric riding vehicle restarts the second riding mode, the motor current is reset to a set value, and the motor current is in a stable state, or the motor current noise can be ignored. In this case, the rotor position estimated by the sensorless position observer based on the motor current is accurate, thus achieving the purpose of restoring the second riding mode from the abnormal state.

[0138] Figure 4 FIG. is a schematic structural diagram of a riding control device provided by an embodiment of the present application. The riding control device is applied to an electric riding vehicle. The electric riding vehicle is driven by a motor, and a Hall sensor for detecting the rotor position of the motor is installed on the motor, as Figure 4 shown. The riding control device includes:

[0139] A control unit 401, configured to control the electric riding vehicle to ride in the first riding mode, where the first riding mode is a riding mode that detects the rotor position of the motor through the Hall sensor;

[0140] A processing unit 402, configured to detect the operating state of the Hall sensor in the first riding mode;

[0141] The control unit 401 is configured to control the electric riding vehicle to ride in a second riding mode if the operating state of the Hall sensor is abnormal. The second riding mode is a riding mode in which the rotor position of the motor is detected by a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor based on the current of the motor.

[0142] In some embodiments, the processing unit 402 is configured to determine the detection error of the sensorless position observer in the second riding mode. If the detection error of the sensorless position observer is greater than or equal to a first error threshold, it is determined that the operating state of the second riding mode is abnormal.

[0143] The control unit 401 is further configured to control the motor power of the electric riding vehicle not to exceed a first power value and / or control the vehicle speed of the electric riding vehicle not to exceed a first speed value when the operating state of the second riding mode is abnormal.

[0144] In some embodiments, the processing unit 402 is configured to estimate the current noise of the motor based on the current of the motor; and determine the detection error of the sensorless position observer based on the current noise of the motor.

[0145] In some embodiments, the control unit 401 is configured to output a first prompt message through a prompt device of the electric riding vehicle when the operating state of the second riding mode is abnormal. The first prompt message is used to prompt that the operating state of the second riding mode is abnormal and / or prompt the user to restart the second riding mode by a first operation.

[0146] In some embodiments, the control unit 401 is configured to control the electric riding vehicle to restart the second riding mode after detecting the first operation triggered by the user.

[0147] In some embodiments, the first operation includes one or more of the following operations: throttle operation, braking operation, button operation.

[0148] In some embodiments, the processing unit 402 is configured to detect three-phase signals of the Hall sensor. The three-phase signals include a U-phase signal, a V-phase signal, and a W-phase signal. The W-phase signal is generated by the Hall sensor for the magnetic field generated by the rotor of the motor. If at least one of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is abnormal. If none of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is not abnormal.

[0149] In some embodiments, the processing unit 402 is configured to monitor the level changes of the U-phase signal, the V-phase signal, and the W-phase signal within a first period to obtain the level jump trajectories of the U-phase signal, the V-phase signal, and the W-phase signal. For each of the U-phase signal, the V-phase signal, and the W-phase signal: if the level jump trajectory of the signal within the first period is consistent with a preset jump trajectory, it is determined that the signal is normal; if the level jump trajectory of the signal within the first period is continuously high level or continuously low level, it is determined that the signal is abnormal; or, if the level jump trajectory of the signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the signal is abnormal.

[0150] In some embodiments, the control unit 401 is configured to control the electric riding vehicle to enter a function limit mode when the electric riding vehicle is in the second riding mode, where controlling the electric riding vehicle to enter the function limit mode includes one or more of the following:

[0151] Controlling the motor power of the electric riding vehicle not to exceed a second power value;

[0152] Controlling the vehicle speed of the electric riding vehicle not to exceed a second vehicle speed value;

[0153] Turning off the reverse function of the electric riding vehicle;

[0154] Turning off the energy recovery function of the electric riding vehicle;

[0155] Turning off the electric braking function of the electric riding vehicle.

[0156] In some embodiments, the control unit 401 is configured to output a second prompt message through the prompt device of the electric riding vehicle when the electric riding vehicle is in the second riding mode, and the second prompt message is used to prompt that the electric riding vehicle is in the second riding mode.

[0157] Those skilled in the art should understand that Figure 4 The implementation functions of the units in the shown riding control device can be understood with reference to the relevant descriptions of the foregoing method. Figure 4 The functions of the units in the shown riding control device can be implemented by a program running on a processor or by specific logic circuits.

[0158] Figure 5 is a schematic structural diagram of an electric riding vehicle provided by an embodiment of the present application, as Figure 5As shown, the electric riding vehicle includes a motor 501 and a controller 502. A Hall sensor for detecting the rotor position of the motor 501 is installed on the motor 501; wherein,

[0159] The motor 501 is used to drive the electric riding vehicle;

[0160] The controller 502 is used to control the electric riding vehicle to ride in a first riding mode, and the first riding mode is a riding mode in which the rotor position of the motor 501 is detected by the Hall sensor; the operating state of the Hall sensor is detected in the first riding mode. If the operating state of the Hall sensor is abnormal, the electric riding vehicle is controlled to ride in a second riding mode, and the second riding mode is a riding mode in which the rotor position of the motor 501 is detected by a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor 501 based on the current of the motor 501.

[0161] In some embodiments, the controller 502 is used to determine the detection error of the sensorless position observer in the second riding mode. If the detection error of the sensorless position observer is greater than or equal to a first error threshold, it is determined that the operating state of the second riding mode is abnormal; in the case where the operating state of the second riding mode is abnormal, the power of the motor 501 of the electric riding vehicle is controlled not to exceed a first power value and / or the vehicle speed of the electric riding vehicle is controlled not to exceed a first speed value.

[0162] In some embodiments, the controller 502 is used to estimate the current noise of the motor 501 based on the current of the motor 501; and determine the detection error of the sensorless position observer based on the current noise of the motor 501.

[0163] In some embodiments, the controller 502 is used to output a first prompt message through a prompt device of the electric riding vehicle in the case where the operating state of the second riding mode is abnormal. The first prompt message is used to prompt that the operating state of the second riding mode is abnormal and / or prompt the user to adopt a first operation to restart the second riding mode.

[0164] In some embodiments, the controller 502 is used to control the electric riding vehicle to restart the second riding mode after detecting the first operation triggered by the user.

[0165] In some embodiments, the first operation includes one or more of the following operations: throttle operation, braking operation, button operation.

[0166] In some embodiments, the controller 502 is configured to detect three-phase signals of the Hall sensor. The three-phase signals include a U-phase signal, a V-phase signal, and a W-phase signal. The W-phase signal is generated by the Hall sensor in response to the magnetic field generated by the rotor of the motor 501. If at least one of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is abnormal. If none of the U-phase signal, the V-phase signal, and the W-phase signal is abnormal, it is determined that the operating state of the Hall sensor is normal.

[0167] In some embodiments, the controller 502 is configured to monitor the level changes of the U-phase signal, the V-phase signal, and the W-phase signal within a first period to obtain the level jump trajectories of the U-phase signal, the V-phase signal, and the W-phase signal. For each of the U-phase signal, the V-phase signal, and the W-phase signal:

[0168] If the level jump trajectory of the signal within the first period is consistent with a preset jump trajectory, it is determined that the signal is normal.

[0169] If the level jump trajectory of the signal within the first period is continuously high level or continuously low level, it is determined that the signal is abnormal. Alternatively, if the level jump trajectory of the signal within the first period is continuously inconsistent with the preset jump trajectory, it is determined that the signal is abnormal.

[0170] In some embodiments, when the electric riding vehicle is in the second riding mode, the controller 502 is configured to control the electric riding vehicle to enter a function limitation mode. Wherein, controlling the electric riding vehicle to enter the function limitation mode includes one or more of the following:

[0171] Controlling the power of the motor 501 of the electric riding vehicle not to exceed a second power value;

[0172] Controlling the vehicle speed of the electric riding vehicle not to exceed a second vehicle speed value;

[0173] Turning off the reverse function of the electric riding vehicle;

[0174] Turning off the energy recovery function of the electric riding vehicle;

[0175] Turning off the electric braking function of the electric riding vehicle.

[0176] In some embodiments, the controller 502 is configured to output second prompt information through the prompt device of the electric riding vehicle when the electric riding vehicle is in the second riding mode, and the second prompt information is used to prompt that the electric riding vehicle is in the second riding mode.

[0177] Those skilled in the art should understand that Figure 5 the implementation functions of the shown controller can be understood with reference to the relevant descriptions of the foregoing methods. Figure 5 The functions of the shown controller can be implemented by a program running on a processor or by specific logic circuits.

[0178] Figure 6 is a schematic structural diagram of a controller provided by an embodiment of the present application. Figure 6 The shown controller includes a processor 610, and the processor 610 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

[0179] Optionally, as Figure 6 shown, the controller may further include a memory 620. Wherein, the processor 610 can call and run a computer program from the memory 620 to implement the method in the embodiment of the present application.

[0180] Wherein, the memory 620 can be a separate device independent of the processor 610 or integrated in the processor 610.

[0181] Optionally, as Figure 6 shown, the controller may further include a transceiver 630, and the processor 610 can control the transceiver 630 to communicate with other modules or devices. Specifically, it can send information or data to other modules or devices or receive information or data sent by other devices.

[0182] Wherein, the transceiver 630 can include a transmitter and a receiver. The transceiver 630 may further include an antenna, and the number of antennas can be one or more.

[0183] The above controller can implement the corresponding processes implemented by the various methods in the embodiment of the present application. For the sake of brevity, it will not be elaborated here.

[0184] The embodiment of the present application also provides a computer-readable storage medium for storing a computer program. The computer program enables a computer to execute the corresponding processes implemented by the various methods in the embodiment of the present application. For the sake of brevity, it will not be elaborated here.

[0185] The embodiments of the present application also provide a computer program product, including computer program instructions. These computer program instructions cause a computer to execute the corresponding processes implemented by the various methods of the embodiments of the present application. For the sake of brevity, they will not be described herein again.

[0186] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0187] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0188] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0189] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0190] In addition, the functional units in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0191] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0192] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application.

Claims

1. A riding control method, characterized in that, Applied to an electric riding vehicle, the electric riding vehicle is driven by a motor, and a Hall sensor for detecting the rotor position of the motor is installed on the motor; the method includes: Controlling the electric riding vehicle to ride in a first riding mode, where the first riding mode is a riding mode for detecting the rotor position of the motor through the Hall sensor; Detecting the operating state of the Hall sensor in the first riding mode. If the operating state of the Hall sensor is abnormal, then controlling the electric riding vehicle to ride in a second riding mode, where the second riding mode is a riding mode for detecting the rotor position of the motor through a sensorless position observer; wherein, the sensorless position observer determines the rotor position of the motor based on the current of the motor.

2. The method according to claim 1, wherein The method further includes: Determining the detection error of the sensorless position observer in the second riding mode. If the detection error of the sensorless position observer is greater than or equal to a first error threshold, then determining that the operating state of the second riding mode is abnormal; In the case where the operating state of the second riding mode is abnormal, controlling the motor power of the electric riding vehicle not to exceed a first power value and / or controlling the vehicle speed of the electric riding vehicle not to exceed a first speed value.

3. The method according to claim 2, wherein The determining the detection error of the sensorless position observer includes: Estimating the current noise of the motor based on the current of the motor; Determining the detection error of the sensorless position observer based on the current noise of the motor.

4. The method according to claim 2, characterized in that, The method further includes: In the case where the operating state of the second riding mode is abnormal, outputting a first prompt message through a prompt device of the electric riding vehicle, where the first prompt message is used to prompt that the operating state of the second riding mode is abnormal and / or prompt the user to perform a first operation to restart the second riding mode.

5. The method according to claim 4, wherein The method further includes: After detecting the first operation triggered by the user, controlling the electric riding vehicle to restart the second riding mode.

6. The method according to claim 4, characterized in that, The first operation includes one or more of the following operations: throttle operation, braking operation, button operation.

7. The method according to any one of claims 1 to 6, characterized in that The detecting the operating state of the Hall sensor includes: Detecting three-phase signals of the Hall sensor, where the three-phase signals include a U-phase signal, a V-phase signal, and a W-phase signal, and the W-phase signal is generated by the magnetic field generated by the rotor of the motor on the Hall sensor; If at least one of the U-phase signal, the V-phase signal, and the W-phase signal appears abnormal, then determining that the operating state of the Hall sensor is abnormal; If none of the U-phase signal, the V-phase signal, and the W-phase signal appears abnormal, then determining that the operating state of the Hall sensor is not abnormal.

8. The method according to claim 7, wherein The detecting the three-phase signals of the Hall sensor includes: Monitoring the level change conditions of the U-phase signal, the V-phase signal, and the W-phase signal within a first period to obtain the level jump trajectories of the U-phase signal, the V-phase signal, and the W-phase signal; For each of the U-phase signal, the V-phase signal, and the W-phase signal: If the level transition trajectory of the signal within the first period is consistent with the preset transition trajectory, it is determined that the signal is normal; If the level transition trajectory of the signal within the first period is continuously high level or continuously low level, it is determined that the signal is abnormal; or, if the level transition trajectory of the signal within the first period is continuously inconsistent with the preset transition trajectory, it is determined that the signal is abnormal.

9. The method according to any one of claims 1 to 6, characterized in that, The method further includes: When the electric riding vehicle is in the second riding mode, controlling the electric riding vehicle to enter a function limit mode, where the control of the electric riding vehicle to enter the function limit mode includes one or more of the following: Controlling the motor power of the electric riding vehicle not to exceed a second power value; Controlling the vehicle speed of the electric riding vehicle not to exceed a second vehicle speed value; Turning off the reverse function of the electric riding vehicle; Turning off the energy recovery function of the electric riding vehicle; Turning off the electric braking function of the electric riding vehicle.

10. The method according to any one of claims 1 to 6, characterized in that, The method further includes: When the electric riding vehicle is in the second riding mode, outputting second prompt information through a prompt device of the electric riding vehicle, where the second prompt information is used to prompt that the electric riding vehicle is in the second riding mode.

11. A riding control device, characterized in that, Applied to an electric riding vehicle, the electric riding vehicle is driven by a motor, and a Hall sensor for detecting the rotor position of the motor is installed on the motor. The device includes: A control unit for controlling the electric riding vehicle to ride in a first riding mode, where the first riding mode is a riding mode for detecting the rotor position of the motor through the Hall sensor; A processing unit for detecting the operating state of the Hall sensor in the first riding mode; The control unit is configured to, if the operating state of the Hall sensor is abnormal, control the electric riding vehicle to ride in a second riding mode, where the second riding mode is a riding mode for detecting the rotor position of the motor through a sensorless position observer; where the sensorless position observer determines the rotor position of the motor based on the current of the motor.

12. An electric riding vehicle, characterized in that, The electric riding vehicle includes a motor and a controller, and a Hall sensor for detecting the rotor position of the motor is installed on the motor; where The motor is used to drive the electric riding vehicle; The controller is configured to control the electric riding vehicle to ride in a first riding mode, where the first riding mode is a riding mode for detecting the rotor position of the motor through the Hall sensor; detecting the operating state of the Hall sensor in the first riding mode, and if the operating state of the Hall sensor is abnormal, controlling the electric riding vehicle to ride in a second riding mode, where the second riding mode is a riding mode for detecting the rotor position of the motor through a sensorless position observer; where the sensorless position observer determines the rotor position of the motor based on the current of the motor.

13. A controller, characterized in that, Including: A processor and a memory for storing a computer program, the processor being configured to call and run the computer program stored in the memory and execute the method according to any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that, For storing a computer program, the computer program causing a computer to execute the method according to any one of claims 1 to 10.

15. A computer program product, characterized in that, Comprising computer program instructions that cause a computer to execute the method according to any one of claims 1 to 10.

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