Steering control method of scooter, scooter, product and storage medium

Abstract

The embodiment of the invention provides a scooter steering control method, a scooter, a product and a storage medium, and the method comprises the steps: carrying out the steering detection of a front wheel of the scooter through a steering detection part on the scooter under the condition that the scooter is in a running state, the running speed of the scooter is detected through a speed detection component on the scooter; and under the condition that the speed value of the running speed of the scooter is smaller than a first speed threshold value, steering adjustment is conducted on a rear wheel of the scooter based on the steering angle of the front wheel, the angle value of the steering angle of the rear wheel is in positive correlation with the angle value of the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to the steering direction of the front wheel. By means of the scooter steering control method and device, the problem that in the prior art, scooter steering control is limited is solved, and then the effect of improving the steering control efficiency is achieved.

Description

Technical Field

[0001] This application relates to the field of scooter control technology, and more specifically, to a scooter steering control method, a scooter, a product, and a storage medium. Background Technology

[0002] In related technologies, the steering system of scooters adopts a structural design of "single front wheel steering and rear wheel following." This structure relies on the front wheel steering axle to drive the front wheel to deflect, thereby achieving directional control. The rear wheel is connected to the frame via a fixed axle and has no active steering capability. The direction of the front wheel is changed by a manual or electronic power steering system, while the rear wheel maintains the vehicle's trajectory by passively following. This design meets basic steering needs to a certain extent, but it exposes a series of limitations and technical defects in specific scenarios. Specifically, scooters are difficult to maneuver flexibly in narrow spaces, mainly due to their large turning radius. Especially in environments with limited space, such as stairwells, narrow alleys in residential areas, or inside shopping malls, multiple adjustments to the direction are often required to complete a turn. This not only increases the complexity of operation but may also lead to "understeering."

[0003] Therefore, the scooter steering control methods in related technologies suffer from the problem of limited scooter steering maneuverability. Summary of the Invention

[0004] This application provides a steering control method for a scooter, as well as the scooter, product, and storage medium, to at least solve the technical problem of limited steering control of scooters in related technologies.

[0005] According to one aspect of the embodiments of this application, a steering control method for a scooter is provided, comprising: when the scooter is in operation, detecting the steering of the front wheel of the scooter using a steering detection component on the scooter, and detecting the travel speed of the scooter using a speed detection component on the scooter; when the travel speed of the scooter is less than a first speed threshold, adjusting the steering of the rear wheel of the scooter based on the steering angle of the front wheel, wherein the steering angle of the rear wheel is positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to the steering direction of the front wheel.

[0006] According to another aspect of the embodiments of this application, a scooter is also provided, including: a front wheel, a rear wheel, a control component, a speed detection component, a steering detection component, and a rear wheel steering component; wherein, the speed detection component is used to detect the travel speed of the scooter when the scooter is in operation; the steering detection component is used to detect the steering of the front wheel when the scooter is in operation; the control component is used to adjust the steering of the rear wheel of the scooter based on the steering angle of the front wheel when the travel speed of the scooter is less than a first speed threshold, wherein the steering angle of the rear wheel is positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to the steering direction of the front wheel; the rear wheel steering component is used to adjust the steering of the rear wheel in response to the control of the control component.

[0007] In an exemplary embodiment, the control component is further configured to: determine the steering angle of the rear wheel based on the speed value of the scooter's travel speed and the steering angle value of the front wheel, wherein the steering angle value of the rear wheel is negatively correlated with the speed value of the scooter's travel speed; and adjust the steering of the rear wheel in a direction opposite to the steering direction of the front wheel according to the steering angle value of the rear wheel.

[0008] In an exemplary embodiment, the control component is further configured to: determine that the steering angle of the rear wheel is zero when the steering angle of the front wheel is less than a first angle threshold; and determine the steering angle of the rear wheel as the product of the steering ratio coefficient, the steering angle of the front wheel, and a speed reference value when the steering angle of the front wheel is greater than or equal to the first angle threshold, wherein the speed reference value is negatively correlated with the speed of the scooter.

[0009] In an exemplary embodiment, the control component is further configured to: determine the steering angle of the rear wheel as the product of the steering ratio coefficient, the steering angle of the front wheel, and the quotient of the speed difference divided by the first speed threshold, wherein the speed difference is the difference between the first speed threshold and the speed value of the scooter, and the speed reference value is the quotient of the speed difference divided by the first speed threshold.

[0010] In an exemplary embodiment, the control component is further configured to: after determining the angle value of the rear wheel's steering angle based on the speed value of the scooter's travel speed and the angle value of the front wheel's steering angle, update the angle value of the rear wheel's steering angle to the second angle threshold if the angle value of the rear wheel's steering angle is greater than the second angle threshold.

[0011] In one exemplary embodiment, the control component is further configured to: when the rear wheel steering function of the scooter is off, acquire a function activation command, wherein the rear wheel steering function is the function of the rear wheel deflecting about the steering axis of the rear wheel, and the function activation command is used to activate the rear wheel steering function; in response to the function activation command, when the locking mechanism of the scooter is in a locked state, control the state of the locking structure of the rear wheel to switch from a locked state to an unlocked state to activate the rear wheel steering function; wherein when the locking structure is in a locked state, the deflection angle of the rear wheel about the steering axis of the rear wheel is locked, and the steering adjustment of the rear wheel of the scooter is performed when the rear wheel steering function is activated.

[0012] In an exemplary embodiment, the steering detection component is further configured to: acquire the steering angle of the front wheel using an angle sensor on the scooter to detect the steering of the front wheel, wherein the steering detection component includes the angle sensor.

[0013] In one exemplary embodiment, the steering detection component is further configured to: perform object perception along the forward direction of the scooter using a sensing device on the scooter, and perform steering detection on the front wheel based on the object perception result of the sensing device, wherein the steering detection component includes the sensing device.

[0014] In one exemplary embodiment, the object perception result includes a set of stationary objects perceived by the sensing device and an offset parameter for each stationary object in the set of stationary objects, wherein the offset parameter for each stationary object is used to characterize the offset of each stationary object relative to the sensing device. The steering detection component is further configured to: perform steering detection on the front wheels based on the set of stationary objects and the offset parameters of at least a portion of the stationary objects in the set of stationary objects.

[0015] In an exemplary embodiment, the steering detection component is further configured to: determine that the front wheels are in a steering state when the front wheel steering condition is met; and determine that the front wheels are not in a steering state when the front wheel steering condition is not met; wherein the front wheel steering condition includes at least one of the following: the velocity values ​​of the offset velocities of at least some stationary objects are all greater than or equal to a second velocity threshold, wherein the offset parameter of each stationary object includes the offset velocity of each stationary object, and the offset velocity of each stationary object is the velocity of each stationary object relative to the sensing device; at a sensing moment of the sensing device, the offset direction of the at least some stationary objects is consistent with the direction in which a new stationary object sensed by the sensing device enters the sensing field of view of the sensing device, wherein the offset parameter of each stationary object also includes the offset direction of each stationary object, and the offset direction of each stationary object is the movement direction of each stationary object within the sensing field of view; and the number of new stationary objects sensed by the sensing device per unit time is greater than or equal to a preset number threshold.

[0016] In an exemplary embodiment, the steering detection component is further configured to: acquire object perception data obtained by the sensing device in the forward direction, and perform object detection on the object perception data to obtain a set of sensing objects; determine the moving speed of each sensing object based on the traveling speed of the scooter and the relative speed of each sensing object in the set of sensing objects, wherein the relative speed of each sensing object is the speed of each sensing object relative to the sensing device; and filter out the set of stationary objects from the set of sensing objects based on the moving speed of each sensing object, wherein each stationary object is a sensing object in the set of sensing objects whose moving speed value is less than or equal to a third speed threshold.

[0017] In an exemplary embodiment, the steering detection component is further configured to: before adjusting the steering of the rear wheel of the scooter based on the steering angle of the front wheel, select a reference object sequence from the set of stationary objects based on the sensing interval sequence of the sensing device, wherein each sensing interval in the sensing interval sequence is the time interval between two consecutive sensing moments of the sensing device, two adjacent sensing intervals in the sensing interval sequence are consecutive in time, and the reference objects in the reference object sequence correspond one-to-one with the sensing intervals in the sensing interval sequence;

[0018] Each of the sensing intervals is treated as the current sensing interval, and the following angle determination operation is performed to obtain the angle value of the steering angle corresponding to each sensing interval. The sum of the angle values ​​corresponding to each sensing interval is determined as the steering angle of the front wheel. Here, the start time of the current sensing interval is the current start time, and the reference object corresponding to the current sensing interval is the current reference object.

[0019] Determine the current longitudinal offset distance and the current lateral offset distance, wherein the current longitudinal offset distance is the longitudinal offset distance of the current reference object relative to the sensing device within the current sensing interval, and the current lateral offset distance is the lateral offset distance of the current reference object relative to the sensing device within the current sensing interval; determine the arctangent angle value of the quotient of the current longitudinal offset distance and the current lateral offset distance as the angle value of the turning angle corresponding to the current sensing interval.

[0020] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed by a processor.

[0021] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0022] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to perform the steps of any of the above method embodiments through the computer program.

[0023] This application addresses the issue of limited scooter steering in operation. When the scooter is in motion, a steering detection component on the scooter detects the steering of the front wheel, and a speed detection component detects the scooter's speed. If the detected speed is less than a first speed threshold, the rear wheel's steering is adjusted based on the front wheel's steering angle. The rear wheel's steering angle is positively correlated with the front wheel's, and the rear wheel's steering direction is opposite to the front wheel's. This ensures that when the scooter is at low speed and the front wheel's steering angle is large, the rear wheel will slightly turn in the opposite direction, effectively reducing the turning radius and improving steering efficiency. This solves the problem of limited scooter steering in related technologies. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0025] Figure 1 This is a flowchart illustrating an optional steering control method for a scooter according to an embodiment of this application.

[0026] Figure 2 This is a schematic diagram of a scooter according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of an optional steering control method for a scooter according to an embodiment of this application;

[0028] Figure 4 This is a structural block diagram of an optional scooter according to an embodiment of this application;

[0029] Figure 5 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application;

[0030] The above figures include the following reference numerals:

[0031] 1. Angle sensor; 2. Radar module; 3. Electronic control coordination unit; 4. Rear wheel steering system. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] According to one aspect of the embodiments of this application, a steering control method for a scooter is provided. Figure 1 This is a flowchart illustrating an optional steering control method for a scooter according to an embodiment of this application, as shown below. Figure 1 As shown, the process of this method may include the following steps:

[0035] Step S102: When the scooter is in operation, the steering detection component on the scooter is used to detect the steering of the front wheel of the scooter, and the speed detection component on the scooter is used to detect the speed of the scooter.

[0036] In step S104, when the speed of the scooter is less than the first speed threshold, the rear wheel of the scooter is adjusted based on the steering angle of the front wheel. The steering angle of the rear wheel is positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel.

[0037] The scooter steering control method in this embodiment can be applied to the field of scooter control technology and to various scenarios encountered by scooters during operation, such as densely populated areas, shopping mall passageways, or narrow alleyways. In related technologies, the scooter steering system adopts a "single front wheel steering and rear wheel following" structural design, meaning that the direction of the front wheel is changed through a human-powered or electronically assisted steering system, while the rear wheel maintains the vehicle's trajectory by passively following. This design meets basic steering requirements to a certain extent, but exposes a series of limitations and technical defects in specific scenarios. Specifically, scooters are difficult to maneuver flexibly in narrow spaces, mainly due to their large turning radius. Especially in environments with limited space, such as stairwells, narrow alleyways in residential areas, or inside shopping malls, multiple adjustments to the direction are often required to complete a turn. This not only increases the complexity of operation but may also lead to "understeering." Therefore, the scooter steering control methods in related technologies suffer from the problem of limited scooter steering control.

[0038] To at least partially solve the aforementioned technical problems, in this embodiment, when the scooter is in operation, the steering detection component on the scooter detects the steering of the front wheel, and the speed detection component on the scooter detects the scooter's speed. If the detected speed is less than a first speed threshold, the rear wheel is adjusted based on the steering angle of the front wheel. The steering angle of the rear wheel is positively correlated with that of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel. This ensures that when the scooter is at low speed and the front wheel has a large steering angle, the rear wheel will slightly turn in the opposite direction, effectively reducing the turning radius and improving steering efficiency. This solves the problem of limited steering control of scooters in related technologies.

[0039] It should be noted that a scooter may include a front wheel, a rear wheel, a steering detection component, and a speed detection component. The steering detection component can be an angle sensor, such as a gyroscope or magnetic encoder, which can be integrated into the steering axle of the front wheel to detect the deflection angle of the front wheel relative to the longitudinal axis of the scooter in real time. The speed detection component can be a wheel speed sensor, which can be mounted on the scooter's wheel hub to measure the instantaneous rotational speed of the wheel and calculate the scooter's instantaneous speed based on the wheel's rotational speed and wheel diameter.

[0040] Optionally, if the sensors in the scooter include wheel speed sensors, the wheel speed can be detected by the wheel speed sensors, and the scooter is considered to be in motion when the wheel speed exceeds zero. If the sensors in the scooter include gyroscopes / accelerometers, the dynamic changes of the scooter, including angular velocity and acceleration, can be captured by the three-axis gyroscope and accelerometer. When non-zero acceleration and angular velocity are detected, it indicates that the scooter is accelerating, decelerating, or turning, also indicating that the scooter is in motion. If the scooter contains position sensors, such as GPS or UWB ultra-wideband technology, it can provide information on changes in the scooter's position. Continuous position changes indicate that the scooter is moving, i.e., it is in motion.

[0041] Optionally, to determine if the scooter has started, if so, a steering detection component can be activated to monitor the steering angle of the scooter's front wheel, and a speed detection component can be used to continuously monitor the vehicle's speed. If the vehicle's speed detected by the speed detection component is less than a first speed threshold, the rear wheel of the scooter is adjusted for steering based on the steering angle of the front wheel. During the rear wheel steering adjustment, the steering angle of the rear wheel must be positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel must be opposite to that of the front wheel.

[0042] Optionally, the first speed threshold can be a preset speed value. When the scooter's speed is below the first speed threshold, the rear wheel's steering strategy changes from passively following to actively reversing, improving handling agility and stability. At low speeds, the rear wheel will steer according to the front wheel's steering angle, but in the opposite direction. For example, if the front wheel turns right, the rear wheel turns left; if the front wheel turns left, the rear wheel turns right. The steering angle is proportional to the front wheel's steering angle, ensuring coordinated movement of the front and rear wheels and effectively reducing the turning radius.

[0043] Optionally, the scooter may also include an electronic control coordination unit, which can be connected to the detection components via a CAN (Controller Area Network) bus. Specifically, the electronic control coordination unit can be connected to the steering detection component and the speed detection component via the CAN bus. The speed detection component and the steering detection component send real-time detection data, such as vehicle speed and the steering angle of the scooter's front wheel, to the electronic control coordination unit via the CAN bus.

[0044] Optionally, the scooter may also include a stepper motor. When it is necessary to adjust the steering of the rear wheel of the scooter, the electronic control coordination unit can send a pulse signal to the stepper motor to drive the steering motor to drive the rear wheel to achieve a certain angle of steering adjustment.

[0045] According to the embodiments provided in this application, when the scooter is in operation, the steering detection component on the scooter detects the steering of the front wheel, and the speed detection component on the scooter detects the speed of the scooter. When the detected speed is less than a first speed threshold, the steering of the rear wheel is adjusted based on the steering angle of the front wheel. The steering angle of the rear wheel is positively correlated with that of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel. This means that when the scooter is at low speed and the steering angle of the front wheel is large, the rear wheel will turn slightly in the opposite direction, thereby effectively reducing the turning radius and improving the efficiency of steering control. This solves the problem of limited steering control of scooters in related technologies.

[0046] In one exemplary embodiment, adjusting the steering of the rear wheel of a scooter based on the steering angle of the front wheel includes: determining the steering angle of the rear wheel based on the speed value of the scooter's travel speed and the steering angle value of the front wheel, wherein the steering angle value of the rear wheel is also negatively correlated with the speed value of the scooter's travel speed; and adjusting the steering of the rear wheel in the opposite direction to the steering direction of the front wheel according to the steering angle value of the rear wheel.

[0047] It's important to note that the front wheel steering angle refers to the deflection angle of the scooter's front wheel relative to its straight-line position. This angle is obtained through steering detection components and is used to indicate the rider's steering intention. The scooter's speed refers to its current actual speed, which affects the rear wheel steering adjustment strategy. The rear wheel steering angle is also negatively correlated with the scooter's speed, meaning that the rear wheel steering angle decreases as the scooter's speed increases and increases as the speed decreases.

[0048] Optionally, the steering angle of the rear wheel is determined based on the scooter's speed and the steering angle of the front wheel. The rear wheel's steering angle is negatively correlated with the scooter's speed and positively correlated with the front wheel's steering angle. After determining the rear wheel's steering angle, the rear wheel can be actively deflected via commands from the scooter's electronic control system to coordinate with the front wheel.

[0049] In this embodiment, the steering angle of the rear wheel is dynamically adjusted based on the scooter's speed and the steering angle of the front wheel, so that at low speeds, the steering angle of the rear wheel is opposite to and relatively large than that of the front wheel, thereby reducing the turning radius and improving the vehicle's handling agility.

[0050] In one exemplary embodiment, determining the steering angle of the rear wheel based on the speed value of the scooter's travel speed and the steering angle value of the front wheel includes: if the steering angle value of the front wheel is less than a first angle threshold, determining the steering angle value of the rear wheel to be zero; if the steering angle value of the front wheel is greater than or equal to the first angle threshold, determining the steering angle value of the rear wheel as the product of the steering ratio coefficient, the steering angle value of the front wheel, and the speed reference value, wherein the speed reference value is negatively correlated with the speed value of the scooter's travel speed.

[0051] It should be noted that, in order to improve the maneuverability and stability of the scooter when turning at low speeds, a first angle threshold can be set. This first angle threshold can be a pre-set front wheel steering angle threshold. When the front wheel steering angle is less than this threshold, the rear wheel steering angle is set to zero, meaning the rear wheel does not participate in steering and maintains a straight-line driving state. The first angle threshold can be set empirically or obtained through experimental testing, and this application does not impose any limitations on it.

[0052] The steering ratio coefficient is a fixed proportional factor used to calculate the rear wheel steering angle. It adjusts the ratio of the rear wheel steering response to the front wheel steering response, ensuring a proper relationship between the rear and front wheel steering angles. The speed reference value is a coefficient negatively correlated with the scooter's speed. It adjusts the magnitude of the rear wheel steering angle change with speed; as speed increases, the speed reference value decreases, thus reducing the rear wheel steering angle.

[0053] Optionally, in this embodiment, the determination of the rear wheel's steering angle can depend on the steering angle of the scooter's front wheel and its travel speed. Specifically, when the front wheel's steering angle is less than a first angle threshold, the control sets the rear wheel's steering angle to zero, meaning the rear wheel does not participate in steering, and only the front wheel performs the steering operation. When the front wheel's steering angle is greater than or equal to the first angle threshold, the rear wheel's steering angle is calculated based on the steering ratio coefficient, the front wheel's steering angle, and a speed reference value. The speed reference value is negatively correlated with the scooter's travel speed; optionally, the speed reference value can be determined based on the scooter's travel speed and a first speed. The design of the speed reference value ensures that at high speeds, the rear wheel's steering angle automatically decreases to maintain driving stability; while at low speeds or when agile turning is required, the rear wheel's steering angle increases, effectively reducing the turning radius and improving handling performance.

[0054] In this embodiment, when the front wheel steering angle is less than a first angle threshold, the rear wheel steering angle is set to zero. This ensures that the rear wheels maintain stability during slight steering or straight-line driving, avoiding unnecessary steering interference. When the front wheel steering angle reaches or exceeds the first angle threshold, it indicates a large steering maneuver. At this time, the rear wheel steering angle is determined by multiplying the steering ratio coefficient, the front wheel steering angle, and a speed reference value that is negatively correlated with the driving speed. This achieves a reverse steering mode, effectively reducing the turning radius and improving handling performance in tight spaces. It not only enhances the vehicle's agility but also ensures driving stability in complex road conditions by dynamically adjusting the rear wheel steering, reducing riding risks caused by crosswinds and slippery surfaces.

[0055] In one exemplary embodiment, determining the steering angle of the rear wheel as the product of the steering ratio coefficient, the steering angle of the front wheel, and the speed reference value includes: determining the steering angle of the rear wheel as the product of the steering ratio coefficient, the steering angle of the front wheel, and the quotient of the speed difference divided by a first speed threshold, wherein the speed difference is the difference between the first speed threshold and the speed value of the scooter, and the speed reference value is the quotient of the speed difference divided by the first speed threshold.

[0056] It should be noted that the speed reference value is calculated based on the difference between the scooter's current speed and a first speed threshold. It is used to adjust the sensitivity of the scooter's rear wheel steering angle to changes in speed. The speed reference value is calculated by dividing the speed difference by the first speed threshold. The speed difference, representing the difference between the scooter's current speed and the first speed threshold, indicates the degree to which the scooter's movement deviates from the threshold.

[0057] Specifically, the determination of the rear wheel steering angle is based on the scooter's speed and the front wheel steering angle. When the scooter is traveling at low speed and the front wheel steering angle reaches a certain threshold, the rear wheel will coordinate with the steering ratio coefficient and speed reference value to enhance steering performance and driving stability. Specifically, the process of determining the rear wheel steering angle based on the steering ratio coefficient, the front wheel steering angle, the speed difference, and the first speed threshold can be shown in formula (1):

[0058] (1)

[0059] in, This is the steering ratio coefficient, and its corresponding value range is... , This represents the speed value of the scooter. The first speed threshold, This is the steering angle of the front wheels.

[0060] In practice, some components of the scooter are set to have an adjustable range; for example, the steering angle of the front wheel can have a range of values. Where a right turn by the front wheels is positive and a left turn is negative; the range of values ​​for the steering angle of the rear wheels can be... Where a right turn using the rear wheel is positive and a left turn is negative; the range of possible speeds for the scooter is... The unit is kilometers per hour (km / h).

[0061] In this embodiment, at low speeds, the rear wheel coordinates with the front wheel for steering. This reverse steering mode significantly reduces the turning radius, improving the scooter's maneuverability and responsiveness in confined spaces, making it particularly suitable for urban environments such as stairwells, narrow alleys in residential areas, and shopping mall passageways. Furthermore, as the scooter's speed increases, the rear wheel's steering involvement gradually decreases until it becomes completely non-existent, avoiding the instability and tipping risks that can result from over-steering at high speeds, thus ensuring the scooter's safety and stability at high speeds.

[0062] In an exemplary embodiment, after determining the angle value of the rear wheel's steering angle based on the speed value of the scooter's travel speed and the angle value of the front wheel's steering angle, the method further includes: updating the angle value of the rear wheel's steering angle to the second angle threshold if the angle value of the rear wheel's steering angle is greater than the second angle threshold.

[0063] It should be noted that during vehicle steering, the rear wheel steering angle is directly affected by the front wheel steering angle and the vehicle speed. To prevent the scooter from becoming unstable or tipping over due to excessive steering angle, a threshold, known as the second angle threshold, can be set. The second angle threshold can be a preset maximum allowable steering angle used to limit the upper limit of the rear wheel steering angle.

[0064] Optionally, if the steering angle of the rear wheel is greater than the second angle threshold, in order to prevent the scooter from becoming unstable or tipping over due to excessive steering angle, the steering angle of the rear wheel can be updated to the second angle threshold. Specifically, the value of the second angle threshold can be determined based on special driving conditions (such as slippery road surface, high speed driving, etc.), for example, the second angle threshold can be 30°.

[0065] By setting a second angle threshold, this embodiment can prevent excessive steering of the rear wheel under special driving conditions (such as slippery roads, high-speed driving, etc.), effectively reducing the risk of the scooter losing control or tipping over, and significantly improving the driving safety of the scooter in various environments.

[0066] In one exemplary embodiment, the method further includes: when the rear wheel steering function of the scooter is off, obtaining a function activation command, wherein the rear wheel steering function is a function of deflecting the rear wheel about the steering axis of the rear wheel, and the function activation command is used to activate the rear wheel steering function; in response to the function activation command, when the locking mechanism of the scooter is in a locked state, controlling the state of the locking structure of the rear wheel to switch from a locked state to an unlocked state to activate the rear wheel steering function; wherein when the locking structure is in a locked state, the deflection angle of the rear wheel about the steering axis of the rear wheel is locked, and the steering adjustment of the rear wheel of the scooter is performed when the rear wheel steering function is activated.

[0067] It should be noted that rear wheel steering refers to the ability of the scooter's rear wheel to actively deflect around its steering axis, which is different from the traditional scooter mode that relies solely on front wheel steering, in order to improve handling, stability and safety.

[0068] A function activation command refers to a command sent via a specific method (such as a mobile application, vehicle control panel, etc.) to activate the rear wheel steering function of a scooter. The scooter's rear wheel has a locking mechanism that mechanically or electronically locks the rear wheel when the rear wheel steering function is off, preventing it from steering relative to the scooter.

[0069] Optionally, the activation and deactivation of the rear-wheel steering function are highly customizable. The scooter is equipped with a locking mechanism that locks the rear wheel when the function is off, preventing uncontrolled steering. When the user wishes to activate rear-wheel steering via an activation command, the system first checks the status of the locking mechanism. If the locking mechanism is locked, meaning the rear wheel's deflection angle is mechanically locked, the activation command will be responded to, unlocking the locking mechanism and allowing the rear-wheel steering function to operate normally.

[0070] Optionally, the rear wheel steering function of the scooter integrates an on / off control system, allowing users to remotely control the function to be turned on or off via a mobile application (APP), thus adapting to different riding scenarios and needs. Specifically, when the user selects the "rear wheel steering off" option on the APP, the electronic control coordination unit immediately sends a locking signal to the rear wheel steering locking mechanism, ensuring that the rear wheel steering angle is mechanically locked to 0°. In this state, the rear wheel loses its active steering capability, just like a traditional scooter that relies solely on the front wheel for steering. After the user issues the "rear wheel steering on" command via the APP, the locking structure immediately releases, restoring the rear wheel steering function. At this time, the rear wheel can dynamically adjust the steering angle according to the real-time decisions of the electronic control coordination unit, supporting both "reverse steering" and "adaptive steering" modes to optimize handling flexibility and stability. The terminal device and the instrument unit communicate via Bluetooth, and the instrument unit then transmits commands to the rear wheel electronic control unit via a wired protocol, forming an efficient command transmission link.

[0071] In this embodiment, in response to a function activation command, when the scooter's locking mechanism is in the locked state, the state of the rear wheel's locking structure is switched from locked to unlocked, thus activating the rear wheel steering function. This allows the scooter to freely activate or deactivate the rear wheel steering function according to actual riding needs, improving its adaptability to different road environments. The locking mechanism also ensures that the rear wheel will not be mis-steering when the function is deactivated, avoiding potential safety hazards caused by unintentional or incorrect steering operations and improving safety.

[0072] In one exemplary embodiment, the steering detection of the front wheel of the scooter by means of a steering detection component on the scooter includes: acquiring the steering angle of the front wheel by means of an angle sensor on the scooter to detect the steering of the front wheel, wherein the steering detection component includes an angle sensor.

[0073] It should be noted that, in this embodiment, the steering detection component may include an angle sensor. The angle sensor in the steering detection component can be used to monitor the deflection angle of the front wheel relative to the longitudinal axis of the vehicle body, monitor the steering angle of the front wheel in real time, and transmit this information to the electronic control coordination unit of the scooter.

[0074] Specifically, the steering strategy for the rear wheels can be determined based on the steering angle of the front wheels, including whether to trigger reverse steering or adaptive steering, and the specific steering angle. In this way, the scooter can respond to the steering movements of the front wheels in real time and adjust the steering of the rear wheels to improve overall handling performance and riding stability.

[0075] In this embodiment, by monitoring the front wheel steering angle in real time, the scooter can quickly respond to the user's steering intentions, achieving coordinated steering of the front and rear wheels. In narrow spaces or emergency avoidance scenarios, the turning radius can be significantly shortened, the avoidance response speed can be improved, and the scooter can be made more agile and maneuverable.

[0076] In one exemplary embodiment, the steering detection of the front wheel of the scooter by means of a steering detection component on the scooter includes: sensing an object along the forward direction of the scooter by means of a sensing device on the scooter, and detecting the steering of the front wheel based on the object sensing result of the sensing device, wherein the steering detection component includes the sensing device.

[0077] It should be noted that, in this embodiment, the steering detection component may include a sensing device, which can be installed on the scooter to collect environmental information. Common forms include, but are not limited to, radar, cameras, and infrared sensors, which can detect the position, movement, and distance of objects in front or around in real time, providing a basis for the intelligent driving of the scooter.

[0078] Optionally, the sensing device continuously scans along the scooter's direction of travel to collect information about target objects. When the scooter begins to turn, even if the front wheel angle sensor fails to accurately capture changes in the turning angle for some reason, the sensing device will still detect environmental changes related to the front wheel's turning, such as changes in the relative position or quantity of target objects. Based on these environmental changes related to the front wheel's turning, the scooter's electronic control system infers the scooter's turning intention and then controls the rear wheel's steering mechanism to make corresponding coordinated movements, ensuring that the scooter's overall steering control is not affected by the failure of a single sensor.

[0079] In one example, using radar as the sensing device, when riding a scooter at night along a dimly lit street, the front wheel angle sensor reading becomes abnormal. The scooter's radar continuously scans the environment ahead and detects that a street lamppost on one side of the street is gradually moving from the right to the front, indicating that the scooter is making a left turn. The electronic control system determines the left turn behavior of the front wheel based on the radar data and immediately activates the adaptive steering mode, adjusting the angle of the rear wheel to assist steering and ensure vehicle stability. The scooter yaws according to the steering compensation angle calculated by the electronic control system. Although the exact value of the front wheel steering angle is not available, coordinated steering of the front and rear wheels is still achieved through environmental change information from the sensing device.

[0080] Specifically, such as Figure 2 As shown, the scooter may include at least two angle sensors 1, a radar module 2, an electronic control coordination unit 3, and a rear wheel steering system 4. One of the angle sensors is mounted on the front wheel steering axle, and the other is mounted on the rear wheel. A rear wheel steering system is also provided on the rear wheel to control the rear wheel's steering. In this embodiment, besides obtaining the front wheel's steering angle through angle sensors, it can also be obtained through the radar module. Of course, other sensing devices, such as a gyroscope, can also be used to obtain the front wheel's steering angle.

[0081] In specific practice, such as Figure 3As shown, when the scooter is powered on, the sensing module collects signals, specifically the steering angle of the front wheel via an angle sensor and / or radar module, and transmits this information to the electronic control coordination unit (ECU) via the CAN bus. The ECU determines the current operating condition. If the scooter is in a low-speed, confined space, the ECU controls the rear wheel to rotate backward (opposite to the front wheel), thus controlling the rear wheel to rotate in the opposite direction. While the rear wheel is rotating in the opposite direction, the rear wheel angle sensor provides feedback to adjust the rear wheel angle, achieving closed-loop control of the rear wheel. Of course, during scooter operation, the operating condition can also be a normal road surface or a complex road surface. The ECU can then control the rear wheel accordingly, for example, allowing the rear wheel to rotate in the same direction or to rotate adaptively. Furthermore, to better identify the scooter's operating condition, different types of sensors, such as pressure sensors, can be incorporated into the sensing module.

[0082] In this embodiment, by combining sensing devices to assist in the detection of front wheel steering, the scooter can maintain effective steering control even in harsh environments or under sensor failure conditions, thereby improving the scooter's adaptability and robustness in various environments.

[0083] In one exemplary embodiment, the object perception result includes a set of stationary objects perceived by the sensing device and an offset parameter for each stationary object in the set of stationary objects, wherein the offset parameter for each stationary object is used to characterize the offset of each stationary object relative to the sensing device; based on the object perception result of the sensing device, steering detection of the front wheels includes: based on the set of stationary objects and the offset parameters of at least some of the stationary objects in the set of stationary objects, steering detection of the front wheels.

[0084] It should be noted that the object perception result refers to the perception result obtained by the sensing device on the scooter after scanning the surrounding environment. The object perception result mainly includes a set of stationary objects and the offset parameters of each stationary object in the set. The set of stationary objects refers to a series of objects identified by the sensing device that are stationary or nearly stationary relative to the scooter within a specific time period, such as roadside trees, buildings, and parked vehicles. The offset parameters of the stationary objects refer to the quantitative indicators of the positional change of the stationary objects relative to the sensing device, typically including lateral offset velocity, longitudinal distance, and lateral distance. These parameters can be used to infer the scooter's turning direction and speed.

[0085] Optionally, in the absence of direct front wheel angle sensor readings or when the readings are abnormal, the steering state of the scooter's front wheel can be indirectly determined using the object perception results of the sensing device.

[0086] Optionally, the sensing device can continuously scan and construct an image of stationary objects (i.e., a set of stationary objects) within the scooter's riding environment, while simultaneously measuring and recording the offset parameters of each stationary object. When the scooter begins to turn, the sensing device determines the direction and magnitude of the turn by analyzing the changing trends of the offset parameters. For example, if multiple stationary objects are detected to be continuously offset relative to the sensing device's position towards the same side (e.g., left or right), it can be inferred that the scooter is turning towards the opposite side (e.g., right or left) to these changing directions. This steering detection method is particularly suitable for situations where the front wheel angle sensor malfunctions or has insufficient accuracy, and for scenarios where sensor performance is hindered under extreme weather conditions (e.g., heavy fog, rain, or snow), providing a reliable basis for judging the steering status.

[0087] In one example, when an electric scooter is traveling on a park path in the rain, the front wheel angle sensor reading becomes abnormal due to the rain and muddy conditions. The electronic control system then activates an object perception scheme based on sensing devices to detect steering. The millimeter-wave radar on the scooter continuously scans the environment ahead, constructing a set of stationary objects and recording the offset parameters of each object, such as the lateral offset speed and longitudinal distance of roadside trees and signs. When the electronic control system notices that a series of stationary objects are offset in the same direction relative to the sensing device (e.g., all trees are offset to the right), it combines the analysis of offset speed and lateral distance to determine that the scooter is turning left. Based on the steering detection results, the electronic control system calculates the steering angle that the rear wheel should take (e.g., a slight adjustment of 5° to the left) and adjusts it through the rear wheel steering mechanism to ensure stable steering of the entire scooter.

[0088] In this embodiment, the steering state is accurately determined by the stationary object offset parameters provided by the sensing device, ensuring the continuity and safety of steering control.

[0089] In an exemplary embodiment, front wheel steering detection is performed based on a set of stationary objects and offset parameters of at least a portion of the stationary objects in the set of stationary objects. This includes: determining that the front wheels are in a steering state when the front wheel steering conditions are met; and determining that the front wheels are not in a steering state when the front wheel steering conditions are not met. The front wheel steering conditions include at least one of the following: the velocity values ​​of the offset velocities of at least a portion of the stationary objects are all greater than or equal to a second velocity threshold; the offset parameter of each stationary object includes the offset velocity of each stationary object, where the offset velocity of each stationary object is the velocity of each stationary object relative to the sensing device; at a sensing moment of the sensing device, the offset direction of at least a portion of the stationary objects is consistent with the direction in which a new stationary object sensed by the sensing device enters the sensing field of view of the sensing device; the offset parameter of each stationary object also includes the offset direction of each stationary object, where the offset direction of each stationary object is the movement direction of each stationary object within the sensing field of view; and the number of new stationary objects sensed by the sensing device per unit time is greater than or equal to a preset number threshold.

[0090] It should be noted that the second speed threshold can refer to a preset speed standard value, which can be used to determine whether the offset speed of a stationary object relative to the sensing device is sufficient to indicate that the scooter should turn. The offset direction can refer to the direction of movement of each stationary object in the field of view of the sensing device, used to analyze the scooter's turning trend. A new stationary object can refer to a stationary object that is first identified by the sensing device within a unit of time; its location and number can reflect the scooter's driving status and environmental changes.

[0091] Optionally, the front wheels are determined to be in a steering state when the front wheel steering conditions are met. Specifically, the front wheel steering conditions include at least one of the following three: the velocity values ​​of the offset velocities of at least some stationary objects are greater than or equal to a second velocity threshold, wherein the offset parameter of each stationary object includes the offset velocity of each stationary object, and the offset velocity of each stationary object is the velocity of each stationary object relative to the sensing device; at a sensing moment of the sensing device, the offset direction of at least some stationary objects is consistent with the direction in which the new stationary object sensed by the sensing device enters the sensing field of view of the sensing device, wherein the offset parameter of each stationary object also includes the offset direction of each stationary object, and the offset direction of each stationary object is the direction of movement of each stationary object within the sensing field of view; the number of new stationary objects sensed by the sensing device per unit time is greater than or equal to a preset number threshold. The preset number threshold can be used to determine whether the number of new stationary objects sensed per unit time reaches a minimum standard sufficient to indicate the steering state of the scooter.

[0092] Optionally, the sensing device on the scooter continuously scans and collects information about stationary objects in the surrounding environment. Based on the offset parameters of at least some of the stationary objects in the set of stationary objects, it can determine whether the scooter's front wheel is turning. Specifically, when the front wheel turning condition is met, it can be determined that the scooter's front wheel is turning; when the front wheel turning condition is not met, it is considered that the scooter's front wheel is not turning or turning slightly, and no coordinated action of the scooter's rear wheel is required.

[0093] Specifically, the criteria for determining the front wheel steering condition include whether the offset speed of the stationary object exceeds a second speed threshold, whether the offset direction of the stationary object is consistent with the direction of entry of the new stationary object (i.e., the newly appearing stationary object), and whether the number of newly appearing stationary objects per unit time reaches a preset threshold. The combination of these conditions provides a comprehensive and accurate steering state detection mechanism that can function even in the event of a malfunction or imperfection in the front wheel angle sensor.

[0094] Specifically, whether the offset velocity of a stationary object exceeds the second velocity threshold can be determined by the following formula (2):

[0095] (2)

[0096] in, This represents the velocity value of the offset velocity of a stationary object, that is, the velocity of each stationary object relative to the sensing device. This is the second speed threshold.

[0097] At a given moment of perception by the sensing device, whether the offset direction of at least some stationary objects is consistent with the direction in which the newly perceived stationary object enters the sensing field of view of the sensing device can be determined by the following formula (3):

[0098] (3)

[0099] Among them, 1 indicates the same direction, D=1 and S=1 indicates a right turn, and D=-1 and S=-1 indicates a left turn; where D=1 indicates that the stationary object is offset to the right, and D=-1 indicates that the stationary object is offset to the left; S=1 indicates that the direction of the new stationary object entering the sensing device's field of vision is to the right, and S=-1 indicates that the direction of the new stationary object entering the sensing device's field of vision is to the left.

[0100] Specifically, the process of determining whether the number of new stationary objects sensed by the sensing device per unit time is greater than or equal to a preset number threshold can be shown by formula (4):

[0101] (4)

[0102] in, To set a time window (i.e., the number of new stationary objects detected by the sensing device per unit time) This is a preset quantity threshold.

[0103] This embodiment accurately determines the steering state by using the stationary object offset parameters provided by the sensing device, ensuring the continuity and safety of steering control. The steering judgment of the scooter is more precise in complex or changing environments, reducing judgment errors caused by environmental factors and improving driving flexibility and safety in narrow alleys and obstacle-filled scenarios.

[0104] In an exemplary embodiment, object perception is performed along the forward direction of the scooter using a sensing device on the scooter, including: acquiring object perception data obtained by the sensing device along the forward direction, and detecting perceived objects in the object perception data to obtain a set of perceived objects; determining the moving speed of each perceived object based on the scooter's speed and the relative speed of each perceived object in the set of perceived objects, wherein the relative speed of each perceived object is the speed of each perceived object relative to the sensing device; and filtering out a set of stationary objects from the set of perceived objects based on the moving speed of each perceived object, wherein each stationary object is a perceived object in the set of perceived objects whose moving speed value is less than or equal to a third speed threshold.

[0105] It should be noted that object perception data refers to the raw environmental data collected by the sensing device, including but not limited to information such as distance, speed, direction, and shape, which forms the basis for subsequent object detection and classification. The perceived object set refers to the set of all potential objects identified by the algorithm based on the object perception data, including both stationary and moving objects. The third velocity threshold refers to a preset velocity standard value used to determine a velocity boundary between stationary and moving objects in the perceived object set. It is typically a small positive value, ensuring that only truly stationary or nearly stationary objects are classified as stationary.

[0106] Optionally, a set of stationary objects selected from the set of perceived objects whose moving speed is lower than or equal to a third speed threshold is used to assist in determining the steering state of the scooter.

[0107] Optionally, the sensing device can continuously scan the environment in the direction the scooter is traveling, collect and generate object sensing data, and then process this data through an algorithm to identify potential sensing objects and form a set of sensing objects. Next, the current speed of the scooter and the relative speed between the sensing objects and the scooter are obtained to determine the moving speed of each sensing object. The moving speed of the sensing objects is compared with a third speed threshold to filter out those sensing objects that are almost stationary or moving extremely slowly, forming a set of stationary objects.

[0108] Optionally, the moving speed of each sensing object is calculated based on the scooter's speed (obtained via a wheel speed sensor) and the relative speed of the sensing object. The relative speed of the sensing object can be determined by the sensing device.

[0109] This embodiment indirectly determines the scooter's steering state by constructing a set of stationary objects, ensuring that the accuracy of steering detection is maintained even when the front wheel angle sensor fails, thus enhancing the system's robustness and reliability.

[0110] In an exemplary embodiment, before adjusting the steering of the rear wheel of the scooter based on the steering angle of the front wheel, the method further includes: selecting a reference object sequence from a set of stationary objects based on a sensing interval sequence of sensing devices, wherein each sensing interval in the sensing interval sequence is the time interval between two consecutive sensing moments of the sensing devices, two adjacent sensing intervals in the sensing interval sequence are temporally continuous, and the reference objects in the reference object sequence correspond one-to-one with the sensing intervals in the sensing interval sequence; performing the following angle determination operation on each sensing interval as the current sensing interval to obtain the angle value of the steering angle corresponding to each sensing interval, and determining the sum of the angle values ​​of the steering angles corresponding to each sensing interval as the steering angle of the front wheel, wherein the start time of the current sensing interval is the current start time, and the reference object corresponding to the current sensing interval is the current reference object; determining the current longitudinal offset distance and the current lateral offset distance, wherein the current longitudinal offset distance is the longitudinal offset distance of the current reference object relative to the sensing devices within the current sensing interval, and the current lateral offset distance is the lateral offset distance of the current reference object relative to the sensing devices within the current sensing interval; and determining the arctangent angle value of the quotient of the current longitudinal offset distance and the current lateral offset distance as the angle value of the steering angle corresponding to the current sensing interval.

[0111] It should be noted that the sensing interval sequence refers to a series of continuous and non-overlapping time interval records generated by the sensing device. Each time interval represents the time difference between two data acquisitions by the device, used to track the continuity of environmental changes. The reference object sequence refers to a sequence of stationary objects selected from the set of stationary objects, corresponding one-to-one with each sensing interval in the sensing interval sequence, used as a reference for subsequent steering angle calculations. The longitudinal offset distance refers to the distance the reference object moves relative to the sensing device along the scooter's direction of travel within the current sensing interval, reflecting the straight-line travel of the scooter. The lateral offset distance refers to the distance the reference object moves relative to the sensing device perpendicular to the scooter's direction of travel within the current sensing interval, mainly used to determine the scooter's steering trend. The steering angle value refers to the specific numerical value reflecting the scooter's deflection angle relative to the direction of travel, obtained through mathematical calculations (especially the arctangent function of trigonometric functions).

[0112] Optionally, for the set of stationary objects collected by the sensing device, a sequence of sensing intervals is constructed, where each sensing interval represents the relative positional change of environmental objects over a period of time. Next, the reference object most relevant to each sensing interval is selected from the set of stationary objects, forming a reference object sequence. Subsequently, the system performs the following operations for each sensing interval: calculates the longitudinal and lateral offset distances of the current reference object relative to the sensing device to reflect the trajectory characteristics of the scooter within that time window. The arctangent function of the ratio of the current longitudinal offset distance to the lateral offset distance is used to determine the angle value of the steering angle corresponding to the current sensing interval, thus determining the relative steering information of the scooter within the current sensing interval. Then, the angle values ​​corresponding to the steering angles of each sensing interval are summed to determine the total steering angle of the scooter's front wheel during a complete steering process.

[0113] Specifically, the calculation process for the angle value of the steering angle corresponding to the sensing interval can be referred to as formula (5):

[0114] (5)

[0115] in, The longitudinal offset distance of the reference object relative to the sensing device within the current sensing interval; The lateral offset distance of the reference object relative to the sensing device within the current sensing interval.

[0116] This embodiment utilizes the steering angle values ​​across multiple sensing intervals to obtain more stable front wheel steering information, providing accurate steering judgments even under the influence of sensor noise or malfunction. Furthermore, by using numerous stationary objects in the environment as references, it can adapt to various complex road and weather conditions, ensuring the scooter's stability in different scenarios.

[0117] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0118] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0119] According to another aspect of the embodiments of this application, a scooter is also provided, which can be used to implement the steering control method of the scooter provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0120] Figure 4 This is a structural block diagram of an optional scooter according to an embodiment of this application, such as... Figure 4 As shown, the scooter device includes: a front wheel 402, a rear wheel 404, a control unit 406, a speed detection unit 408, a steering detection unit 410, and a rear wheel steering unit 412;

[0121] Speed ​​detection component 408 is used to detect the speed of the scooter when it is in operation;

[0122] Steering detection component 410 is used to detect the steering of the front wheel when the scooter is in operation;

[0123] The control unit 406 is used to adjust the steering of the rear wheel of the scooter based on the steering angle of the front wheel when the speed of the scooter is less than a first speed threshold. The steering angle of the rear wheel is positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel.

[0124] The rear wheel steering component 412 is used to adjust the steering of the rear wheels in response to the control of the control component.

[0125] It should be noted that the speed detection component 408 and the steering detection component 410 in this embodiment can be used to perform the above step S102, and the control component 406 and the rear wheel steering component 412 in this embodiment can be used to perform the above step S104.

[0126] According to the embodiments provided in this application, when the scooter is in operation, the steering detection component on the scooter detects the steering of the front wheel, and the speed detection component on the scooter detects the speed of the scooter. When the detected speed is less than a first speed threshold, the steering of the rear wheel is adjusted based on the steering angle of the front wheel. The steering angle of the rear wheel is positively correlated with that of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel. This means that when the scooter is at low speed and the steering angle of the front wheel is large, the rear wheel will turn slightly in the opposite direction, thereby effectively reducing the turning radius and improving the efficiency of steering control. This solves the problem of limited steering control of scooters in related technologies.

[0127] In one exemplary embodiment, the control component is further configured to: determine the angle value of the steering angle of the rear wheel based on the speed value of the scooter's travel speed and the angle value of the steering angle of the front wheel, wherein the angle value of the steering angle of the rear wheel is also negatively correlated with the speed value of the scooter's travel speed; and adjust the steering of the rear wheel in a direction opposite to the steering direction of the front wheel according to the angle value of the steering angle of the rear wheel.

[0128] In an exemplary embodiment, the control component is further configured to: determine that the steering angle of the rear wheel is zero when the steering angle of the front wheel is less than a first angle threshold; and determine the steering angle of the rear wheel as the product of the steering ratio coefficient, the steering angle of the front wheel, and the speed reference value when the steering angle of the front wheel is greater than or equal to the first angle threshold, wherein the speed reference value is negatively correlated with the speed of the scooter.

[0129] In an exemplary embodiment, the control unit is further configured to: determine the steering angle of the rear wheel as the product of the steering ratio coefficient, the angle value of the steering angle of the front wheel, and the quotient of the speed difference divided by a first speed threshold, wherein the speed difference is the difference between the first speed threshold and the speed value of the scooter, and the speed reference value is the quotient of the speed difference divided by the first speed threshold.

[0130] In one exemplary embodiment, the control component is further configured to: after determining the angle value of the rear wheel's steering angle based on the speed value of the scooter's travel speed and the angle value of the front wheel's steering angle, update the angle value of the rear wheel's steering angle to the second angle threshold if the angle value of the rear wheel's steering angle is greater than the second angle threshold.

[0131] In one exemplary embodiment, the control component is further configured to: acquire a function activation command when the rear wheel steering function of the scooter is disabled, wherein the rear wheel steering function is a function that causes the rear wheel to deflect around the steering axis of the rear wheel, and the function activation command is used to activate the rear wheel steering function; in response to the function activation command, when the locking mechanism of the scooter is in a locked state, control the state of the locking structure of the rear wheel to switch from a locked state to an unlocked state to activate the rear wheel steering function; wherein when the locking structure is in a locked state, the deflection angle of the rear wheel around the steering axis of the rear wheel is locked, and the steering adjustment of the rear wheel of the scooter is performed when the rear wheel steering function is activated.

[0132] In one exemplary embodiment, the steering detection component is further configured to: acquire the steering angle of the front wheel via an angle sensor on the scooter to detect the steering of the front wheel, wherein the steering detection component includes an angle sensor.

[0133] In one exemplary embodiment, the steering detection component is further configured to: perceive an object along the forward direction of the scooter using a sensing device on the scooter, and detect the steering of the front wheel based on the object perception result of the sensing device, wherein the steering detection component includes the sensing device.

[0134] In one exemplary embodiment, the object perception result includes a set of stationary objects perceived by the sensing device and an offset parameter for each stationary object in the set of stationary objects, wherein the offset parameter for each stationary object is used to characterize the offset of each stationary object relative to the sensing device. The steering detection component is further configured to: perform steering detection on the front wheels based on the set of stationary objects and the offset parameters of at least a portion of the stationary objects in the set of stationary objects.

[0135] In an exemplary embodiment, the steering detection component is further configured to: determine that the front wheels are in a steering state when the front wheel steering condition is met; and determine that the front wheels are not in a steering state when the front wheel steering condition is not met; wherein the front wheel steering condition includes at least one of the following: the velocity values ​​of the offset velocities of at least a portion of the stationary objects are greater than or equal to a second velocity threshold, wherein the offset parameter of each stationary object includes the offset velocity of each stationary object, and the offset velocity of each stationary object is the velocity of each stationary object relative to the sensing device; at a sensing moment of the sensing device, the offset direction of at least a portion of the stationary objects is consistent with the direction in which the new stationary object sensed by the sensing device enters the sensing field of view of the sensing device, wherein the offset parameter of each stationary object also includes the offset direction of each stationary object, and the offset direction of each stationary object is the movement direction of each stationary object within the sensing field of view; and the number of new stationary objects sensed by the sensing device per unit time is greater than or equal to a preset number threshold.

[0136] In an exemplary embodiment, the steering detection component is further configured to: acquire object perception data obtained by the sensing device in the forward direction, and perform object detection on the object perception data to obtain a set of sensing objects; determine the moving speed of each sensing object based on the scooter's travel speed and the relative speed of each sensing object in the set of sensing objects, wherein the relative speed of each sensing object is the speed of each sensing object relative to the sensing device; and filter out a set of stationary objects from the set of sensing objects based on the moving speed of each sensing object, wherein each stationary object is a sensing object in the set of sensing objects whose moving speed value is less than or equal to a third speed threshold.

[0137] In an exemplary embodiment, the steering detection component is further configured to: before adjusting the steering of the rear wheel of the scooter based on the steering angle of the front wheel, select a reference object sequence from a set of stationary objects based on a sensing interval sequence of a sensing device, wherein each sensing interval in the sensing interval sequence is the time interval between two consecutive sensing moments of the sensing device, two adjacent sensing intervals in the sensing interval sequence are temporally continuous, and the reference objects in the reference object sequence correspond one-to-one with the sensing intervals in the sensing interval sequence.

[0138] For each sensing interval, the following angle determination operation is performed as the current sensing interval to obtain the angle value of the steering angle corresponding to each sensing interval. The sum of the angle values ​​corresponding to each sensing interval is then used to determine the steering angle of the front wheels. Here, the start time of the current sensing interval is the current start time, and the reference object corresponding to the current sensing interval is the current reference object.

[0139] Determine the current longitudinal offset distance and the current lateral offset distance, where the current longitudinal offset distance is the longitudinal offset distance of the current reference object relative to the sensing device within the current sensing interval, and the current lateral offset distance is the lateral offset distance of the current reference object relative to the sensing device within the current sensing interval; determine the arctangent angle value of the quotient of the current longitudinal offset distance and the current lateral offset distance as the angle value of the steering angle corresponding to the current sensing interval.

[0140] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0141] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0142] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0143] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0144] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0145] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit 501, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0146] Figure 5 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown. Figure 5 As shown, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in ROM 502 or programs loaded into RAM 503 from storage section 508. Random access memory 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0147] The following components are connected to I / O interface 505: input section 506 including keyboard, mouse, etc.; output section 507 including cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; storage section 508 including hard disk, etc.; and communication section 509 including network interface card, modem, etc. Communication section 509 performs communication processing via a network such as the Internet. Drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0148] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit 501, it performs various functions defined in the system of this application.

[0149] It should be noted that, Figure 5 The computer system 500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0150] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0151] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A steering control method for a scooter, characterized in that, include: When the scooter is in operation, the steering detection component on the scooter detects the steering of the front wheel, and the speed detection component on the scooter detects the speed of the scooter. When the speed of the scooter is less than a first speed threshold, the rear wheel of the scooter is adjusted for steering based on the steering angle of the front wheel. The steering angle of the rear wheel is positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel.

2. The method according to claim 1, characterized in that, The step of adjusting the steering of the rear wheel of the scooter based on the steering angle of the front wheel includes: Based on the speed value of the scooter and the steering angle value of the front wheel, the steering angle value of the rear wheel is determined, wherein the steering angle value of the rear wheel is negatively correlated with the speed value of the scooter. According to the steering angle value of the rear wheel, the steering of the rear wheel is adjusted in the opposite direction to the steering direction of the front wheel.

3. The method according to claim 2, characterized in that, Determining the steering angle of the rear wheel based on the speed value of the scooter and the steering angle value of the front wheel includes: If the steering angle of the front wheel is less than a first angle threshold, the steering angle of the rear wheel is determined to be zero. When the steering angle of the front wheel is greater than or equal to the first angle threshold, the product of the steering ratio coefficient, the steering angle of the front wheel, and the speed reference value is determined as the steering angle of the rear wheel, wherein the speed reference value is negatively correlated with the speed of the scooter.

4. The method according to claim 3, characterized in that, The step of determining the steering angle of the rear wheels by multiplying the steering ratio coefficient, the steering angle of the front wheels, and the speed reference value includes: The product of the steering ratio coefficient, the steering angle of the front wheel, and the quotient of the speed difference divided by the first speed threshold is determined as the steering angle of the rear wheel. The speed difference is the difference between the first speed threshold and the speed of the scooter, and the speed reference value is the quotient of the speed difference divided by the first speed threshold.

5. The method according to claim 2, characterized in that, After determining the steering angle of the rear wheel based on the speed value of the scooter and the steering angle value of the front wheel, the method further includes: If the angle value of the rear wheel steering angle is greater than the second angle threshold, the angle value of the rear wheel steering angle is updated to the second angle threshold.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the rear wheel steering function of the scooter is off, a function activation command is obtained, wherein the rear wheel steering function is the function of the rear wheel deflecting around the steering axis of the rear wheel, and the function activation command is used to activate the rear wheel steering function. In response to the function activation command, when the locking mechanism of the scooter is in the locked state, the state of the locking structure of the rear wheel is controlled to switch from the locked state to the unlocked state, so as to activate the rear wheel steering function. When the locking structure is in the locked state, the deflection angle of the rear wheel around the steering axis of the rear wheel is locked, and the steering adjustment of the rear wheel of the scooter is performed when the rear wheel steering function is activated.

7. The method according to any one of claims 1 to 5, characterized in that, The step of detecting the steering of the front wheel of the scooter using a steering detection component on the scooter includes: The steering angle of the front wheel is collected by an angle sensor on the scooter to detect the steering of the front wheel, wherein the steering detection component includes the angle sensor.

8. The method according to any one of claims 1 to 5, characterized in that, The step of detecting the steering of the front wheel of the scooter using a steering detection component on the scooter includes: The scooter uses a sensing device to perceive objects along its forward direction and performs steering detection on the front wheel based on the object perception results. The steering detection component includes the sensing device.

9. The method according to claim 8, characterized in that, The object perception result includes a set of stationary objects perceived by the sensing device and an offset parameter for each stationary object in the set of stationary objects, wherein the offset parameter for each stationary object is used to characterize the offset of each stationary object relative to the sensing device; The method of detecting the steering of the front wheels based on the object perception results of the sensing device includes: The steering of the front wheel is detected based on the set of stationary objects and the offset parameters of at least some of the stationary objects in the set of stationary objects.

10. The method according to claim 9, characterized in that, The step of detecting the steering of the front wheels based on the set of stationary objects and the offset parameters of at least some of the stationary objects in the set of stationary objects includes: If the front wheel steering conditions are met, it is determined that the front wheels are in a steering state; If the front wheel steering conditions are not met, it is determined that the front wheels are not in a steering state; The front wheel steering conditions include at least one of the following: The velocity values ​​of the offset velocities of at least some of the stationary objects are all greater than or equal to the second velocity threshold, wherein the offset parameter of each stationary object includes the offset velocity of each stationary object, and the offset velocity of each stationary object is the velocity of each stationary object relative to the sensing device; At a sensing moment of the sensing device, the offset direction of at least some of the stationary objects is consistent with the direction in which the new stationary object sensed by the sensing device enters the sensing field of view of the sensing device, wherein the offset parameter of each stationary object also includes the offset direction of each stationary object, and the offset direction of each stationary object is the movement direction of each stationary object within the sensing field of view; Within a unit of time, the number of new stationary objects sensed by the sensing device is greater than or equal to a preset number threshold.

11. The method according to claim 9, characterized in that, The object perception along the direction of travel of the scooter using the sensing device on the scooter includes: The object perception data obtained by the sensing device along the forward direction is acquired, and the object perception data is used to detect the perceived objects to obtain a set of perceived objects; The moving speed of each sensing object is determined based on the traveling speed of the scooter and the relative speed of each sensing object in the set of sensing objects, wherein the relative speed of each sensing object is the speed of each sensing object relative to the sensing device; Based on the moving speed of each sensing object, the set of stationary objects is selected from the set of sensing objects, wherein each stationary object is a sensing object in the set of sensing objects whose moving speed value is less than or equal to a third speed threshold.

12. The method according to claim 9, characterized in that, Before adjusting the steering of the rear wheel of the scooter based on the steering angle of the front wheel, the method further includes: Based on the sensing interval sequence of the sensing device, a reference object sequence is selected from the set of stationary objects. Each sensing interval in the sensing interval sequence is the time interval between two consecutive sensing moments of the sensing device. Two adjacent sensing intervals in the sensing interval sequence are continuous in time. The reference objects in the reference object sequence correspond one-to-one with the sensing intervals in the sensing interval sequence. Each of the sensing intervals is treated as the current sensing interval, and the following angle determination operation is performed to obtain the angle value of the steering angle corresponding to each sensing interval. The sum of the angle values ​​corresponding to each sensing interval is determined as the steering angle of the front wheel. Here, the start time of the current sensing interval is the current start time, and the reference object corresponding to the current sensing interval is the current reference object. Determine the current longitudinal offset distance and the current lateral offset distance, wherein the current longitudinal offset distance is the longitudinal offset distance of the current reference object relative to the sensing device within the current sensing interval, and the current lateral offset distance is the lateral offset distance of the current reference object relative to the sensing device within the current sensing interval; The arctangent angle of the quotient of the current longitudinal offset distance and the current lateral offset distance is determined as the angle value of the steering angle corresponding to the current sensing interval.

13. A scooter, characterized in that, include: Front wheels, rear wheels, control components, speed detection components, steering detection components, and rear wheel steering components; among which, The speed detection component is used to detect the speed of the scooter when the scooter is in operation; The steering detection component is used to detect the steering of the front wheel when the scooter is in operation; The control component is used to adjust the steering of the rear wheel of the scooter based on the steering angle of the front wheel when the speed of the scooter is less than a first speed threshold. The steering angle of the rear wheel is positively correlated with the steering angle of the front wheel, and the steering direction of the rear wheel is opposite to that of the front wheel. The rear wheel steering component is used to adjust the steering of the rear wheels in response to the control of the control component.

14. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 12.

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