Scooter movement control method, scooter and computer readable storage medium

Abstract

The embodiment of the invention provides a scooter movement control method, a scooter and a computer readable storage medium, detection equipment is arranged on the scooter, and the detection equipment is used for carrying out target detection in the advancing direction of the scooter; the method comprises the steps that in the moving process of the scooter, a detection target set of detection equipment and parameter values of offset parameters of all detection targets of the detection target set are obtained, and the offset parameters of all the detection targets are used for representing the offset condition of all the detection targets relative to the detection equipment; based on the detection target set and the parameter values of the offset parameters of at least part of the detection targets in the detection target set, steering detection operation is executed on the scooter; and when it is detected that the scooter is in the steering state, the running speed of the scooter is controlled. By means of the scooter movement control method and device, the technical problem that in the prior art, a scooter movement control method is poor in scooter movement safety is solved.

Description

Technical Field

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

[0002] Scooters, as a convenient mode of transportation, can be used for short-distance travel. In related technologies, the movement control of scooters is usually performed by the rider based on observed environmental information, mainly relying on the rider's intuition and reaction ability. However, when facing complex road conditions, if the rider makes an inappropriate judgment, the scooter is prone to tipping over and collisions, affecting the safety of the scooter's movement.

[0003] Therefore, the scooter movement control methods in related technologies have the technical problem of poor scooter movement safety. Summary of the Invention

[0004] This application provides a method for controlling the movement of a scooter, a scooter, and a computer-readable storage medium, in order to at least solve the technical problem of limited steering and control of scooters in the related art.

[0005] According to one aspect of the embodiments of this application, a method for controlling the movement of a scooter is provided. The scooter is equipped with a detection device for detecting targets along the forward direction of the scooter. The method includes: during the movement of the scooter, acquiring a set of detected targets by the detection device and parameter values ​​of offset parameters of each detected target in the set of detected targets, wherein the offset parameter of each detected target is used to characterize the offset of each detected target relative to the detection device; performing a steering detection operation on the scooter based on the set of detected targets and the parameter values ​​of offset parameters of at least some of the detected targets in the set of detected targets; and controlling the speed of the scooter when the scooter is detected to be in a steering state.

[0006] According to another aspect of the embodiments of this application, a scooter is also provided, the scooter being equipped with a control component, a detection device, and a motor; wherein, the detection device is used to detect targets along the forward direction of the scooter; the detection device or the control component is used to acquire, during the movement of the scooter, a set of detected targets and parameter values ​​of the offset parameters of each detected target in the set of detected targets, wherein the offset parameters of each detected target are used to characterize the offset of each detected target relative to the detection device; based on the set of detected targets and the parameter values ​​of the offset parameters of at least some of the detected targets in the set of detected targets, a steering detection operation is performed on the scooter; the control component is used to control the travel speed of the scooter by controlling the rotation speed of the motor when the scooter is detected to be in a steering state; the motor is used to adjust its rotation speed in response to the control of the control component.

[0007] 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.

[0008] 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.

[0009] 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.

[0010] This application provides a detection device installed on a scooter. This device is used to detect targets along the scooter's forward direction. During the scooter's movement, the detection data is analyzed to obtain a set of detected targets and the offset parameter value of each target in the set. The offset parameter of a target characterizes the target's offset relative to the detection device, correspondingly characterizing the scooter's offset direction relative to the target. This indicates whether the scooter has turned. Therefore, a turning detection operation can be performed on the scooter based on the set of detected targets and the offset parameter values ​​of at least some of the targets. If the scooter is detected to be turning, its speed can be controlled to ensure the safety of the vehicle. Here, if the vehicle speed is too high during a turn, it is easy to cause the vehicle to tip over. Controlling the scooter's speed can reduce the possibility of tipping over, thereby improving the safety of the scooter's movement and solving the technical problem of poor scooter movement safety in related technologies. Attached Figure Description

[0011] 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.

[0012] Figure 1 This is a schematic diagram of an application environment for an optional scooter movement control method according to an embodiment of the present invention;

[0013] Figure 2 This is a flowchart illustrating an optional scooter movement control method according to an embodiment of this application;

[0014] Figure 3 This is a schematic diagram of an optional scooter movement control method according to an embodiment of this application;

[0015] Figure 4 This is a structural block diagram of an optional scooter according to an embodiment of this application;

[0016] Figure 5 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0017] 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.

[0018] 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.

[0019] According to one aspect of the embodiments of this application, a method for controlling the movement of a scooter is provided. Optionally, in this embodiment, the above-described method for controlling the movement of a scooter may be applied, but is not limited to, to applications such as... Figure 1 The hardware environment shown includes a scooter 102, a control terminal 104, and a server 106. The scooter 102 may have network connectivity, and the server 106 can connect to the scooter 102 via a network. It can be used to provide services (e.g., application services, location services, etc.) to the scooter 102 or clients installed on the scooter 102. A database can be set up on or independently of the server 106 to provide data storage services to the server 106.

[0020] The control terminal 104 can be a terminal device or controller bound to the scooter 102. The scooter 102 can communicate with the control terminal 104 via a wireless network, which can include, but is not limited to, at least one of the following: Wireless Fidelity (WIFI) and Bluetooth. Optionally, the control terminal 104 can also be directly connected to the scooter 102 via a data cable or other connecting cable to transmit signals and realize interaction between the control terminal 104 and the scooter 102.

[0021] The scooter 102 may include a frame, front wheel, rear wheel, etc., and the body may include handlebars, scooter stem, footboard, front fender, rear fender, etc. Furthermore, the scooter 102 may also include a vehicle control unit (VCU), a complex system integrating hardware and software, used to control the operation of the scooter. The hardware of the VCU may include at least one hardware microprocessor, a microcontroller unit (MCU), and necessary input / output interfaces, memory, power module, communication module, etc. The software of the VCU may include an embedded operating system, application programs, control algorithms, and diagnostic programs.

[0022] The scooter movement control method of this embodiment can be applied to the field of scooter control technology, specifically to scenarios involving scooter movement control. In related technologies, scooter movement control is typically performed by the rider based on observed environmental information, relying heavily on the rider's intuition and reaction ability. However, when facing complex road conditions, if the rider's judgment is inappropriate, the scooter is prone to tipping over or colliding, affecting the safety of scooter movement.

[0023] To at least partially solve the above-mentioned technical problems, in this embodiment, the scooter is turned based on the parameter value of the offset parameter of the detection target detected by the detection device. If the scooter is detected to be turning, the speed of the scooter is controlled to reduce the risk of the vehicle tipping over. It also allows the rider time to react and reduces the possibility of collision during the turning process, thereby improving the safety of the scooter's movement.

[0024] The scooter movement control method of this application embodiment can be executed by the scooter 102, or it can be jointly executed by the scooter 102, the control terminal 104, and the server 106. Alternatively, the scooter 102 can execute the scooter movement control method of this application embodiment by the vehicle control unit or certain control components on the scooter.

[0025] Taking the scooter movement control method implemented by the scooter 102 in this embodiment as an example, Figure 2 This is a flowchart illustrating an optional scooter movement control method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0026] Step S202: During the movement of the scooter, the set of detection targets of the detection device and the parameter value of the offset parameter of each detection target in the set of detection targets are obtained. The offset parameter of each detection target is used to characterize the offset of each detection target relative to the detection device.

[0027] Step S204: Perform a steering detection operation on the scooter based on the parameter values ​​of the set of detected targets and the offset parameters of at least some of the detected targets in the set of detected targets;

[0028] Step S206: When it is detected that the scooter is turning, the speed of the scooter is controlled.

[0029] Here, a scooter, also known as an electric scooter, refers to a motorized vehicle that is electrically powered, has at least one front wheel and one rear wheel, and is primarily controlled by a rider standing or stepping on a footrest via handlebars for steering and balance. Its structure may include: a frame, a scooter seatpost (also called a steering seatpost) and handlebars located at the front of the frame, footrests located in the middle of the frame, and at least one wheel driven by an electric motor. The drive mechanism includes, but is not limited to, hub motor drive or mid-mounted motor drive. Those skilled in the art will understand that the scooter movement control method in this embodiment is also applicable to structurally or functionally similar electric mobile devices, such as electric balance scooters and electric skateboards.

[0030] In this embodiment, a detection device can be installed on the scooter to detect targets along the scooter's direction of travel. The detection device can be any sensor device capable of acquiring the target's presence, position, speed, orientation, and other characteristic parameters in space by actively emitting detection signals and receiving their echoes, or passively receiving signals radiated / reflected by the target itself. The detection device can scan or sample the scene within its detection range according to a preset detection cycle (or frame rate) and output a series of detection frames arranged in chronological order. Each detection frame contains the raw data detected within that detection cycle or preliminarily processed target information, such as all or part of the target identifier (ID), x-coordinate (X), y-coordinate (Y), lateral velocity, longitudinal velocity, height (H), and energy level.

[0031] The type of detection equipment can be selected comprehensively based on factors such as the usage scenario and detection requirements, and may include, but is not limited to, the following types: radar (i.e., radar sensors, such as millimeter-wave radar), lidar, sonar, ultrasonic sensors, etc. Although these devices are based on different physical principles (e.g., electromagnetic waves, light waves, sound waves), they can all detect targets within their detection range. In order to detect targets along the direction of travel of the scooter, the detection equipment can be set on the handlebar crossbar, the scooter stem, or other positions near the front of the vehicle; this embodiment does not limit this.

[0032] During the movement of the scooter, the set of targets detected by the detection device and the parameter values ​​of the offset parameters of each target in the set can be acquired. The set of targets detected by the detection device can be dynamically changed, and the parameter values ​​of the targets and their offset parameters can be dynamically updated based on the detection data of the detection device at different detection times. The offset parameter of each target is used to characterize the offset of each target relative to the detection device.

[0033] Since the offset of the detection target relative to the detection device is the superposition of the offset of the detection target itself and the offset of the scooter's forward direction (corresponding to the vehicle's steering), and the detection targets that the detection device can detect are also related to the change in the scooter's forward direction, the steering detection operation of the scooter can be performed based on the set of detection targets and the parameter values ​​of the offset parameters of at least some of the detection targets in the set of detection targets.

[0034] Here, the steering detection operation can be performed based on changes in the detected targets in the target set and / or changes in the number of detected targets in the target set. The steering detection operation can be performed based on the offset parameter values ​​of all detected targets in the target set, or it can be performed based on the offset parameter values ​​of some detected targets in the target set (e.g., all or some stationary targets). Considering the timeliness of the detection data, the steering detection operation can be performed based on the target set located within a set sliding window, and / or on the target set within a specific detection frame to be processed, or it can be performed based on the target set selected by other selection methods, as long as the selected target set is correlated with the vehicle's steering.

[0035] In a given detection, if the scooter is not in a turning state, the turning detection operation described above can be executed iteratively. If the scooter is detected to be in a turning state, its speed can be controlled to ensure its safety during the turning process.

[0036] There are several ways to control the speed of a scooter. For example, the speed can be controlled below a certain threshold. Alternatively, the speed can be reduced by a certain percentage. Another example is to combine factors such as the scooter's turning radius and the total number of currently detected targets to comprehensively control the speed. Other methods can also be used to control the speed of the scooter, as long as they can improve the safety of the scooter's movement.

[0037] Optionally, when the scooter is detected to be turning, the handlebar steering damping can be increased to improve the stability of the handlebars during the turning process and prevent the vehicle from losing control. Increasing the handlebar steering damping can be achieved by driving a stepper motor inside the scooter's stem to press the damping component, or it can be achieved in other ways, which are not limited in this embodiment.

[0038] Understandably, controlling the speed of a scooter excludes methods that would reduce safety, such as increasing the speed or reducing handlebar steering resistance. Speed ​​control must comply with relevant laws and regulations. This can be explained in the scooter's instruction manual, and, where necessary, the rider's authorization should be obtained, for example, through physical buttons on the scooter, virtual buttons on the display screen, or authorization requests on a terminal device linked to the scooter.

[0039] According to the embodiments provided in this application, a detection device is installed on the scooter to detect targets along the scooter's forward direction. During the scooter's movement, a set of detected targets and the parameter value of the offset parameter of each detected target in the set are acquired. The offset parameter of each detected target characterizes the offset of each detected target relative to the detection device. Based on the set of detected targets and the parameter values ​​of the offset parameters of at least some of the detected targets in the set, a steering detection operation is performed on the scooter. When the scooter is detected to be in a steering state, the scooter's speed is controlled. This solves the technical problem of poor safety during scooter movement in related technologies and improves the safety of scooter movement.

[0040] In one exemplary embodiment, the offset parameter of each detection target refers to the offset parameter of each detection target relative to the detection device, which may include, but is not limited to, the offset velocity of each detection target, where the offset velocity of each detection target is the velocity of each detection target relative to the detection device.

[0041] To reduce the complexity of operation and improve the efficiency and accuracy of steering judgment, before performing steering detection operation on the scooter based on the set of detected targets and the parameter values ​​of the offset parameters of at least some of the detected targets in the set of detected targets, the moving speed of each detected target can be determined based on the scooter's travel speed and the offset speed of each detected target; non-stationary targets in the set of detected targets are removed to obtain an updated set of detected targets, wherein stationary targets in the set of detected targets refer to detected targets whose moving speed value is less than or equal to a first speed threshold.

[0042] In this embodiment, the offset velocity of each detection target is its velocity relative to the detection device. The moving speed of each detection target can be determined by adding its offset velocity to the actual speed of the scooter, i.e., the absolute velocity of each detection target. Based on the absolute velocity of each detection target, stationary and non-stationary targets in the detection target set can be identified. A stationary target in the detection target set refers to a detection target whose moving speed is zero. Considering factors such as measurement and calculation bias, a first speed threshold can be set. A stationary target indicates a detection target whose moving speed is less than or equal to the first speed threshold.

[0043] For non-stationary targets in the target set, they can be removed from the target set, or a target marker can be added to each target to identify whether it is a stationary or non-stationary target. The aforementioned steering detection operation can be performed based on the updated target set and the offset parameters of at least some of the targets in the updated target set.

[0044] Taking radar (e.g., millimeter-wave radar) as an example, the radar can first detect objects in the environment, filter out targets that are almost stationary relative to the scooter, and determine whether the vehicle is making a left or right turn by calculating the lateral offset speed and / or offset direction of these targets and combining this with the vehicle's current driving status.

[0045] In this embodiment, the offset speed of the target relative to the detection device is converted into the actual moving speed of the target, thereby distinguishing between stationary and non-stationary targets and updating the target set. Only stationary targets used for steering judgment are retained, which can improve the accuracy of steering detection, reduce the possibility of misjudgment, and enhance the reliability of scooter steering control.

[0046] In an exemplary embodiment, the offset velocity of each detected target includes both a lateral offset velocity and a longitudinal offset velocity, and the travel speed of the scooter includes both a lateral travel speed and a longitudinal travel speed. Here, lateral and longitudinal are relative to the detection direction (forward direction) of the detection device. Lateral refers to the direction perpendicular to the detection direction on a horizontal plane, and longitudinal refers to the direction parallel to the detection direction on a horizontal plane. Distinguishing between lateral and longitudinal offset velocities facilitates data processing and improves processing efficiency.

[0047] Correspondingly, based on the scooter's travel speed and the offset speed of each detected target, the moving speed of each detected target is determined, including: determining the lateral moving speed of each detected target based on the scooter's lateral travel speed and the lateral offset speed of each detected target; and determining the longitudinal moving speed of each detected target based on the scooter's longitudinal travel speed and the longitudinal offset speed of each detected target.

[0048] In this embodiment, the lateral speed of the scooter and the lateral offset speed of each detected target are superimposed, and the longitudinal speed of the scooter and the longitudinal offset speed of each detected target are superimposed to obtain the lateral movement speed and the longitudinal movement speed of each detected target. The movement speed of each detected target can be expressed as its lateral movement speed and its longitudinal movement speed. Correspondingly, a stationary target in the set of detected targets refers to a detected target whose lateral movement speed and longitudinal movement speed are both less than or equal to a first speed threshold.

[0049] Here, the first speed threshold can be a speed threshold set based on empirical values, a speed threshold determined based on big data analysis, or a speed threshold determined by other means. This embodiment does not limit this.

[0050] For example, when screening static targets (i.e., stationary targets), the relative longitudinal velocity of the target can be extracted from radar data. and relative lateral velocity Combined with the speed of the scooter itself Calculate the absolute velocity of the target (to eliminate interference from the scooter's own motion). Among these... This refers to the longitudinal offset velocity of an object detected within the radar coordinate system, measured in meters per second (m / s), with a range of values... Negative values ​​indicate proximity to the radar, while positive values ​​indicate distance from the radar. This refers to the lateral offset velocity of an object detected within the radar coordinate system, measured in meters per second, with a value range of [value missing]. Negative values ​​represent a shift to the left, and positive values ​​represent a shift to the right. This refers to the initial speed of the vehicle, that is, the speed of the vehicle before the steering operation, measured in meters per second (m / s), and its range can be... .

[0051] The absolute longitudinal velocity of the target is: In calculations, values ​​are added in the same direction and subtracted in opposite directions. For example, if the scooter's own speed is 10 m / s (longitudinal, i.e., forward direction), and the relative longitudinal speed of the target is -10 m / s, then the target's absolute longitudinal speed is 0, and the target is classified as a static target. Absolute lateral speed... The calculation method is similar to that for calculating absolute longitudinal velocity.

[0052] When filtering static targets, the filtering criteria can be: | ≤0.5m / s and | If the speed is less than or equal to 0.5 m / s, the target being detected is almost stationary and can be considered a valid static target.

[0053] This embodiment refines the screening criteria for stationary targets, taking into account not only the longitudinal movement speed of the target but also its lateral movement speed. This allows for more accurate identification of stationary targets, enhances the precision of turning detection, avoids misidentification caused by minute target movements, and improves the adaptability and stability of the system.

[0054] In one exemplary embodiment, the steering detection operation can be continuously executed. To avoid false steering detection, the steering angle of the scooter can be detected based on the detection data of the detection device, and the roll angle of the scooter can be measured by a gyroscope installed on the scooter. The confidence level of the vehicle's steering is determined based on whether the steering angle and roll angle are consistent over the same period of time, and the decision on whether to execute the steering judgment logic is based on the judgment result.

[0055] Correspondingly, before performing a steering detection operation on the scooter based on the set of detected targets and the offset parameters of at least some of the detected targets in the set of detected targets, the above method further includes: determining the target steering angle of the scooter based on the offset parameters of at least two stationary targets in the set of detected targets, and determining the target roll angle of the scooter based on the measurement data of the gyroscope; and calculating the angular error between the target steering angle and the target roll angle.

[0056] In this embodiment, to ensure the accuracy of steering angle detection, two or more stationary targets can be selected. Based on the offset parameters of at least two selected stationary targets, the target steering angle of the scooter is determined. The target steering angle of the scooter can be obtained by jointly processing the parameter values ​​of the offset parameters of at least two stationary targets, or it can be obtained by determining the steering angle of the scooter separately based on the offset parameters of each selected stationary target, and then averaging the determined steering angles as the target steering angle. Other methods can also be used to determine the target steering angle, and this embodiment does not limit this method.

[0057] Based on the measurement data from the gyroscope, the target roll angle of the scooter can be determined. The gyroscope can be an Inertial Measurement Unit (IMU) or an Attitude and Heading Reference System (AHRS) that can collect the current attitude of the vehicle (i.e., the scooter), obtaining three-axis angular velocities (gyro_x, gyro_y, and gyro_z represent the angular velocities on each of the X, Y, and Z axes, respectively) and three-axis accelerations (accel_x, accel_y, and accel_z represent the accelerations on each of the X, Y, and Z axes, respectively). If necessary, it can also obtain three-axis magnetic force.

[0058] The current vehicle attitude can be calculated using a certain algorithm (denoted by A), which can include roll, pitch and yaw. The calculation formula can be simplified to formula (1):

[0059] (Roll, Pitch, Yaw)=A(accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z) (1)

[0060] Considering the relatively accurate angle calculation of the gyroscope, the scooter's steering angle can be set to the roll angle if the error between the steering angle calculated based on the detection data from the detection device and the roll angle calculated by the gyroscope does not exceed E. If the error exceeds E, no steering judgment logic is performed. Here, E is the steering angle calculated based on the detection data from the detection device. The error threshold between the gyroscope and the roll angle calculated by the gyroscope can take a range of values. ,in, This is the steering angle, also known as the turning angle, and its value range can be... .

[0061] In this embodiment, a gyroscope is introduced to measure the roll angle of the scooter, which is then compared with the steering angle of the scooter measured by the detection data of the detection device. The angle error between the two is calculated to determine whether to perform a steering detection operation. This can verify the authenticity and accuracy of the scooter's steering status, thereby ensuring the effectiveness of steering detection and speed control. It can also avoid unnecessary intervention in the scooter's status and maintain the rider's intentions and autonomy.

[0062] In an exemplary embodiment, determining the target steering angle of the scooter based on the offset parameters of at least two stationary targets in the set of detected targets includes: selecting a reference target sequence from the set of detected targets based on the detection interval sequence of the detection device; performing the following angle determination operation on each detection interval as the current detection interval to obtain the steering angle corresponding to each detection interval, and determining the sum of the angles corresponding to each detection interval as the target steering angle: determining the current longitudinal offset distance and the current lateral offset distance; and determining the arctangent angle value of the quotient of the current longitudinal offset distance and the current lateral offset distance as the steering angle corresponding to the current detection interval.

[0063] In this embodiment, stationary targets can be iteratively selected according to detection intervals to determine the turning angle of the scooter within the corresponding detection interval. The continuous detection intervals of the detection device can be represented as a detection interval sequence, where each detection interval is the time interval between two consecutive detection moments, and adjacent detection intervals in the sequence are temporally continuous. Based on the detection interval sequence of the detection device, a reference target sequence can be selected from the set of detection targets. Each reference target in the reference target sequence is a stationary target in the set of detection targets, and there is a one-to-one correspondence between the reference targets in the reference target sequence and the detection intervals in the detection interval sequence.

[0064] There are several ways to select a reference target for each detection interval. For example, a stationary target can be randomly selected for each detection interval as the corresponding reference target. Alternatively, a stationary target with a lateral distance of zero and a longitudinal distance exceeding a set distance threshold from the detection device can be selected as the corresponding reference target. Other selection methods are also possible, and this embodiment does not limit the selection methods.

[0065] For each detection interval, an angle determination operation can be performed on it as the current detection interval. This angle determination operation can be used to determine the steering angle corresponding to the current detection interval. By performing the angle determination operation on each detection interval separately, the steering angle corresponding to each detection interval can be determined. The sum of the angles corresponding to each detection interval is then used to determine the target steering angle. Here, the steering angle corresponding to each detection interval can be a directional steering angle (i.e., the steering angle is a vector, not a scalar). By superimposing the steering angles corresponding to each detection interval, the steering angle of the scooter within a certain time period can be determined.

[0066] When performing the angle determination operation, the current longitudinal offset distance and the current lateral offset distance can be determined first. The current longitudinal offset distance is the longitudinal offset distance of the current reference target relative to the detection device within the current detection interval, and the current lateral offset distance is the lateral offset distance of the current reference target relative to the detection device within the current detection interval. The current reference target is the reference target corresponding to the current detection interval. The arctangent angle value of the quotient of the current longitudinal offset distance and the current lateral offset distance is determined as the steering angle corresponding to the current detection interval.

[0067] For example, when calculating the steering angle, the steering angle within a detection interval The calculation formula can be shown in formula (2):

[0068] (2)

[0069] in, It refers to the change in longitudinal distance of the radar target (i.e., the detection target) within this detection interval. It refers to the change in lateral distance of the radar target within this detection interval.

[0070] In this embodiment, by analyzing continuous radar detection data and filtering out the changing trends of stationary targets, the steering angle of the scooter can be determined. This allows for more accurate tracking of minute changes in the target's position, resulting in a more precise steering angle and improved steering control accuracy and response speed.

[0071] In one exemplary embodiment, a steering detection operation can be performed on the scooter based on the parameter value of the offset parameter of the stationary target. Correspondingly, at least some of the detected targets are at least one stationary target selected from the set of detected targets. The selected stationary targets can be all stationary targets, a portion of stationary targets selected based on a set quantity threshold, or stationary targets selected according to other conditions. In this embodiment, the method of selecting stationary targets is not limited.

[0072] In this embodiment, the steering detection operation can be performed based on vehicle steering conditions. Correspondingly, based on the set of detected targets and the parameter values ​​of the offset parameters of at least some of the detected targets in the set of detected targets, the steering detection operation is performed on the scooter, including: determining that the scooter is in a steering state when the vehicle steering conditions are met; and determining that the scooter is not in a steering state when the vehicle steering conditions are not met.

[0073] Based on the set of detected targets and the parameter values ​​of the offset parameters of at least some of the detected targets in the set of detected targets, it can be determined whether the vehicle turning conditions are met. If the vehicle turning conditions are met, it is determined that the scooter is in a turning state. If the vehicle turning conditions are not met, it is determined that the scooter is not in a turning state.

[0074] Vehicle turning conditions are the conditions that a vehicle must meet to turn, and they can include one or more sub-turning conditions. Considering that the offset speed, offset direction, and number of newly detected targets may change when the vehicle turns—for example, when the vehicle turns, the stationary target will have a certain lateral offset speed, and the offset direction of the stationary target is opposite to the turning direction of the scooter—more new targets will enter the detection range of the detection device. In addition, other characteristics may also exist. Therefore, the vehicle turning conditions can include, but are not limited to, all or some of the following: speed-related conditions, offset direction-related conditions, and conditions related to the number of new targets.

[0075] Optionally, the vehicle steering conditions may include a first sub-steering condition, which means that the velocity values ​​of at least some of the detected targets' offset velocities are all greater than or equal to a second velocity threshold. The first sub-steering condition may be a velocity-related condition, which can be used to determine whether the detected targets identified within the device coordinate system of the detection device meet the uniform velocity offset condition. Correspondingly, the offset parameters of each detected target include the offset velocity of each detected target, where the offset velocity of each detected target is the velocity of each detected target relative to the detection device (i.e., the relative velocity of the detected target).

[0076] Optionally, the vehicle steering condition may include a second sub-steering condition. The second sub-steering condition refers to the situation where, at a detection moment of the detection device, the offset direction of at least some of the detected targets is consistent with the direction in which the newly detected target enters the detection range of the detection device. The second sub-steering condition may be a condition related to the offset direction, which can be used to determine whether the offset direction of the existing detected target is consistent with the entry direction of the new detected target. Correspondingly, the offset parameter of each detected target includes the offset direction of each detected target, which is the direction of movement of each detected target within the detection range.

[0077] For example, such as Figure 3As shown, for millimeter-wave radar, target A is an existing detection target, and target B is a new detection target. When the scooter turns, the deflection direction of target A is the same as the direction in which target B enters the detection range.

[0078] Optionally, the vehicle steering condition may include a third sub-steering condition, which refers to the number of new targets detected by the detection device per unit time being greater than or equal to a preset threshold. The third sub-steering condition may be a condition related to the number of new targets, and it can be used to determine whether the number of new targets per unit time meets the threshold condition.

[0079] For example, when determining if a vehicle is turning, it is determined that the vehicle is performing a turning operation in the corresponding direction when the following three conditions are met simultaneously:

[0080] Condition 1: Objects identified within the radar coordinate system satisfy the condition of uniform velocity displacement, that is, ,in, This refers to the offset speed threshold, which is the minimum speed value required to trigger a uniform offset judgment. The unit is meters per second, and the value range can be: ;

[0081] Condition 2: The object's offset direction is consistent with the direction the new target enters. Define the direction consistency indicator K=D×S. When K=1, the direction is determined to be consistent. If D=1 and S=1, it is determined to be a right turn. If D=-1 and S=-1, it is determined to be a left turn. Here, D is the offset direction indicator, D=1 indicates offset to the right, D=-1 indicates offset to the left, and S is the new target's entry direction indicator, S=1 indicates the new target enters from the right, and S=-1 indicates the new target enters from the left.

[0082] Condition 3: The number of new targets per unit time meets the requirement. ,in, It refers to newly emerging targets within a unit of time, that is, within a set time window. Within the radar coordinate system, the number of new targets (e.g., vehicles, pedestrians, obstacles, etc.) entering from the turning side, expressed in units of individual targets, with a possible range of values: , The time window for the emergence of a new target, with a range of values. , This refers to the minimum number of new targets required to trigger a turning decision, measured in units of targets per second (targets / s). The possible values ​​are: .

[0083] In this embodiment, the vehicle steering conditions include all or part of the conditions related to the target offset speed, the target offset direction, and the number of new targets per unit time. This ensures the rationality and safety of the steering operation, avoids instability caused by a single condition triggering the steering, and improves the robustness and safety of the overall system.

[0084] In one exemplary embodiment, when the scooter is detected to be turning, controlling the scooter's speed includes: when the scooter is detected to be turning, controlling the scooter's speed based on the scooter's turning radius and the number of new objects.

[0085] In this embodiment, for vehicle turning scenarios, the scooter's speed can be controlled based on its turning radius and the number of new objects. The scooter's turning radius is determined by its length and turning angle. The turning angle is determined by the offset parameters of at least two stationary targets in the target set. The method for determining the scooter's turning angle is the same as or similar to that in the previous embodiments and has been explained, so it will not be repeated here. The number of new objects is the number of newly detected targets by the detection device per unit time. The unit time can be determined based on a set time window, and its value can be 0.5s, 1s, 2s, etc. This embodiment does not limit the unit time.

[0086] Here, the turning radius characterizes the intensity of the turn; the more intense the turn, the more likely anomalies are to occur. Therefore, when controlling the speed of a scooter, the speed is positively correlated with the turning radius—a larger turning radius allows for a higher permissible speed, and a smaller turning radius allows for a lower permissible speed. The number of new objects characterizes the complexity of the traffic situation; the more complex the traffic situation, the more likely anomalies are to occur. Therefore, when controlling the speed of a scooter, the speed is negatively correlated with the number of new objects—a higher number of new objects allows for a lower permissible speed, and a lower number of new objects allows for a higher permissible speed.

[0087] For example, the formula for calculating the turning radius R is: Where R is in meters, and its value ranges from [value missing]. L is the length of the scooter, in meters, and its value range is... .

[0088] In this embodiment, the scooter's speed is dynamically adjusted based on its turning radius and the number of new objects. The speed is positively correlated with the turning radius and negatively correlated with the number of new objects, enabling adaptive control of the scooter's speed. This ensures safe riding under different turning radii and traffic densities and reduces the risk of scooter riding.

[0089] In one exemplary embodiment, when the scooter is detected to be turning, the scooter's speed is controlled based on its turning radius and the number of new objects. This includes: when the scooter is detected to be turning, determining a target speed value by adding the product of the scooter's turning radius and a first adjustment coefficient to the product of the number of new objects and a second adjustment coefficient; and when the target speed value is within a preset speed range, controlling the scooter's speed based on the target speed value so that the scooter's speed does not exceed the target speed value.

[0090] In this embodiment, for a turning scenario, the target speed value can be determined by the weighted sum of the scooter's turning radius and the number of new objects. The weighting coefficient for the scooter's turning radius is the first adjustment coefficient, which can be a coefficient greater than 0, and the weighting coefficient for the number of new objects is the second adjustment coefficient, which can be a coefficient less than 0. The determined target speed value can be used as a speed threshold for the scooter's travel speed. If the target speed value is within a preset speed range, and the scooter's travel speed does not exceed the target speed value, then the scooter's travel speed does not need to be adjusted. If the scooter's travel speed exceeds the target speed value, then the scooter's travel speed can be adjusted to ensure that the scooter's travel speed does not exceed the target speed value.

[0091] In this embodiment, two adjustment coefficients are introduced to quantify the influence of the turning radius and the number of new objects. The target speed value is calculated based on these two coefficients, and the scooter's speed is limited to a preset speed range. This allows the scooter to automatically adjust to the optimal speed under different working conditions, ensuring both driving experience and vehicle safety.

[0092] In one exemplary embodiment, when the scooter is detected to be turning, controlling the scooter's speed based on the scooter's turning radius and the number of new objects further includes: if the target speed value is less than a first speed value, controlling the scooter's speed based on the first speed value so that the scooter's speed is not lower than the first speed value; and if the target speed value is greater than a second speed value, controlling the scooter's speed based on the second speed value so that the scooter's speed does not exceed the second speed value.

[0093] The first speed value is the minimum speed value within a preset speed range, and the second speed value is the maximum speed value within the preset speed range. If the target speed value is less than the first speed value, the scooter's speed is controlled based on the first speed value to ensure that the scooter's speed is not lower than the first speed value. That is, if the scooter's speed is greater than or equal to the first speed value, the scooter's speed does not need to be adjusted; if the scooter's speed is less than the first speed value, the scooter's speed can be increased to be at least as high as the first speed value. If the target speed value is greater than the second speed value, the scooter's speed is controlled based on the second speed value to ensure that the scooter's speed does not exceed the second speed value. That is, if the scooter's speed is greater than or equal to the second speed value, the scooter's speed can be decreased to be at least as high as the second speed value; if the scooter's speed is less than the second speed value, the scooter's speed does not need to be adjusted.

[0094] For example, the controller can calculate the target control speed V during the steering process based on the turning radius R and the number of new targets N using formula (3):

[0095] (3)

[0096] Where 'a' is the adjustment coefficient of the turning radius on the control speed, with a value range of 0.1 ≤ a ≤ 2; 'b' is the adjustment coefficient of the number of new targets on the control speed, with a value range of 0.1 ≤ b ≤ 1; and the calculated result of V must satisfy V min ≤V≤V max V max This is the upper speed limit, that is, the maximum allowable speed of the motor during turning, measured in meters per second, and its value can be 1.4 ≤ V. max ≤4.2, V min The lower speed limit is the minimum safe speed allowed for the motor during steering, measured in meters per second, and can range from 0.5 to V. min ≤1.4.

[0097] This embodiment controls the scooter's speed within a preset range, avoiding safety hazards caused by sudden speed changes during turning, and also preventing traffic congestion caused by excessively low speeds, thus ensuring the safety and smoothness of the scooter's turning operation.

[0098] In one exemplary embodiment, the method further includes: when the scooter is detected to be in a turning state, controlling the turning prompting component of the scooter to issue a target prompting message.

[0099] In this embodiment, for turning scenarios, a target prompting message can be emitted through a turning prompting component to indicate the turning direction of the scooter. The turning prompting component can be a turn signal, a display screen, or other components capable of providing information prompts. The target prompting message can be emitted through sound, images, lights, or other means; this embodiment does not limit the type of turning prompting component or the content of the target prompting message.

[0100] For example, millimeter-wave radar can determine whether the scooter is turning left or right based on steering logic, and then send a steering assist signal to the controller. This steering assist signal includes a steering direction indicator D. Upon receiving the steering assist signal, the controller calculates the target control speed V and controls the motor to adjust the travel speed from the initial speed V0 to V. The controller simultaneously triggers the turn signal flashing in the direction of the turn (e.g., D=1 triggers the right turn signal, D=-1 triggers the left turn signal) to warn vehicles behind.

[0101] In this embodiment, after determining that the scooter is in a turning state, the turning prompt component issues a target prompt message to inform surrounding pedestrians or vehicles of the scooter's turning direction, which can improve road users' traffic safety awareness and reduce the probability of potential collision accidents.

[0102] The control method for scooter movement in this embodiment will be explained below with reference to an optional example. In this optional example, the detection device can be radar (e.g., millimeter-wave radar). When an object identified in the radar coordinate system shifts to the left (or right), and a large number of new targets continuously enter the radar coordinate system from the left (or right), it is determined that the rider is performing a right turn (or left turn). The radar can send a steering assist signal to the controller, which then controls the motor to reduce its speed to below a certain level to avoid danger caused by excessive cornering speed, and simultaneously triggers the corresponding turn signal to flash to warn vehicles behind.

[0103] 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.

[0104] 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.

[0105] According to another aspect of the embodiments of this application, a scooter is also provided, which can be used to implement the scooter movement control method 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.

[0106] 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 includes a control unit 402, a detection device 404, and a motor 406. The detection device 404 is used to detect targets along the scooter's direction of travel. The detection device 404 or the control unit 402 is used, during the scooter's movement, to acquire a set of detected targets and the parameter value of the offset parameter of each detected target in the set of detected targets, wherein the offset parameter of each detected target characterizes the offset of each detected target relative to the detection device 404; based on the set of detected targets and the parameter values ​​of the offset parameters of at least some of the detected targets in the set of detected targets, a steering detection operation is performed on the scooter. The control unit 402 is used to control the scooter's speed by controlling the rotational speed of the motor 406 when the scooter is detected to be in a steering state. The motor 406 is used to adjust its rotational speed in response to the control of the control unit 402.

[0107] It should be noted that the control component 402 and / or the detection device 404 in this embodiment can be used to perform the above steps S202 and S204, and the control component 402 and the motor 406 in this embodiment can be used to perform the above step S206.

[0108] Through the embodiments provided in this application, during the movement of the scooter, a set of detection targets of the detection device and the parameter value of the offset parameter of each detection target in the set of detection targets are obtained, wherein the offset parameter of each detection target is used to characterize the offset of each detection target relative to the detection device; based on the set of detection targets and the parameter value of the offset parameter of at least some of the detection targets in the set of detection targets, a steering detection operation is performed on the scooter; when the scooter is detected to be in a steering state, the speed of the scooter is controlled, which solves the technical problem of poor safety of scooter movement in the related art scooter movement control methods and improves the safety of scooter movement.

[0109] In one exemplary embodiment, the offset parameter of each detected target includes the offset velocity of each detected target, whereby the offset velocity of each detected target is its velocity relative to the detection device. The detection device 404 and / or control unit 402 are further configured to, before performing a steering detection operation on the scooter based on the scooter's travel speed and the offset velocity of each detected target, determine the moving speed of each detected target based on the scooter's travel speed and the offset velocity of each detected target; remove non-stationary targets from the detected target set to obtain an updated detected target set, wherein a stationary target in the detected target set refers to a detected target whose moving speed value is less than or equal to a first speed threshold. The steering detection operation is performed based on the updated detected target set and the offset parameters of at least some of the detected targets in the updated detected target set.

[0110] In one exemplary embodiment, the offset velocity of each detected target includes the lateral offset velocity and the longitudinal offset velocity of each detected target, and the travel speed of the scooter includes the lateral travel speed and the longitudinal travel speed of the scooter. The detection device 404 and / or control unit 402 are further configured to determine the lateral movement speed of each detected target based on the lateral travel speed of the scooter and the lateral offset velocity of each detected target; and to determine the longitudinal movement speed of each detected target based on the longitudinal travel speed of the scooter and the longitudinal offset velocity of each detected target. Wherein, a stationary target in the set of detected targets refers to a detected target in the set of detected targets whose lateral movement speed and longitudinal movement speed are both less than or equal to a first speed threshold.

[0111] In one exemplary embodiment, the scooter is further equipped with a gyroscope for measuring the roll angle of the scooter. The detection device 404 and / or control unit 402 are further configured to determine the target steering angle of the scooter based on the offset parameters of at least two stationary targets in the detection target set before performing a steering detection operation on the scooter based on the set of detection targets and offset parameters of at least some of the detection targets in the set of detection targets. The gyroscope and / or control unit 402 are configured to determine the target roll angle of the scooter based on the measurement data from the gyroscope. The control unit 402 is further configured to calculate the angular error between the target steering angle and the target roll angle, wherein the steering detection operation is performed if the angular error is less than or equal to a preset error threshold, and if the angular error is greater than the preset error threshold, the steering detection operation is not performed.

[0112] In an exemplary embodiment, the detection device 404 and / or control component 402 are further configured to filter a reference target sequence from a set of detection targets based on a detection interval sequence of the detection device, wherein each detection interval in the detection interval sequence is the time interval between two consecutive detection moments of the detection device, two adjacent detection intervals in the detection interval sequence are temporally continuous, each reference target in the reference target sequence is a stationary target in the set of detection targets, and the reference targets in the reference target sequence correspond one-to-one with the detection intervals in the detection interval sequence; each detection interval is used as the current detection interval to perform the following angle determination operation to obtain the steering angle corresponding to each detection interval, and the sum of the angles corresponding to each detection interval is determined as the target steering angle, wherein the reference target corresponding to the current detection interval is the current reference target: 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 target relative to the detection device within the current detection interval, and the current lateral offset distance is the lateral offset distance of the current reference target relative to the detection device within the current detection interval; and determining the arctangent angle value of the quotient of the current longitudinal offset distance and the current lateral offset distance as the steering angle corresponding to the current detection interval.

[0113] In one exemplary embodiment, at least some of the detected targets are at least one stationary target selected from a set of detected targets. The detection device 404 and / or control component 402 are further configured to determine that the scooter is in a turning state when the vehicle turning conditions are met, and to determine that the scooter is not in a turning state when the vehicle turning conditions are not met. The vehicle turning conditions include at least one of the following: the velocity values ​​of the offset velocities of at least some of the detected targets are all greater than or equal to a second velocity threshold, wherein the offset parameter of each detected target includes the offset velocity of each detected target, and the offset velocity of each detected target is the velocity of each detected target relative to the detection device; at a detection moment of the detection device, the offset direction of at least some of the detected targets is consistent with the direction in which a new target detected by the detection device enters the detection range of the detection device, wherein the offset parameter of each detected target includes the offset direction of each detected target, and the offset direction of each detected target is the movement direction of each detected target within the detection range; and the number of new targets detected by the detection device per unit time is greater than or equal to a preset number threshold.

[0114] In one exemplary embodiment, the control unit 402 is further configured to control the speed of the scooter based on its turning radius and the number of new objects when the scooter is detected to be turning. The speed of the scooter is positively correlated with its turning radius and negatively correlated with the number of new objects. The number of new objects is the number of newly detected targets per unit time; the turning radius is determined based on the scooter's length and its turning angle; and the turning angle is determined based on the offset parameters of at least two stationary targets in the target set.

[0115] In an exemplary embodiment, the control unit 402 is further configured to, when detecting that the scooter is in a turning state, determine a target speed value by adding the product of the scooter's turning radius and a first adjustment coefficient to the sum of the product of the number of new objects and a second adjustment coefficient, wherein the first adjustment coefficient is greater than 0 and the second adjustment coefficient is less than 0; and when the target speed value is within a preset speed range, control the scooter's travel speed based on the target speed value so that the scooter's travel speed does not exceed the target speed value.

[0116] In one exemplary embodiment, the minimum speed value of the preset speed range is a first speed value, and the maximum speed value of the preset speed range is a second speed value. The control unit 402 is further configured to control the scooter's speed based on the first speed value when the target speed value is less than the first speed value, so that the scooter's speed is not lower than the first speed value; and to control the scooter's speed based on the second speed value when the target speed value is greater than the second speed value, so that the scooter's speed does not exceed the second speed value.

[0117] In one exemplary embodiment, the control unit 402 is further configured to control the scooter's steering prompting unit to issue target prompting information when the scooter is detected to be in a steering state, wherein the target prompting information is used to indicate the steering direction of the scooter.

[0118] In one exemplary embodiment, the detection device is a radar sensor, which is mounted on the scooter's stem.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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 method for controlling the movement of a scooter, characterized in that, The scooter is equipped with a detection device for detecting targets along the scooter's direction of travel; the method includes: During the movement of the scooter, the set of detection targets of the detection device and the parameter value of the offset parameter of each detection target in the set of detection targets are obtained, wherein the offset parameter of each detection target is used to characterize the offset of each detection target relative to the detection device; Based on the parameter values ​​of the set of detection targets and the offset parameters of at least some of the detection targets in the set of detection targets, a steering detection operation is performed on the scooter; When the scooter is detected to be turning, the speed of the scooter is controlled.

2. The method according to claim 1, characterized in that, The offset parameter of each detection target includes the offset velocity of each detection target, which is the velocity of each detection target relative to the detection device; Before performing a steering detection operation on the scooter based on the parameter values ​​of the offset parameters of at least some of the detected targets in the set of detected targets, the method further includes: The moving speed of each detected target is determined based on the speed of the scooter and the offset speed of each detected target; Remove non-stationary targets from the target set to obtain an updated target set, wherein stationary targets in the target set refer to targets whose moving speed is less than or equal to a first speed threshold. The steering detection operation is performed based on the updated set of detection targets and the offset parameters of at least some of the detection targets in the updated set of detection targets.

3. The method according to claim 2, characterized in that, The offset speed of each detected target includes the lateral offset speed and the longitudinal offset speed of each detected target, and the travel speed of the scooter includes the lateral travel speed and the longitudinal travel speed of the scooter. Determining the moving speed of each detected target based on the scooter's travel speed and the offset speed of each detected target includes: Based on the lateral travel speed of the scooter and the lateral offset speed of each detected target, the lateral movement speed of each detected target is determined; Based on the longitudinal travel speed of the scooter and the longitudinal offset speed of each detected target, the longitudinal movement speed of each detected target is determined; Wherein, the stationary target in the set of detection targets refers to the detection target in the set of detection targets whose lateral movement speed and longitudinal movement speed are both less than or equal to the first speed threshold.

4. The method according to claim 1, characterized in that, The scooter is also equipped with a gyroscope, which is used to measure the roll angle of the scooter; Before performing a steering detection operation on the scooter based on the set of detected targets and the offset parameters of at least some of the detected targets in the set of detected targets, the method further includes: The target steering angle of the scooter is determined based on the offset parameters of at least two stationary targets in the set of detected targets, and the target roll angle of the scooter is determined based on the measurement data of the gyroscope. Calculate the angular error between the target steering angle and the target roll angle, wherein the steering detection operation is performed when the angular error is less than or equal to a preset error threshold, and the steering detection operation is not performed when the angular error is greater than the preset error threshold.

5. The method according to claim 4, characterized in that, Determining the target steering angle of the scooter based on the offset parameters of at least two stationary targets in the target set includes: Based on the detection interval sequence of the detection device, a reference target sequence is selected from the set of detection targets. Each detection interval in the detection interval sequence is the time interval between two consecutive detection times of the detection device. Two adjacent detection intervals in the detection interval sequence are continuous in time. Each reference target in the reference target sequence is a stationary target in the set of detection targets. The reference targets in the reference target sequence correspond one-to-one with the detection intervals in the detection interval sequence. Each detection interval is treated as the current detection interval, and the following angle determination operation is performed to obtain the steering angle corresponding to each detection interval. The sum of the steering angles corresponding to each detection interval is determined as the target steering angle, wherein the reference target corresponding to the current detection interval is the current reference target: 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 target relative to the detection device within the current detection interval, and the current lateral offset distance is the lateral offset distance of the current reference target relative to the detection device within the current detection interval; The arctangent angle of the quotient of the current longitudinal offset distance and the current lateral offset distance is determined as the steering angle corresponding to the current detection interval.

6. The method according to claim 1, characterized in that, The at least part of the detection targets are at least one stationary target selected from the set of detection targets; The step of performing a steering detection operation on the scooter based on the parameter values ​​of the set of detected targets and the offset parameters of at least some of the detected targets in the set of detected targets includes: When the vehicle turning conditions are met, the scooter is determined to be in a turning state; If the vehicle steering conditions are not met, it is determined that the scooter is not in a steering state; The vehicle steering conditions include at least one of the following: The velocity values ​​of the offset velocities of at least some of the detected targets are all greater than or equal to the second velocity threshold, wherein the offset parameter of each detected target includes the offset velocity of each detected target, and the offset velocity of each detected target is the velocity of each detected target relative to the detection device; At a detection moment of the detection device, the offset direction of at least some of the detected targets is consistent with the direction in which the new target detected by the detection device enters the detection range of the detection device, wherein the offset parameter of each detected target includes the offset direction of each detected target, and the offset direction of each detected target is the movement direction of each detected target within the detection range; Within a unit of time, the number of new targets detected by the detection device is greater than or equal to a preset number threshold.

7. The method according to claim 1, characterized in that, The step of controlling the speed of the scooter when it is detected that the scooter is turning includes: When the scooter is detected to be turning, the speed of the scooter is controlled according to the turning radius of the scooter and the number of new objects. The speed of the scooter is positively correlated with the turning radius of the scooter and negatively correlated with the number of new objects. Wherein, the number of new objects is the number of newly detected targets by the detection device per unit time; the turning radius of the scooter is determined based on the scooter's length and the scooter's turning angle; the turning angle of the scooter is determined based on the offset parameters of at least two stationary targets in the set of detected targets.

8. The method according to claim 7, characterized in that, The step of controlling the speed of the scooter based on its turning radius and the number of new objects when the scooter is detected to be turning includes: When the scooter is detected to be turning, the product of the scooter's turning radius and the first adjustment coefficient is added to the product of the number of new objects and the second adjustment coefficient to determine the target speed value, wherein the first adjustment coefficient is greater than 0 and the second adjustment coefficient is less than 0. When the target speed value is within a preset speed range, the travel speed of the scooter is controlled based on the target speed value so that the travel speed of the scooter does not exceed the target speed value.

9. The method according to claim 8, characterized in that, The minimum speed value of the preset speed range is the first speed value, and the maximum speed value of the preset speed range is the second speed value; The method of controlling the speed of the scooter based on its turning radius and the number of new objects when the scooter is detected to be turning further includes: If the target speed value is less than the first speed value, the speed of the scooter is controlled based on the first speed value so that the speed of the scooter is not lower than the first speed value. If the target speed value is greater than the second speed value, the speed of the scooter is controlled based on the second speed value so that the speed of the scooter does not exceed the second speed value.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: When the scooter is detected to be turning, the steering prompting component of the scooter is controlled to issue a target prompting message, wherein the target prompting message is used to indicate the turning direction of the scooter.

11. The method according to any one of claims 1 to 9, characterized in that, The detection device is a radar sensor, and it is installed on the scooter's stem.

12. A scooter, characterized in that, The scooter is equipped with control components, detection devices, and a motor; among which... The detection device is used to detect targets along the direction of travel of the scooter; The detection device or the control component is used to acquire, during the movement of the scooter, a set of detection targets and the parameter value of the offset parameter of each detection target in the set of detection targets, wherein the offset parameter of each detection target is used to characterize the offset of each detection target relative to the detection device; and to perform a steering detection operation on the scooter based on the set of detection targets and the parameter value of the offset parameter of at least some of the detection targets in the set of detection targets. The control component is used to control the speed of the scooter by controlling the rotation speed of the motor when the scooter is detected to be in a turning state. The motor is used to adjust its speed in response to the control of the control unit.

13. 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 11.

14. 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 11.

Images