Attitude-based cruise control quitting method, device and equipment

Abstract

The invention provides an attitude-based constant-speed cruise quitting method, device and equipment, which can monitor attitude information of a two-wheeled vehicle in a constant-speed cruise process of the two-wheeled vehicle, judge whether the two-wheeled vehicle has an overturning risk or not based on the attitude information, and quit the two-wheeled vehicle under the condition that an instruction of quitting the constant-speed cruise is not received. And in response to the overturning risk of the two-wheeled vehicle, controlling the two-wheeled vehicle to exit the constant-speed cruise, so that the two-wheeled vehicle can exit the constant-speed cruise timely and effectively in the emergency scene that the two-wheeled vehicle is about to fall down or is out of control, the safety of the two-wheeled vehicle and a driver is effectively guaranteed, and the safety of the vehicle is improved. And therefore, the safety and convenience of the two-wheeled vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control method or device of cruise control system, and particularly relates to a posture-based constant-speed cruise exit method, device and equipment. BACKGROUND

[0002] In the driving scene of two-wheeled vehicles, the constant-speed cruise and adaptive cruise functions have gradually become the core configuration for improving the riding comfort. Among them, the two-wheeled vehicle can maintain the constant speed of the vehicle or automatically adjust the vehicle speed according to the state of the preceding vehicle through its own control without the need for the driver to operate the vehicle,

[0003] However, in the actual riding process, the driver and the two-wheeled vehicle usually face sudden road conditions, and the driver needs to quickly respond to control the two-wheeled vehicle to avoid accidents. Once the driver ignores or fails to control the two-wheeled vehicle to exit the constant-speed cruise, the two-wheeled vehicle still travels at the constant-speed cruise speed, and the two-wheeled vehicle has a high possibility of collision and other accidents.

[0004] Therefore, how to make the two-wheeled vehicle more effectively exit the constant-speed cruise to ensure the safety of the two-wheeled vehicle and the driver is a technical problem to be solved in the field. SUMMARY

[0005] The present application provides a posture-based constant-speed cruise exit method, device and equipment to make the two-wheeled vehicle more effectively exit the constant-speed cruise, thereby ensuring the safety of the two-wheeled vehicle and the driver.

[0006] The first aspect of the present application provides a posture-based constant-speed cruise exit method applied to a two-wheeled vehicle, comprising: monitoring attitude information of the two-wheeled vehicle during constant-speed cruise of the two-wheeled vehicle; judging whether the two-wheeled vehicle has a risk of overturning based on the attitude information of the two-wheeled vehicle; and controlling the two-wheeled vehicle to exit the constant-speed cruise in response to the two-wheeled vehicle having the risk of overturning.

[0007] The second aspect of the present application provides a posture-based constant-speed cruise exit device, comprising: a detection module configured to monitor attitude information of the two-wheeled vehicle during constant-speed cruise of the two-wheeled vehicle; a judgment module configured to judge whether the two-wheeled vehicle currently has a risk of overturning based on the attitude information of the two-wheeled vehicle; and a control module configured to control the two-wheeled vehicle to exit the constant-speed cruise in response to the two-wheeled vehicle having the risk of overturning.

[0008] The third aspect of the application provides an electronic device, comprising a processor and a memory connected with the processor; the memory stores computer execution instructions; and the processor executes the computer execution instructions stored in the memory to implement the method according to the first aspect of the application.

[0009] In conclusion, the method, device and equipment for exiting the constant speed cruise based on the attitude provided by the application can monitor the attitude information of the two-wheeled vehicle during the constant speed cruise of the two-wheeled vehicle, and determine whether the two-wheeled vehicle has the risk of overturning based on the attitude information. If the two-wheeled vehicle has the risk of overturning, the two-wheeled vehicle exits the constant speed cruise without receiving the instruction for exiting the constant speed cruise. Thus, the two-wheeled vehicle can exit the constant speed cruise in time and effectively in the emergency scene such as the two-wheeled vehicle falling down or losing control, without the operation of the driver, which reduces the operation difficulty of the driver for exiting the constant speed cruise, prevents the safety risk, possible accidents and secondary accidents caused by the driver not exiting the constant speed cruise, effectively ensures the safety of the two-wheeled vehicle and the driver, and improves the safety and convenience of the two-wheeled vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly explain the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor. The drawings herein are incorporated into the specification and form part of the specification, show embodiments consistent with the application, and are used to explain the principles of the application together with the specification.

[0011] Figure 1 An exit logic diagram for the two-wheeled vehicle exiting the constant speed cruise provided by the application;

[0012] Figure 2 A structure diagram of an embodiment of the two-wheeled vehicle provided by the application;

[0013] Figure 3 A flow diagram of an embodiment of the method for exiting the constant speed cruise based on the operation behavior provided by the application;

[0014] Figure 4 A structure diagram of another embodiment of the two-wheeled vehicle provided by the application;

[0015] Figure 5 A flow diagram of an embodiment of the method for exiting the constant speed cruise based on the attitude provided by the application;

[0016] Figure 6 A structural schematic diagram of an embodiment of the speed cruise exit device based on operation behavior provided in the present application is shown in the figure.

[0017] Figure 7 A structural schematic diagram of an embodiment of the speed cruise exit device based on posture provided in the present application is shown in the figure.

[0018] Figure 8 A structural schematic diagram of an embodiment of the electronic device provided in the present application is shown in the figure.

[0019] The specific embodiments of the present application have been shown in the above figures, and will be described in more detail hereinafter. These figures and the written description are not intended to limit the scope of the present application in any way, but to illustrate the present application by reference to specific embodiments. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the figures in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the scope of protection of the present application.

[0021] The terms “first”, “second”, “third”, “fourth” and the like (if any) in the specification and claims of the present application and the above figures are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] Two-wheeled vehicles refer to vehicles supported by two wheels and moving, and the core feature is simple structure and high flexibility, which are widely used in personal travel, sports and entertainment, and specific industry operation, for example, two-wheeled vehicles include two-wheeled electric vehicles, two-wheeled scooters and two-wheeled motorcycles, etc.

[0023] In the driving scene of two-wheeled vehicles, the cruise control and adaptive cruise control functions have gradually become the core configuration to improve the riding comfort. Among them, the two-wheeled vehicle can maintain a constant speed or automatically adjust the vehicle speed according to the state of the preceding vehicle without the need for the driver to operate the vehicle, significantly reducing the operation burden of the driver in continuously operating the throttle or brake during long-distance riding, especially suitable for driving scenes such as highways and urban commutes that require long-time stable vehicle speed.

[0024] However, in the actual riding process, the driver and the two-wheeled vehicle usually face sudden road conditions, such as sudden lane changes of the vehicle in front and pedestrians crossing the road, and the driver needs to quickly respond to control the two-wheeled vehicle to avoid danger. If the two-wheeled vehicle is in the state of cruise control at this time, the driver needs to control the two-wheeled vehicle to exit the cruise control while operating the two-wheeled vehicle to avoid danger, resulting in more complex operations for the driver. Once the driver ignores or fails to control the two-wheeled vehicle to exit the cruise control, the two-wheeled vehicle still travels at the cruise control speed, greatly increasing the risk of collision or accident of the two-wheeled vehicle.

[0025] Therefore, how to make the two-wheeled vehicle more effectively exit the cruise control to ensure the safety of the two-wheeled vehicle and the driver is a technical problem to be solved in the field.

[0026] Based on this, the present application provides a behavior-based cruise control method to more effectively exit the cruise control to ensure the safety of the two-wheeled vehicle and the driver. The technical solutions of the present application are described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described in detail in some examples.

[0027] Figure 1 The exit logic diagram of the two-wheeled vehicle provided by the present application to exit the cruise control is shown in FIG. 1, the two-wheeled vehicle provided by the present application can exit the cruise control in multiple ways. Figure 1

[0028] In the first and second methods of exiting the cruise control, the driver can trigger a brake signal by pinching the front wheel brake handle or stepping on the rear wheel brake pedal, and then the two-wheeled vehicle can exit the cruise control when detecting the brake handle signal or brake pedal signal.

[0029] In the third method of exiting the cruise control, the driver can change the throttle opening by twisting the throttle handle, and then the two-wheeled vehicle can determine whether to exit the cruise control when detecting the throttle signal change.

[0030] ​In the fourth method of exiting the constant speed cruise, the two-wheeled vehicle provides a dedicated constant speed cruise button, and the driver can press the constant speed cruise button, and the two-wheeled vehicle detects the pressing operation of the constant speed cruise button to exit the constant speed cruise.

[0031] In the fifth method of exiting the constant speed cruise, the two-wheeled vehicle can exit the constant speed cruise in response to detecting that the driver operates the two-wheeled vehicle to perform an evasive action.

[0032] In the sixth method of exiting the constant speed cruise, the two-wheeled vehicle can exit the constant speed cruise in response to detecting a risk of overturning of the two-wheeled vehicle.

[0033] It can be understood that, as Figure 1 Only several possible exit logics of the two-wheeled vehicle for exiting the constant speed cruise are shown, and the several exit logics can be implemented alternatively or by combination of the several exit logics, for example, the two-wheeled vehicle detects the pinch brake handle and the pressing of the dedicated button at the same time to exit the cruise.

[0034] The two-wheeled vehicle provided by the embodiment can effectively exit the constant speed cruise by providing the several exit logics of the constant speed cruise in combination with the operation of the driver and / or the state of the two-wheeled vehicle, reduces the operation difficulty of the driver for exiting the constant speed cruise, and improves the safety of the two-wheeled vehicle and the driver.

[0035] The specific implementation of the two-wheeled vehicle provided by the present application for exiting the constant speed cruise based on the evasive action will be described below with reference to the accompanying drawings.

[0036] Figure 2 The structural schematic diagram of an embodiment of the two-wheeled vehicle provided by the present application is shown in Figure 2 The two-wheeled vehicle shown in Figure 2 The two-wheeled vehicle 10 shown in

[0037] The control device 100 is configured to control other devices or systems of the two-wheeled vehicle, for example, the control device 100 can be a controller in the two-wheeled vehicle, responsible for coordinating the work of the motor, the battery, the sensor and other components, realizing the functions of speed adjustment, power output, safety protection and the like.

[0038] The cruise system 103 is configured to control the two-wheeled vehicle to travel at a cruise speed without the operation of the driver, thereby simplifying the operation of the driver, reducing the driving fatigue, and improving the driving stability.

[0039] The warning button 101 and the warning device 102 are configured to control the warning device 102 to perform related warning functions.

[0040] In one embodiment, the warning device 102 includes at least one of a horn button, a turn signal button, or a hazard light button, which transmits information to the surrounding environment through sound and light signals to improve driving safety or respond to emergencies.

[0041] For example, the warning device 102 can be the horn of a two-wheeled vehicle, and the warning button 101 can be the horn button. When the driver is driving the two-wheeled vehicle, he can press the horn button to avoid danger. The horn is configured to emit a sound in response to the pressing of the horn button.

[0042] In this embodiment, the control device 100 is also connected to a warning button 101. Through this connection, the control device 100 can monitor whether the warning button 101 is pressed by the driver without affecting the button itself. For example, when the driver presses the warning button 101, it sends an electrical signal to the warning device 102. The control device 100 can then monitor the warning button 101 and simultaneously collect the electrical signal it sends to the warning device 102, thus confirming that the driver has operated the warning button 101.

[0043] Figure 3 A flowchart illustrating an embodiment of the cruise control exit method based on operational behavior provided in this application is shown below. Figure 3 The method shown can be applied to, for example Figure 2 In the two-wheeled vehicle 10 shown, and specifically controlled by the control device 100. Specifically, as... Figure 3 The cruise control exit methods shown include:

[0044] S101: During the cruise control process of a two-wheeled vehicle, monitor whether the driver operates the warning button 101 on the two-wheeled vehicle.

[0045] Specifically, in combination Figure 2 As shown in the example, the cruise system 103 of the two-wheeled vehicle 10 can be used to control the two-wheeled vehicle to cruise at a constant speed. During the constant speed cruise, the control device 100 can monitor whether the driver operates the warning button 101 to control the warning device 102 to perform the corresponding warning function.

[0046] In one embodiment, the control device 100 can determine whether the two-wheeled vehicle is in a constant speed cruise process by the cruise status signal provided by the cruise system 103. For example, the cruise system 103 can output a binary status signal 0 to indicate that the vehicle is not in constant speed cruise and 1 to indicate that the vehicle is in constant speed cruise.

[0047] In an embodiment, the warning button 101 comprises at least one of a horn button, a turn signal button, a double flash button, a high / low beam switching button, a headlight flash button, or a parking button. Taking the horn button as an example of the warning button 101, the control device 100 can be configured to monitor an electrical signal, such as a voltage change or a current pulse signal, generated when the driver presses the horn button, and determine whether the driver has performed a pressing operation on the horn button based on the electrical signal. Taking the turn signal button as an example of the warning button 101, the control device 100 can be configured to monitor an electrical signal generated when the driver actuates the turn signal button, and determine whether the driver has performed an actuation operation on the turn signal button based on the electrical signal.

[0048] Further, in the first specific implementation of S101 as shown in Figure 3 , the control device 100 can specifically monitor whether the driver operates the warning button 101 during the speed cruise of the two-wheeled vehicle based on the setting of the driver. For example, the driver can indicate whether to start the operation based on the warning button 101 to exit the speed cruise through the configuration parameters of the instrument button on the two-wheeled vehicle or the application program on the terminal device such as a mobile phone. Then, when the driver configures the operation based on the warning button 101 to exit the speed cruise, the control device 100 can execute the method as shown in Figure 3 to exit the speed cruise based on whether the driver operates the warning button 101; when the driver configures not to exit the speed cruise based on the operation of the warning button 101, the control device 100 does not execute the method as shown in Figure 3 to exit the speed cruise based on whether the driver operates the warning button 101 during the speed cruise of the two-wheeled vehicle. This embodiment can determine whether to monitor the warning button 101 to exit the speed cruise based on the configuration of the driver, so as to meet the driving needs of the driver in different scenarios, meet various application scenarios, and avoid the operation troubles brought by the forced function to the driver, thereby improving the driving experience.

[0049] In the second specific implementation, the control device 100 can also acquire the speed of the two-wheeled vehicle in real time through a speed sensor during the speed cruise of the two-wheeled vehicle, and in response to the speed of the two-wheeled vehicle being greater than a preset speed value, the control device 100 can execute the method as shown in Figure 3 to exit the speed cruise based on whether the driver operates the warning button 101; and when the speed of the two-wheeled vehicle is not greater than the preset speed value, the control device 100 does not execute the method as shown in Figure 3The method shown, i.e. not exiting the constant speed cruise based on whether the driver operates the warning button 101. The embodiment can determine whether to monitor the warning button 101 to exit the constant speed cruise based on the speed of the two-wheeled vehicle, so as to increase the monitoring of the warning button 101 to exit the constant speed cruise to improve safety when the two-wheeled vehicle is at a high speed, and reduce the calculation amount required for monitoring the warning button 101 to exit the constant speed cruise to reduce the calculation power requirement and energy consumption when the two-wheeled vehicle is at a low speed.

[0050] In a third specific implementation manner, the control device 100 can also calculate the braking frequency of the current journey of the two-wheeled vehicle through the brake handle signal, the brake pedal signal, etc., and in response to the braking frequency of the current journey of the two-wheeled vehicle being greater than a preset frequency, indicating that the current road condition is relatively complex, the control device 100 can execute the method shown in Figure 3 The method shown, i.e. not exiting the constant speed cruise based on whether the driver operates the warning button 101. The embodiment can automatically increase or decrease the monitoring of the warning button 101 to exit the constant speed cruise according to the current braking condition of the two-wheeled vehicle, so as to improve safety when the road condition is relatively complex, and reduce invalid exits when the road condition is good. Figure 3 The method shown, i.e. not exiting the constant speed cruise based on whether the driver operates the warning button 101. The embodiment can automatically increase or decrease the monitoring of the warning button 101 to exit the constant speed cruise according to the current braking condition of the two-wheeled vehicle, so as to improve safety when the road condition is relatively complex, and reduce invalid exits when the road condition is good.

[0051] In a fourth specific implementation manner, the control device 100 can also determine the real-time position of the two-wheeled vehicle according to the positioning device or according to the positioning information of the terminal device carried by the driver, and in response to the two-wheeled vehicle driving to a target area, the control device 100 can execute the method shown in Figure 2 The method shown, i.e. not exiting the constant speed cruise based on whether the driver operates the warning button 101. The embodiment can automatically increase or decrease the monitoring of the warning button 101 to exit the constant speed cruise according to the congestion condition and road condition of the target area, so as to improve safety when the road condition is relatively complex, and reduce invalid exits when the road condition is good.

[0052] S102: In the case where no exit constant speed cruise instruction is received from the driver, the driver operates the warning button 101, and the two-wheeled vehicle exits the constant speed cruise.

[0053] Specifically, in combination with Figure 3In the example shown, the control device 100 of the two-wheeled vehicle 10 can monitor the operation of the warning button 101 by the driver without receiving the exit cruise control instruction from the driver, send the exit cruise control instruction to the cruise control system 103, and make the cruise control system 103 exit the cruise control according to the received instruction.

[0054] In an embodiment, after the control device 100 controls the two-wheeled vehicle to exit the cruise control, the control device 100 can also send the prompt information that the cruise control has been exited. For example, the warning device 102 can send the prompt information through the speaker, the display screen, or the terminal device carried and bound by the driver, so that the warning and the exit of the cruise control are not interfered with each other, and the reliability of the two-wheeled vehicle is improved.

[0055] In another embodiment, the control device 100 can directly control the two-wheeled vehicle to exit the cruise control in S102, or the control device 100 can monitor the operation of the warning button 101 by the driver without receiving the exit cruise control instruction from the driver, and does not immediately control the two-wheeled vehicle to exit the cruise control, but sends the confirmation information of the exit of the cruise control to the driver. For example, the control device 100 can send the confirmation information through the speaker, the display screen, or the terminal device carried and bound by the driver, and then controls the two-wheeled vehicle to exit the cruise control in response to receiving the confirmation instruction from the driver.

[0056] Further, in the first specific implementation manner of S102 as shown in Figure 1 In the first specific implementation manner of S102 as shown in

[0057] In the second specific implementation manner, the control device 100 can monitor the operation of the warning button 101 by the driver and accumulate the operation for a preset time length, and control the two-wheeled vehicle to exit the cruise control, so as to ensure the validity of the operation of the warning button 101 by the driver and prevent the exit of the cruise control caused by the mistaken operation of the warning button 101 by the driver.

[0058] In the third specific implementation manner, the control device 100 can monitor the operation of the warning button 101 by the driver and detect that the pressing operation force of the warning button 101 is greater than a preset force through the pressure sensor or the like, which indicates that the driver urgently needs the warning and safety, and then the control device 100 controls the two-wheeled vehicle to exit the cruise control, so as to ensure the more timely exit of the cruise control in the emergency.

[0059] In a fourth specific implementation, the control device 100 can monitor that the driver operates at least two of the warning buttons 101, and then controls the two-wheeled vehicle to exit the constant speed cruise. For example, the control device 100 can monitor that the driver simultaneously presses the horn button and the double flash button, indicating that the driver needs to be warned to avoid danger, and then controls the two-wheeled vehicle to exit the constant speed cruise. In this way, the needs of different drivers and driving scenarios for exiting the constant speed cruise are fully considered, and the effectiveness and comprehensiveness of exiting the constant speed cruise are ensured.

[0060] In a fifth specific implementation, the control device 100 can monitor that the driver operates at least two of the warning buttons 101 in a preset order, and then controls the two-wheeled vehicle to exit the constant speed cruise. For example, the control device 100 can monitor that the driver first presses the horn button and then presses the parking button, indicating that the driver wants to park and may forget to exit the constant speed cruise. Then, the control device 100 exits the constant speed cruise on behalf of the driver, which can more effectively replace the driver to perform the operation of exiting the constant speed cruise, and further improves the intelligent degree.

[0061] In summary, the method for exiting the constant speed cruise based on the operation behavior provided in the embodiments of the present application can monitor whether the driver operates the warning buttons 101 during the constant speed cruise of the two-wheeled vehicle, and if the driver operates the warning buttons 101 without receiving an indication to exit the constant speed cruise, the two-wheeled vehicle is controlled to exit the constant speed cruise. In this way, the constant speed cruise is effectively exited according to the operation of the warning buttons 101 by the driver, the operation difficulty of the driver for exiting the constant speed cruise is reduced, and the safety risk caused by the driver not exiting the constant speed cruise due to warning or avoiding danger is prevented. In particular, the exit button of the constant speed cruise of some two-wheeled vehicles is usually arranged at a specific position, and the driver may not be able to accurately find the exit button in an emergency situation, which delays the exit time. The safety of the two-wheeled vehicle and the driver is effectively ensured, and the safety and convenience of the two-wheeled vehicle are improved.

[0062] In combination with Figure 4 the various exit automatic cruise logics of the two-wheeled vehicle shown, the method for exiting the constant speed cruise based on the operation behavior provided in the present application can be added on the basis of other exit logics, without the need for substantial modification of other exit logics in the two-wheeled vehicle. The method can be directly adapted to different two-wheeled vehicles, reduces the modification and mass production costs required when applying the exit logic provided in the embodiments of the present application, and is more conducive to the application and promotion of the embodiments of the present application.

[0063] Further, in the above embodiment of the present application, the control device controls the two-wheeled vehicle to exit the cruise control based on monitoring the operation of the warning button 101 by the driver, and in another embodiment of the present application, the control device 100 further determines whether the operation of the warning button 101 by the current driver is for avoiding danger, so as to control the two-wheeled vehicle to exit the cruise control when it is determined that the behavior of the driver operating the warning button 101 is for avoiding danger, which can combine the driving state parameters and / or the environmental parameters of the environment to more accurately and effectively analyze the behavior of the driver operating the warning button 101, and improve the control accuracy and better match the driving needs of the driver.

[0064] For example, the control device 100 can obtain the driving state parameters of the two-wheeled vehicle and / or the environmental parameters of the environment, and determine whether the behavior of the driver operating the warning button 101 is for avoiding danger based on the obtained driving state parameters and / or the environmental parameters of the environment, and if so, control the two-wheeled vehicle to exit the cruise control; if not, control the two-wheeled vehicle to not exit the cruise control.

[0065] For example, the control device 100 can obtain the driving state parameters of the two-wheeled vehicle and / or the environmental parameters of the environment, and determine whether the behavior of the driver operating the warning button 101 is for avoiding danger based on the obtained driving state parameters and / or the environmental parameters of the environment, and if so, control the two-wheeled vehicle to exit the cruise control; if not, control the two-wheeled vehicle to not exit the cruise control.

[0066] In one embodiment, the control device 100 can store different driving state parameters of the two-wheeled vehicle and / or environmental parameters of the environment, and the corresponding mapping relationship of whether in the danger-avoiding state. For example, the mapping relationship includes: high-speed driving, turning, and the current navigation route being a straight line, corresponding to the danger-avoiding state; low-speed driving, straight driving, and the current navigation route being a straight line, corresponding to the non-danger-avoiding state. Then, when the control device 100 obtains the driving state parameters and environmental parameters of the two-wheeled vehicle, including high-speed driving, turning, and the current navigation route being a straight line, even if the driver does not issue an exit cruise control instruction or operate the warning button 101, the control device 100 can determine that the current driver is operating the two-wheeled vehicle for avoiding danger, and then control the two-wheeled vehicle to exit the cruise control in time.

[0067] In an embodiment, the control device 100 can further determine, after the two-wheeled vehicle exits the constant speed cruise control, based on the obtained driving state parameters and / or environmental parameters, that the two-wheeled vehicle is not in a danger-avoiding state, and then control the two-wheeled vehicle to perform the constant speed cruise control, so as to more intelligently replace the driver to operate the two-wheeled vehicle to perform the constant speed cruise control, further reducing the operations required by the driver, better meeting the actual driving needs of the driver, and effectively improving the use experience of the two-wheeled vehicle.

[0068] The specific implementation of the constant speed cruise control exit based on the attitude of the two-wheeled vehicle provided in the present application will be described below with reference to the accompanying drawings.

[0069] Figure 4 The structure schematic diagram of another embodiment of the two-wheeled vehicle provided in the present application is shown in FIG. 10. Figure 4 The two-wheeled vehicle shown in FIG. 10 can be used to exit the constant speed cruise control based on the attitude, and specifically, the two-wheeled vehicle 10 shown in FIG. 10 includes: Figure 5

[0070] The control device 100 is configured to control other devices or systems of the two-wheeled vehicle, for example, the control device 100 can be a controller in the two-wheeled vehicle, responsible for coordinating the work of the motor, the battery, the sensor and other components, to realize the functions of speed adjustment, power output, safety protection and the like.

[0071] The cruise system 103 is configured to control the two-wheeled vehicle to travel at a cruise speed without the operation of the driver, so as to simplify the operation of the driver, reduce the driving fatigue, and improve the driving stability.

[0072] The sensor 201 is configured to collect the attitude information of the two-wheeled vehicle and send the attitude information to the control device 100 for processing.

[0073] In an embodiment, the sensor 201 can be specifically a 6DoF sensor, an accelerometer or a gyroscope, and the detected attitude information can be the inclination angle of the two-wheeled vehicle. In another embodiment, the sensor 201 can be an angle sensor and a speed sensor, and the detected attitude information can be the angle of the steering handle and the current speed of the two-wheeled vehicle.

[0074] Figure 5 The flowchart of an embodiment of the constant speed cruise control exit method based on the attitude provided in the present application is shown in FIG. 11. Figure 4 The method shown in FIG. 11 can be applied to the two-wheeled vehicle 10 shown in FIG. 10, and specifically executed by the control device 100. Specifically, the constant speed cruise control exit method based on the attitude shown in FIG. 11 includes: Figure 5 Figure 4 ​​​

[0075] S201: monitoring the attitude information of the two-wheeled vehicle during the constant-speed cruise of the two-wheeled vehicle.

[0076] Specifically, in combination with the example shown in Figure 5 , the cruise system 103 of the two-wheeled vehicle 10 can be used to control the two-wheeled vehicle to cruise at a constant-speed cruise speed, and during the constant-speed cruise, the control device 100 can obtain the attitude information of the two-wheeled vehicle collected by the sensor 201, so as to monitor the attitude information of the two-wheeled vehicle.

[0077] In an embodiment, the control device 100 can determine whether the two-wheeled vehicle is in the constant-speed cruise process through the cruise state signal provided by the cruise system 103, for example, the cruise system 103 can output a binary state signal 0 indicating that it is not in the constant-speed cruise, 1 indicating that it is in the constant-speed cruise, etc.

[0078] Further, in the first specific implementation manner of S201 as shown in Figure 5 , the control device 100 can specifically determine whether to exit the constant-speed cruise based on the attitude by executing the method as shown in Figure 5 during the constant-speed cruise of the two-wheeled vehicle based on the setting of the driver. For example, the driver can indicate whether to exit the constant-speed cruise based on the attitude through the configuration parameters of the instrument button on the two-wheeled vehicle or the application program on the terminal device such as a mobile phone. This embodiment can determine whether to exit the constant-speed cruise based on the attitude based on the configuration of the driver, so as to meet the driving needs of the driver in different scenarios, meet various application scenarios, avoid the operation trouble brought by the forced function to the driver, and improve the driving experience.

[0079] In the second specific implementation manner, the control device 100 can also obtain the speed of the two-wheeled vehicle in real time through the speed sensor during the constant-speed cruise of the two-wheeled vehicle, and in response to the speed of the two-wheeled vehicle being greater than a preset speed value, the control device 100 can determine whether to exit the constant-speed cruise based on the attitude by executing the method as shown in Figure 5 ; and when the speed of the two-wheeled vehicle is not greater than the preset speed value, the control device 100 will not execute the method as shown in Figure 5 during the constant-speed cruise of the two-wheeled vehicle, that is, it will not determine whether to exit the constant-speed cruise based on the attitude. This embodiment can determine whether to exit the constant-speed cruise based on the attitude based on the speed of the two-wheeled vehicle, so as to increase the exit of the constant-speed cruise based on the attitude to improve the safety in the case of high speed of the two-wheeled vehicle, and reduce the calculation amount required for the exit of the constant-speed cruise based on the attitude to reduce the calculation power requirement and energy consumption in the case of low speed of the two-wheeled vehicle.

[0080] In the third implementation, the control device 100 can also calculate the braking frequency of the current journey of the two-wheeled vehicle through brake handle signals, brake pedal signals, etc., and in response to the braking frequency of the current journey of the two-wheeled vehicle being greater than a preset frequency, indicating that the current road condition is relatively complex, the control device 100 can monitor the attitude information of the two-wheeled vehicle to determine whether to exit the cruise control by executing the method shown in Figure 4 In response to the braking frequency of the current journey of the two-wheeled vehicle not being greater than the preset frequency, indicating that the current road condition is good and suitable for cruise control, the control device 100 does not execute the method shown in Figure 5 In response to the braking frequency of the current journey of the two-wheeled vehicle not being greater than the preset frequency, indicating that the current road condition is good and suitable for cruise control, the control device 100 does not execute the method shown in

[0081] In the fourth implementation, the control device 100 can also determine the real-time position of the two-wheeled vehicle according to the positioning device or according to the positioning information of the terminal device carried by the driver, and in response to the two-wheeled vehicle driving to a target area, the control device 100 can execute the method shown in Figure 1 The target area includes areas with traffic congestion and / or areas with many curves. This embodiment can determine the target area according to the current position of the two-wheeled vehicle, and automatically increase or decrease the monitoring of the attitude to exit the cruise control according to the congestion and road conditions of the target area, so as to improve safety when the road condition is relatively complex, and reduce invalid exits when the road condition is good.

[0082] S202: Determine whether the two-wheeled vehicle currently has a risk of overturning based on the attitude information of the two-wheeled vehicle.

[0083] In an embodiment, when the attitude information is the inclination angle of the two-wheeled vehicle, the control device 100 specifically determines whether the two-wheeled vehicle has a risk of overturning according to the comparison result between the inclination angle and a preset threshold in S202. When the inclination angle is greater than the preset threshold, it is determined that the two-wheeled vehicle has a risk of overturning; when the inclination angle is not greater than the preset threshold, it is determined that the two-wheeled vehicle does not have a risk of overturning. For example, the preset threshold can be set to 35 degrees. When the inclination angle of the two-wheeled vehicle is greater than 35 degrees, it is determined that the two-wheeled vehicle currently has a risk of overturning.

[0084] It should be noted that the preset threshold can be specified or set in advance, thereby providing more flexible preset threshold setting, ensuring the real-time and effectiveness of the preset threshold, and enhancing the adaptation capability of different scenarios.

[0085] In an embodiment, the driver can control the configuration parameters through the instrument button on the two-wheeled vehicle or the application program on the terminal device such as a mobile phone. The control device 100 can adjust the preset threshold according to the configuration parameters provided by the driver.

[0086] In another embodiment, the control device 100 can adjust the preset threshold according to the inclination angle of the historical journey of the two-wheeled vehicle. For example, the control device 100 can adjust the preset threshold to 30 degrees according to the fact that the inclination angle is greater than 30 degrees in the historical journey of the two-wheeled vehicle.

[0087] In yet another embodiment, the control device 100 can adjust the preset threshold according to the current environment of the two-wheeled vehicle. For example, the control device 100 can adjust the preset threshold to 20 degrees according to the fact that the two-wheeled vehicle is currently driving on an icy road. The control device 100 can detect the current environment through a sensor, or receive the current environment provided by the driver, or receive the current environment sent by the application program on the terminal device such as a mobile phone.

[0088] In an embodiment, when the attitude information is the angle of the steering handle of the two-wheeled vehicle and the current speed of the two-wheeled vehicle, the control device 100 determines whether the two-wheeled vehicle has a rollover risk based on the angle of the steering handle and the current speed in S202.

[0089] For example, when it is determined based on the angle of the steering handle and the current speed that the two-wheeled vehicle cannot successfully turn, it is determined that the two-wheeled vehicle has a rollover risk. When it is determined based on the angle of the steering handle and the current speed that the two-wheeled vehicle can successfully turn, it is determined that the two-wheeled vehicle does not have a rollover risk.

[0090] For example, the control device 100 can store a mapping relationship between different angles of the steering handle of the two-wheeled vehicle, the current speed, and whether there is a rollover risk. For example, the mapping relationship includes: angle 60 degrees, speed 25, rollover risk; angle 10 degrees, speed 15, no rollover risk, etc. Then, the control device 100 can determine whether there is a rollover risk based on the mapping relationship according to the obtained angle of the steering handle and the current speed, even if the driver does not issue a quit cruise control instruction, so as to quit the cruise control when there is a rollover risk.

[0091] For example, the control device 100 may also store a preset angle threshold and a preset speed threshold. The control device 100 can determine that there is a risk of overturning of the two-wheeled vehicle when the angle is greater than the preset angle threshold and the current speed is greater than the preset speed threshold; and determine that there is no risk of overturning of the two-wheeled vehicle when the angle is not greater than the preset angle threshold or the current speed is not greater than the preset speed threshold.

[0092] S203: In response to the risk of overturning of two-wheeled vehicles, control the two-wheeled vehicles to disengage from cruise control.

[0093] Specifically, in combination Figure 6 In the example shown, the control device 100 of the two-wheeled vehicle 10 can determine that there is a risk of overturning if it does not receive an instruction from the driver to exit cruise control. In this case, it sends an instruction to exit cruise control to the cruise control system 103, so that the cruise control system 103 exits cruise control according to the received instruction.

[0094] In one embodiment, after the control device 100 controls the two-wheeled vehicle to exit cruise control, it can also issue a prompt message indicating that cruise control has been exited. For example, the prompt can be made through a loudspeaker, a display screen, or a terminal device carried and bound by the driver. This ensures that the alarm function of the warning device 102 and the function of exiting cruise control do not interfere with each other, thereby improving the reliability of the two-wheeled vehicle.

[0095] In another embodiment, the control device 100 can directly control the two-wheeled vehicle to exit cruise control, or, if the control device 100 detects that the driver has pressed the warning button 101 without receiving an instruction from the driver to exit cruise control, it may not immediately control the two-wheeled vehicle to exit cruise control, but instead send a confirmation message to the driver. For example, this could be done through a speaker announcement, a display screen, or a terminal device carried and bound by the driver. Upon receiving the confirmation instruction from the driver, the control device 100 then controls the two-wheeled vehicle to exit cruise control.

[0096] Furthermore, in such Figure 6 In the first specific implementation of S202 shown, the control device 100 can determine that there is a risk of overturning in the two-wheeled vehicle, and then immediately control the two-wheeled vehicle 10 to exit the cruise control.

[0097] In a second specific implementation, the control device 100 can determine, based on the attitude information of the two-wheeled vehicle, that the two-wheeled vehicle has a risk of overturning within a preset time length, and then control the two-wheeled vehicle to exit the constant-speed cruise, so as to ensure the effectiveness of the determination that the two-wheeled vehicle has a risk of overturning, and prevent the two-wheeled vehicle from exiting the constant-speed cruise due to sensor accuracy and the like. The preset time length can be set to 0.1-0.3 seconds.

[0098] In summary, the attitude-based constant-speed cruise exit method provided in the embodiments of the present application can monitor the attitude information of the two-wheeled vehicle during constant-speed cruise of the two-wheeled vehicle, determine whether the two-wheeled vehicle has a risk of overturning based on the attitude information, and control the two-wheeled vehicle to exit the constant-speed cruise in response to the two-wheeled vehicle having a risk of overturning without receiving an exit instruction, so that the two-wheeled vehicle can exit the constant-speed cruise in time and effectively in an emergency scenario such as the two-wheeled vehicle about to fall or lose control, without the driver operating to exit the constant-speed cruise, thereby reducing the difficulty of the driver operating to exit the constant-speed cruise, preventing safety risks, possible accidents, secondary accidents, and the like caused by the driver failing to exit the constant-speed cruise, effectively ensuring the safety of the two-wheeled vehicle and the driver, and thus improving the safety and convenience of the two-wheeled vehicle.

[0099] In combination with Figure 3 the various exit automatic cruise logics of the two-wheeled vehicle shown in the figure, the attitude-based constant-speed cruise exit method provided in the present application can be added on the basis of other exit logics, without the need to substantially modify other exit logics in the two-wheeled vehicle, and can be directly adapted to different two-wheeled vehicles, thereby reducing the modification and mass production costs required when applying the exit logic provided in the embodiments of the present application, and being more conducive to the application and promotion of the embodiments of the present application.

[0100] In an embodiment, the control device 100 can further determine, based on the acquired attitude information of the two-wheeled vehicle, that the two-wheeled vehicle no longer has a risk of overturning after controlling the two-wheeled vehicle to exit the constant-speed cruise, and then control the two-wheeled vehicle to perform constant-speed cruise, so as to more intelligently replace the driver in operating the two-wheeled vehicle to perform constant-speed cruise, further reducing the operations required by the driver, better meeting the actual driving needs of the driver, and effectively improving the use experience of the two-wheeled vehicle.

[0101] In the foregoing embodiments of this application, the cruise control exit methods based on operational behavior and attitude have been described. To implement the functions of the methods provided in the embodiments of this application, the control device 100, as the executing entity, can implement these functions through hardware structures and / or software modules. Whether a particular function is executed through hardware structures, software modules, or a combination of both depends on the specific application and design constraints of the technical solution.

[0102] For example, Figure 6 A schematic diagram of an embodiment of the cruise control exit device based on operational behavior provided in this application is shown below. Figure 6 The device 1000-1 shown can be used to perform, for example Figure 3 The illustrated cruise control method is based on user behavior. Among them, such as... Figure 7 The cruise control disengagement device based on user behavior shown includes a monitoring module 1001 and a control module 1002. The monitoring module 1001 is configured to monitor whether the driver operates the warning button 101 on the two-wheeled vehicle during cruise control. The control module 1002 is configured to, in response to detecting the driver operating the warning button 101, disengage the two-wheeled vehicle from cruise control if no disengagement instruction is received from the driver.

[0103] like Figure 7 The specific implementation method and principle of the cruise control exit device 1000-1 based on operation behavior shown can be referred to the above. Figure 5 The cruise control exit method based on user behavior shown is implemented in the same way and on the same principle, and will not be described again.

[0104] For example, Figure 7 A schematic diagram of an embodiment of the attitude-based cruise control exit device provided in this application is shown below. Figure 8 The device 1000-2 shown can be used to perform, for example Figure 8 The attitude-based cruise control method shown is illustrated. Among them, as... Figure 8 The attitude-based cruise control exit device shown includes a detection module 1003, a judgment module 1004, and a control module 1005. The detection module 1003 is configured to monitor the attitude information of the two-wheeled vehicle during cruise control; the judgment module 1004 is configured to determine whether there is a risk of rollover for the two-wheeled vehicle based on the attitude information; and the control module 1005 is configured to control the vehicle to exit cruise control in response to the risk of rollover.

[0105] It should be understood that the division of the various modules of the above apparatus is only a logical functional division, and in actual implementation, all or part of them can be integrated into one physical entity, or can be physically separated. These modules can all be implemented in the form of software invoked by a processing element; all can be implemented in the form of hardware; or some modules can be implemented in the form of software invoked by a processing element, and some modules can be implemented in the form of hardware. For example, a module can be a separately established processing element, or can be integrated into a chip of the above apparatus, in addition, it can also be stored in the form of program code in the memory of the above apparatus, and the function of the above determining module can be invoked and executed by a processing element of the above apparatus. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or can be independently implemented. The processing element here can be an integrated circuit with signal processing capability. In the implementation process, each step of the above method or each module can be completed by the integrated logic circuit of hardware in the processing element or the instructions in the form of software.

[0106] For example, the above modules can be one or more integrated circuits configured to implement the above method, such as one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of program code invoked by a processing element, the processing element can be a general purpose processor, such as a central processing unit (CPU) or other processor that can invoke program code. For another example, these modules can be integrated together to implement in the form of system-on-a-chip (SOC).

[0107] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium, or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.

[0108] For example, Figure 8 The structural schematic diagram of an embodiment of the electronic device provided in the present application is shown in FIG. 2. As shown in FIG. 2, the electronic device 2000 can be used to execute the operation behavior based constant speed cruise exit method provided in any of the embodiments of the present application, or the posture based constant speed cruise exit method provided in any of the embodiments. ​ The structural schematic diagram of an embodiment of the electronic device provided in the present application is shown in FIG. 2. As shown in FIG. 2, the electronic device 2000 can be used to execute the operation behavior based constant speed cruise exit method provided in any of the embodiments of the present application, or the posture based constant speed cruise exit method provided in any of the embodiments.

[0109] In an embodiment, the control device 2000 shown in FIG. 2 includes one or more processors 2001 and a memory 2002. The memory 2002 is configured to store computer executable instructions, and the processor 2001 can execute the computer executable instructions stored in the memory 2002. When the computer executable instructions are executed by the processor 2001, the processor 2001 implements the operation behavior based constant speed cruise exit method provided in any of the preceding embodiments of the present application, or the posture based constant speed cruise exit method provided in any of the embodiments. ​ In an embodiment, the control device 2000 shown in FIG. 2 further includes a communication interface 2003, wherein the processor 2001 can communicate with other devices through the communication interface 2003, for example, the processor 2001 transmits and receives data through the communication interface 2003.

[0110] ​ In an embodiment, the control device 2000 shown in FIG. 2 further includes a communication interface 2003, wherein the processor 2001 can communicate with other devices through the communication interface 2003, for example, the processor 2001 transmits and receives data through the communication interface 2003.

[0111] ​In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0112] The memory can include a random access memory (RAM), and can also include a non-volatile memory (NVM), such as at least one disk memory.

[0113] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0114] The embodiments of the present application also provide a chip for executing instructions, which is used to execute the operation behavior-based constant speed cruise exit method provided in any one of the preceding embodiments of the present application, or the posture-based constant speed cruise exit method provided in any one of the embodiments.

[0115] The embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program is executed to implement the operation behavior-based constant speed cruise exit method provided in any one of the preceding embodiments of the present application, or the posture-based constant speed cruise exit method provided in any one of the embodiments.

[0116] The present application also provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are executed to implement the operation behavior-based constant speed cruise exit method provided in any one of the preceding embodiments of the present application, or the posture-based constant speed cruise exit method provided in any one of the embodiments.

[0117] The above-mentioned readable storage medium can be realized by any type of volatile or nonvolatile storage devices or their combinations, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0118] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0119] The division of units is only a logical function division, and in actual implementation, there can be another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0120] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0121] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0122] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0123] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction-related hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0124] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacements for part or all of the technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for disengaging attitude-based cruise control, applied to two-wheeled vehicles, characterized in that, include: During the constant-speed cruise of the two-wheeled vehicle, the attitude information of the two-wheeled vehicle is monitored; Based on the attitude information of the two-wheeled vehicles, determine whether the two-wheeled vehicles are at risk of overturning; In response to the risk of overturning of the two-wheeled vehicle, the vehicle is controlled to disengage from cruise control.

2. The method according to claim 1, characterized in that, The attitude information includes: the tilt angle of the two-wheeled vehicle; When the tilt angle is greater than a preset threshold, it is determined that the two-wheeled vehicle is at risk of overturning. If the tilt angle is not greater than the preset threshold, it is determined that the two-wheeled vehicle is not at risk of overturning.

3. The method according to claim 2, characterized in that, Also includes: Adjust the preset threshold according to the configuration parameters provided by the driver; And / or, adjust the preset threshold based on the tilt angle of the two-wheeled vehicle's historical journey; And / or, adjust the preset threshold according to the current environment of the two-wheeled vehicle.

4. The method according to claim 1, characterized in that, The attitude information includes: the angle of the steering handle and the current speed of the two-wheeled vehicle; Based on the steering handle angle and the current speed, as well as a preset mapping relationship, it is determined whether the two-wheeled vehicle is at risk of overturning; wherein, the mapping relationship is used to indicate whether the steering handle angle and the current speed correspond to whether the two-wheeled vehicle is at risk of overturning. Alternatively, when the angle is greater than a preset angle threshold and the current speed is greater than a preset speed threshold, it is determined that the two-wheeled vehicle is at risk of overturning.

5. The method according to any one of claims 1-4, characterized in that, In response to the determination that the two-wheeled vehicles are at risk of overturning within a cumulative preset time period based on the attitude information of the two-wheeled vehicles, the two-wheeled vehicles are controlled to exit cruise control.

6. The method according to any one of claims 1-4, characterized in that, Based on the driver's settings, the attitude information of the two-wheeled vehicle is monitored during the constant speed cruise of the two-wheeled vehicle; Alternatively, during the constant-speed cruise of the two-wheeled vehicle, in response to the speed of the two-wheeled vehicle exceeding a preset speed value, the attitude information of the two-wheeled vehicle is monitored; Alternatively, in response to the braking frequency of the two-wheeled vehicle's current journey being greater than a preset frequency, the attitude information of the two-wheeled vehicle is monitored during the constant speed cruise of the two-wheeled vehicle. Alternatively, in response to the two-wheeled vehicle reaching the target area, during the two-wheeled vehicle's constant-speed cruise, the attitude information of the two-wheeled vehicle is monitored, wherein the target area includes areas with traffic congestion and / or areas with many curves.

7. The method according to any one of claims 1-4, characterized in that, Control the two-wheeled vehicle to disengage from cruise control and issue a warning message; And / or, issue a confirmation message to exit cruise control, and in response to receiving a confirmation instruction from the driver, control the two-wheeled vehicle to exit cruise control.

8. The method according to any one of claims 1-4, characterized in that, After controlling the two-wheeled vehicle to exit cruise control, based on the attitude information of the two-wheeled vehicle, it is determined that there is no risk of the two-wheeled vehicle overturning, and the two-wheeled vehicle is controlled to maintain cruise control.

9. A cruise control exit device based on attitude, characterized in that, include: The detection module is configured to monitor the attitude information of the two-wheeled vehicle during constant speed cruise. The judgment module is configured to determine whether the two-wheeled vehicle is at risk of overturning based on its attitude information. The control module is configured to control the vehicle to disengage from cruise control in response to a risk of overturning of the two-wheeled vehicle.

10. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-8.

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