Convenient moving control system and method for two-wheeled electric vehicle

Abstract

The invention relates to the technical field of two-wheeled electric vehicle control systems, and discloses a two-wheeled electric vehicle convenient moving control system and method.The control system comprises a control module, a vehicle speed detection module, a vehicle moving mode judgment module, a speed instruction generation module and a motor controller; the control module comprises a car moving mode trigger button, a forward button and a backward button which are arranged on the car body; the vehicle speed detection module is arranged at a vehicle body hub motor and used for detecting the current speed of a vehicle in real time. The car moving mode judgment module is electrically connected with the car speed detection module and the car moving mode trigger button. The speed instruction generation module is electrically connected with the forward button, the backward button and the car moving mode judgment module. And the motor controller is electrically connected with the speed instruction generation module and the hub motor. According to the electric vehicle moving device, the electric vehicle moving process in a narrow space is achieved, vehicle advancing and retreating control is conducted when button control is adopted, and the advantage of being convenient and fast to operate is achieved.

Description

Technical Field

[0001] This invention relates to the field of two-wheeled electric vehicle control system technology, specifically a convenient two-wheeled electric vehicle maneuvering control system and method. Background Technology

[0002] In scenarios such as entering and exiting parking spaces and making U-turns on narrow roads, two-wheeled electric vehicles need to frequently perform forward and backward maneuvers. To adapt to these scenarios, some two-wheeled electric vehicles have been equipped with a reversing function.

[0003] There are two types of scenarios for adding a reversing function. The first type is a trigger-based reversing logic scheme. Reversing mode is entered by pressing a reversing button. After triggering reversing, twisting the throttle controls reversing. To move forward, the vehicle must exit reversing mode and is controlled by the throttle lever. The second type involves a specially designed throttle lever with two travel segments. During normal return, the lever is in the middle travel segment; twisting the lever forward propels the vehicle forward, and twisting it backward triggers reversing. An example is the patent with publication number CN120287860A, entitled "Vehicle Control Method, Device, Equipment, and Storage Medium."

[0004] However, both of the above-mentioned solutions for reversing have certain drawbacks. For the first trigger-based reversing logic solution, when the user needs to frequently perform the "reverse-forward-reverse" operation, it requires completing multiple steps: 1. Execute the reversing mode trigger logic; 2. Twist the accelerator to reverse; 3. Release the accelerator and execute the reversing mode exit logic; 4. Twist the accelerator to move forward; 5. Release the accelerator; 6. Execute the reversing mode trigger logic; 7. Twist the accelerator to reverse. This cumbersome and redundant operation results in poor operational continuity and a poor user experience. For the second solution, which involves a specially designed accelerator lever, a custom design is required, increasing manufacturing costs. Furthermore, the operating logic contradicts conventional driving habits (twist downwards for forward, twist upwards for reverse), requiring users to readjust and posing a risk of accidental operation, thus limiting its practicality. Summary of the Invention

[0005] The purpose of this invention is to provide a convenient vehicle relocation control system and method for two-wheeled electric vehicles, in order to solve the problems of cumbersome operation steps and the risk of accidental activation due to the operation logic being contrary to conventional driving habits in the existing two-wheeled electric vehicle relocation process.

[0006] The technical solution of this invention is: A convenient vehicle relocation control system for a two-wheeled electric vehicle includes a control module, a vehicle speed detection module, a relocation mode determination module, a speed command generation module, and a motor controller. The control module includes a relocation mode trigger button, a forward button, and a reverse button mounted on the vehicle body. The vehicle speed detection module is located at the wheel hub motor and is used to detect the vehicle's current speed in real time. The relocation mode determination module is electrically connected to both the vehicle speed detection module and the relocation mode trigger button, and is used to receive the vehicle's current speed signal and the trigger signal from the relocation mode trigger button to determine whether to enter or exit a low-speed relocation mode. The speed command generation module is electrically connected to the forward button, the reverse button, and the relocation mode determination module. When the system is in low-speed relocation mode, the speed command generation module generates a speed command according to a preset rule based on the trigger status of the forward and reverse buttons. The motor controller is electrically connected to the speed command generation module and the wheel hub motor, and is used to receive the speed command and control the wheel hub motor to operate at the corresponding speed and direction.

[0007] Preferably, as a further improvement of the present invention, the vehicle relocation mode trigger button is located on the handle on one side of the vehicle body, and the forward button and the reverse button are located on the handle on the other side of the vehicle body.

[0008] Preferably, as a further improvement of the present invention, the vehicle relocation mode trigger button reuses the existing reverse button or cruise control button of the electric vehicle, the forward button reuses the existing upshift button of the electric vehicle, and the reverse button reuses the existing downshift button of the electric vehicle. In non-low-speed vehicle relocation mode, the upshift button and downshift button are used to switch vehicle gears, and in low-speed vehicle relocation mode, the upshift button and downshift button are used to control the vehicle to move forward and backward.

[0009] Preferably, as a further improvement of the present invention, the vehicle speed detection module is a Hall switch and is mounted on the hub motor.

[0010] Based on the same concept, this invention also discloses a convenient vehicle relocation control method for two-wheeled electric vehicles, implemented using the aforementioned control system, comprising the following steps: The system periodically checks whether the vehicle's current speed is less than a preset relocation speed threshold. If it is greater than or equal to the preset relocation speed threshold, the system maintains normal driving mode and continues to check the vehicle speed. If it is less than the preset speed threshold, the system simultaneously checks whether the relocation mode trigger button is triggered. If the relocation mode trigger button is triggered, the system enters low-speed relocation mode. If the relocation mode trigger button is not triggered, the system maintains normal driving mode and continues to check the vehicle speed. In low-speed maneuvering mode, the throttle signal is blocked, and the maneuvering mode trigger button is continuously monitored to see if it remains in the triggered state. If the maneuvering mode trigger button is released, the low-speed maneuvering mode is exited and the normal driving mode is restored. If the maneuvering mode trigger button remains triggered, a speed command is generated based on the operation status of the forward and reverse buttons, and the motor is controlled by the motor controller to drive the wheels to rotate. The generation speed command is as follows: When the forward button is triggered, the speed command increases by a preset acceleration until the maximum preset speed is reached and then maintained at that maximum preset speed. When the back button is triggered, the speed command first decelerates to 0 according to the preset deceleration, and then accelerates in the opposite direction to the maximum preset speed according to the preset acceleration. When neither the forward nor backward button is triggered, the speed command decreases to 0 according to the preset deceleration. When the forward and reverse buttons are triggered simultaneously, if the vehicle's current speed is not 0, it will coast naturally or decelerate to a stop at a preset speed. If the vehicle's current speed is 0, the speed command will remain unchanged.

[0011] Preferably, as a further improvement of the present invention, the preset speed threshold is 3kmph to 8kmph.

[0012] Preferably, as a further improvement of the present invention, the preset acceleration ranges from 1 kmph / s to 5 kmph / s, and the maximum preset speed ranges from 3 kmph to 8 kmph.

[0013] Preferably, as a further improvement of the present invention, the preset deceleration ranges from 1 kmph / s to 5 kmph / s, and the preset deceleration is greater than or equal to the preset acceleration.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 0. No need to repeatedly trigger / exit mode: Users only need to press the vehicle movement mode trigger button when the vehicle speed is lower than the set speed threshold to enter the low-speed vehicle movement mode. Pressing and holding the button will maintain the mode, and releasing it will exit the mode. No additional exit operation is required.

[0015] 1. Convenient forward and reverse switching: In the parking mode, the vehicle can be directly controlled to move forward and backward using the forward / reverse buttons without relying on the throttle. The "reverse-forward-reverse" operation is simplified to "press and hold the parking mode trigger button → press the reverse button to reverse → press the forward button to move forward → press the reverse button to reverse". The number of steps is greatly reduced, the operation is more seamless, and it is as convenient as controlling a remote control car. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the installation location of the vehicle relocation mode trigger button in a convenient vehicle relocation control system for a two-wheeled electric vehicle according to an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram showing the installation positions of the forward and reverse buttons in a convenient vehicle relocation control system for a two-wheeled electric vehicle according to an embodiment of the present invention.

[0018] Figure 3 This is a flowchart illustrating a convenient vehicle relocation control method for a two-wheeled electric vehicle according to an embodiment of the present invention. Detailed Implementation

[0019] The following is combined with Figures 1-3 The specific embodiments of the present invention will be described in detail below. In the description of the invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0020] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the invention, unless otherwise stated, "a plurality of" means two or more.

[0021] Example 1 like Figures 1-2As shown, this embodiment of the invention provides a convenient vehicle relocation control system for a two-wheeled electric vehicle, including a control module, a vehicle speed detection module, a relocation mode determination module, a speed command generation module, and a motor controller. The control module includes a relocation mode trigger button B1, a forward button B2, and a reverse button B3 mounted on the vehicle body. The vehicle speed detection module is located at the wheel hub motor and is used to detect the vehicle's current speed in real time. The relocation mode determination module is electrically connected to the vehicle speed detection module and the relocation mode trigger button B1, and is used to receive the vehicle's current speed signal and the trigger signal of the relocation mode trigger button B1 to determine whether to enter or exit the low-speed relocation mode. The speed command generation module is electrically connected to the forward button B2, the reverse button B3, and the relocation mode determination module. When the system is in the low-speed relocation mode, the speed command generation module generates a speed command according to a preset rule based on the trigger status of the forward button B2 and the reverse button B3. The motor controller is electrically connected to the speed command generation module and the wheel hub motor, and is used to receive the speed command and control the wheel hub motor to operate at the corresponding speed and direction.

[0022] In this embodiment, the control module, which previously consisted of a moving mode trigger button B1, a forward button B2, and a reverse button B3, now controls the electric vehicle's forward and reverse movement via buttons. This allows for easy maneuvering in confined spaces without the need for U-turns. Users simply need to press the moving mode trigger button B1 when the vehicle speed is below a set speed threshold to enter low-speed moving mode. Holding down the moving mode trigger button B1 maintains the mode, and releasing it exits the mode without requiring additional exit procedures. In moving mode, the forward and reverse movements are directly controlled via the forward button B2 and the reverse button B3, eliminating the need for a throttle. The seven steps involved in the "reverse-forward-reverse" operation are simplified to "continuously press the moving mode trigger button B1 → press the reverse button B3 to reverse → press the forward button B2 to move forward → press the reverse button B3 to reverse." This reduces the number of steps, improves operational continuity, and provides the convenience of controlling a remote-controlled car. Furthermore, the button operation is easy to learn and reduces the probability of accidental touches.

[0023] The vehicle speed detection module uses a Hall switch to detect the hub motor. In this embodiment, the hub motor is set to 20 pole pairs. Based on the detection principle of the Hall switch, the Hall switch will generate 6 times the number of Hall pulses as the number of pole pairs of the hub motor for every wheel rotation, that is, 6×20=120 Hall pulses are generated for every rotation. Since the frequency of the pulse generation is positively correlated with the motor speed, the angle the motor rotates between two adjacent Hall pulses is fixed at 360° / (6×number of pole pairs). Substituting the parameter of 20 pole pairs, the angle the motor rotates between adjacent pulses is 360° / (6×20) = 3°. By detecting the time interval between two Hall pulses and combining it with the angle rotated by the motor, the time required per unit angle can be obtained, and thus the motor speed can be obtained. Combined with the wheel diameter (0.48m), the vehicle speed can be obtained. The Hall signal is connected to the main MCU. The vehicle relocation mode determination module and the speed command generation module both run on the main MCU of the motor controller. The main MCU is a microcontroller. The input of the vehicle relocation mode determination module is the button signal and the vehicle speed, and the output is whether the vehicle relocation mode is activated. The input of the speed command generation module is the plus or minus button signal and the vehicle speed, and the output is the target vehicle speed.

[0024] The specific calculation process for vehicle speed is as follows: A Hall switch accurately detects the time interval between two adjacent Hall pulses. Combined with the fixed angle (3°) the hub motor rotates between two adjacent pulses, the time required for the motor to rotate one unit angle can be calculated, thus deriving the motor's rotational speed per minute. Then, considering the electric vehicle wheel diameter (0.48m), the distance traveled per wheel revolution is calculated using the circumference formula (circumference = π × diameter). Finally, through the linkage between motor speed and wheel speed, the vehicle's current actual speed is calculated. The Hall pulse signal detected by the Hall switch is directly connected to the main MCU (microcontroller) of the motor controller, where the calculation and processing of rotational speed and vehicle speed are performed. In this embodiment, the vehicle relocation mode determination module and the speed command generation module are both integrated into the main MCU of the motor controller, eliminating the need for an additional independent control chip, effectively reducing system production costs, and simplifying the overall structural layout.

[0025] Specifically, the main MCU, as the core processing unit of the entire control system, carries all the functional logic of the two modules: the core components of the vehicle relocation mode determination module include a signal input unit and a logic determination unit. The signal input unit is used to receive the current vehicle speed signal transmitted by the vehicle speed detection module, as well as the trigger and release signals of the vehicle relocation mode trigger button; the logic determination unit has a built-in preset vehicle relocation speed threshold. By comparing the received vehicle speed signal with the preset threshold and judging the state of the vehicle relocation mode trigger button, it outputs a control signal to determine whether the vehicle relocation mode is activated, realizing the logic control of "entering the vehicle relocation mode by triggering the button at low speed and exiting the vehicle relocation mode by releasing the button". The main MCU is a microcontroller. The input of the vehicle relocation mode determination module is the button signal and the vehicle speed, and the output is whether the vehicle relocation mode is activated. The input of the speed command generation module is the plus or minus button signal and the vehicle speed, and the output is the target vehicle speed.

[0026] The core components of the speed command generation module include a signal input unit and a command generation unit. The signal input unit receives the mode activation signal output by the vehicle relocation mode determination module, the trigger status signals of the forward and reverse buttons, and the vehicle's current speed signal processed by the main MCU. The command generation unit has built-in preset acceleration, preset deceleration, maximum preset speed, and other parameters. Based on the different operation states of the forward button B2 and the reverse button B3, it generates corresponding speed commands according to preset rules and transmits the speed commands to the motor controller. The motor controller then controls the hub motor to rotate at the corresponding speed and direction, ultimately enabling convenient vehicle relocation.

[0027] As an optimized solution for the control module, in this embodiment, the vehicle relocation mode trigger button B1 is located on one side of the electric vehicle's handlebar, while the forward button B2 and the reverse button B3 are located on the other side of the electric vehicle's handlebar. In practical applications, the vehicle relocation mode trigger button B1 can be located on the left handlebar, operated by pressing with the left thumb, while the forward button B2 and the reverse button B3 can be located on the right handlebar, operated by pressing with the right thumb. This eliminates the need for users to adapt to counterintuitive operations and makes the system easy to use.

[0028] Furthermore, to save space for button installation, the relocation mode trigger button B1 can reuse the existing reverse button or cruise control button of the electric vehicle (such as the Ninebot E200P or Niu NX electric vehicle), the forward button B2 can reuse the existing upshift button of the electric vehicle, and the reverse button B3 can reuse the existing downshift button of the electric vehicle. In non-low-speed relocation mode, the upshift and downshift buttons are used to switch vehicle gears. In low-speed relocation mode, the upshift and downshift buttons are used to control the vehicle's forward and reverse movement. Pressing the forward button B2 corresponds to moving forward, and pressing the reverse button B3 corresponds to moving backward. The button layout takes convenience into consideration.

[0029] Example 2 This embodiment is based on embodiment 1, such as... Figure 3 As shown, a convenient vehicle relocation control method for a two-wheeled electric vehicle is disclosed, including the following steps: S1. After the electric vehicle system is powered on, the vehicle speed detection module periodically checks whether the current speed of the vehicle is less than the preset relocation speed threshold. If the current speed of the vehicle is greater than or equal to the preset speed threshold, the normal driving mode is maintained and the system returns to step S1 to continue detection. If the current speed of the vehicle is less than the preset speed threshold, the relocation mode determination module checks whether the relocation mode trigger button B1 is triggered. If the relocation mode trigger button B1 is not triggered, the normal driving mode is maintained and the system returns to step S1 to continue detection. If the relocation mode trigger button B1 is triggered, the system proceeds to step S2. S2, in low-speed maneuvering mode, the throttle throttle signal is blocked, and the maneuvering mode determination module continuously detects whether the maneuvering mode trigger button B1 remains in the triggered state; if the maneuvering mode trigger button B1 is released, the low-speed maneuvering mode is exited, the normal driving mode is restored, and the process returns to step S1 to continue detection; if the maneuvering mode trigger button B1 remains triggered, the speed command generation module generates a speed command based on the operation status of the forward button B2 and the reverse button B3, and controls the motor to run through the motor controller, thereby driving the wheels. The speed generation command is as follows: When only the forward button B2 is triggered, the speed command increases by a preset acceleration until it reaches the maximum preset speed and then maintains that maximum preset speed. When only the back button B3 is triggered, the speed command first decelerates to 0, then accelerates in the opposite direction to the maximum preset speed. When neither the forward button B2 nor the backward button B3 is triggered, the speed command decreases according to the preset deceleration. When the forward button B2 and the reverse button B3 are triggered simultaneously, if the vehicle's current speed is not 0, it will coast naturally or decelerate to a stop at a preset deceleration rate. If the vehicle's current speed is 0, the speed command will remain unchanged.

[0030] Specifically, the preset speed threshold is 3kmph to 8kmph. The selection of this speed range is based on the following criteria: First, it is within the acceptable range for most people. Too low a speed will result in low efficiency and sluggishness in moving the car, while too high a speed will exceed the user's reaction range and easily cause safety hazards. Second, it has fault tolerance. Even if the button malfunctions and causes the car moving mode to go out of control, 3 to 8kmph is within the walking speed range of an adult, giving the user enough time to deal with the fault and reduce the probability of danger.

[0031] Specifically, the preset acceleration range is 1 kmph / s to 5 kmph / s. The preset acceleration range is set based on the practical experience of moving cars. If the preset acceleration is less than 1 kmph / s, the vehicle accelerates too slowly, making the moving process inefficient and sluggish, and unable to meet the need for quickly adjusting the vehicle's position. If the preset acceleration is greater than 5 kmph / s, the vehicle accelerates too suddenly, with a strong sense of jerking, making it difficult for users to accurately control the vehicle speed. This can easily lead to safety hazards such as collisions due to untimely operation, significantly reducing the comfort and controllability of moving cars. The maximum preset speed ranges from 3kmph to 8kmph, which is consistent with the preset parking speed threshold. This range is suitable for the walking speed of adults, balancing parking efficiency and safety. It avoids cumbersome operation due to excessively low speeds and prevents excessively high speeds from exceeding the user's emergency handling capabilities. At the same time, it matches the core positioning of the low-speed parking mode, ensuring that the vehicle is always within a controllable low-speed range to complete the parking operation.

[0032] Specifically, the preset deceleration ranges from 1 kmph / s to 5 kmph / s, and the preset deceleration must be greater than or equal to the preset acceleration. This preset deceleration range is an empirical parameter closely aligned with practical driving experience. If the preset deceleration is less than 1 kmph / s, the vehicle decelerates too slowly, resulting in a delayed braking response. Users would need to wait a long time for the vehicle to decelerate or stop, leading to sluggish operation and hindering quick adjustments to the vehicle's posture, thus increasing the time required for maneuvering. If the preset deceleration is greater than 5 kmph / s, the vehicle decelerates too abruptly, easily producing a noticeable jerk, which not only affects the driving experience but may also cause the vehicle's center of gravity to shift. This is especially problematic when maneuvering in confined spaces, making it difficult for users to maintain stable vehicle control and posing a safety hazard. Limiting the preset deceleration to be greater than or equal to the preset acceleration ensures that the vehicle's deceleration response takes precedence over acceleration response, allowing users to quickly control the vehicle speed when braking is needed. This improves the safety and controllability of maneuvering operations and adapts to scenarios requiring frequent starts and stops and fine-tuning of speed during maneuvering.

[0033] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A convenient vehicle relocation control system for a two-wheeled electric vehicle, characterized in that, include: The control module includes a vehicle relocation mode trigger button, a forward button, and a reverse button, all located on the vehicle body. The vehicle speed detection module is located at the wheel hub motor of the vehicle body and is used to detect the current speed of the vehicle in real time; The vehicle relocation mode determination module is electrically connected to the vehicle speed detection module and the vehicle relocation mode trigger button, respectively, and is used to receive the current vehicle speed signal and the trigger signal of the vehicle relocation mode trigger button to determine whether to enter or exit the low-speed vehicle relocation mode. The speed command generation module is electrically connected to the forward button, the reverse button and the vehicle moving mode determination module respectively. When the system is in low-speed vehicle moving mode, the speed command generation module generates speed commands according to the triggering state of the forward button and the reverse button and according to preset rules. The motor controller is electrically connected to the speed command generation module and the hub motor, and is used to receive the speed command and control the hub motor to operate at the corresponding speed and direction.

2. The two-wheeled electric vehicle convenient relocation control system according to claim 1, characterized in that, The vehicle relocation mode trigger button is located on the handle on one side of the vehicle body, and the forward and reverse buttons are located on the handle on the other side of the vehicle body.

3. The two-wheeled electric vehicle convenient relocation control system according to claim 1, characterized in that, The vehicle relocation mode trigger button reuses the existing reverse button or cruise control button of the electric vehicle. The forward button reuses the existing upshift button of the electric vehicle. The reverse button reuses the existing downshift button of the electric vehicle. In non-low-speed vehicle relocation mode, the upshift button and downshift button are used to switch vehicle gears. In low-speed vehicle relocation mode, the upshift button and downshift button are used to control the vehicle to move forward and backward.

4. The convenient vehicle relocation control system for two-wheeled electric vehicles according to claim 1, characterized in that, The vehicle speed detection module is a Hall switch, which is installed on the wheel hub motor.

5. A convenient vehicle repositioning control method for a two-wheeled electric vehicle, implemented using the control system described in any one of claims 1 to 4, comprising the following steps: The system periodically checks whether the vehicle's current speed is lower than a preset vehicle repositioning speed threshold. If the speed is greater than or equal to the preset vehicle relocation speed threshold, the normal driving mode is maintained and the vehicle speed is monitored. If the speed is less than the preset speed threshold, the vehicle relocation mode trigger button is checked. If the vehicle relocation mode trigger button is triggered, the vehicle enters the low-speed vehicle relocation mode. If the vehicle relocation mode trigger button is not triggered, the normal driving mode is maintained and the vehicle speed is monitored. In low-speed maneuvering mode, the throttle throttle signal is blocked, while the trigger button for maneuvering mode is continuously monitored to ensure it remains in the triggered state. If the vehicle relocation mode trigger button is released, the low-speed vehicle relocation mode will be exited and the normal driving mode will be restored; if the vehicle relocation mode trigger button remains triggered, a speed command will be generated according to the operation status of the forward and reverse buttons, and the motor controller will control the motor to drive the wheels to rotate. The generation speed command is as follows: When the forward button is triggered, the speed command increases by a preset acceleration until the maximum preset speed is reached and then maintained at that maximum preset speed. When only the back button is triggered, the speed command first decelerates to 0 according to the preset deceleration, and then accelerates in the opposite direction to the maximum preset speed according to the preset acceleration. When neither the forward nor backward button is triggered, the speed command decreases to 0 according to the preset deceleration. When the forward and reverse buttons are triggered simultaneously, if the vehicle's current speed is not 0, it will coast naturally or decelerate to a stop at a preset speed. If the vehicle's current speed is 0, the speed command will remain unchanged.

6. The convenient vehicle relocation control method for a two-wheeled electric vehicle according to claim 5, characterized in that, The preset speed threshold is 3kmph to 8kmph.

7. The convenient vehicle relocation control method for a two-wheeled electric vehicle according to claim 5, characterized in that, The preset acceleration ranges from 1 kmph / s to 5 kmph / s, and the maximum preset speed ranges from 3 kmph to 8 kmph.

8. The convenient vehicle relocation control method for a two-wheeled electric vehicle according to claim 5, characterized in that, The preset deceleration ranges from 1 kmph / s to 5 kmph / s, and the preset deceleration is greater than or equal to the preset acceleration.

Images