Electric two-wheeled vehicle and uphill auxiliary zero-force pushing method, device and system thereof

Abstract

The invention discloses an electric two-wheeled vehicle and an uphill auxiliary zero-force pushing method, device and system thereof, the uphill auxiliary zero-force pushing method is executed by a main controller, and the uphill auxiliary zero-force pushing method comprises the following steps: acquiring a plurality of pitch angles and a plurality of vehicle speeds of the electric two-wheeled vehicle in a period of time; determining whether the electric two-wheeled vehicle is in an uphill mode and a pushing mode at the same time based on the plurality of pitch angles and the plurality of vehicle speeds; if it is determined that the electric two-wheeled vehicle is in the uphill mode and the pushing mode at the same time, an uphill auxiliary zero-force pushing function is executed. Whether the electric two-wheeled vehicle is in the uphill pushing mode or not can be intelligently recognized based on the pitch angle and the vehicle speed of the vehicle, and zero-force pushing is achieved in the uphill pushing mode. The electric bicycle can be widely applied to the technical field of electric bicycles.

Description

Technical Field

[0001] This invention relates to the field of electric two-wheeled vehicle technology, and in particular to an electric two-wheeled vehicle and its uphill assist zero-force propulsion method, device, and system. Background Technology

[0002] With the increasing popularity of electric two-wheelers, users' demands for riding experience, especially convenience in specific scenarios, are rising. Pushing uphill is a common pain point. Currently, the uphill assist function of electric two-wheelers on the market has the following main shortcomings: First, the triggering mechanism is delayed and prone to false triggering. Most existing technologies determine whether one is going uphill by detecting pedaling torque, motor resistance, or a decrease in wheel speed. With this detection method, the system can only respond after the user has started pedaling or the motor has encountered significant resistance, resulting in a startup delay. Furthermore, on bumpy roads or when riding against the wind, false alarms are easily generated, leading to unexpected intervention of assistive functions.

[0003] Second, it cannot achieve a "zero-force" experience. The system response begins after the user has applied force, and it cannot provide assistance at the moment when the user is preparing to push but has not yet exerted force, so it cannot truly achieve a "zero-force start". The pushing experience is not smooth or easy.

[0004] Third, many solutions confuse riding mode with pushing mode, failing to provide refined control for the specific scenario of users getting off and pushing the bike, resulting in insufficient assistance and difficulty in controlling the vehicle. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in the related art. Therefore, one object of this invention is to provide an electric two-wheeled vehicle and its uphill assist zero-force pushing method, device, and system, capable of intelligently identifying whether the electric two-wheeled vehicle is in uphill pushing mode based on the vehicle's pitch angle and speed, and achieving zero-force pushing in uphill pushing mode.

[0006] The technical solution adopted in this invention is: In a first aspect, the present invention provides a method for assisting zero-force propulsion of an electric two-wheeled vehicle on an uphill, executed by a main controller, comprising: acquiring multiple pitch angles and multiple vehicle speeds of the electric two-wheeled vehicle over a period of time; determining, based on the multiple pitch angles and the multiple vehicle speeds, whether the electric two-wheeled vehicle is simultaneously in an uphill mode and a propulsion mode; and if it is determined that the electric two-wheeled vehicle is simultaneously in the uphill mode and the propulsion mode, then executing the uphill assisting zero-force propulsion function.

[0007] The acquisition of multiple pitch angles of the electric two-wheeled vehicle over a period of time includes: continuously collecting raw data from the triaxial accelerometer and gyroscope through an inertial measurement unit; and calculating the multiple pitch angles by fusing the raw data based on an inertial navigation algorithm.

[0008] The method of determining whether the electric two-wheeled vehicle is simultaneously in uphill mode and push mode based on the multiple pitch angles and multiple vehicle speeds includes: if all the multiple pitch angles are greater than or equal to a preset first threshold and the duration is greater than a first preset time, then the electric two-wheeled vehicle is determined to be in uphill mode; if all the multiple vehicle speeds are less than or equal to a preset second threshold and the duration is greater than a second preset time, then the electric two-wheeled vehicle is determined to be in push mode; if the electric two-wheeled vehicle is in both uphill mode and push mode, then the electric two-wheeled vehicle is determined to be simultaneously in both uphill mode and push mode.

[0009] The uphill assist zero-force push function includes: obtaining the current pitch angle of the electric two-wheeler; calculating the target assist torque based on the preset "pitch angle-assist torque" mapping relationship and the current pitch angle; sending the target assist torque to the motor driver, and driving the motor to output assist thrust through the motor driver.

[0010] The function of executing the uphill assist zero-force push function also includes automatically stopping the execution of the uphill assist zero-force push function when one of the following conditions is met: Condition 1: The current pitch angle of the electric two-wheeler is less than the third threshold; Condition 2: The current speed of the electric two-wheeler is greater than the fourth threshold; Condition 3: The user's instruction to cancel the uphill assist zero-force push function is received.

[0011] Secondly, the present invention provides an uphill assist zero-force pushing device for an electric two-wheeled vehicle, comprising: an attitude sensing and vehicle speed acquisition module, used to acquire multiple pitch angles and multiple vehicle speeds of the electric two-wheeled vehicle over a period of time; an uphill and pushing mode determination module, used to determine whether the electric two-wheeled vehicle is simultaneously in an uphill mode and a pushing mode based on the multiple pitch angles and the multiple vehicle speeds; and an uphill assist zero-force pushing function execution module, used to execute the uphill assist zero-force pushing function if it is determined that the electric two-wheeled vehicle is simultaneously in the uphill mode and the pushing mode.

[0012] The uphill and push mode determination module includes: an uphill mode determination unit, used to determine that the electric two-wheeler is in uphill mode if the multiple pitch angles are all greater than or equal to a preset first threshold and the duration is greater than a first preset time; a push mode determination unit, used to determine that the electric two-wheeler is in push mode if the multiple vehicle speeds are all less than or equal to a preset second threshold and the duration is greater than a second preset time; and a mode comprehensive determination unit, used to determine that the electric two-wheeler is simultaneously in uphill mode and push mode if the electric two-wheeler is in both uphill mode and push mode.

[0013] It also includes: a hill-start assist zero-force push function stop module, comprising: a first stop condition triggering unit, used to automatically stop the hill-start assist zero-force push function when the current pitch angle of the electric two-wheeler is less than a third threshold; a second stop condition triggering unit, used to automatically stop the hill-start assist zero-force push function when the current speed of the electric two-wheeler is greater than a fourth threshold; and a third stop condition triggering unit, used to automatically stop the hill-start assist zero-force push function when a user's instruction to cancel the hill-start assist zero-force push function is received.

[0014] Thirdly, the present invention provides an uphill assist zero-force propulsion system for an electric two-wheeled vehicle, which is installed on the electric two-wheeled vehicle and includes: a three-axis accelerometer and a gyroscope; an inertial measurement unit, the input terminals of which are electrically connected to the three-axis accelerometer and the gyroscope respectively; a wheel speed sensor installed on the wheel of the electric two-wheeled vehicle; a motor for outputting auxiliary thrust; a motor driver, the output terminal of which is connected to the motor for driving the motor to output the auxiliary thrust; and a main controller, the input terminals of which are connected to the output terminal of the inertial measurement unit and the wheel speed sensor respectively, and the output terminal of which is connected to the input terminal of the motor driver, for executing the uphill assist zero-force propulsion method as described above.

[0015] Fourthly, the present invention provides an electric two-wheeled vehicle, which includes the uphill assist zero-force propulsion system as described above.

[0016] The beneficial effects of this invention are: This invention identifies whether an electric two-wheeled vehicle is in uphill pushing mode based on its pitch angle and speed. If it is in uphill pushing mode, it activates the uphill assist zero-force pushing function, overcoming the technical problems of slow triggering mechanism and misjudgment in existing technologies. This ensures accurate triggering of the uphill zero-force pushing function when the user is pushing uphill. Furthermore, this invention specifically designs control logic for the "getting off and pushing" scenario. By combining zero-speed and low-speed judgments, it can clearly identify the entry into "pushing mode." In this mode, the system aims to achieve "zero-force feeling" as the control objective, providing assistance highly coordinated with the user's pushing intention, making the vehicle as easy to control as if walking on flat ground.

[0017] Furthermore, this invention employs a high-precision inertial measurement unit to directly sense changes in the vehicle's pitch angle. It can identify the uphill state as soon as the vehicle enters a slope, before the user feels significant resistance, or even when the user is preparing to push. The system can prepare in advance and proactively output auxiliary force, allowing the user to experience a continuous and smooth "zero force" or "micro-force" experience when transitioning from flat ground to pushing uphill, without requiring initial bursts of force. This enables proactive prediction and achieves true "zero-force start."

[0018] Furthermore, this invention uses the real-time pitch angle as the core control parameter, dynamically and continuously matching the output of the assist force with the current slope (pitch angle). As the slope becomes steeper, the assist force increases smoothly; as the slope becomes gentler, the assist force decreases smoothly, ensuring a constant and light pushing force throughout the uphill process, greatly improving safety and comfort.

[0019] Furthermore, by designing a reasonable inertial navigation algorithm and a trigger threshold in continuous time, this invention can effectively filter out instantaneous angle changes caused by road bumps and vehicle body shaking, avoid false triggering, and improve the robustness of the system.

[0020] In addition, the present invention also has an automatic stop function for uphill assist zero-force push, which allows for easy switching to normal riding mode when the uphill section has been passed or when the user wants to stop the zero-force push function. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating an embodiment of a zero-force pushing method for assisting an electric two-wheeled vehicle uphill according to the present invention; Figure 2 yes Figure 1 A flowchart illustrating an embodiment of step S11; Figure 3 yes Figure 1 A flowchart illustrating an embodiment of step S12; Figure 4 yes Figure 1 A flowchart illustrating an embodiment of step S13; Figure 5 This is a flowchart illustrating another embodiment of the zero-force pushing method for assisting an electric two-wheeled vehicle uphill according to the present invention; Figure 6 This is a schematic diagram of an embodiment of a zero-force pushing device for an electric two-wheeled vehicle to assist in going uphill according to the present invention; Figure 7 yes Figure 6 A schematic diagram of a structure of an embodiment of the attitude perception and vehicle speed acquisition module 11; Figure 8 yes Figure 6 A schematic diagram of an embodiment of the uphill and push mode determination module 12; Figure 9 yes Figure 6 A schematic diagram of an embodiment of the uphill assist zero-force push function execution module 13; Figure 10 This is a schematic diagram of another embodiment of the uphill assist zero-force pushing device for an electric two-wheeled vehicle according to the present invention; Figure 11 yes Figure 10A schematic diagram of an embodiment of the uphill assist zero-force push function stop module 24; Figure 12 This is a schematic diagram of an embodiment of an uphill assist zero-force pushing system for an electric two-wheeled vehicle according to the present invention. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0023] Example 1

[0024] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of a zero-force pushing method for an electric two-wheeled vehicle on a hill. The method is executed by a main controller mounted on the electric two-wheeled vehicle, such as... Figure 1 As shown, the uphill assisted zero-force pushing method includes: S11: Obtain multiple pitch angles and multiple speeds of an electric two-wheeled vehicle over a period of time; The electric two-wheeled vehicle is equipped with wheel speed sensors. In step S11, the vehicle speed at multiple moments is acquired through the wheel speed sensors, and the speed at the current moment is recorded as... .

[0025] The electric two-wheeled vehicle is equipped with an inertial measurement unit (IMU), a three-axis accelerometer, and a gyroscope. One end of the IMU is connected to the main controller, and the other end is connected to the three-axis accelerometer and the gyroscope, respectively.

[0026] Please see Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of step S11, as follows: Figure 2 As shown, step S11 includes the following sub-steps: S111: Continuously acquires raw data from the triaxial accelerometer and gyroscope via the inertial measurement unit; Let A be the forward acceleration, lateral acceleration, and vertical acceleration output by the triaxial accelerometer at the current moment. x A y A z The current angular velocity output by the gyroscope is denoted as G. y .

[0027] Triaxial acceleration and angular velocity were continuously collected at multiple times as raw data.

[0028] S112: The original data is fused based on the inertial navigation algorithm to calculate the multiple pitch angles.

[0029] The main controller runs an inertial navigation algorithm, such as a complementary filter or a Kalman filter, to fuse and solve the raw data from the inertial measurement unit, calculating the vehicle's current pitch angle in real time. This pitch angle accurately reflects the vehicle's tilt angle relative to the horizontal plane, i.e., the slope gradient.

[0030] Let the pitch angle at the current moment be denoted as pitch. The following is the process of calculating the pitch angle pitch using the complementary filter fusion algorithm: (1) The static pitch angle is calculated using acceleration and denoted as pitch. acc : .

[0031] (2) Calculate the dynamic pitch angle by integration, and denote the dynamic pitch angle as pitch. gyro : ,in, This is the dynamic pitch angle at the previous moment.

[0032] (3) Combine the static pitch angle and the dynamic pitch angle to calculate the pitch angle at the current moment: ,in, This is the fusion coefficient, which is typically set between 0.02 and 0.05.

[0033] The pitch angle of the vehicle at multiple moments is calculated based on the vehicle's three-axis acceleration and angular velocity at multiple moments.

[0034] S12: Determine whether the electric two-wheeled vehicle is simultaneously in uphill mode and push mode based on the multiple pitch angles and multiple vehicle speeds; Please see Figure 3 , Figure 3 This is a flowchart illustrating an embodiment of step S12, as follows: Figure 2 As shown, step S12 includes the following sub-steps: S121: If all the pitch angles are greater than or equal to a preset first threshold and the duration is greater than a first preset time, then the electric two-wheeler is determined to be in uphill mode. For example, the first preset time is set to 2 minutes, and the first threshold is set to a fixed value. If all pitch angles within 2 minutes are greater than the first threshold, the electric two-wheeler is determined to be in uphill mode.

[0035] S122: If the speeds of all vehicles are less than or equal to a preset second threshold and the duration is greater than a second preset time, then the electric two-wheeler is determined to be in push mode. For example, the second preset time is set to 3 minutes, and the second threshold is set to a fixed value. If the speed of all vehicles within 3 minutes is greater than the second threshold, then the electric two-wheeler is determined to be in push mode.

[0036] S123: If the electric two-wheeler is in both uphill mode and push mode, then it is determined that the electric two-wheeler is simultaneously in both uphill mode and push mode.

[0037] S13: If it is determined that the electric two-wheeler is simultaneously in the uphill mode and the push mode, then the uphill assist zero-force push function is executed.

[0038] Please see Figure 4 , Figure 4 yes Figure 1 A flowchart illustrating an embodiment of step S13 is shown below. Figure 4 As shown, step S13 includes the following sub-steps: S131: Obtain the current pitch angle of the electric two-wheeler; The method for obtaining the current pitch angle of the electric two-wheeled vehicle has been described in step S112 and will not be repeated here.

[0039] S132: Calculate the target auxiliary torque based on the preset "pitch angle-auxiliary torque" mapping relationship and the current pitch angle; This mapping relationship can be linear, piecewise, or curvilinear. Understandably, the larger the pitch angle, the greater the auxiliary torque required to overcome the component of gravity, meaning the greater the target auxiliary torque.

[0040] S133: Send the target auxiliary torque to the motor driver, which then drives the motor to output auxiliary thrust.

[0041] In this way, the electric two-wheeler moves automatically under the push of the auxiliary thrust, without the need for manual force, so that users can have the same experience of pushing it uphill as pushing it on flat ground.

[0042] Example 2 Please see Figure 5 , Figure 5 This is a flowchart illustrating another embodiment of the zero-force pushing method for assisting an electric two-wheeled vehicle uphill according to the present invention. Figure 5 As shown, Figure 5 and Figure 1 The difference lies in the fact that this uphill assist zero-force pushing method also includes: S24: The uphill assist zero-force push function will automatically stop when one of the following conditions is met.

[0043] Condition one is: the current pitch angle of the electric two-wheeler is less than the third threshold. Preferably, the third threshold is equal to the aforementioned first threshold. Condition two is: the current speed of the electric two-wheeler is greater than the fourth threshold. Preferably, the fourth threshold is equal to the aforementioned second threshold. Condition three is: a user's instruction to cancel the hill-start assist zero-force push function is received, wherein the user can give a clear cancellation instruction through the handbrake, button, or foot pedal.

[0044] Example 3 Please see Figure 6 , Figure 6 This is a schematic diagram of an embodiment of a zero-force pushing device for an electric two-wheeled vehicle to assist in climbing hills, according to the present invention. Figure 6 As shown, the device includes an attitude perception and vehicle speed acquisition module 11, an uphill and pushing mode determination module 12, and an uphill assist zero-force pushing function execution module 13.

[0045] The attitude perception and speed acquisition module 11 is used to acquire multiple pitch angles and multiple speeds of the electric two-wheeled vehicle over a period of time. For example... Figure 7 As shown, the attitude perception and vehicle speed acquisition module 11 includes an acceleration and angular velocity acquisition unit 111 and a pitch angle calculation unit 112. The acceleration and angular velocity acquisition unit 111 is used to continuously collect raw data from the triaxial accelerometer and gyroscope through the inertial measurement unit, and the pitch angle calculation unit 112 is used to fuse the raw data based on the inertial navigation algorithm to calculate the multiple pitch angles.

[0046] The uphill and push mode determination module 12 is used to determine whether the electric two-wheeler is simultaneously in uphill mode and push mode based on the multiple pitch angles and multiple vehicle speeds. Figure 8 As shown, the uphill and push mode determination module 12 includes an uphill mode determination unit 121, a push mode determination unit 122, and a mode comprehensive determination unit 123. The uphill mode determination unit 121 determines that the electric two-wheeled vehicle is in uphill mode if all of the multiple pitch angles are greater than or equal to a preset first threshold and the duration is greater than a first preset time. The push mode determination unit 122 determines that the electric two-wheeled vehicle is in push mode if all of the multiple vehicle speeds are less than or equal to a preset second threshold and the duration is greater than a second preset time. The mode comprehensive determination unit 123 determines that the electric two-wheeled vehicle is simultaneously in uphill and push modes if it is in both.

[0047] The uphill assist zero-force pushing function execution module 13 is used to execute the uphill assist zero-force pushing function if it is determined that the electric two-wheeler is simultaneously in the uphill mode and the pushing mode. Figure 9As shown, the uphill assist zero-force push function execution module 13 includes a current pitch angle acquisition unit 131, a target assist torque calculation unit 132, and a target assist torque sending unit 133. The current pitch angle acquisition unit 131 acquires the current pitch angle of the electric two-wheeler. The target assist torque calculation unit 132 calculates the target assist torque based on a preset "pitch angle-assist torque" mapping relationship and the current pitch angle. The target assist torque sending unit 133 sends the target assist torque to the motor driver, which then drives the motor to output assist thrust.

[0048] Specifically, the working methods of each module in this embodiment have been described in detail in Embodiment 1, and will not be repeated here.

[0049] Example 4 Please see Figure 10 , Figure 10 This is a schematic diagram of an embodiment of a zero-force pushing device for an electric two-wheeled vehicle to assist in climbing hills, according to the present invention. Figure 10 As shown, the device is related to Figure 6 The difference lies in the fact that it also includes: an uphill assist zero-force push function stop module 24. For example... Figure 11 As shown, the uphill assist zero-force push function stop module 24 includes a first stop condition trigger unit 241, a second stop condition trigger unit 242, and a third stop condition trigger unit 243. The first stop condition trigger unit 241 automatically stops executing the uphill assist zero-force push function when the current pitch angle of the electric two-wheeler is less than a third threshold. The second stop condition trigger unit 242 automatically stops executing the uphill assist zero-force push function when the current speed of the electric two-wheeler is greater than a fourth threshold. The third stop condition trigger unit 243 automatically stops executing the uphill assist zero-force push function upon receiving a user's instruction to cancel the uphill assist zero-force push function.

[0050] Specifically, the working methods of each module in this embodiment have been described in detail in Embodiment 2, and will not be repeated here.

[0051] Example 5 Please see Figure 12 , Figure 12 This is a schematic diagram of an embodiment of a zero-force push system for an electric two-wheeled vehicle to assist in climbing hills, according to the present invention. Figure 12 As shown, the uphill assist zero-force propulsion system includes a triaxial accelerometer 31, a gyroscope 32, an inertial measurement unit 33, a wheel speed sensor 34, a motor 35, a motor driver 36, and a main controller 37. This uphill assist zero-force propulsion system is installed on the electric two-wheeled vehicle.

[0052] The input terminal of the inertial measurement unit 33 is electrically connected to the triaxial accelerometer 31 and the gyroscope 32, respectively.

[0053] Wheel speed sensor 34 is installed on the wheel of the electric two-wheeler.

[0054] Motor 35 is used to output auxiliary thrust.

[0055] The output of the motor driver 36 is connected to the motor 35 and is used to drive the motor 35 to output the auxiliary thrust.

[0056] The input terminal of the main controller 37 is connected to the output terminal of the inertial measurement unit and the wheel speed sensor, respectively, and the output terminal is connected to the input terminal of the motor driver 36, for executing the uphill assist zero-force pushing method as described in Embodiment 1 or Embodiment 2.

[0057] Example 6 The present invention also includes an electric two-wheeled vehicle, including the uphill assist zero-force propulsion system as described in Embodiment 5.

[0058] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A method for assisting zero-force propulsion on an uphill slope using an electric two-wheeled vehicle, executed by a main controller, characterized in that, include: Acquire multiple pitch angles and multiple speeds of an electric two-wheeled vehicle over a period of time; Based on the multiple pitch angles and the multiple vehicle speeds, it is determined whether the electric two-wheeled vehicle is simultaneously in uphill mode and push mode; If it is determined that the electric two-wheeler is simultaneously in the uphill mode and the pushing mode, then the uphill assist zero-force pushing function is executed.

2. The uphill assisted zero-force pushing method according to claim 1, characterized in that, The acquisition of multiple pitch angles of the electric two-wheeled vehicle over a period of time includes: Raw data from the triaxial accelerometer and gyroscope are continuously collected via an inertial measurement unit. The original data is fused based on an inertial navigation algorithm to calculate the multiple pitch angles.

3. The uphill assisted zero-force pushing method according to claim 1, characterized in that, The determination of whether the electric two-wheeled vehicle is simultaneously in uphill mode and push mode based on the multiple pitch angles and multiple vehicle speeds includes: If all of the multiple pitch angles are greater than or equal to a preset first threshold and the duration is greater than a first preset time, then the electric two-wheeler is determined to be in uphill mode. If the speeds of all vehicles are less than or equal to a preset second threshold and the duration is greater than a second preset time, then the electric two-wheeler is determined to be in push mode. If the electric two-wheeler is in both uphill and push modes, then it is determined that the electric two-wheeler is simultaneously in both uphill and push modes.

4. The uphill assisted zero-force pushing method according to claim 1, characterized in that, The function of performing uphill assist zero-force propulsion includes: Obtain the current pitch angle of the electric two-wheeled vehicle; Based on the preset "pitch angle-assist torque" mapping relationship and the current pitch angle, the target assist torque is calculated; The target auxiliary torque is sent to the motor driver, which then drives the motor to output auxiliary thrust.

5. The uphill assisted zero-force pushing method according to any one of claims 1 to 4, characterized in that, After executing the uphill assist zero-force push function, it also includes: The uphill assist zero-force push function will automatically stop when one of the following conditions is met: Condition 1: The current pitch angle of the electric two-wheeled vehicle is less than the third threshold. Condition 2: The current speed of the electric two-wheeled vehicle is greater than the fourth threshold. Condition 3: The user is instructed to cancel the uphill assist zero-force push function.

6. A zero-force pushing device for uphill assist of an electric two-wheeled vehicle, characterized in that, include: The attitude perception and vehicle speed acquisition module is used to acquire multiple pitch angles and multiple vehicle speeds of the electric two-wheeler over a period of time. The uphill and push mode determination module is used to determine whether the electric two-wheeled vehicle is simultaneously in uphill mode and push mode based on the multiple pitch angles and the multiple vehicle speeds. The uphill assist zero-force pushing function execution module is used to execute the uphill assist zero-force pushing function if it is determined that the electric two-wheeler is simultaneously in the uphill mode and the pushing mode.

7. The uphill assist zero-force pushing device according to claim 6, characterized in that, The uphill and pushing mode determination module includes: The uphill mode determination unit is used to determine that the electric two-wheeled vehicle is in uphill mode if the plurality of pitch angles are all greater than or equal to a preset first threshold and the duration is greater than a first preset time. The pushing mode determination unit is used to determine that the electric two-wheeled vehicle is in pushing mode if the speeds of the plurality of vehicles are all less than or equal to a preset second threshold and the duration is greater than a second preset time. The mode comprehensive judgment unit is used to determine that the electric two-wheeled vehicle is simultaneously in both uphill mode and pushing mode if the electric two-wheeled vehicle is in both uphill mode and pushing mode.

8. The uphill assist zero-force pushing device according to claim 6 or 7, characterized in that, Also includes: The uphill assist zero-force push function stop module includes: The first stop condition triggering unit is used to automatically stop the execution of the uphill assist zero-force push function when the current pitch angle of the electric two-wheeled vehicle is less than the third threshold. The second stop condition triggering unit is used to automatically stop the execution of the uphill assist zero-force push function when the current speed of the electric two-wheeled vehicle is greater than the fourth threshold. The third stop condition triggering unit is used to automatically stop the execution of the uphill assist zero-force push function when it receives a user's instruction to cancel the uphill assist zero-force push function.

9. A hill-climbing assist zero-force pushing system for an electric two-wheeled vehicle, characterized in that, include: Triaxial accelerometer and gyroscope; An inertial measurement unit, the input terminals of which are electrically connected to the triaxial accelerometer and the gyroscope, respectively; A wheel speed sensor is installed on the wheel of the electric two-wheeler; The electric motor is used to output auxiliary thrust; A motor driver, with its output terminal connected to the motor, is used to drive the motor to output the auxiliary thrust; The main controller has its input terminals connected to the output terminal of the inertial measurement unit and the wheel speed sensor, respectively, and its output terminal connected to the input terminal of the motor driver. It is used to execute the uphill assist zero-force pushing method as described in any one of claims 1 to 5.

10. An electric two-wheeled vehicle, characterized in that, Including the uphill assist zero-force propulsion system as described in claim 9.

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