Flexible sensor and intelligent control method for two-wheeled vehicle

Abstract

The invention provides a flexible sensor and an intelligent control method for a two-wheeled vehicle, and relates to the field of two-wheeled vehicle intelligent control, and the method comprises the steps: obtaining state parameters of the two-wheeled vehicle; sensors arranged at one or more positions of the two-wheeled vehicle detect pressure signals or induction signals borne by the flexible packaging structure in real time and generate original electric signals; determining the intention of the user according to the original electric signals generated by the sensors at one or more positions on the two-wheeled vehicle; and executing a preset control strategy according to the determined intention. Through cooperative operation of the flexible sensors at one or more positions on the two-wheeled vehicle, the two-wheeled vehicle can sense, understand and actively adapt to the body language of a rider, and the operation intention of the rider is pre-judged. The convenience and safety of riding are greatly improved (a user does not need to distract to operate the button at a critical moment), and the riding fun is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control of two-wheeled vehicles, specifically to a flexible sensor and an intelligent control method for two-wheeled vehicles. Background Technology

[0002] Currently, many devices rely on traditional mechanical physical buttons for human-computer interaction. Taking the control unit of an electric-assist bicycle as an example, it typically has multiple independent physical buttons on the handlebars to control functions such as assist level and lights. However, this approach has several shortcomings. First, to achieve multiple functions, multiple independent button components are required, resulting in a complex and bulky control device that struggles to meet the growing demands for miniaturization and integration in device design. Second, the presence of moving parts and physical gaps in mechanical buttons makes them susceptible to poor contact or malfunction due to dust and moisture intrusion over long-term use. Waterproofing and dustproofing performance is also difficult to guarantee, and repeated pressing and wear of the mechanical contacts limits their lifespan. Furthermore, the function of each physical button is fixed during design and manufacturing, making it impossible to flexibly expand functionality through software upgrades or other means.

[0003] To overcome some of the shortcomings of mechanical buttons, existing technologies have incorporated pressure sensors into human-machine interaction solutions, such as installing pressure-sensing devices on vehicle handlebars to replace physical buttons. While these solutions simplify the surface structure to some extent, significant technical bottlenecks remain. Firstly, their structural integration is low, typically consisting of multiple separate components such as protective covers, sensors, and support structures. Gaps between these components make it difficult to fundamentally guarantee waterproof and dustproof performance. Furthermore, current sensor systems used in two-wheeled vehicles have low levels of intelligence and poor human-machine interaction, requiring further improvement. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a flexible sensor and an intelligent control method for two-wheeled vehicles.

[0005] A smart control method for a two-wheeled vehicle provided by the present invention includes: Obtain the status parameters of the two-wheeled vehicle; Sensors deployed at one or more locations on the two-wheeled vehicle detect pressure or sensing signals applied to the flexible encapsulation structure in real time and generate raw electrical signals. The user's intention is determined based on raw electrical signals generated by sensors at one or more locations on the two-wheeled vehicle; The pre-defined control strategy is executed according to the determined intent.

[0006] Preferably, it includes: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; When the flexible sensor located on the seat cushion detects that the pressure value or the change in the pressure center position exceeds a preset threshold, the flexible sensor located on the seat cushion generates an original electrical signal and transmits it to the controller. The controller determines the user's posture and intentions, including whether to increase or decrease assistance. The controller executes the preset control strategy and sends corresponding control commands to the electric assist system.

[0007] Preferably, it includes: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; The flexible sensor located on the foot pedal detects that the pedaling force value changes beyond a preset threshold within a certain period of time. The flexible sensor on the foot pedal generates an original electrical signal and transmits it to the controller. The controller determines the user's posture and intentions, including whether to increase or decrease assistance. The controller executes the preset control strategy and sends corresponding control commands to the electric assist system.

[0008] Preferably, it includes: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; Flexible sensors located on the two handles detect whether the user's grip force on the handles increases or decreases, and / or detect changes in the difference between the grip forces on the two handles, generating raw electrical signals and transmitting them to the controller; The controller determines the user's intentions, including whether they need to accelerate, decelerate, turn left, or turn right. The controller executes the preset control strategy and sends corresponding control commands to the electric assist system.

[0009] Preferably, the method includes the following steps: Obtain the status parameters of the two-wheeled vehicle; Sensors deployed at one or more locations on the two-wheeled vehicle detect pressure or sensing signals applied to the flexible encapsulation structure in real time and generate raw electrical signals. Perform accidental touch detection and analyze the actual intent; If both the anti-accidental touch judgment and the actual intention analysis pass, the corresponding control command is generated and the preset control strategy is executed; otherwise, it is not executed. When performing accidental touch prevention judgment, it is determined whether the amplitude of the original signal reaches the preset value; If the amplitude of the original signal reaches the preset value, the original electrical signal is deemed valid, and the initial operation type and / or operation parameters are confirmed to be valid; otherwise, it is invalid. When performing the anti-accidental touch judgment, it is simultaneously judged whether the rising edge and falling edge of the signal conform to the characteristic curve of normal pressing. If they do not conform, the preliminary operation type and / or operation parameters are invalid.

[0010] Preferably, in the operation of increasing the power assist level: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; The sensor detects the pressure signal or sensing signal of the increased assist level on the flexible packaging structure and generates the original electrical signal; The processing circuit performs anti-accidental touch judgment: it judges whether the amplitude of the original signal reaches the preset value and whether the rising and falling edges of the signal conform to the characteristic curve of normal pressing; at the same time, the controller performs actual operation intention analysis: it judges the real-time motion state of the two-wheeled vehicle based on the current real-time vehicle speed and power assist parameters, and judges the rationality of the operation by combining the real-time motion state of the two-wheeled vehicle and the operation type and / or operation parameters corresponding to the original electrical signal. If both the anti-accidental touch judgment and the actual intent analysis pass, the corresponding control command is generated; otherwise, it is not executed.

[0011] Preferably, when performing actual intent analysis, if the current real-time vehicle speed is greater than the preset threshold and the assist parameter is continuously zero or close to zero, it is determined that the user is currently in a high-speed downhill or flat road coasting state, and the pedal is not actively exerting force. Increasing the assist level has no practical meaning, and no corresponding control command is generated.

[0012] Preferably, the two-wheeled vehicle status parameters include the current real-time vehicle speed and control parameters.

[0013] According to the present invention, a flexible sensor is provided, and the control method of the flexible sensor is as follows: By using sensors installed inside the flexible packaging structure, the pressure signal or induction signal received by the flexible packaging structure is detected, and a raw electrical signal is generated. The original electrical signal is received by the processing circuit electrically connected to the sensor, and the preliminary operation type and / or operation parameters are parsed out, and / or the original electrical signal is received by the controller of an external device; Confirm the validity of the preliminary operation type and / or operation parameters; After confirming the validity of the preliminary operation type and / or operation parameters, a corresponding control command is generated, and the communication interface connected to the processing circuit is parsed to send the control command to the external controlled device.

[0014] Preferably, the flexible sensor is deployed at one or more locations on the two-wheeled vehicle, including handlebars, seat cushion, and / or footrests; One or more flexible sensors deployed on the two-wheeled vehicle are electrically connected to the vehicle's controller and transmit signals in real time; The flexible sensor deployed on the handlebars of the two-wheeled vehicle contains a processing circuit for parsing the raw electrical signal and confirming the validity of the preliminary operation type and / or operation parameters. After confirming the validity of the preliminary operation type and / or operation parameters, the sensor generates a corresponding control command, parses the communication interface connected to the processing circuit, and sends the control command to the external controlled device.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention enables the two-wheeled vehicle to sense, understand and actively adapt to the rider's body language and predict the user's operating intentions through the coordinated operation of flexible sensors at one or more locations on the vehicle. This posture-sensing-based adaptive control greatly improves the convenience, safety (users do not need to be distracted by operating buttons at critical moments) and riding pleasure of riding.

[0016] 2. Through its anti-accidental touch design, this invention greatly improves the operational reliability and safety of the device in real, complex, and dynamic riding environments, enhances the reliability of human-computer interaction, and effectively avoids problems such as unexpected gear shifts or accidental function triggering caused by bumps, gliding, or abnormal operating conditions, thereby significantly improving the user experience. Attached Figure Description

[0017] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This invention mainly illustrates the structural diagram of a two-wheeled vehicle system; Figure 2 This is a schematic diagram illustrating the sensing area of ​​the flexible sensor, which is the main feature of this invention. Detailed Implementation

[0018] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0019] Example 1 like Figure 1 and Figure 2As shown, an intelligent control method for a two-wheeled vehicle according to the present invention includes real-time acquisition of the two-wheeled vehicle's state parameters. Sensors deployed at one or more locations on the two-wheeled vehicle detect pressure signals or induction signals received by a flexible encapsulation structure in real time and generate raw electrical signals. The user's intention is determined based on the raw electrical signals generated by the sensors at one or more locations on the two-wheeled vehicle. A preset control strategy is executed according to the determined intention. The two-wheeled vehicle's state parameters include the current real-time vehicle speed and control parameters. The control parameters include power assist control parameters, steering control parameters, and headlight on / off control parameters, etc.

[0020] In one feasible implementation, the process includes: acquiring the current real-time speed and control parameters of the two-wheeled vehicle. A flexible sensor located on the seat detects a pressure value or pressure center position change exceeding a preset threshold, generating an initial electrical signal and transmitting it to the controller. The controller determines the user's posture and intention, including whether to increase or decrease power assistance. The controller executes a preset control strategy, sending corresponding control commands to the electric power assist system, i.e., commands to increase or decrease power assistance. When the controller determines, based on information collected by the flexible sensor, that the user has returned to a normal riding posture, it executes the preset control strategy again, sending a command to the electric power assist system to restore the initial power assistance.

[0021] In one feasible implementation, the process includes: acquiring the current real-time speed and control parameters of the two-wheeled vehicle. A flexible sensor located on the pedal detects that the pedaling force value changes beyond a preset threshold within a certain time period. The flexible sensor generates an initial electrical signal and transmits it to the controller. The controller determines the user's posture and intention, including whether to increase or decrease power assistance. The controller executes a preset control strategy, sending corresponding control commands to the electric power assist system, i.e., commands to increase or decrease power assistance. When the controller determines, based on the information collected by the flexible sensor, that the user's pedaling force value has returned to the normal range, the controller executes the preset control strategy again, sending a command to the electric power assist system to restore the initial power assistance.

[0022] In one feasible implementation, the method includes: acquiring the current real-time speed and control parameters of the two-wheeled vehicle. Flexible sensors located on the two handlebars detect increases or decreases in the user's grip force on the handlebars, and / or detect changes in the difference in grip force between the two handlebars, generating raw electrical signals and transmitting them to the controller. The controller determines the user's intention, including whether to accelerate, decelerate, turn left, or turn right. The controller executes a preset control strategy and sends corresponding control commands to the electric power assist system.

[0023] It should be noted that, in the further technical solution proposed in this application, the flexible sensors located on the seat, the flexible sensors located on the pedals, and the flexible sensors located on the two handlebars can be combined in pairs or work together to collect the user's riding information to comprehensively analyze the user's actual intentions. This helps to improve the accuracy of the analysis of the user's actual intentions, and the contact positions between the user and the two-wheeled vehicle are all collected, which improves the reliability of human-computer interaction.

[0024] For example, if the flexible sensors on the two handlebars detect that the gripping force on the left handlebar is greater than that on the right handlebar and exceeds a certain threshold, and the flexible sensor on the seat detects that the coordinates of the pressure center point remain unchanged or move backward, and the flexible sensor on the pedals detects that the pedaling force value decreases beyond a preset threshold within a certain period of time, the controller determines that the operator intends to turn right. The controller then executes the preset control strategy and sends a control command to the electric power assist system to reduce the power assist.

[0025] In one feasible implementation, the two-wheeled vehicle's controller acts as a central processing unit, exchanging real-time data with multiple sensors deployed at different locations on the vehicle via a wireless communication network, such as a Bluetooth Low Energy mesh network or multiple point-to-point connections. In this embodiment, at least one independent flexible sensor is deployed on the handlebars, seat, and pedals of the two-wheeled vehicle.

[0026] The flexible sensor located on the handlebars is mainly responsible for the user's active and explicit command input through their hands, such as precise gear adjustment, light switch, mode switching, etc.; as well as collecting information on the user's grip force on the handlebars.

[0027] The flexible sensor located on the seat is designed as a thin, cushion-like structure, housing a larger flexible pressure sensor divided into a two-dimensional array of sensing areas, such as a 4x4 matrix. This device is seamlessly embedded or fitted beneath the surface of the bicycle seat. Its processing circuit 2's primary task is to monitor the pressure distribution of the user's buttocks on the seat in real time and calculate parameters such as the position of the pressure center and the total pressure value. In other words, these parameters reflect the user's core torso posture. For example, when the user leans forward to prepare for a sprint, the pressure center shifts significantly forward; when the user leans back to cruise, the pressure center shifts backward; and on bumpy roads, rapid fluctuations in the total pressure value can serve as an indicator of the degree of bumpiness.

[0028] The flexible sensor located on the pedal is designed as a robust and wear-resistant ring or sheet structure, suitable for mounting on the pedal crank or integrated inside the pedal. Its internal flexible pressure sensor monitors the force applied to the crank or pedal by the user in real time. Correspondingly, its processing circuit 2 is responsible for analyzing these force signals to calculate the current pedaling force. These parameters directly reflect the user's force intention and level of physical exertion.

[0029] The three sensors on the two-wheeled vehicle continuously send their collected and preliminarily processed data to the vehicle's controller. The controller runs a core data fusion and decision-making algorithm that comprehensively analyzes seemingly fragmented data from different body parts to "understand" the user's overall riding posture and underlying intentions. The following describes the working process of this implementation using a specific riding scenario: Scenario: The user is riding smoothly on a flat road in economy mode when they encounter an uphill section ahead and prepare to push up the hill.

[0030] Posture Change and Signal Acquisition: The user instinctively leans forward, shifting their center of gravity towards the front of the bike, while simultaneously increasing the force and frequency of pedaling. At this moment, the flexible sensor located on the seat detects that the coordinates of the pressure center point have moved forward beyond a preset threshold; simultaneously, the flexible sensor located on the pedals detects a significant increase in pedaling force within a short period. These two devices send signals indicating "forward lean" and "increased force" to the controller, respectively.

[0031] Data fusion and intent determination: The controller's data fusion algorithm receives these two synchronously changing signals. The algorithm logic determines that when both the "forward tilt" and "increased force" conditions are met simultaneously, it can infer with high confidence that the user's intent is "to require strong power assistance to cope with high-resistance road conditions (such as climbing hills or accelerating)".

[0032] Adaptive Control Execution: Based on the aforementioned intent determination, the controller automatically executes preset control strategies without requiring any manual operation from the user on the flexible sensors located on the handlebars. For example, the controller will immediately send a command to the electric assist system to seamlessly switch the assist mode from the current "Economy Mode" to "Sport Mode" or "Climb Mode," or even directly increase the assist level by two levels. This allows the user to instantly receive powerful support when most needed, resulting in an extremely smooth and natural riding experience.

[0033] Recovery Status: After the user completes the climb and returns to a flat road to resume a normal riding posture, the flexible sensor on the saddle detects that the pressure center has returned to the normal range, and the flexible sensors on the pedals also detect that the pedaling force and frequency have returned to a steady level. The controller then combines this information again to determine that the high-intensity riding state has ended, and automatically switches the assist mode back to "economy mode" to save power.

[0034] In this embodiment, flexible sensors at multiple locations on the two-wheeled vehicle work collaboratively. The two-wheeled vehicle is no longer a machine that passively receives commands, but is transformed into an intelligent partner that can sense, understand, and proactively adapt to the rider's body language. This posture-sensing-based adaptive control greatly improves the convenience, safety (users do not need to be distracted by operating buttons at critical moments), and enjoyment of riding.

[0035] Example 2 Based on Embodiment 1, the intelligent control method for a two-wheeled vehicle provided by the present invention, in order to reduce erroneous operations caused by accidental touches, specifically includes the following steps: acquiring the state parameters of the two-wheeled vehicle.

[0036] Sensors deployed at one or more locations on the two-wheeled vehicle detect pressure or sensor signals acting on the outer surface of the flexible encapsulation structure in real time and generate raw electrical signals. A false touch prevention check is performed, along with actual intent analysis. If both the false touch prevention check and intent analysis pass, a corresponding control command is generated, and a preset control strategy is executed; otherwise, no action is taken.

[0037] More specifically, when performing the anti-accidental touch judgment, it is determined whether the amplitude of the original signal reaches the preset value; if the amplitude of the original signal reaches the preset value, the original electrical signal is determined to be valid, and the preliminary operation type and / or operation parameters are confirmed to be valid; otherwise, it is invalid; when performing the anti-accidental touch judgment, it is also determined whether the rising edge and falling edge of the signal conform to the characteristic curve of normal pressing; if they do not conform, the preliminary operation type and / or operation parameters are invalid.

[0038] In one feasible implementation, during the operation of increasing the power assist level: the current real-time speed and control parameters of the two-wheeled vehicle are acquired. A sensor detects the pressure signal or inductive signal received by the flexible encapsulation structure indicating the increase in power assist level and generates a raw electrical signal. The processing circuit performs anti-misoperation judgment: determining whether the amplitude of the raw signal reaches a preset value, and whether the rising and falling edges of the signal conform to the characteristic curves of normal pressing; simultaneously, the controller performs actual intent analysis: judging the real-time motion state of the two-wheeled vehicle based on the current real-time speed and the real-time power of the motor, and judging the rationality of the operation by combining the real-time motion state of the two-wheeled vehicle with the operation type and / or operation parameters corresponding to the raw electrical signal. If both the anti-misoperation judgment and the actual operation intent analysis pass, a corresponding control command is generated; otherwise, it is not executed. Further, during the actual operation intent analysis, if the current real-time speed is greater than a preset threshold, and the power assist parameter remains zero or close to zero, it is determined that the user is currently in a high-speed downhill or flat-road gliding state, and the pedal is not actively exerting force; increasing the power assist level is meaningless, and no corresponding control command is generated.

[0039] In one feasible implementation, a flexible sensor continuously detects whether the outer surface of the flexible packaging structure is subjected to pressure. When a user presses the area marked with a "+" icon, the sensing area below that area experiences pressure, causing a significant pulse-like increase in its capacitance. The microcontroller in the processing circuit then monitors this capacitance change in real time and receives the raw electrical signal. An analysis program running inside the controller analyzes the characteristics of the signal. For example, if the program determines that the signal originates from the sensing area and has a short duration (e.g., between 50 and 500 milliseconds), it interprets it as a "single" operation on the "+" area. Conversely, if the user presses the "light" icon area for more than a preset duration (e.g., 1.5 seconds), the processing circuit interprets it as a "long press" operation. After determining the initial operation type, the processing circuit executes basic anti-mistouch logic. For example, the logic determines whether the signal amplitude exceeds a preset effective pressure threshold to filter out extremely slight, unintentional touches. Simultaneously, it checks whether the rising and falling edges of the signal conform to the characteristic curve of a normal press to eliminate signal glitches caused by rapid vibrations. Once the operation is confirmed as valid through the anti-accidental touch check, the controller generates the corresponding control command based on the preset program logic. For example, a "single click" operation in the "+" area generates a control command data packet representing "increasing the assist level"; a "long press" operation in the "lights" area generates a control command to "switch the headlight on / off state." Finally, this control command data packet is sent to the e-bike's controller via a communication interface (i.e., a Bluetooth Low Energy module) in a wireless broadcast or point-to-point manner. The e-bike's controller receives and executes the command, thereby controlling the motor to increase the assist output or turn the headlights on / off, completing a full interactive operation.

[0040] While satisfying the aforementioned anti-accidental touch judgment logic, the flexible sensor of this application further incorporates anti-accidental touch judgment logic, enabling the intelligent sensing operation device to work more intelligently and reliably in complex real-world cycling environments, effectively avoiding misoperations caused by road bumps, unintentional user touches, etc. Specifically, the controller in the processing circuit of the flexible sensor executes the aforementioned anti-accidental touch judgment algorithm.

[0041] After the controller in the processing circuit parses the user's initial operation type and / or parameters (e.g., detecting a click operation on the "-" area), it does not directly generate control commands. Instead, the controller sends a "status query request" command to the e-bike's controller via a communication interface (e.g., a Bluetooth Low Energy module) to obtain the two-wheeler's current key dynamic status parameters. Upon receiving the request, the e-bike's controller immediately reads this data from its own sensors (such as wheel speed sensors and motor controllers) and packages it into "status information," returning it to the flexible sensor processing circuit.

[0042] After receiving status information including vehicle speed and motor power, the processing circuit's built-in anti-accidental touch logic module will make a comprehensive judgment based on a series of preset rules. Understandably, these rules are derived from extensive riding data analysis and experience summaries, aiming to cover typical accidental touch scenarios. For example: Bump and impact filtering: This mainly targets instantaneous impacts caused by uneven road surfaces (such as speed bumps or driving on gravel roads). The logic is as follows: if the detected pressure signal has an extremely short duration (e.g., less than 50 milliseconds) and the signal waveform presents as a sharp pulse lacking the smooth holding phase of a normal press, then regardless of its amplitude, it is determined to be an invalid operation caused by a bump and impact and is directly ignored.

[0043] Non-cycling Intent Operation Blocking: This feature aims to block meaningless or highly likely accidental actions during certain riding conditions. For example, the logic for "increase assist level" could be as follows: If the current speed is greater than a low threshold (e.g., 5 km / h), but the assist motor power has been at or near zero for a period of time (e.g., 2 consecutive seconds), the system can determine that the user is currently gliding downhill at high speed or on a flat road, and the pedals are not actively engaged. In this scenario, increasing the assist level is meaningless, and it's highly likely that the user accidentally touched the "+" area while adjusting their grip. Therefore, the system will temporarily block this "increase assist level" operation. It should be noted that this rule does not affect other functions (e.g., turning the lights on and off), as turning the lights on and off can be a valid user intent in any riding condition.

[0044] Safety Locking in Abnormal Operating Conditions: This feature handles potential abnormal situations that may occur in the vehicle to ensure safety. For example, its logic might be as follows: If the current vehicle speed is zero, but the motor power remains consistently above a significant threshold, it may indicate that the vehicle's wheels are stuck or the transmission system is malfunctioning, while the user is still unknowingly driving the motor. This is a dangerous abnormal state. In this case, the anti-accidental touch logic will determine that the current state is high-risk and block all operation commands from the sensing devices to prevent the situation from worsening. It may also send a locking signal to the controller via the communication interface.

[0045] Only when a preliminary operation passes the checks of all the aforementioned anti-accidental touch rules will the processing circuit ultimately confirm that the operation is the user's genuine and valid intention. At this point, the corresponding control command will be generated, and the preset control strategy will be executed. If any rule is triggered, the processing circuit will directly discard the operation signal without generating any output, thus achieving reliable erroneous operation filtering.

[0046] The anti-accidental touch design greatly improves the reliability and safety of the device in real, complex and dynamic riding environments, enhances the reliability of human-computer interaction, and effectively avoids problems such as unexpected gear shifts or accidental function triggering caused by bumps, gliding, abnormal operating conditions, etc., thereby significantly improving the user experience.

[0047] Example 3 Based on Embodiment 1 or Embodiment 2, a flexible sensor according to the present invention is operated as follows: Sensors installed inside the flexible packaging structure detect pressure or induced signals on the outer surface of the structure and generate raw electrical signals. A processing circuit electrically connected to the sensor receives these signals and parses them to determine the initial operation type and / or operating parameters. Alternatively, the controller of an external device may also receive the signals. The validity of the initial operation type and / or operating parameters is confirmed. Upon confirmation, a corresponding control command is generated, and the communication interface connected to the processing circuit is parsed to send the command to the external controlled device.

[0048] In a preferred embodiment, flexible sensors can be deployed at one or more locations on the two-wheeled vehicle, including handlebars, seat, and / or pedals. Multiple flexible sensors deployed on the two-wheeled vehicle are electrically connected to the vehicle's controller and transmit signals in real time. The flexible sensors deployed on the handlebars contain processing circuitry that can parse the raw electrical signals, confirm the validity of the initial operation type and / or operating parameters, generate corresponding control commands after confirming their validity, and parse the communication interface connected to the processing circuitry to send the control commands to external controlled devices.

[0049] The flexible sensor in this application includes: a flexible packaging structure for forming a packaging shell and serving as an operational interface; a flexible sensor disposed inside the flexible packaging structure for converting the mechanical force acting on the operational interface into an electrical signal; and a processing circuit board electrically connected to the flexible pressure sensor for receiving and processing the electrical signal.

[0050] The communication interface is electrically connected to the processing circuitry and communicates with external controlled devices.

[0051] In one feasible implementation, the flexible encapsulation structure is integrally molded from silicone or thermoplastic polyurethane (TPU) material. The flexible encapsulation structure constitutes the housing and base of the device. This structure, made of silicone, can be integrally molded using a high-precision liquid silicone injection molding process. This molding process ensures that the final housing is a completely seamless, airtight structure, thereby fundamentally preventing the intrusion of moisture and dust, and providing an extremely high level of protection, such as IP67 or higher. As an alternative implementation, the flexible encapsulation structure is designed as a hollow annular structure with an inner diameter adapted to the diameter of a bicycle handlebar, facilitating direct attachment to the handlebar during installation. The outer surface of this structure serves as the user's operating interface, featuring a smooth surface and a pleasant tactile feel. For user identification and operation, functional indicator icons, such as "+", "-", and a sun icon representing light, can be printed on its outer surface using processes such as screen printing or in-mold transfer. Unmarked areas can also be provided for user grip force information.

[0052] In one variation of the flexible packaging structure, it can be made of thermoplastic polyurethane using a two-color injection molding process. The main structural part of the device uses thermoplastic polyurethane with high hardness (e.g., Shore A hardness 90A) to ensure sufficient structural strength and wear resistance; while in the button function areas that need to be in contact with the user's fingers, a layer of thermoplastic elastomer material with lower hardness (e.g., Shore A hardness 60A) is co-molded using two-color injection molding. This design balances structural rigidity with the soft tactile feel of the operating area, while still maintaining the characteristics of a one-piece, seamless packaging structure.

[0053] In one feasible implementation, the flexible sensor is disposed within the internal cavity of the flexible encapsulation structure and tightly adheres to its inner wall. In this embodiment, the flexible sensor is preferably a capacitive pressure sensor. Specifically, it consists of a flexible thin film made of a carbon nanotube composite pressure-sensitive material. The dielectric constant of this material changes significantly with increasing pressure. When a user presses the outer surface of the flexible encapsulation structure, the pressure is transmitted to the flexible thin film without attenuation, causing a slight deformation and thus changing the sensor's capacitance. In a variation of the flexible sensor, it can be a piezoresistive sensor array. This sensor consists of two flexible substrates, each with multiple rows and columns of parallel conductive strips printed on it. Between the two substrates, a layer of piezoresistive material, such as conductive rubber doped with conductive particles, is filled or printed. When not under pressure, the rows and columns of conductive strips do not contact or have extremely high contact resistance at their intersections. When external pressure is transmitted to the sensor surface through the flexible encapsulation structure, the piezoresistive material at the corresponding positions is compressed, causing a significant and proportional decrease in the resistance between the rows and columns of conductive strips at the intersections.

[0054] In a preferred embodiment, the flexible sensor is divided into at least one independently identifiable sensing area, and the processing circuit can generate different control commands based on the sensing area from which the electrical signal originates. The processing circuit board operates based on the electrical signal. In this embodiment, to correspond to the "+", "-", and "light" icons on the outer surface of the flexible packaging structure, the flexible sensor is divided into three independent sensing areas: a first sensing area, a second sensing area, and a third sensing area. Each sensing area has an independent electrode lead-out, allowing its capacitance changes to be detected independently. It should be noted that this division can be achieved by designing different electrode patterns during the sensor manufacturing process.

[0055] In a preferred embodiment, the processing circuit, as the core control unit of the device, is responsible for signal acquisition, processing, and decision-making. In this embodiment, the processing circuit is integrated onto a miniaturized flexible printed circuit board (PCB), which is flexible enough to adapt to the irregular internal space of the flexible packaging structure, thereby further improving space utilization and integration. A low-power microcontroller is soldered onto this PCB, which integrates a high-precision capacitance detection circuit, such as a circuit based on charge transfer or time-to-digital converter principles. The processing circuit is connected to the electrodes of each sensing area of ​​the flexible sensor via internal connecting wires. These internal connecting wires are also flexible to ensure reliability during assembly and use. The microcontroller continuously scans the capacitance value of each sensing area at a set frequency (e.g., 100 times per second).

[0056] In a preferred embodiment, the communication interface is a wired communication interface or a wireless communication module. The communication interface is connected to the processing circuitry and is used to send the processing results to an external controlled device. In this embodiment, the communication interface is a low-power Bluetooth module integrated on the processing circuit board, which is responsible for wirelessly sending the control commands generated by the microcontroller to the main controller of the two-wheeled vehicle.

[0057] During assembly, the flexible printed circuit board with the flexible sensor is placed inside the cavity of a flexible silicone encapsulation structure, and then fixed and sealed with a flexible adhesive such as neutral silicone sealant, ultimately forming a completely sealed, robust whole without internal gaps. The device obtains the DC power required for operation from the two-wheeled vehicle's battery system via a power harness.

[0058] Through this embodiment, a highly integrated, waterproof, and dustproof sensing device has been successfully developed to replace the traditional controller consisting of three independent mechanical buttons. The device size can be reduced by more than 30%, and its theoretical service life is greatly extended.

[0059] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0060] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0061] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A smart control method for a two-wheeled vehicle, characterized in that, include: Obtain the status parameters of the two-wheeled vehicle; Sensors deployed at one or more locations on the two-wheeled vehicle detect pressure or sensing signals applied to the flexible encapsulation structure in real time and generate raw electrical signals. The user's intention is determined based on raw electrical signals generated by sensors at one or more locations on the two-wheeled vehicle; The pre-defined control strategy is executed according to the determined intent.

2. The intelligent control method for a two-wheeled vehicle as described in claim 1, characterized in that, include: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; When the flexible sensor located on the seat cushion detects that the pressure value or the change in the pressure center position exceeds a preset threshold, the flexible sensor located on the seat cushion generates an original electrical signal and transmits it to the controller. The controller determines the user's posture and intentions, including whether to increase or decrease assistance. The controller executes the preset control strategy and sends corresponding control commands to the electric assist system.

3. The intelligent control method for two-wheeled vehicles as described in claim 1, characterized in that, include: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; The flexible sensor located on the foot pedal detects that the pedaling force value changes beyond a preset threshold within a certain period of time. The flexible sensor on the foot pedal generates an original electrical signal and transmits it to the controller. The controller determines the user's posture and intentions, including whether to increase or decrease assistance. The controller executes the preset control strategy and sends corresponding control commands to the electric assist system.

4. The intelligent control method for a two-wheeled vehicle as described in claim 1, characterized in that, include: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; Flexible sensors located on the two handles detect whether the user's grip force on the handles increases or decreases, and / or detect changes in the difference between the grip forces on the two handles, generating raw electrical signals and transmitting them to the controller; The controller determines the user's intentions, including whether they need to accelerate, decelerate, turn left, or turn right. The controller executes the preset control strategy and sends corresponding control commands to the electric assist system.

5. The intelligent control method for a two-wheeled vehicle as described in claim 1, characterized in that, Includes the following steps: Obtain the status parameters of the two-wheeled vehicle; Sensors deployed at one or more locations on the two-wheeled vehicle detect pressure or sensing signals applied to the flexible encapsulation structure in real time and generate raw electrical signals. Perform accidental touch detection and analyze the actual intent; If both the anti-accidental touch judgment and the actual intention analysis pass, the corresponding control command is generated and the preset control strategy is executed. Otherwise, it will not be executed; When performing accidental touch prevention judgment, it is determined whether the amplitude of the original signal reaches the preset value; If the amplitude of the original signal reaches the preset value, the original electrical signal is deemed valid, and the initial operation type and / or operation parameters are confirmed to be valid; otherwise, it is invalid. When performing the anti-accidental touch judgment, it is simultaneously judged whether the rising edge and falling edge of the signal conform to the characteristic curve of normal pressing. If they do not conform, the preliminary operation type and / or operation parameters are invalid.

6. The intelligent control method for a two-wheeled vehicle as described in claim 1, characterized in that, In the process of increasing the power assist level: Obtain the current real-time speed and control parameters of the two-wheeled vehicle; The sensor detects the pressure signal or sensing signal of the increased assist level on the flexible packaging structure and generates the original electrical signal; The processing circuit performs anti-accidental touch judgment: it judges whether the amplitude of the original signal reaches the preset value and whether the rising and falling edges of the signal conform to the characteristic curve of normal pressing; at the same time, the controller performs actual intention analysis: it judges the real-time motion state of the two-wheeled vehicle based on the current real-time vehicle speed and power assist parameters, and judges the rationality of the operation by combining the real-time motion state of the two-wheeled vehicle and the operation type and / or operation parameters corresponding to the original electrical signal. If both the anti-accidental touch judgment and the actual intent analysis pass, the corresponding control command is generated; otherwise, it is not executed.

7. The intelligent control method for a two-wheeled vehicle as described in claim 6, characterized in that, When performing actual intent analysis, if the current real-time vehicle speed is greater than the preset threshold and the assist parameter is continuously zero or close to zero, it is determined that the user is currently in a high-speed downhill or flat road coasting state, and the pedal is not actively exerting force. Increasing the assist level has no practical meaning, and no corresponding control command is generated.

8. The intelligent control method for a two-wheeled vehicle as described in claim 1, characterized in that, The two-wheeled vehicle status parameters include the current real-time vehicle speed and control parameters.

9. A flexible sensor, characterized in that, The intelligent control method for a two-wheeled vehicle according to any one of claims 1 to 8, wherein the control method for the flexible sensor is as follows: By using sensors installed inside the flexible packaging structure, the pressure signal or induction signal received by the flexible packaging structure is detected, and a raw electrical signal is generated. The original electrical signal is received by the processing circuit electrically connected to the sensor, and the preliminary operation type and / or operation parameters are parsed out, and / or the original electrical signal is received by the controller of an external device; Confirm the validity of the preliminary operation type and / or operation parameters; After confirming the validity of the preliminary operation type and / or operation parameters, a corresponding control command is generated, and the communication interface connected to the processing circuit is parsed to send the control command to the external controlled device.

10. The flexible sensor as described in claim 9, characterized in that, The flexible sensor is deployed at one or more locations on the two-wheeled vehicle, including handlebars, seat, and / or footrests; One or more flexible sensors deployed on the two-wheeled vehicle are electrically connected to the vehicle's controller and transmit signals in real time; The flexible sensor deployed on the handlebars of the two-wheeled vehicle contains a processing circuit for parsing the raw electrical signal and confirming the validity of the preliminary operation type and / or operation parameters. After confirming the validity of the preliminary operation type and / or operation parameters, the sensor generates a corresponding control command, parses the communication interface connected to the processing circuit, and sends the control command to the external controlled device.

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