Shared two-wheeled vehicle lock sharing anti-dragging method and device, computer equipment, readable storage medium and program product

Abstract

The application relates to a shared two-wheeled vehicle lock closing anti-dragging method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring a current service state of a shared two-wheeled vehicle; acquiring an electric signal on a wheel hub motor phase line, and generating wheel movement characteristic data according to the electric signal; wherein the wheel movement characteristic data is used to represent whether the wheel is dragged and rotated by external force; generating wheel movement judgment result data according to preset reference wheel movement threshold data and the wheel movement characteristic data, wherein the wheel movement judgment result data is used to indicate that there is effective wheel movement or there is no effective wheel movement; and when the current service state is a lock closing state and the wheel movement judgment result data indicates that there is effective wheel movement, a signal for executing an anti-dragging action is sent. By using the method, the false positives and false negatives of the anti-dragging response can be reduced.

Description

Technical Field

[0001] This application relates to the field of on-board electronic control technology for shared two-wheeled vehicles, and in particular to a method, device, computer equipment, computer-readable storage medium, and computer program product for locking and preventing towing of shared two-wheeled vehicles. Background Technology

[0002] The Electronic Control Unit (ECU) is responsible for locking and unlocking the vehicle after the user returns it, and must prevent the vehicle from being illegally pushed or towed.

[0003] The industry commonly uses solutions such as Global Navigation Satellite System (GNSS) positioning displacement, vehicle body acceleration vibration, or mechanical wheel hub locks to prevent vehicles from being illegally pushed or towed.

[0004] However, GNSS suffers from delays or missed detections in short-distance pushing, cold start, or urban obstruction scenarios; vibration-based methods are easily confused with actual towing in terms of acceleration characteristics. Because these two methods are inaccurate in perceiving the towing status of shared two-wheeled vehicles, the anti-towing response suffers from high false alarm and high missed alarm rates. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for locking and preventing towing of shared two-wheeled vehicles, which can reduce false alarms and false negatives in the anti-towing response, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for locking and preventing towing of a shared two-wheeled vehicle, applied to an on-board control device, the method comprising:

[0007] Obtain the current business status of the shared two-wheeled vehicle;

[0008] The electrical signal on the phase line of the hub motor is acquired, and wheel motion characteristic data is generated based on the electrical signal; wherein, the wheel motion characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force.

[0009] Based on the preset baseline wheel movement threshold data and the wheel movement feature data, wheel movement determination result data is generated, wherein the wheel movement determination result data is used to indicate whether there is valid wheel movement or no valid wheel movement;

[0010] When the current business status is locked and the rotation determination result data indicates that there is a valid rotation, a signal to perform anti-drag operation is sent.

[0011] In one embodiment, the electrical signal includes a raw analog voltage signal; the step of generating wheel characteristic data based on the electrical signal includes:

[0012] The original analog voltage signal is sequentially subjected to amplitude limiting, filtering, and level comparison and shaping to obtain a standard digital square wave pulse stream.

[0013] Extract the pulse count value of the standard digital square wave pulse stream within a preset unit time window, and use the pulse count value as the wheel movement feature data; or, extract the real-time frequency value of the standard digital square wave pulse stream, and use the real-time frequency value as the wheel movement feature data.

[0014] In one embodiment, the method further includes:

[0015] Extract the duty cycle data of the standard digital square wave pulse stream;

[0016] When the wheel movement determination result data indicates that there is a valid wheel movement, the duty cycle data is compared with the preset duty cycle abnormal fluctuation range. If the duty cycle data exceeds the preset duty cycle abnormal fluctuation range, the valid wheel movement is determined to be an abnormal drag.

[0017] When the current business state is the locked state and the wheel movement determination result data indicates that there is valid wheel movement, an anti-drag operation is performed, including:

[0018] When the current business status is the locked state, the wheel movement determination result data indicates that there is a valid wheel movement, and the valid wheel movement is an abnormal dragging movement, the anti-drag movement operation is executed.

[0019] In one embodiment, sending the signal to perform the anti-drag action includes:

[0020] After issuing the auxiliary power supply activation control signal, a power-disabling command data is sent to the vehicle controller; wherein, the auxiliary power supply activation control signal is used to activate the auxiliary power supply of the on-board control device; and the power-disabling command data is used to instruct the vehicle controller to prohibit the output of driving force to the hub motor.

[0021] If the power-disabling command data is successfully sent to the vehicle controller, a command transmission success flag is generated;

[0022] Based on the successful instruction transmission flag, a motor lock engagement drive signal is issued and the motor lock timer is started to keep track of the time; wherein, the motor lock engagement drive signal is used to drive the motor lock actuator to lock the wheels.

[0023] In one embodiment, the method further includes:

[0024] If the motor lock timer has not expired, the motor lock actuator remains locked and the timing data of the motor lock timer is continuously monitored.

[0025] If the motor lock timer times out, a motor lock release signal and an auxiliary power supply disconnection control signal are issued sequentially, and the generated process flag data is cleared; wherein, the motor lock release signal is used to release the motor lock actuator.

[0026] In one embodiment, the method further includes:

[0027] The process ends when the current business state is the locked state and the rotation determination result data indicates that there is no valid rotation;

[0028] When the current business status is locked and the wheel movement determination result data indicates that there is no valid wheel movement, the preset stationary count value is accumulated and updated, and the accumulated and updated stationary count value is compared with the preset stationary confirmation count threshold. When the accumulated and updated stationary count value reaches or exceeds the stationary confirmation count threshold, authorization data that allows the execution of subsequent locking actions is generated.

[0029] When the current business state is the locked state and the wheel movement determination result data indicates that there is valid wheel movement, the stationary count value is cleared, and the locked state of the motor lock actuator is maintained or restarted.

[0030] Secondly, this application also provides an on-board control device, the device comprising:

[0031] The microcontroller is used to obtain the current business status of the shared two-wheeled vehicles;

[0032] A phase line signal conditioning circuit is used to acquire electrical signals on the phase line of the hub motor; and to generate wheel motion characteristic data based on the electrical signals; wherein the wheel motion characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force.

[0033] The microcontroller is also used to generate wheel movement determination result data based on preset benchmark wheel movement threshold data and the wheel movement feature data, wherein the wheel movement determination result data is used to indicate whether there is valid wheel movement or no valid wheel movement.

[0034] The microcontroller is also used to send a signal to perform an anti-drag operation when the current business state is locked and the wheel movement determination result data indicates that there is a valid wheel movement.

[0035] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0036] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0037] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0038] The aforementioned shared two-wheeled vehicle locking and anti-drag method, device, computer equipment, computer-readable storage medium, and computer program product first acquire the current business status of the shared two-wheeled vehicle; second, acquire the electrical signal on the phase line of the hub motor, and generate wheel movement characteristic data based on the electrical signal; wherein, the wheel movement characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force; and based on preset benchmark wheel movement threshold data and wheel movement characteristic data, generate wheel movement determination result data, wherein, the wheel movement determination result data is used to indicate whether there is effective wheel movement or not. Since the induced electromotive force (electrical signal) on the motor phase line is a physical product of the conversion of electrical energy and mechanical energy, according to Faraday's law of electromagnetic induction, an alternating electrical signal is only generated on the phase line when the rotor actually rotates (the magnetic flux changes), and this electrical signal is unforgeable. The generation of this electrical signal is unrelated to satellite signal reception quality, base station signal delay, or weather conditions, and the signal transmission time is short. Therefore, it can accurately and quickly acquire whether the wheels of the shared two-wheeled vehicle are being dragged and rotated by an external force, and accurately obtain wheel movement determination result data. Finally, when the current business status is locked and the wheel movement determination result data indicates that there is valid wheel movement, i.e., when illegal dragging occurs, a signal to execute the anti-drag action is sent. This application reduces false alarms and false negatives in the anti-drag response by abandoning the reliance on the estimation of vibration results or position and directly using whether the wheel has undergone substantial rotation, i.e., the only physical trigger condition for anti-drag locking. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating a method for locking and preventing towing of a shared two-wheeled vehicle in one embodiment;

[0041] Figure 2 This is a flowchart illustrating a duty cycle determination method in one embodiment;

[0042] Figure 3 This is a flowchart illustrating the process of sending a signal to perform an anti-drag operation in one embodiment;

[0043] Figure 4 This is a flowchart illustrating the process of making a judgment based on the current business status and the rotation judgment result data in one embodiment;

[0044] Figure 5 This is a structural block diagram of a shared two-wheeled vehicle locking and anti-drag device in one embodiment;

[0045] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] In one embodiment, such as Figure 1 As shown, a method for locking and preventing towing of a shared two-wheeled vehicle is provided. This embodiment illustrates the application of this method to an onboard control device. In this embodiment, the method includes the following steps S102 to S108. Wherein:

[0048] Step S102: Obtain the current business status of shared two-wheeled vehicles.

[0049] The current operating status includes locked, locked, and unlocked. The onboard control device is essentially an Electronic Control Unit (ECU). The onboard control device includes a Microcontroller Unit (MCU) and phase line signal conditioning circuitry. Shared two-wheeled vehicles include shared bicycles and shared electric scooters.

[0050] Optionally, the on-board control device obtains service instruction messages sent by an external operating platform via a wireless network (cellular module) through a microcontroller. The service instruction messages are received and parsed through the microcontroller's communication interface (such as a universal asynchronous transceiver) to obtain the current service status of the shared two-wheeler.

[0051] Furthermore, the microcontroller's communication interface receives and parses service instruction messages, including: the microcontroller continuously listens to the communication interface, and upon receiving a valid service instruction message from the operation platform, parses the service status field in the message; compares the parsed status value (e.g., a specific code representing unlocking, locking, or locking the vehicle) with a preset set of valid statuses. If a match is found, the status value is locked and written to the current service status variable in the microcontroller's random access memory. This variable serves as a global status identifier and is only updated when a new valid service instruction message is received; otherwise, it remains unchanged.

[0052] Step S104: Obtain the electrical signal on the phase line of the hub motor and generate wheel motion characteristic data based on the electrical signal.

[0053] Among them, wheel motion characteristic data is used to characterize whether the wheel is dragged and rotated by an external force.

[0054] Optionally, when the shared two-wheeled wheels are rotated by an external force (such as pushing or dragging), a raw analog voltage signal, i.e., a back electromotive force, is generated on the three-phase windings inside the hub motor. The on-board control device is connected to the hub motor phase lines via a phase line signal conditioning circuit through physical wiring. This circuit processes the raw analog voltage signal, and then the phase line signal conditioning circuit inputs the processed signal to the microcontroller. The microcontroller generates wheel motion characteristic data representing whether the wheel is being dragged and rotated by an external force based on the electrical signal.

[0055] Step S106: Generate wheel movement determination result data based on preset benchmark wheel movement threshold data and wheel movement feature data.

[0056] The wheel movement determination result data is used to indicate whether there is a valid wheel movement or not. The wheel movement determination result data is a binary flag, with a value of 1 for valid wheel movement and a value of 0 for no valid wheel movement.

[0057] Optionally, the microcontroller compares the preset baseline wheel movement threshold data with the wheel movement feature data. If the wheel movement feature data is greater than or equal to the baseline wheel movement threshold data, a logical true result is generated, indicating that there is a valid wheel movement. If the wheel movement feature data is less than the baseline wheel movement threshold data, it is determined that there is no valid wheel movement, and a logical false result is generated.

[0058] Step S108: When the current business status is locked and the rotation judgment result data indicates that there is a valid rotation, a signal to perform the anti-drag operation is sent.

[0059] Optionally, when the current business status is locked and the wheel movement determination result data indicates that there is valid wheel movement, it means that the shared two-wheeled vehicle has been towed while locked. Therefore, the microcontroller sends a signal to perform anti-towing action to the vehicle controller and motor lock installed on the shared two-wheeled vehicle.

[0060] In the aforementioned method for locking and preventing towing of shared two-wheeled vehicles, firstly, the current operating status of the shared two-wheeled vehicle is obtained; secondly, the electrical signal on the phase line of the hub motor is obtained, and wheel movement characteristic data is generated based on the electrical signal; the wheel movement characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force; based on preset benchmark wheel movement threshold data and wheel movement characteristic data, wheel movement determination result data is generated, which indicates whether there is effective wheel movement or not. Since the induced electromotive force (electrical signal) on the motor phase line is a physical product of the conversion of electrical energy and mechanical energy, according to Faraday's law of electromagnetic induction, an alternating electrical signal will only be generated on the phase line when the rotor actually rotates (the magnetic flux changes), and this electrical signal is unforgeable. The generation of this electrical signal is unrelated to satellite signal reception quality, base station signal delay, and weather conditions, and the signal transmission time is short. Therefore, it is possible to accurately and quickly obtain whether the wheels of the shared two-wheeled vehicle are being dragged and rotated by an external force, and accurately obtain wheel movement determination result data. Finally, when the current business status is locked and the wheel movement determination result data indicates that there is valid wheel movement, i.e., when illegal dragging occurs, a signal to execute the anti-drag action is sent. This application reduces false alarms and false negatives in the anti-drag response by abandoning the reliance on the estimation of vibration results or position and directly using whether the wheel has undergone substantial rotation, i.e., the only physical trigger condition for anti-drag locking.

[0061] In an exemplary embodiment, the electrical signal includes an original analog voltage signal; generating wheel movement feature data based on the electrical signal includes: sequentially performing amplitude limiting, filtering, and level comparison shaping on the original analog voltage signal to obtain a standard digital square wave pulse stream; extracting the pulse count value of the standard digital square wave pulse stream within a preset unit time window, and using the pulse count value as wheel movement feature data; or, extracting the real-time frequency value of the standard digital square wave pulse stream, and using the real-time frequency value as wheel movement feature data.

[0062] Optionally, the on-board control device uses a phase-line signal conditioning circuit with voltage divider resistors or clamping diodes to limit the high-voltage, irregular original analog voltage signal generated during motor rotation to a safe voltage range (e.g., below 5 volts) that the phase-line signal conditioning circuit can withstand, thus preventing damage to low-voltage components. Then, a low-pass filter in the phase-line signal conditioning circuit filters the limited signal, removing high-frequency noise caused by motor commutation, external electromagnetic interference, etc., and extracting the fundamental signal representing the rotational speed. This fundamental signal is then fed into a voltage comparator in the phase-line signal conditioning circuit. The comparator compares the input analog level with a preset reference level; when the signal voltage is higher than the reference level, it outputs a high level; otherwise, it outputs a low level. The originally continuously changing analog sine wave signal is digitized into a discrete standard digital square wave pulse sequence that the microcontroller can directly recognize. The rising or falling edge of each pulse represents a specific electrical angle rotated by the hub motor. The standard digital square wave pulse stream is a series of digital level signals composed of "0"s and "1"s, directly sent to the microcontroller's input capture pin or interrupt pin.

[0063] Furthermore, the microcontroller extracts one of two core data types from the standard digital square wave pulse stream according to a preset configuration (e.g., using pulse count per unit time by default because it requires less computation). The microcontroller determines the wheel characteristic data through the pulse count per unit time, including: the microcontroller starts an internal hardware timer and sets a fixed time window (e.g., 200 milliseconds). Within this window, the counter automatically increments by one whenever a rising edge (or falling edge) of the standard digital square wave pulse stream is detected. At the end of the window, the accumulated value of the counter is read.

[0064] Another approach is for the microcontroller to determine the wheel movement characteristic data through real-time frequency values, including: the microcontroller capturing the time interval between the rising edges of two adjacent pulses, and obtaining the real-time frequency value (Hertz) of the current pulse by calculating the reciprocal of this interval.

[0065] The conditioned standard digital square wave pulse stream has each pulse's rising / falling edge directly corresponding to the event of the motor rotor rotating through a fixed electrical angle. The microcontroller's input capture or external interrupt pin can capture this event within nanoseconds of pulse occurrence. The total delay from the start of wheel rotation to the system's determination of "wheel movement" is primarily determined by the "time required to meet the minimum pulse count." For low-speed movement (e.g., half a revolution per second), a 200ms window is sufficient to capture at least several pulses; for high-speed movement or towing, the response time is even shorter. This is far superior to solutions relying on GNSS displacement detection that require waiting for the vehicle to move several meters (taking several seconds to tens of seconds). The entire process is independent of satellite signal reception quality, base station signal coverage, and cloud platform communication latency; real-time performance is completely unaffected in GNSS blind zones such as tunnels, underground parking garages, and densely populated high-rise areas.

[0066] In this embodiment, by conditioning the phase line signal and extracting pulse features, extremely low time delay can be achieved without relying on any external signal.

[0067] In one exemplary embodiment, such as Figure 2 As shown, the duty cycle determination method includes the following steps S202 to S204. Wherein:

[0068] Step S202: Extract the duty cycle data of the standard digital square wave pulse stream.

[0069] Duty cycle refers to the percentage of the high-level duration within a complete pulse cycle in a standard digital square wave pulse stream. It is calculated as duty cycle = (high-level duration / pulse cycle) × 100%. The pulse cycle is the time interval from the start of the rising edge to the start of the next rising edge of a complete square wave pulse, and the high-level duration is the total duration for which the signal is in a logic high-level state within that pulse cycle.

[0070] Optionally, the on-board control device captures the rising edge of a pulse in a standard digital square wave pulse stream via a microcontroller and records the first moment value, which represents the start time of the pulse period and also the start time of the high-level duration. The microcontroller then switches the capture edge to falling edge triggering, preparing to capture the end time of the high level.

[0071] Furthermore, the onboard control unit captures the falling edge of the pulse via a microcontroller and records a second time value. The difference between the second time value and the first time value is the high-level duration (denoted as TH). The microcontroller switches the capture edge back to rising edge triggering, preparing to capture the rising edge of the next pulse. When the rising edge of the next pulse arrives, the value is recorded, along with a third time value. The difference between the third time value and the first time value is the pulse period (denoted as T).

[0072] Furthermore, the vehicle control device calculates the duty cycle data by dividing the high-level duration of the microcontroller by the pulse period multiplied by 100%.

[0073] To improve the stability of duty cycle measurement, the microcontroller continuously measures the duty cycle for multiple pulse cycles (e.g., 10 consecutive pulse cycles) and calculates its arithmetic mean, using this average as the duty cycle characteristic data for the current detection cycle. This averaging process effectively eliminates the influence of minute waveform distortions caused by commutation during motor rotation on the single-cycle duty cycle.

[0074] Step S204: When the rotation determination result data indicates that there is a valid rotation, the duty cycle data is compared with the preset duty cycle abnormal fluctuation range. If the duty cycle data exceeds the preset duty cycle abnormal fluctuation range, the valid rotation is determined to be an abnormal drag.

[0075] Optionally, when the hub motor rotates under normal constant speed or variable speed pushing conditions, the back electromotive force waveform generated by its three-phase windings is a regular sine wave. After amplitude limiting, filtering, and level comparison shaping, the standard digital square wave pulse current should have a duty cycle stable around 50%. Considering the slight deviations caused by comparator offset voltage, filter capacitor charging and discharging delay, and non-ideal factors in the motor magnetic circuit in actual circuits, the duty cycle under normal pushing conditions usually falls within an allowable fluctuation range centered on 50% (e.g., between 45% and 55%). The abnormal fluctuation range of the duty cycle refers to the numerical range outside the above-mentioned normal range. That is, the upper limit threshold of the abnormal fluctuation range of the duty cycle is set to 55%, and the lower limit threshold is set to 45%, and stored in the read-only memory or rewritable non-volatile memory of the microcontroller. The specific boundary values ​​of this abnormal fluctuation range of the duty cycle can be calibrated at the factory according to the parameters of different motor models and signal conditioning circuits, or can be dynamically adjusted by the operation platform through a remote communication interface.

[0076] Furthermore, the microcontroller compares the duty cycle data with a preset lower threshold for abnormal fluctuation range (e.g., 45%): if the duty cycle value is less than the lower threshold (i.e., duty cycle below 45%), it is determined to be abnormal dragging. If the duty cycle value is greater than or equal to the upper threshold (i.e., duty cycle above 45%), it is determined to be abnormal dragging. If the duty cycle value is greater than or equal to the lower threshold but less than the upper threshold, it is determined to be normal dragging.

[0077] The principle behind selecting the duty cycle as a further solution is as follows: When the wheel encounters external obstacles during propulsion (such as the wheel getting stuck in a road surface gap, being blocked by a road shoulder, or abnormal friction of the chain or brake pads), causing the wheel to fail to rotate continuously at a constant speed and instead exhibit periodic vibrations or momentary stalling, the rotor of the hub motor experiences high-frequency micro-vibrations at the stall position instead of continuous circular motion. The motion mode of its stator winding cutting the magnetic field is no longer the regular circular motion under constant speed, thus causing severe distortion of the induced back electromotive force waveform. For example, the waveform is no longer symmetrical, and there are significant differences in the amplitude and duration between the positive and negative half-cycles. After level comparison and shaping, the duty cycle of this distorted waveform deviates significantly from the 50% symmetry center (e.g., decreasing to below 20% or increasing to above 80%).

[0078] When the current business status is locked and the rotation judgment result data indicates that there is a valid rotation, a signal to perform an anti-drag operation is sent, including step S206: when the current business status is locked, the rotation judgment result data indicates that there is a valid rotation, and the valid rotation is an abnormal drag, a signal to perform an anti-drag operation is sent.

[0079] Optionally, when the current business status is locked, the rotation judgment result data indicates that there is a valid rotation, and the valid rotation is an abnormal drag, the microcontroller generates an anti-drag action signal, and executing the signal can start the complete anti-drag timing control process.

[0080] Optionally, if any current business status is locked, the wheel movement determination result data indicates that there is valid wheel movement, or the valid wheel movement is an abnormal dragging that does not meet the conditions, the microcontroller ends the current detection cycle, does not send any anti-drag movement signal, and will not execute any anti-drag movement accordingly.

[0081] In this embodiment, by changing the trigger condition for anti-drag from whether there is wheel movement to whether the wheel movement is normal and continuous, it is possible to effectively distinguish between normal pushing displacement and abnormal dragging such as jamming, stalling, and foreign object entanglement.

[0082] In one exemplary embodiment, such as Figure 3 As shown, sending a signal to perform the anti-drag action includes steps S302 to S306. Wherein:

[0083] In step S302, after issuing the auxiliary power supply turn-on control signal, a power-disable command data is sent to the vehicle controller.

[0084] Among them, the auxiliary power supply connection control signal is used to connect the auxiliary power supply of the vehicle control device; the power disabling command data is used to instruct the vehicle controller to prohibit the output of driving force to the hub motor.

[0085] Optionally, the microcontroller first outputs a high-level on / off control signal, i.e., an auxiliary power on / off control signal, to the general-purpose input / output interface (which is connected to the auxiliary power control switch circuit, such as a high-side metal-oxide-semiconductor field-effect transistor). The auxiliary power on / off control signal turns on the auxiliary power switch, and the battery current flows to the vehicle's auxiliary power circuit, providing operating voltage for the instrument panel, taillights, and critical motor lock drive circuits.

[0086] Auxiliary power must be switched on first, rather than immediately disabling the vehicle controller or locking the vehicle. This is because the vehicle controller itself requires auxiliary power to maintain the physical layer operation of its internal communication bus (such as a controller area network or RS-485 bus). If the controller is disabled without power, subsequent disabling commands will not be transmitted correctly via the bus; if the vehicle is locked without disabling the controller, the motor lock may be damaged due to sudden unexpected excitation of the controller. Therefore, switching on auxiliary power first provides a stable data and control signal transmission platform for all subsequent intelligent operations.

[0087] Furthermore, after a preset time has elapsed following the execution of the auxiliary power supply activation control signal, the microcontroller retrieves the disable command data from its memory and sends it to the vehicle controller. Upon receiving and parsing this disable command data, the vehicle controller immediately shuts down its internal drive power transistors, cutting off the power current output to the hub motor. At this point, even if the user turns the throttle, the hub motor will not receive any driving force. Simultaneously, because the vehicle controller is disabled, its internal phase drive transistors are in a high-resistance state, which will not interfere with subsequent phase signal acquisition, ensuring the purity of the detection.

[0088] Step S304: If the disabling command data is successfully sent to the vehicle controller, a command transmission success flag is generated.

[0089] Step S306: Based on the instruction sending success flag, send a motor lock engagement drive signal and start the motor lock timer to start timing.

[0090] The motor lock engagement drive signal is used to drive the motor lock actuator to lock the wheels.

[0091] Optionally, if the microcontroller successfully sends a disabling command to the vehicle controller, it generates a command transmission success flag. Based on this flag, the microcontroller outputs a high-level engagement drive signal (i.e., a motor lock engagement drive signal) to the general-purpose input / output interface (connected to the motor lock drive circuit, such as a relay or half-bridge driver chip). This signal is amplified by the motor lock drive circuit, generating a large current to drive the motor lock actuator (electromagnet or solenoid), causing the locking pin to pop out quickly, locking the wheel hub or transmission components, achieving physical locking, and preventing the vehicle from being pushed.

[0092] Optionally, after the microcontroller sends the disabling command data to the vehicle controller, and after a preset delay time has elapsed, the microcontroller sends a motor lock engagement drive signal.

[0093] Furthermore, while the vehicle is locked, the microcontroller reads the preset motor lock duration from the preset parameter area and loads it into a dedicated countdown timer inside, which then begins to count down (decreasing from the preset duration to zero).

[0094] In this embodiment, a strict three-step timing sequence ensures that there is absolutely no large driving current inside the hub motor when the motor lock actuator pops out. This avoids the "stalling impact current" several times the rated current that would be generated by forcibly locking the hub motor while it is energized and stalled, thus protecting the vehicle controller's MOS power transistor from instantaneous breakdown and burnout. In other words, by clearly defining the sequence of auxiliary power supply activation control ACC, controller disabling, and motor lock activation, the safety of the power strategy during the towing phase is improved.

[0095] In an exemplary embodiment, the method further includes: maintaining the locked state of the motor lock actuator and continuously monitoring the timing data of the motor lock timer when the motor lock timer has not expired; and sequentially issuing a motor lock release signal and an auxiliary power supply disconnection control signal when the motor lock timer expires, and clearing the generated process flag data.

[0096] The motor lock release signal is used to release the motor lock actuator. The motor lock release signal cancels the motor lock engagement drive signal.

[0097] Optionally, the microcontroller obtains an integer representing the remaining time (hereinafter referred to as the remaining count value) by reading the current count value register of the motor lock timer. This value is dynamically decremented; for example, 1000 milliseconds after the timer starts, the remaining count value is approximately 2000. The microcontroller compares the read remaining count value with a preset judgment benchmark (value 0). If the remaining count value is greater than 0 (i.e., the timer has not yet decremented to zero), it is determined that the timeout has not occurred. The microcontroller maintains the locked state of the motor lock actuator, then ends the current detection cycle, and waits for the next detection cycle to continue monitoring the timing data of the motor lock timer.

[0098] Optionally, if the remaining count value is equal to 0 (i.e., the timer has decremented to zero), it is determined that the timeout has occurred. The microcontroller then sequentially sends a motor lock release signal to release the wheel lock. Next, it sends an auxiliary power supply disconnect control signal and clears all generated process flag data.

[0099] The principle behind sequentially issuing the motor lock release signal and the auxiliary power disconnection control signal is as follows: If the auxiliary power is disconnected first, the motor lock drive circuit will instantly lose power. The large current in the coil will generate an extremely high reverse induced electromotive force (recoil voltage) due to the inductive characteristics. This high-voltage spike may break down the power switching transistor in the drive circuit. At the same time, if the locking pin fails to retract in time due to mechanical jamming at the moment of power loss, it will cause the locking pin to be stuck in the locked position, and the vehicle will not be able to return to normal. Releasing first and then disconnecting power ensures that the locking pin completes mechanical reset while the drive circuit still has power, and then the power is safely removed.

[0100] Furthermore, after release, it automatically resets and re-enters the detection loop, achieving a periodic locking mode of locking for a few seconds, releasing briefly, and then locking again for a few seconds.

[0101] In this embodiment, the maximum continuous energization time of the motor lock coil is strictly limited by the timer timeout release mechanism. Intermittent locking prevents the coil from overheating and burning the insulation layer or the driver chip from overheating due to prolonged energization.

[0102] In one exemplary embodiment, such as Figure 4 As shown, the judgment is made based on the current business status and the rotation judgment result data, including steps S402 to S406. Wherein:

[0103] Step S402: When the current business status is locked and the rotation judgment result data indicates that there is no valid rotation, the process ends.

[0104] Optionally, when the current business status is locked and the wheel movement determination result data indicates that there is no valid wheel movement, it means that the shared two-wheeled vehicle has not been towed, which is normal, and the process ends.

[0105] Step S404: When the current business status is locked and the wheel movement determination result data indicates that there is no valid wheel movement, the pre-set stationary count value is accumulated and updated, and the accumulated and updated stationary count value is compared with the preset stationary confirmation count threshold. When the accumulated and updated stationary count value reaches or exceeds the stationary confirmation count threshold, authorization data that allows the execution of subsequent locking actions is generated.

[0106] When a user clicks "return vehicle," the vehicle typically enters a "locking" state (waiting for the vehicle exchange platform to confirm whether the vehicle is parked properly and within the electronic fence, etc.) before officially locking. In the "locking" state, the vehicle is not yet fully locked. During this process, if the vehicle is accidentally knocked over by a passerby, blown by strong winds, or touched by a pet, causing a brief, non-continuous shaking or slight displacement, and this is mistakenly interpreted as illegal towing and immediately triggers the motor lock, the vehicle will be incorrectly locked during the normal waiting period for locking confirmation, impacting the user experience.

[0107] Optionally, the microcontroller reads the static count value (e.g., the current value is 3) from random access memory. It increments the read value by one and writes the result back to the static count value, thus updating the variable. The microcontroller reads the configuration parameter for the static confirmation count threshold (e.g., the value 5) from non-volatile memory. The microcontroller compares the accumulated and updated static count value with a preset threshold: if the accumulated and updated static count value is less than the preset threshold (e.g., 4 < 5), the condition is not met, and the microcontroller does not generate authorization data for subsequent locking actions. It only saves the updated static count value in memory, waiting for the next detection cycle to accumulate again. The microcontroller allows the execution of authorization data for subsequent locking actions until the accumulated and updated static count value is greater than or equal to the preset threshold (e.g., when continuously accumulated to 5, 5 ≥ 5).

[0108] Step S406: When the current business status is locked and the wheel movement determination result data indicates that there is valid wheel movement, clear the stationary count value and maintain or restart the locked state of the motor lock actuator.

[0109] Optionally, when the current business status is "locked" and the wheel movement determination data indicates valid wheel movement, the stationary count value is directly overwritten to 0. This is because all previously accumulated "no wheel movement" counts were based on the premise that "the wheels remained stationary for several detection cycles." The wheel movement event detected at this moment proves that this premise has been broken, and the stationary state of the vehicle has been interrupted in the time dimension, so the stationary count value is cleared.

[0110] Furthermore, if the current motor lock actuator is in a locked state, the microcontroller maintains the motor lock engagement drive signal and does not perform any additional operations, thus perpetuating the locked state. If the current motor lock actuator is not in a locked state, the microcontroller sends a motor lock engagement drive signal to the motor lock drive circuit, restarting the motor lock actuator to eject the locking pin and lock the wheel.

[0111] In this embodiment, by requiring continuous accumulation of stationary count values, it is ensured that any single or non-continuous wheel movement event caused by unintentional collisions by pedestrians, strong winds, animal contact, etc., will not cause the stationary count value to reach the preset threshold, thereby preventing the generation of lock authorization data and effectively preventing the vehicle from being incorrectly identified as lockable when it is not truly stationary.

[0112] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0113] Based on the same inventive concept, this application also provides a shared two-wheeled vehicle locking and anti-drag device for implementing the aforementioned shared two-wheeled vehicle locking and anti-drag method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more shared two-wheeled vehicle locking and anti-drag device embodiments provided below can be found in the limitations of the shared two-wheeled vehicle locking and anti-drag method described above, and will not be repeated here.

[0114] In one exemplary embodiment, such as Figure 5 As shown, a shared two-wheeled vehicle locking and anti-drag device is provided, including: a microcontroller 501 and a phase line signal conditioning circuit 502, wherein:

[0115] The microcontroller 501 is used to obtain the current business status of shared two-wheelers.

[0116] The phase line signal conditioning circuit 502 is used to acquire the electrical signal on the phase line of the hub motor; and generate wheel motion characteristic data based on the electrical signal; wherein, the wheel motion characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force.

[0117] The microcontroller 501 is also used to generate wheel movement determination result data based on preset benchmark wheel movement threshold data and wheel movement characteristic data, wherein the wheel movement determination result data is used to indicate whether there is valid wheel movement or not.

[0118] The microcontroller 501 is also used to send a signal to perform an anti-drag operation when the current business state is locked and the rotation determination result data indicates that there is a valid rotation.

[0119] In an exemplary embodiment, the electrical signal includes a raw analog voltage signal; the phase line signal conditioning circuit 502 is further configured to sequentially perform amplitude limiting, filtering, and level comparison and shaping processing on the raw analog voltage signal to obtain a standard digital square wave pulse stream. The microcontroller 501 is further configured to extract the pulse count value of the standard digital square wave pulse stream within a preset unit time window and use the pulse count value as the rotation feature data; or, to extract the real-time frequency value of the standard digital square wave pulse stream and use the real-time frequency value as the rotation feature data.

[0120] In an exemplary embodiment, the microcontroller 501 is further configured to extract duty cycle data of a standard digital square wave pulse stream; when the rotation determination result data indicates that there is valid rotation, the duty cycle data is compared with a preset abnormal fluctuation range of duty cycle; if the duty cycle data exceeds the preset abnormal fluctuation range of duty cycle, the valid rotation is determined to be abnormal dragging; when the current service state is locked, the rotation determination result data indicates that there is valid rotation, and the valid rotation is abnormal dragging, a signal to perform anti-drag operation is sent.

[0121] In an exemplary embodiment, the microcontroller 501 is further configured to send a power-on control signal to the vehicle controller and then send a power-off command data to the vehicle controller; wherein the power-on control signal is used to turn on the auxiliary power of the vehicle control device; the power-off command data is used to instruct the vehicle controller to prohibit the output of driving force to the hub motor; if the power-off command data is successfully sent to the vehicle controller, a command transmission success identifier is generated; based on the command transmission success identifier, a motor lock engagement drive signal is sent and a motor lock timer is started to start timing; wherein the motor lock engagement drive signal is used to drive the motor lock actuator to lock the wheels.

[0122] In an exemplary embodiment, the microcontroller 501 is further configured to maintain the locked state of the motor lock actuator and continuously monitor the timing data of the motor lock timer when the motor lock timer has not expired; and to sequentially issue a motor lock release signal and an auxiliary power supply disconnection control signal when the motor lock timer expires, and to clear the generated process flag data; wherein, the motor lock release signal is used to release the motor lock actuator.

[0123] In an exemplary embodiment, the microcontroller 501 is further configured to: terminate the process when the current business state is locked and the wheel movement determination result data indicates that there is no valid wheel movement; when the current business state is locked and the wheel movement determination result data indicates that there is no valid wheel movement, accumulate and update the preset stationary count value, and compare the accumulated and updated stationary count value with the preset stationary confirmation count threshold; when the accumulated and updated stationary count value reaches or exceeds the stationary confirmation count threshold, generate authorization data that allows the execution of subsequent locking actions; and when the current business state is locked and the wheel movement determination result data indicates that there is valid wheel movement, clear the stationary count value and maintain or restart the locked state of the motor lock actuator.

[0124] The modules in the aforementioned shared two-wheeled vehicle locking and anti-drag device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0125] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data about shared two-wheeled vehicles. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a method for locking and preventing towing of shared two-wheeled vehicles.

[0126] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0127] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0128] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0129] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0130] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0131] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0132] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for locking and preventing dragging of a shared two-wheeled vehicle, characterized in that, Applied to vehicle control devices, the method includes: Obtain the current business status of the shared two-wheeled vehicle; The electrical signal on the phase line of the hub motor is acquired, and wheel motion characteristic data is generated based on the electrical signal; wherein, the wheel motion characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force. Based on the preset baseline wheel movement threshold data and the wheel movement feature data, wheel movement determination result data is generated, wherein the wheel movement determination result data is used to indicate whether there is valid wheel movement or no valid wheel movement; When the current business status is locked and the rotation determination result data indicates that there is a valid rotation, a signal to perform anti-drag operation is sent.

2. The method according to claim 1, characterized in that, The electrical signal includes a raw analog voltage signal; the generation of wheel movement feature data based on the electrical signal includes: The original analog voltage signal is sequentially subjected to amplitude limiting, filtering, and level comparison and shaping to obtain a standard digital square wave pulse stream. Extract the pulse count value of the standard digital square wave pulse stream within a preset unit time window, and use the pulse count value as the wheel movement feature data; or, extract the real-time frequency value of the standard digital square wave pulse stream, and use the real-time frequency value as the wheel movement feature data.

3. The method according to claim 2, characterized in that, The method further includes: Extract the duty cycle data of the standard digital square wave pulse stream; When the wheel movement determination result data indicates that there is a valid wheel movement, the duty cycle data is compared with the preset duty cycle abnormal fluctuation range. If the duty cycle data exceeds the preset duty cycle abnormal fluctuation range, the valid wheel movement is determined to be an abnormal drag. When the current business state is the locked state and the wheel movement determination result data indicates that there is a valid wheel movement, a signal to perform anti-drag operation is sent, including: When the current business status is the locked state, the wheel movement determination result data indicates that there is a valid wheel movement, and the valid wheel movement is an abnormal dragging movement, a signal to perform an anti-dragping action is sent.

4. The method according to claim 1, characterized in that, The sending of the signal to perform the anti-drag action includes: After issuing the auxiliary power supply activation control signal, a power-disabling command data is sent to the vehicle controller; wherein, the auxiliary power supply activation control signal is used to activate the auxiliary power supply of the on-board control device; and the power-disabling command data is used to instruct the vehicle controller to prohibit the output of driving force to the hub motor. If the disabling command data is successfully sent to the vehicle controller, a command transmission success flag is generated; Based on the successful instruction transmission flag, a motor lock engagement drive signal is issued and the motor lock timer is started to keep track; wherein, the motor lock engagement drive signal is used to drive the motor lock actuator to lock the wheels.

5. The method according to claim 4, characterized in that, The method further includes: If the motor lock timer has not expired, the motor lock actuator remains locked and the timing data of the motor lock timer is continuously monitored. If the motor lock timer times out, a motor lock release signal and an auxiliary power supply disconnection control signal are issued sequentially, and the generated process flag data is cleared; wherein, the motor lock release signal is used to release the motor lock actuator.

6. The method according to claim 1, characterized in that, The method further includes: The process ends when the current business state is the locked state and the rotation determination result data indicates that there is no valid rotation; When the current business status is locked and the wheel movement determination result data indicates that there is no valid wheel movement, the preset stationary count value is accumulated and updated, and the accumulated and updated stationary count value is compared with the preset stationary confirmation count threshold. When the accumulated and updated stationary count value reaches or exceeds the stationary confirmation count threshold, authorization data that allows the execution of subsequent locking actions is generated. When the current business state is the locked state and the wheel movement determination result data indicates that there is valid wheel movement, the stationary count value is cleared, and the locked state of the motor lock actuator is maintained or restarted.

7. A vehicle-mounted control device, characterized in that, The device includes: The microcontroller is used to obtain the current business status of the shared two-wheeled vehicles; A phase line signal conditioning circuit is used to acquire electrical signals on the phase line of the hub motor; and to generate wheel motion characteristic data based on the electrical signals; wherein the wheel motion characteristic data is used to characterize whether the wheel is being dragged and rotated by an external force. The microcontroller is also used to generate wheel movement determination result data based on preset benchmark wheel movement threshold data and the wheel movement feature data, wherein the wheel movement determination result data is used to indicate whether there is valid wheel movement or no valid wheel movement. The microcontroller is also used to send a signal to perform an anti-drag operation when the current business state is locked and the wheel movement determination result data indicates that there is a valid wheel movement.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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