Two-wheeled vehicle

Abstract

The application provides a two-wheeled vehicle, which comprises a frame, a walking system and a power system. The frame is provided with a support assembly, and the support assembly comprises a side support, the side support comprising a side support rod and a rotating shaft, one end of the side support rod serving as a ground contact end. The support assembly further comprises a plurality of sensors, the plurality of sensors being arranged on at least one of the side support rod, the rotating shaft and the ground contact end, the plurality of sensors being used to detect a plurality of physical states of the side support rod, and the plurality of sensors comprising at least two of a position sensor, an angle sensor and a pressure sensor; a vehicle controller is electrically connected with the plurality of sensors, so as to determine, according to the detection results of the plurality of sensors, whether the side support rod is in a lifted state or a lowered state, and control the power system based on the lifted state or the lowered state. The two-wheeled vehicle provided by the application can reduce the probability of misjudgment of the state of the side support due to failure of a single sensor or environmental interference.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a two-wheeled vehicle. Background Technology

[0002] In related technologies, side stands on two-wheeled vehicles are typically equipped with sensors to detect whether the side stand rods are in a retracted or extended state. However, currently, the sensors on side stands lack a cross-validation process. As a result, when the sensors fail or are interfered with, it can easily lead to safety accidents involving the two-wheeled vehicle. For example, when the sensors on the side stand become unstable due to dust or corrosion, or when the two-wheeled vehicle is traveling on bumpy roads and the sensors on the side stand are briefly disconnected, it may cause the engine to stall abnormally or an abnormal high voltage to drop, thus affecting the safe operation of the two-wheeled vehicle. Utility Model Content

[0003] In view of this, this application provides a two-wheeled vehicle with higher safety.

[0004] This application provides a two-wheeled vehicle, including: a frame, a walking system, a power system, and a vehicle controller; the walking system is at least partially located under the frame; the power system is supported by the frame and is used to drive the walking system; the vehicle controller is used to control at least the power system. The frame is provided with a support assembly, which includes a side support, each side support including a side support rod and a pivot. One end of the side support rod serves as a ground contact end for contacting the ground, and the other end of the side support rod is connected to the pivot, which is also connected to the frame. The pivot is used to limit the side support rod to a raised or lowered state. The support assembly also includes multiple sensors, which are respectively disposed at least one of the side support rod, the pivot, and the ground contact end. The multiple sensors are used to detect various physical states of the side support rod, including at least two of a position sensor, an angle sensor, and a pressure sensor. The vehicle controller is electrically connected to the multiple sensors to determine whether the side support rod is in a raised or lowered state based on the detection results of the multiple sensors, and controls the power system based on the raised or lowered state.

[0005] In one embodiment, the position sensor includes a magnetic switch and is mounted on a rotating shaft for detecting the position of the side support rod relative to the frame.

[0006] In one embodiment, the angle sensor includes a gyroscope, which is disposed on the side support rod and is used to detect the rotation angle of the side support rod.

[0007] In one embodiment, a pressure sensor is disposed at the ground contact end to detect the pressure at the ground contact end.

[0008] In one embodiment, the multiple sensors include a position sensor, an angle sensor, and a pressure sensor. When the detection results of the multiple sensors meet at least two of the preset conditions, the vehicle controller determines that the side support strut is in the lowered state.

[0009] In one embodiment, the two-wheeled vehicle includes a posture sensing component mounted on the frame. The posture sensing component is electrically connected to a vehicle controller, which determines whether the side support strut is in a lowered or raised state based on the detection results of multiple sensors and posture parameters.

[0010] In one embodiment, the power system includes an engine control unit and an engine that are electrically connected to each other. The engine control unit is used to control the engine. When the vehicle controller determines that the side support strut is in the lowered state, the engine control unit controls the engine to stop working. When the vehicle controller determines that the side support strut is in the raised state, the engine control unit responds to the user's operation and controls the engine to work.

[0011] In one embodiment, the power system includes a motor control unit, a motor, and a power battery. The power battery is electrically connected to the motor to supply power to the motor, and the motor is electrically connected to the walking system to drive the walking system. The vehicle controller is electrically connected to the motor control unit, which controls the motor. When the vehicle controller determines that the side support rod is in the lowered state, the motor control unit controls the motor to stop working. When the vehicle controller determines that the side support rod is in the raised state, the motor control unit responds to the user's operation and controls the motor to work.

[0012] In one embodiment, the two-wheeled vehicle also includes a seat and a pressure detection component. The seat is disposed on the frame, and the pressure detection component is disposed below the seat. The pressure detection component is electrically connected to the vehicle controller. When the vehicle controller determines that the side support strut is in the raised state, and the vehicle controller determines that the driver is sitting on the seat according to the pressure detection component, it controls the power system to work to drive the walking system.

[0013] In one embodiment, the two-wheeled vehicle also includes a reminder component, which is electrically connected to the vehicle controller. When the two-wheeled vehicle is in motion and the vehicle controller determines that the side support rod is in the lowered state, the reminder component outputs a reminder message.

[0014] The two-wheeled vehicle provided in this application, by setting a sensor module including at least two of the following on the side stand, such as a position sensor, an angle sensor, and a pressure sensor, can reduce the probability of misjudging the side stand status due to the failure of a single sensor or environmental interference through multi-dimensional data cross-verification, thereby enhancing the system robustness of the two-wheeled vehicle under complex road conditions and improving the safety of the two-wheeled vehicle. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0016] Figure 1 This is a schematic diagram of a two-wheeled vehicle provided in one embodiment of this application.

[0017] Figure 2 This is a schematic diagram showing the connection between the vehicle controller and the sensor module provided in one embodiment of this application.

[0018] Figure 3 This is a schematic diagram showing the connection between the vehicle controller, sensor module, and posture sensing component provided in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram showing the connection between the vehicle controller and the power system according to an embodiment of this application.

[0020] Figure 5 This is a schematic diagram showing the connection between the vehicle controller and the power system according to another embodiment of this application.

[0021] Figure 6 This is a schematic diagram showing the connection between the vehicle controller and the reminder component according to an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0023] It is understood that the connection relationships described in this application refer to direct or indirect connections. For example, the connection between A and B can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components. For example, A can be directly connected to C, and C can be directly connected to B, thus achieving a connection between A and B through C. It is also understood that the "A connects to B" described in this application can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components.

[0024] In the description of this application, the words "first," "second," etc., are used only to distinguish different objects and do not limit the quantity or order of execution, nor do they imply that they must be different. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0026] Some embodiments will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please see Figure 1 , Figure 1 A two-wheeled vehicle 100 is provided in one embodiment of this application. The two-wheeled vehicle 100 includes a frame 11, a body panel 12, a running system 13, a suspension system 14, a power system 15, and a braking system 16. The frame 11 serves as the basic framework of the two-wheeled vehicle 100, supporting the body panel 12. The frame 11 includes a front portion and a rear portion, with a driving area for seating located between the front and rear portions. The body panel 12 at least partially covers the power system 15, providing a certain degree of protection for the power system 15. The running system 13 is at least partially located below the frame 11. The running system 13 is connected to the underside of the frame 11 via the suspension system 14. The running system 13 includes a front wheel and a rear wheel, which are disposed below the frame 11 via the suspension system 14, with the front wheel located below the front portion of the frame 11 and the rear wheel located below the rear portion of the frame 11.

[0028] The frame 11 also includes a support assembly 17 for supporting the two-wheeled vehicle 100. The support assembly 17 includes a side stand 171 and multiple sensors 172 mounted on the side stand 171 (see [link to documentation]). Figure 2 The side support 171 includes a side support rod 1711 and a pivot 1712. One end of the side support rod 1711 serves as the ground contact end 1713, for contacting the ground. The other end of the side support rod 1711 is connected to the pivot 1712, which is also connected to the frame 11. The pivot 1712 is used to limit the side support rod 1711 to a raised or lowered state. When the side support rod 1711 is in the lowered state, it can support the two-wheeled vehicle 100.

[0029] The side support rod 1711 can be a metal frame. In this embodiment of the application, there is no specific limitation on the type of the side support rod 1711, as long as it meets the purpose of supporting the two-wheeled vehicle 100.

[0030] Multiple sensors 172 are respectively disposed on at least one of the side support rod 1711, the rotating shaft 1712, and the ground contact end 1713. The multiple sensors 172 are used to detect various physical states of the side support rod 1711 and output signal combinations. The multiple sensors 172 include at least two of a position sensor 1721, an angle sensor 1722, and a pressure sensor 1723. The position sensor 1721 is disposed on the rotating shaft 1712 and is used to detect the position of the side support rod 1711 relative to the frame 11. The position sensor 1721 can be a magnetic switch, a capacitive sensor, a magnetic position sensor, an optical sensor, etc. In this embodiment, the position sensor 1721 is a magnetic switch. The angle sensor 1722 can be a gyroscope, and the angle sensor 1722 can be disposed on the side support rod 1711, for example, at the middle of the side support rod 1711, and is used to detect the rotation angle of the side support rod 1711. Pressure sensor 1723 is located at ground contact end 1713 and is used to detect the pressure at ground contact end 1713.

[0031] The power system 15 is supported by the frame 11 and drives the running system 13. The braking system 16 is connected to the running system 13, and is at least partially connected to the frame 11 and allows the driver to operate the two-wheeled vehicle 100. The braking system 16 includes brakes on the two-wheeled vehicle 100.

[0032] Please continue reading. Figure 2 The two-wheeled vehicle 100 also includes a vehicle controller 18. The vehicle controller 18 is electrically connected to multiple sensors 172 and is used to receive a combination of signals output by the multiple sensors 172 to determine whether the side support rod 1711 is in a raised or lowered state based on the detection results of the multiple sensors 172, and to control the power system 15 based on the raised or lowered state.

[0033] For example, in some embodiments, the plurality of sensors 172 include a position sensor 1721, an angle sensor 1722, and a pressure sensor 1723, and the vehicle controller 18 determines that the side support rod 1711 is in the lowered state when the detection results of the plurality of sensors 172 meet at least two of the preset conditions; otherwise, the vehicle controller 18 determines that the side support rod 1711 is in the raised state. The preset conditions include: The detection result of position sensor 1721 is that the side support strut 1711 is in the lowered state relative to the frame 11; The angle sensor 1722 detected that the rotation angle of the side support rod 1711 was within the preset angle range; The pressure value of the ground contact end 1713 is greater than or equal to the preset pressure value.

[0034] Thus, in this embodiment, by cross-validating multi-dimensional data from position sensor 1721, angle sensor 1722, and pressure sensor 1723, the probability of misjudging the side stand status due to the failure of a single sensor or environmental interference can be reduced, thereby enhancing the system robustness of the two-wheeled vehicle 100 under complex road conditions and improving the safety of the two-wheeled vehicle 100.

[0035] Specifically, the signal combination includes a first signal output by position sensor 1721 and a second signal output by angle sensor 1722. It is understood that in some embodiments, the first, second, and third signals output by position sensor 1721, angle sensor 1722, and pressure sensor 1723, respectively, are analog signals. Furthermore, the vehicle controller 18 is equipped with an analog-to-digital converter circuit (not shown in the figure). The analog-to-digital converter circuit receives the first, second, and third signals and converts them into corresponding digital signals to represent voltage (or current), angle, and pressure values, respectively. Therefore, the vehicle controller 18 determines the detection result of each sensor based on the corresponding voltage (or current), angle, and pressure values.

[0036] For example, if the voltage value represented by the first signal output by the position sensor 1721 is less than the preset voltage value, or the current value represented by the first signal is less than the preset current value, it indicates that the detection result output by the position sensor 1721 is that the side support rod 1711 is in the lowered state; conversely, if the voltage value represented by the first signal output by the position sensor 1721 is greater than or equal to the preset voltage value, or the current value represented by the first signal is greater than or equal to the preset current value, it indicates that the detection result output by the position sensor 1721 is that the side support rod 1711 is in the raised state.

[0037] When the angle value represented by the second signal output by the angle sensor 1722 is within the preset angle range (e.g., 75°~85°), it indicates that the detection result output by the angle sensor 1722 is that the side support rod 1711 is in the lowered state; conversely, when the angle value represented by the second signal output by the angle sensor 1722 is less than the preset angle (e.g., 10°), it indicates that the detection result output by the angle sensor 1722 is that the side support rod 1711 is in the raised state.

[0038] When the pressure value represented by the third signal output by pressure sensor 1723 is greater than or equal to a preset pressure value (e.g., 20 N), it indicates that the detection result output by pressure sensor 1723 is that the side support rod 1711 is in the lowered state; conversely, when the angle value represented by the second signal output by pressure sensor 1723 is less than the preset pressure value (e.g., 20 N), it indicates that the detection result output by pressure sensor 1723 is that the side support rod 1711 is in the raised state. It is understood that this application does not specifically limit the preset threshold value used by each sensor to determine the state of the side support rod 1711.

[0039] Thus, in some embodiments, when the position sensor 1721 is briefly disconnected due to vibration, causing the current value represented by the first signal to be less than the preset current value, the angle value represented by the second signal output by the angle sensor 1722 to be less than the preset angle, and the pressure value represented by the third signal output by the pressure sensor 1723 to be less than the preset pressure value, the vehicle controller 18 determines that the side support rod 1711 is in the raised state, thereby reducing the probability of misjudging the state of the side support rod 1711 due to environmental interference.

[0040] For example, in some embodiments, after the two-wheeled vehicle 100 performs a power-on self-test and confirms that the position sensor 1721 has failed, the vehicle controller 18 can determine the state of the side support rod 1711 based on the second and third signals output by the angle sensor 1722 and the pressure sensor 1723, respectively. For example, when the angle value represented by the second signal is greater than 80° and the pressure value represented by the third signal is 20N, the vehicle controller 18 determines that the side support rod 1711 is in the lowered state. For another example, after the two-wheeled vehicle 100 performs a power-on self-test and confirms that the pressure sensor 1723 has failed, the vehicle controller 18 can determine the state of the side support rod 1711 based on the first and second signals output by the position sensor 1721 and the angle sensor 1722, respectively. For example, when the current value represented by the first signal is less than a preset current value and the angle value represented by the second signal is within a preset angle range for a preset duration, the vehicle controller 18 determines that the side support rod 1711 is in the lowered state. In this way, the normal operation of the two-wheeled vehicle 100 can be guaranteed even if any sensor fails, thus preventing the paralysis of the two-wheeled vehicle 100's control system.

[0041] It is understood that in other embodiments, when the plurality of sensors 172 includes at least two of the three: position sensor 1721, angle sensor 1722, and pressure sensor 1723, each sensor may be assigned a different weight, thereby determining the state of the side support rod 1711 based on the detection result of each sensor and its corresponding weight. This application does not impose specific limitations on the weights of the position sensor 1721, angle sensor 1722, and pressure sensor 1723.

[0042] Please continue reading. Figure 3 In another embodiment, the two-wheeled vehicle 100 further includes a pose sensing component 19 disposed on the frame 11. The pose sensing component 19 is electrically connected to the vehicle controller 18 and is used to output pose parameters to the vehicle controller 18. The vehicle controller 18 determines whether the side support rod 1711 is in a lowered state or a raised state based on the detection results of multiple sensors 172 and the pose parameters.

[0043] For example, the pose sensing component 19 may be a gyroscope or angle sensor mounted on the frame 11. Pose parameters may include the tilt angle of the two-wheeled vehicle 100 and / or the slope of the two-wheeled vehicle 100. Simultaneously, the plurality of sensors 172 includes an angle sensor 1722, and at least one of a position sensor 1721 and a pressure sensor 1723, and the signal combination includes a second signal output by the angle sensor 1722, and at least one of a first signal output by the position sensor 1721 and a third signal output by the pressure sensor 1723. Thus, in this embodiment, the vehicle controller 18 determines whether the side support strut 1711 is in a lowered or raised state based on the signal combination and pose parameters. That is, in some embodiments, when the plurality of sensors 172 includes at least two sensors, including the angle sensor 1722, the detection result of the angle sensor 1722 can be corrected by combining the pose parameters to further determine the probability of misjudging the state of the side support strut 1711. This application does not limit the specific algorithm by which the vehicle controller 18 determines whether the side support rod 1711 is in a lowered or raised state based on signal combinations and pose parameters. For example, in some embodiments, when the angle value represented by the second signal exceeds a preset range, the vehicle controller 18 can calculate an angle deviation value based on the pose parameters, and adjust the angle value represented by the second signal according to the angle deviation value, thereby obtaining a more accurate angle value for the side support rod 1711, enabling the vehicle controller 18 to more accurately determine the state of the side support rod 1711.

[0044] Please continue reading. Figure 4 In some embodiments, when the two-wheeled vehicle 100 is a motorcycle, the power system 15 includes an engine control unit 151 and an engine 152 that are electrically connected to each other. The engine control unit 151 is electrically connected to the vehicle controller 18. The engine control unit 151 is used to control the engine 152. Specifically, when the vehicle controller 18 determines that the side stand strut 1711 is in the lowered state, the engine control unit 151 controls the engine 152 to stop working; when the vehicle controller 18 determines that the side stand strut 1711 is in the raised state, the engine control unit 151 responds to the user's operation and controls the engine 152 to work.

[0045] Specifically, when the vehicle controller 18 determines that the side stand 1711 is in the lowered state based on the signal combination, the vehicle controller 18 outputs a first control signal to the engine control unit 151. The engine control unit 151 then controls the engine 152 to stop working based on the first control signal, thus putting the two-wheeled vehicle 100 into a parking locked state. It can be understood that when the two-wheeled vehicle 100 is in the parking locked state, even if the driver operates the power system 15, for example, by twisting the throttle, the engine control unit 151 will not control the engine 152 to work, and therefore cannot drive the walking system 13, thus preventing the two-wheeled vehicle 100 from moving when the side stand 1711 is in the lowered state. This prevents the two-wheeled vehicle 100 from moving when the side stand 1711 is in the lowered state, thus preventing the side stand 1711 from hindering the movement of the two-wheeled vehicle 100 and causing a safety accident.

[0046] When the vehicle controller 18 determines that the side support strut 1711 is in the raised state based on the signal combination, the vehicle controller 18 outputs a second control signal to the engine control unit 151. The engine control unit 151 then responds to the user's operation and controls the engine 152 to operate. In other words, when the side support strut 1711 is in the raised state, it indicates that the driver intends to drive. At this time, the vehicle controller 18 outputs a second control signal to the engine control unit 151, putting the two-wheeled vehicle 100 into a power-on ready state. When the two-wheeled vehicle 100 is in the power-on ready state, the driver operates the power system 15, for example, by twisting the throttle. The engine control unit 151 then controls the drive engine 152 to operate, driving the walking system 13, thereby enabling the two-wheeled vehicle 100 to move normally.

[0047] Please continue reading. Figure 5 In some embodiments, when the two-wheeled vehicle 100 is an electric two-wheeled vehicle, the power system 15 includes a motor control unit 153, a motor 154, a power battery 155, and a battery management system (BMS) 156. The BMS 156 is used to protect and control the power battery 155. The power battery 155 is electrically connected to the motor 154 to supply power to the motor 154. The motor 154 is electrically connected to the walking system 13 to drive the walking system 13. The vehicle controller 18 is electrically connected to the motor control unit 153, which controls the motor 154. Specifically, when the vehicle controller 18 determines that the side support rod 1711 is in the lowered state, the motor control unit 153 controls the motor 154 to stop working; when the vehicle controller 18 determines that the side support rod 1711 is in the raised state, the motor control unit 153 responds to the user's operation and controls the motor 154 to work.

[0048] Specifically, when the vehicle controller 18 determines that the side support rod 1711 is in the lowered state based on the signal combination, the vehicle controller 18 outputs a third control signal to the motor control unit 153 and a power-down request signal to the BMS 156. The motor control unit 153 controls the motor 154 to stop working according to the third control signal. At the same time, the BMS 156 controls the power battery 155 to stop supplying power to the motor 154 according to the power-down request signal. In other words, when the vehicle controller 18 determines that the side support rod 1711 is in the lowered state, the vehicle controller 18 controls the two-wheeled vehicle 100 to be in the parking locked state.

[0049] When the vehicle controller 18 determines that the side support rod 1711 is in the raised state based on the signal combination, the vehicle controller 18 outputs a fourth control signal to the motor control unit 153 and a power-on request signal to the BMS 156. The motor control unit 153, based on the fourth control signal, responds to the user's operation and controls the motor 154 to operate. Simultaneously, the BMS 156 controls the power battery 155 to supply power to the motor 154 based on the power-on request signal. In other words, when the vehicle controller 18 determines that the side support rod 1711 is in the raised state, the vehicle controller 18 controls the two-wheeled vehicle 100 to be in a power-on ready state. At this time, the motor control unit 153 can respond to the user's operation, such as the driver turning the throttle, and control the motor 154 to operate, thereby driving the walking system 13.

[0050] Please refer to it again. Figure 4 and Figure 5 In some embodiments, the two-wheeled vehicle 100 also includes a seat cushion 121 (see [link to documentation]). Figure 1 The vehicle includes a seat cushion 121 mounted on the frame 11 and a pressure detection component 20. The pressure detection component 20 is located below the seat cushion 121 and is electrically connected to the vehicle controller 18. When the vehicle controller 18 determines that the side support strut 1711 is in a raised state, and the vehicle controller 18 determines, based on the pressure detection component 20, that the driver is seated on the seat cushion 121, it controls the power system 15 to operate to drive the walking system 13. The engine control unit 151 responds to the user's operation by controlling the engine 152 to operate, or the motor control unit 153 controls the power battery 155 to supply power to the motor 154, and the motor control unit 153 responds to the user's operation by driving the motor 154 to operate.

[0051] Specifically, the pressure detection component 20 is used to output a fourth signal to the vehicle controller 18. When the vehicle controller 18 determines that the side support rod 1711 is in the raised state based on the signal combination, and the vehicle controller 18 determines that the driver is sitting on the seat cushion 121 based on the fourth signal, the vehicle controller 18 outputs a second control signal to the engine control unit 151, or the vehicle controller 18 outputs a fourth control signal to the motor control unit 153. That is to say, in some embodiments, the vehicle controller 18 only controls the two-wheeled vehicle 100 to be in the power-on ready state after confirming that the side support rod 1711 is in the raised state and the driver is sitting on the seat cushion 121. In this way, the risk of misoperation of the two-wheeled vehicle 100 in the absence of a driver can be reduced.

[0052] Please continue reading. Figure 6 In some embodiments, the two-wheeled vehicle 100 further includes a reminder component 21, which is electrically connected to the vehicle controller 18. When the two-wheeled vehicle 100 is in motion and the vehicle controller 18 determines that the side stand 1711 is in the lowered state, the reminder component 21 outputs a reminder message. Specifically, when the vehicle controller 18 determines that the two-wheeled vehicle 100 is in motion and the side stand 1711 is in the lowered state, the vehicle controller 18 outputs a reminder signal to the reminder component 21 to control the reminder component 21 to output a reminder message. In some embodiments, the reminder component 21 may include at least one of a horn, a display instrument, and an indicator light. Accordingly, the reminder message may include audio information, icon information on the display instrument, text information, and indicator light flashing. In this way, when the two-wheeled vehicle 100 is in motion and the side stand 1711 is in the lowered state, the driver can be promptly reminded to stop driving, reducing safety risks.

[0053] Those skilled in the art will understand that, without conflict, the technical features of this embodiment and implementation scheme can be combined arbitrarily.

[0054] This application is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions exist for the test fixture without departing from the principles and scope of this application. The scope of protection of this application is determined by the claims.

Claims

1. A two-wheeled vehicle, comprising: Frame; A walking system, at least partially located under the vehicle frame; A power system, supported by the vehicle frame, is used to drive the walking system; A vehicle controller, which is used to control at least the powertrain system; The vehicle frame is equipped with a support assembly, which includes a side support. Each side support includes a side support rod and a pivot. One end of the side support rod serves as a ground contact end, and the other end of the side support rod is connected to the pivot. The pivot is also connected to the vehicle frame. The pivot is used to limit the side support rod to a raised or lowered state. The support assembly also includes multiple sensors, which are respectively disposed at at least one of the side support rod, the rotating shaft, and the ground contact end. The multiple sensors are used to detect various physical states of the side support rod, and the multiple sensors include at least two of position sensors, angle sensors, and pressure sensors. The vehicle controller is electrically connected to the plurality of sensors to determine whether the side support strut is in the raised or lowered state based on the detection results of the plurality of sensors, and controls the power system based on the raised or lowered state.

2. The two-wheeled vehicle according to claim 1, characterized in that, The position sensor includes a magnetic switch and is mounted on the rotating shaft to detect the position of the side support rod relative to the vehicle frame.

3. The two-wheeled vehicle as described in claim 1, characterized in that, The angle sensor includes a gyroscope, which is mounted on the side support rod and is used to detect the rotation angle of the side support rod.

4. The two-wheeled vehicle as described in claim 1, characterized in that, The pressure sensor is located at the ground contact end and is used to detect the pressure at the ground contact end.

5. The two-wheeled vehicle as described in claim 1, characterized in that, The plurality of sensors include the position sensor, the angle sensor, and the pressure sensor. When the detection results of the plurality of sensors meet at least two of the preset conditions, the vehicle controller determines that the side support strut is in the lowered state.

6. The two-wheeled vehicle as described in claim 1, characterized in that, The two-wheeled vehicle includes a posture sensing component mounted on the frame. The posture sensing component is electrically connected to the vehicle controller. The vehicle controller determines whether the side support rod is in the lowered state or the raised state based on the detection results of the multiple sensors and the posture parameters output by the posture sensing component.

7. The two-wheeled vehicle as described in claim 1, characterized in that, The power system includes an engine control unit and an engine that are electrically connected to each other, and the engine control unit is used to control the engine; When the vehicle controller determines that the side support strut is in the lowered state, the engine control unit controls the engine to stop working; When the vehicle controller determines that the side support strut is in the raised state, the engine control unit responds to the user's operation and controls the engine to work.

8. The two-wheeled vehicle as described in claim 1, characterized in that, The power system includes a motor control unit, a motor, and a power battery. The power battery is electrically connected to the motor to supply power to the motor. The motor is electrically connected to the walking system to drive the walking system. The vehicle controller is electrically connected to the motor control unit, which is used to control the motor. When the vehicle controller determines that the side support strut is in the lowered state, the motor control unit controls the motor to stop working; When the vehicle controller determines that the side support strut is in the raised state, the motor control unit responds to the user's operation and controls the motor to work.

9. The two-wheeled vehicle as described in claim 7 or 8, characterized in that, The two-wheeled vehicle also includes a seat and a pressure detection component. The seat is mounted on the frame, and the pressure detection component is located below the seat. The pressure detection component is electrically connected to the vehicle controller. When the vehicle controller determines that the side support rod is in the raised state, and the vehicle controller determines that the driver is sitting on the seat according to the pressure detection component, it controls the power system to work to drive the walking system.

10. The two-wheeled vehicle as described in claim 7 or 8, characterized in that, The two-wheeled vehicle also includes a reminder component, which is electrically connected to the vehicle controller. When the two-wheeled vehicle is in motion and the vehicle controller determines that the side support rod is in the lowered state, the reminder component outputs a reminder message.

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