Push-assist method, apparatus, controller, electric mobility vehicle, storage medium and program product

Abstract

A push-assist method, an apparatus, a controller, an electric mobility vehicle, a storage medium and a program product. The push-assist method comprises: when a preset condition is satisfied, controlling a vehicle to enter a push-assist mode, so that a power system of the vehicle provides output power, wherein the preset condition comprises: the vehicle is on a flat road or an uphill road, the throttle control amount is 0, and a user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset duration. When the preset condition is satisfied, the push-assist mode is automatically enabled without the need for a user to actively switch to a vehicle push mode, thereby reducing user operations and improving the use experience of users.

Description

Promote assistive methods, devices, controllers, electric mobility scooters, storage media and software products.

[0001] This application claims priority to Chinese patent applications filed on January 26, 2025, with application number 202510125686.5 entitled "Propelling Assist Method, Apparatus, Controller, Electric Mobility Scooter, Storage Medium and Program Product", and application number 202520175635.9 entitled "Propelling Assist System and Electric Mobility Scooter", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle control technology, and in particular to a propulsion assist method, device, controller, electric mobility scooter, storage medium, and program product. Background Technology

[0003] Electric mobility scooters have brought great convenience to people's travel and have become an important means of transportation.

[0004] Currently, some electric mobility scooters can provide users with a pushing assist function. That is, when users push the electric mobility scooter forward, they can rely on the power system of the electric mobility scooter to provide forward power, reducing the physical effort that users need to exert when pushing the electric mobility scooter.

[0005] Existing electric mobility scooters require users to first switch the vehicle to push mode before they can enter push-assist mode, which is rather cumbersome. Summary of the Invention

[0006] This application provides a method, device, controller, electric mobility scooter, storage medium, and program product for assisting in pushing, in order to solve the problem of cumbersome operation where users need to first switch the vehicle to push mode before they can provide pushing assistance.

[0007] Firstly, this application provides a method for promoting implementation, the method including:

[0008] Once the preset conditions are met, the vehicle is controlled to enter the push-assist mode so that the vehicle's power system can provide output power.

[0009] The preset conditions include: the vehicle is on a flat road or uphill, the throttle control is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time.

[0010] Optionally, the preset conditions also include the side support being in a retracted state, and / or the seat cushion being in a state where no target object exists.

[0011] Optionally, control the vehicle to enter push-assist mode, including:

[0012] The system obtains the current speed and determines the output power of the power system based on the current speed to enable the vehicle to maintain the current speed. The higher the current speed, the higher the output power.

[0013] Optionally, the output power of the power system can be determined based on the current speed, including:

[0014] When the current speed is less than or equal to the maximum assist speed, the output power of the power system is determined based on the current speed;

[0015] When the current speed is greater than the maximum assist speed, the output power of the power system is determined based on the maximum assist speed.

[0016] Optionally, the method also includes:

[0017] Under the assistance mode, obtain slope information;

[0018] When the slope information changes, adjust the output power of the power system;

[0019] Specifically, as the slope information increases, the output power of the power system increases.

[0020] Optionally, the method also includes:

[0021] In the implementation of the assistance mode, information on the force applied by the user is obtained;

[0022] Adjust the output power of the power system based on the force information.

[0023] Optionally, the output power of the power system can be adjusted based on the force information, including:

[0024] When the force information is a backward pulling force, the output power of the power system is reduced to control the vehicle deceleration; the amount of reduction in output power is positively correlated with the value of the backward pulling force.

[0025] Optionally, the method also includes:

[0026] During vehicle deceleration, if it is detected that the user has stopped applying a backward pulling force and has not applied a forward pushing force, the output power of the power system is determined based on the current speed to enable the vehicle to maintain its current speed.

[0027] Optionally, the output power of the power system can be determined based on the current speed, including:

[0028] When the current speed is 0 and the gradient information indicates that the vehicle is on a flat road, the power output of the powertrain is adjusted to 0; and / or,

[0029] When the current speed is 0 and the gradient information indicates that the vehicle is going uphill, the power output of the power system is adjusted according to the total mass of the vehicle and the gradient information to keep the vehicle stationary on the slope.

[0030] Optionally, the output power of the power system can be adjusted based on the force information, including:

[0031] When the force information is forward thrust, the output power of the power system is increased to control vehicle acceleration; the increase in output power is positively correlated with the value of forward thrust.

[0032] Optionally, the method also includes:

[0033] During vehicle acceleration, if it is detected that the user has stopped applying forward thrust and has not applied backward pull, the output power of the power system is determined based on the current speed and the maximum assist speed to keep the vehicle moving forward at the current speed.

[0034] Optionally, the method also includes:

[0035] After the vehicle enters push-assist mode, the indicator lights on the control instrument panel display a preset color at a preset frequency; and / or,

[0036] After the vehicle is put into push-assist mode, the sound unit of the control instrument outputs the first preset prompt tone at a preset frequency.

[0037] Optionally, the method also includes:

[0038] The vehicle will exit push-assist mode when at least one of the following conditions is met:

[0039] Brake signal detected, seat status indicates target object presence, vehicle tilt angle exceeds preset tilt angle, rear wheel spins freely, and vehicle is in downhill condition;

[0040] The vehicle being in a downhill state indicates that the slope information is less than the first preset slope value, and the duration of the slope information being less than the first preset slope value is greater than the second preset duration.

[0041] Optionally, the method also includes:

[0042] When the vehicle exits the push-assist mode, if the throttle control value is detected to be non-zero, the vehicle will be controlled to move according to the throttle control value.

[0043] Optionally, the method also includes:

[0044] After the vehicle is deactivated from push-assist mode, the instrument panel outputs a second preset prompt tone.

[0045] Secondly, this application provides a propulsion assist system, which is installed on an electric mobility scooter. The propulsion assist system includes a wheel speed sensor and a controller; the wheel speed sensor is connected to the controller, and the controller is connected to a power module.

[0046] Wheel speed sensor, used to acquire push speed signal and send push speed signal to controller;

[0047] The controller is used to control the output power applied to the power module according to the pushing speed signal when providing pushing assistance, so that the power module can provide output power.

[0048] Optionally, the system may also include: a gyroscope sensor; the gyroscope sensor is connected to the controller;

[0049] A gyroscope sensor is used to acquire slope signals and send them to the controller;

[0050] The controller is also used to control the output power applied to the power module based on the slope signal when providing push assistance, so that the power module can provide output power.

[0051] Optionally, the system may also include: a trolley force sensor; the trolley force sensor is connected to the controller;

[0052] The pushcart force sensor is used to acquire the force signal applied by the user to the electric mobility scooter and send the force signal to the controller;

[0053] The controller is also used to control the output power applied to the power module based on the force signal when providing pushing assistance, so that the power module can provide output power.

[0054] Optionally, a controller is configured to reduce the output power applied to the power module based on a backward pulling force signal; and / or,

[0055] The controller is specifically used to increase the output power applied to the power module based on the forward thrust signal.

[0056] Optionally, the push force sensor is located at the pivot point of the electric mobility scooter, or at the throttle position of the electric mobility scooter.

[0057] Optionally, the propulsion assistance system may also include: a battery unit that provides energy to the power module; the battery unit is connected to the controller;

[0058] The controller is also used to control the output power applied to the power module based on the acquired electrical signal when providing push assistance.

[0059] Optionally, the push-assist system may also include a braking component, which is connected to the controller;

[0060] Braking components are used to provide braking force for electric mobility scooters;

[0061] The controller is also used to stop pushing assistance when it detects that the braking components are providing braking force.

[0062] Optionally, the controller is also configured to stop providing push assist when it receives a slope signal indicating that the electric mobility scooter is in a downhill state.

[0063] Optionally, the push-assist system also includes an instrument, which is equipped with a light-emitting unit and a sound-emitting unit; the light-emitting unit and the sound-emitting unit in the instrument are respectively connected to the controller;

[0064] The controller is also used to control the light-emitting unit to emit light when pushing assistance is provided, and / or to control the sound-emitting unit to emit a first preset prompt tone;

[0065] The controller is also used to control the light-emitting unit to stop emitting light when the pushing assistance stops, and / or to control the sound-emitting unit to emit a second preset prompt tone.

[0066] Thirdly, this application provides a pushing assist device, the device comprising:

[0067] The processing module is configured to control the vehicle to enter the push-assist mode when preset conditions are met, so that the vehicle's power system can provide output power.

[0068] The preset conditions include: the vehicle is on a flat road or uphill, the throttle control is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time.

[0069] Fourthly, this application provides a controller, including: at least one processor and a memory;

[0070] The memory stores the instructions that the computer executes;

[0071] At least one processor executes computer execution instructions stored in memory, causing at least one processor to perform the method as described in any of the first aspects.

[0072] Fifthly, this application provides an electric mobility scooter, comprising: a power system and a controller, wherein the power system is used to provide output power under the control of the controller;

[0073] Alternatively, it may include a propulsion assist system and a power module, wherein the power module is used to provide output power to the electric mobility scooter under the control of the propulsion assist system.

[0074] In a sixth aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method as described in any of the first aspects.

[0075] In a seventh aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0076] This application provides a pushing assistance method, device, controller, electric mobility scooter, storage medium, and program product. The method includes: when preset conditions are met, controlling the vehicle to enter a pushing assistance mode so that the vehicle's power system provides output power; wherein, the preset conditions include: the vehicle is on a flat road or uphill, the throttle control amount is 0, and the user pushes the scooter from a stationary state and maintains the pushing speed for a first preset time. By automatically entering the pushing assistance mode when the preset conditions are met, the user does not need to actively switch to the pushing gear, reducing user operation and improving the user experience. Attached Figure Description

[0077] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0078] Figure 1 is an application scenario diagram of a promotion assistance method provided in an embodiment of this application;

[0079] Figure 2 is a flowchart illustrating a promotion assistance method provided in an embodiment of this application;

[0080] Figure 3 is a schematic diagram of a sensor installed on an electric mobility scooter according to an embodiment of this application;

[0081] Figure 4 is a schematic diagram of a pushing assistance system provided in an embodiment of this application;

[0082] Figure 5 is a schematic diagram of another pushing assistance system provided in an embodiment of this application;

[0083] Figure 6 is a structural schematic diagram of a pushing assist device provided in an embodiment of this application;

[0084] Figure 7 is a schematic diagram of the hardware structure of a controller provided in an embodiment of this application.

[0085] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0086] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0087] Electric mobility scooters, electric-assisted bicycles, and electric two-wheelers all have electric assist systems (power systems). However, these systems mostly focus on providing power assistance while the user is riding. Some vehicles offer a push-assist mode, which applies the electric assist system to scenarios where the user pushes the vehicle forward. However, in current technology, to enter push-assist mode, the user must first put the vehicle in push mode, and only when pushing the vehicle will the push-assist mode be activated. Therefore, this method presents a cumbersome user operation problem.

[0088] Figure 1 is an application scenario diagram of a pushing assistance method provided in an embodiment of this application. As shown in Figure 1, the pushing assistance method provided in this application is applied to a controller. By judging whether the preset conditions are met, the system automatically enters the pushing assistance mode and controls the power system. This solves the technical problem that when the vehicle enters the pushing assistance mode, the user needs to switch the vehicle to the push gear, which is cumbersome for the user.

[0089] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0090] Figure 2 is a flowchart illustrating a propulsion assistance method provided in an embodiment of this application. The method is applied to a controller in a vehicle, specifically an MCU (Microcontroller Unit) or a motor controller. The method includes step S201:

[0091] Step S201: When the preset conditions are met, control the vehicle to enter the push-assist mode so that the vehicle's power system can provide output power.

[0092] The preset conditions include: the vehicle is on a flat road or uphill, the throttle control is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time.

[0093] When determining whether to enter the promotion assistance mode, it can be judged whether the preset conditions are met. If the preset conditions are met, it means that the promotion assistance mode can be entered.

[0094] Optionally, when determining whether to enter the push-assist mode, it is not necessary to judge the vehicle's gear position. Regardless of the vehicle's gear position, as long as the preset conditions are met, the push-assist mode can be entered.

[0095] Optionally, the push assist mode can be activated when the vehicle is on a flat road or uphill; however, it cannot be activated when the vehicle is downhill.

[0096] Figure 3 is a schematic diagram of a sensor installed on an electric mobility scooter according to an embodiment of this application. The gyroscope sensor installed on the scooter can determine whether the vehicle is on a flat road, uphill, or downhill. The gyroscope sensor can acquire the vehicle's pitch angle, i.e., the slope information, and thus determine whether the vehicle is uphill, downhill, or on a flat road based on this pitch angle.

[0097] When entering push-assist mode, it is also necessary to determine whether the throttle control value is 0. When the throttle control value is 0, it means that the user has not twisted the throttle. The vehicle can only be controlled to enter push-assist mode when the user has not twisted the throttle.

[0098] Furthermore, when not riding, the user may be in a temporarily parked state, in which case the push-assist mode cannot be activated. The push-assist mode can only be activated when the user actively pushes the bicycle from a stationary position to a certain speed and maintains that speed for a first preset duration. For example, the first preset duration can be 2 seconds. By setting a first preset duration, the system avoids misinterpreting the need for push-assist when pushing the bicycle into a parking space.

[0099] When the above preset conditions are met, that is, when the following conditions are met simultaneously: the vehicle is on a flat road or uphill, the throttle control amount is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time, the vehicle can be controlled to enter the pushing assist mode.

[0100] Once the push-assist mode is activated, the vehicle's power system can be controlled to provide output power to help the user push the vehicle, reducing the physical effort required. However, the speed corresponding to the provided output power cannot exceed the current pushing speed.

[0101] Optionally, the power system can be an electric motor. The execution entity of this application is an MCU or a motor controller, both of which can control the motor.

[0102] This application provides a pushing assistance method, which includes: when preset conditions are met, controlling the vehicle to enter the pushing assistance mode so that the vehicle's power system provides output power; wherein, the preset conditions include: the vehicle is on a flat road or uphill, the throttle control amount is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time. By automatically entering the pushing assistance mode when the preset conditions are met, the user does not need to actively switch to the pushing gear, reducing user operation and improving the user experience.

[0103] Optionally, the preset conditions also include: the side support is in a retracted state, and / or the seat cushion is in a state where no target object exists.

[0104] When determining whether a vehicle can enter the push-assist mode, it can also be judged whether the side stand is in the folded state and / or the seat is in the state where no target object exists.

[0105] Normally, when a user is pushing the vehicle, the side stand is in the retracted state, and there is no target object on the seat. Therefore, when the following three conditions are met: the vehicle is on a flat road or uphill, the throttle control is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time, if the side stand is also in the retracted state and / or there is no target object on the seat, the vehicle can be controlled to enter the pushing assist mode.

[0106] Optionally, the side support status can be obtained based on a side support sensor, and the side support status can be either folded up or unfolded. The seat cushion status can be obtained based on a seat cushion sensor. The seat cushion sensor is located on the seat cushion, and the seat cushion status can be either the presence of a target object or the absence of a target object.

[0107] By further determining whether the side support is in a retracted state and / or the seat is in a state where no target object exists, it is possible to more accurately determine whether the vehicle can enter the push-assist mode.

[0108] Optionally, control the vehicle to enter push-assist mode, including:

[0109] The system obtains the current speed and determines the output power of the power system based on the current speed to enable the vehicle to maintain the current speed. The higher the current speed, the higher the output power.

[0110] When the vehicle is in push-assist mode, the output power can be determined based on the current speed to provide a better pushing experience for the user, thus enabling the vehicle to maintain its current speed.

[0111] Optionally, the output power increases with the current speed and decreases with the current speed, thus enabling the vehicle to follow the rider. Optionally, the current speed can be obtained based on wheel speed sensors. For example, the wheel speed sensors can be mounted on the vehicle's wheel hubs.

[0112] By adjusting the output power, a fixed output power can be avoided in push-assist mode, improving the flexibility of push-assist and enabling the vehicle to follow the rider.

[0113] Optionally, the output power of the power system can be determined based on the current speed, including:

[0114] When the current speed is less than or equal to the maximum assist speed, the output power of the power system is determined based on the current speed;

[0115] When the current speed is greater than the maximum assist speed, the output power of the power system is determined based on the maximum assist speed.

[0116] When determining the output power of the power system based on the current speed, a maximum assist speed can be set to improve safety during push-assist. If the current speed is less than the maximum assist speed, the output power of the power system can be determined based on the current speed. If the current speed is greater than the maximum assist speed, the output power of the power system can be determined based on the maximum assist speed. For example, the maximum assist speed can be 4 km / h.

[0117] By comparing the current speed with the maximum assist speed to determine the output power, vehicle safety in push-assist mode can be improved.

[0118] Optionally, the method also includes:

[0119] Under the assistance mode, obtain slope information;

[0120] When the slope information changes, adjust the output power of the power system;

[0121] Specifically, as the slope information increases, the output power of the power system increases.

[0122] The output power differs depending on whether the vehicle is on a flat road or uphill. When maintaining a certain speed on a flat road, the output power is power 1. When the gradient changes and the vehicle is uphill, a greater output power is required to maintain the same speed uphill. If the output power is power 2, then power 2 is greater than power 1.

[0123] When a vehicle travels from a flat road to an uphill section, it can be detected that the vehicle is in an uphill state (an uphill state indicates that the front wheel height is greater than the rear wheel height). Specifically, this uphill state can be detected using a gyroscope sensor. Based on the detected slope information, the output power can be determined. The steeper the slope, the greater the output power; the gentler the slope, the smaller the output power, thus allowing the vehicle to maintain the same pushing speed as on a flat road, reducing the pushing force required from the rider.

[0124] By sensing the slope where the vehicle is located, the system can accurately output different power levels based on the slope, eliminating worries about going uphill.

[0125] By adjusting the output power based on the slope information, the vehicle can maintain its speed on flat roads, reducing the thrust required by the user. This means that the user's thrust does not need to change on flat roads or uphill, thus improving the user experience.

[0126] Optionally, the method also includes:

[0127] In the implementation of the assistance mode, information on the force applied by the user is obtained;

[0128] Adjust the output power of the power system based on the force information.

[0129] After entering the push-assist mode, it can also obtain information on the force applied by the user to the vehicle. The force information can reflect the user's intention, and the output power of the power system can be adjusted based on the force information.

[0130] Referring to Figure 3, optionally, the force information can be obtained through a push force sensor installed on the vehicle. The push force sensor can be a pressure sensor to detect whether the user is applying a forward pushing force or a backward pulling force to the vehicle, so that the vehicle can always respond to the user's needs based on changes in the force information.

[0131] Optionally, when the electric mobility scooter is heavy, the output power can be adjusted based on the pushing force sensor for a better user experience. This is because when the vehicle is heavy, the user may not be able to push it to a certain speed. If the pushing force sensor detects that the user is applying a certain forward pushing force, the output power can be increased, so that the user does not have to push the vehicle to a certain speed to maintain that speed.

[0132] By setting up a push-cart force sensor to obtain the force information applied by the user, the user's intention can be determined based on the force information, and the output power of the vehicle's power system can be adjusted according to the actual situation. This avoids always outputting a fixed output power in push-assist mode, thus improving the user experience.

[0133] As shown in Figure 3, this application uses a push force sensor to accurately determine the user's intention to push the cart forward, decelerate, or stop, and adjusts the output power accordingly. This makes the cart more responsive, effortless to push, and provides a consistent pushing force, giving the user a stable expectation. A gyroscope sensor detects the slope of the vehicle and outputs different power levels precisely, eliminating concerns about uphill driving. A wheel speed sensor detects the vehicle's current speed and adjusts the output power accordingly, ensuring the cart moves with the user. The motor controller calculates an output power based on information from the push force sensor, gyroscope sensor, and wheel speed sensor, allowing the user to push the cart forward effortlessly.

[0134] Optionally, the output power of the power system can be adjusted based on the force information, including:

[0135] When the force information is a backward pulling force, the output power of the power system is reduced to control the vehicle deceleration; the amount of reduction in output power is positively correlated with the value of the backward pulling force.

[0136] When the force information is a backward pulling force, it indicates that the user intends to decelerate. The output power of the power system can be reduced to control the vehicle's deceleration.

[0137] Optionally, when controlling vehicle deceleration, the amount of power reduction is related to the value of the rearward pulling force applied by the user. When the user applies a larger rearward pulling force, the reduction in output power is greater; when the user applies a smaller rearward pulling force, the reduction in output power is smaller.

[0138] Optionally, a preset value can be set. When the rearward pulling force is greater than or equal to this preset value, it indicates that the vehicle may collide with an object in front, and a larger output power can be output to reduce the vehicle speed to 0. When the rearward pulling force is less than this preset value, a smaller output power can be output to reduce the vehicle speed.

[0139] For example, if there is an obstacle in front or the user suddenly wants to stop, and the person suddenly applies a large backward pulling force, the power system needs to immediately stop providing output power.

[0140] When the system detects a backward pulling force applied by the user, it reduces the output power of the powertrain to control the vehicle to decelerate in time, reducing the possibility of collisions in push-assist mode and making the vehicle more responsive.

[0141] Optionally, the method also includes:

[0142] During vehicle deceleration, if it is detected that the user has stopped applying a backward pulling force and has not applied a forward pushing force, the output power of the power system is determined based on the current speed to enable the vehicle to maintain its current speed.

[0143] During deceleration, when the user stops applying neither rearward nor forward thrust, the current speed can be determined, and an output power can be determined to maintain the vehicle's speed at that current speed. Referring to Figure 3, optionally, the current speed can be determined based on wheel speed sensors.

[0144] For example, if a user wants to slow down the vehicle, they can pull the vehicle backward. Once the desired speed is reached, stopping the backward pull indicates that the current speed needs to be maintained. For instance, if the vehicle is pulled from 4 km / h to 2 km / h and then the backward pull is stopped, the vehicle will maintain a speed of 2 km / h with automatic assist.

[0145] When the backward pull stops, the vehicle is controlled to maintain its current speed to meet the user's need to keep the vehicle at its current speed.

[0146] Optionally, the output power of the power system can be determined based on the current speed, including:

[0147] When the current speed is 0 and the gradient information indicates that the vehicle is on a flat road, the power output of the powertrain is adjusted to 0; and / or,

[0148] When the current speed is 0 and the gradient information indicates that the vehicle is going uphill, the power output of the power system is adjusted according to the total mass of the vehicle and the gradient information to keep the vehicle stationary on the slope.

[0149] If, during vehicle deceleration, the deceleration reaches 0 and the system detects that the user has stopped applying a backward pulling force and has not applied a forward pushing force, it indicates that the user wishes to remain at that speed. In this case, the output power of the power system can be adjusted to keep the vehicle stationary.

[0150] Optionally, when the speed is 0, if the vehicle is on a flat road, the output power can be adjusted to 0 to keep the vehicle stationary on a flat road.

[0151] Optionally, when the speed is 0, if the vehicle is going uphill, the output power can be determined based on the slope information and the total mass of the vehicle, so that the vehicle can remain stationary on the slope and avoid rolling back.

[0152] Optionally, the vehicle's position (flat or uphill) can be determined based on the gradient information and the second preset gradient value. When the gradient information is greater than the first preset gradient value but less than the second preset gradient value, the vehicle is on a flat road; when the gradient information is greater than the second preset gradient value, the vehicle is uphill. For example, the first preset gradient value is -2, and the second preset gradient value is 2.

[0153] When a vehicle is going uphill, to prevent it from rolling back, an output power can be provided to counteract the component of gravity on the slope. Therefore, the output power can be determined based on the slope information and the vehicle's total mass; a greater slope results in greater output power, and a greater total mass results in greater output power. The total mass of the vehicle includes both the vehicle's mass and the mass of the cargo it carries.

[0154] By using the above-described method, the vehicle can be controlled to maintain its speed when it decelerates to 0.

[0155] Optionally, the output power of the power system can be adjusted based on the force information, including:

[0156] When the force information is forward thrust, the output power of the power system is increased to control vehicle acceleration; the increase in output power is positively correlated with the value of forward thrust.

[0157] When adjusting the output power of the power system, it is also possible to detect whether the force information is forward thrust. If it is forward thrust, it means that the user has the intention to accelerate, and the output power of the power system can be increased to make the vehicle accelerate.

[0158] The increase in output power can be related to the value of the forward thrust. The greater the forward thrust, the greater the increase in output power; the smaller the forward thrust, the smaller the increase in output power.

[0159] By increasing output power based on forward thrust, acceleration can be achieved according to user needs, and output power can be adjusted in a timely manner according to the pushing force, making the vehicle more responsive.

[0160] Optionally, the method also includes:

[0161] During vehicle acceleration, if it is detected that the user has stopped applying forward thrust and has not applied backward pull, the output power of the power system is determined based on the current speed and the maximum assist speed to keep the vehicle moving forward at the current speed.

[0162] If, during vehicle acceleration, forward thrust ceases and no backward pull is applied, the required forward speed to be maintained is determined based on the current speed and the maximum assist speed.

[0163] To avoid potential dangers caused by excessive speed when applying power assist, a maximum assist speed can be preset. When acceleration occurs and forward thrust is stopped while backward thrust is not applied, the current speed can be obtained. Based on the current speed and the maximum assist speed, the required forward speed to be maintained by the vehicle can be determined.

[0164] If the current speed is less than or equal to the maximum assist speed, the power output of the powertrain can be determined based on the current speed to maintain the vehicle's current speed. Generally, the higher the current speed, the greater the output power. If the current speed is greater than the maximum assist speed, the output power can be determined based on the maximum assist speed; again, the higher the maximum assist speed, the greater the output power.

[0165] Optionally, the maximum assist speed can be set to 4 km / h. This application does not limit the value of the maximum assist speed.

[0166] Once the forward thrust stops, the vehicle is controlled to maintain a certain speed to meet the user's need to keep the vehicle moving forward at a certain speed.

[0167] Optionally, the method also includes:

[0168] After the vehicle enters push-assist mode, the indicator lights on the control instrument panel display a preset color at a preset frequency; and / or,

[0169] After the vehicle is put into push-assist mode, the sound unit of the control instrument outputs the first preset prompt tone at a preset frequency.

[0170] Once the vehicle enters push-assist mode, the system can notify the user that it has entered push-assist mode to facilitate proper vehicle control.

[0171] Optionally, the instrument's light-emitting unit can be controlled to display a preset color, and the instrument's sound-emitting unit can be controlled to output a first preset prompt tone. Optionally, when displaying the preset color, it can also flash at a preset frequency, and simultaneously, when the sound-emitting unit outputs the first preset prompt tone, it can also output the prompt tone at a preset frequency.

[0172] The instrument panel displays relevant information through its luminous and / or audible units, which can remind the user that the vehicle is currently in push-assist mode, making it easy for the user to know the current mode of the vehicle.

[0173] Optionally, the method also includes:

[0174] The vehicle will exit push-assist mode when at least one of the following conditions is met:

[0175] Brake signal detected, seat status indicates target object presence, vehicle tilt angle exceeds preset tilt angle, rear wheel spins freely, and vehicle is in downhill condition;

[0176] The vehicle being in a downhill state indicates that the slope information is less than the first preset slope value, and the duration of the slope information being less than the first preset slope value is greater than the second preset duration.

[0177] When it is necessary to exit the push-assist mode, it can detect whether at least one exit condition is met. If the condition is met, the vehicle can be controlled to exit the push-assist mode.

[0178] Optionally, when a braking signal is detected, it can be assumed that the user needs the vehicle to slow down, thus disengaging the push-assist mode. When the seat status indicates the presence of a target object, it means the user needs to ride the vehicle, and the push-assist mode can be disengaged. When the vehicle's tilt angle is greater than a preset tilt angle, it indicates a potential for left or right tilting, and the push-assist mode can be disengaged; here, tilt angle refers to the left or right tilt angle. When rear wheel spinning is detected, it indicates the vehicle is not in a normal pushing state, and the push-assist mode can be disengaged. Furthermore, when the vehicle is going downhill, to prevent accidental acceleration, the push-assist mode can be disengaged. Specifically, when going downhill, if you do not want the vehicle to accelerate freely downhill, you can press the brake.

[0179] Optionally, when the slope information is less than a first preset slope value, and the duration of the slope information being less than the first preset slope value is greater than a second preset duration, it indicates that the vehicle is going downhill. The first preset slope value can be -2, and the second preset duration is 1 second. Conversely, when the slope information is greater than or equal to the first preset slope value, and the duration of the slope information being greater than the first preset slope value is greater than the second preset duration, it indicates that the vehicle is not going downhill. Optionally, going downhill means that the height of the vehicle's front wheels is less than the height of the rear wheels.

[0180] By judging the conditions for exiting the push-assist mode as described above, the push-assist mode can be exited in a timely manner. Compared to a vehicle that can only exit the push-assist mode based on one exit condition, this application has more conditions for exiting the push-assist mode. Moreover, the above exit conditions are more in line with the user's driving habits. The push-assist mode can be exited automatically or directly based on the user's habitual actions, reducing the safety hazards caused by the inability to exit the push-assist mode in a timely manner.

[0181] Optionally, the method also includes:

[0182] When the vehicle exits the push-assist mode, if the throttle control value is detected to be non-zero, the vehicle will be controlled to move according to the throttle control value.

[0183] Optionally, when the vehicle enters push-assist mode, it does not need to respond to the user's throttle operation; when the vehicle exits push-assist mode, if the throttle control quantity is 0, that is, after detecting the user's throttle operation, the vehicle can be controlled based on the throttle control quantity, that is, respond to the user's throttle operation.

[0184] Once the vehicle is out of push-assist mode, it responds to the user's throttle input, allowing the user to ride the vehicle normally.

[0185] Optionally, the method also includes:

[0186] After the vehicle is deactivated from push-assist mode, the instrument panel outputs a second preset prompt tone.

[0187] When the vehicle exits the push-assist mode, the instrument panel can also emit a second preset prompt sound to remind the user that the push-assist mode has been exited.

[0188] The instrument panel displays relevant information via an audio unit, reminding the user that the push-assist mode has been discontinued, making it easy for the user to know that the vehicle is not currently in push-assist mode.

[0189] When a user pushes the electric mobility scooter, the controller can control the power module to provide output power, reducing the physical effort required to push the vehicle. In particular, when going uphill or on uneven terrain, where users typically expend considerable effort pushing the scooter, the power module helps users easily push the vehicle uphill or over rough roads. The power module provides power to the electric mobility scooter.

[0190] When controlling the power module to provide output power, the power module usually provides a fixed output power, which is not very flexible for users and makes it impossible to adjust the output power according to the actual scenario.

[0191] Figure 4 is a schematic diagram of a pushing assistance system provided in an embodiment of this application. As shown in Figure 4, the pushing assistance system is installed on an electric mobility scooter. The pushing assistance system includes a wheel speed sensor 101 and a controller 102. The wheel speed sensor 101 is connected to the controller 102, and the controller 102 is connected to the power module 103.

[0192] Wheel speed sensor 101 is used to acquire the pushing speed signal and send the pushing speed signal to controller 102;

[0193] The controller 102 is used to control the output power applied to the power module 103 according to the pushing speed signal when providing pushing assistance, so that the power module 103 provides output power.

[0194] To adjust the output power provided by the power module 103, it can be adjusted according to the pushing speed of the electric mobility scooter. Optionally, when the pushing speed is high, a higher output power is provided to maintain the higher pushing speed; when the pushing speed is low, a lower output power is provided to maintain the lower pushing speed.

[0195] For example, when the pushing speed is stable at 3km / h, the corresponding output power is 1; when the pushing speed is stable at 2km / h, the corresponding output power is 2. The output power 1 is greater than the output power 2, which allows the vehicle to maintain the current pushing speed, improves the user's pushing experience, and enables flexible control of the vehicle.

[0196] Optionally, the pushing speed can be obtained based on wheel speed sensors 101, which can be mounted on the wheel hub. Optionally, there can be two or more wheel speed sensors 101, each mounted on a different wheel hub, to determine the pushing speed based on the values ​​from multiple wheel speed sensors 101. For example, the average pushing speed detected by multiple wheel speed sensors 101 can be determined as the pushing speed.

[0197] Optionally, the controller 102 can be implemented using hardware circuitry. Multiple switches can be configured, and different switches can be triggered based on the acquired propulsion speed signal. Each switch corresponds to a different output power. When the power module 103 provides the output power based on a determined output power, this can be achieved through PID (Proportional Integral Derivative) control. Optionally, PID control is proportional, integral, and derivative control. Components such as resistors, capacitors, and operational amplifiers can be used to form a proportional (P) control unit, an integral (I) control unit, and a derivative (D) control unit, thereby achieving control of the output power.

[0198] Optionally, the power module 103 can be a motor. The controller 102 can be an MCU (Microcontroller Unit) or a motor controller, and the controller 102 can control the motor.

[0199] This application provides a pushing assistance system, which is installed on an electric mobility scooter. The pushing assistance system includes a wheel speed sensor and a controller. The wheel speed sensor is connected to the controller, and the controller is connected to a power module. The wheel speed sensor is used to acquire a pushing speed signal and send the pushing speed signal to the controller. The controller is used to control the output power applied to the power module according to the pushing speed signal when providing pushing assistance, so that the power module provides output power to the electric mobility scooter. This allows for adjustment of the output power based on the pushing speed signal detected by the wheel speed sensor, enabling flexible control of the output power provided by the power module. This avoids providing the same output power in different scenarios and improves the user's pushing experience under different road conditions.

[0200] Figure 5 is a schematic diagram of another implementation assistance system provided in an embodiment of this application. Referring to Figure 5, other structures included in the implementation assistance system will be described.

[0201] Optionally, the system also includes: a gyroscope sensor 104; the gyroscope sensor 104 is connected to the controller 102;

[0202] The gyroscope sensor 104 is used to acquire the slope signal and send the slope signal to the controller 102;

[0203] The controller 102 is also used to control the output power applied to the power module 103 according to the slope signal when providing pushing assistance, so that the power module 103 provides output power.

[0204] A gyroscope sensor 104 can also be installed on the electric mobility scooter. The gyroscope sensor 104 can measure the vehicle's attitude. Specifically, it can be a slope signal, which can be sent to the controller 102. The controller 102 can control the output power based on the slope signal.

[0205] Understandably, when pushing the vehicle on a flat surface, the user expends less physical effort; conversely, when pushing the vehicle uphill, the user expends more physical effort. Therefore, the output power can be adjusted according to the slope signal, allowing the user to push the vehicle on both flat and sloped surfaces with the same amount of physical effort, without needing to adjust the pushing force, thus improving the user experience.

[0206] When the slope signal is large, it indicates that the uphill slope is steep, and the output power that can be applied to the power module 103 is large; when the slope signal is small, it indicates that the uphill slope is gentle, and the output power that can be applied to the power module 103 is small.

[0207] By setting a gyroscope sensor 104 to obtain the slope signal, the output power is controlled based on the slope signal. The output power is adjusted according to different road conditions, so that the user can push the vehicle forward without changing the pushing method under different road conditions.

[0208] Optionally, the system also includes: a trolley force sensor 105; the trolley force sensor 105 is connected to the controller 102;

[0209] The pushcart force sensor 105 is used to acquire the force signal applied by the user to the electric mobility scooter and send the force signal to the controller 102;

[0210] The controller 102 is also used to control the output power applied to the power module 103 according to the force signal when providing pushing assistance, so that the power module 103 provides output power.

[0211] Optionally, a push-cart force sensor 105 can be installed on the electric mobility scooter to determine the user's intention based on the force signal detected by the push-cart force sensor 105, thereby adjusting the output power according to the user's intention. The push-cart force sensor 105 can determine the force signal applied by the user to the electric mobility scooter; different force signals can reflect different user intentions, such as acceleration or deceleration. After acquiring the force signal, the push-cart force sensor 105 can send the force signal to the controller 102.

[0212] The controller 102 is connected to the power module 103. The controller 102 can control the output power based on the received force signal, thereby controlling the power module 103 to provide the output power.

[0213] For example, the force applied by the user when the road surface is rough is different from the force applied when the road surface is flat. Therefore, based on the force signal when the road surface is rough, the output power applied to the power module 103 can be increased so that the force expended by the user when pushing the vehicle through rough sections is not much different from that on flat roads, and the vehicle can be pushed through rough sections without much effort.

[0214] By setting a force sensor 105 to detect the force signal, the output power can be controlled. The output power can be flexibly adjusted according to changes in road conditions, adapting to different road conditions and fully meeting the specific needs of users in different scenarios.

[0215] Optionally, when the electric mobility scooter is heavy, the controller 102 adjusts the output power based on the pushing force sensor 105, resulting in a better user experience. This is because when the vehicle is heavy, the user cannot push it to a certain speed. If the pushing force sensor 105 senses that the user is applying a certain forward pushing force, the output power can be increased, so that the user does not have to push the vehicle to a certain speed to maintain that speed.

[0216] By setting a pushcart force sensor 105 to obtain force signals, the output power is controlled based on the force signals. The output power is adjusted according to the user's intention, making the vehicle more responsive and requiring less effort to push.

[0217] In one embodiment, controller 102 is specifically configured to reduce the output power applied to power module 103 according to a backward pulling force signal; and / or, controller 102 is specifically configured to increase the output power applied to power module 103 according to a forward thrust signal.

[0218] When the force signal is a backward pulling force signal, the output power can be reduced according to the specific pulling force value. Optionally, when it is a pulling force signal, the output power is reduced. The amount of reduction in output power is related to the backward pulling force value. The larger the backward pulling force value, the larger the reduction in output power; the smaller the backward pulling force value, the smaller the reduction in output power.

[0219] Optionally, the controller 102 can select the corresponding switch for the range to which the backward pulling force value belongs, and turn on the switch of the range corresponding to the backward pulling force value to obtain the amount of output power reduction, thereby determining the output power.

[0220] The reason for reducing output power based on the backward pulling force signal is that when a user is pushing a vehicle and wants to slow down due to an obstacle in front, the user's usual action is to pull the vehicle backward in an attempt to slow it down. Therefore, by controlling the output power based on the backward pulling force, the vehicle can be controlled to make it more responsive.

[0221] Similarly, when deceleration is required, a larger backward pull is usually applied if the user wants to decelerate quickly, and a smaller backward pull is usually applied if the user does not need to decelerate quickly.

[0222] When the force signal is a forward thrust signal, the output power can be increased according to the specific thrust value. Optionally, when it is a thrust signal, the output power is increased. The amount of increase in output power is related to the forward thrust value. The larger the forward thrust value, the larger the increase in output power; the smaller the forward thrust value, the smaller the increase in output power.

[0223] Optionally, the controller 102 can set corresponding switches for different ranges of forward thrust values, turn on the switches corresponding to the ranges of forward thrust values ​​to obtain the increase in output power, thereby determining the output power.

[0224] The reason for increasing output power based on the forward thrust signal is that when a user pushes a vehicle and wants to accelerate, the user's usual operation is to push the vehicle forward forcefully in an attempt to speed up. Therefore, by controlling the output power based on the forward thrust, the vehicle can be controlled to make it more responsive.

[0225] Similarly, when acceleration is required, a larger forward thrust is usually applied if the user wants to accelerate quickly, and a smaller forward thrust is usually applied if the user does not need to accelerate quickly.

[0226] By reducing output power based on a backward pulling force signal, the vehicle can be decelerated promptly according to user needs to avoid collisions with obstacles ahead. By increasing output power based on a forward pushing force signal, the vehicle can be accelerated promptly according to user needs to enable the user to complete the vehicle pushing operation as quickly as possible.

[0227] In one embodiment, the push force sensor 105 is located at the pivot position of the electric mobility scooter, or the push force sensor 105 is located at the throttle position of the electric mobility scooter.

[0228] Referring to Figure 3, the push force sensor 105 can be installed at the pivot point of the electric mobility scooter. Alternatively, the push force sensor 105 can also be installed at the throttle handle.

[0229] When the trolley force sensor 105 is set at the pivot position, it can directly sense the change in torque on the pivot when pushing the trolley, thereby ensuring that the trolley force sensor 105 can capture subtle force changes and improve the accuracy of the measurement.

[0230] Since the throttle is the part that the user directly operates when pushing the cart, setting the cart force sensor 105 in the throttle position can obtain the user's operating intention in real time, detect the user's operating intention more quickly, and thus adjust the output power more quickly to ensure the safety of pushing the cart.

[0231] By placing the trolley force sensor 105 at the aforementioned location, a precise force signal can be detected, thereby improving the accuracy of the obtained output power.

[0232] As shown in Figure 5, in one embodiment, the propulsion assistance system further includes: a battery unit 106, which provides energy to the power module 103; the battery unit 106 is connected to the controller 102.

[0233] The controller 102 is also used to control the output power applied to the power module 103 based on the acquired electrical signal when providing push assistance.

[0234] The output power can also be related to the battery capacity of the battery unit 106. When the battery capacity is low, the output power can be appropriately reduced when pushing the vehicle in order to ensure the range of the subsequent riding process. When the battery capacity is high, it will not affect the range of the subsequent riding process, so there is no need to reduce the output power when pushing the vehicle.

[0235] The remaining power of the battery cell 106 can be obtained through the battery management system, and the remaining power can be transmitted to the controller 102 in the form of a power signal. The controller 102 can control the output power based on the power signal.

[0236] By acquiring the power signal, the output power can be controlled, allowing for flexible power output based on the power level, thus balancing the vehicle's riding range and pushing assistance.

[0237] In one embodiment, the propulsion assist system further includes a braking component 107, which is connected to the controller 102;

[0238] Braking component 107 is used to provide braking force for the electric mobility scooter;

[0239] The controller 102 is also used to stop pushing assistance when it detects that the braking component 107 is providing braking force.

[0240] The push-assist system also includes a braking component 107, which provides braking force to slow the vehicle down when the user applies the brakes. Upon detecting that the braking component 107 is providing braking force, the controller 102 indicates that the user wishes the vehicle to stop and therefore ceases push-assistance.

[0241] Specifically, when push-assist is stopped, the system will respond to the user's throttle input. However, when push-assist is active, the system will not respond to the user's throttle input.

[0242] By stopping push-assist when braking is detected, the vehicle can be brought to a quick stop, thus fulfilling the user's intention to keep the vehicle stationary.

[0243] In one embodiment, the controller 102 is further configured to stop providing pushing assistance when it receives a slope signal indicating that the electric mobility scooter is in a downhill state.

[0244] Furthermore, when the vehicle is going downhill, the push assist can be stopped to prevent accidental acceleration. Specifically, the slope signal output by the gyroscope sensor 104 indicates whether the vehicle is going downhill, and when the controller 102 determines that the vehicle is going downhill, it can stop providing push assist.

[0245] In addition, when going downhill, if the user does not want the vehicle to accelerate downhill freely, they can apply the brakes to control the vehicle to slowly pass through the downhill section.

[0246] By stopping push assist when the vehicle is detected to be going downhill, accidental acceleration while going downhill can be avoided, improving the safety of the vehicle and the user.

[0247] In one embodiment, the pushing assistance system further includes an instrument 108, which is provided with a light-emitting unit and a sound-emitting unit; the light-emitting unit and the sound-emitting unit in the instrument 108 are respectively connected to the controller 102;

[0248] The controller 102 is also used to control the light-emitting unit to emit light when pushing assistance is provided, and / or to control the sound-emitting unit to emit a first preset prompt sound;

[0249] The controller 102 is also used to control the light-emitting unit to stop emitting light when the pushing assistance stops, and / or to control the sound-emitting unit to emit a second preset prompt sound.

[0250] When the power module 103 provides push assist or not, it can be displayed on the instrument panel 108 so that the user can know whether push assist is currently being provided to the vehicle.

[0251] Specifically, a light-emitting unit and a sound-emitting unit can be installed on the instrument 108. The light-emitting unit and the sound-emitting unit can be connected to the controller 102 respectively. Specifically, when pushing assistance is provided, the controller 102 can control the light-emitting unit to light up and control the sound-emitting unit to emit a first preset prompt sound. When pushing assistance is stopped, the controller 102 can control the light-emitting unit to stop lighting up and control the sound-emitting unit to emit a second preset prompt sound.

[0252] Optionally, when the light-emitting unit emits light and the sound-emitting unit emits the first preset prompt tone, they can emit light and sound at the same frequency.

[0253] By providing audible and visual prompts on the instrument panel 108 when pushing assistance is provided and not provided, users can be informed whether pushing assistance is currently provided, thus facilitating subsequent control of the vehicle.

[0254] The aforementioned push-assist system allows for flexible control of the output power provided by the power module, avoiding the provision of the same output power in different scenarios and improving the user's pushing experience under various road conditions.

[0255] Figure 6 is a schematic diagram of a pushing assist device provided in an embodiment of this application. The device 60 includes:

[0256] The processing module 601 is configured to control the vehicle to enter the push-assist mode when preset conditions are met, so that the vehicle's power system can provide output power.

[0257] The preset conditions include: the vehicle is on a flat road or uphill, the throttle control is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time.

[0258] Optionally, the preset conditions also include the side support being in a retracted state, and / or the seat cushion being in a state where no target object exists.

[0259] Optionally, when the processing module 601 controls the vehicle to enter the push-assist mode, it is specifically configured as follows:

[0260] The system obtains the current speed and determines the output power of the power system based on the current speed to enable the vehicle to maintain the current speed. The higher the current speed, the higher the output power.

[0261] Optionally, when determining the output power of the power system based on the current speed, the processing module 601 is specifically configured as follows:

[0262] When the current speed is less than or equal to the maximum assist speed, the output power of the power system is determined based on the current speed;

[0263] When the current speed is greater than the maximum assist speed, the output power of the power system is determined based on the maximum assist speed.

[0264] Optionally, the device further includes: a first adjustment module configured to:

[0265] Under the assistance mode, obtain slope information;

[0266] When the slope information changes, adjust the output power of the power system;

[0267] Specifically, as the slope information increases, the output power of the power system increases.

[0268] Optionally, the device further includes: a second adjustment module, configured to:

[0269] In the implementation of the assistance mode, information on the force applied by the user is obtained;

[0270] Adjust the output power of the power system based on the force information.

[0271] Optionally, when the second adjustment module adjusts the output power of the power system based on the force information, it is specifically configured as follows:

[0272] When the force information is a backward pulling force, the output power of the power system is reduced to control the vehicle deceleration; the amount of reduction in output power is positively correlated with the value of the backward pulling force.

[0273] Optionally, the second adjustment module is specifically configured as follows:

[0274] During vehicle deceleration, if it is detected that the user has stopped applying a backward pulling force and has not applied a forward pushing force, the output power of the power system is determined based on the current speed to enable the vehicle to maintain its current speed.

[0275] Optionally, when determining the output power of the power system based on the current speed, the second adjustment module is specifically configured as follows:

[0276] When the current speed is 0 and the gradient information indicates that the vehicle is on a flat road, the power output of the powertrain is adjusted to 0; and / or,

[0277] When the current speed is 0 and the gradient information indicates that the vehicle is going uphill, the power output of the power system is adjusted according to the total mass of the vehicle and the gradient information to keep the vehicle stationary on the slope.

[0278] Optionally, when the second adjustment module adjusts the output power of the power system based on the force information, it is specifically configured as follows:

[0279] When the force information is forward thrust, the output power of the power system is increased to control vehicle acceleration; the increase in output power is positively correlated with the value of forward thrust.

[0280] Optionally, the second adjustment module is specifically configured as follows:

[0281] During vehicle acceleration, if it is detected that the user has stopped applying forward thrust and has not applied backward pull, the output power of the power system is determined based on the current speed and the maximum assist speed to keep the vehicle moving forward at the current speed.

[0282] Optionally, the device further includes: a first control module configured to:

[0283] After the vehicle enters push-assist mode, the indicator lights on the control instrument panel display a preset color at a preset frequency; and / or,

[0284] After the vehicle is put into push-assist mode, the sound unit of the control instrument outputs the first preset prompt tone at a preset frequency.

[0285] Optionally, the device also includes an exit module configured to:

[0286] The vehicle will exit push-assist mode when at least one of the following conditions is met:

[0287] Brake signal detected, seat status indicates target object presence, vehicle tilt angle exceeds preset tilt angle, rear wheel spins freely, and vehicle is in downhill condition;

[0288] The vehicle being in a downhill state indicates that the slope information is less than the first preset slope value, and the duration of the slope information being less than the first preset slope value is greater than the second preset duration.

[0289] Optionally, the device further includes: a second control module configured to:

[0290] When the vehicle exits the push-assist mode, if the throttle control value is detected to be non-zero, the vehicle will be controlled to move according to the throttle control value.

[0291] Optionally, the device may also include: a third control module, configured to:

[0292] After the vehicle is deactivated from push-assist mode, the instrument panel outputs a second preset prompt tone.

[0293] The pushing assistance device 60 provided in this application embodiment can realize the pushing assistance method shown in FIG2 above. Its implementation principle and technical effect are similar, and will not be described again here.

[0294] Figure 7 is a schematic diagram of the hardware structure of a controller provided in an embodiment of this application. As shown in Figure 7, the controller provided in this embodiment includes at least one processor 701 and a memory 702. The processor 701 and the memory 702 are connected via a bus 703.

[0295] In a specific implementation, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to execute the method in the above method embodiment.

[0296] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0297] In the embodiment shown in Figure 7 above, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0298] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0299] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0300] This application also provides an electric mobility scooter, including: a power system and a controller as described in the previous embodiment, wherein the power system is used to provide output power under the control of the controller; or, it includes: a pushing assistance system and a power module as described in the previous embodiment, wherein the power module is used to provide output power to the electric mobility scooter under the control of the pushing assistance system.

[0301] Electric mobility scooters can include electric two-wheelers, electric scooters, balance bikes, and electric-assisted bikes.

[0302] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the above-described method embodiments.

[0303] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the above method embodiments.

[0304] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0305] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0306] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0307] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0308] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of this application.

[0309] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for promoting and assisting implementation, wherein, The method includes: Once the preset conditions are met, the vehicle is controlled to enter the push-assist mode so that the vehicle's power system can provide output power. The preset conditions include: the vehicle is on a flat road or uphill, the throttle control amount is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time.

2. The method according to claim 1, wherein, The preset conditions also include the side support being in a retracted state, and / or the seat cushion being in a state where no target object exists.

3. The method according to claim 1 or 2, wherein, Controlling the vehicle to enter push-assist mode includes: The current speed is obtained, and the output power of the power system is determined based on the current speed so that the vehicle can maintain the current speed; wherein, the higher the current speed, the higher the output power.

4. The method according to claim 3, wherein, Determine the output power of the power system based on the current speed, including: When the current speed is less than or equal to the maximum assist speed, the output power of the power system is determined based on the current speed; When the current speed is greater than the maximum assist speed, the output power of the power system is determined based on the maximum assist speed.

5. The method according to claim 3, wherein, The method further includes: In the aforementioned push-assist mode, slope information is obtained; When the slope information changes, the output power of the power system is adjusted; Specifically, when the slope information increases, the output power of the power system increases.

6. The method according to claim 5, wherein, The method further includes: In the pushing assistance mode, information on the force applied by the user is obtained; The output power of the power system is adjusted according to the force information.

7. The method according to claim 6, wherein, Adjusting the output power of the power system based on the force information includes: When the force information is a backward pulling force, the output power of the power system is reduced to control the vehicle deceleration; wherein, the amount of reduction in output power is positively correlated with the value of the backward pulling force.

8. The method according to claim 7, wherein, The method further includes: During vehicle deceleration, if it is detected that the user has stopped applying a backward pulling force and has not applied a forward pushing force, the output power of the power system is determined based on the current speed to enable the vehicle to maintain its current speed.

9. The method according to claim 8, wherein, Determine the output power of the power system based on the current speed, including: When the current speed is 0 and the gradient information indicates that the vehicle is on a flat road, the output power of the powertrain is adjusted to 0; and / or, When the current speed is 0 and the slope information indicates that the vehicle is uphill, the output power of the power system is adjusted according to the total mass of the vehicle and the slope information to keep the vehicle stationary on the slope.

10. The method according to any one of claims 6-9, wherein, Adjusting the output power of the power system based on the force information includes: When the force information is a forward thrust, the output power of the power system is increased to control vehicle acceleration; wherein the increase in output power is positively correlated with the value of the forward thrust.

11. The method according to claim 10, wherein, The method further includes: During vehicle acceleration, if it is detected that the user has stopped applying forward thrust and has not applied backward pull, the output power of the power system is determined based on the current speed and the maximum assist speed to enable the vehicle to maintain its current speed.

12. The method according to claim 1, wherein, The method further includes: After the vehicle enters push-assist mode, the indicator lights on the control instrument panel display a preset color at a preset frequency; and / or, After the vehicle is put into push-assist mode, the sound unit of the control instrument outputs the first preset prompt tone at a preset frequency.

13. The method according to any one of claims 1-12, wherein, The method further includes: The vehicle is then deactivated from the push-assist mode when at least one of the following conditions is met: Brake signal detected, seat status indicates target object presence, vehicle tilt angle exceeds preset tilt angle, rear wheel spins freely, and vehicle is in downhill condition; The vehicle being in a downhill state indicates that the slope information is less than the first preset slope value, and the duration of the slope information being less than the first preset slope value is greater than the second preset duration.

14. The method according to claim 13, wherein, The method further includes: When the vehicle exits the push-assist mode, if the throttle control amount is detected to be non-zero, the vehicle is controlled to move according to the throttle control amount.

15. The method according to claim 13, wherein, The method further includes: After the vehicle exits the push-assist mode, the instrument panel's sound unit outputs a second preset prompt tone.

16. A promotion assistance system, wherein, The pushing assistance system is installed on the electric mobility scooter, and the pushing assistance system includes a wheel speed sensor and a controller; the wheel speed sensor is connected to the controller, and the controller is connected to the power module; The wheel speed sensor is used to acquire the pushing speed signal and send the pushing speed signal to the controller; The controller is used to control the output power applied to the power module according to the pushing speed signal when providing pushing assistance, so that the power module provides output power.

17. The system according to claim 16, wherein, The system further includes: a gyroscope sensor; the gyroscope sensor is connected to the controller; The gyroscope sensor is used to acquire the slope signal and send the slope signal to the controller; The controller is also used to control the output power applied to the power module according to the slope signal when providing pushing assistance, so that the power module provides output power.

18. The system according to claim 16 or 17, wherein, The system also includes: a trolley force sensor; the trolley force sensor is connected to the controller; The pushcart force sensor is used to acquire the force signal applied by the user to the electric mobility scooter and send the force signal to the controller; The controller is also used to control the output power applied to the power module according to the force signal when providing pushing assistance, so that the power module provides output power.

19. The pushing assistance system according to claim 18, wherein, The controller is specifically configured to reduce the output power applied to the power module based on the backward pulling force signal; and / or, The controller is specifically used to increase the output power applied to the power module according to the forward thrust signal.

20. The pushing assistance system according to claim 19, wherein, The push force sensor is located at the pivot point of the electric mobility scooter, or the push force sensor is located at the throttle position of the electric mobility scooter.

21. The pushing assistance system according to any one of claims 16-20, wherein, The propulsion assistance system further includes: a battery unit, which provides energy to the power module; the battery unit is connected to the controller; The controller is also used to control the output power applied to the power module based on the acquired electrical signal when providing pushing assistance.

22. The pushing assistance system according to any one of claims 16-21, wherein, The propulsion assist system also includes a braking component, which is connected to the controller; The braking component is used to provide braking force for the electric mobility scooter; The controller is also used to stop providing push assist when it detects that the braking components are providing braking force.

23. The pushing assistance system according to any one of claims 16-21, wherein, The controller is also configured to stop providing pushing assistance when it receives a slope signal indicating that the electric mobility scooter is in a downhill state.

24. The implementation assistance system according to any one of claims 16-21, wherein, The pushing assistance system also includes an instrument, which is equipped with a light-emitting unit and a sound-emitting unit; the light-emitting unit and the sound-emitting unit in the instrument are respectively connected to the controller; The controller is also used to control the light-emitting unit to emit light when pushing assistance is provided, and / or to control the sound-emitting unit to emit a first preset prompt sound; The controller is also configured to control the light-emitting unit to stop emitting light when the pushing assistance stops, and / or control the sound-emitting unit to emit a second preset prompt sound.

25. A pushing assist device, wherein, The device includes: The processing module is configured to control the vehicle to enter the push-assist mode when preset conditions are met, so that the vehicle's power system can provide output power. The preset conditions include: the vehicle is on a flat road or uphill, the throttle control amount is 0, and the user pushes the vehicle from a stationary state and maintains the pushing speed for a first preset time.

26. A controller, wherein, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1 to 15.

27. An electric mobility scooter, wherein, include: The power system and the controller of claim 17, wherein the power system is configured to provide output power under the control of the controller; Alternatively, it may include: a propulsion assist system and a power module as described in any one of claims 16-24, wherein the power module is configured to provide output power to the electric mobility scooter under the control of the propulsion assist system.

28. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1 to 15.

29. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 15.

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