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CN119459951A - Electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium - Google Patents

Electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium Download PDF

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Publication number
CN119459951A
CN119459951A CN202510060369.XA CN202510060369A CN119459951A CN 119459951 A CN119459951 A CN 119459951A CN 202510060369 A CN202510060369 A CN 202510060369A CN 119459951 A CN119459951 A CN 119459951A
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acceleration
mode
electric
braking
assisted bicycle
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CN119459951B (en
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徐楼钧
李政
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Jiuqi Co ltd
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Jiuqi Co ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

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Abstract

本发明提供了一种电助力自行车模式控制方法、装置、电助力自行车及介质,涉及电助力自行车技术领域,所述方法包括:根据电助力自行车的车辆姿态确定所述电助力自行车所处的环境状态;根据所述电助力自行车的车辆驱动类型和所述环境状态确定所述电助力自行车的驱动模式;根据控制信号和所述驱动模式确定所述电助力自行车的工况模式,根据所述工况模式确定驱动模块的输出特性,其中,所述控制信号包括制动信号、模式切换信号和驱动信号中的至少一种,用于控制电助力自行车自适应切换模式。

The present invention provides an electric-assisted bicycle mode control method, device, electric-assisted bicycle and medium, and relates to the technical field of electric-assisted bicycles. The method comprises: determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle; determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state; determining the working mode of the electric-assisted bicycle according to a control signal and the driving mode, and determining the output characteristics of a driving module according to the working mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal, and is used to control the adaptive switching mode of the electric-assisted bicycle.

Description

Electric bicycle mode control method and device, electric bicycle and medium
Technical Field
The invention relates to the technical field of electric power assisted bicycles, in particular to a mode control method and device of an electric power assisted bicycle, the electric power assisted bicycle and a medium.
Background
With the development of motor and battery technology, electric power assisted bicycles have been developed. The electric bicycle is different from the traditional two-wheeled electric bicycle, and has the characteristics of small volume, light weight, manpower riding and electric driving. Through the electric power assisting component on the electric power assisting bicycle, extra electric power assisting can be provided when a user rides, and the electric power assisting bicycle helps the user to cope with various road conditions.
In some electric bicycle solutions, a mode switch button is provided for the user to manually switch the drive mode. However, this manual control method brings learning cost to the user, and danger may occur when the driving mode selected by the user cannot match the current road condition. In addition, during riding, when the road condition changes, the user needs to manually switch the driving mode, and potential safety hazards exist.
Disclosure of Invention
The invention solves the problem of how to control the self-adaptive switching mode of an electric bicycle.
In order to solve the problems, the invention provides a mode control method and device for an electric bicycle, the electric bicycle and a medium.
In a first aspect, the present invention provides a method of controlling a mode of an electric bicycle, comprising:
determining the environmental state of the electric bicycle according to the vehicle posture of the electric bicycle;
Determining a drive mode of the electric bicycle according to a vehicle drive type of the electric bicycle and the environmental state;
and determining a working condition mode of the electric power bicycle according to a control signal and the driving mode, and determining output characteristics of a driving module according to the working condition mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal.
Optionally, the determining the environmental state of the electric bicycle according to the vehicle posture of the electric bicycle includes:
acquiring a static gravitational acceleration component of the electric bicycle;
Acquiring the current acceleration of the electric power-assisted bicycle, and determining a gravity acceleration component according to the static gravity acceleration component when the current acceleration is smaller than a first acceleration threshold value, wherein the vehicle posture comprises the current acceleration;
And determining a gradient angle of the electric bicycle according to the gravity acceleration component, and determining the environment state according to the gradient angle, wherein the environment state comprises a downhill slope, an uphill slope, a flat road and a complex road section.
Optionally, the determining the gradient angle of the electric bicycle according to the gravitational acceleration component, and determining the environmental state according to the gradient angle includes:
And determining the environmental state as the complex road section when the gradient angle meets a preset condition in a preset time period, wherein the preset condition comprises at least one of that the change amount of the gradient angle is higher than a preset change threshold value, the change frequency is higher than a preset frequency threshold value and the transverse acceleration exceeds a preset transverse acceleration threshold value.
Optionally, the determining the driving mode of the electric bicycle according to the vehicle driving type of the electric bicycle and the environmental state includes:
acquiring pedal frequency data of the electric power assisted bicycle, wherein the pedal frequency data comprises at least one of pedal frequency and pedal frequency acceleration;
when the pedal frequency is smaller than a first pedal frequency and the environment state is an ascending slope, determining the driving mode as a power-assisted pushing mode;
determining the drive mode as a power-free propulsion mode when the tread frequency is less than the first tread frequency and the environmental state is not uphill;
Determining the driving mode as a first riding mode when the pedal frequency data meets a first pedal frequency condition and the environmental state is an ascending slope, wherein the first pedal frequency condition comprises that the pedal frequency is greater than the first pedal frequency and the pedal frequency acceleration is greater than a first pedal frequency acceleration;
And when the environmental state is an ascending slope and the pedal frequency data does not meet a first pedal frequency condition, or the environmental state is not an ascending slope, determining the driving mode as a second riding mode, wherein in the first riding mode, the motor output torque is linearly increased in response to a motor driving signal, and in the second riding mode, the motor output torque is determined according to the motor driving signal in response to the motor driving signal.
Optionally, the determining the working condition mode of the electric bicycle according to the control signal and the driving mode, and determining the output characteristic of the driving module according to the working condition mode includes:
when the control signal is a mode switching signal, the working condition mode is switched to a target working condition mode indicated by the mode switching signal;
When the control signal is a braking signal, determining the target working condition mode according to the driving mode and the braking signal;
and when the control signal is a driving signal, determining the target working condition mode according to the target acceleration indicated by the driving signal, wherein when the target acceleration is larger than a preset acceleration, taking a racing mode as the target working condition mode, and when the target acceleration is smaller than or equal to the preset acceleration, taking a commuting mode as the target working condition mode, wherein the racing mode comprises controlling a motor to output torque at maximum power, and the commuting mode comprises controlling the motor to output torque at the target acceleration.
Optionally, when the control signal is a brake signal, determining the target working condition mode according to the driving mode and the brake signal includes:
When the driving mode is a first riding mode, determining target braking acceleration according to the braking signal, and when the target braking acceleration is smaller than or equal to the maximum recovery acceleration, braking by dynamic recovery acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration and the target braking acceleration are in a preset proportional relation; and when the target braking acceleration is larger than the maximum recovery acceleration, recovering kinetic energy by using the maximum recovery acceleration, and performing combined braking through a braking module.
Optionally, when the control signal is a braking signal, determining the target working condition mode according to the driving mode and the braking signal further includes:
when the driving mode is a second riding mode, determining the target braking acceleration according to the braking signal;
When the speed of the electric power-assisted bicycle is greater than or equal to a preset speed, judging whether the target braking acceleration is greater than the maximum recovery acceleration or not;
When the target braking acceleration is larger than the maximum recovery acceleration, the maximum recovery acceleration is used for carrying out kinetic energy recovery, and the combined braking is carried out through a braking module;
when the speed of the electric power assisted bicycle is smaller than the preset speed, judging whether the target braking acceleration is larger than the maximum recovery acceleration or not;
When the target braking acceleration is larger than or equal to the preset braking acceleration, braking is carried out by the target braking acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration and the target braking acceleration are in a preset proportional relation, and the maximum recovery acceleration is larger than or equal to the preset braking acceleration;
and when the target braking acceleration is larger than the maximum recovery acceleration, recovering kinetic energy by using the maximum recovery acceleration, and performing combined braking by using the braking module.
The mode control method of the electric bicycle has the beneficial effects that:
The current environment of the electric bicycle is determined according to the vehicle posture, the current driving intention of a user is primarily determined according to the vehicle driving type, the driving mode of the electric bicycle is primarily determined, the subjective intention of the user and the objective environment of the electric bicycle are combined, the motor output characteristic more suitable for the current environment is determined, and the driving mode switching accuracy is improved. Further, the working condition mode of the electric power bicycle is determined through the control signal and the determined driving mode, the working condition mode is further subdivided, the output characteristic of the driving module is finally determined, the driving type of the driving module can be rapidly determined through preliminary determination of the driving mode, the output characteristic of the driving module can be accurately determined through further determination of the working condition mode, and finally the self-adaptive mode switching of the electric power bicycle is realized.
In a second aspect, the present invention also provides an electric bicycle mode control device comprising:
The environment recognition module is used for determining the environment state of the electric bicycle according to the vehicle posture of the electric bicycle;
the driving mode switching module is used for determining the driving mode of the electric bicycle according to the vehicle driving type of the electric bicycle and the environmental state;
The working condition mode switching module is used for determining the working condition mode of the electric booster bicycle according to a control signal and the driving mode and determining the output characteristic of the driving module according to the working condition mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal.
In a third aspect, the present invention also provides an electric bicycle comprising a memory and a processor;
The memory is used for storing a computer program;
The processor is configured to implement the electric bicycle mode control method as described above when executing the computer program.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the electric bicycle mode control method as described above.
Drawings
FIG. 1 is a flow chart of a method for controlling a mode of an electrically assisted bicycle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for controlling an electric bicycle mode according to an embodiment of the present invention after refinement of step S200;
fig. 3 is an exemplary diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "comprising" and variations thereof as used herein is meant to be open-ended, i.e., "including but not limited to," based at least in part on, "one embodiment" means "at least one embodiment," another embodiment "means" at least one additional embodiment, "some embodiments" means "at least some embodiments," and "optional" means "optional embodiment. Related definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish between different devices, modules or units, and are not intended to limit the order or interdependence of functions performed by these devices, modules or units.
It should be noted that references to "a" and "an" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.
In view of the above-mentioned problems associated with the related art, the present embodiment provides a method and apparatus for controlling a mode of an electric bicycle, and a medium.
As shown in fig. 1, the method for controlling the mode of the electric bicycle according to the embodiment of the present invention includes:
step S100, determining the environmental state of the electric bicycle according to the vehicle posture of the electric bicycle.
In an embodiment, six-axis sensors are provided in the electric bicycle for acquiring the posture changes of the X-axis, the Y-axis, and the Z-axis, wherein the X-axis represents the front-rear direction axis of the electric bicycle, the Y-axis represents the left-right direction axis of the electric bicycle, and the Z-axis represents the up-down direction axis of the electric bicycle, and the six-axis sensors can assist in determining the acceleration of the electric bicycle in the front-rear direction, the lateral acceleration in the left-right direction at the time of steering, and the up-down acceleration with respect to the ground during ascending-descending. The static gravitational acceleration component represents the gravitational acceleration to which the electric bicycle is subjected when the electric bicycle is stationary, and in this embodiment, the static acceleration is acquired in advance when the electric bicycle is unlocked.
Because the electric bicycle has the characteristics of light weight and small volume, the service environment of the electric bicycle is different from that of a traditional double-wheel electric bicycle, for example, the electric bicycle can adapt to mountain environments, and has good adaptability on non-paved road sections, a user can travel in cities, villages or mountain road sections, so that road conditions to which the electric bicycle is required to face are complex, the environment state of the electric bicycle needs to be determined, and the driving mode of the electric bicycle is switched according to the environment state so as to cope with the complex road conditions. For example, when the environment state is a non-paved road section, the output characteristics of the motor are automatically switched according to the condition of ascending and descending slopes, and when the environment is a paved road section, the output characteristics of the motor which are different from the non-paved road section are determined according to the condition of ascending and descending slopes, so that the riding experience of a user is improved.
Step S200, determining a driving mode of the electric bicycle according to a vehicle driving type of the electric bicycle and the environmental state.
In an embodiment, the driving mode of the electric bicycle is determined together according to the driving type of the electric bicycle and the environmental state, and in an embodiment of the present invention, the driving mode represents a preliminary running mode of the electric bicycle, which is used for preliminarily determining a current riding mode, such as a pushing mode, a riding mode, etc. The vehicle driving type is used for measuring the current driving composition of the electric bicycle, such as manpower driving and motor driving, and is used for determining the subjective intention of a user in the process of determining the driving mode of the electric bicycle, and the environment state is used for determining the objective environment of the electric bicycle, so as to further determine the output characteristic of the motor which is more suitable for the current objective environment. For example, when the pedal frequency of the electric bicycle is 0 and the pedal frequency acceleration is also 0, the electric bicycle may be in a pushing state or a sliding state, whether or not riding is being performed is determined by a weight sensor provided on the seat, the current pushing state is determined if the weight data obtained by the seat weight sensor is 0, and the current riding state is determined if the weight data obtained by the seat weight sensor is a preset weight zone. In other embodiments, the vehicle drive type is determined by both the step frequency data and the motor drive signal, such as determining that the vehicle is currently in a manual drive when no motor drive signal is present and only the step frequency data is present, determining that the vehicle is currently in a motor drive or a hybrid motor drive when a motor drive signal is present, and determining that the vehicle is currently in a push or ride-on coasting state when no motor drive signal is present and both the step frequency and step frequency acceleration are 0.
And step S300, determining a working condition mode of the electric booster bicycle according to a control signal and the driving mode, and determining output characteristics of a driving module according to the working condition mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal.
In one embodiment, the operating mode represents a further sub-divided mode in the driving mode, and is used for determining the output characteristic of the output module according to the control signal in the determined driving mode after determining the subjective intention of the user and the objective environment of the electric bicycle. For example, when a brake signal is received, a brake strategy more suitable for the current drive mode is obtained according to the brake signal, when a drive signal is received, a drive strategy more suitable for the current drive mode is obtained according to the drive signal, and when a mode switching signal is received, the mode is switched to a working condition mode indicated by the mode switching signal.
Optionally, when the control signal is a mode switching signal, judging whether the electric bicycle meets a switching condition, if so, switching the working condition mode into a target working condition mode indicated by the mode switching signal. If not, the current working condition mode is maintained. The switching condition includes that the environmental state is not a downhill slope, the speed of the electric bicycle is smaller than a preset speed, the environmental state is a downhill slope, and the speed of the electric bicycle is smaller than a second preset speed, wherein the second preset speed is smaller than the preset speed.
In an embodiment, the preset speed is a safe speed of a flat road or an uphill road section, the second preset speed is a safe speed of a downhill road section, when the electric bicycle is in the safe speed, the current working condition mode can be changed according to the active adjustment of the user, and when the vehicle speed is higher than the safe speed, the motor torque or the vehicle speed is prevented from suddenly changing after the working condition mode is switched, so that the user is not allowed to actively switch the working condition mode.
In the embodiment, the current environment of the electric bicycle is determined according to the vehicle posture, the current driving intention of a user is primarily determined according to the driving type of the vehicle, the driving mode of the electric bicycle is primarily determined, the output characteristic of a motor which is more suitable for the current environment is determined by combining the subjective intention of the user and the objective environment of the electric bicycle, the driving mode switching accuracy is improved, further, the working condition mode of the electric bicycle is determined by a control signal and the determined driving mode, the working condition mode is further subdivided, the output characteristic of the driving module is finally determined, the driving type of the driving module can be rapidly determined by primarily determining the driving mode, the output characteristic of the driving module can be accurately determined by further determining the working condition mode, and the self-adaptive mode switching of the electric bicycle is finally realized.
Optionally, the determining the environmental state of the electric bicycle according to the vehicle posture of the electric bicycle includes:
acquiring a static gravitational acceleration component of the electric bicycle;
Acquiring the current acceleration of the electric power-assisted bicycle, and determining a gravity acceleration component according to the static gravity acceleration component when the current acceleration is smaller than a first acceleration threshold value, wherein the vehicle posture comprises the current acceleration;
And determining a gradient angle of the electric bicycle according to the gravity acceleration component, and determining the environment state according to the gradient angle, wherein the environment state comprises a downhill slope, an uphill slope, a flat road and a complex road section.
Specifically, the current acceleration of the electric bicycle is determined according to the six-axis gyroscope, the current acceleration component is required to be smaller than the first acceleration threshold value for determining the gravity acceleration component, and if the current acceleration is smaller than the first acceleration threshold value, the gravity acceleration component can be determined according to the static gravity acceleration component, so that the gradient angle of the current electric bicycle is determined according to the gravity acceleration component.
Optionally, the determining the gradient angle of the electric bicycle according to the gravitational acceleration component, and determining the environmental state according to the gradient angle includes:
And determining the environmental state as the complex road section when the gradient angle meets a preset condition in a preset time period, wherein the preset condition comprises at least one of that the change amount of the gradient angle is higher than a preset change threshold value, the change frequency is higher than a preset frequency threshold value and the transverse acceleration exceeds a preset transverse acceleration threshold value.
Specifically, because the electric bicycle has the characteristic of strong universality, when the environment state is set, a non-paved road section or a more complex mountain road section is considered, whether the current road section is a complex road section is judged by determining whether a preset condition is met in a preset time period, and a unique driving and braking strategy is formulated for the complex road section, so that the accuracy of mode switching of the electric bicycle is improved.
In an embodiment, when the gradient angle is changed to a larger degree in a preset time period, the fluctuation degree of the current road section is larger, when the gradient angle is changed to a higher degree in frequency, the fluctuation of the current road section is more intense, and when the transverse acceleration exceeds the preset transverse acceleration, the current road section is more tortuous, and the three conditions can be judged as complex road sections.
When the environmental state is a complex road section, the driving mode of the electric bicycle is determined according to the driving type of the vehicle. When the driving type of the electric boosting bicycle is pushing, the driving mode is switched to a boosting pushing mode if the electric boosting bicycle is currently on an ascending slope, and the driving mode is switched to a non-boosting pushing mode if the electric boosting bicycle is currently on a flat ground or a descending slope.
When the driving type of the electric power-assisted bicycle is riding, a braking force is determined according to the braking signal in response to the braking signal, a target acceleration is determined according to the driving signal in response to the driving signal, when the target acceleration is larger than a preset acceleration, the highest acceleration capacity is required, the motor is controlled to accelerate the maximum torque, when the target acceleration is smaller than the preset acceleration, the higher acceleration capacity is not required at present, and the motor is controlled to accelerate according to the target acceleration determined by the driving signal.
Optionally, as shown in fig. 2, the determining the driving mode of the electric bicycle according to the vehicle driving type of the electric bicycle and the environmental state includes:
step S210 of acquiring pedal frequency data of the electric power assisted bicycle, wherein the pedal frequency data includes at least one of pedal frequency and pedal frequency acceleration.
And step S220, determining the driving mode as a boosting pushing mode when the pedal frequency is smaller than a first pedal frequency and the environment state is an ascending slope.
Step S230, determining the driving mode as a non-boosting mode when the pedal frequency is smaller than the first pedal frequency and the environmental state is not an ascending slope.
And step S240, determining the driving mode as a first riding mode when the pedal frequency data meets a first pedal frequency condition and the environment state is an ascending slope, wherein the first pedal frequency condition comprises that the pedal frequency is larger than the first pedal frequency and the pedal frequency acceleration is larger than the first pedal frequency acceleration.
And step S250, determining the driving mode as a second riding mode when the environment state is an ascending slope and the pedal frequency data does not meet a first pedal frequency condition or the environment state is not an ascending slope, wherein in the first riding mode, the motor output torque is linearly increased in response to a motor driving signal, and in the second riding mode, the motor output torque is determined according to the motor driving signal in response to the motor driving signal.
In an embodiment, the preliminary subjective intention of the user is determined together according to the pedal frequency and the environmental state of the electric bicycle, for example, the first pedal frequency is set to 0, when the pedal frequency data is greater than 0, the user is determined to be in a pushing state, the environmental state is further determined, when the environmental state is an ascending slope, the driving mode is determined to be an assisting pushing mode, the motor is controlled to output preset torque, and the motor output speed is controlled to be within the pushing speed. In one embodiment, the push speed is 5km/h. When the environment state is a level road and a downhill, the driving mode is determined to be a non-boosting pushing mode, and the pushing speed is limited within the pushing speed.
In another embodiment, when the pedal frequency is greater than the first pedal frequency, the user is in a fast riding state under the condition that the pedal frequency is higher, when the pedal frequency acceleration is greater than the first pedal frequency acceleration, the user pedal frequency is from low to high and needs to be accelerated rapidly, whether the environment state is an ascending slope is further judged, and when the environment state is the ascending slope, the driving mode is determined to be a first riding mode requiring higher output power of the motor, wherein the first riding mode is mainly used for assisting the user to accelerate faster on the ascending slope, and the output torque of the motor is increased linearly according to the motor driving signal until the torque of the motor is output to the torque corresponding to the motor driving signal. When the environment state is a flat road or a downhill, the driving mode is determined to be a second riding mode, and the driving mode is mainly used for enabling a user to stably run on the flat road or the downhill, and the output torque is determined through a motor driving signal.
Optionally, the determining the working condition mode of the electric bicycle according to the control signal and the driving mode, and determining the output characteristic of the driving module according to the working condition mode includes:
And when the control signal is a mode switching signal, switching the working condition mode into a target working condition mode indicated by the mode switching signal.
And when the control signal is a braking signal, determining the target working condition mode according to the driving mode and the braking signal.
And when the control signal is a driving signal, determining the target working condition mode according to the target acceleration indicated by the driving signal, wherein when the target acceleration is larger than a preset acceleration, taking a racing mode as the target working condition mode, and when the target acceleration is smaller than or equal to the preset acceleration, taking a commuting mode as the target working condition mode, wherein the racing mode comprises controlling a motor to output torque at maximum power, and the commuting mode comprises controlling the motor to output torque at the target acceleration.
In the embodiment of the present invention, the target acceleration may be obtained from a pedal data map, or may be obtained from a rotation angle map of an accelerator grip provided on the grip. For example, when the electric bicycle is not provided with an accelerator grip, the target acceleration is determined according to the current pedal frequency or pedal frequency acceleration by setting a map in which the pedal frequency, the pedal frequency acceleration and the target acceleration are in one-to-one correspondence, and in another embodiment, when the electric bicycle is provided with an accelerator grip, the user twists the accelerator grip, the target acceleration is determined according to the current accelerator grip angle according to a preset angle-target acceleration map.
In one embodiment, the mode switching signal can actively switch the working mode, and the braking signal and the driving signal can also switch the working mode, so that the working mode of the electric bicycle is matched with the current situation. When the control signal is a mode switching signal, the electric bicycle is switched to a target working condition mode according to the mode switching signal. When the control signal is a braking signal, the braking strategy required by the current electric bicycle is determined according to the driving mode, e.g. when the electric bicycle is on a downhill slope, the braking demand is stronger than on an uphill slope, the same braking signal having a different braking force. Similarly, when the control signal is a driving signal, the subjective requirement of the user can be determined according to the target acceleration indicated by the driving signal, when the target acceleration is larger than the preset acceleration, the user is required to have higher acceleration, a strong acceleration requirement exists, in order to ensure the requirement, a racing mode is used as a target working condition mode, the motor outputs torque at the maximum power, so that the electric power bicycle can reach the required speed more quickly, and when the target acceleration is smaller than or equal to the preset acceleration, the user is required to not have higher acceleration, so that the commute mode is used as the target working condition mode, and the output torque is determined according to the target acceleration.
Optionally, when the control signal is a brake signal, determining the target working condition mode according to the driving mode and the brake signal includes:
When the driving mode is a first riding mode, determining target braking acceleration according to the braking signal, and when the target braking acceleration is smaller than or equal to the maximum recovery acceleration, braking by dynamic recovery acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration and the target braking acceleration are in a preset proportional relation; and when the target braking acceleration is larger than the maximum recovery acceleration, recovering kinetic energy by using the maximum recovery acceleration, and performing combined braking through a braking module.
In one embodiment, when the driving mode is the first riding mode, indicating that the current electric bicycle is on an uphill slope, determining a target braking acceleration according to the braking signal, wherein the target braking acceleration indicates a braking acceleration to be achieved by the electric bicycle. The maximum recovery acceleration represents the maximum braking acceleration which can be provided by the kinetic energy recovery module, and when the target braking acceleration is smaller than or equal to the maximum recovery acceleration, the kinetic energy recovery module can independently provide braking, and then the recovery acceleration is provided by the kinetic energy recovery module according to a preset proportion. For example, when the preset ratio is 1:1, the kinetic energy recovery is provided according to the target braking acceleration, and when the preset ratio is 1:0.5, the braking acceleration of the kinetic energy recovery is provided by half of the target braking acceleration. Because the speed of the ascending slope is usually lower than that of a flat road and a descending slope, and the requirement on emergency braking is not higher than that of other environment states during the ascending slope, the dynamic recovery strategy is used for recovering the kinetic energy, and different kinetic energy recovery strategies can be determined according to different conditions so as to save the physical power of a user and the electric energy of the electric bicycle. When the target braking acceleration is larger than the maximum recovery acceleration, the fact that the braking requirement cannot be met only by the kinetic energy recovery module is indicated, the kinetic energy is recovered by the maximum recovery acceleration, and the combined braking is carried out through the braking module. For example, when the maximum recovery acceleration is 0.2g and the target braking acceleration is 0.3g, the kinetic energy recovery of the maximum recovery acceleration is performed by the kinetic energy recovery module, and the braking acceleration of 0.1g is borne by the braking module. Where g represents gravitational acceleration.
Optionally, when the control signal is a braking signal, determining the target working condition mode according to the driving mode and the braking signal further includes:
and when the driving mode is a second riding mode, determining the target braking acceleration according to the braking signal.
And when the speed of the electric power-assisted bicycle is greater than or equal to a preset speed, judging whether the target braking acceleration is greater than the maximum recovery acceleration.
And when the target braking acceleration is greater than the maximum recovery acceleration, the maximum recovery acceleration is used for carrying out kinetic energy recovery, and the braking module is used for carrying out combined braking.
And when the speed of the electric power assisted bicycle is smaller than the preset speed, judging whether the target braking acceleration is larger than the maximum recovery acceleration or not.
When the target braking acceleration is smaller than or equal to the maximum recovery acceleration, judging whether the target braking acceleration is smaller than the preset braking acceleration, when the target braking acceleration is smaller than the preset braking acceleration, braking by the dynamic recovery acceleration, and when the target braking acceleration is larger than or equal to the preset braking acceleration, braking by the target braking acceleration through the dynamic recovery, wherein the dynamic recovery acceleration and the target braking acceleration are in a preset proportional relation, and the maximum recovery acceleration is larger than or equal to the preset braking acceleration.
And when the target braking acceleration is larger than the maximum recovery acceleration, recovering kinetic energy by using the maximum recovery acceleration, and performing combined braking by using the braking module.
When the driving mode is the second riding mode, the target braking acceleration is determined according to the braking signal, the second riding mode represents the environment state except for the ascending slope, when the speed is higher than the preset speed, if braking is needed, the maximum speed is needed to reach the target speed expected by a user, so that braking is needed to be performed through conventional kinetic energy recovery, when the target braking acceleration is smaller than or equal to the maximum recovery acceleration, the kinetic energy recovery braking is performed through the kinetic energy recovery module, and when the target braking acceleration is greater than the maximum recovery acceleration, the combined braking is performed through the kinetic energy recovery module and the braking module.
When the speed of the electric bicycle is lower than the preset speed, the electric bicycle is lower in speed, whether the target braking acceleration is lower than the preset braking acceleration is further judged, if so, the braking force required by a user is smaller, the braking acceleration can be reduced in a certain proportion, and the kinetic energy recovery braking is carried out through a dynamic recovery strategy. When the target braking acceleration is larger than or equal to the preset braking acceleration, the user needs a better braking effect, and braking is performed according to the target braking acceleration. When the target braking acceleration is larger than the maximum recovery speed, the user needs a better braking effect, and the kinetic energy recovery module cannot meet the braking requirement at the same time, so that the kinetic energy is recovered at the maximum recovery acceleration, and the combined braking is performed through the braking module.
The embodiment of the invention provides an electric power bicycle mode control device, which comprises:
The environment recognition module is used for determining the environment state of the electric bicycle according to the vehicle posture of the electric bicycle;
the driving mode switching module is used for determining the driving mode of the electric bicycle according to the vehicle driving type of the electric bicycle and the environmental state;
The working condition mode switching module is used for determining the working condition mode of the electric booster bicycle according to a control signal and the driving mode and determining the output characteristic of the driving module according to the working condition mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal.
As shown in fig. 3, the electric bicycle provided by the embodiment of the invention comprises an electronic device 300, wherein the electronic device 300 comprises a memory 310 and a processor 320, the memory 310 is used for storing a computer program, and the processor 320 is used for realizing the electric bicycle mode control method when executing the computer program.
Alternatively stated, an electric bicycle comprises an electronic device 300, the electronic device 300 comprising a memory 310 and a processor 320, the memory 310 being for storing a computer program, the processor 320 being for performing the following operations when the computer program is executed:
determining the environmental state of the electric bicycle according to the vehicle posture of the electric bicycle;
Determining a drive mode of the electric bicycle according to a vehicle drive type of the electric bicycle and the environmental state;
and determining a working condition mode of the electric power bicycle according to a control signal and the driving mode, and determining output characteristics of a driving module according to the working condition mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal.
The embodiment of the invention provides a computer readable storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the electric bicycle mode control method is realized.
Alternatively, a non-transitory computer readable storage medium having a computer program stored thereon, which when executed by a processor, causes the processor to:
determining the environmental state of the electric bicycle according to the vehicle posture of the electric bicycle;
Determining a drive mode of the electric bicycle according to a vehicle drive type of the electric bicycle and the environmental state;
and determining a working condition mode of the electric power bicycle according to a control signal and the driving mode, and determining output characteristics of a driving module according to the working condition mode, wherein the control signal comprises at least one of a braking signal, a mode switching signal and a driving signal.
An electronic device 300 that can be a server or a client of the present invention will now be described as an example of a hardware device that can be applied to aspects of the present invention. Electronic device 300 is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic device 300 may also represent various forms of mobile apparatuses, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
The electronic device 300 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) or a computer program loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device may also be stored. The computing unit, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), or the like. In the present application, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.

Claims (10)

1.一种电助力自行车模式控制方法,其特征在于,包括:1. A method for controlling a mode of an electric power-assisted bicycle, comprising: 根据电助力自行车的车辆姿态确定所述电助力自行车所处的环境状态;Determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle; 根据所述电助力自行车的车辆驱动类型和所述环境状态确定所述电助力自行车的驱动模式;determining a driving mode of the electric-assisted bicycle according to a vehicle driving type of the electric-assisted bicycle and the environmental state; 根据控制信号和所述驱动模式确定所述电助力自行车的工况模式,根据所述工况模式确定驱动模块的输出特性,其中,所述控制信号包括制动信号、模式切换信号和驱动信号中的至少一种。The operating mode of the electric-assisted bicycle is determined according to a control signal and the driving mode, and the output characteristics of the driving module are determined according to the operating mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal. 2.根据权利要求1所述的电助力自行车模式控制方法,其特征在于,所述根据电助力自行车的车辆姿态确定所述电助力自行车所处的环境状态包括:2. The electric-assisted bicycle mode control method according to claim 1, characterized in that the step of determining the environmental state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle comprises: 获取所述电助力自行车的静态重力加速度分量;Obtaining a static gravity acceleration component of the electric-assisted bicycle; 获取所述电助力自行车的当前加速度,当所述当前加速度小于第一加速度阈值时,根据所述静态重力加速度分量确定重力加速度分量,其中,所述车辆姿态包括所述当前加速度;Acquire the current acceleration of the electric-assisted bicycle, and when the current acceleration is less than a first acceleration threshold, determine the gravity acceleration component according to the static gravity acceleration component, wherein the vehicle posture includes the current acceleration; 根据所述重力加速度分量确定所述电助力自行车所处的坡度角,根据所述坡度角确定所述环境状态,其中,所述环境状态包括下坡、上坡、平路和复杂路段。The slope angle of the electric-assisted bicycle is determined according to the gravity acceleration component, and the environmental state is determined according to the slope angle, wherein the environmental state includes downhill, uphill, flat road and complex road section. 3.根据权利要求2所述的电助力自行车模式控制方法,其特征在于,所述根据所述重力加速度分量确定所述电助力自行车所处的坡度角,根据所述坡度角确定所述环境状态包括:3. The electric-assisted bicycle mode control method according to claim 2, characterized in that the step of determining the slope angle of the electric-assisted bicycle according to the gravity acceleration component and determining the environmental state according to the slope angle comprises: 当所述坡度角在预设时间段内满足预设条件时,将所述环境状态确定为所述复杂路段,其中,所述预设条件包括所述坡度角的变化量高于预设变化阈值、变化频率高于预设频率阈值、横向加速度超过预设横向加速度阈值中的至少一种。When the slope angle meets a preset condition within a preset time period, the environmental state is determined as the complex road section, wherein the preset condition includes at least one of a change in the slope angle being higher than a preset change threshold, a change frequency being higher than a preset frequency threshold, and a lateral acceleration exceeding a preset lateral acceleration threshold. 4.根据权利要求1所述的电助力自行车模式控制方法,其特征在于,所述根据所述电助力自行车的车辆驱动类型和所述环境状态确定所述电助力自行车的驱动模式包括:4. The electric-assisted bicycle mode control method according to claim 1, characterized in that the step of determining the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state comprises: 获取所述电助力自行车的踏频数据,其中,所述踏频数据包括踏频和踏频加速度中的至少一种;Acquiring cadence data of the electric-assisted bicycle, wherein the cadence data includes at least one of cadence and cadence acceleration; 当所述踏频小于第一踏频且所述环境状态为上坡时,将所述驱动模式确定为助力推行模式;When the cadence is less than the first cadence and the environmental state is uphill, the driving mode is determined to be the power-assisted pushing mode; 当所述踏频小于所述第一踏频且所述环境状态不为上坡时,将所述驱动模式确定为无助力推行模式;When the cadence is less than the first cadence and the environmental state is not uphill, determining the driving mode as a non-assisted propulsion mode; 当所述踏频数据满足第一踏频条件且所述环境状态为上坡时,将所述驱动模式确定为第一骑行模式,其中,所述第一踏频条件包括所述踏频大于所述第一踏频且所述踏频加速度大于第一踏频加速度;When the cadence data satisfies a first cadence condition and the environmental state is uphill, determining the driving mode as a first riding mode, wherein the first cadence condition includes that the cadence is greater than the first cadence and the cadence acceleration is greater than the first cadence acceleration; 当所述环境状态为上坡,且所述踏频数据不满足第一踏频条件,或,所述环境状态不为上坡时,将所述驱动模式确定为第二骑行模式,其中,在所述第一骑行模式下,响应于电机驱动信号,电机输出扭矩线性增加,在所述第二骑行模式下,响应于所述电机驱动信号,根据所述电机驱动信号确定输出扭矩。When the environmental state is uphill and the cadence data does not meet the first cadence condition, or the environmental state is not uphill, the driving mode is determined as the second riding mode, wherein, in the first riding mode, in response to the motor driving signal, the motor output torque increases linearly, and in the second riding mode, in response to the motor driving signal, the output torque is determined according to the motor driving signal. 5.根据权利要求1所述的电助力自行车模式控制方法,其特征在于,所述根据控制信号和所述驱动模式确定所述电助力自行车的工况模式,根据所述工况模式确定驱动模块的输出特性包括:5. The electric-assisted bicycle mode control method according to claim 1, characterized in that the step of determining the working mode of the electric-assisted bicycle according to the control signal and the driving mode, and determining the output characteristics of the driving module according to the working mode comprises: 当所述控制信号为模式切换信号时,将所述工况模式切换为所述模式切换信号指示的目标工况模式;When the control signal is a mode switching signal, switching the operating mode to a target operating mode indicated by the mode switching signal; 当所述控制信号为制动信号时,根据所述驱动模式和所述制动信号确定所述目标工况模式;When the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal; 当所述控制信号为驱动信号时,根据所述驱动信号指示的目标加速度确定所述目标工况模式,其中,当所述目标加速度大于预设加速度时,将竞速模式作为所述目标工况模式,当所述目标加速度小于或等于所述预设加速度时,将通勤模式作为所述目标工况模式,其中,所述竞速模式包括控制电机以最大功率输出扭矩,所述通勤模式包括控制电机以所述目标加速度输出扭矩。When the control signal is a driving signal, the target operating mode is determined according to the target acceleration indicated by the driving signal, wherein when the target acceleration is greater than a preset acceleration, the racing mode is used as the target operating mode, and when the target acceleration is less than or equal to the preset acceleration, the commuting mode is used as the target operating mode, wherein the racing mode includes controlling the motor to output torque at maximum power, and the commuting mode includes controlling the motor to output torque at the target acceleration. 6.根据权利要求5所述的电助力自行车模式控制方法,其特征在于,所述当所述控制信号为制动信号时,根据所述驱动模式和所述制动信号确定所述目标工况模式包括:6. The electric-assisted bicycle mode control method according to claim 5, characterized in that when the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal comprises: 当所述驱动模式为第一骑行模式时,根据所述制动信号确定目标制动加速度,当所述目标制动加速度小于或等于最大回收加速度时,通过动能回收,以动态回收加速度进行制动,其中,所述动态回收加速度与所述目标制动加速度呈预设比例关系;当所述目标制动加速度大于所述最大回收加速度时,以所述最大回收加速度进行动能回收,并通过制动模块进行联合制动。When the driving mode is the first riding mode, a target braking acceleration is determined according to the braking signal; when the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed with dynamic recovery acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed with the maximum recovery acceleration, and combined braking is performed through a braking module. 7.根据权利要求5所述的电助力自行车模式控制方法,其特征在于,所述当所述控制信号为制动信号时,根据所述驱动模式和所述制动信号确定所述目标工况模式还包括:7. The electric-assisted bicycle mode control method according to claim 5, characterized in that when the control signal is a braking signal, determining the target operating mode according to the driving mode and the braking signal further comprises: 当所述驱动模式为第二骑行模式时,根据所述制动信号确定所述目标制动加速度;When the driving mode is the second riding mode, determining the target braking acceleration according to the braking signal; 当所述电助力自行车的速度大于或等于预设速度时,判断所述目标制动加速度是否大于最大回收加速度;When the speed of the electric-assisted bicycle is greater than or equal to a preset speed, determining whether the target braking acceleration is greater than a maximum recovery acceleration; 当所述目标制动加速度小于或等于所述最大回收加速度时,通过动能回收,以所述目标制动加速度进行制动;当所述目标制动加速度大于所述最大回收加速度时,以所述最大回收加速度进行动能回收,并通过制动模块进行联合制动;When the target braking acceleration is less than or equal to the maximum recovery acceleration, braking is performed at the target braking acceleration through kinetic energy recovery; when the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the brake module; 当所述电助力自行车的速度小于所述预设速度时,判断所述目标制动加速度是否大于最大回收加速度;When the speed of the electric-assisted bicycle is less than the preset speed, determining whether the target braking acceleration is greater than the maximum recovery acceleration; 当所述目标制动加速度小于或等于所述最大回收加速度时,判断所述目标制动加速度是否小于预设制动加速度,当所述目标制动加速度小于所述预设制动加速度时,通过动能回收,以动态回收加速度进行制动;当所述目标制动加速度大于或等于所述预设制动加速度时,通过动能回收,以所述目标制动加速度进行制动,其中,所述动态回收加速度与所述目标制动加速度呈预设比例关系,所述最大回收加速度大于或等于所述预设制动加速度;When the target braking acceleration is less than or equal to the maximum recovery acceleration, determine whether the target braking acceleration is less than the preset braking acceleration. When the target braking acceleration is less than the preset braking acceleration, perform braking with dynamic recovery acceleration through kinetic energy recovery. When the target braking acceleration is greater than or equal to the preset braking acceleration, perform braking with the target braking acceleration through kinetic energy recovery, wherein the dynamic recovery acceleration is in a preset proportional relationship with the target braking acceleration, and the maximum recovery acceleration is greater than or equal to the preset braking acceleration. 当所述目标制动加速度大于所述最大回收加速度时,以所述最大回收加速度进行动能回收,并通过所述制动模块进行联合制动。When the target braking acceleration is greater than the maximum recovery acceleration, kinetic energy recovery is performed at the maximum recovery acceleration, and combined braking is performed through the braking module. 8.一种电助力自行车模式控制装置,其特征在于,包括:8. A mode control device for an electric power-assisted bicycle, comprising: 环境识别模块,用于根据电助力自行车的车辆姿态确定所述电助力自行车所处的环境状态;An environment recognition module, used to determine the environment state of the electric-assisted bicycle according to the vehicle posture of the electric-assisted bicycle; 驱动模式切换模块,用于根据所述电助力自行车的车辆驱动类型和所述环境状态确定所述电助力自行车的驱动模式;A driving mode switching module, used to determine the driving mode of the electric-assisted bicycle according to the vehicle driving type of the electric-assisted bicycle and the environmental state; 工况模式切换模块,用于根据控制信号和所述驱动模式确定所述电助力自行车的工况模式,根据所述工况模式确定驱动模块的输出特性,其中,所述控制信号包括制动信号、模式切换信号和驱动信号中的至少一种。The working mode switching module is used to determine the working mode of the electric assisted bicycle according to the control signal and the driving mode, and determine the output characteristics of the driving module according to the working mode, wherein the control signal includes at least one of a braking signal, a mode switching signal and a driving signal. 9.一种电助力自行车,其特征在于,包括存储器和处理器;9. An electric power-assisted bicycle, characterized in that it comprises a memory and a processor; 所述存储器,用于存储计算机程序;The memory is used to store computer programs; 所述处理器,用于当执行所述计算机程序时,实现如权利要求1至7任一项所述的电助力自行车模式控制方法。The processor is used to implement the electric-assisted bicycle mode control method according to any one of claims 1 to 7 when executing the computer program. 10.一种计算机可读存储介质,其特征在于,所述存储介质上存储有计算机程序,当所述计算机程序被处理器执行时,实现如权利要求1至7任一项所述的电助力自行车模式控制方法。10. A computer-readable storage medium, characterized in that a computer program is stored on the storage medium, and when the computer program is executed by a processor, the electric-assisted bicycle mode control method according to any one of claims 1 to 7 is implemented.
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