Method and device for controlling vehicle to output assisting power

Patent metadata

Field	Value
Publication number	US-10513196-B2
Application number	US-201715844979-A
Country	US
Kind code	B2
Filing date	Dec 18, 2017
Priority date	Dec 20, 2016
Publication date	Dec 24, 2019
Grant date	Dec 24, 2019

Abstract

A method and a device are provided for controlling a vehicle to output an assisting power. The method includes: obtaining a friction force between the vehicle and ground; determining a target assisting power of the vehicle according to the friction force; and controlling a motor of the vehicle to output the target assisting power. By technical solutions of the present disclosure, it may enable the vehicle to adapt to different ground and adjust the assisting power outputted by the motor automatically.

First claim

What is claimed is:

1. A method for controlling a vehicle to output an assisting power, comprising:
obtaining a friction force between the vehicle and ground;
determining a target assisting power of the vehicle according to the friction force;
controlling a motor of the vehicle to output the target assisting power;
when the motor of the vehicle outputs the target assisting power, detecting a driving speed of the vehicle; and
when the driving speed reaches a preset speed threshold, controlling the motor to stop outputting the assisting power to enable the vehicle to run at a speed lower than the preset speed threshold.

2. The method according to claim 1 , wherein determining the target assisting power of the vehicle according to the friction force comprises:
determining a threshold range where the friction force is within; and
obtaining the target assisting power corresponding to the friction force according to the threshold range and a preset correspondence between stored threshold ranges and stored target assisting powers.

3. The method according to claim 2 , further comprising:
when the motor of the vehicle outputs the target assisting power, detecting the friction force and a human driving force received by the vehicle at a preset time interval;
when detecting that a difference value between the human driving force and the friction force decreases with time, increasing the target assisting power of the vehicle to enable a driving speed of the vehicle to match with a preset speed or a driving acceleration of the vehicle to match with a preset acceleration; and
when detecting that the difference value between the human driving force and the friction force increases with time, decreasing the target assisting power of the vehicle to enable the driving speed of the vehicle to match with the preset speed or the driving acceleration of the vehicle to match with the preset acceleration.

4. The method according to claim 1 , wherein determining the target assisting power of the vehicle according to the friction force comprises:
obtaining a friction force between the vehicle and the ground at a first moment and a friction force between the vehicle and the ground at a second moment, wherein the first moment is later than the second moment;
when the friction force at the first moment is greater than the friction force at the second moment, increasing the assisting power at the second moment according to a first preset proportion to obtain the target assisting power of the vehicle at the first moment; and
when the friction force at the first moment is less than the friction force at the second moment, decreasing the assisting power at the second moment according to a second preset proportion to obtain the target assisting power of the vehicle at the first moment.

5. The method according to claim 1 , wherein determining the target assisting power of the vehicle according to the friction force comprises:
obtaining a smoothness grade of the ground according to the friction force;
sending the smoothness grade of the ground to a target terminal to indicate the target terminal to display the smoothness grade;
receiving an indicating message carrying the target assisting power and sent by the target terminal according to an assisting power selecting instruction, wherein the assisting power selecting instruction indicates the target assisting power inputted by a user according to the smoothness grade displayed by the target terminal; and
determining the target assisting power according to the indicating message.

6. The method according to claim 1 , wherein determining a target assisting power of the vehicle according to the friction force comprises:
obtaining a driving speed or a driving acceleration of the vehicle;
obtaining an air resistance, a slope resistance, and a human driving force received by the vehicle; and
when the driving speed does not match with a preset speed or the driving acceleration does not match with a preset acceleration, determining the target assisting power of the vehicle according to the air resistance, the slope resistance, the friction force, and the human driving force.

7. A device for controlling a vehicle to output an assisting power, comprising:
a processor;
a memory, configured to store instructions executable by the processor;
wherein, the processor is configured to:
obtain a friction force between the vehicle and ground;
determine a target assisting power of the vehicle according to the friction force;
control a motor of the vehicle to output the target assisting power;
when the motor of the vehicle outputs the target assisting power, detect a driving speed of the vehicle; and
when the driving speed reaches a preset speed threshold, control the motor to stop outputting the assisting power to enable the vehicle to run at a speed lower than the preset speed threshold.

8. The device according to claim 7 , wherein the processor is configured to determine the target assisting power of the vehicle according to the friction force by acts of:
determining a threshold range where the friction force is within; and
obtaining the target assisting power corresponding to the friction force according to the threshold range and a preset correspondence between stored threshold ranges and stored target assisting powers.

9. The device according to claim 8 , wherein the processor is further configured to:
when the motor of the vehicle outputs the target assisting power, detect the friction force and a human driving force received by the vehicle at a preset time interval;
when detecting that a difference value between the human driving force and the friction force decreases with time, increase the target assisting power of the vehicle to enable a driving speed of the vehicle to match with a preset speed or a driving acceleration of the vehicle to match with a preset acceleration; and
when detecting that the difference value between the human driving force and the friction force increases with time, decrease the target assisting power of the vehicle to enable the driving speed of the vehicle to match with the preset speed or the driving acceleration of the vehicle to match with the preset acceleration.

10. The device according to claim 7 , wherein the processor is configured to determine the target assisting power of the vehicle according to the friction force by acts of:
obtaining a friction force between the vehicle and the ground at a first moment and a friction force between the vehicle and the ground at a second moment, wherein the first moment is later than the second moment;
when the friction force at the first moment is greater than the friction force at the second moment, increasing the assisting power at the second moment according to a first preset proportion to obtain the target assisting power of the vehicle at the first moment; and
when the friction force at the first moment is less than the friction force at the second moment, decreasing the assisting power at the second moment according to a second preset proportion to obtain the target assisting power of the vehicle at the first moment.

11. The device according to claim 7 , wherein the processor is configured to determine the target assisting power of the vehicle according to the friction force by acts of:
obtaining a smoothness grade of the ground according to the friction force;
sending the smoothness grade of the ground to a target terminal to indicate the target terminal to display the smoothness grade;
receiving an indicating message carrying the target assisting power and sent by the target terminal according to an assisting power selecting instruction, wherein the assisting p

Assignees

• Beijing Xiaomi Mobile Software Co Ltd

Inventors

• Liu Huayijun
• Wu Ke
• Xie Yan

Classifications

• B60W30/18172

  Preventing, or responsive to skidding of wheels · CPC title

• B62M6/45 Primary

  Control or actuating devices therefor · CPC title

• B60L50/20

  using propulsion power generated by humans or animals · CPC title

• B60L15/28 Primary

  without contact making and breaking, e.g. using a transductor · CPC title

• B62M6/50 Primary

  characterised by detectors or sensors, or arrangement thereof · CPC title