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CN-121973881-A - Running control method of scooter, scooter and computer readable storage medium

CN121973881ACN 121973881 ACN121973881 ACN 121973881ACN-121973881-A

Abstract

The embodiment of the application provides an operation control method of a scooter, the scooter and a computer readable storage medium, wherein the scooter is provided with detection equipment, the detection equipment is used for detecting targets in a detection range of the detection equipment according to a preset period, the method comprises the steps of acquiring target detection results of each detection frame in a detection frame sequence of the detection equipment in the operation process of the scooter, the target detection results of each detection frame are used for indicating parameter values of characteristic parameters of each detection target in each detection frame, and performing operation control operation based on sliding window iteration, wherein state identification operation is performed on the scooter based on parameter values of characteristic parameters of at least partial detection targets in each window frame in a plurality of window frames, the state identification operation is used for identifying the body state of the scooter in a group of body states, and under the condition that the scooter is identified to be in the target body state, the scooter is subjected to control operation corresponding to the target body state.

Inventors

  • WANG DUO
  • Gu Erkai
  • CUI ZHUOYI
  • JIANG WENXIONG

Assignees

  • 坦途创新智能科技(苏州)有限公司

Dates

Publication Date
20260505
Application Date
20260115

Claims (19)

  1. 1. The running control method of the scooter is characterized in that a detection device is arranged on the scooter and is used for detecting targets in a detection range of the detection device according to a preset period; The method comprises the following steps: in the running process of the scooter, acquiring a target detection result of each detection frame in a detection frame sequence of the detection equipment, wherein the target detection result of each detection frame is used for indicating a parameter value of a characteristic parameter of each detection target in each detection frame; The following operation control operation is executed based on the sliding window iteration, wherein a plurality of detection frames in the sliding window in the current iteration are a plurality of intra-window frames: Performing a state recognition operation on the scooter based on parameter values of the characteristic parameters of at least a portion of the detection targets within each of the plurality of intra-window frames, wherein the state recognition operation is configured to recognize a body state in which the scooter is located from a set of body states; And executing control operation corresponding to the target vehicle body state on the scooter under the condition that the scooter is identified to be in the target vehicle body state.
  2. 2. The method of claim 1, wherein the characteristic parameter comprises an offset speed, the offset speed referring to a speed of the corresponding detection target relative to the detection device; The method further comprises the steps of: determining a moving speed of each detection target corresponding to each detection frame based on a running speed of the scooter and the offset speed of each detection target in each detection frame; marking a detected target with a speed value of the moving speed smaller than or equal to a first speed threshold value in a detected target set in each detection frame as a stationary target, and marking a detected target with a speed value of the moving speed larger than the first speed threshold value in the detected target set in each detection frame as a non-stationary target; Wherein at least a portion of the body states in the set of body states are identified based on stationary objects in the set of detection objects corresponding to each intra-window frame.
  3. 3. The method of claim 1, wherein the characteristic parameters include offset parameters, the set of body states including steering states, wherein the offset parameters are used to characterize an offset condition of a corresponding detection target relative to the detection device; the performing a state recognition operation on the scooter based on parameter values of the characteristic parameters of at least part of the detection targets in each of the plurality of intra-window frames includes: And carrying out the steering state identification on the scooter based on the detection target set in each intra-window frame and the parameter value of the offset parameter of at least part of detection targets in each intra-window frame.
  4. 4. The method of claim 3, wherein said steering state identification of the scooter based on the set of detection targets within each intra-window frame and the parameter values of the offset parameters of at least a portion of detection targets within each intra-window frame comprises: Judging whether a vehicle steering condition is met or not based on the set of detection targets in each intra-window frame and the parameter values of the offset parameters of at least part of detection targets in each intra-window frame; Under the condition that the vehicle steering condition is met, determining that the scooter is in the steering state; under the condition that the vehicle steering condition is not met, determining that the scooter is not in the steering state; Wherein the vehicle steering condition includes at least one of: A first sub-steering condition, wherein the first sub-steering condition refers to a speed value of an offset speed of a detection target of the detection device being greater than or equal to a second speed threshold, the offset parameter including the offset speed, the offset speed refers to a movement speed of a corresponding detection target relative to the detection device; A second sub-steering condition, wherein the second sub-steering condition refers to that an offset direction of an existing detection target of the detection device in the detection range is consistent with a direction of a new detection target of the detection device entering the detection range, the offset parameter comprises the offset direction, and the offset direction refers to a moving direction of a corresponding detection target relative to the detection device; And a third sub-steering condition, wherein the third sub-steering condition refers to that the total number of new detection targets in the sliding window is greater than or equal to a first number threshold.
  5. 5. The method according to claim 4, wherein determining whether the vehicle steering condition is satisfied based on the set of detection targets in each intra-window frame and the parameter values of the offset parameters of at least part of the detection targets in each intra-window frame comprises: Determining a first duty ratio of a stationary target with a speed value of the offset speed being greater than or equal to the second speed threshold in a stationary target set in the sliding window in the current iteration under the condition that the vehicle steering condition comprises the first sub-steering condition; Determining a first target direction corresponding to each intra-window frame and a second target direction corresponding to each intra-window frame when the vehicle steering condition includes the second sub-steering condition, wherein the first target direction corresponding to each intra-window frame is the offset direction of the existing detection target in each intra-window frame, and the second target direction corresponding to each intra-window frame is the offset direction of the new detection target in each intra-window frame; And determining that the third sub-steering condition is satisfied when the sum of the number of new detection targets in each intra-window frame is greater than or equal to the first number threshold, wherein the total number of new detection targets in the sliding window is the sum of the number of new detection targets in each intra-window frame.
  6. 6. A method according to claim 3, wherein, in the event that the scooter is identified as being in a target body state, performing a control operation on the scooter corresponding to the target body state comprises: Under the condition that the scooter is in the steering state, controlling the running speed of the scooter according to the steering radius of the scooter and the total number of new detection targets in the sliding window in the current iteration, wherein the speed value of the running speed of the scooter is positively correlated with the steering radius of the scooter and negatively correlated with the total number of new detection targets in the sliding window in the current iteration, and the steering radius of the scooter is determined according to the length of a scooter body and the steering angle of the scooter.
  7. 7. The method of claim 1, wherein the characteristic parameters include lateral movement parameters, the set of body states including a destabilized state, wherein the lateral movement parameters are used to characterize movement of a corresponding probe target in a direction perpendicular to a direction of advancement of the scooter; the performing a state recognition operation on the scooter based on parameter values of the characteristic parameters of at least part of the detection targets in each of the plurality of intra-window frames includes: and carrying out the instability state identification on the scooter based on the parameter values of the lateral movement parameters of at least part of the detection targets in each intra-window frame.
  8. 8. The method of claim 7, wherein the lateral movement parameter comprises a specified directional displacement that is one of a lateral displacement between a position of a corresponding detection target within a detection frame and a position within a previous detection frame; the step of identifying the unstable state of the scooter based on the parameter values of the lateral movement parameters of at least part of the detection targets in each intra-window frame comprises the following steps: Screening stable targets meeting a first screening condition from a detection target set in the sliding window in the iteration, wherein the first screening condition comprises that the stable targets are continuously detected in a plurality of intra-window frames; Under the condition that a group of stable targets are screened out, determining the jumping times of each stable target based on the designated displacement corresponding to each intra-window frame of each stable target in the group of stable targets, wherein the jumping times of each stable target are the number of the designated displacements corresponding to each intra-window frame of each stable target, and the displacement is larger than or equal to a preset displacement threshold value; in the group of stable targets, determining that the scooter is in a unstable state under the condition that the number of stable targets with the jumping times larger than or equal to a first number threshold is larger than or equal to a second number threshold; and in the group of stable targets, determining that the scooter is in a stable state under the condition that the number of the stable targets with the jumping times being larger than or equal to the first number threshold is the second number threshold.
  9. 9. The method according to claim 7, wherein the performing a control operation on the scooter corresponding to a target body state in a case where the scooter is recognized as being in the target body state includes: when the scooter is identified to be in the unstable state, when the speed value of the running speed of the scooter is smaller than a third speed threshold value, the steering damping of the scooter is kept to be zero; When the speed value of the running speed of the scooter is greater than or equal to the third speed threshold, increasing the steering damping of the scooter based on the running speed of the scooter, wherein the steering damping of the scooter is positively correlated with the speed value of the running speed of the scooter.
  10. 10. The method of claim 9, wherein increasing the steering damping of the scooter based on the scooter's travel speed when the scooter's travel speed value is greater than or equal to the third speed threshold comprises: When the speed value of the running speed of the scooter is greater than or equal to the third speed threshold and smaller than a fourth speed threshold, increasing the steering damping of the scooter to a first value, wherein the first value is the product of a speed difference value obtained by subtracting the third speed threshold from the speed value of the running speed of the scooter and a preset ratio, and the third speed threshold is smaller than the fourth speed threshold; And when the speed value of the running speed of the scooter is greater than or equal to the fourth speed threshold, increasing the steering damping of the scooter to a second value, wherein the second value is a fixed value.
  11. 11. The method of claim 1, wherein the characteristic parameters include observed parameters, the set of body states including a rollover state, wherein the observed parameters are used to characterize electromagnetic interaction states of the corresponding probe targets with the probe device; the performing a state recognition operation on the scooter based on parameter values of the characteristic parameters of at least part of the detection targets in each of the plurality of intra-window frames includes: and identifying the rollover state of the scooter based on the parameter values of the observed parameters of at least part of detection targets in each intra-window frame.
  12. 12. The method of claim 11, wherein the observed parameter comprises a relative distance, the relative distance being a distance between a corresponding detection target and the detection device; the step of identifying the rollover state of the scooter based on the parameter values of the observed parameters of at least part of the detection targets in each intra-window frame comprises the following steps: judging whether a vehicle rollover condition is met or not based on the parameter values of the observation parameters of at least part of detection targets in each intra-window frame; updating the duration time for meeting the vehicle rollover condition under the condition that the vehicle rollover condition is met; Determining that the scooter is in the rollover state under the condition that the duration time of the vehicle rollover condition reaches a duration time threshold value; wherein the vehicle rollover condition includes at least one of: A first sub-rollover condition, wherein the first sub-rollover condition refers to a ratio of a total number of near targets in a set of near targets in the sliding window in the current iteration to a reference near target number being greater than or equal to a second proportional threshold, the reference near target number being determined according to a total number of near targets in the sliding window in at least one iteration prior to the current iteration; the second sub-rollover condition refers to a second ratio of a near target with an intensity value of the detected signal intensity greater than or equal to a signal intensity threshold to a third ratio threshold in a near target set in the sliding window in the current iteration; A third sub-rollover condition, wherein the third sub-rollover condition refers to that a stability coefficient corresponding to the current iteration is smaller than a stability coefficient threshold, and a stability coefficient corresponding to one iteration is used for representing the state stability of at least part of detection targets in the sliding window in the one iteration; wherein a near object within each of the detection frames refers to a detection object within each of the detection frames for which the distance value of the relative distance is less than a first distance threshold.
  13. 13. The method of claim 12, wherein determining whether a vehicle rollover condition is met based on the parameter values of the observed parameters of at least a portion of the probe-targets within each of the intra-window frames comprises: Determining an average value of total numbers of near targets in a near target set in the sliding window in M iterations before the current iteration as the reference near target number under the condition that the vehicle rollover condition includes the first sub rollover condition, wherein M is a positive integer greater than or equal to 1; Determining that the first sub-rollover condition is met when the ratio of the total number of near targets in the set of near targets within the sliding window to the number of reference near targets in the current iteration is greater than or equal to the second ratio threshold; and determining that the first sub-rollover condition is not met under the condition that the ratio of the total number of near targets in the near target set in the sliding window to the reference near target number in the current iteration is smaller than the second ratio threshold.
  14. 14. The method of claim 12, wherein determining whether a vehicle rollover condition is met based on the parameter values of the observed parameters of at least a portion of the probe-targets within each of the intra-window frames comprises: Under the condition that the vehicle rollover conditions comprise the third sub rollover conditions, determining the total number of current detection targets in a current detection target set to obtain the current total target number, and determining the total number of current near targets in a current near target set to obtain the current near target number, wherein the current detection target set is a detection target set in a last intra-window frame in the plurality of intra-window frames, and the current near target set is a near target set in the last intra-window frame; Screening reference targets meeting a second screening condition from the detection target set in the sliding window in the iteration to obtain a reference target set, wherein the second screening condition comprises that the number of times detected in the frames in the windows is larger than or equal to a second time threshold value and the detected moving speed in the frames in the windows is smaller than or equal to a fifth speed threshold value; determining a weighted sum of two values, namely an average value of the ratio of the number of times each reference target in the reference target set is detected in the plurality of intra-window frames to the number of intra-window frames in the plurality of intra-window frames, and a difference value obtained by subtracting the ratio of the current near target number to the current total target number, as a stability coefficient corresponding to the current iteration, when the ratio of the total number of reference targets in the reference target set to the total number of detection targets in the detection target set in the sliding window in the current iteration is greater than or equal to a fourth proportional threshold; Determining that the third sub-rollover condition is met under the condition that the stability coefficient corresponding to the current iteration is smaller than the stability coefficient threshold value; And under the condition that the stability coefficient corresponding to the iteration is greater than or equal to the stability coefficient threshold value, determining that the third sub-rollover condition is not met.
  15. 15. The method according to claim 11, wherein the performing a control operation on the scooter corresponding to a target body state in a case where the scooter is recognized as being in the target body state includes: And under the condition that the scooter is identified to be in the rollover state, controlling a motor of the scooter to stop power output.
  16. 16. The method according to any one of claims 1 to 15, wherein the detection device is a radar sensor, the detection device being arranged in at least one of the scooter's riser, rear fender.
  17. 17. A scooter is characterized in that a control part and a detection device are arranged on the scooter, The detection equipment is used for detecting targets in a detection range of the detection equipment according to a preset detection period; The control part is used for acquiring a target detection result of each detection frame in a detection frame sequence of the detection equipment in the running process of the scooter, wherein the target detection result of each detection frame is used for indicating a parameter value of a characteristic parameter of each detection target in each detection frame, the running control operation is executed based on a sliding window iteration, wherein the plurality of detection frames in the sliding window in the iteration are a plurality of intra-window frames, a state identification operation is executed on the scooter based on the parameter value of the characteristic parameter of at least part of detection targets in each intra-window frame in the plurality of intra-window frames, the state identification operation is used for identifying the body state of the scooter from a group of body states, and the control operation corresponding to the target body state is executed on the scooter when the scooter is identified to be in the target body state.
  18. 18. A computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the method of any of claims 1 to 16.
  19. 19. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program, when executed by a processor, implements the steps of the method of any of claims 1 to 16.

Description

Running control method of scooter, scooter and computer readable storage medium Technical Field The embodiment of the application relates to the technical field of scooter control, in particular to an operation control method of a scooter, the scooter and a computer readable storage medium. Background Scooter regard as a convenient trip instrument, can be applied to in the short trip. In the related art, the movement control of the scooter is usually performed by the rider based on the observed environmental information, and mainly depends on intuition and reaction capability of the rider, and when facing complex road conditions, if the judgment of the rider is improper or the reaction of the rider is not timely, the scooter is easy to have side-turning, collision and other unexpected conditions, so as to influence the safety of riding. Therefore, the operation control method of the scooter in the related art has the technical problem of poor operation safety of the scooter caused by complex road conditions. Disclosure of Invention The embodiment of the application provides a scooter operation control method, a scooter and a computer readable storage medium, which at least solve the technical problem that the scooter operation control method in the related art has poor scooter operation safety caused by complex road conditions. According to one aspect of the embodiment of the application, a scooter operation control method is provided, wherein a detection device is arranged on the scooter and used for detecting targets in a detection range of the detection device according to a preset period, the method comprises the steps of acquiring a target detection result of each detection frame in a detection frame sequence of the detection device during operation of the scooter, wherein the target detection result of each detection frame is used for indicating a parameter value of a characteristic parameter of each detection target in each detection frame, performing operation control operation based on sliding window iteration, wherein a plurality of detection frames in the sliding window in the iteration are a plurality of intra-window frames, performing state identification operation on the scooter based on the parameter value of the characteristic parameter of the detection target in each intra-window frame in the plurality of intra-window frames, wherein the state identification operation is used for identifying a vehicle body state of the scooter from a set of vehicle body states, and performing control operation corresponding to the target state on the scooter when the scooter is identified to be in the target state. According to another aspect of the embodiment of the application, a scooter is further provided, wherein a control part and a detection device are arranged on the scooter, the detection device is used for carrying out target detection on a detection range of the detection device according to a preset detection period, the control part is used for acquiring a target detection result of each detection frame in a detection frame sequence of the detection device in the scooter operation process, the target detection result of each detection frame is used for indicating a parameter value of a characteristic parameter of each detection target in each detection frame, the operation control operation is carried out based on sliding window iteration, a plurality of detection frames in the sliding window in the iteration are a plurality of intra-window frames, a state identification operation is carried out on the scooter based on the parameter value of the characteristic parameter of the detection target in each intra-window frame in the plurality of intra-window frames, the state identification operation is used for identifying a body state of the scooter in a group of body states, and the operation corresponding to the control state of the scooter is carried out on the body state when the body state of the scooter in the target state is identified. According to a further aspect of embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when being executed by a processor. According to yet another aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium and executes the computer instructions to cause the computer device to perform the steps of any of the method embodiments described above. According to a further aspect of embodiments of the present application there is also provided an electronic device comprising a memory having a computer program stored therein and a p