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CN-121979012-A - Method for calibrating an electric vehicle, controller, electric vehicle and program product

CN121979012ACN 121979012 ACN121979012 ACN 121979012ACN-121979012-A

Abstract

The present disclosure relates to a method, a controller, an electric vehicle, and a program product for calibrating an electric vehicle. The method includes determining a set of converted angles corresponding to a set of actual angles of a handlebar of the electric vehicle from a starting position to an ending position. The method includes determining a first calibration angle of the handlebar corresponding to zero output power of the electric vehicle and a second calibration angle corresponding to maximum output power of the electric vehicle based on the set of actual angles and the set of converted angles. The method further includes calibrating the handlebar of the electric vehicle based on the first calibration angle and the second calibration angle. According to the embodiment of the disclosure, the rotating handle of the electric vehicle can be adjusted in a self-adaptive mode, and safety and reliability of the electric vehicle are improved.

Inventors

  • ZHANG HAIBO
  • XIAO XIE
  • WAN TING

Assignees

  • 罗伯特·博世有限公司

Dates

Publication Date
20260505
Application Date
20241031

Claims (15)

  1. 1. A method (200) for calibrating an electric vehicle, comprising: determining (202) a set of converted angles corresponding to a set of actual angles of a handlebar of the electric vehicle from a starting position to an ending position; determining (204) a first calibration angle and a second calibration angle of the handlebar based on the set of actual angles and the set of converted angles, wherein the first calibration angle corresponds to zero output power of the electric vehicle and the second calibration angle corresponds to maximum output power of the electric vehicle, and Calibrating (206) the handlebar of the electric vehicle according to the first calibration angle and the second calibration angle.
  2. 2. The method (200) of claim 1, wherein determining (202) a set of converted angles corresponding to a set of actual angles of a handlebar of the electric vehicle from a starting position to an ending position comprises: Determining (308) a set of measured voltages associated with the set of actual angles of the handlebar, and The set of converted angles of the handlebar corresponding to the set of actual angles is determined (310) from the relation between voltage and angle and the set of measured voltages.
  3. 3. The method (200) of claim 2, wherein determining (204) the first and second calibration angles of the knob comprises: Determining (312) a line representing a relationship between the set of actual angles and the set of converted angles based on the set of actual angles and the set of converted angles, and -Determining (314) the first and second calibration angles of the handlebar based on inflection points of the line.
  4. 4. The method (200) of claim 3, wherein determining the first calibration angle of the knob comprises: Determining a first inflection point at which the converted angle increases from zero based on the line representing the relationship, and And determining the first calibration angle based on the first inflection point, wherein the first calibration angle is larger than or equal to an actual angle corresponding to the first inflection point.
  5. 5. The method (200) of claim 3, wherein determining the second calibration angle comprises: Determining a second inflection point at which the converted angle increases to a maximum value based on the line representing the relationship, and And determining the second calibration angle based on the second inflection point, wherein the second calibration angle is smaller than or equal to an actual angle corresponding to the second inflection point.
  6. 6. The method (200) of claim 3, wherein determining a relationship between the set of actual angles and the set of converted angles comprises: determining a first relationship between the set of actual angles and the set of converted angles based on an average resistance of a control circuit of the handlebar; determining a second relationship between the set of actual angles and the set of converted angles of the handlebar based on a maximum resistance of the control circuit, wherein the maximum resistance is determined from the average resistance of the control circuit and a tolerance of the average resistance; Determining a third relationship between the set of actual angles and the set of converted angles of the handlebar based on a minimum resistance of the control circuit, wherein the minimum resistance is determined based on the average resistance of the control circuit and the tolerance of the average resistance, and And determining the first calibration angle and the second calibration angle of the rotating handle according to the first relation, the second relation and the third relation.
  7. 7. The method (200) of claim 6, wherein determining the first calibration angle of the knob comprises: Determining a third inflection point, a fourth inflection point, and a fifth inflection point in the first line, the second line, and the third line, respectively, at which the converted angle increases from zero, from the first line, the second line, and the third line, according to a first line representing the first relationship, a second line representing the second relationship, and a third line representing the third relationship; determining the inflection point with the largest actual angle among the third inflection point, the fourth inflection point and the fifth inflection point as the maximum inflection point And determining the first calibration angle according to the maximum inflection point, wherein the first calibration angle is larger than or equal to an actual angle corresponding to the maximum inflection point.
  8. 8. The method (200) of claim 6, wherein determining the second calibration angle of the knob comprises: Determining a sixth inflection point, a seventh inflection point, and an eighth inflection point at which the converted angle increases to a maximum value in the first line, the second line, and the third line, respectively, according to a first line representing the first relationship, a second line representing the second relationship, and a third line representing the third relationship; Determining the inflection point with the smallest actual angle among the sixth inflection point, the seventh inflection point and the eighth inflection point as the smallest inflection point And determining the second calibration angle according to the minimum inflection point, wherein the second calibration angle is smaller than or equal to an actual angle corresponding to the minimum inflection point.
  9. 9. The method (200) of claim 1, further comprising: determining (302) an initial position of the handle prior to rotating the handle; reporting (304) an error in response to the initial position of the handle being greater than an angle threshold, and The actual angle of the handlebar is obtained (306) from a rotation of the handlebar of the electric vehicle in response to the initial position of the handlebar being less than or equal to an angle threshold.
  10. 10. The method (200) of claim 1, wherein determining a set of converted angles corresponding to a set of actual angles of the handlebar of the electric vehicle from the starting position to the ending position is performed after power-up but before travel of the electric vehicle.
  11. 11. The method (200) of claim 1, further comprising: and controlling the speed of the electric vehicle during the traveling of the electric vehicle according to the calibrated angle of the rotating handle of the electric vehicle.
  12. 12. An apparatus (800) for calibrating an electric vehicle, comprising: a converted angle determination module (802) configured to determine a set of converted angles corresponding to a set of actual angles of a handlebar of the electric vehicle from a starting position to an ending position; A calibration angle determination module (804) configured to determine a first calibration angle and a second calibration angle of the handlebar based on the set of actual angles and the set of converted angles, wherein the first calibration angle corresponds to zero output power of the electric vehicle and the second calibration angle corresponds to maximum output power of the electric vehicle, and A handlebar calibration module (806) configured to calibrate the handlebar of the electric vehicle based on the first calibration angle and the second calibration angle.
  13. 13. A controller, comprising: at least one processor, and A memory coupled to the at least one processor and having instructions stored thereon that, when executed by the at least one processor, cause the controller to perform the method of any of claims 1-11.
  14. 14. An electric vehicle comprising a handlebar, and a controller according to claim 13.
  15. 15. A computer program product comprising a computer program to be executed by a processor to implement the method according to any one of claims 1 to 11.

Description

Method for calibrating an electric vehicle, controller, electric vehicle and program product Technical Field Embodiments of the present disclosure relate generally to the field of smart devices, and in particular, to a method, controller, electric vehicle, and program product for calibrating an electric vehicle. Background Electric vehicles, such as electric bicycles, electric motorcycles, electric tricycles, and scooters, generally use a battery as an auxiliary energy source, and can realize functions such as electric power and electric assist by converting electric energy released from the battery into mechanical energy of an electric motor. Electric vehicles are becoming a vehicle which is increasingly widely used in the current society due to the ease of operation, low cost, cleanliness and environmental protection. A speed operating member of an electric vehicle, such as a handle, is used to control the starting and speed adjustment of the electric vehicle by transmitting a speed regulating signal to a controller to control the speed of the electric vehicle. The handle of the electric vehicle is usually internally provided with a Hall element, and when a rider rotates the handle, the Hall element generates a corresponding voltage signal according to the rotation angle of the handle and transmits the voltage signal to the controller. This voltage signal is proportional to the rider's desired vehicle speed. The controller may then output a control signal to the motor driver to drive the torque output by the motor in accordance with the voltage signal, thereby adjusting the speed of the electric vehicle. Disclosure of Invention Embodiments of the present disclosure provide a method, controller, electric vehicle, and program product for calibrating an electric vehicle. In a first aspect of the present disclosure, a method for calibrating an electric vehicle is provided. The method includes determining a set of converted angles corresponding to a set of actual angles of a handlebar of the electric vehicle from a starting position to an ending position. The method further includes determining a first calibration angle and a second calibration angle of the handlebar based on the set of actual angles and the set of converted angles, the first calibration angle corresponding to zero output power of the electric vehicle and the second calibration angle corresponding to maximum output power of the electric vehicle. In addition, the method includes calibrating the handlebar of the electric vehicle based on the first calibration angle and the second calibration angle. In a second aspect of the present disclosure, an apparatus for calibrating an electric vehicle is provided. The apparatus includes a converted angle determination module configured to determine a set of converted angles corresponding to a set of actual angles of a handlebar of the electric vehicle from a starting position to an ending position. The apparatus further includes a calibration angle determination module configured to determine a first calibration angle and a second calibration angle of the handlebar based on the set of actual angles and the set of converted angles, wherein the first calibration angle corresponds to zero output power of the electric vehicle and the second calibration angle corresponds to maximum output power of the electric vehicle. In addition, the apparatus further includes a handlebar calibration module configured to calibrate a handlebar of the electric vehicle based on the first calibration angle and the second calibration angle. In a third aspect of the present disclosure, a controller is provided. The controller includes at least one processor. The controller further comprises a memory coupled to the at least one processor and having instructions stored thereon which, when executed by the at least one processor, cause the controller to perform the method provided according to the first aspect. In a fourth aspect of the present disclosure, an electric vehicle is provided. The electric vehicle comprises a handlebar and a controller provided according to a third aspect of the present disclosure. In a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program for execution by a processor to implement the method provided according to the first aspect. In a sixth aspect of the disclosure, a machine-readable storage medium is provided. The machine-readable storage medium has stored thereon machine-executable instructions that are executed by a processor to implement the method provided according to the first aspect of the present disclosure. It should be understood that what is described in this summary is not intended to limit the critical or essential features of the embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description. Drawings The above and other features