CN105667424B - Control method, device and the vehicle of vehicle - Google Patents

Abstract

The disclosure is directed to the control method of vehicle, device and vehicle, this method may include: to determine whether the vehicle plays pendulum detecting vehicle stopping when driving；When the vehicle plays pendulum, the transmission mechanism of the vehicle is locked.Using the embodiment of the present disclosure, in vehicle detection to when stopping traveling and playing pendulum, the transmission mechanism of vehicle is locked, so that vehicle can not travel, so as to guarantee the stabilization of vehicle, it avoids vehicle from falling down and the generation of other unsafe conditions, improves security performance, give the good user experience of user.

Description

Vehicle control method, device and vehicle

technical field

The present disclosure relates to the technical field of vehicle control, in particular to a vehicle control method, device and vehicle.

Background technique

Among the related technologies, the self-balancing vehicle has become a travel tool favored by users because of its convenience and environmental protection. When the user gets on and off the car, the balance car is easy to lose balance due to uneven force. Since the balance car has a weight of more than ten or twenty kilograms, once it falls to the ground, it may not only hurt or bruise the user, but may also break the balance car on the parts.

Contents of the invention

In order to overcome the problems existing in related technologies, the present disclosure provides a vehicle control method, device and vehicle.

According to a first aspect of an embodiment of the present disclosure, a vehicle control method is provided, including:

determining whether the vehicle is in an unstable state when the vehicle is detected to be stopped;

When the vehicle is in an unstable state, the transmission mechanism of the vehicle is locked.

Optionally, the determining whether the vehicle is in an unstable state includes:

Detecting the pressure values received by the two pedals of the vehicle respectively;

judging whether any of the pressure values is less than a first preset value;

When any one of the pressure values is less than the first preset value, it is determined that the vehicle is in an unstable state.

Optionally, the determining whether the vehicle is in an unstable state includes:

Detecting the pressure values received by the two pedals of the vehicle respectively;

Calculate the pressure difference based on the two detected pressure values;

judging whether the pressure difference is greater than a second preset value;

When the pressure difference is greater than the second preset value, it is determined that the vehicle is in an unstable state.

Optionally, the locking the transmission mechanism of the vehicle includes:

The propeller shaft and two tires of the vehicle are locked.

Optionally, the method also includes:

Detecting the pressure values received by the two pedals of the vehicle respectively;

judging whether the two pressure values are within a set range;

When both of the pressure values are within the set range, the lock is released.

Optionally, the releasing the lock includes:

Count the duration of the two pressure values within the set range;

Judging whether the duration exceeds the security protection duration;

When the duration exceeds the safety protection duration, the transmission mechanism is unlocked.

Optionally, after locking the transmission mechanism of the vehicle, the method further includes:

Outputting a reminder message that the vehicle is locked.

According to a second aspect of an embodiment of the present disclosure, there is provided a control device for a vehicle, including:

a determination module configured to determine whether the vehicle is in an unstable state when it is detected that the vehicle stops running;

The locking module is configured to lock the transmission mechanism of the vehicle when the vehicle is in an unstable state.

Optionally, the determination module includes:

The first detection submodule is configured to detect the pressure values received by the two pedals of the vehicle;

The first judging submodule is configured to judge whether any of the pressure values is less than a first preset value;

The first determining submodule is configured to determine that the vehicle is in an unstable state when any one of the pressure values is less than the first preset value.

Optionally, the determination module includes:

The second detection sub-module is configured to detect the pressure values respectively received by the two pedals of the vehicle;

a calculation submodule configured to calculate a pressure difference based on the two detected pressure values;

The second judging submodule is configured to judge whether the pressure difference is greater than a second preset value;

The second determining submodule is configured to determine that the vehicle is in an unstable state when the pressure difference is greater than the second preset value.

Optionally, the locking module includes:

The locking submodule is configured to lock the drive shaft and the two tires of the vehicle.

Optionally, the device also includes:

a detection module configured to detect the pressure values received by the two pedals of the vehicle;

A judging module configured to judge whether the two pressure values are within a set range;

The unlocking module is configured to release the lock when both of the pressure values are within the set range.

Optionally, the unlocking module includes:

A statistical sub-module configured to count the duration of both the pressure values being within the set range;

The third judging submodule is configured to judge whether the duration exceeds the security protection duration;

The unlocking submodule is configured to unlock the transmission mechanism when the duration exceeds the safety protection duration.

Optionally, the device also includes:

An output module configured to output a reminder message that the vehicle is locked.

According to a third aspect of an embodiment of the present disclosure, there is provided a vehicle, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to:

determining whether the vehicle is in an unstable state when the vehicle is detected to be stopped;

When the vehicle is in an unstable state, the transmission mechanism of the vehicle is locked.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In the present disclosure, when the vehicle detects that it is stopped and in an unstable state, the transmission mechanism of the vehicle is locked so that the vehicle cannot run, thereby ensuring the stability of the vehicle, avoiding the occurrence of falling down of the vehicle and other dangerous situations, and improving the safety of the vehicle. Security performance, giving users a good user experience.

In the present disclosure, the vehicle can determine that the vehicle is in an unstable state by detecting the pressure values on the two pedals and judging whether any pressure value is less than a first preset value. Whether the vehicle is in an unstable state can be accurately determined through the stress on the pedals, such as when the user gets on or off the car.

In the present disclosure, the vehicle can determine that the vehicle is in an unstable state by detecting the pressure values on the two pedals and judging whether the pressure difference between the two pressure values is greater than a second preset value. Whether the vehicle is in an unstable state can be accurately determined through the force on the pedal.

In the present disclosure, the vehicle can lock the transmission shaft and the tires to ensure that the vehicle can be balanced and stable without falling down and causing no harm to the user.

In this disclosure, the vehicle can continue to detect the pressure value on the pedal every set time after it is locked, and when the two detected pressure values are within the set range, it is confirmed that the vehicle is in a stable state, and the release Locked so that the user can drive the vehicle as quickly as possible when the vehicle is stable.

In this disclosure, in order to further ensure the safety and stability of the vehicle, when the two pressure values on the pedals are within the set range, the vehicle can further count the duration of the pressure value within the set range, and in this duration When it is longer than the safety protection time, the transmission mechanism is unlocked.

In the present disclosure, after the vehicle is locked, a reminder message can also be output to remind the user of the state of the vehicle, so that the user can use the vehicle reasonably.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a flowchart of a vehicle control method according to an exemplary embodiment of the present disclosure.

Fig. 2 is a flow chart of another vehicle control method according to an exemplary embodiment of the present disclosure.

Fig. 3 is a schematic diagram of an application scenario of a vehicle control method according to an exemplary embodiment of the present disclosure.

Fig. 4 is a block diagram of a vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 5 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 6 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 7 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 8 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 9 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 10 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure.

Fig. 11 is a schematic structural diagram of a control device for a vehicle according to an exemplary embodiment of the present disclosure.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only, and is not intended to limit the present disclosure. As used in this disclosure and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present disclosure, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

As shown in FIG. 1, FIG. 1 is a flow chart of a vehicle control method according to an exemplary embodiment. The method can be used in a vehicle, and includes the following steps:

Step 101, when it is detected that the vehicle stops running, determine whether the vehicle is in an unstable state.

The vehicles in the embodiments of the present disclosure include means of transportation such as balance vehicles and two-wheeled vehicles. When the user gets on or off the vehicle, the vehicle is likely to be unstable and unbalanced due to the large force difference on both sides, and even fall down.

Step 102, when the vehicle is in an unstable state, lock the transmission mechanism of the vehicle.

In the above embodiments, when the vehicle detects that it is stopped and is in an unstable state, the transmission mechanism of the vehicle is locked so that the vehicle cannot drive, thereby ensuring the stability of the vehicle and avoiding the occurrence of falling down of the vehicle and other dangerous situations , improve security performance, and give users a good user experience.

As shown in FIG. 2, FIG. 2 is a flow chart of another vehicle control method shown according to an exemplary embodiment. The method can be used in a vehicle, and includes the following steps:

Step 201, read the speedometer on the vehicle to determine the speed of the vehicle.

A speedometer is usually installed on a balance car and a two-wheeled vehicle to measure the speed of the vehicle in real time, so the current speed of the vehicle can be determined by reading the speedometer. In addition, the speed of the vehicle can also be detected by setting an acceleration sensor on the pedal of the vehicle or other positions.

Step 202, when the speed of the vehicle is lower than a third preset value, determine that the vehicle stops running.

In the steps of the present disclosure, the third preset value can be set to 0. Some users will get on or get off when the vehicle speed is 0, but some users are used to getting on or off when the vehicle speed is low, so the third preset value here The preset value can also be set to a very low speed, such as 2-5km/h, etc.

Step 203, detecting the pressure values received by the two pedals of the vehicle respectively.

In the disclosed steps, pressure sensors are respectively provided on the two pedals of the vehicle to detect the pressure on the two pedals.

Step 204, judging whether any detected pressure value is smaller than a first preset value.

In the embodiment of the present disclosure, the first preset value may be 0, for example, when getting on or getting off the car, one foot of the user has not been placed on the pedal, or one foot of the user has left the pedal ; Of course, the first preset value can also be set to a smaller value, for example, when the user is about to get off the car, the foot pedal is lightly touched, and the pressure value of the pedal is received.

Step 205, when it is determined that any pressure value is less than the first preset value, determine that the vehicle is in an unstable state.

The above steps 204 and 205 are mainly aimed at the situation that the user wants to get on or off the car. As long as the vehicle speed is less than the first preset value and the pressure on any pedal is less than the first preset value, it can be confirmed that the vehicle is in the user’s An unstable state of getting off or getting on.

In another disclosed manner, the vehicle can also calculate the pressure difference based on the pressure values detected on the two pedals respectively, and judge whether the pressure difference is greater than the second preset value, if the pressure difference is greater than the second preset value, it is determined that the vehicle is in an unstable state. That is to say, if the pressure difference is greater than the second preset value, it is considered that the difference in force on the two pedals of the vehicle is very large, which may easily lead to instability of the vehicle.

Step 206, locking the transmission mechanism of the vehicle.

In the disclosed steps, the vehicle can lock the transmission shaft and the two tires, so that the vehicle will not lose balance due to uneven force, that is, the vehicle can be stabilized by locking.

Step 207, outputting a reminder message that the vehicle is locked.

In the disclosed steps, the vehicle will prompt the user that the vehicle is locked, so that the user can get on and off the vehicle at ease.

Step 208, detecting the pressure values received by the two pedals of the vehicle respectively.

After the transmission mechanism of the vehicle is locked, the vehicle detects the pressure on the pedals every set period of time.

Step 209, judging whether the two pressure values are within the set range.

Wherein, the setting range is set based on the pressure value received by the pedals during normal operation of the vehicle, for example, the pressure value received in various scenarios such as when the vehicle is running, turning, and accelerating.

Step 210, when the two pressure values are within the set range, release the lock.

In the steps of the present disclosure, if it is detected that the pressure values on the two pedals are all within the set range, it can be considered that the vehicle is in a stable state and can be driven, and then the locking of the transmission mechanism can be released.

In addition, the safety protection duration can also be set in the vehicle. That is to say, when the two pressure values are within the set range, the vehicle needs to count the duration of the two pressure values within the set range; and judge whether the duration exceeds the safety protection duration; In order to unlock the transmission mechanism when the safety protection time is exceeded, this can further ensure the safety of the vehicle operation and avoid the danger that the vehicle may bring to the user when the vehicle suddenly enters the driving state.

As shown in FIG. 3 , FIG. 3 is a schematic diagram of an application scenario of a vehicle control method according to an exemplary embodiment of the present disclosure. In the scene shown in FIG. 3 , it includes: a self-balancing car as a vehicle.

When the vehicle detects that it is stopped, detect and collect the pressure values on the two pedals, and judge whether the pressure value is 0. If any pressure value is 0, it is determined that the vehicle is in an unstable state. Both tires are locked to keep the vehicle and user safe.

In the application scenario shown in FIG. 3 , for the specific process of realizing the control of the vehicle, refer to the foregoing descriptions in FIGS. 1-2 , which will not be repeated here.

Corresponding to the aforementioned embodiments of the vehicle control method, the present disclosure also provides embodiments of the vehicle control device and the vehicle to which it is applied.

As shown in FIG. 4 , FIG. 4 is a block diagram of a vehicle control device according to an exemplary embodiment of the present disclosure. The device can be applied to a vehicle and used to execute the method of the embodiment shown in FIG. 1 , and the device can It includes: a determining module 410 and a locking module 420 .

A determination module 410 configured to determine whether the vehicle is in an unstable state when it is detected that the vehicle stops running;

The locking module 420 is configured to lock the transmission mechanism of the vehicle when the determining module 410 determines that the vehicle is in an unstable state.

In the above embodiments, when the vehicle detects that it is stopped and is in an unstable state, the transmission mechanism of the vehicle is locked so that the vehicle cannot drive, thereby ensuring the stability of the vehicle and avoiding the occurrence of falling down of the vehicle and other dangerous situations , improve security performance, and give users a good user experience.

As shown in FIG. 5, FIG. 5 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the determining module 410 may include: the first A detection submodule 411 , a first judgment submodule 412 and a first determination submodule 413 .

The first detection sub-module 411 is configured to detect the pressure values received by the two pedals of the vehicle respectively;

The first judgment submodule 412 is configured to judge whether any pressure value detected by the first detection submodule 411 is less than a first preset value;

The first determination sub-module 413 is configured to determine that the vehicle is in an unstable state when the first determination sub-module 412 determines that any pressure value is less than a first preset value.

In the above embodiment, the vehicle can determine that the vehicle is in an unstable state by detecting the pressure values on the two pedals and judging whether any pressure value is less than the first preset value. Whether the vehicle is in an unstable state can be accurately determined through the stress on the pedals, such as when the user gets on or off the car.

As shown in FIG. 6, FIG. 6 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the determination module 410 may include: the first The second detection sub-module 414 , the calculation sub-module 415 , the second judgment sub-module 416 and the second determination sub-module 417 .

The second detection sub-module 414 is configured to detect the pressure values received by the two pedals of the vehicle respectively;

The calculation submodule 415 is configured to calculate the pressure difference based on the two pressure values detected by the second detection submodule 414;

The second judgment submodule 416 is configured to judge whether the pressure difference calculated by the calculation submodule 415 is greater than a second preset value;

The second determination submodule 417 is configured to determine that the vehicle is in an unstable state when the second determination submodule 416 determines that the pressure difference is greater than the second preset value.

In the above embodiment, the vehicle can determine that the vehicle is in an unstable state by detecting the pressure values on the two pedals and judging whether the pressure difference between the two pressure values is greater than the second preset value. Whether the vehicle is in an unstable state can be accurately determined through the force on the pedal.

As shown in FIG. 7, FIG. 7 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the locking module 420 may include: locking Submodule 421.

The locking sub-module 421 is configured to lock the drive shaft and two tires of the vehicle.

In the above embodiments, the vehicle can lock the transmission shaft and the tires to ensure that the vehicle can be balanced and stable without falling down and causing no harm to the user.

As shown in FIG. 8, FIG. 8 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 4, the device may also include: Module 430 , judging module 440 and unlocking module 450 .

The detection module 430 is configured to detect the pressure values received by the two pedals of the vehicle respectively;

The judgment module 440 is configured to judge whether the two pressure values detected by the detection module 430 are within a set range;

The unlocking module 450 is configured to release the lock when the judging module 440 judges that both pressure values are within the set range.

In the above embodiment, after the vehicle is locked, it can continue to detect the pressure value on the pedal every set time, and when the two detected pressure values are within the set range, it is confirmed that the vehicle is in a stable state, And unlock it, so that the user can drive the vehicle as soon as possible when the vehicle is stable.

As shown in FIG. 9, FIG. 9 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure. On the basis of the embodiment shown in FIG. 8, the unlocking module 450 may include: A submodule 451 , a third judging submodule 452 and an unlocking submodule 453 .

The statistical sub-module 451 is configured to count the duration of the two pressure values within the set range;

The third judging submodule 452 is configured to judge whether the duration counted by the statistics submodule 451 exceeds the security protection duration;

The unlocking submodule 453 is configured to unlock the transmission mechanism when the third judging submodule 452 judges that the duration exceeds the safety protection duration.

In the above embodiment, in order to further ensure the safety and stability of the vehicle, when the two pressure values on the pedals are within the set range, the vehicle can further count the duration of the pressure value within the set range, and When the time length is longer than the safety protection time length, the transmission mechanism is unlocked.

As shown in Fig. 10, Fig. 10 is a block diagram of another vehicle control device according to an exemplary embodiment of the present disclosure. This embodiment is based on any of the embodiments shown in Figs. 4-9, and the device also Including: output module 460 .

The output module 460 is configured to output a reminder message that the vehicle is locked.

In the above embodiment, after the vehicle is locked, a reminder message can also be output to remind the user of the state of the vehicle, so that the user can use the vehicle reasonably.

The embodiments of the vehicle control device shown in Fig. 4 to Fig. 10 above can be applied in a vehicle.

For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.

As for the device embodiment, since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. It can be understood and implemented by those skilled in the art without creative effort.

Corresponding to FIG. 4 , the present disclosure also provides a vehicle, the vehicle includes a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to:

determining whether the vehicle is in an unstable state when the vehicle is detected to be stopped;

When the vehicle is in an unstable state, the transmission mechanism of the vehicle is locked.

As shown in FIG. 11 , FIG. 11 is a schematic structural diagram of a control device 1100 for a vehicle according to an exemplary embodiment of the present disclosure. For example, the apparatus 1100 may be a mobile phone with a routing function, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.

11, device 1100 may include one or more of the following components: processing component 1102, memory 1104, power supply component 1106, multimedia component 1108, audio component 1110, input/output (I/O) interface 1112, sensor component 1114, and communication component 1116.

The processing component 1102 generally controls the overall operations of the device 1100, such as those associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1102 may include one or more processors 1120 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 1102 may include one or more modules that facilitate interaction between processing component 1102 and other components. For example, processing component 1102 may include a multimedia module to facilitate interaction between multimedia component 1108 and processing component 1102 .

The memory 1104 is configured to store various types of data to support operations at the device 1100 . Examples of such data include instructions for any application or method operating on device 1100, contact data, phonebook data, messages, pictures, videos, and the like. The memory 1104 can be implemented by any type of volatile or non-volatile memory device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

The power supply component 1106 provides power to various components of the device 1100 . Power components 1106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for device 1100 .

The multimedia component 1108 includes a screen that provides an output interface between the device 1100 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 1108 includes a front camera and/or a rear camera. When the device 1100 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capability.

The audio component 1110 is configured to output and/or input audio signals. For example, the audio component 1110 includes a microphone (MIC), which is configured to receive external audio signals when the device 1100 is in operation modes, such as call mode, recording mode and voice recognition mode. Received audio signals may be further stored in memory 1104 or sent via communication component 1116 . In some embodiments, the audio component 1110 also includes a speaker for outputting audio signals.

The I/O interface 1112 provides an interface between the processing component 1102 and a peripheral interface module, which may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: a home button, volume buttons, start button, and lock button.

Sensor assembly 1114 includes one or more sensors for providing various aspects of status assessment for device 1100 . For example, the sensor component 1114 can detect the open/closed state of the device 1100, the relative positioning of components, such as the display and keypad of the device 1100, and the sensor component 1114 can also detect a change in the position of the device 1100 or a component of the device 1100 , the presence or absence of user contact with the device 1100 , the device 1100 orientation or acceleration/deceleration and the temperature change of the device 1100 . Sensor assembly 1114 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 1114 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1114 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, a microwave sensor or a temperature sensor.

The communication component 1116 is configured to facilitate wired or wireless communication between the apparatus 1100 and other devices. The device 1100 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1116 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1116 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, apparatus 1100 may be programmed by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing the methods described above.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 1104 including instructions, which can be executed by the processor 1120 of the device 1100 to implement the above method. For example, the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

An embodiment of the present disclosure also provides a non-transitory computer-readable storage medium. When instructions in the storage medium are executed by a processor of the vehicle, the vehicle can execute a vehicle control method, the method comprising:

determining whether the vehicle is in an unstable state when the vehicle is detected to be stopped;

When the vehicle is in an unstable state, the transmission mechanism of the vehicle is locked.

Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present disclosure is intended to cover any modification, use or adaptation of the present disclosure. These modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the present disclosure within the scope of protection.

Claims (15)

1. a kind of control method of vehicle characterized by comprising

Detecting vehicle stop when driving, determine whether the vehicle plays pendulum, the vehicle include balance car, Two wheeler；

When the vehicle plays pendulum, the transmission mechanism of the vehicle is locked, the unstable state refers to Be it is big by gap edge because of the vehicle two sides caused by it is uneven.

2. the method according to claim 1, wherein whether the determination vehicle plays pendulum, Include:

Detect the pressure value that two foot pedals of the vehicle are subject to respectively；

Judge any pressure value whether less than the first preset value；

When any pressure value is less than first preset value, determine that the vehicle plays pendulum.

3. the method according to claim 1, wherein whether the determination vehicle plays pendulum, Include:

Detect the pressure value that two foot pedals of the vehicle are subject to respectively；

Pressure difference is calculated based on two pressure values detected；

Judge whether the pressure difference is greater than the second preset value；

When the pressure difference is greater than second preset value, determine that the vehicle plays pendulum.

4. being wrapped the method according to claim 1, wherein the transmission mechanism to the vehicle locks It includes:

Transmission shaft and two tires to the vehicle lock.

5. the method according to claim 1, wherein the method also includes:

Detect the pressure value that two foot pedals of the vehicle are subject to respectively；

Judge two pressure values whether within setting range；

When two pressure values are all within the setting range, the locking is released.

6. according to the method described in claim 5, it is characterized in that, described release the locking, comprising:

Count duration of two pressure values all within the setting range；

Judge whether the duration is more than safeguard protection duration；

When the duration is more than the safeguard protection duration, unlock to the transmission mechanism.

7. method according to claim 1-6, which is characterized in that the transmission mechanism to the vehicle carries out After locking, the method also includes:

Export the locked reminder message of the vehicle.

8. a kind of control device of vehicle characterized by comprising

Determining module is configured as detecting vehicle stopping when driving, determines whether the vehicle plays pendulum, institute Stating vehicle includes balance car, two wheeler；

Locking module is configured as locking the transmission mechanism of the vehicle when the vehicle plays pendulum, The unstable state refer to it is big by gap edge because of the vehicle two sides caused by it is uneven.

9. device according to claim 8, which is characterized in that the determining module includes:

First detection sub-module is configured as detecting the pressure value that two foot pedals of the vehicle are subject to respectively；

Whether the first judging submodule is configured as judging any pressure value less than the first preset value；

First determines submodule, is configured as determining the vehicle when any pressure value is less than first preset value It plays pendulum.

10. device according to claim 8, which is characterized in that the determining module includes:

Second detection sub-module is configured as detecting the pressure value that two foot pedals of the vehicle are subject to respectively；

Computational submodule is configured as calculating pressure difference based on two pressure values detected；

Second judgment submodule is configured as judging whether the pressure difference is greater than the second preset value；

Second determines submodule, is configured as determining that the vehicle is in when the pressure difference is greater than second preset value Unstable state.

11. device according to claim 8, which is characterized in that the locking module includes:

Submodule is locked, is configured as locking the transmission shaft of the vehicle and two tires.

12. device according to claim 8, which is characterized in that described device further include:

Detection module is configured as detecting the pressure value that two foot pedals of the vehicle are subject to respectively；

Whether judgment module is configured as judging two pressure values within setting range；

Unlocked state is configured as releasing the locking when two pressure values are all within the setting range.

13. device according to claim 12, which is characterized in that the unlocked state includes:

Statistic submodule is configured as duration of two pressure values of statistics all within the setting range；

Third judging submodule is configured as judging whether the duration is more than safeguard protection duration；

Submodule is unlocked, is configured as when the duration is more than the safeguard protection duration, to the transmission mechanism solution Except locking.

14. according to the described in any item devices of claim 8-13, which is characterized in that described device further include:

Output module is configured as exporting the locked reminder message of the vehicle.

15. a kind of vehicle characterized by comprising processor；Memory for storage processor executable instruction；Wherein, The processor is configured to:

Detecting vehicle stop when driving, determine whether the vehicle plays pendulum, the vehicle include balance car, Two wheeler；

When the vehicle plays pendulum, the transmission mechanism of the vehicle is locked, the unstable state refers to Be it is big by gap edge because of the vehicle two sides caused by it is uneven.