Connected driving control method for add-on mobility device and the add-on mobility device of the same
View Patent ↗A mobility device connected driving control method for a first mobility device includes a plurality of first wheels, a first drive motor providing a driving force to the plurality of first wheels, a first high-voltage battery supplying power to the first drive motor, and a first pivot mechanism, and for a mobility device including a second left wheel, a second right wheel, a second drive motor providing a driving force to the second left wheel and the second right wheel, a second high-voltage battery supplying power to the second drive motor, and a second pivot mechanism mechanically connected to the first pivot mechanism. The connected driving control method includes determining whether to switch to a regenerative braking mode for the second mobility device, and in the regenerative braking mode, applying a regenerative braking torque determined according to a deceleration state of the second mobility device to the second drive motor.
1 . A connected driving control method of controlling connected driving of a first mobility device and a second mobility device the method comprising:
connecting communicatively the first mobility device and the second mobility device, wherein the first mobility device comprises a plurality of first wheels, at least one first drive motor providing a driving force to the plurality of first wheels, a first high-voltage battery supplying power to the at least one first drive motor, and a first pivot mechanism, and the second mobility device comprises a second left wheel, a second right wheel, at least one second drive motor providing a driving force to the second left wheel and the second right wheel, a second high-voltage battery supplying power to the at least one second drive motor, and a second pivot mechanism configured to be mechanically connected to the first pivot mechanism;
controlling the at least one second drive motor to provide the driving force to the second left wheel and the second right wheel to drive the second mobility device for travelling forward based on the first mobility device traveling forward, and to brake the second mobility device for decelerating in a regenerative braking mode;
determining to switch to the regenerative braking mode for the second mobility device based on a brake of the first mobility device being activated and the second mobility device being decelerated; and
in the regenerative braking mode, applying a regenerative braking torque determined according to a deceleration state of the second mobility device to the at least one second drive motor.
2 . The method of claim 1 , wherein the first mobility device further comprises a first controller, at least one electric device that operates at a low voltage, a low-voltage battery that supplies power to the at least one electric device, a first direct current (DC) to DC (DC/DC) converter connected between the first high-voltage battery and the low-voltage battery, a second DC/DC converter connected to the first high-voltage battery, and a first connector connected to the second DC/DC converter,
wherein the first controller is configured to control the second DC/DC converter according to a state of the first high-voltage battery and a state of the second high-voltage battery to charge the first high-voltage battery with the power of the second high-voltage battery, and wherein the second mobility device further comprises a third connector electrically and removably connected to the first connector and connected to the second high-voltage battery.
3 . The method of claim 1 , wherein determining whether to switch to the regenerative braking mode comprises:
receiving a brake signal of the first mobility device to perform the determining.
4 . The connected driving control method of claim 3 , wherein determining whether to switch to the regenerative braking mode further comprises:
receiving an acceleration sensor signal of the second mobility device to perform the determining.
5 . The connected driving control method of claim 4 , wherein determining whether to switch to the regenerative braking mode further comprises:
when it is determined that the first mobility device is in a braking state from the brake signal and the second mobility device is in the deceleration state from the acceleration sensor signal, determining to switch to the regenerative braking mode.
6 . The connected driving control method of claim 1 , wherein the deceleration state comprises a plurality of phases, and wherein the regenerative braking torque is determined according to each of the plurality of phases.
7 . The connected driving control method of claim 6 , wherein the plurality of phases is divided by a set deceleration rate.
8 . The connected driving control method of claim 1 , wherein the at least one second drive motor comprises:
a second left drive motor that provides a driving force to the second left wheel, and a second right drive motor that provides a driving force to the second right wheel.
9 . An add-on mobility device, mechanically connected to and capable of traveling together with a front mobility device, the add-on mobility device comprising:
a frame comprising a second pivot mechanism mechanically connected to the first pivot mechanism;
a second left wheel mounted on a left side of the frame;
a second right wheel mounted on a right side of the frame;
at least one second drive motor configured to provide a driving force to the second left wheel and the second right wheel;
a second high-voltage battery configured to supply power to the second drive motor; and
a second controller configured to control the second drive motor,
wherein the second controller comprises a non-transitory storage medium storing a computer program for driving control for the add-on mobility device; and a processor configured to execute the computer program;
wherein the driving control for the add-on mobility device comprises:
connecting communicatively to the front mobility device, wherein the front mobility device comprises a plurality of first wheels, at least one first drive motor providing a driving force to the plurality of first wheels, a first high-voltage battery supplying power to the at least one first drive motor, a first controller controlling the first drive motor, and a first pivot mechanism;
controlling the at least one second drive motor to provide the driving force to the second left wheel and the second right wheel to drive the add-on mobility device for travelling forward based on the front mobility device traveling forward, and to brake the add-on mobility device for decelerating in a regenerative braking mode;
determining to switch to the regenerative braking mode for the add-on mobility device based on a brake of the first mobility device being activated and the second mobility device being decelerated; and
in the regenerative braking mode, applying a regenerative braking torque determined according to a deceleration state of the add-on mobility device to the at least one second drive motor.
10 . The add-on mobility device of claim 9 , wherein the front mobility device further comprises at least one electric device that operates at a low voltage, a low-voltage battery that supplies power to the at least one electric device, a first direct current (DC) to DC (DC/DC) converter connected between the first high-voltage battery and the low-voltage battery, a second DC/DC converter connected to the first high-voltage battery, and a first connector connected to the second DC/DC converter,
wherein the first controller is configured to control the second DC/DC converter according to a state of the first high-voltage battery and a state of the second high-voltage battery to charge the first high-voltage battery with the power of the second high-voltage battery, and
wherein the add-on mobility device further comprises a third connector electrically and removably connected to the first connector and connected to the second high-voltage battery.
11 . The add-on mobility device of claim 9 , wherein determining whether to switch to the regenerative braking mode comprises:
receiving a brake signal of the front mobility device to perform the determining.
12 . The add-on mobility device of claim 11 , wherein determining whether to switch to the regenerative braking mode further comprises:
receiving an acceleration sensor signal of the add-on mobility device to perform the determining.
13 . The add-on mobility device of claim 12 , wherein determining whether to switch to the regenerative braking mode further comprises:
when it is determined that the front mobility device is in a braking state from the brake signal and the add-on mobility device is in the deceleration state from the acceleration sensor signal, determining to switch the regenerative braking mode.
14 . The add-on mobility device of claim 9 , wherein the deceleration state comprises a plurality of phases, and wherein the regenerative braking torque is determined according to each of the plurality of phases.
15 . The add-on mobility device of claim 14 , wherein the plurality of phases is divided by a set deceleration rate.
16 . The add-on mobility device of claim 9 , wherein the at least one second drive motor comprises:
a second left drive motor that provides a driving force to the second left wheel, and a second right drive motor that provides a driving force to the second right wheel.