Patent ID: 11912137
Assignee: NINEBOT (BEIJING) TECH CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 6:
7. A vehicle, comprising a throttle assembly, a motor controller, and a device for assisting the vehicle to tilt, wherein the device comprises:
a receiving unit, configured to receive a first torque instruction output by the throttle assembly and generate a second torque instruction, wherein the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the second torque instruction is determined based on attitude information of the vehicle;
a weighted summation unit, configured to perform a weighted summation on the first torque instruction and the second torque instruction based on a first proportional coefficient of the first torque instruction and a second proportional coefficient of the second torque instruction to obtain a third torque instruction;
a control unit, configured to output the third torque instruction to the motor controller, and control a tilt angle of the vehicle by the motor controller based on the third torque instruction, wherein the tilt angle of the vehicle is less than or equal to a target angle threshold;
a second determining unit, configured to determine a proportional coefficient smaller than a target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is greater than or equal to the target angle threshold, and determine a proportional coefficient greater than the target coefficient threshold as the first proportional coefficient when the tilt angle of the vehicle is less than the target angle threshold.