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

Claim 11:
12. A non-transitory computer-readable storage medium having stored therein a computer program that, when executed by a processor, causes the processor to perform the method for assisting a vehicle to tilt, comprising:
receiving a first torque instruction output by a throttle assembly, and generating 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;
performing 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;
outputting the third torque instruction to a motor controller, and controlling 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;
determining 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;
determining 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.