TW202402583A - Electric vehicle and traction control method thereof - Google Patents

Abstract

An electric vehicle and traction control method thereof. The electric vehicle includes a steering wheel sensor, a throttle grip, an electrical driving device and a controller. The electric vehicle provides a driving command to control an output power of the electrical driving device according to a throttle signal. The electric vehicle further calculates a slip ratio according to a ratio of a speed difference, which between a steering wheel speed and a driving wheel speed, and one of the steering wheel speed and the driving wheel speed. When the slip ratio is greater than a set threshold, the electric vehicle changes the driving command to reduce the speed difference and the slip ratio.

Description

Electric vehicle and tracking control method

The present disclosure relates to vehicle tracking control, in particular to an electric vehicle and a tracking control method thereof.

In recent years, with the improvement of environmental awareness, the development of electric vehicles has received more and more attention. In order to make the use of electric vehicles more popular, how to continuously improve the performance, safety and convenience of electric vehicles has become a major current issue.

When driving on wet or muddy roads, the vehicle's rear wheels (driving wheels) may lose grip and slip, causing the vehicle to lose control.

In this regard, there is currently a vehicle equipped with a Traction Control System. The aforementioned vehicle has multiple driving wheels, which can redistribute the power of these driving wheels when the vehicle loses grip to reduce the loss of grip. and stabilize the vehicle.

However, the above solution is limited to vehicles with multiple driving wheels, and recalculating power distribution requires a large amount of computing resources, and is not suitable for lower-cost vehicles with a single driving wheel (such as single-motor electric motorcycles).

Therefore, there is an urgent need to propose a tracking control scheme that is suitable for single-motor electric vehicles and has low computational complexity.

This disclosure relates to an electric vehicle with tracking control function, including a control wheel, a control wheel sensor, a throttle handle, a driving wheel, an electric drive device and a controller. The control wheel is used to be controlled to change the axial direction of the control wheel. The steering wheel sensor is used to detect the steering wheel speed of the steering wheel. The throttle handle is used to rotate to trigger the throttle signal. The driving wheel has a fixed axial direction. The electric drive device is used to output power to drive the driving wheels. The controller is coupled to the steering wheel sensor and the electric driving device, and is used to provide driving commands to the electric driving device according to the throttle signal to control the output power of the electric driving device. The controller is also used to calculate a drift rate of the electric vehicle based on the speed difference between the control wheel speed and the driving wheel speed of the driving wheel, and the drift rate is a ratio of the speed difference to the control wheel speed or the driving wheel speed. The controller is also used to change the driving command when the drift rate is greater than the set threshold to reduce the speed difference and drift rate.

The present disclosure also relates to a tracking control method of an electric vehicle, which includes: obtaining the control wheel speed of the control wheel of the electric vehicle through a control wheel sensor; obtaining the driving wheel speed of the driving wheel of the electric vehicle, wherein the driving wheel system is Driven by the electric drive device of the electric vehicle; calculate the drift rate of the electric vehicle based on the speed difference between the control wheel speed and the driving wheel speed, where the drift rate is the ratio of the speed difference to the control wheel speed or the driving wheel speed; according to the throttle of the electric vehicle The rotation angle of the handle determines the driving command used to control the electric driving device; when the drift rate is greater than the set threshold, the driving command is changed, where the changed driving command is used to reduce the speed difference and the drift rate; and by controlling the electric driving device Execute the changed drive command to control the drive wheel speed.

This disclosure effectively reduces the calculation amount of tracking control, improves response speed, maintains vehicle stability, and improves vehicle handling and safety.

A plurality of embodiments of the present invention will be disclosed in the drawings below. For clarity of explanation, many practical details will be explained in the following description. However, it will be understood that these practical details should not limit the invention. That is to say, in some embodiments of the present invention, these practical details are not necessary. In addition, for the sake of simplifying the drawings, some commonly used structures and components will be illustrated in a simple schematic manner in the drawings.

Reference in this disclosure to "one embodiment" or "part of an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the phrase "in one embodiment" appearing in various places in this disclosure does not necessarily mean the same aspect. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more aspects of the present disclosure.

In this disclosure, unless the content clearly dictates otherwise, the meaning of "a" and "the" includes such statements including "one or at least one" of the element or component. In addition, the singular article also includes the recitation of a plural element or component unless it is obvious from the context that the plural is excluded.

In this disclosure, the description of "electric vehicles" includes cars, lawn mowers, vans, trucks, multi-wheel all-terrain vehicles, two-wheelers, three-wheelers, motorcycles, motorcycles, electric bicycles, etc. The term "vehicle" should not be construed narrowly to be limited to personal transportation vehicles such as motorcycles or motorcycles, but should be construed broadly to cover the many possible electric motorized transportation vehicles. In addition, the term "electric vehicle", although presented in the form of an electric two-wheeled vehicle in the diagram, should not be narrowly construed to be limited to two-wheeled vehicles, but should be broadly construed to cover many possible electronically powered vehicles. .

In this document, when an element is referred to as "connected" or "coupled," it may mean "electrically connected" or "electrically coupled." "Connection" or "coupling" can also be used to indicate the coordinated operation or interaction between two or more components. In addition, although terms such as "first", "second", ... are used to describe different elements herein, the terms are only used to distinguish elements or operations described by the same technical terms. Unless the context clearly indicates otherwise, such terms do not specifically refer to or imply a sequence or order, nor are they intended to limit the invention.

Referring to Figures 1A, 1B and 2, the electric vehicle 10 includes a steering wheel sensor 110, an electric drive device 150, a throttle handle 170, a steering wheel 190, a driving wheel 191 and a controller 130.

The axle axis of the control wheel 190 can be controlled and changed. For example, the user can change the axle axis by swinging the faucet of the electric vehicle 10 , thereby changing the traveling direction of the electric vehicle 10 . The axle of the driving wheel 191 may be fixed in the axial direction, and is driven by the electric driving device 150 to drive the electric vehicle 10 forward or backward. Although in the embodiment of FIG. 1A , the front wheel is the control wheel 190 and the rear wheel is the drive wheel 191 , the number and arrangement relationship of the control wheel 190 and the drive wheel 191 are not limited thereto.

The electric driving device 150 may include an electric motor 151, and may further include a transmission device (not shown in the figure, such as a gear set, a belt, etc.). The electric motor 151 can provide power to the transmission device to drive the driving wheel 191 to rotate.

The steering wheel sensor 110 can be disposed adjacent to the steering wheel 190 (such as beside the front fork or front wheel axle) to sense the rotation state of the steering wheel 190, thereby detecting the speed of the steering wheel 190 (the steering wheel speed, such as rotational speed or rotation speed). Corresponding vehicle speed converted according to wheel frame size).

In one embodiment, electric vehicle 10 may include drive wheel sensors 120 . The driving wheel sensor 120 can detect the speed of the driving wheel 191 (driving wheel speed). In one embodiment, similar to the steering wheel sensor 110 , the driving wheel sensor 120 may be disposed adjacent to the driving wheel 191 (such as being disposed next to the rear rocker arm or the rear axle) to detect the driving wheel speed, but the present disclosure The content is not limited to this. In other embodiments, the driving wheel sensor 120 (such as a Hall effect sensor) can be disposed in the electric motor 151 of the electric drive device 150 and can detect the operating status data (such as current, torque) of the electric motor 151 , speed, etc.). The controller 130 can calculate the driving wheel speed based on the operating status data. Since those in the art can understand the method of estimating the wheel speed based on the operating status of the electric motor, the details will not be described again here.

The user can turn the throttle handle 170 to cause the electric vehicle 10 to provide the desired power output. In one embodiment, the electric vehicle 10 may include a throttle handle sensor 171 . The throttle handle sensor 171 is used to detect the rotation angle of the throttle handle 170 and convert the rotation angle into a throttle signal.

The controller 130 is coupled to the steering wheel sensor 110, the driving wheel sensor 120, the electric drive device 150 and the throttle handle sensor 171 to obtain the steering wheel speed, driving wheel speed and throttle signals respectively. The controller 130 can convert the throttle signal (i.e., the ratio or value after quantizing the rotation angle) into a driving command (such as torque value, torque ratio, motor current, motor voltage, etc.), and provide the driving command to the electric motor 151 , so that the electric motor 151 outputs corresponding power to drive the driving wheel 191 .

The controller 130 may also calculate the slip ratio of the electric vehicle 10 based on the speed difference between the control wheel speed and the driving wheel speed. Drift rate is the relative proportion of speed difference to control wheel speed or drive wheel speed. Taking the relative ratio of speed difference to driving wheel speed as an example, the drift rate can be expressed as the following formula:

When the controller 130 determines that the drift rate is greater than a set threshold (such as 5% or 8%, which can be adjusted or set by itself), the controller 130 can change the driving command generated based on the throttle signal to control the drift rate of the electric vehicle 10 . Specifically, compared with the original driving command, the changed driving command can cause a lower speed difference and a lower drift rate by controlling the speed of the driving wheel (for example, controlling the output torque of the electric motor 151). The aforementioned control function is referred to as “tracking control function” here.

For example, when the drift rate is greater than 5%, the controller 130 can control the electric driving device 150 to reduce the output power to prevent the drift rate from continuing to increase or to reduce the drift rate. The slippage of the electric vehicle 10 is usually caused by the apparent desynchronization of the speeds of the control wheel 190 and the driving wheel 191 . Therefore, by real-time detection of the drift rate, when the electric vehicle 10 slips, the power output to the driving wheels 191 can be immediately changed to reduce the speed difference between the two wheels, reduce the loss of grip, and thereby slow down or suppress the slip. Improve controllability.

In one embodiment, the electric vehicle 10 may include a battery connection interface 160 coupled to the controller 130 . The battery connection interface 160 may include components such as electrical connectors and data transmitters, and may be detachably connected to the exchangeable battery 100 through the electrical connector to receive power for use by the electric vehicle 10 . The exchangeable battery 100 may include a battery unit 101, a BMS (Battery Management System, battery management system) 102 and a battery memory 103.

In one embodiment, the electric vehicle 10 may include an instrument panel 140 coupled to the controller 130 . The instrument panel 140 is used to display vehicle status.

Please refer to Figures 3A to 3D and Figure 4 together. In one embodiment, the tracking control function can be set to an on state or an off state. When the status of the tracking control function changes (for example, the user operates the control interface 40 to turn on/off/switch the tracking control function), the indication area 30 of the instrument panel 140 can display the current status of the tracking control function (for example, on/off/switching the tracking control function). ON/off/upgrade PRO/standard STD). In one embodiment, when the tracking control function is turned off, the indication area 31 of the instrument panel 140 may indicate a warning message to remind the user that the tracking control function is turned off.

It is worth mentioning that the controller 130 can be a single controller or a combination of multiple controllers, such as an electronic controller (Electronic Control Unit, ECU), a motor controller unit (Motor Controller Unit, MCU), a battery connection Controller for interface 160 or other components. In this disclosure, the control and operations related to the controller 130 can be executed by a single controller or by multiple controllers, without limitation.

Please also refer to Figure 2. In one embodiment, the controller 130 may include one or more of the following modules: a threshold setting module 20, a speed acquisition module 21, a drift calculation module 22, and a torque suppression module. Group 23, debugging module 24 and throttle signal conversion module 25.

The threshold setting module 20 can determine or dynamically adjust the setting threshold λ _th according to the current speed VN of the electric vehicle 10 and the preset initial threshold LV. The threshold setting module 20 can use the control wheel speed V1 or the driving wheel speed V2 as the current speed VN, or can also calculate the current speed VN based on the current acceleration (such as through an acceleration sensor) or coordinate position change of the electric vehicle 10 . In one embodiment, a larger current speed VN corresponds to a larger set threshold λ _th . In other words, the values of the current speed VN and the set threshold λ _th are positively correlated.

In one embodiment, the relationships between multiple speed values, multiple initial thresholds LV, and multiple reference thresholds may be recorded as a lookup table. Each combination of speed value and initial threshold LV corresponds to a reference threshold. For example: when the speed is 50 kilometers per hour and the initial threshold is "5%", the corresponding reference threshold is "5%"; when the speed is 70 kilometers per hour and the initial threshold is "5%" When "5%" is used, the corresponding reference threshold is "6%". The threshold setting module 20 can identify a speed value "closest to the current speed", and use the reference threshold corresponding to the speed value and the current initial threshold LV as the set threshold λ _th , or calculate the corresponding set threshold λ through interpolation. _th .

The speed acquisition module 21 can perform calculations on the control wheel speed V1 and the driving wheel speed V2 to obtain the speed difference V3. In one embodiment, the control wheel speed V1 and the driving wheel speed V2 can be continuous sensing signals, and the speed acquisition module 21 can perform processing (such as acceleration analysis, noise filtering and signal conversion) on these signals to obtain The quantified control wheel speed V1 and the driving wheel speed V2 are used to calculate the speed difference V3 based on this quantified data.

The drift calculation module 22 can calculate the drift rate λ according to the aforementioned drift rate formula, the speed difference V3 and one of the control wheel speed V1 and the driving wheel speed V2.

The torque suppression module 23 can compare the drift rate λ with the set threshold λ _th , and when the drift rate λ exceeds the set threshold λ _th , output the suppression command Cs. The suppression command Cs is used to reduce the output power of the electric motor 151 indicated by the drive command Ct, for example, to reduce the torque with a suppression ratio or a suppression value. The suppression ratio or suppression value can be a fixed value, or can change with the current situation. The speed VN changes, or may change with the difference between the drift rate λ and the set threshold λ _th , but is not limited to this.

The debugging module 24 can detect whether an error occurs through a variety of sensors. When an error occurs, the controller 130 should not perform the tracking control function. The aforementioned "errors" include the driving wheel 191 hanging in the air (such as maintenance status or parking status) or being trapped and the output power should not be suppressed. The debugging module 24 can send an error signal Sf to invalidate the suppression command Cs when an error is detected.

The throttle signal conversion module 25 can convert the throttle signal St provided by the throttle handle sensor 171 into the drive command Ct. The drive command Ct may be used to indicate the output torque ratio or the output torque value of the electric motor 151 .

Therefore, if the drift rate λ is greater than the set threshold λ _th and no error occurs, the driving command Ct will be changed to the driving command C' due to the intervention of the suppression command Cs. Compared with the driving command Ct, the output power of the driving command C' is suppressed.

Finally, the driving wheel speed can be reduced by executing the drive command C' to the electric motor 151, thereby reducing the speed difference and drift rate λ.

The aforementioned modules 20 to 25 can be interconnected (such as electrical connections or information links), and can be hardware modules (such as electronic circuits, integrated circuits, SoC, etc.), software modules (such as firmware or applications) program) or a mix and match of software and hardware modules, without limitation.

When the aforementioned modules 20 to 25 are software modules, the controller 130 may include an internal memory 131 or be coupled to the internal memory 131 of the electric vehicle 10 . Internal memory 131 may include non-transitory computer-readable recording media. The aforementioned non-transitory computer-readable recording medium can store computer programs (such as extension programs 132 and other related programs). The computer programs record computer-executable program codes. When the controller 130 executes the aforementioned program codes, the execution can be implemented. The function of the aforementioned software module can also realize the tracking control method described later.

In some embodiments, the internal memory 131 is pre-installed with multiple expansion programs 132 , and each expansion program 132 provides different functions, such as the aforementioned tracking control function. The extension 132 is set to "not allowed to be executed" by default and needs to be unlocked through a specific activation command before it can be executed by the controller 130 . For example: after the user of the electric vehicle 10 purchases the extended function (such as the tracking control function), when the user and the electric vehicle 10 go to the maintenance station, the maintenance station personnel can input the activation command to the controller 130 through the maintenance computer to enable the corresponding The extensions 132 are allowed to be executed and the purchased extensions can be used.

In one embodiment, the aforementioned extended functions can be controlled through one or more feature switches to control states such as activation, deactivation, or level. Specifically, each feature switch can have multiple states, such as "on/off" or "0/1". The aforementioned enable command is used to change one or more specified feature switches to a specified state. The aforementioned feature switch can be a circuit lock switch or a software lock switch, and each switch can have more than two states, which is not limited. The combination of states of all feature switches for the same extension indicates the enablement, disablement, or level of that extension.

Taking the "tracking control function" as an example, you can set characteristic switch A (for example: standard version switch, with an initial threshold of 5%) and characteristic switch B (for example: advanced version switch, with an initial threshold of 10%) on the electric vehicle 10 ), the initial value of the feature switch is 0. As shown in the table below, when the user purchases the standard version of the tracking control function and the corresponding activation command is sent to the electric vehicle 10 , the state of the feature switch A is set to 1, and the standard version of the tracking control function is enabled. When the user then purchases the advanced version of the tracking control function (upgrade), and the corresponding activation command is sent to the electric vehicle 10 , the state of the feature switch B is set to 1, and the advanced version of the tracking control function is enabled. If the user directly purchases the advanced version of the tracking control function, and the corresponding activation command is sent to the electric vehicle 10, the state of the feature switch B is set to 1, and the advanced version of the tracking control function is enabled. The deactivation method is similar to the activation method and will not be described again here. In this way, the activation, deactivation and level of extended functions can be effectively managed through feature switches. Function name Feature switch A Feature switch B Tracking control function (standard version) 1 0 Tracking control function (advanced version) 0 1 Tracking control function (upgrade) 1 1

Please also refer to Figure 5. In one embodiment, the extension 132 can be unlocked through battery swapping. The user can operate the user device 51 to subscribe to the aforementioned extended functions for the electric vehicle 10 through the network 52 to the cloud system 53 (which may include a server 530 and a database 531 ). Subscription data will be saved in database 531.

Then, the user and the electric vehicle 10 can go to the battery swap station 50 and return the used exchangeable battery (which stores the identification information of the electric vehicle 10 and can be a battery with insufficient power) to the return slot 502 . The battery swap station 50 can obtain the identification information of the electric vehicle 10 from the returned exchangeable battery, and query the cloud system 53 for the subscription status of each extended function of the electric vehicle 10 based on the identification information. Then, the battery swap station 50 can select a suitable swappable battery (such as a battery with sufficient power) from the plurality of swappable batteries 501 . Furthermore, when the battery swap station 50 inquires that the subscription status of any extended function of the electric vehicle 10 has changed, it stores/writes the extended function change instruction in the selected exchangeable battery and provides it to the user. Then, when the user inserts the exchangeable battery storing the extended function change command (such as the enabling command of the tracking control function) into the battery connection interface 160 of the electric vehicle 10, the BMS 102 and the electric vehicle 10 perform verification, and allow the verification after passing the verification. Provide power and extended function change instructions to the electric vehicle 10. The controller 130 responds to the received extended function change command to control the state of the corresponding feature switch to enable the corresponding extended function, including setting the corresponding extended program 132 to "allow execution."

Correspondingly, if the battery swap station 50 determines that the user has disabled, upgraded, or downgraded the extended function, the battery swap station 50 will store the corresponding extended function change command (disable command, upgrade command, or downgrade command) into the swappable battery. The controller 130 will be able to detect the expansion function change command in the new exchangeable battery and manage the corresponding expansion program 132 in the internal memory 131 accordingly.

The aforementioned "activate" and "disable" mean that the software lock function in the corresponding extension 132 will be released or triggered, or the permissions in the extension will be changed. After the extension program 132 is activated, the user can arbitrarily execute/stop executing the corresponding extension program 132 through the control interface of the electric vehicle 10 (such as the control interface 40 in FIG. 4 ), that is, turn on/off the corresponding extension function.

For example, after the tracking control function is enabled, the user can still manually turn on/off the tracking control function, and the electric vehicle 10 can also automatically determine to turn on/off the tracking control function. It is worth mentioning that, based on safety considerations, the state of the aforementioned tracking control function can only be changed when the electric vehicle 10 stops moving; in contrast, when the electric vehicle 10 is moving, the controller 130 will disable (ignore or postponed) required status change.

In some embodiments, the electric vehicle 10 can detect rainfall and automatically activate the tracking control function. When the controller 130 receives the rainfall message, the controller 130 can actively turn on the tracking control function (if the original state is off) to improve the controllability on slippery road surfaces.

The aforementioned "rainfall message" can be received through the Internet or through a sensor. In one embodiment, the electric vehicle 10 may include a communication module 180 (such as a cellular network module, a Bluetooth module, or a Wi-Fi module) coupled to the controller 130 . Taking the cellular network module as an example, the controller 130 can connect to the Internet through the communication module 180 and connect to the weather server to obtain information that it is raining at the current location (rainfall information). Taking the Bluetooth module or Wi-Fi module as an example, the user device 51 can connect to the weather server through the Internet to obtain rainfall information and provide it to the communication module through the Bluetooth network or Wi-Fi network. Group 180, so that the controller 130 actively turns on the tracking control function.

In other embodiments, the electric vehicle 10 may include a rainfall sensor 141 (such as a raindrop sensor or a humidity sensor) coupled to the controller 130 . The rainfall sensor 141 can sense environmental rainfall status. When the rainfall sensor 141 detects rainfall (such as too high humidity or too dense water droplets), it sends a rainfall message to the controller 130 so that the controller 130 actively turns on the tracking control function.

Please also refer to Figure 6 , which shows a tracking control method according to some embodiments of this disclosure, which can be applied to the aforementioned electric vehicle 10 . When the tracking control function is turned on, the controller 130 may repeatedly execute steps S10-S15 to implement the tracking control function.

In step S10 , the controller 130 obtains the steering wheel speed and the driving wheel speed of the electric vehicle 10 .

In step S11, the controller 130 determines a driving command based on the rotation angle of the throttle handle 170.

In step S12 , the controller 130 calculates the drift rate of the electric vehicle 10 according to the ratio of the speed difference between the steering wheel speed and the driving wheel speed to the steering wheel speed or the driving wheel speed.

In step S13, the controller 130 determines whether the drift rate is greater than the set threshold. When the drift rate is greater than the set threshold, step S14 is executed; otherwise, step S15 is executed.

In step S14, if the drift rate is greater than the set threshold, it means that the electric vehicle 10 may be in a slipping state. The controller 130 can change the driving command determined in step S11 to control the drift rate and prevent the drift rate from continuing to increase. For example, the controller 130 can reduce the driving command by a preset suppression ratio (eg, reduce the value of the driving command by 10%) to immediately reduce the driving wheel speed.

In step S15 , the controller 130 executes a driving command (such as controlling the input current or input voltage according to the driving command) to the electric motor 151 to control the electric motor 151 to output corresponding power (torque).

By detecting the drift rate of the electric vehicle 10 in real time and selectively controlling the speed of the driving wheels 191 accordingly, the slipping state of the electric vehicle 10 can be effectively prevented or suppressed, and the controllability and safety of the electric vehicle 10 can be improved.

Please also refer to Figure 7. In some embodiments, the tracking control method may include steps S20-S22 before steps S10-S15. Steps S20-S22 may determine whether the tracking control function is enabled (and whether steps S10-S15 are allowed to be executed) and the setting threshold of step S13.

In step S20, the controller 130 may detect a plurality of states of a plurality of feature switches of the tracking control function. At least one state combination of these feature switches may indicate that the tracking control function is disabled, and at least one other state combination may indicate that the tracking control function is enabled.

In step S21, the controller 130 may determine the initial threshold according to the states of these feature switches. Specifically, at least one state combination may indicate a first version of the tracking control function (such as corresponding to a lower initial threshold or a set threshold), and at least one state combination may indicate a second version of the tracking control function (such as corresponding to a higher threshold). initial threshold or set threshold).

In step S22, the threshold is set based on the current speed of the electric vehicle 10 and the initial threshold determined in step S21.

By providing different versions of tracking control functions, users can choose according to their safety and control needs to obtain the best riding experience.

Please also refer to Figure 8. In some embodiments, the tracking control method may include steps S30-S34 before steps S10-S15. Steps S30-S34 can be automatically turned on or manually turned on/off by the user when the tracking control function is enabled.

In step S30, when it rains at the location, the controller 130 may receive the rainfall message through the rainfall sensor 141, the user device 51 or the Internet.

In step S31 , the controller 130 may accept an opening or closing operation of the tracking control function from the user through the control interface 40 .

In step S32, when receiving a rainfall message or starting an operation operation, the controller 130 may first determine whether the electric vehicle 10 is in a stopped state (ie, not traveling). If it is in the stopped state, the controller 130 executes step S34. Otherwise, it may execute step S33 or directly end the method.

In step S33, when the electric vehicle is in a moving state, the controller 130 may temporarily maintain the tracking control function (eg, turned off) to avoid losing control of the vehicle due to a sudden change in output power. Furthermore, the controller 130 may determine whether it is necessary to wait for the electric vehicle 10 to stop (return to step S32 ) or ignore this switching (end directly).

In step S34, the controller 130 may turn on/off the tracking control function. When the tracking control function is turned on, steps S10-S15 can be executed.

The above tracking control method can provide better convenience and safety.

Please refer to Figure 9 as well. In some embodiments, the tracking control method may include steps S40-S46 and steps S50-S52 before steps S10-S15. Steps S40-S46 and Steps S50-S52 are methods for activating the extended function through battery replacement when the extended function (such as the tracking control function) has been subscribed but has not yet been activated. There is no need for maintenance personnel to activate the extended function by repairing the computer. .

In step S40 , the battery swap station 50 receives the used swappable battery 100 of the electric vehicle 10 . Specifically, the user can take out the swappable battery 100 in the electric vehicle 10 and put it into the return slot 502 of the battery swap station 50 .

In step S41 , the battery swap station 50 obtains the identification information of the electric vehicle 10 from the received swappable battery 100 .

In step S42 , the battery swap station 50 queries the cloud system 53 for the subscription status of the electric vehicle 10 for the extended functions (such as the tracking control function) based on the identification information.

In step S43 , the battery swap station 50 selects one of multiple available (eg, sufficient power) swappable batteries 501 .

In step S44, the battery swap station 50 determines whether the subscription status of the extended function changes through the cloud system 53. If the cloud system 53 responds that the subscription status of the electric vehicle 10 for the extended function has changed, step S45 is executed; otherwise, step S46 is executed.

In step S45, when the subscription status has been changed, the battery swap station 50 stores the extended function change command in the swappable battery 501 selected in step S45. Extension change instructions are set based on changes in subscription status, such as activation instructions, deactivation instructions, upgrade instructions, or downgrade instructions for the changed extension.

In step S46 , the battery swap station 50 provides/allocates the selected swappable battery 501 to the electric vehicle 10 , such as releasing the battery lock or other anti-theft mechanism of the swappable battery 501 .

The user may then place the swappable battery 501 into the electric vehicle 10 . The aforementioned exchangeable battery 501 stores extended function change commands, such as tracking control function activation commands.

Steps S50-S52 are explained by taking the enable command as an example, but those skilled in the art can change it to a deactivate command, an upgrade command, or a downgrade command under different requirements based on this disclosure.

In step S50 , the exchangeable battery 501 is provided to the electric vehicle 10 and connected to the electric vehicle 10 . At this time, the tracking control function of the electric vehicle 10 has not yet been enabled.

In step S51, verification is performed between the exchangeable battery 501 and the electric vehicle 10. After passing the verification, the exchangeable battery 501 is allowed to provide power and activation instructions to the electric vehicle 10 .

In step S52 , the controller 130 of the electric vehicle 10 responds to the enabling instruction to enable the tracking control function and allow execution of the extended program 132 corresponding to the tracking control function. In one embodiment, the controller 130 responds to the enable command to change the state of the feature switch corresponding to the tracking control function, so that the corresponding extension program 132 is allowed to be executed.

The components, method steps or technical features in the foregoing embodiments can be combined with each other and are not limited to the order of text description or the order of presentation of the figures in this disclosure.

Although the content of this disclosure has been disclosed in the above embodiments, it is not intended to limit the content of this disclosure. Anyone familiar with this art can make various changes and modifications without departing from the spirit and scope of this disclosure. Therefore, this disclosure The scope of protection of the content shall be determined by the scope of the patent application attached.

10: Electric vehicle 100: Exchangeable battery 101: Battery unit 102: BMS 103: Battery memory 110: Steering wheel sensor 120: Driving wheel sensor 130: Controller 131: Internal memory 132: Expansion program 140: Instrument panel 141: Rainfall sensor 150: Electric drive device 151: Electric motor 160: Battery connection interface 170: Throttle handle 171: Throttle handle sensor 180: Communication module 190: Control wheel 191: Drive wheel 20: Threshold setting Module 21: Speed acquisition module 22: Drift calculation module 23: Torque suppression module 24: Detection module 25: Throttle signal conversion module 30: Indicator area 31: Indicator area 40: Control interface 50: Change Power station 500: Human-machine interface 501: Exchangeable battery 502: Return slot 51: User device 52: Network 53: Cloud system 530: Server 531: Database C': Drive command Cs: Suppress command Ct: Drive command LV: Initial threshold Sf: Error signal St: Throttle signal V1: Control wheel speed V2: Drive wheel speed V3: Speed difference VN: Current speed λ _th : Setting threshold λ: Drift rate S10-S15: Steps S20-S22: Steps S30-S34 : Steps S40-S46: Steps S50-S52: Steps

Figure 1A is a schematic diagram of an electric vehicle according to some embodiments of the present disclosure. Figure 1B is an electrical architecture diagram of an electric vehicle according to some embodiments of the present disclosure. Figure 2 is a schematic diagram of the operation architecture of a controller according to some embodiments of the present disclosure. 3A to 3D are schematic diagrams of an instrument panel of an electric vehicle according to some embodiments of the present disclosure. FIG. 4 is a schematic diagram of a control interface of an electric vehicle according to some embodiments of the present disclosure. Figure 5 is an architectural diagram of an electric vehicle and a battery swapping system according to some embodiments of the present disclosure. Figure 6 is a flow chart of a tracking control method according to some embodiments of the present disclosure. Figures 7 to 9 are partial flow charts of tracking control methods according to some embodiments of the present disclosure. In accordance with common practice, the various features and components in the drawings are not drawn to scale, but are drawn in such a way as to best present the specific features and components relevant to this case. In addition, the same or similar reference symbols are used to refer to similar elements/components in different drawings.

Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without

S10-S15: Steps

Claims (20)

An electric vehicle with tracking control function, including: a control wheel, used to be controlled to change an axial direction of the control wheel; a control wheel sensor for detecting a control wheel speed of the control wheel; a throttle handle for being rotated to trigger a throttle signal; A driving wheel with a fixed axial direction; An electric drive device for outputting power to drive the drive wheel; and A controller coupled to the control wheel sensor and the electric drive device, and used to provide a drive command to the electric drive device according to the throttle signal to control the output power of the electric drive device; The controller is also used to calculate a drift rate of the electric vehicle based on a speed difference between the steering wheel speed and a driving wheel speed of the driving wheel. The drift rate is relative to the speed difference of the steering wheel speed or the driving wheel. A proportion of the wheel speed; The controller is also used to change the driving command when the drift rate is greater than a set threshold to reduce the speed difference and the drift rate. The electric vehicle of claim 1 further includes: a driving wheel sensor coupled to the controller for detecting the driving wheel speed of the driving wheel. The electric vehicle as claimed in claim 1, further comprising: a driving wheel sensor coupled to the controller for detecting an operating status data of the driving device; The controller is also used to calculate the driving wheel speed based on the operating status data. The electric vehicle as claimed in claim 1, wherein the controller is further used to set the setting threshold according to a current speed of the electric vehicle, wherein a larger current speed corresponds to a larger setting threshold. The electric vehicle as described in claim 1 further includes: a plurality of feature switches having a plurality of states, wherein the combination of the plurality of states of the feature switches is used to indicate the activation, deactivation or level of a tracking control function; The controller is also used to determine an initial threshold based on the states of the feature switches, and to set the set threshold based on a current speed of the electric vehicle and the initial threshold. The electric vehicle as claimed in claim 5, wherein the characteristic switches are software lock switches. The electric vehicle of claim 1, wherein the controller is further used to reduce an output torque ratio or an output torque value in the drive command according to a suppression ratio or a suppression value. The electric vehicle as described in claim 1 further includes: A rainfall sensor, coupled to the controller, for sensing an environmental rainfall state; or a communication module coupled to the controller for connecting to a user device or the Internet to receive a rainfall message; Wherein, the controller is also used to activate a tracking control function according to the environmental rainfall status or the rainfall message; Wherein, the controller is used to not change the driving command when the tracking control function is turned off and the drift rate is greater than the set threshold. The electric vehicle of claim 8, wherein the controller is also used to change the state of the tracking control function when the electric vehicle is stopped, and prohibits changing the state of the tracking control function when the electric vehicle is moving. The electric vehicle as described in claim 1 also includes: An internal memory coupled to the controller and used to store an expansion program for implementing a tracking control function, wherein the electric vehicle does not enable the tracking control function and is not allowed to execute the expansion program; An exchangeable battery, including a plurality of battery cells, a battery memory and a battery management system, the battery memory stores an activation command; Wherein, the battery management system is used to verify the electric vehicle when the exchangeable battery is connected to the electric vehicle, and provide power and the activation command to the electric vehicle after the verification is passed; Wherein, the controller is also used to respond to the enable command to enable the tracking control function and allow execution of the extension program, so that by executing the extension program, the electric vehicle changes the driving command when the drift rate is greater than the set threshold. . A tracking control method for electric vehicles, including: Obtaining a control wheel speed of a control wheel of an electric vehicle through a control wheel sensor; Obtaining a driving wheel speed of a driving wheel of the electric vehicle, wherein the driving wheel train is driven by an electric drive device of the electric vehicle; Calculate a drift rate of the electric vehicle based on a speed difference between the steering wheel speed and the driving wheel speed, wherein the drift rate is a proportion of the speed difference to the steering wheel speed or the driving wheel speed; Determine a driving command for controlling the electric drive device according to the rotation angle of a throttle handle of the electric vehicle; When the drift rate is greater than a set threshold, the drive command is changed, wherein the changed drive command is used to reduce the speed difference and the drift rate; and The driving wheel speed is controlled by executing the modified driving command on the electric driving device. The tracking control method of an electric vehicle as claimed in claim 11, wherein the step of obtaining the driving wheel speed includes: The driving wheel speed of the driving wheel is detected through a driving wheel sensor. The tracking control method of an electric vehicle as described in claim 11, wherein the step of obtaining the driving wheel speed includes: An operating status data of an electric motor of the electric drive device is detected, and the driving wheel speed is calculated based on the operating status data. The tracking control method of the electric vehicle as described in claim 11 also includes: The set threshold is set according to a current speed of the electric vehicle, where a larger current speed corresponds to a larger set threshold. The tracking control method of the electric vehicle as described in claim 11 also includes: Detecting a plurality of states of a plurality of feature switches of a tracking control function, wherein at least one state combination of the feature switches is used to indicate deactivation of the tracking control function; Determine an initial threshold based on the states of the feature switches; and The set threshold is set according to a current speed of the electric vehicle and the initial threshold. The tracking control method of an electric vehicle as described in claim 11, wherein the step of changing the driving command includes: An output torque proportion or an output torque value in the drive command is reduced according to a suppression ratio or a suppression value. The tracking control method of the electric vehicle as described in claim 11 also includes: Activate a tracking control function when receiving a rainfall message through a rainfall sensor, a user device or the Internet; Among them, the steps to change the driver command include: Change the drive command when the tracking control function is turned on; and The drive command is not changed when the tracking control function is turned off. As for the tracking control method of an electric vehicle as described in claim 17, the step of activating the tracking control function includes: When the electric vehicle is stopped, turn on the tracking control function; and When the electric vehicle moves, the state of the tracking control function is maintained. The tracking control method of the electric vehicle as described in claim 11 also includes: providing a first exchangeable battery storing an activation command of a tracking control function to the electric vehicle, wherein the tracking control function of the electric vehicle is not activated; performing verification between the first exchangeable battery and the electric vehicle; After passing the verification, allow the first exchangeable battery to provide power and the activation command to the electric vehicle; and In response to the enable command, enable the tracking control function and allow an extension program to execute the tracking control function; Wherein, by executing the extension program, the electric vehicle changes the driving command when the drift rate is greater than the set threshold. The tracking control method of the electric vehicle as described in claim 19 also includes: receiving a second exchangeable battery of the electric vehicle through a battery swapping station; Obtain identification information from the second exchangeable battery; Query the subscription status of the electric vehicle for the tracking control function based on the identification information; Select the first exchangeable battery from a plurality of exchangeable batteries at the battery swap station; and When the subscription status has been changed, an extended function change instruction is stored in the first exchangeable battery, wherein the extended function change instruction includes the activation instruction, a deactivation instruction, an upgrade instruction or an upgrade instruction of the tracking control function. Downgrade instructions.

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