Electric vehicle and its tracking control method

Abstract

An electric vehicle and its tracking control method are disclosed. The electric vehicle includes a control wheel sensor, a throttle lever, an electric drive unit, and a controller. The electric vehicle provides a drive command to control the output power of the electric drive unit based on a throttle signal. The electric vehicle also calculates a slip ratio based on a speed difference between the control wheel speed and the drive wheel speed, proportional to one of the two. When the slip ratio exceeds a set threshold, the drive command is changed to reduce the speed difference and slip ratio, thereby improving vehicle handling and safety.

Description

Technical Field

[0001] This disclosure relates to vehicle tracking control, and in particular to an electric vehicle and a tracking control method thereof. Background Technology

[0002] In recent years, with the increasing awareness of environmental protection, the development of electric vehicles has received more and more attention. In order to make the use of electric vehicles more widespread, how to continuously improve the performance, safety and ease of use of electric vehicles has become a major issue.

[0003] When driving on wet or muddy roads, the rear wheels (drive wheels) of a vehicle may lose traction and slip, causing the vehicle to go out of control.

[0004] In response, there is already a vehicle equipped with a traction control system. This vehicle has multiple drive wheels and can redistribute power to these drive wheels when the vehicle loses traction, thereby reducing the loss of traction and stabilizing the vehicle.

[0005] However, the above solution is only applicable to vehicles with multiple drive wheels, and recalculating the power distribution requires a lot of computing resources, making it unsuitable for lower-cost vehicles with a single drive wheel (such as single-motor electric vehicles).

[0006] Therefore, there is an urgent need for a tracking control scheme that is suitable for single-motor electric vehicles and requires low computational load. Summary of the Invention

[0007] This disclosure relates to an electric vehicle with tracking control functionality, comprising a control wheel, a control wheel sensor, a throttle lever, drive wheels, an electric drive unit, and a controller. The control wheel is manipulated to change its axial direction. The control wheel sensor detects the speed of the control wheel. The throttle lever is rotated to trigger a throttle signal. The drive wheels have a fixed axial direction. The electric drive unit outputs power to drive the drive wheels. The controller is coupled to the control wheel sensor and the electric drive unit, and provides drive commands to the electric drive unit based on the throttle signal to control the output power of the electric drive unit. The controller also calculates the slip ratio of the electric vehicle based on the speed difference between the control wheel speed and the drive wheel speed, where the slip ratio is the ratio of the speed difference to the speed of the control wheel or the speed of the drive wheel. The controller further modifies the drive command when the slip ratio exceeds a set threshold to reduce the speed difference and slip ratio.

[0008] In one embodiment, the electric vehicle further includes drive wheel sensors. The drive wheel sensors are coupled to the controller to detect the drive wheel speed.

[0009] In one embodiment, the electric vehicle further includes drive wheel sensors. The drive wheel sensors are coupled to a controller to detect operating status data of the drive unit. The controller also calculates the drive wheel speed based on the operating status data.

[0010] In one embodiment, the controller is further configured to set a set threshold based on the current speed of the electric vehicle, wherein a larger current speed corresponds to a larger set threshold.

[0011] In one embodiment, the electric vehicle further includes a plurality of feature switches. The feature switches have multiple states, wherein combinations of the multiple states of the feature switches are used to indicate the activation, deactivation, or level of the tracking control function. The controller is also configured to determine an initial threshold based on the multiple states of the feature switches, and to set a set threshold based on the current speed of the electric vehicle and the initial threshold.

[0012] In one embodiment, the plurality of feature switches are software lock switches.

[0013] In one embodiment, the controller is also configured to reduce the output torque ratio or output torque value in the drive command according to the suppression ratio or suppression value.

[0014] In one embodiment, the electric vehicle further includes a rain sensor and a communication module. The rain sensor is coupled to the controller to sense ambient rainfall conditions. The communication module is coupled to the controller to connect to a user device or the Internet to receive rainfall information. The controller is also used to activate a tracking control function based on the ambient rainfall conditions or rainfall information. The controller is also used to not change the drive commands when the tracking control function is off and the slip rate is greater than a set threshold.

[0015] In one embodiment, the controller is further configured to change the state of the tracking control function when the electric vehicle is stopped, and to prohibit changing the state of the tracking control function when the electric vehicle is moving.

[0016] In one embodiment, the electric vehicle further includes internal memory and a swappable battery. The internal memory is coupled to a controller and stores an extension program for implementing traction control functionality. The electric vehicle is not allowed to execute the extension program when traction control is not enabled. The swappable battery includes multiple battery cells, battery memory, and a battery management system. The battery memory stores an activation command. The battery management system verifies the electric vehicle when the swappable battery is connected, and provides power and the activation command to the electric vehicle upon successful verification. The controller is also used to respond to the activation command to enable the traction control function and allow the execution of the extension program, thereby allowing the electric vehicle to change its drive command when the slip rate exceeds a set threshold.

[0017] This disclosure also relates to a tracking control method for an electric vehicle, comprising: obtaining the speed of the control wheel of the electric vehicle via a control wheel sensor; obtaining the speed of the drive wheel of the electric vehicle, wherein the drive wheel is driven by an electric drive unit of the electric vehicle; calculating the slip ratio of the electric vehicle based on the speed difference between the control wheel speed and the drive wheel speed, wherein the slip ratio is the ratio of the speed difference to the speed of the control wheel or the speed of the drive wheel; determining a drive command for controlling the electric drive unit based on the rotation angle of the throttle lever of the electric vehicle; changing the drive command when the slip ratio is greater than a set threshold, wherein the changed drive command is used to reduce the speed difference and the slip ratio; and controlling the speed of the drive wheel by executing the changed drive command on the electric drive unit.

[0018] In one embodiment, the step of obtaining the drive wheel speed includes: detecting the drive wheel speed of the drive wheel using a drive wheel sensor.

[0019] In one embodiment, the step of obtaining the drive wheel speed includes: detecting the operating status data of the electric motor of the electric drive device, and calculating the drive wheel speed based on the operating status data.

[0020] In one embodiment, the tracking control method further includes: setting a set threshold based on the current speed of the electric vehicle, wherein a larger current speed corresponds to a larger set threshold.

[0021] In one embodiment, the tracking control method further includes: detecting multiple states of multiple feature switches of a tracking control function, wherein at least one state of the multiple feature switches is combined to indicate disabling the tracking control function; determining an initial threshold based on the multiple states of the multiple feature switches; and setting a set threshold based on the current speed of the electric vehicle and the initial threshold.

[0022] In one embodiment, the step of changing the drive command includes: reducing the output torque ratio or output torque value in the drive command according to the suppression ratio or suppression value.

[0023] In one embodiment, the tracking control method further includes: activating the tracking control function when receiving rainfall information via a rainfall sensor, a user device, or the Internet; wherein the step of changing the driving command includes: changing the driving command when the tracking control function is activated; and not changing the driving command when the tracking control function is deactivated.

[0024] In one embodiment, the step of activating the tracking control function includes: activating the tracking control function when the electric vehicle is stopped; and maintaining the tracking control function while the electric vehicle is moving.

[0025] In one embodiment, the traction control method further includes: providing a first swappable battery storing an activation command for traction control function to an electric vehicle, wherein the traction control function of the electric vehicle is not activated; performing verification between the first swappable battery and the electric vehicle; upon successful verification, allowing the first swappable battery to provide power and the activation command to the electric vehicle; and in response to the activation command, activating the traction control function and allowing the execution of an extension procedure for the traction control function; wherein, by executing the extension procedure, the electric vehicle changes its drive command when the slip ratio is greater than a set threshold.

[0026] In one embodiment, the tracking control method further includes: receiving a second swappable battery of an electric vehicle through a battery swapping station; obtaining identification information from the second swappable battery; querying the subscription status of the electric vehicle for the tracking control function based on the identification information; selecting a first swappable battery from a plurality of swappable batteries at the battery swapping station; and storing an expansion function change instruction in the first swappable battery when the subscription status has changed, wherein the expansion function change instruction includes an enable instruction, a disable instruction, an upgrade instruction, or a downgrade instruction for the tracking control function.

[0027] This disclosure effectively reduces the computational load of tracking control, improves response speed, maintains vehicle stability, and enhances vehicle handling and safety. Attached Figure Description

[0028] Figure 1A A schematic diagram of an electric vehicle according to some embodiments of the present disclosure;

[0029] Figure 1B This is an electrical architecture diagram of an electric vehicle according to some embodiments of the present disclosure;

[0030] Figure 2 This is a schematic diagram of the operational architecture of a controller according to some embodiments of the present disclosure;

[0031] Figures 3A to 3D A schematic diagram of an instrument panel of an electric vehicle according to a portion of the embodiments of this disclosure;

[0032] Figure 4 This is a schematic diagram of the control interface of an electric vehicle according to some embodiments of the present disclosure;

[0033] Figure 5 This is an architectural diagram of an electric vehicle and a battery swapping system according to some embodiments of the present disclosure;

[0034] Figure 6 A flowchart of a tracking control method according to some embodiments of this disclosure;

[0035] Figures 7-9This is a partial flowchart of a tracking control method according to some embodiments of the present disclosure.

[0036] As is customary practice, the various features and components in the drawings are not drawn to scale. The drawing method is intended to best represent the specific features and components relevant to this case. Furthermore, similar components / parts are referred to by the same or similar component symbols across different drawings.

[0037] [Symbol Explanation]

[0038] 10: Electric vehicles

[0039] 100: Replaceable battery

[0040] 101: Battery cell

[0041] 102:BMS

[0042] 103: Battery Memory

[0043] 110: Control Wheel Sensor

[0044] 120: Drive wheel sensor

[0045] 130: Controller

[0046] 131: Internal Memory

[0047] 132: Extension Procedure

[0048] 140: Dashboard

[0049] 141: Rainfall Sensor

[0050] 150: Electric drive unit

[0051] 151: Electric motor

[0052] 160: Battery connection interface

[0053] 170: Accelerator lever

[0054] 171: Throttle lever sensor

[0055] 180: Communication Module

[0056] 190: Control Wheel

[0057] 191: Drive wheel

[0058] 20: Threshold setting module

[0059] 21: Speed ​​Acquisition Module

[0060] 22: Sliding Operation Module

[0061] 23: Torque Suppression Module

[0062] 24: Error Detection Module

[0063] 25: Throttle signal conversion module

[0064] 30: Indicator Area

[0065] 31: Indicator Area

[0066] 40: Control Interface

[0067] 50: Battery Swapping Station

[0068] 500: Human-Computer Interface

[0069] 501: Replaceable battery

[0070] 502: Return Slot

[0071] 51: User Equipment

[0072] 52: Network

[0073] 53: Cloud System

[0074] 530: Server

[0075] 531: Database

[0076] C': Driver command

[0077] Cs: Suppress command

[0078] Ct: Driver Command

[0079] LV: Initial threshold

[0080] Sf: Error signal

[0081] St: Throttle signal

[0082] V1: Control wheel speed

[0083] V2: Drive wheel speed

[0084] V3: Speed ​​Difference

[0085] VN: Current speed

[0086] λ th Set threshold

[0087] λ: Slip ratio

[0088] S10-S15: Steps

[0089] S20-S22: Steps

[0090] S30-S34: Steps

[0091] S40-S46: Steps

[0092] S50-S52: Steps Detailed Implementation

[0093] The following describes several embodiments of the present invention with reference to the accompanying drawings. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and elements will be shown in the drawings in a simple schematic manner.

[0094] In this disclosure, references to "an embodiment" or "partial embodiment" mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment. Therefore, the phrase "in an embodiment" appearing throughout this disclosure does not necessarily refer to the same embodiment. Furthermore, in one or more embodiments of this disclosure, particular features, structures, or characteristics may be combined in any suitable manner.

[0095] In this disclosure, unless the content clearly specifies otherwise, the meaning of “a” and “the” includes statements that include “a or at least one” of the element or component. Furthermore, unless it is clearly apparent from the particular context that multiples are excluded, the singular article also includes statements that include multiple elements or components.

[0096] In this disclosure, the description of "electric vehicle" includes automobiles, lawnmowers, vans, trucks, multi-wheeled all-terrain vehicles, two-wheeled vehicles, three-wheeled vehicles, motorcycles, electric bicycles, and so on. The term "vehicle" should not be narrowly interpreted as limited to personal transportation vehicles, such as motorcycles or scooters, but should be broadly interpreted to encompass many possible electric motorized vehicles. Furthermore, the term "electric vehicle," although presented in the accompanying drawings as an electric two-wheeler, should not be narrowly interpreted as limited to two-wheeled vehicles, but should be broadly interpreted to encompass many possible electrically powered vehicles.

[0097] In this document, when an element is referred to as a “connection” or “coupled,” it may mean an “electrical connection” or “electrical coupling.” “Connection” or “coupled” can also be used to indicate the operation or interaction between two or more elements. Furthermore, although terms such as “first,” “second,” etc., are used herein to describe different elements, these terms are merely used to distinguish elements or operations described using the same technical terminology. Unless the context clearly indicates otherwise, these terms do not specifically refer to or imply any order or sequence, nor are they intended to limit the invention.

[0098] Please see Figure 1A , Figure 1B and Figure 2 The electric vehicle 10 includes a control wheel sensor 110, an electric drive unit 150, a throttle handle 170, a control wheel 190, a drive wheel 191, and a controller 130.

[0099] The axle axis of the control wheel 190 can be manipulated and changed, for example, by the user turning the handlebars of the electric vehicle 10 to change the axle axis, thereby changing the direction of travel of the electric vehicle 10. The axle axis of the drive wheel 191 can be fixed and is driven by the electric drive device 150 to propel the electric vehicle 10 forward or backward. Figure 1A In one embodiment, the front wheels are the control wheels 190 and the rear wheels are the drive wheels 191, but this does not limit the number and arrangement of the control wheels 190 and the drive wheels 191.

[0100] The electric drive unit 150 may include an electric motor 151 and may further include a transmission device (not shown, such as a gear set, belt, etc.). The electric motor 151 can provide power to the transmission device to drive the drive wheel 191 to rotate.

[0101] The control wheel sensor 110 can be disposed near the control wheel 190 (such as next to the front fork or front wheel axle) to sense the rotation state of the control wheel 190, thereby detecting the speed of the control wheel 190 (control wheel speed, such as rotation speed or corresponding vehicle speed obtained by converting according to wheel rim size).

[0102] In one embodiment, the electric vehicle 10 may include a drive wheel sensor 120. The drive wheel sensor 120 can detect the speed of the drive wheel 191 (drive wheel speed). In one embodiment, similar to the control wheel sensor 110, the drive wheel sensor 120 may be disposed adjacent to the drive wheel 191 (e.g., near the rear swingarm or rear axle) to detect the drive wheel speed, but this disclosure is not limited thereto. In other embodiments, the drive wheel sensor 120 (e.g., a Hall effect sensor) may be disposed in the electric motor 151 of the electric drive unit 150, and can detect the operating status data of the electric motor 151 (e.g., current, torque, speed, etc.). The controller 130 can calculate the drive wheel speed based on the operating status data. Since those skilled in the art will understand the method of calculating wheel speed based on the operating status of the electric motor, it will not be described in detail here.

[0103] A user can rotate the accelerator lever 170 to enable the electric vehicle 10 to provide the desired power output. In one embodiment, the electric vehicle 10 may include a accelerator lever sensor 171. The accelerator lever sensor 171 is used to detect the rotation angle of the accelerator lever 170 and convert the rotation angle into an accelerator signal.

[0104] The controller 130 is coupled to the control wheel sensor 110, the drive wheel sensor 120, the electric drive unit 150, and the throttle lever sensor 171 to acquire the control wheel speed, drive wheel speed, and throttle signal, respectively. The controller 130 can convert the throttle signal (i.e., the ratio or value of the quantified rotation angle) into a drive command (such as torque value, torque ratio, motor current, motor voltage, etc.) and provide the drive command to the electric motor 151 so that the electric motor 151 outputs the corresponding power to drive the drive wheel 191.

[0105] The controller 130 can also calculate the slip ratio of the electric vehicle 10 based on the speed difference between the control wheel speed and the drive wheel speed. The slip ratio is the relative proportion of the speed difference to the control wheel speed or the drive wheel speed. Taking the relative proportion of the speed difference to the drive wheel speed as an example, the slip ratio can be expressed by the following formula:

[0106]

[0107] When the controller 130 determines that the slip ratio is greater than a set threshold (e.g., 5% or 8%, which can be adjusted or set automatically), the controller 130 can change the drive command generated based on the throttle signal to control the slip ratio of the electric vehicle 10. Specifically, compared to the original drive command, the changed drive command can achieve a lower speed difference and a lower slip ratio by controlling the speed of the drive wheels (e.g., controlling the output torque of the electric motor 151). The aforementioned control function is referred to here as the "tracking control function".

[0108] For example, when the slip ratio is greater than 5%, the controller 130 can control the electric drive unit 150 to reduce the output power, preventing the slip ratio from continuing to increase or causing it to decrease. Since slippage in the electric vehicle 10 is usually caused by a significant speed discrepancy between the control wheel 190 and the drive wheel 191, by real-time detection of the slip ratio, the power output to the drive wheel 191 can be changed immediately when slippage occurs in the electric vehicle 10, reducing the speed difference between the two wheels, reducing the loss of grip, and thus mitigating or suppressing slippage, thereby improving handling.

[0109] 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 can detachably connect to a replaceable battery 100 via the electrical connectors to receive power for use by the electric vehicle 10. The replaceable battery 100 may include a battery cell 101, a BMS (Battery Management System) 102, and a battery memory 103.

[0110] In one embodiment, the electric vehicle 10 may include a dashboard 140 coupled to the controller 130. The dashboard 140 is used to display the vehicle status.

[0111] Please refer to the following: Figures 3A-3D and Figure 4 In one embodiment, the tracking control function can be set to an on or off state. When the state of the tracking control function changes (e.g., the user operates the control interface 40 to turn the tracking control function on / off / switch the tracking control function), the indicator area 30 of the instrument panel 140 can display the current state of the tracking control function (e.g., ON / OFF / PRO / STD). In one embodiment, when the tracking control function is turned off, the indicator area 31 of the instrument panel 140 can indicate a warning message to remind the user that the tracking control function is turned off.

[0112] It is worth noting that controller 130 can be a single controller or a combination of multiple controllers, such as an electronic control unit (ECU), a motor controller unit (MCU), a battery connection interface 160, or a controller for other components. In this disclosure, the control and operations related to controller 130 can be performed by a single controller or by multiple controllers performing their respective tasks, without limitation.

[0113] Please refer to the following: 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 slip calculation module 22, a torque suppression module 23, an error detection module 24, and a throttle signal conversion module 25.

[0114] The threshold setting module 20 can determine or dynamically adjust the set threshold λ based on the current speed VN of the electric vehicle 10 and the preset initial threshold LV. th The threshold setting module 20 can use the speed of the control wheel V1 or the speed of the drive wheel V2 as the current speed VN, or it can calculate the current speed VN based on the current acceleration of the electric vehicle 10 (e.g., via an acceleration sensor) or changes in coordinate position. In one embodiment, a larger current speed VN corresponds to a larger set threshold λ. th In other words, the current speed VN and the set threshold λ th The values ​​are positively correlated.

[0115] In one embodiment, the relationship between multiple speed values, multiple initial thresholds LV, and multiple reference thresholds can be recorded as a lookup table. Each combination of a speed value and an initial threshold LV corresponds to a reference threshold. For example, when the speed is 50 km / h and the initial threshold is "5%", the corresponding reference threshold is "5%"; when the speed is 70 km / h and the initial threshold is "5%", the corresponding reference threshold is "6%". The threshold setting module 20 can identify the speed value "closest to the current speed" and use the reference threshold corresponding to that speed value and the current initial threshold LV as the set threshold λ. th Alternatively, the corresponding set threshold λ can be calculated using interpolation. th .

[0116] The speed acquisition module 21 can perform calculations on the control wheel speed V1 and the drive wheel speed V2 to obtain the speed difference V3. In one embodiment, the control wheel speed V1 and the drive wheel speed V2 can be continuous sensing signals. The speed acquisition module 21 can perform processing on these signals (such as acceleration analysis, noise filtering, and signal conversion) to obtain quantized control wheel speed V1 and drive wheel speed V2, and then use this quantized data to calculate the speed difference V3.

[0117] The slip calculation module 22 can calculate the slip ratio λ based on the aforementioned slip ratio formula, the speed difference V3, and one of the control wheel speed V1 and the drive wheel speed V2.

[0118] Torque suppression module 23 can compare slip ratio λ with a set threshold λ th And when the slip ratio λ exceeds the set threshold λ th At this time, a suppression command Cs is output. The suppression command Cs is used to reduce the output power of the electric motor 151 indicated by the drive command Ct, for example, by reducing the torque by a suppression ratio or a suppression value. The aforementioned suppression ratio or suppression value can be a fixed value, or it can change with the current speed VN, or it can change with the slip ratio λ and a set threshold λ. th The difference between them changes, but this is not a limitation.

[0119] The error detection module 24 can detect whether an error has occurred using various sensors. When an error occurs, the controller 130 should not execute the tracking control function. The aforementioned "errors," such as the drive wheel 191 being suspended (e.g., in a maintenance or parking state) or stuck, should not suppress output power. The error detection module 24 can issue an error signal Sf to invalidate the suppression command Cs when an error is detected.

[0120] The throttle signal conversion module 25 can convert the throttle signal St provided by the throttle lever sensor 171 into a drive command Ct. The drive command Ct can be used to indicate the output torque ratio or output torque value of the electric motor 151.

[0121] Therefore, if the slip ratio λ is greater than the set threshold λth If no error occurs, the driving command Ct will change to the driving command C' due to the intervention of the suppression command Cs. Compared to the driving command Ct, the output power of the driving command C' is suppressed.

[0122] Finally, by executing the drive command C' on the electric motor 151, the speed of the drive wheel can be reduced, thereby reducing the speed difference and slip ratio λ.

[0123] 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, SoCs, etc.), software modules (such as firmware or applications), or a combination of hardware and software modules, without limitation.

[0124] When the aforementioned modules 20-25 are software modules, the controller 130 may include internal memory 131, or internal memory 131 coupled to the electric vehicle 10. Internal memory 131 may include a non-transitory computer-readable recording medium. This non-transitory computer-readable recording medium may store a computer program (such as extension program 132 and other related programs). The computer program records computer-executable program code. When the controller 130 executes the aforementioned program code, it can implement the functions of the aforementioned software modules and also implement the tracking control method described later.

[0125] In some embodiments, the internal memory 131 is pre-installed with multiple expansion programs 132, each providing a different function, such as the aforementioned tracking control function. The expansion programs 132 are preset to "not be allowed to execute" and require a specific activation command to unlock before they can be executed by the controller 130. For example, after a user of the electric vehicle 10 purchases an expansion function (such as tracking control), when the user and the electric vehicle 10 go to a repair shop, the repair shop personnel can input an activation command into the controller 130 via a repair computer to allow the corresponding expansion program 132 to be executed, thus enabling the use of the purchased expansion function.

[0126] In one embodiment, the aforementioned extended function can be controlled by one or more feature switches to maintain states such as enabled, disabled, or leveled. 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 switches can be circuit lock switches or software lock switches, and each switch can have two or more states, without limitation. The state combination of all feature switches for the same extended function can indicate the enabled, disabled, or leveled state of the extended function.

[0127] Taking enabling the "tracking control function" as an example, feature switch A (e.g., standard switch, initial threshold of 5%) and feature switch B (e.g., advanced switch, initial threshold of 10%) can be set on electric vehicle 10. The initial value of the feature switches is 0. As shown in the table below, when a user purchases the standard version of the tracking control function and the corresponding activation command is sent to electric vehicle 10, the state of 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 electric vehicle 10, the state of 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 electric vehicle 10, the state of 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 the extended function can be effectively managed through feature switches.

[0128] 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 (upgraded) 1 1

[0129] Please refer to the following: Figure 5 In one embodiment, the expansion program 132 can be unlocked via battery swapping. A user can operate a user device 51 to subscribe to the aforementioned expansion function for the electric vehicle 10 via a network 52 to a cloud system 53 (which may include a server 530 and a database 531). The subscription data is stored in the database 531.

[0130] Next, the user and electric vehicle 10 can go to the battery swapping station 50 and return the used swappable battery (which stores the identification information of electric vehicle 10 and may be a battery with insufficient power) to the return slot 502. The battery swapping station 50 can obtain the identification information of electric vehicle 10 from the returned swappable battery and query the cloud system 53 for the subscription status of electric vehicle 10 for each expansion function based on the identification information. Then, the battery swapping station 50 can select a suitable swappable battery (such as a battery with sufficient power) from multiple swappable batteries 501. Furthermore, when the battery swapping station 50 finds that the subscription status of electric vehicle 10 for any expansion function has changed, it stores / writes the expansion function change instruction to the selected swappable battery and provides it to the user. Then, when the user inserts the swappable battery storing the expansion function change instruction (such as the activation instruction for the tracking control function) into the battery connection interface 160 of electric vehicle 10, BMS 102 and electric vehicle 10 perform verification, and after successful verification, allow the provision of power and expansion function change instructions to electric vehicle 10. The controller 130 responds to the received expansion function change instruction to control the state of the corresponding feature switch to enable the corresponding expansion function, including setting the corresponding expansion program 132 to "allow execution".

[0131] Conversely, if the swapping station 50 determines that the user has disabled, upgraded, or downgraded the expansion function, the swapping station 50 will store the corresponding expansion function change instruction (disable instruction, upgrade instruction, or downgrade instruction) in the swappable battery. The controller 130 will be able to detect the expansion function change instruction in the new swappable battery and manage the corresponding expansion program 132 in the internal memory 131 accordingly.

[0132] The aforementioned "enable" and "deactivate" refer to the software lock function within the corresponding expansion program 132 being deactivated or triggered, or permissions within the expansion program being changed. When the expansion program 132 is enabled, the user can access the electric vehicle 10's control interface (e.g., ...). Figure 4 The control interface 40) allows users to arbitrarily execute / stop the corresponding extension program 132, that is, to enable / disable the corresponding extension function.

[0133] For example, even after the traction control function is enabled, the user can still manually turn the traction control function on / off, and the electric vehicle 10 can also automatically determine whether to turn the traction control function on / off. It is worth mentioning that, for safety reasons, the state of the aforementioned traction control function can only be changed when the electric vehicle 10 is stopped; conversely, when the electric vehicle 10 is moving, the controller 130 will prohibit (ignore or postpone) the required state change.

[0134] In some embodiments, the electric vehicle 10 can detect rainfall and automatically activate the traction control function. When the controller 130 receives a rainfall message, the controller 130 can actively activate the traction control function (if it was originally off) to improve handling on slippery roads.

[0135] The aforementioned "rainfall information" can be received via a network or via sensors. In one embodiment, the electric vehicle 10 may include a communication module 180 (such as a cellular network module, Bluetooth module, or Wi-Fi module) coupled to the controller 130. Taking a cellular network module as an example, the controller 130 can connect to the Internet and a weather server via the communication module 180 to obtain information that it is raining at the current location (rainfall information). Taking a Bluetooth module or a Wi-Fi module as an example, the user device 51 can connect to a weather server via the Internet to obtain rainfall information and provide it to the communication module 180 via a Bluetooth network or Wi-Fi network, so that the controller 130 can actively activate the tracking control function.

[0136] 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 the ambient rainfall conditions. When the rainfall sensor 141 detects rainfall (such as excessive humidity or excessively dense water droplets), it transmits a rainfall message to the controller 130, causing the controller 130 to actively activate the tracking control function.

[0137] Please refer to the following: Figure 6 The tracking control method described herein is a partial embodiment and can be applied to the aforementioned electric vehicle 10. When the tracking control function is activated, the controller 130 can repeatedly execute steps S10-S15 to implement the tracking control function.

[0138] In step S10, the controller 130 obtains the speed of the control wheel and the speed of the drive wheel of the electric vehicle 10.

[0139] In step S11, the controller 130 determines the drive command based on the rotation angle of the throttle handle 170.

[0140] In step S12, the controller 130 calculates the slip ratio of the electric vehicle 10 based on the ratio of the speed difference between the control wheel speed and the drive wheel speed to the control wheel speed or the drive wheel speed.

[0141] In step S13, the controller 130 determines whether the slip ratio is greater than a set threshold. If the slip ratio is greater than the set threshold, step S14 is executed; otherwise, step S15 is executed.

[0142] In step S14, if the slip ratio is greater than a set threshold, it indicates that the electric vehicle 10 may be in a slipping state. The controller 130 can change the drive command determined in step S11 to control the slip ratio and prevent the slip ratio from continuing to rise. For example, the controller 130 can reduce the drive command by a preset suppression ratio (e.g., reduce the value of the drive command by 10%) to reduce the speed of the drive wheels in an instant.

[0143] In step S15, the controller 130 executes a drive command on the electric motor 151 (such as controlling the input current or input voltage according to the drive command) to control the electric motor 151 to output the corresponding power (torque).

[0144] By detecting the slip rate of the electric vehicle 10 in real time and selectively controlling the speed of the drive wheel 191 accordingly, the slipping state of the electric vehicle 10 can be effectively prevented or suppressed, thereby improving the handling and safety of the electric vehicle 10.

[0145] Please refer to the following: 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 set threshold of step S13.

[0146] In step S20, the controller 130 can detect multiple states of multiple characteristic switches of the tracking control function. At least one combination of states of these characteristic switches can indicate that the tracking control function is disabled, and at least another combination of states can indicate that the tracking control function is enabled.

[0147] In step S21, the controller 130 may determine the initial threshold based on the state of these feature switches. Specifically, at least one state combination may indicate a first version of the tracking control function (e.g., 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 (e.g., corresponding to a higher initial threshold or a set threshold).

[0148] In step S22, a setting threshold is set based on the current speed of the electric vehicle 10 and the initial threshold determined in step S21.

[0149] By offering different versions of traction control, users can choose according to their safety and handling needs to obtain the best riding experience.

[0150] Please refer to the following: Figure 8 In some embodiments, the tracking control method may include steps S30-S34 before steps S10-S15. Steps S30-S34 can be automatically enabled or manually enabled / disabled by the user when the tracking control function is enabled.

[0151] In step S30, when it rains at the location, the controller 130 can receive rainfall information through the rainfall sensor 141, the user device 51, or the Internet.

[0152] In step S31, the controller 130 can receive the user's activation or deactivation operation for the tracking control function through the control interface 40.

[0153] In step S32, when a rainfall message is received or an operation is initiated, the controller 130 can first determine whether the electric vehicle 10 is in a stopped state (i.e., not in motion). If it is in a stopped state, the controller 130 executes step S34; otherwise, it can execute step S33 or directly terminate the method.

[0154] In step S33, when the electric vehicle is in motion, the controller 130 may temporarily maintain the tracking control function (e.g., turn it off) to avoid loss of vehicle control due to a sudden change in output power. Furthermore, the controller 130 may determine whether to wait for the electric vehicle 10 to stop (return to step S32) or ignore the switch (end directly).

[0155] In step S34, the controller 130 can enable / disable the tracking control function. When the tracking control function is enabled, steps S10-S15 can be executed.

[0156] The above-mentioned tracking control method can provide better convenience and safety.

[0157] Please refer to the following: Figure 9 In some embodiments, the tracking control method may include steps S40-S46 and S50-S52 before steps S10-S15. Steps S40-S46 and S50-S52 are methods for enabling extended functions (such as tracking control functions) through battery swapping behavior when the extended functions have been subscribed to but not yet enabled, without requiring maintenance personnel to enable the extended functions through a maintenance computer.

[0158] In step S40, the battery swapping station 50 receives the swappable battery 100 used by the electric vehicle 10. Specifically, the user can remove the swappable battery 100 from the electric vehicle 10 and place it into the return slot 502 of the battery swapping station 50.

[0159] In step S41, the battery swapping station 50 obtains the identification information of the electric vehicle 10 from the received swappable battery 100.

[0160] In step S42, the battery swapping station 50 queries the cloud system 53 for the subscription status of the electric vehicle 10 for extended functions (such as tracking control function) based on the identification information.

[0161] In step S43, the swapping station 50 selects one of a plurality of available (e.g., sufficiently charged) swappable batteries 501.

[0162] In step S44, the battery swapping station 50 determines, through the cloud system 53, whether the subscription status of the expansion function has changed. If the cloud system 53 responds that the subscription status of the electric vehicle 10 for the expansion function has changed, step S45 is executed; otherwise, step S46 is executed.

[0163] In step S45, when the subscription status of the swapping station 50 has changed, it stores an expansion function change command in the swappable battery 501 selected in step S45. The expansion function change command is set based on the change in subscription status, such as an enable command, disable command, upgrade command, or downgrade command for the changed expansion function.

[0164] In step S46, the swapping station 50 provides / allocates the selected swappable battery 501 to the electric vehicle 10, such as by unlocking the battery lock or other anti-theft mechanism of the swappable battery 501.

[0165] Next, the user can insert the replaceable battery 501 into the electric vehicle 10. The aforementioned replaceable battery 501 stores commands for changing extended functions, such as commands to enable the tracking control function.

[0166] Steps S50-S52 are illustrated using an enable command as an example, but those skilled in the art can modify them into disable commands, upgrade commands, or downgrade commands based on this disclosure to meet different needs.

[0167] In step S50, the interchangeable battery 501 is supplied to and connected to the electric vehicle 10. At this time, the tracking control function of the electric vehicle 10 is not yet enabled.

[0168] In step S51, a verification is performed between the swappable battery 501 and the electric vehicle 10. Upon successful verification, the swappable battery 501 is authorized to provide power and enable commands to the electric vehicle 10.

[0169] In step S52, the controller 130 of the electric vehicle 10 responds to an enable command to enable the tracking control function and allow the execution of the extension 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.

[0170] 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 textual description or the order of presentation of the drawings in this disclosure.

[0171] Although the present disclosure has been described above with reference to embodiments, it is not intended to limit the present disclosure. Any person skilled in the art may make various modifications and alterations without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure shall be determined by the appended claims.

Claims

1. An electric vehicle with tracking control function, characterized in that, Include: A control wheel, used to be controlled to change one of the axes of the control wheel; A control wheel sensor is used to detect the speed of the control wheel. A throttle handle, used to trigger a throttle signal by being turned; A drive wheel with a fixed axial direction; An electric drive unit is used to output power to drive the drive wheel; A controller, coupled to the control wheel sensor and the electric drive unit, is used to provide a drive command to the electric drive unit based on the throttle signal, thereby controlling the output power of the electric drive unit; and Multiple feature switches having multiple states, wherein the multiple states of the multiple feature switches are 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 multiple states of the multiple feature switches, and to set a set threshold based on a current speed of the electric vehicle and the initial threshold. When the tracking control function is activated, the controller is also used to calculate a slip ratio of the electric vehicle based on a speed difference between the speed of the control wheel and the speed of the drive wheel, wherein the slip ratio is a proportion of the speed difference to the speed of the control wheel or the speed of the drive wheel. The controller is also used to change the drive command when the slip ratio is greater than the set threshold, so as to reduce the speed difference and the slip ratio.

2. The electric vehicle as described in claim 1, characterized in that, Also includes: A drive wheel sensor, coupled to the controller, is used to detect the speed of the drive wheel.

3. The electric vehicle as described in claim 1, characterized in that, Also includes: A drive wheel sensor, coupled to the controller, is used to detect an operating status data of the drive unit; The controller is also used to calculate the speed of the drive wheel based on the operating status data.

4. The electric vehicle as described in claim 1, characterized in that, The larger of the current speeds corresponds to the larger of the set thresholds.

5. The electric vehicle as described in claim 1, characterized in that, The plurality of feature switches are software lock switches.

6. The electric vehicle as described in claim 1, characterized in that, The controller is also 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.

7. The electric vehicle as described in claim 1, characterized in that, Also includes: A rainfall sensor, coupled to the controller, is used to sense an ambient rainfall condition; or A communication module, coupled to the controller, is used to connect to a user device or the Internet to receive a rainfall message; The controller is also used to activate the tracking control function based on the environmental rainfall status or rainfall information. The controller is configured to not change the drive command when the tracking control function is turned off and the slip rate is greater than the set threshold.

8. The electric vehicle as described in claim 7, characterized in that, The controller is also used to change the state of the tracking control function when the electric vehicle is stopped, and to prevent the change of the state of the tracking control function when the electric vehicle is moving.

9. The electric vehicle as described in claim 1, characterized in that, Also includes: An internal memory, coupled to the controller, is used to store an extension program for implementing the tracking control function, wherein the electric vehicle does not enable the tracking control function and the extension program is not allowed to be executed. A replaceable battery includes multiple battery cells, a battery memory and a battery management system, wherein the battery memory stores an enable command; The battery management system is used to verify the electric vehicle when the swappable battery is connected to it, and to provide power and the activation command to the electric vehicle after the verification is successful. The controller is also used to respond to the enable command to enable the tracking control function and allow the execution of the extension program, so that when the slip ratio is greater than the set threshold, the electric vehicle changes the drive command by executing the extension program.

10. A tracking control method for an electric vehicle, characterized in that, Include: Detect multiple states of multiple feature switches of a tracking control function, wherein at least one combination of states of the multiple feature switches is used to indicate that the tracking control function is disabled. An initial threshold is determined based on the multiple states of the multiple feature switches; A set threshold is set based on a current speed of an electric vehicle and the initial threshold. When the tracking control function is activated, the speed of one control wheel of the electric vehicle is obtained through a control wheel sensor; Obtain the speed of a drive wheel of the electric vehicle, wherein the drive wheel is driven by an electric drive device of the electric vehicle; A slip ratio of the electric vehicle is calculated based on a speed difference between the speed of the control wheel and the speed of the drive wheel, wherein the slip ratio is a proportion of the speed difference to the speed of the control wheel or the speed of the drive wheel; Based on the rotation angle of the throttle handle of the electric vehicle, a drive command is determined to control the electric drive device; When the slip ratio exceeds the set threshold, the drive command is changed, wherein the changed drive command is used to reduce the speed difference and the slip ratio; and The speed of the drive wheel is controlled by executing a modified drive command on the electric drive unit.

11. The tracking control method for an electric vehicle as described in claim 10, characterized in that, The steps to obtain the speed of the drive wheel include: The speed of the drive wheel is detected by a drive wheel sensor.

12. The tracking control method for an electric vehicle as described in claim 10, characterized in that, The steps to obtain the speed of the drive wheel include: The system detects the operating status data of an electric motor in the electric drive device and calculates the speed of the drive wheel based on the operating status data.

13. The tracking control method for an electric vehicle as described in claim 10, characterized in that, The larger of the current speeds corresponds to the larger of the set thresholds.

14. The tracking control method for an electric vehicle as described in claim 10, characterized in that, The steps to change this driver command include: The output torque ratio or output torque value in the drive command is reduced according to a suppression ratio or a suppression value.

15. The tracking control method for an electric vehicle as described in claim 10, characterized in that, Also includes: The tracking control function is activated when a rainfall message is received via a rainfall sensor, a user device, or the Internet. The steps to change the driver command include: Change the drive command when the tracking control function is enabled; and The drive command is not changed when the tracking control function is turned off.

16. The tracking control method for an electric vehicle as described in claim 15, characterized in that, The steps to enable this tracking control function include: When the electric vehicle stops, the tracking control function is activated; and The tracking control function is maintained while the electric vehicle is moving.

17. The tracking control method for an electric vehicle as described in claim 10, characterized in that, Also includes: A first swappable battery storing an activation command for the traction control function is provided to the electric vehicle, wherein the traction control function of the electric vehicle is not activated. Verification is performed between the first swappable battery and the electric vehicle; Once the verification is successful, the first swappable battery is permitted to provide power and the activation command to the electric vehicle; as well as In response to the enable command, the tracking control function is enabled and an extension program for the tracking control function is allowed to be executed; Specifically, by executing the expansion procedure, the electric vehicle changes the drive command when the slip ratio is greater than the set threshold.

18. The tracking control method for an electric vehicle as described in claim 17, characterized in that, Also includes: The electric vehicle receives a second swappable battery via a battery swapping station. An identification information is obtained from the second interchangeable battery; Based on the identification information, query the electric vehicle's subscription status for the tracking control function; The first swappable battery is selected from among the multiple swappable batteries at the battery swapping station; and When the subscription status has changed, an expansion function change instruction is stored in the first swappable battery, wherein the expansion function change instruction includes an enable instruction, a disable instruction, an upgrade instruction, or a downgrade instruction for the tracking control function.

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