Motorcycle

Abstract

The motorcycle comprises an electronic accelerator, a control module and a power system, and when the change value of the opening degree of the electronic accelerator is not larger than a preset threshold value, the control module can control the power system to output request torque; when the change value of the opening degree of the electronic accelerator is larger than the preset threshold value, the control module can filter the request torque, the control module can control the power system to output the filtered torque, the problems that the front-section output torque of a motorcycle is slow, and the rear-section output torque of the motorcycle is sharply increased are solved, the safety risk can be reduced, and the experience feeling of a driver is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a motorcycle. Background Art

[0002] With the rapid development of social economy, motorcycles are becoming more and more popular due to their entertainment value. At present, the commonly used throttle response logic of vehicles is that the output torque of the power system is in a quadratic function relationship with the input torque of the driver. The torque output in the front section is slow, and the torque output in the rear section surges, resulting in a lag in power output. For large-displacement motorcycles, this throttle response logic affects the driver's experience due to the lag in power output. On the other hand, it will cause the driver to be unable to accurately judge the power output of the motorcycle. For example, the driver continues to increase the throttle in the front section when the power output of the motorcycle is small, resulting in a sudden increase in the torque output in the rear section, which poses a certain safety risk. Summary of the invention

[0003] In this embodiment, a motorcycle is provided to solve the problem in the related art that the output torque of the front section is relatively slow, while the output torque of the rear section surges, which affects the driver's experience and easily creates safety risks.

[0004] In this embodiment, a motorcycle is provided, including a body, wheels, a seat, an electronic throttle, a power system and a control module. The wheels include front wheels and rear wheels; the seat is supported by the body, and the seat includes at least one driver's seat; the electronic throttle can generate a corresponding electronic throttle opening based on the driver's operation; the power system is supported by the body and is used to provide power for the motorcycle, and at least one of the front wheel and the rear wheel is connected to the power system; the control module is connected to the electronic throttle, and the electronic throttle sends the electronic throttle opening to the control module, and the control module can obtain the driver's request torque according to the electronic throttle opening, and the control module can also control the power system to output the request torque; when the change value of the electronic throttle opening is not greater than a preset threshold, the control module can control the power system to output the request torque; when the change value of the electronic throttle opening is greater than the preset threshold, the control module can filter the request torque, and the control module can control the power system to output the filtered torque; the change value of the electronic throttle opening is the difference between the current electronic throttle opening and the electronic throttle opening before a unit time.

[0005] In some of these embodiments, the control module can determine a filter coefficient, and the control module can filter the requested torque according to the filter coefficient, the filter coefficient being related to a plurality of filter coefficient factors.

[0006] In some of the embodiments, the filter coefficient factor includes a first filter coefficient factor, the motorcycle further includes a speed sensor, the power system includes a power source, the speed sensor can detect the speed of the power source, the speed sensor is connected to the control module, the speed sensor can send a speed signal of the power source to the control module, and the control module can determine the first filter coefficient factor according to the speed signal and the change value of the electronic throttle opening;

[0007] In some of the embodiments, the filter coefficient factor also includes a second filter coefficient factor, the motorcycle also includes a gear sensor, the gear sensor is used to receive a gear signal input by the driver, the gear sensor is connected to the control module, the gear sensor can send a gear signal to the control module, and the control module can determine the second filter coefficient factor based on the gear signal; the gear includes at least first gear and second gear, and the second filter coefficient factor corresponding to the first gear is greater than the second filter coefficient factor corresponding to the second gear.

[0008] In some of the embodiments, the control module determines the filter coefficient through the speed signal, the change value of the electronic throttle opening and the gear signal, and the filter coefficient is the product of the first filter coefficient factor and the second filter coefficient factor.

[0009] In some of the embodiments, the motorcycle also includes a human-computer interaction module, which is connected to the control module. The human-computer interaction module can send the corresponding filter level to the control module in response to the driver's operation, and the control module can determine the filter coefficient according to the filter level; the filter level includes at least a first filter level and a second filter level, and the filter coefficient corresponding to the first filter level is smaller than the filter coefficient corresponding to the second filter level.

[0010] In some of the embodiments, the motorcycle also includes a communication module, which can be connected to a mobile terminal. The mobile terminal can send the corresponding filter level to the communication module in response to the driver's operation. The communication module is also connected to the control module. The communication module sends the filter level to the control module, and the control module can determine the filter coefficient according to the filter level; the filter level includes at least a first filter level and a second filter level, and the filter coefficient corresponding to the first filter level is smaller than the filter coefficient corresponding to the second filter level.

[0011] In some of the embodiments, when the change in the electronic throttle opening is greater than a preset threshold, if the torque output by the power system is less than the current requested torque, the control module continues to filter the current requested torque, and the control module can control the power system to output the filtered torque until the torque output by the power system is equal to the current requested torque.

[0012] In some of the embodiments, when the electronic throttle opening decreases, the current requested torque is compared with the torque filtered by the control module. If the current requested torque is greater than the torque filtered by the control module, the control module filters the current requested torque, and the control module controls the power system to output the torque filtered by the current requested torque; if the current requested torque is not greater than the torque filtered by the control module, the control module controls the power system to output the current requested torque.

[0013] In some of the embodiments, the power system includes an engine, the engine includes an ignition coil and a throttle, the ignition coil and the throttle are respectively connected to a control module, and the control module can control the output torque of the power system by controlling the ignition advance angle of the ignition coil and the opening angle of the throttle.

[0014] Compared with the related art, the motorcycle provided in this embodiment includes an electronic throttle, a control module and a power system. When the change value of the electronic throttle opening is not greater than a preset threshold, the control module can control the power system to output a requested torque; when the change value of the electronic throttle opening is greater than the preset threshold, the control module can filter the requested torque, and the control module can control the power system to output the filtered torque, which solves the problem of slow output torque at the front end and sharp output torque at the rear end of the motorcycle, can reduce safety risks and enhance the driver's experience.

[0015] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 It is a schematic diagram of the motorcycle of the present application;

[0018] Figure 2 It is a schematic diagram of the connection of the motorcycle module of the present application;

[0019] Figure 3 It is a connection diagram of another module of the motorcycle of the present application;

[0020] Figure 4 It is a schematic diagram of the communication connection between the motorcycle and the mobile terminal of the present application;

[0021] Figure 5 It is another module connection diagram of the motorcycle of the present application;

[0022] Figure 6It is a first flow chart of the motorcycle throttle response speed control method of the present application;

[0023] Figure 7 It is a second flow chart of the motorcycle throttle response speed control method of the present application;

[0024] Figure 8 This is a third flow chart of the motorcycle throttle response speed control method of the present application. DETAILED DESCRIPTION

[0025] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0026] In this embodiment, a motorcycle 100 is provided. Figure 1 As shown, the motorcycle 100 includes a body 11, wheels 12, a seat 13, an electronic throttle 14, a power system 15 and a control module 16. The wheels 12 include a front wheel 121 and a rear wheel 122, wherein the motorcycle 100 includes a two-wheeled motorcycle having a front wheel and a rear wheel, and also includes an all-terrain vehicle having two front wheels and two rear wheels. The seat 13 is supported by the body 11, and the seat 13 includes at least one driver's seat. The electronic throttle 14 can generate a corresponding electronic throttle opening based on the driver's operation, and the power system 15 is supported by the body 11, and is used to provide power for the motorcycle 100, and at least one of the front wheel 121 and the rear wheel 122 is connected to the power system 15.

[0027] It should be noted that the power system 15 includes a power source, which may be an engine, and the motorcycle 100 is driven by fuel; the power source may also be a drive motor, and the motorcycle 100 is driven by electricity; the power source may also be an engine and a motor, and the motorcycle 100 is driven by a hybrid of oil and electricity, including a series hybrid drive and a parallel hybrid drive.

[0028] The electronic throttle 14 can generate a corresponding electronic throttle opening based on the driver's operation, wherein the electronic throttle 14 can be a throttle handle of the motorcycle 100, and the electronic throttle opening can be the percentage of the angle through which the handle is turned to the maximum rotatable angle of the handle. For example, a throttle opening of 0 indicates that the driver has not turned the throttle handle, and a throttle opening of 100% indicates that the driver has turned the throttle handle to the maximum angle; the electronic throttle 14 can also be an accelerator pedal, and the electronic throttle opening can be the percentage of the accelerator pedal travel to the total accelerator pedal travel. For example, a throttle opening of 0 indicates that the driver has not stepped on the accelerator pedal, and a throttle opening of 100% indicates that the driver has fully stepped on the accelerator pedal.

[0029] like Figure 2As shown, the control module 16 is connected to the electronic throttle 14, and the electronic throttle 14 can send the electronic throttle opening to the control module 16. Taking the electronic throttle 14 as an example, a throttle handle is provided in the throttle handle, and the throttle handle position sensor can be a Hall sensor, which is used to detect the rotation angle of the throttle handle to obtain the electronic throttle opening, and send the corresponding voltage signal to the control module 16. The control module 16 can obtain the driver's request torque according to the electronic throttle opening, and can also control the power system 15 to output the requested torque.

[0030] When the change value of the electronic throttle opening is not greater than a preset threshold, the control module 16 can control the power system 15 to output the requested torque; when the change value of the electronic throttle opening is greater than the preset threshold, the control module 16 can control the power system 15 to output the filtered torque. The change value of the electronic throttle opening is the difference between the current electronic throttle opening and the electronic throttle opening per unit time.

[0031] It should be noted that, in a unit time of, for example, 10 ms (milliseconds), the change value of the electronic throttle opening is the difference between the current electronic throttle opening and the electronic throttle opening 10 ms ago. If the difference is not greater than a preset threshold, the control module 16 can control the power system 15 to output the requested torque, wherein the preset threshold is a calibrable quantity, such as 1%; if the difference is greater than the preset threshold, the control module 16 can filter the requested torque and control the power system 15 to output the filtered torque.

[0032] When the change value of the electronic throttle opening is small, the control module 16 receives the electronic throttle opening sent by the electronic throttle 14, calculates the requested torque according to the electronic throttle opening, and controls the power system 15 to output the driver's requested torque, which can make the throttle response of the motorcycle 100 faster and the power output more linear. When the electronic throttle opening changes greatly, the corresponding requested torque changes greatly. If the control module 16 controls the power system 15 to output the requested torque, it will cause a surge in the output torque. The control module 16 filters the requested torque and controls the power system 15 to output the filtered torque, which can avoid a surge in the output torque, make the driver's body feel smoother, improve the driver's experience, and prevent the torque surge from causing safety risks such as vehicle tipping, thereby improving safety.

[0033] The control module 16 can determine a filter coefficient. The control module 16 can filter the requested torque according to the filter coefficient. The filter formula can be: Wherein, a(t) is the requested torque, b(t) is the torque after filtering, and c is the filtering coefficient, which is related to a plurality of filtering coefficient factors, such as a first filtering coefficient factor c1 and a second filtering coefficient factor c2, etc. By determining the filtering coefficient according to different operating states of the motorcycle 100, the output torque after filtering can be more suitable for the current state, thereby improving the driving experience of the driver.

[0034] like Figure 3 As shown, the motorcycle 100 further includes a speed sensor 17, which can detect the speed of the power source. Taking the power source as an engine as an example, the engine includes components such as a crankshaft, a camshaft, and a flywheel. The speed sensor 17 can be set on the crankshaft, or installed at a position such as a camshaft or a flywheel. The wheel speed sensor can be a magnetic induction type, a photoelectric type, a Hall type, etc. The wheel speed sensor is connected to the control module 16 and can send the engine speed to the control module 16. The control module 16 can determine the first filter coefficient factor c1 according to the change value of the engine speed and the electronic throttle opening.

[0035] It should be noted that when the change value of the electronic throttle opening is constant, the greater the engine speed, the smaller the first filter coefficient factor, for example, when other operating parameters remain unchanged, the first filter coefficient factor when the engine speed is 6000r / min is less than the first filter coefficient factor when the engine speed is 1500r / min. When the engine speed is high, the first filter coefficient factor is small, which can make the throttle respond faster and the driver can get a better sense of control. When the engine speed is constant, the greater the change value of the electronic throttle opening, the greater the first filter coefficient factor, for example, when other operating parameters remain unchanged, the first filter coefficient factor when the change value of the electronic throttle opening is 10% is greater than the first filter coefficient factor when the change value of the electronic throttle opening is 5%. When the change value of the electronic throttle opening is large, the first filter coefficient factor is large, which can make the throttle response slower 10, the output torque of the power system 15 changes slowly, avoid the safety risks caused by the driver's misoperation of the electronic throttle 14 in the case of bumpy roads, and improve the safety of the motorcycle 100 during operation.

[0036] The motorcycle 100 further includes a gear position sensor 18, which is used to receive a gear position signal input by the driver. The driver sets the gear position by manipulating a gear shift device, which may be a button disposed near the handle of the motorcycle 100, a gear pedal, or a gear shift panel disposed on the vehicle body, etc. The gear position sensor 18 may be connected to the gear shift device, and generate a corresponding gear position signal according to the driver's operation. The gear position sensor 18 is also connected to the control module 16, and can send a gear position signal to the control module 16, and the control module 16 can determine the second filter coefficient factor c2 according to the gear position signal.

[0037] Specifically, the gears of the motorcycle 100 include at least the first gear and the second gear, and the second filter coefficient factor corresponding to the first gear is greater than the second filter coefficient factor corresponding to the second gear. When other operating parameters of the motorcycle 100 remain unchanged, the larger the gear, the smaller the second filter coefficient factor, which can make the throttle response faster, and the driver can get a better control feeling when the motorcycle 100 is in a high gear.

[0038] Optionally, the filter coefficient c is the product of the first filter coefficient factor c1 and the second filter coefficient factor c2, that is, c=c1*c2. The filter coefficient is determined by parameters such as the gear position of the motorcycle 100, the engine speed, and the change value of the electronic throttle opening, which can make the filtered output torque more suitable for the current state and enhance the driver's driving experience.

[0039] In one embodiment, the motorcycle 100 further includes a communication module 19, such as Figure 4 As shown, the communication module 19 can be connected to the mobile terminal 200, and the mobile terminal 200 can send the corresponding filtering level to the communication module 19 in response to the driver's operation. The communication module 19 is also connected to the control module 16. The communication module 19 sends the filtering level to the control module 16, and the control module 16 can determine the filtering coefficient according to the filtering level.

[0040] It should be noted that the communication module 19 can be a network module, or a telematics BOX (T-BOX) integrated with a network module. The mobile terminal is a mobile phone, a tablet, etc. The communication module 19 and the mobile terminal can communicate through Bluetooth, Wi-Fi, 4G / 5G network, etc. For example, the communication module 19 of the motorcycle 100 establishes communication with the driver's mobile phone, and the mobile phone can display an interface for selecting the filter level. The driver selects the filter level on the mobile phone. The filter level can include 1-6 levels. The larger the filter level, the larger the filter coefficient, and the slower the throttle response. The mobile phone sends the filter level to the communication module 19, and the communication module 19 sends the filter level to the control module 16. The control module 16 can determine the filter coefficient according to the filter level. When the driver wants a faster throttle response, the filter level can be reduced. When the driver wants a slower throttle response and a slower power output, the filter level can be increased. The driver can adjust the speed of the throttle response according to his own needs.

[0041] In one embodiment, the motorcycle 100 further includes a human-computer interaction module 20, such as Figure 5 As shown, the human-machine interaction module 20 is connected to the control module 16 . The human-machine interaction module 20 can send the corresponding filtering level to the control module 16 in response to the driver's operation, and the control module 16 can determine the filtering coefficient according to the filtering level.

[0042] It should be noted that the human-computer interaction module 20 can be an instrument, and the driver can select the filtering level through the touch screen or the button next to the display screen. The instrument is connected to the control module 16, and the instrument can send the corresponding filtering level to the control module 16 in response to the driver's operation. The filtering level can include 1-6 levels. The larger the filtering level, the larger the filtering coefficient, and the slower the throttle response. The driver can adjust the speed of the throttle response through the human-computer interaction module 20 according to his own needs, which can make the adjustment of the throttle response more convenient.

[0043] Optionally, the control module 16 can determine a third filter coefficient factor c3 according to the filtering level, where the filter coefficient c is the product of the first filter coefficient factor c1, the second filter coefficient factor c2 and the third filter coefficient factor c3, that is, c=c1*c2*c3. The filter coefficient is determined by the gear position of the motorcycle 100, the engine speed, the change value of the electronic throttle opening, and the filtering level selected by the driver, which can make the filtered output torque more suitable for the current state and meet the driver's needs, thereby improving the driver's driving experience.

[0044] The control module 16 may be an engine control unit (ECU for short), which can calculate the driving conditions of the vehicle through various sensors, thereby controlling multiple parameters such as the engine's ignition, fuel injection, and air intake, and can affect the engine's output torque, etc. In the electric motorcycle 100, the control module 16 may be a vehicle control unit (VCU), which can coordinate the work of components such as the motor and the gearbox, and can control the motor's output torque to achieve energy management.

[0045] Taking a fuel-driven motorcycle 100 as an example, the power system 15 includes an engine, which includes an ignition coil and a throttle valve. The ignition coil and the throttle valve are respectively connected to a control module 16. The control module 16 can control the output torque of the power system 15 by controlling the ignition advance angle of the ignition coil and the opening angle of the throttle valve. The gas circuit torque ensures sufficient intake volume and serves as the basis for adjusting the fire circuit torque. The output torque is adjusted jointly by the gas circuit torque and the fire circuit torque.

[0046] like Figure 6 As shown, in this embodiment, the control method of the electronic throttle response speed mainly includes the following steps:

[0047] Step S101: obtaining the electronic throttle opening;

[0048] Step S102: obtaining the requested torque according to the electronic throttle opening;

[0049] Step S103: Calculate the change value of the electronic throttle opening;

[0050] Step S104: determining whether the change value of the electronic throttle opening is greater than a preset threshold value, if not, executing step S105, if greater than the preset threshold value, executing step S106;

[0051] Step S105: controlling the power system to output a requested torque;

[0052] Step S106: Filter the requested torque and control the power system to output the filtered torque.

[0053] It should be noted that although the flowchart shows a logical order, in some cases, the steps shown or described may be performed in a different order than that shown here. For example, in the above-mentioned electronic throttle response speed control method, S102 may be interchangeable with S103.

[0054] It is determined whether the change value of the electronic throttle opening is greater than the preset threshold. When it is not greater than the preset threshold, the control module controls the power system to output the requested torque. When it is greater than the preset threshold, the control module filters the requested torque and controls the power system to output the filtered torque, which can avoid a surge in the output torque and make the driver feel smoother.

[0055] like Figure 7 As shown, in this embodiment, the control process of the electronic throttle response speed mainly includes the following steps:

[0056] Step S201: the electronic throttle generates a corresponding electronic throttle opening based on the driver's operation;

[0057] Step S202: the electronic throttle sends the electronic throttle opening to the control module;

[0058] Step S203: the control module calculates the corresponding requested torque based on the electronic throttle opening;

[0059] Step S204: the control module calculates the change value of the electronic throttle opening;

[0060] Step S205: The control module determines whether the change value of the electronic throttle opening is greater than a preset threshold value. If not, step S206 is executed. If greater than the preset threshold value, step S207 is executed.

[0061] Step S206: the control module controls the power system to output the requested torque;

[0062] Step S207: the control module filters the driver's requested torque;

[0063] Step S208: the control module controls the power system to output the filtered torque;

[0064] Step S209: The control module determines whether the filtered torque is less than the current requested torque. If so, step S207 is executed; if not, step S206 is executed.

[0065] It should be noted that when the change in the electronic throttle opening is greater than the preset threshold, if the torque output by the power system is less than the current requested torque, the control module continues to filter the requested torque, and the control module controls the power system to output the filtered torque until the torque output by the power system is equal to the current requested torque. Continuously filtering the requested torque can make the power system output torque smoother and enhance the driver's experience.

[0066] like Figure 8 As shown, in this embodiment, the control process of the electronic throttle response speed mainly includes the following steps:

[0067] Step S301: the electronic throttle generates a corresponding electronic throttle opening based on the driver's operation;

[0068] Step S302: the electronic throttle sends the electronic throttle opening to the control module;

[0069] Step S303: the control module calculates the corresponding requested torque based on the electronic throttle opening;

[0070] Step S304: the control module determines whether the electronic throttle opening increases, if it increases, executes step S305, if it does not increase, executes step S311;

[0071] Step S305: the control module calculates the change value of the electronic throttle opening;

[0072] Step S306: The control module determines whether the change value of the electronic throttle opening is greater than a preset threshold value. If not, step S307 is executed. If greater than the preset threshold value, step S308 is executed.

[0073] Step S307: the power system outputs a requested torque;

[0074] Step S308: the control module filters the driver's request torque;

[0075] Step S309: the power system outputs the filtered torque;

[0076] Step S310: The control module determines whether the filtered torque is less than the current requested torque. If so, step S308 is executed; if not, step S307 is executed;

[0077] Step S311: determine whether the current requested torque is greater than the current output torque, if not, execute step S307, if greater, execute step S308.

[0078] It should be noted that step S301 and step S302 are steps executed by the electronic throttle, step S303, step S304, step S305, step S307, step S309, and step S310 are steps executed by the control module, and step S306 and step S308 are steps executed by the power system.

[0079] It should be further explained that when the electronic throttle opening decreases, that is, when the driver reduces the throttle, the current request torque is compared with the torque filtered by the control module. If the current request torque is not greater than the torque filtered by the control module, the control module controls the power system to output the request torque; if the current request torque is greater than the torque filtered by the control module, the control module filters the current request torque and controls the power system to output the filtered torque. Outputting the request torque when the request torque is not greater than the filtered torque can avoid the motorcycle still having a strong power output when decelerating, thereby improving the safety of the motorcycle when decelerating.

[0080] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0081] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A motorcycle, comprising: Vehicle body; Wheels, including front wheels and rear wheels; Vehicle seats, supported by the vehicle body, the vehicle seats comprising at least a driver's seat; An electronic throttle, which can generate a corresponding electronic throttle opening based on the driver's operation; a power system, supported by the motorcycle body and used to provide power for the motorcycle, wherein at least one of the front wheel and the rear wheel is connected to the power system; a control module, wherein the control module is connected to the electronic throttle, the electronic throttle sends the electronic throttle opening to the control module, the control module can obtain the driver's request torque according to the electronic throttle opening, and the control module can also control the power system to output the request torque; It is characterized in that when the change value of the electronic throttle opening is not greater than a preset threshold, the control module can control the power system to output the requested torque; when the change value of the electronic throttle opening is greater than the preset threshold, the control module can filter the requested torque, and the control module can control the power system to output the filtered torque; The change value of the electronic throttle opening is the difference between the current electronic throttle opening and the electronic throttle opening a unit time ago.

2. The motorcycle according to claim 1, characterized in that: The control module can determine a filter coefficient, and the control module can filter the requested torque based on the filter coefficient, the filter coefficient being related to a plurality of filter coefficient factors.

3. The motorcycle according to claim 2, characterized in that: The filter coefficient factor includes a first filter coefficient factor, the motorcycle also includes a speed sensor, the power system includes a power source, the speed sensor can detect the speed of the power source, the speed sensor is connected to the control module, the speed sensor can send a speed signal of the power source to the control module, and the control module can determine the first filter coefficient factor according to the speed signal and the change value of the electronic throttle opening.

4. The motorcycle according to claim 3, characterized in that: The filter coefficient factor also includes a second filter coefficient factor, the motorcycle also includes a gear sensor, the gear sensor is used to receive a gear signal input by the driver, the gear sensor is connected to the control module, the gear sensor can send the gear signal to the control module, and the control module can determine the second filter coefficient factor according to the gear signal; The gear positions include at least a first gear and a second gear, and the second filter coefficient factor corresponding to the first gear is greater than the second filter coefficient factor corresponding to the second gear.

5. The motorcycle according to claim 4, characterized in that: The control module determines the filter coefficient through the speed signal, the change value of the electronic throttle opening and the gear signal, and the filter coefficient is the product of the first filter coefficient factor and the second filter coefficient factor.

6. The motorcycle according to claim 2, characterized in that: The motorcycle further comprises a human-computer interaction module, the human-computer interaction module is connected to the control module, the human-computer interaction module can send the corresponding filtering level to the control module in response to the driver's operation, and the control module can determine the filtering coefficient according to the filtering level; The filtering levels include at least a first filtering level and a second filtering level, and the filtering coefficient corresponding to the first filtering level is smaller than the filtering coefficient corresponding to the second filtering level.

7. The motorcycle according to claim 2, characterized in that: The motorcycle further comprises a communication module, the communication module can be connected to a mobile terminal, the mobile terminal can send a corresponding filtering level to the communication module in response to the driver's operation, the communication module is also connected to the control module, the communication module sends the filtering level to the control module, and the control module can determine the filtering coefficient according to the filtering level; The filtering levels include at least a first filtering level and a second filtering level, and the filtering coefficient corresponding to the first filtering level is smaller than the filtering coefficient corresponding to the second filtering level.

8. The motorcycle according to claim 1, characterized in that: When the change value of the electronic throttle opening is greater than the preset threshold, if the torque output by the power system is less than the current requested torque, the control module continues to filter the current requested torque, and the control module can control the power system to output the filtered torque until the torque output by the power system is equal to the current requested torque.

9. The motorcycle according to claim 1, characterized in that: When the electronic throttle opening decreases, the current requested torque is compared with the torque filtered by the control module. If the current requested torque is greater than the torque filtered by the control module, the control module filters the current requested torque, and the control module controls the power system to output the torque filtered by the current requested torque; if the current requested torque is not greater than the torque filtered by the control module, the control module controls the power system to output the current requested torque.

10. The motorcycle according to claim 1, characterized in that: The power system includes an engine, which includes an ignition coil and a throttle valve. The ignition coil and the throttle valve are respectively connected to the control module. The control module can control the output torque of the power system by controlling the ignition advance angle of the ignition coil and the opening angle of the throttle valve.

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