Electric all-terrain vehicle and hill starting assisting method thereof

Abstract

The invention discloses an electric all-terrain vehicle and a hill starting assisting method thereof. The electric all-terrain vehicle comprises a vehicle frame, a vehicle body covering part, a walking assembly, a driving system, a braking system and an accelerator system, and the driving system comprises a driving motor; the braking system is used for providing braking force for the walking assembly; the accelerator system is used for controlling power output of the driving system; the electric all-terrain vehicle further comprises a control module, and the control module is electrically connected with the driving motor and the braking system. The rotating speed of the driving motor driving the walking assembly to run in the running direction is defined as the forward rotating speed, and the rotating speed opposite to the forward rotating speed is defined as the reverse rotating speed; when the control module does not receive the brake signal of the brake system and the reverse rotating speed of the driving motor is larger than a preset threshold value, the control module controls the driving motor to enter a zero rotating speed state with the rotating speed being zero. According to the electric all-terrain vehicle and the hill starting assisting method thereof, the hill starting assisting function can be achieved with low cost.

Description

Technical Field

[0001] The present application relates to an electric vehicle, and in particular to an electric all-terrain vehicle. Background Art

[0002] As the popularity of electric vehicles increases, they are gradually extending to the field of all-terrain vehicles. For electric all-terrain vehicles, their drive form or transmission form is different from that of traditional fuel vehicles. For all-terrain vehicles with more complete functions, they also have a hill start assist function. The traditional hill start assist function is achieved by setting up an ABS (anti-lock braking system) and ASR (traction control system) integrated control system, which has defects such as high cost. For children's electric all-terrain vehicles, due to their application scenarios and cost considerations, they are not equipped with ABS and ASR systems, so most of them do not have a hill start assist function. How to provide an electric all-terrain vehicle with a low-cost hill start assist function is a technical problem that needs to be solved urgently. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, an object of the present invention is to provide an electric all-terrain vehicle and a hill start assist method thereof, which can realize the hill start assist function at a relatively low cost.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] An electric all-terrain vehicle comprises: a frame; a body covering, which is at least partially arranged on the frame; a traveling assembly, which is at least partially arranged under the frame; a driving system, which includes a driving motor and is used to drive the traveling assembly; a braking system, which is used to provide braking force for the traveling assembly; a throttle system, which is used to control the power output of the driving system; the electric all-terrain vehicle also includes a control module, which is electrically connected to the driving motor and the braking system; the speed at which the driving motor drives the traveling assembly to travel in the driving direction is defined as a forward speed, and the speed opposite to the forward speed is defined as a reverse speed. When the control module does not receive a braking signal from the braking system and the reverse speed of the driving motor is greater than a preset threshold, the control module controls the driving motor to enter a zero speed state with a first preset torque.

[0006] Further, when the electric all-terrain vehicle is on a slope and is in a waiting-to-start state, the drive motor has a reverse rotation speed.

[0007] Further, when the electric all-terrain vehicle is in the ready-to-start state, the electric all-terrain vehicle is operated to be in the ready state and the electric all-terrain vehicle is operated to enter the forward gear or the reverse gear.

[0008] Furthermore, the preset threshold is greater than or equal to 30 r / min and less than or equal to 100 r / min.

[0009] Furthermore, the control module is also electrically connected to a throttle system, which is used to control the output torque of the drive motor. When the throttle opening request output by the throttle system is greater than the current torque signal value of the drive motor, the control module controls the drive motor to exit the zero speed state.

[0010] Furthermore, the electric all-terrain vehicle also includes a slope sensor, which is electrically connected to the control module and can transmit a current slope signal to the control module. The control module can control the drive motor to output a second preset torque according to the current slope signal. The first preset torque is greater than the second preset torque. The control module controls the drive motor to enter a zero-speed state with a difference between the first preset torque and the second preset torque.

[0011] Furthermore, the drive motor includes an output shaft, which includes a first rotation direction for actively driving the walking component to rotate and a second rotation direction that can be passively driven to rotate. The second rotation direction is opposite to the first rotation direction. When the drive motor is in the second rotation direction, the drive motor outputs a reverse rotation speed.

[0012] Furthermore, the electric all-terrain vehicle includes a speed mode in which the rotation speed of the driving motor can be controlled by the control module and a torque mode in which the torque of the driving motor can be controlled by the control module. When a brake signal from the brake system is received, the control module controls the electric all-terrain vehicle to enter the torque mode.

[0013] A hill start assist method for an electric all-terrain vehicle, the electric all-terrain vehicle comprising: a control module, a drive motor and a brake system, the control module being electrically connected to the drive motor and the brake system; a travel component which can be driven by the drive motor; the speed at which the drive motor drives the travel component to travel in the travel direction is defined as a forward speed, and the speed opposite to the forward speed is defined as a reverse speed; the method comprising: the control module determining whether a brake signal from the brake system is received; when the control module determines that the brake signal from the brake system is not received, determining whether the drive motor has a reverse speed and whether the reverse speed is greater than a preset threshold; when the drive motor has a reverse speed and the reverse speed is greater than a preset threshold, the control module controls the drive motor to enter a zero speed state with a first preset torque.

[0014] Furthermore, the electric all-terrain vehicle also includes a slope sensor, which is electrically connected to the control module and can transmit a current slope signal to the control module. The control module can control the drive motor to output a second preset torque according to the current slope signal. The first preset torque is greater than the second preset torque. The control module controls the drive motor to enter a zero-speed state with a difference between the first preset torque and the second preset torque.

[0015] The present invention is beneficial in that the speed of the driving motor is controlled by setting a control module, thereby realizing a hill start assist function at a relatively low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional picture of an electric all-terrain vehicle;

[0017] Figure 2 yes Figure 1 A system block diagram of an embodiment of an electric all-terrain vehicle;

[0018] Figure 3 yes Figure 1 A system block diagram of another embodiment of the electric all-terrain vehicle;

[0019] Figure 4 yes Figure 1 A flowchart of a hill start assist method in one embodiment of an electric all-terrain vehicle;

[0020] Figure 5 yes Figure 1 Flow chart of a hill start assist method in another embodiment of the electric all-terrain vehicle. DETAILED DESCRIPTION

[0021] like Figure 1 and Figure 2 As shown, the present application provides an electric all-terrain vehicle 100, which includes: a frame 11, a body cover 12, a travel assembly 13, a drive system 14, a brake system 15, a throttle system 16 and a control module 17. Among them, the frame 11 is used to support the body cover 12, and the travel assembly 13 is arranged under the frame 11 and can be driven by the drive system 14 to drive the all-terrain vehicle to move. The brake system 15 is used to provide braking force to limit the movement of the travel assembly 13. The throttle system 16 is electrically connected to the control module 17 to control the power output of the drive system 14.

[0022] As an implementation method, the electric all-terrain vehicle 100 provided in the present application is also provided with a hill start assist function. Specifically, when the electric all-terrain vehicle 100 is on a slope and the electric all-terrain vehicle 100 is in a waiting state, the electric all-terrain vehicle 100 has a tendency to slip. In order to avoid slipping, the electric all-terrain vehicle 100 also provides a driving force. It should be explained here that the electric all-terrain vehicle 100 is in a waiting state, which means that it is in a Ready state, and the electric all-terrain vehicle 100 is controlled to enter a forward gear or a reverse gear. The electric all-terrain vehicle 100 slips, that is, it slips under the action of gravity. The driving force provided by the electric all-terrain vehicle 100 can prevent it from slipping under the action of gravity.

[0023] It can be understood that the drive system 14 includes a drive motor 141, and the speed at which the drive motor drives the travel component to travel in the travel direction is defined as the forward speed, and the speed opposite to the forward speed is defined as the reverse speed. Specifically, when the electric all-terrain vehicle 100 can be driven by the drive motor 141, the output shaft of the drive motor 141 rotates around a first rotation direction. When the electric all-terrain vehicle 100 slides passively under the action of gravity, the output shaft of the drive motor 141 rotates around a second rotation direction, and the second rotation direction is opposite to the first rotation direction. At this time, the drive motor 141 outputs a reverse rotation direction.

[0024] When the electric all-terrain vehicle 100 is located on an uphill road and is in a state of waiting to start, the output shaft of the drive motor 141 has a tendency to rotate around the second rotation direction. At this time, the control module 17 receives the rotation signal of the drive motor 141, thereby outputting a drive signal to the drive motor 141, so that the drive motor 141 has a tendency to rotate around the first direction, and finally the speed of the drive motor 141 is zero, so that the electric all-terrain vehicle 100 stops at the current position. It can be understood that the speed of the drive motor 141 being zero here can be a relative concept, that is, when the speed of the drive motor 141 is close to zero, the passenger cannot perceive the movement of the electric all-terrain vehicle 100. In this case, we all think that the speed of the drive motor 141 is zero. In fact, the speed of the drive motor 141 can also be set within a preset range, with the passenger being unable to perceive the movement of the electric all-terrain vehicle 100 as the standard.

[0025] The electric all-terrain vehicle 100 includes a speed mode and a torque mode. When the electric all-terrain vehicle 100 is in the speed mode, the speed of the drive motor 141 can be controlled by the control module 17. When the electric all-terrain vehicle 100 is in the torque mode, the torque of the drive motor 141 can be controlled by the control module 17. When the control module 17 receives a brake signal at any time, it controls the drive motor 141 to operate in the torque mode. As an implementation method, the control module 17 is set to an MCU (Micro Control Unit), and the MCU is electrically connected to the brake system 15, the throttle system 16 and the drive system 14, and can transmit electrical signals between the brake system 15, the throttle system 16 and the drive system 14.

[0026] like Figure 2As shown, when the electric all-terrain vehicle 100 is in the waiting state, the MCU starts to detect whether a brake signal is input. If there is no brake signal, the MCU controls the electric all-terrain vehicle 100 to enter the speed mode, and the MCU continues to detect whether the drive system 14 generates rotation along the second rotation direction. When the drive system 14 generates rotation along the second rotation direction, and the speed is greater than a preset threshold, the MCU controls the output shaft of the drive motor 141 to stop rotating, and makes the speed of the drive motor 141 less than or equal to the above threshold. It can be understood that in order to avoid the vehicle slipping too much to cause trouble to the user, or the vehicle slipping too small and the system cannot capture it, the above preset threshold is set to be greater than or equal to 30r / min and less than or equal to 100r / min. The MCU continues to detect the torque signal currently output by the drive motor 141. When the torque signal output by the throttle system 16 is greater than the current torque signal of the drive motor 141, the MCU exits the current speed mode and enters the torque mode. The output shaft of the drive motor 141 starts to rotate around the first rotation direction under the control of the throttle system 16. At this time, the electric all-terrain vehicle 100 can operate normally on the slope driven by the drive motor 141.

[0027] like Figure 3As shown, the electric all-terrain vehicle 100 is also provided with a slope sensor 18, which is used to detect the slope of the electric all-terrain vehicle 100. It can be understood that the slope sensor 18 is also electrically connected to the MCU and can transmit electrical signals to the MCU. As an implementation method, a preset signal value is stored in the MCU. When the current slope signal in the slope sensor 18 triggers the preset signal value stored in the MCU, the MCU controls the drive motor 141 to output a preset torque. Specifically, when the electric all-terrain vehicle 100 is in a waiting state, the MCU starts to detect whether a brake signal is input. If there is no brake signal, the MCU continues to detect whether the drive system 14 generates a rotation in the second rotation direction. When the drive system 14 generates a rotation in the second rotation direction, and the rotation speed is greater than a preset threshold, the MCU controls the output shaft of the drive motor 141 to stop rotating, and makes the rotation speed of the drive motor 141 less than or equal to the above threshold. The MCU detects the torque signal currently output by the drive motor 141. When the torque signal output by the throttle system 16 is greater than the current torque signal of the drive motor 141, the MUC exits the current speed mode and enters the torque mode. The output shaft of the drive motor 141 starts to rotate around the first rotation direction under the control of the throttle system 16. At this time, the electric all-terrain vehicle 100 can operate normally on the slope driven by the drive motor 141. It should be explained here that, due to the provision of the slope sensor 18, the drive motor 141 of the electric all-terrain vehicle 100 has output a preset torque before entering the speed mode, so that after the electric all-terrain vehicle 100 enters the speed mode, it can quickly respond to the current state, and can further adjust the torque value under the premise of the preset torque output by the current drive motor 141, so as to avoid the drive motor 141 from adjusting from a negative torque state or a zero torque state to a positive torque state, thereby increasing the sensitivity of the MUC to control the torque output of the drive motor 141 and reducing the system response time.

[0028] like Figure 4 As shown, in one embodiment, the present application provides a hill start assist method for an electric all-terrain vehicle 100, comprising the steps of:

[0029] S401: Whether the electric all-terrain vehicle 100 meets the following conditions: the whole vehicle is in the Ready state, and the electric all-terrain vehicle 100 enters the forward gear or the reverse gear, if yes, execute step S402, if no, execute step S401;

[0030] S402, MCU detects whether a brake signal is generated, if yes, executes step S401, if no, executes step S403;

[0031] S403, the MCU detects whether the speed of the driving motor 141 opposite to the driving direction is greater than a threshold, if so, execute S404, if not, execute step S401;

[0032] S404, the MCU enters the speed mode, controls the drive motor to enter the zero speed state 141 with the first torque, and detects whether a brake signal is generated. If so, execute step S401, otherwise execute step S405;

[0033] S405, the MCU detects whether the current throttle opening is greater than the first preset torque output by the drive motor 141, if so, execute step S406, if not, execute step 404;

[0034] S406 , the MCU exits the speed mode, and the electric all-terrain vehicle 100 responds normally to the throttle torque request.

[0035] When the electric all-terrain vehicle 100 is on a slope and the electric all-terrain vehicle 100 is in a state of waiting to start, the ECU detects whether the reverse speed of the drive motor 141 opposite to the current driving direction is greater than a threshold value when no brake signal is received. When the current reverse speed of the drive motor 141 is detected to be greater than a threshold value, the MCU controls the drive motor 141 to zero speed. At this time, the drive motor 141 outputs a torque in the same direction as the driving direction to overcome the sliding force generated by the electric all-terrain vehicle 100 under the action of gravity, thereby stopping the electric all-terrain vehicle 100 at the current position to prevent the electric all-terrain vehicle 100 from slipping. At the same time, the MCU continues to detect whether a brake signal is generated. If a brake signal is generated, the MCU exits the current speed mode; if no brake signal is generated, the MCU continues to detect the throttle opening request of the throttle system 16. When the throttle opening request is greater than the torque signal value currently output by the drive motor 141, the MCU exits the speed mode and responds to the throttle torque request normally. At this time, the electric all-terrain can move forward or backward normally under the operation of the driver.

[0036] like Figure 5 As shown, in one embodiment, the present application provides another hill start assist method for an electric all-terrain vehicle 100, comprising the steps of:

[0037] S501: Whether the electric all-terrain vehicle 100 meets the following conditions: the whole vehicle is in the Ready state, and the electric all-terrain vehicle 100 enters the forward gear or the reverse gear, if yes, execute step S502, if no, execute step S501;

[0038] S502, MCU detects whether a brake signal is generated, if yes, executes step S501, if no, executes step S503;

[0039] S503, the MCU detects whether the speed of the driving motor 141 opposite to the driving direction is greater than a threshold, if so, execute S504, if not, execute step S501;

[0040] S504, the MCU detects the current slope value, and controls the drive motor 141 to output a second preset torque according to the slope value;

[0041] S505, MCU enters speed mode, controls the driving motor 141 to rotate at zero speed, and detects whether a brake signal is generated. If so, execute step S501, otherwise execute step S506;

[0042] S506, the MCU detects whether the current throttle opening is greater than the torque output by the drive motor 141, if so, execute step S507, if not, execute step 505;

[0043] S507 , the MCU exits the speed mode, and the electric all-terrain vehicle 100 responds to the throttle torque request normally.

[0044] It should be noted that, in addition to being located between step 503 and step 505 in the above implementation example, step 504 may also be located between step 502 and step 503 .

[0045] When the electric all-terrain vehicle 100 is on a slope and the electric all-terrain vehicle 100 is in a state of waiting to start, when the ECU does not receive a brake signal, the MCU detects whether the reverse speed of the drive motor 141 opposite to the current driving direction is greater than a threshold value. When it is detected that the current reverse speed of the drive motor 141 is greater than a threshold value, the MCU continues to detect the current slope value of the electric all-terrain vehicle 100, and controls the drive motor 141 to output a second preset torque according to the current slope value. The MCU controls the drive motor 141 to enter a zero speed state with a speed of zero by the difference between the first preset torque and the second preset torque. At this time, the drive motor 141 outputs a torque in the same direction of travel to overcome the sliding force generated by the electric all-terrain vehicle 100 under the action of gravity, thereby stopping the electric all-terrain vehicle 100 at the current position to prevent the electric all-terrain vehicle 100 from slipping. In fact, since the slope sensor 18 has output the current slope value, the MCU has controlled the drive motor 141 to respond and output the second preset torque in advance according to the current slope value. When the MCU continues to control the drive motor 141 to zero speed, the torque output of the drive motor 141 starts from the difference state between the first preset torque and the second preset torque, that is, the non-first preset torque state, and its adjustment range is smaller, the sensitivity is better, and the response speed is faster.

[0046] At the same time, the MCU continues to detect whether a brake signal is generated. If a brake signal is generated, the MCU exits the current speed mode; if no brake signal is generated, the MCU continues to detect the throttle opening request of the throttle system 16. When the throttle opening request is greater than the torque signal value currently output by the drive motor 141, the MCU exits the speed mode and responds normally to the throttle torque request. At this time, the electric all-terrain can move forward or backward normally under the driver's operation.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. An electric all-terrain vehicle, comprising: Frame; a body covering, the body covering being at least partially disposed on the vehicle frame; A traveling assembly, wherein the traveling assembly is at least partially disposed below the vehicle frame; A drive system, the drive system comprising a drive motor and used to drive the travel assembly; A brake system, the brake system is used to provide braking force for the travel assembly; A throttle system, the throttle system is used to control the power output of the drive system; It is characterized in that The electric all-terrain vehicle further includes a control module, and the control module is electrically connected to the drive motor and the brake system; The speed at which the drive motor drives the walking component to travel in the driving direction is defined as the forward speed, and the speed opposite to the forward speed is defined as the reverse speed. When the control module does not receive the brake signal of the brake system and the reverse speed of the drive motor is greater than a preset threshold, the control module controls the drive motor to enter a zero speed state with a first preset torque.

2. The electric all-terrain vehicle according to claim 1, characterized in that: When the electric all-terrain vehicle is on a slope and is in a ready-to-start state, the drive motor has the reverse rotation speed.

3. The electric all-terrain vehicle according to claim 1, characterized in that: When the electric all-terrain vehicle is in the ready-to-start state, the electric all-terrain vehicle is operated to be in a ready state and the electric all-terrain vehicle is operated to enter a forward gear or a reverse gear.

4. The electric all-terrain vehicle according to claim 1, characterized in that: The preset threshold is greater than or equal to 30 r / min and less than or equal to 100 r / min.

5. The electric all-terrain vehicle according to claim 1, characterized in that: The control module is also electrically connected to the throttle system, which is used to control the output torque of the drive motor. When the throttle opening request output by the throttle system is greater than the current torque signal value of the drive motor, the control module controls the drive motor to exit the zero speed state.

6. The electric all-terrain vehicle according to claim 1, characterized in that: The electric all-terrain vehicle also includes a slope sensor, which is electrically connected to the control module and can transmit a current slope signal to the control module. The control module can control the drive motor to output a second preset torque according to the current slope signal. The first preset torque is greater than the second preset torque. The control module controls the drive motor to enter a zero-speed state with a difference between the first preset torque and the second preset torque.

7. The electric all-terrain vehicle according to claim 1, characterized in that: The driving motor includes an output shaft, which includes a first rotation direction for actively driving the walking component to rotate and a second rotation direction that can be passively driven to rotate. The second rotation direction is opposite to the first rotation direction. When the driving motor is in the second rotation direction, the driving motor outputs a reverse rotation speed.

8. The electric all-terrain vehicle according to claim 1, characterized in that: The electric all-terrain vehicle includes a speed mode in which the rotational speed of the driving motor can be controlled by the control module and a torque mode in which the torque of the driving motor can be controlled by the control module. When a brake signal from the brake system is received, the control module controls the electric all-terrain vehicle to enter the torque mode.

9. A hill start assist method for an electric all-terrain vehicle, the electric all-terrain vehicle comprising: A control module, a drive motor and a brake system, wherein the control module is electrically connected to the drive motor and the brake system; A walking assembly, which can be driven by the driving motor; The speed at which the driving motor drives the travel component to travel in the travel direction is defined as the forward speed, and the speed opposite to the forward speed is defined as the reverse speed; Characterized in that the method comprises: The control module determines whether a brake signal from the brake system is received; When the control module determines that the brake signal of the brake system is not received, determining whether the drive motor has a reverse speed and whether the reverse speed is greater than a preset threshold; When the driving motor has a reverse speed and the reverse speed is greater than a preset threshold, the control module controls the driving motor to enter a zero speed state with a first preset torque.

10. The hill start assist method for an electric all-terrain vehicle according to claim 9, characterized in that: The electric all-terrain vehicle also includes a slope sensor, which is electrically connected to the control module and can transmit a current slope signal to the control module. The control module can control the drive motor to output a second preset torque according to the current slope signal. The first preset torque is greater than the second preset torque. The control module controls the drive motor to enter a zero-speed state with a difference between the first preset torque and the second preset torque.

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