Slope sliding prevention control system and method for electric vehicle

Abstract

The invention provides an electric vehicle anti-slip control system and method, the method is executed by the electric vehicle anti-slip control system, and in a first embodiment, the method comprises the following steps: receiving a motor rotating speed signal from a motor rotating speed sensor, calculating a motor rotating speed according to the motor rotating speed signal, and calculating the motor rotating speed according to the motor rotating speed; an accelerator opening degree is received from the vehicle control unit; judging whether the rotating speed of the motor is smaller than a first negative rotating speed threshold value or not, and judging whether the opening degree of the accelerator is zero or not; when the rotating speed of the motor is judged to be smaller than the first negative rotating speed threshold value and the accelerator opening degree is judged to be zero, the slope sliding prevention accelerator opening degree is calculated to control the motor to output slope sliding restraining positive power, and the situation that the electric vehicle slides on a slope when the head of the electric vehicle is stopped upwards is prevented. And the situation that the driver forgets to pull up the hand brake and slips on the slope is avoided.

Description

Technical Field

[0001] A slope prevention control system and method, in particular, an electric vehicle slope prevention control system and method. Background Art

[0002] In today's market, electric vehicles with three or more wheels and using electric motors, such as electric tricycles or electric four-wheeled vehicles, are generally heavier than two-wheeled motorcycles and, therefore, are often equipped with handbrakes for driving. When a driver stops a vehicle on a slope, such as when waiting at a red light, they must apply the handbrake for safety reasons to prevent the vehicle from rolling down the slope due to insufficient motor horsepower. This is because, without the driver applying the accelerator, the motor cannot increase its power output to counteract the pull of gravity, causing the vehicle to slide down the slope. This rolling situation is particularly pronounced for heavier vehicles with three or more wheels, as the heavier vehicle requires greater kinetic energy from the motor to maintain the vehicle's position on the slope without the handbrake.

[0003] Most drivers will brake and apply the handbrake when stopping their vehicle. However, if they accidentally release the brake when stopping on a slope and forget to apply the handbrake in advance, the vehicle will start to accelerate and slide down the slope, causing great danger. Summary of the Invention

[0004] The present invention provides an electric vehicle anti-slope rolling control system and method, which can timely increase the power output of the vehicle's electric motor, thereby allowing the vehicle to be safely parked on a slope without rolling even if the driver does not use the handbrake.

[0005] In a first embodiment, the electric vehicle anti-slope rolling control system of the present invention is provided in a housing of an electric vehicle, the housing including a front end, and the electric vehicle anti-slope rolling control system includes:

[0006] A motor having a motor speed sensor; wherein the motor speed sensor senses a speed of the motor and generates a motor speed signal;

[0007] a motor controller electrically connected to the motor and the motor speed sensor, receiving the motor speed signal from the motor speed sensor, and calculating a motor speed according to the motor speed signal;

[0008] a throttle opening sensor for sensing the opening of a throttle of the electric vehicle and generating a throttle opening signal;

[0009] a vehicle controller electrically connected to the throttle opening sensor and the motor controller, and calculating and outputting a throttle opening according to the throttle opening signal received from the throttle opening sensor;

[0010] The motor controller determines whether the motor speed is less than a first negative speed threshold;

[0011] The motor controller receives the throttle opening from the vehicle controller, and determines whether the throttle opening is zero;

[0012] When the motor speed is less than the first negative speed threshold and the throttle opening is zero, the motor controller calculates an anti-slope throttle opening to control the motor to output a slope-inhibiting positive force.

[0013] Furthermore, the electric vehicle anti-slope rolling control method of the present invention is executed by the aforementioned motor controller, and the electric vehicle anti-slope rolling control method includes the following steps:

[0014] receiving a motor speed signal from a motor speed sensor, calculating a motor speed according to the motor speed signal, and receiving a throttle opening from a vehicle controller;

[0015] Determining whether the motor speed is less than a first negative speed threshold, and determining whether the throttle opening is zero;

[0016] When it is determined that the motor speed is less than the first negative speed threshold and the throttle opening is zero, an anti-slope rolling throttle opening is calculated to control the motor to output a slope-slope-inhibiting positive force.

[0017] In the first embodiment described above, the system and method of the present invention enable an electric vehicle to avoid rolling down a slope when stopped with its front end facing upward. Specifically, once the electric vehicle is about to roll down and its motor speed becomes negative and falls below a first negative speed threshold, the motor controller automatically controls the motor to output a positive force to prevent rolling. This positive force prevents the motor from rotating in reverse, causing the motor speed to return from a negative value to zero. This allows the electric vehicle to automatically and safely stop on the slope without rolling down.

[0018] In a second embodiment, the electric vehicle anti-slope rolling control system of the present invention is provided in a housing of an electric vehicle, the housing including a front end, and the electric vehicle anti-slope rolling control system includes:

[0019] A motor having a motor speed sensor; wherein the motor speed sensor senses a speed of the motor and generates a motor speed signal;

[0020] a motor controller electrically connected to the motor and the motor speed sensor, receiving the motor speed signal from the motor speed sensor, and calculating a motor speed according to the motor speed signal;

[0021] a throttle opening sensor for sensing the opening of a throttle of the electric vehicle and generating a throttle opening signal;

[0022] a vehicle controller electrically connected to the throttle opening sensor and the motor controller, and calculating and outputting a throttle opening according to the throttle opening signal received from the throttle opening sensor;

[0023] The motor controller determines whether the motor speed is greater than a second positive speed threshold;

[0024] The motor controller receives the throttle opening from the vehicle controller, and determines whether the throttle opening is zero;

[0025] When the motor speed is greater than the second positive speed threshold and the throttle opening is zero, the motor controller calculates an anti-slope throttle opening to control the motor to output a negative force to inhibit slope rolling.

[0026] Furthermore, the electric vehicle anti-slope rolling control method of the present invention is executed by the aforementioned motor controller, and the electric vehicle anti-slope rolling control method includes the following steps:

[0027] receiving a motor speed signal from a motor speed sensor, calculating a motor speed according to the motor speed signal, and receiving a throttle opening from a vehicle controller;

[0028] Determining whether the motor speed is greater than a second positive speed threshold, and determining whether the throttle opening is zero;

[0029] When it is determined that the motor speed is greater than the second positive speed threshold and the throttle opening is zero, an anti-slope rolling throttle opening is calculated to control the motor to output a negative force to inhibit slope rolling.

[0030] In the second embodiment described above, the system and method of the present invention enable an electric vehicle to avoid rolling down a slope when stopped headfirst. Specifically, once the electric vehicle is about to roll down and its motor speed reaches a positive value but falls below the second positive speed threshold, the motor controller automatically controls the motor to output a negative force to prevent rolling. This negative force prevents the motor from rotating in reverse, causing the motor speed to return from a positive value to zero. This allows the electric vehicle to automatically and safely stop on the slope without rolling down.

[0031] Furthermore, in both the first and second embodiments, when the electric vehicle is stopped on a slope and the handbrake is not engaged, the electric vehicle can still benefit from the control of the present invention and output sufficient power, causing the electric vehicle to accelerate appropriately upwards and stop safely on the slope without rolling down. Therefore, if the owner of the electric vehicle forgets to apply the handbrake when stopping on a slope, the electric vehicle can still stop on the slope without rolling down by automatically accelerating. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a block diagram of an electric vehicle anti-slope control system according to the present invention.

[0033] Figure 2A FIG1 is a flow chart of a first embodiment of an electric vehicle anti-slope control method according to the present invention.

[0034] Figure 2B FIG. 1 is a flow chart of a second embodiment of the electric vehicle anti-slope control method of the present invention.

[0035] Figure 3A FIG. 4 is another flow chart of the electric vehicle anti-slope sliding control method in the first embodiment of the present invention.

[0036] Figure 3B FIG. 4 is another flow chart of the electric vehicle anti-slope sliding control method in the second embodiment of the present invention.

[0037] Reference Signs List

[0038] 1: Electric vehicle anti-slope control system

[0039] 10: Throttle handle

[0040] 11: Throttle opening sensor

[0041] 20: Instrument

[0042] 21: Anti-slope indicator light

[0043] 30: Vehicle Controller

[0044] 31: Signal processing circuit

[0045] 32: Vehicle processing chip

[0046] 33: First communication circuit

[0047] 40: Motor controller

[0048] 41: Motor control circuit

[0049] 42: Motor processing chip

[0050] 43: Second communication circuit

[0051] 50: Motor

[0052] 51: Motor speed sensor

[0053] 60:Handbrake

[0054] 70: Anti-slip setting button

[0055] S10A, S20A, S30A: Steps

[0056] S10B, S20B, S30B: Steps

[0057] S200A, S300A, S310A, S320A, S330A, S340A, S400A: Steps

[0058] S200B, S300B, S310B, S320B, S330B, S340B, S400B: steps. DETAILED DESCRIPTION

[0059] The present invention provides an electric vehicle anti-slope control system and an electric vehicle anti-slope control method. The electric vehicle anti-slope control system is arranged in an electric vehicle and executes the electric vehicle anti-slope control method to timely control and adjust the power output of the electric motor of the electric vehicle.

[0060] In one embodiment of the present invention, the electric vehicle equipped with the electric vehicle anti-slope control system is an electric three-wheeled vehicle, such as an electric three-wheeled motorcycle. In other embodiments, the electric vehicle equipped with the electric vehicle anti-slope control system may be an electric four-wheeled vehicle, such as an electric all-terrain vehicle (ATV).

[0061] See also Figure 1 As shown, the present invention provides an electric vehicle anti-slope control system 1 including an accelerator handle 10, an instrument panel 20, a vehicle control unit (VCU) 30, a motor controller 40, a motor 50, and a handbrake 60. The accelerator handle 10 and the instrument panel 20 are electrically connected to the VCU 30, while the motor controller 40 is electrically connected to the VCU 30 and the motor 50.

[0062] In this embodiment, the electric vehicle is a pure electric vehicle. Therefore, the motor 50 is the aforementioned electric motor, and the throttle controlled by the throttle grip 10 is the electric vehicle's throttle. Therefore, the throttle grip 10 further includes a throttle position sensor (TPS) 11. The throttle position sensor 11 is configured to sense the throttle position of the electric vehicle's digital throttle and generate a throttle position signal. The throttle position sensor 11 transmits the throttle position signal to the vehicle controller 30. The vehicle controller 30 receives the throttle position signal from the throttle position sensor 11, calculates the throttle position based on the throttle position signal, and transmits the throttle position signal to the motor controller 40. In other embodiments, the electric vehicle may also be a hybrid electric vehicle.

[0063] The motor controller 40 is responsible for controlling the motor 50 to output power. The motor 50 has a motor speed sensor 51. The motor speed sensor 51 senses the rotational speed of the motor 50 and generates a motor speed signal. The motor speed sensor 51 transmits the motor speed signal to the motor controller 40. The motor controller 40 receives the throttle position from the vehicle controller 30 and the motor speed signal from the motor speed sensor 51. The motor controller 40 calculates the motor speed based on the motor speed signal.

[0064] In this embodiment, the throttle position sensor 11 and the motor speed sensor 51 are each a Hall sensor. Furthermore, the electric vehicle has a reverse gear and can be reversed. When the electric vehicle is moving forward, the motor 50 rotates forward to output power, so the motor speed calculated by the motor controller 40 is a positive number. When the electric vehicle is reversing, the motor 50 rotates backward to output power, so the motor speed calculated by the motor controller 40 is a negative number. When the electric vehicle is stationary, the motor speed calculated by the motor controller 40 is zero.

[0065] When the throttle opening of the electric vehicle is zero, which means that the throttle handle 10 of the electric vehicle is not being rotated by the driver, and if the electric vehicle is rolling backwards down a slope, the motor speed calculated by the motor controller 40 will be a negative number. Conversely, if the electric vehicle is rolling forward down the slope and cannot be stopped, the motor speed calculated by the motor controller 40 will be a positive number.

[0066] The following are the key points of this case:

[0067] The electric vehicle anti-slope control system 1 of the present invention is disposed within a housing of the electric vehicle, and the housing includes a front portion. As previously mentioned, when the electric vehicle's motor 50 accelerates, causing the vehicle to move forward in the direction of the front portion, the motor speed of the motor 50 is positive. Conversely, when the electric vehicle's motor 50 accelerates, causing the vehicle to move backward in the direction opposite to the front portion, the motor speed of the motor 50 is negative.

[0068] In a first embodiment of the present invention, when the front of the electric vehicle is facing upward, that is, when the electric vehicle is stopped on a slope with the front of the vehicle facing upward, the motor controller 40 determines whether the motor speed is less than a first negative speed threshold. If the motor speed is less than the first negative speed threshold, the motor controller 40 calculates an anti-slope throttle opening to control the motor 50 to output a positive force to prevent the vehicle from rolling down the slope.

[0069] In the first embodiment described above, the system and method of the present invention enable an electric vehicle to avoid rolling back down a slope when stopped with its front end facing upward. Specifically, once the electric vehicle is about to roll down and its motor speed becomes negative and falls below the first negative speed threshold, the motor controller 40 automatically controls the motor 50 to output the positive force to prevent rolling based on the calculated throttle opening. This positive force prevents the motor 50 from rotating in reverse, causing the motor speed to return from a negative value to zero. In this way, the electric vehicle can automatically and safely stop on the slope without rolling down.

[0070] In a second embodiment of the present invention, when the front of the electric vehicle is facing downward, that is, when the electric vehicle is stopped on a slope with the front of the vehicle facing downward, the motor controller 40 determines whether the motor speed is greater than a second positive speed threshold. If the motor speed is greater than the second positive speed threshold, the motor controller 40 controls the motor 50 to output a negative force to prevent the vehicle from rolling down the slope.

[0071] In the second embodiment described above, the system and method of the present invention enable an electric vehicle to avoid rolling down a slope when stopped headfirst. Specifically, once the electric vehicle is about to roll down and its motor speed reaches a positive value exceeding the second positive speed threshold, the motor controller 40 automatically controls the motor 50 to output the negative force to prevent rolling. This negative force prevents the motor 50 from rotating in reverse, causing the motor speed to return from a positive value to zero. This allows the electric vehicle to automatically and safely stop on the slope without rolling down.

[0072] Furthermore, in both the first and second embodiments, when the electric vehicle is stopped on a slope and the handbrake 60 is not engaged, the electric vehicle can still benefit from the control of the present invention and output sufficient power, causing the electric vehicle to accelerate appropriately upwards and stop safely on the slope without rolling down. Therefore, even if the owner of the electric vehicle forgets to engage the handbrake 60 when stopping on a slope, the electric vehicle can still stop on the slope by automatically accelerating.

[0073] The electric vehicle anti-slope rolling control method of the present invention is executed by the motor controller 40 electrically connected to the vehicle controller 30 , the motor 50 and the motor speed sensor 51 .

[0074] Please also refer to Figure 2A As shown, in the aforementioned first embodiment, that is, when the electric vehicle stops on a slope with the front of the vehicle facing upward, the electric vehicle anti-slope sliding control method includes the following steps:

[0075] Step S10A: receiving the motor speed signal from the motor speed sensor 51 , calculating the motor speed according to the motor speed signal, and receiving the throttle opening from the vehicle controller 30 ;

[0076] Step S20A: determining whether the motor speed is less than the first negative speed threshold, and determining whether the throttle opening is zero;

[0077] Step S30A: If the motor speed is less than the first negative speed threshold and the throttle opening is zero, the motor controller 40 calculates the anti-slope throttle opening to control the motor 50 to output the anti-slope positive force. Otherwise, step S10A is executed.

[0078] Please also refer to Figure 2B As shown, in the aforementioned second embodiment, that is, when the electric vehicle stops on a slope with the front of the vehicle facing downward, the electric vehicle anti-slope sliding control method includes the following steps:

[0079] Step S10B: receiving the motor speed signal from the motor speed sensor 51 , calculating the motor speed according to the motor speed signal, and receiving the throttle opening from the vehicle controller 30 ;

[0080] Step S20B: determining whether the motor speed is greater than the second positive speed threshold, and determining whether the throttle opening is zero;

[0081] Step S30B: If the motor speed is greater than the second positive speed threshold and the throttle opening is zero, the motor controller 40 calculates the anti-slope throttle opening to control the motor 50 to output the anti-slope negative force. Otherwise, step S10B is executed.

[0082] See also Figure 1 As shown in FIG3 , the instrument panel 20 of the present invention further includes a slope prevention indicator light 21 . The vehicle controller 30 includes a signal processing circuit 31 , a vehicle processing chip 32 , and a first communication circuit 33 . The motor controller 40 includes a motor control circuit 41 , a motor processing chip 42 , and a second communication circuit 43 . Furthermore, the electric vehicle slope prevention control system 1 of the present invention further includes a slope prevention setting button 70 .

[0083] The vehicle processing chip 32 is a microcontroller (MCU) and is electrically connected to the signal processing circuit 31 and the first communication circuit 33. The signal processing circuit 31 is further electrically connected to the throttle position sensor 11 and the hill-roll prevention indicator light 21. Therefore, the vehicle processing chip 32 is electrically connected to the throttle position sensor 11 and the hill-roll prevention indicator light 21 via the signal processing circuit 31.

[0084] The motor processing chip 42 is also another microcontroller, and the aforementioned electric vehicle anti-slope control method is executed by the motor processing chip 42. The motor processing chip 42 is electrically connected to the motor control circuit 41, the second communication circuit 43, and the motor speed sensor 51. The second communication circuit 43 is further electrically connected to the first communication circuit 33, so signals are transmitted between the vehicle processing chip 32 and the motor processing chip 42 via the first communication circuit 33 and the second communication circuit 43. In addition, the motor control circuit 41 is further connected to the motor 50, so the motor processing chip 42 is electrically connected to and controls the operation of the motor 50 via the motor control circuit 41, and the motor processing chip 42 directly receives the motor speed signal output by the motor speed sensor 51.

[0085] The motor processing chip 42 is pre-stored with the first negative speed threshold, a first positive speed threshold, a second negative speed threshold, and the second positive speed threshold. The first negative speed threshold and the second negative speed threshold are both negative values, while the first positive speed threshold and the second positive speed threshold are both positive values.

[0086] For example, in the first embodiment, the first negative speed threshold is -50 revolutions per minute (RPM), and the first positive speed threshold is 300 RPM. In this case, when the electric vehicle is stopped on a slope with its front end facing upward, the motor controller 40 determines that the throttle opening is zero. When the motor speed is calculated to be -60 RPM, the motor controller 40 calculates the anti-slope throttle opening to control the motor 50 to output the anti-slope positive force. This causes the motor 50 to slow down from -60 RPM to 0 RPM and stop rotating due to the anti-slope positive force. Furthermore, when the motor controller 40 determines that the motor speed is 400 RPM, since 400 RPM is a forward acceleration state greater than the first positive speed threshold of 300 RPM, the motor controller 40 stops the execution of the positive force to suppress hill sliding.

[0087] For example, in the second embodiment, the second negative speed threshold is -300 RPM, and the second positive speed threshold is 50 RPM. In this situation, when the electric vehicle is stopped on a slope with its front end facing downward, the motor controller 40 determines that the throttle opening is zero. If the motor speed is calculated to be 60 RPM, the motor controller 40 will calculate the anti-slope throttle opening to control the motor 50 to output the negative force to prevent the vehicle from rolling. This force will cause the motor 50 to slow down from 60 RPM to 0 RPM, resulting in a stopped state. Furthermore, if the motor controller 40 determines that the motor speed is -400 RPM, the motor controller 40 will stop the negative force to prevent the vehicle from rolling because -400 RPM is less than the second negative speed threshold of -300 RPM, indicating a reverse state.

[0088] The anti-slope setting button 70 is electrically connected to the first communication circuit 33, facilitating the electrical connection of the vehicle processing chip 32 to the anti-slope setting button 70 via the first communication circuit 33. Furthermore, the motor processing chip 42 is electrically connected to the anti-slope setting button 70 via the second communication circuit 43 and the first communication circuit 33. In this embodiment, the first communication circuit 33 and the second communication circuit 43 are each a Controller Area Network (CAN) communication circuit, and the anti-slope setting button 70 is a push button switch that controls whether the electric vehicle's anti-slope function is enabled or disabled.

[0089] When the user presses the anti-slope setting button 70 to activate the anti-slope function, the anti-slope setting button 70 generates a signal indicating an anti-slope flag = 1 and transmits the signal to the vehicle processing chip 32 via the first communication circuit 33. The vehicle processing chip 32 then transmits the signal to the motor processing chip 42 via the first communication circuit 33 and the second communication circuit 43. Conversely, when the user presses the anti-slope setting button 70 again to deactivate the anti-slope function, the anti-slope setting button 70 generates a signal indicating an anti-slope flag = 0 and transmits the signal to the vehicle processing chip 32. The vehicle processing chip 32 then transmits the signal to the motor processing chip 42 via the first communication circuit 33 and the second communication circuit 43.

[0090] When the vehicle processing chip 32 receives the signal indicating the anti-slope rollback flag = 1, the vehicle processing chip 32 controls the anti-slope rollback indicator light 21 on the instrument panel 20 to illuminate, thereby notifying the driver that the anti-slope rollback function is enabled. Conversely, when the vehicle processing chip 32 receives the signal indicating the anti-slope rollback flag = 0, the vehicle processing chip 32 controls the anti-slope rollback indicator light 21 on the instrument panel 20 to stop illuminating, thereby notifying the driver that the anti-slope rollback function is disabled.

[0091] In the first embodiment, when the motor processing chip 42 receives the anti-slope flag = 1 signal and determines that the anti-slope setting button 70 has been pressed and activated by the driver, the motor processing chip 42 then proceeds to determine whether the throttle opening is zero and whether the motor speed is less than the first negative speed threshold. The throttle opening calculated by the vehicle processing chip 32 is expressed as a percentage. For example, 1.0 represents a 100% throttle opening, while 0.3 represents a 30% throttle opening. Therefore, when the motor processing chip 42 determines whether the throttle opening is zero after being notified of the throttle opening by the vehicle processing chip 32, the motor processing chip 42 determines whether the throttle opening is 0%.

[0092] When the motor processing chip 42 determines that the anti-hill roll setting button 70 is activated, the throttle opening is zero, and the motor speed is less than the first negative speed threshold, the motor processing chip 42 begins to execute the anti-hill roll function to control the motor 50 to output the anti-hill roll positive force. Otherwise, the motor processing chip 42 re-executes the step of receiving the motor speed signal from the motor speed sensor 51 and calculating the motor speed based on the motor speed signal.

[0093] Then, after the motor processing chip 42 controls the motor 50 to output the anti-slope positive force, the motor processing chip 42 determines whether the anti-slope setting button 70 is closed, determines whether the throttle opening is greater than the anti-slope throttle opening, and determines whether the motor speed is greater than the first positive speed threshold.

[0094] If the motor processing chip 42 determines that the anti-hill roll setting button 70 is off, that the throttle opening is greater than the anti-hill roll throttle opening, or that the motor speed is greater than the first positive speed threshold, the motor processing chip 42 stops executing the anti-hill roll positive force. Otherwise, the motor processing chip 42 returns to the step of determining whether the motor speed is zero, continuously looping to determine when to stop executing the anti-hill roll positive force.

[0095] The above-mentioned closing of the anti-slope setting button 70 means that the driver himself does not want to execute the anti-slope function. The throttle opening is greater than the anti-slope throttle opening, which means that the throttle opening is actively opened by the driver and is much greater than the throttle opening opened when the motor processing chip 42 automatically controls the motor 50 to prevent slope sliding. The motor speed is greater than the first positive speed threshold, which means that the driver actively accelerates the electric vehicle, so there is no need to increase the motor speed. In the above situation, the electric vehicle does not need the assistance of the anti-slope function of the present invention, so the motor processing chip 42 will determine to stop executing the anti-slope function in a timely manner, so that the driver can enjoy the original functions of the electric vehicle, such as accelerating forward on the slope, accelerating to reverse, or shifting to N gear to move the car hand-in-hand, and other more types of applications.

[0096] See also Figure 3A As shown, the content of the first embodiment, that is, the scenario in which the electric vehicle is parked on the slope with the front end facing upward, can be summarized into the following steps executed by the motor processing chip 42 of the motor controller 40:

[0097] Step S200A: After executing step S10A, determine whether the throttle opening is zero, determine whether the motor speed is less than the first negative speed threshold, and determine whether the anti-slope setting button is activated based on the signal received from the anti-slope flag.

[0098] Step S300A: If the throttle opening is determined to be zero, the motor speed is less than the first negative speed threshold, and the anti-slope setting button is activated, the anti-slope function is activated to control the motor 50 to output the anti-slope positive force. Otherwise, step S10A is executed.

[0099] Furthermore, step S300A includes the following sub-steps:

[0100] Step S310A: Determine whether the motor speed is less than zero.

[0101] Step S320A: When it is determined that the motor speed is less than zero, the throttle opening is automatically increased according to the motor speed to control the motor 50 to output the positive force for suppressing hill sliding, that is, to control the motor 50 to increase the output power.

[0102] Step S330A: When it is determined that the motor speed is equal to or greater than zero, the throttle opening is maintained to control the motor 50 to maintain the output of the positive force for suppressing the slope, so as to continuously supply the electric vehicle with the force to prevent the electric vehicle from sliding backward.

[0103] Step S340A: After controlling the motor 50 to output the anti-slope rolling positive force, further determine whether the anti-slope rolling setting button 70 is closed due to being pressed again, thereby turning off the anti-slope rolling function, and determine whether the throttle opening is greater than the anti-slope rolling throttle opening, and determine whether the motor speed is greater than the first positive speed threshold.

[0104] Step S400A: If it is determined that the anti-slope roll setting button 70 is off (i.e., the anti-slope roll function is disabled), or if it is determined that the throttle opening is greater than the anti-slope roll throttle opening, or if it is determined that the motor speed is greater than the first positive speed threshold, the execution of the anti-slope roll positive force is terminated. Otherwise, step S310A is executed.

[0105] See also Figure 3B As shown, the content of the second embodiment, that is, the scenario in which the electric vehicle is parked with the front end facing downward on the slope, can be summarized as the following steps executed by the motor processing chip 42 of the motor controller 40:

[0106] Step S200B: After executing step S10B, determine whether the throttle opening is zero, determine whether the motor speed is greater than the second positive speed threshold, and determine whether the anti-slope setting button is activated based on the signal received from the anti-slope flag.

[0107] Step S300B: If it is determined that the throttle opening is zero, the motor speed is greater than the second positive speed threshold, and the anti-slope setting button is activated, the anti-slope function is activated to control the motor 50 to output the anti-slope negative force. Otherwise, step S10B is executed.

[0108] Furthermore, step S300B includes the following sub-steps:

[0109] Step S310B: Determine whether the motor speed is greater than zero.

[0110] Step S320B: When it is determined that the motor speed is greater than zero, the throttle opening is automatically increased according to the motor speed to control the motor 50 to output the negative force for suppressing hill sliding, that is, to control the motor 50 to increase the output power.

[0111] Step S330B: When it is determined that the motor speed is equal to or less than zero, the throttle opening is maintained to control the motor 50 to maintain the output of the negative force for suppressing hill sliding, so as to continuously supply the electric vehicle with the force for preventing the electric vehicle from sliding forward.

[0112] Step S340B: After controlling the motor 50 to output the negative force to suppress hill sliding, further determine whether the hill sliding prevention setting button 70 is closed due to being pressed again, thereby turning off the hill sliding prevention function, and determine whether the throttle opening is greater than zero, and determine whether the motor speed is less than the second negative speed threshold.

[0113] Step S400B: If the anti-slope setting button 70 is determined to be off (i.e., the anti-slope function is disabled), or if the throttle opening is greater than zero, or if the motor speed is less than the second negative speed threshold, the execution of the negative force to suppress slope rolling is terminated. Otherwise, step S310B is executed. In other words, when the motor controller 40 receives a signal from the vehicle controller 30 indicating that the throttle opening is not zero, this indicates that the driver has rotated the throttle grip 10 to drive the vehicle, and therefore the execution of the negative force to suppress slope rolling needs to be terminated.

[0114] In summary, through the execution of the aforementioned steps by the motor processing chip 42 and the coordinated operation between the motor processing chip 42 and the vehicle processing chip 32, the present invention ensures that the electric vehicle driven by the driver will timely execute the anti-slope function, for example, when the electric vehicle is stopped on a slope and the anti-slope function is activated. This automatically increases the throttle position, causing the motor 50 to increase its horsepower output while maintaining the motor speed at zero. The electric vehicle utilizing the present invention can ensure the driver's safety when stopping the vehicle on the slope. Even if the driver is driving a heavier three-wheeled or four-wheeled electric vehicle on the slope and forgets to apply the parking brake 60 when stopping, the anti-slope function, activated by the anti-slope setting button 70 and executed by the motor processing chip 42 of the motor controller 40, can automatically provide sufficient output commands to the motor 50 to maintain its output, effectively stopping the electric vehicle on the slope and preventing it from rolling.

Claims

1. An electric vehicle anti-slip control system, characterized in that: include: A motor having a motor speed sensor; wherein the motor speed sensor senses a speed of the motor and generates a motor speed signal; a motor controller electrically connected to the motor and the motor speed sensor, receiving the motor speed signal from the motor speed sensor, and calculating a motor speed according to the motor speed signal; a throttle opening sensor, sensing the opening of a throttle of the electric vehicle and generating a throttle opening signal; a vehicle controller electrically connected to the throttle opening sensor and the motor controller, and calculating and outputting a throttle opening according to the throttle opening signal received from the throttle opening sensor; Wherein, the motor controller determines whether the motor speed is less than a first negative speed threshold; Wherein, the motor controller receives the throttle opening from the vehicle controller, and the motor controller determines whether the throttle opening is zero; When the motor speed is less than the first negative speed threshold and the throttle opening is zero, the motor controller calculates an anti-slope sliding throttle opening to control the motor to output a slope-slope suppressing positive force.

2. The electric vehicle anti-slope control system according to claim 1, characterized in that: Further including: An anti-slip indicator light, electrically connected to the vehicle controller; an anti-slope setting button, electrically connected to the vehicle controller; wherein when the anti-slope setting button is activated, the anti-slope setting button generates an anti-slope flag signal to the vehicle controller; When the vehicle controller determines that the anti-slope setting button is activated, the vehicle controller controls the anti-slope indicator light to light up; When the motor controller receives the signal of the anti-slope flag and determines that the anti-slope setting button is activated, the motor controller starts to determine whether the motor speed is less than the first negative speed threshold and whether the throttle opening is zero.

3. The electric vehicle anti-slope control system according to claim 1, characterized in that: After the motor controller controls the motor to output the anti-slope positive force, the motor controller determines whether the anti-slope setting button is turned off, whether the throttle opening is greater than the anti-slope throttle opening, and whether the motor speed is greater than a preset first positive speed threshold; Among them, when the motor controller determines that the anti-slope setting button is closed, or determines that the throttle opening is greater than the anti-slope throttle opening, or determines that the motor speed is greater than the first positive speed threshold, the motor controller stops the execution of the positive force to suppress slope sliding.

4. An electric vehicle anti-slip control system, characterized in that: include: A motor having a motor speed sensor; wherein the motor speed sensor senses a speed of the motor and generates a motor speed signal; a motor controller electrically connected to the motor and the motor speed sensor, receiving the motor speed signal from the motor speed sensor, and calculating a motor speed according to the motor speed signal; a throttle opening sensor, sensing the opening of a throttle of the electric vehicle and generating a throttle opening signal; a vehicle controller electrically connected to the throttle opening sensor and the motor controller, and calculating and outputting a throttle opening according to the throttle opening signal received from the throttle opening sensor; Wherein, the motor controller determines whether the motor speed is greater than a second positive speed threshold; Wherein, the motor controller receives the throttle opening from the vehicle controller, and the motor controller determines whether the throttle opening is zero; When the motor speed is greater than the second positive speed threshold and the throttle opening is zero, the motor controller calculates an anti-slope sliding throttle opening to control the motor to output a negative force to inhibit slope sliding.

5. The electric vehicle anti-slope control system according to claim 4, characterized in that: Further including: An anti-slip indicator light, electrically connected to the vehicle controller; an anti-slope setting button, electrically connected to the vehicle controller; wherein when the anti-slope setting button is activated, the anti-slope setting button generates an anti-slope flag signal to the vehicle controller; When the vehicle controller determines that the anti-slope setting button is activated, the vehicle controller controls the anti-slope indicator light to light up; When the motor controller receives the signal of the anti-slope flag and determines that the anti-slope setting button is activated, the motor controller starts to determine whether the motor speed is greater than the second positive speed threshold and whether the throttle opening is zero.

6. The electric vehicle anti-slope control system according to claim 4, characterized in that: After the motor controller controls the motor to output the negative force for inhibiting rolling down the slope, the motor controller determines whether the anti-rolling down the slope setting button is turned off, whether the throttle opening is greater than zero, and whether the motor speed is less than a preset second negative speed threshold; When the motor controller determines that the anti-slope setting button is turned off, or determines that the throttle opening is greater than zero, or determines that the motor speed is less than the second negative speed threshold, the motor controller stops the execution of the negative force to suppress slope sliding.

7. A method for controlling an electric vehicle to prevent a slope from sliding is performed by a motor controller, wherein: The electric vehicle anti-slip control method comprises the following steps: Receiving a motor speed signal from a motor speed sensor, calculating a motor speed according to the motor speed signal, and receiving a throttle opening from a vehicle controller; Determining whether the motor speed is less than a first negative speed threshold, and determining whether the throttle opening is zero; When it is determined that the motor speed is less than the first negative speed threshold and the throttle opening is zero, an anti-slope rolling throttle opening is calculated to control the motor to output a slope rolling inhibiting positive force.

8. The electric vehicle anti-slope control method according to claim 7, characterized in that: Further follow these steps: Determining whether the anti-slope setting button is activated; When it is determined that the anti-slope setting button is activated, the steps of determining whether the motor speed is less than the first negative speed threshold and determining whether the throttle opening is zero are executed; Wherein, after the motor is controlled to output the positive force for inhibiting slope sliding, the following steps are further performed: Determine whether the anti-slope setting button is turned off, determine whether the throttle opening is greater than the anti-slope throttle opening, and determine whether the motor speed is greater than a preset first positive speed threshold; When it is determined that the anti-slope setting button is turned off, or when it is determined that the throttle opening is greater than the anti-slope throttle opening, or when it is determined that the motor speed is greater than the first positive speed threshold, the execution of the anti-slope positive force is stopped.

9. An anti-slope control method for an electric vehicle is executed by a motor controller, characterized in that: The electric vehicle anti-slip control method comprises the following steps: Receiving a motor speed signal from a motor speed sensor, calculating a motor speed according to the motor speed signal, and receiving a throttle opening from a vehicle controller; Determining whether the motor speed is greater than a second positive speed threshold, and determining whether the throttle opening is zero; When it is determined that the motor speed is greater than the second positive speed threshold and the throttle opening is zero, an anti-slope rolling throttle opening is calculated to control the motor to output a negative force to inhibit slope rolling.

10. The electric vehicle anti-slope control method according to claim 9, characterized in that: Further follow these steps: Determining whether the anti-slope setting button is activated; When it is determined that the anti-slope setting button is activated, the steps of determining whether the motor speed is greater than the second positive speed threshold and determining whether the throttle opening is zero are executed; Wherein, after the motor is controlled to output the negative force for inhibiting slope sliding, the following steps are further performed: Determining whether the anti-slope setting button is turned off, determining whether the throttle opening is greater than zero, and determining whether the motor speed is less than a preset second negative speed threshold; When it is determined that the anti-slope setting button is turned off, or when it is determined that the throttle opening is greater than zero, or when it is determined that the motor speed is less than the second negative speed threshold, the execution of the negative force for suppressing slope sliding is stopped.

Images