Electric motorcycle and control method thereof

Abstract

The invention discloses an electric motorcycle and a control method thereof.When a motor controller receives a braking signal sent by a braking assembly, pose parameters of the electric motorcycle are obtained, and when the pose parameters meet preset conditions, a temple structure is controlled to be switched from a folded state to a supporting state, and controlling the driving motor to output reverse torque according to the gradient so as to control the electric motorcycle to maintain a static state. Therefore, when the brake assembly limits rotation of the wheels, if the electric motorcycle inclines, the motor controller can control the temple structure to be switched to the supporting state, the temple structure can support the electric motorcycle, and therefore the electric motorcycle is prevented from toppling over, and the safety of the electric motorcycle is improved; and the driving motor can be controlled to work with reverse torque to keep the electric motorcycle static, so that the electric motorcycle can be stably parked without continuously operating a braking assembly by a user.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to an electric motorcycle and its control method. Background Art

[0002] Due to its convenience and simple operation, electric motorcycles have become a common means of transportation for people. However, because electric motorcycles are relatively heavy, for some beginners and drivers with a small build, when parking an electric motorcycle, it is difficult for the driver to keep the electric motorcycle balanced, which easily causes the electric motorcycle to tip over. Especially when parking on a slope, problems such as vehicle tipping and backward movement are likely to occur, lacking safety and prone to safety accidents. Summary of the Invention

[0003] In view of this, this application provides an electric motorcycle and its control method, which can prevent the electric motorcycle from tipping over when parked on a slope and improve the safety of the electric motorcycle.

[0004] The technical solution of this application is as follows:

[0005] This application provides an electric motorcycle, which includes a frame; a body cover, at least part of the body cover is installed on the frame; a traveling assembly, the traveling assembly is connected to the frame; a power assembly, at least part of the power assembly is connected to the frame, the power assembly includes a drive motor, and the drive motor is used to drive the traveling assembly to work; a braking assembly, at least part of the braking assembly is installed on the frame and connected to the traveling assembly, and the braking assembly is used to brake the traveling assembly and output a braking signal when braking the traveling assembly; a motor controller, the motor controller is connected to the drive motor to control the rotation of the drive motor; a side stand structure, the side stand structure is installed on the frame, and the side stand structure includes a supporting state and a retracted state; the side stand structure is connected to the motor controller, and the motor controller is connected to the braking assembly. When the motor controller receives the braking signal, it obtains the pose parameters of the electric motorcycle, and the pose parameters include the tilt angle of the electric motorcycle and the slope where the electric motorcycle is located; when the pose parameters meet the preset conditions, the motor controller controls the side stand structure to switch from the retracted state to the supporting state so that the side stand structure supports the electric motorcycle; the motor controller controls the drive motor to output a reverse torque according to the slope to control the electric motorcycle to maintain a stationary state; wherein, the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range.

[0006] In a possible implementation manner, the motor controller is further configured to: when the side stand structure switches from the supporting state to the retracted state or the electric motorcycle is re-powered on, control the drive motor to stop outputting the reverse torque.

[0007] In a possible implementation, the motor controller is further configured to: when the side stand structure switches from the retracted state to the supported state, determine that the vehicle state of the electric motorcycle is in the parked and locked state; when the side stand structure switches from the supported state to the retracted state or the electric motorcycle is re-powered, determine that the vehicle state is in the power-on ready state.

[0008] In a possible implementation, the side stand structure includes a first side stand bracket and a second side stand bracket. The first side stand bracket and the second side stand bracket are connected to the motor controller; the first side stand bracket and the second side stand bracket are mounted on the vehicle frame, and the first side stand bracket and the second side stand bracket are respectively disposed on the opposite first side and second side of the electric motorcycle.

[0009] In a possible implementation, the motor controller is further configured to: when it is determined according to the tilt angle that the electric motorcycle tilts to the first side, control the first side stand bracket to switch from the retracted state to the supported state so that the first side stand bracket supports the electric motorcycle; when it is determined according to the tilt angle that the electric motorcycle tilts to the second side, control the second side stand bracket to switch from the retracted state to the supported state so that the second side stand bracket supports the electric motorcycle.

[0010] In a possible implementation, the preset slope range includes 5% to 100%.

[0011] In a possible implementation, the preset slope range includes 8% to 30%.

[0012] The present application further provides a control method for an electric motorcycle, which is applied to a motor controller. The electric motorcycle is as described above. The control method includes: when the motor controller receives a braking signal, obtaining the pose parameters of the electric motorcycle, where the pose parameters include the tilt angle of the electric motorcycle and the slope where the electric motorcycle is located; when the pose parameters meet the preset conditions, controlling the side stand structure to switch from the retracted state to the supported state so that the side stand structure supports the electric motorcycle; controlling the drive motor to output a reverse torque according to the slope to control the electric motorcycle to maintain a stationary state; where the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range.

[0013] In a possible implementation, the control method further includes: when the side stand structure switches from the supported state to the retracted state or the electric motorcycle is re-powered, controlling the drive motor to stop outputting the reverse torque.

[0014] In a possible implementation, the control method further includes: when the side stand structure switches from the retracted state to the supported state, determining that the vehicle state of the electric motorcycle is in the parked and locked state; when the side stand structure switches from the supported state to the retracted state or the electric motorcycle is re-powered, determining that the vehicle state is in the power-on ready state.

[0015] In the electric motorcycle and its control method of the present application, when the motor controller receives a braking signal sent by the braking component, it obtains the pose parameters of the electric motorcycle. The pose parameters include the tilt angle of the electric motorcycle and the slope where the electric motorcycle is located. When the pose parameters meet the preset conditions, it controls the side stand structure to switch from the retracted state to the supporting state, so that the side stand structure supports the electric motorcycle, and calculates the reverse torque required for the drive motor to control the electric motorcycle to maintain a stationary state according to the slope, and controls the drive motor to output the calculated reverse torque, so that the electric motorcycle maintains a stationary state. Among them, the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range. Thus, when the braking component restricts the operation of the traveling component, if the electric motorcycle tilts, the motor controller can control the side stand structure to switch to the supporting state, so that the side stand structure can support the electric motorcycle, thereby preventing the electric motorcycle from tipping over, improving the safety of the electric motorcycle, and can also control the drive motor to output a reverse torque to keep the electric motorcycle stationary, so that the electric motorcycle can be stably parked without the user continuously operating the braking component. Description of the Drawings

[0016] Figure 1 is a schematic side view of the electric motorcycle provided by an embodiment of the present application.

[0017] Figure 2 is a schematic front view of the electric motorcycle provided by an embodiment of the present application.

[0018] Figure 3 is a schematic connection diagram of some components of the electric motorcycle provided by an embodiment of the present application.

[0019] Figure 4 is a schematic connection diagram of some components of the electric motorcycle provided by another embodiment of the present application.

[0020] Figure 5 is a schematic diagram of the structure of the first side stand bracket or the second side stand bracket in the retracted state provided by an embodiment of the present application.

[0021] Figure 6 is a schematic diagram of the structure of the first side stand bracket or the second side stand bracket in the supporting state provided by an embodiment of the present application.

[0022] Figure 7 is a flowchart of the control method of the electric motorcycle provided by an embodiment of the present application.

[0023] Figure 8 is a flowchart of the control method of the electric motorcycle provided by another embodiment of the present application.

[0024] Description of the Main Element Symbols

[0025] Electric motorcycle 100

[0026] Frame 10

[0027] Body covering 20

[0028] Traveling assembly 30

[0029] Wheel 31

[0030] Drive motor 40

[0031] Brake assembly 50

[0032] Brake handle 51

[0033] Motor controller 60

[0034] Side support structure 70

[0035] First side support bracket 71

[0036] Fixed seat 710

[0037] Footrest 711

[0038] Second fixed column 712

[0039] Tension spring 713

[0040] Card slot 714

[0041] Second side support bracket 72

[0042] Side support sensor 80 Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0046] The following will describe in detail some embodiments of the present invention in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0047] Please refer to Figures 1 to 3 , Figure 1 which is a schematic side view of an electric motorcycle 100 provided in an embodiment of the present application, Figure 2 and Figure 3 is a schematic connection diagram of some components in the electric motorcycle 100 of the embodiment of the present application. Among them, the electric motorcycle 100 includes a frame 10, a body cover 20, a running assembly 30, a power assembly (not labeled in the figure), a braking assembly 50, and a motor controller 60. In the embodiment of the present application, no specific limitation is imposed on the vehicle body structure.

[0048] Among them, the body cover 20 is at least partially mounted on the frame 10. The running assembly 30 is connected to the frame 10, and the running assembly 30 is used to drive the electric motorcycle 100 to move. The running assembly 30 includes wheels 31, and the running assembly 30 drives the electric motorcycle 100 to move by rotating the wheels 31. The power assembly is at least partially connected to the frame 10, and the power assembly includes a drive motor 40. The drive motor 40 is used to drive the wheels 31 of the electric motorcycle 100 to rotate so as to drive the running assembly to work. The braking assembly 50 is at least partially mounted on the frame 10 and is connected to the running assembly 30. The braking assembly 50 is used to brake the running assembly 30 and output a braking signal when braking the running assembly 30. The motor controller 60 is disposed on the frame 10, and the motor controller 60 is connected to the drive motor 40 to control the rotation of the drive motor 40, and further control the rotation of the wheels 31 of the electric motorcycle 100. It can be understood that the braking assembly 50 can limit the rotation of the wheels 31, thereby realizing the braking of the running assembly 30. While the braking assembly 50 limits the rotation of the wheels 31, it outputs a braking signal. Among them, braking the running assembly 30 means braking the electric motorcycle 100.

[0049] In some embodiments, as Figure 2 and Figure 3 shown, the braking assembly 50 may include a handbrake braking assembly (not fully shown in the figure).

[0050] The handbrake braking assembly may include a brake handle 51, a brake cable (not shown in the figure), and a brake caliper (not shown in the figure). The brake handle 51 is for the driver to operate. One end of the brake cable is connected to the brake handle 51, and the other end of the brake cable is connected to the brake caliper. The number of brake calipers corresponds to the number of wheels 31. A brake caliper is respectively provided on each wheel 31. The brake cable is used to transmit the handbrake signal of the brake handle 51 to the brake caliper to control the brake caliper to brake the brake disc (not shown in the figure) of the wheel 31, thereby restricting the rotation of the wheel 31 and realizing the braking of the electric motorcycle 100.

[0051] Of course, in some embodiments, the braking assembly 50 of the electric motorcycle 100 may also include a foot braking assembly (not shown in the figure). The foot braking assembly may include a brake seat (not shown in the figure), a brake pedal (not shown in the figure), a brake pump (not shown in the figure), a brake oil pipe (not shown in the figure), and a brake caliper (the same as the brake caliper in the handbrake braking assembly). The brake pedal is installed on the brake seat. The brake pump is installed on the frame 10 and connected to the brake pedal. One end of the brake oil pipe is connected to the brake pump, and the other end is connected to the corresponding brake caliper. When it is necessary to brake the electric motorcycle 100, the driver steps on the brake pedal. The brake pedal controls the brake pump to output control oil pressure and transmits it to the corresponding brake caliper through the corresponding brake oil pipe. The brake caliper brakes the brake disc of the wheel 31, thereby restricting the rotation of the wheel 31 and realizing the braking of the electric motorcycle 100.

[0052] When the driver operates the above-mentioned braking assembly 50, it indicates that the driver has the intention to stop the electric motorcycle 100.

[0053] Currently, due to the large weight of the electric motorcycle 100, when the electric motorcycle 100 brakes and stops, it is difficult for the driver to keep the electric motorcycle 100 balanced, which easily causes the electric motorcycle 100 to tip over. Especially when parking on a slope, problems such as vehicle tipping and backing are likely to occur, lacking safety and prone to safety accidents.

[0054] For this reason, please refer to again Figure 1 , the electric motorcycle 100 of the embodiment of the present application further includes a side stand structure 70. The side stand structure 70 is installed on the frame 10. The side stand structure 70 includes a supporting state and a retracted state, and the side stand structure 70 is connected to the motor controller 60. In addition, as Figure 3 shown, the motor controller 60 may be connected to the braking assembly 50 to receive a braking signal. Thus, the motor controller 60 can confirm whether the electric motorcycle 100 is in a braking state.

[0055] The motor controller 60 is further configured to: when receiving a braking signal, obtain the pose parameters of the electric motorcycle 100, where the pose parameters include the tilt angle of the electric motorcycle 100 and the slope where the electric motorcycle 100 is located; when the pose parameters meet the preset conditions, control the side stand structure 70 to switch from the retracted state to the supported state, so that the side stand structure 70 supports the electric motorcycle 100, and calculate the reverse torque required for the drive motor 40 to control the electric motorcycle 100 to maintain a stationary state according to the slope, and control the drive motor 40 to operate with the calculated reverse torque.

[0056] Wherein, the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range.

[0057] It can be understood that the braking component 50 outputs a braking signal only when it generates an actuation to limit the rotation of the wheel 31 under the operation of the driver. That is to say, when the braking component 50 outputs a braking signal, the electric motorcycle 100 is in a braking state and gradually stops moving. The tilt angle of the electric motorcycle 100 refers to the tilt angle of the body of the electric motorcycle 100. Thus, when the braking component 50 restricts the rotation of the wheel 31 (i.e., when the driver operates the brake handle 51 and / or steps on the brake pedal), the braking component 50 outputs a braking signal to the motor controller 60. The motor controller 60 receives the braking signal, and when the pose parameters of the electric motorcycle 100 meet the preset conditions, the motor controller 60 controls the side stand structure 70 to switch to the supported state, so that the side stand structure 70 can support the electric motorcycle 100, thereby preventing the electric motorcycle 100 from tipping over, enabling the electric motorcycle 100 to park stably, and improving the safety of the electric motorcycle 100.

[0058] Wherein, the switching of the side stand structure 70 from the supported state to the retracted state can be achieved by manual operation.

[0059] Since the driver can easily maintain balance when the electric motorcycle 100 is traveling on flat ground and it is not easy to cause the electric motorcycle 100 to tip over. Therefore, in the embodiment of the present application, when the electric motorcycle 100 brakes on a slope, that is, when the electric motorcycle 100 needs to be parked on a slope, the motor controller 60 controls the side stand structure 70 to switch to the supported state.

[0060] When the electric motorcycle 100 brakes on a slope, the driver needs to continuously operate the braking component 50 (such as continuously holding the brake handle 51 and / or continuously stepping on the brake pedal) to prevent the electric motorcycle 100 from slipping under the action of gravity, which brings a lot of inconvenience to the driver. For this reason, when the pose parameters meet the preset conditions, the motor controller 60 of the embodiment of the present application also controls the drive motor 40 to output a reverse torque according to the slope to control the electric motorcycle 100 to maintain a stationary state.

[0061] That is to say, when the driver operates the braking assembly 50 on a slope, the braking assembly 50 generates a braking signal to the motor controller 60. When the pose parameters meet the preset conditions, the motor controller 60 controls the side support structure 70 to switch to the support state. At the same time, the motor controller 60 calculates the reverse torque required for the drive motor 40 of the electric motorcycle 100 to maintain a stationary state according to the slope, and controls the drive motor 40 to output this reverse torque. The drive motor 40 keeps the electric motorcycle 100 stationary, so that when the driver stops operating the braking assembly 50, the electric motorcycle 100 can also be parked on the slope without the problem of slipping. Thus, when the electric motorcycle 100 is parked on a slope, the driver can stop operating the braking assembly 50 and still maintain a stable parking state.

[0062] Among them, the motor controller 60 can control the drive motor 40 to work with reverse torque by outputting corresponding drive current to the drive motor 40.

[0063] It can be understood that the slipping of the electric motorcycle 100 on a slope can refer to the backward movement of the electric motorcycle 100 when parked uphill, or the forward movement of the electric motorcycle 100 when parked downhill.

[0064] It can be understood that in the embodiment of the present application, the motor controller 60 can obtain the tilt angle of the electric motorcycle 100 and the slope where the electric motorcycle 100 is located through a pose sensing device (not shown in the figure). The pose sensing device can be set independently of the motor controller 60 or integrated into the motor controller 60. For example, the pose sensing device can include a gyroscope, an angle sensor, etc. that are set independently of the motor controller 60 or built into the motor controller 60.

[0065] Among them, the ground can be used as the reference plane. When the body of the electric motorcycle 100 is perpendicular to the ground, the tilt angle is 90°, and the preset angle range is determined based on this. Or the tilt angle when the body of the electric motorcycle 100 is perpendicular to the ground can also be set as 0° to determine the preset angle range. The preset angle range can be set according to actual application requirements. When the ground is used as the reference plane, the preset angle range can be set as 45° - 75° and 105° - 135°. When the tilt angle when the body of the electric motorcycle 100 is perpendicular to the ground is 0°, the preset angle range can be set as -45° - -15° and 15° - 45°.

[0066] It can be understood that when the electric motorcycle 100 is parked under braking and the difference in the tilt angle from the angle when the body is upright is too large, even if the side support structure 70 is in the open state, it is difficult to support the electric motorcycle 100 to prevent it from tipping over. Therefore, the preset angle range does not need to cover all possible angles of the body of the electric motorcycle 100. Of course, in the embodiment of the present application, the specific values of the preset angle range are not limited.

[0067] In some embodiments, the preset slope range can be set according to the actual application requirements of the electric motorcycle 100. For example, it can be set to 5% - 100%. Herein, the slope in the embodiments of the present application refers to the ratio of the height of the slope to the horizontal distance. For example, when the slope is 100%, it means that the angle between the slope where the electric motorcycle 100 is located and the horizontal ground is 45°.

[0068] For the electric motorcycle 100, when the slope is small and braking is required, the driver can relatively easily control the balance of the electric motorcycle 100, and the electric motorcycle 100 can remain stationary by its own frictional force after parking. Therefore, when the slope is small, it is not necessary to output a reverse torque through the drive motor 40 to keep the electric motorcycle 100 stationary. Thus, the preset slope range can be set above 8%.

[0069] When the electric motorcycle 100 is traveling on a slope with too large an angle, if braking is performed, it is difficult to output a reverse torque through the drive motor 40 to keep the electric motorcycle 100 stationary, and it is also difficult for the side support structure 70 to support the electric motorcycle 100 without tipping over. For the driver, generally, the electric motorcycle 100 will not be parked on a slope with too large an angle. Therefore, the preset slope range can be set below 30%.

[0070] Therefore, in some other embodiments, the preset slope range can be set to 8% - 30%. Of course, in the embodiments of the present application, the specific value of the preset slope range is not limited thereto and can be set according to the specific requirements of the electric motorcycle 100.

[0071] In some embodiments, the braking component 50 and the motor controller 60 can be communicatively connected. When the driver operates the braking component 50, the braking component 50 generates a braking signal and sends it to the motor controller 60. Specifically, the braking component 50 can include a braking sensor or a braking controller (not shown in the figure). When the braking sensor or the braking controller detects that the driver operates the braking component 50 (operating the brake handle 51 and / or stepping on the braking pedal), it generates a braking signal and sends it to the motor controller 60. Of course, the embodiments of the present application do not make specific limitations on this, as long as the motor controller 60 can receive the braking signal when the driver operates the braking component 50.

[0072] Furthermore, the motor controller 60 can also be used to control the drive motor 40 to stop outputting reverse torque when the side support structure 70 switches from the supporting state to the retracted state.

[0073] Among them, the side support structure 70 needs to be manually processed when switching from the supported state to the retracted state. When the side support structure 70 switches from the supported state to the retracted state, it indicates that the driver has a driving intention. Therefore, the motor controller 60 controls the drive motor 40 to stop outputting reverse torque, and the driver can twist the throttle grip of the electric motorcycle 100 to drive normally.

[0074] That is to say, when the side support structure 70 is in the supported state, even if the driver stops operating the braking component 50, the electric motorcycle 100 can be kept stationary by controlling the drive motor 40 to output reverse torque. When the side support structure 70 is in the retracted state, the motor controller 60 controls the drive motor 40 to stop outputting reverse torque, and the electric motorcycle 100 can drive normally.

[0075] In some other embodiments, the motor controller 60 can also control the drive motor 40 to stop outputting reverse torque when the electric motorcycle 100 is powered on again.

[0076] After the electric motorcycle 100 is parked, the driver may power it off. Then, if the driver needs to drive the electric motorcycle 100 again, the electric motorcycle 100 is powered on and started again. Therefore, at this time, the motor controller 60 can also control the drive motor 40 to stop outputting reverse torque so that the electric motorcycle 100 can drive normally.

[0077] In some embodiments, the motor controller 60 can also be used to determine that the vehicle state of the electric motorcycle 100 is in the parking locked state when the side support structure 70 switches from the retracted state to the supported state.

[0078] Among them, when the vehicle state is in the parking locked state, even if the driver twists the throttle grip, the motor controller 60 will not control the drive motor 40 to rotate to make the wheel 31 rotate, and thus the electric motorcycle 100 will not move when the side support structure 70 is in the supported state. Thereby, it can prevent the electric motorcycle 100 from moving when the side support structure 70 is in the supported state, resulting in the side support structure 70 hindering the movement of the electric motorcycle 100 and causing a safety accident.

[0079] Correspondingly, the motor controller 60 can also be used to: determine that the vehicle state is in the power-on ready state when the side support structure 70 switches from the supported state to the retracted state or when the electric motorcycle 100 is powered on again.

[0080] When the vehicle is in the power-on ready state, when the driver turns the throttle grip, the motor controller 60 will control the drive motor 40 to rotate, causing the wheel 31 to rotate, and then enabling the electric motorcycle 100 to travel normally. When the side stand structure 70 switches from the supporting state to the retracted state, it indicates that the driver has the intention to drive, and the vehicle state is switched to the power-on ready state, enabling the electric motorcycle 100 to travel normally. When the electric motorcycle 100 is powered on again, it indicates that the driver has the intention to drive. The driver will close the side stand structure 70 before or just after power-on, so the vehicle state is also switched to the power-on ready state, enabling the electric motorcycle 100 to travel normally.

[0081] It can be understood that, in some embodiments, as Figure 4 shown, the electric motorcycle 100 may include a side stand sensor 80, and the side stand sensor 80 can be used to sense whether the side stand structure 70 is in the supporting state or the retracted state. The side stand sensor 80 can be communicatively connected to the motor controller 60 to send the state information of the side stand structure 70 to the motor controller 60.

[0082] Among them, the side stand sensor 80 can be disposed on the side stand structure 70, and the state of the side stand structure 70 is determined by detecting the angle of the side stand structure 70. Alternatively, the side stand sensor 80 can be disposed on the vehicle frame 10 and corresponds to the position when the side stand structure 70 is in the retracted state. When the side stand structure 70 is in the retracted state, the side stand structure 70 will exert pressure on the side stand sensor 80, and thus the side stand sensor 80 can determine the state of the side stand structure 70 by detecting the pressure. Of course, the specific implementation manner of the side stand sensor 80 in the embodiments of the present application is not limited.

[0083] In some embodiments, please refer to Figure 2 , the side stand structure 70 may include a first side stand bracket 71 and a second side stand bracket 72. The first side stand bracket 71 and the second side stand bracket 72 are connected to the motor controller 60; the first side stand bracket 71 and the second side stand bracket 72 are mounted on the vehicle frame 10, and the first side stand bracket 71 and the second side stand bracket 72 are respectively disposed on the opposite first side and second side of the electric motorcycle 100.

[0084] Specifically, along the front-rear direction of the electric motorcycle 100, the first side stand bracket 71 and the second side stand bracket 72 are disposed in the middle of the electric motorcycle 100.

[0085] Further, the motor controller 60 can also be used to: when it is determined according to the tilt angle that the electric motorcycle 100 tilts to the first side, control the first side stand bracket 71 to switch from the retracted state to the supporting state, so that the first side stand bracket 71 supports the electric motorcycle 100.

[0086] Correspondingly, the motor controller 60 can also be used to: when it is determined according to the tilt angle that the electric motorcycle 100 tilts to the second side, control the second side stand 72 to switch from the retracted state to the supporting state, so that the second side stand 72 supports the electric motorcycle 100.

[0087] That is to say, the motor controller 60 can determine which side the electric motorcycle 100 tilts to according to the tilt angle, and control the side stand on the corresponding side to switch to the supporting state, and the electric motorcycle 100 is supported by the side stand corresponding to the tilted side.

[0088] It can be understood that the first side and the second side of the electric motorcycle 100 can refer to the two sides corresponding to the left and right sides of the driver when the driver straddles the electric motorcycle 100. When either the first side stand 71 or the second side stand 72 is in the supporting state, the side stand structure 70 is in the supporting state. When both the first side stand 71 and the second side stand 72 are in the retracted state, the side stand structure 70 is in the retracted state.

[0089] Specifically, the motor controller 60 can take the angle when the body of the electric motorcycle 100 is perpendicular to the ground as 0°. When the value of the tilt angle is 15° to 45°, it is determined that the body tilts to the first side. When the value of the tilt angle is -15° to -45°, it is determined that the body tilts to the second side, and vice versa. Thus, it can be determined which side the electric motorcycle 100 tilts to according to the positive or negative of the obtained tilt angle.

[0090] Alternatively, the motor controller 60 can also take the ground as the reference plane. When the tilt angle is 75° to 105°, it is determined that the body of the electric motorcycle 100 is upright. When the tilt angle is between 45° and 75°, it is determined that the body of the electric motorcycle 100 tilts to the first side; and when the tilt angle is between 105° and 135°, it is determined that the body of the electric motorcycle 100 tilts to the second side, and vice versa.

[0091] In some other embodiments, the motor controller 60 can also directly control the locking part to switch both the first side stand 71 and the second side stand 72 from the retracted state to the supporting state when the tilt angle is within a preset angle range. Thus, no matter which side the electric motorcycle 100 tilts to, there is a side stand that can support it.

[0092] Specifically, such as Figure 5 and Figure 6As shown, the first side support bracket 71 may include a fixed seat 710, a footrest 711, a first fixing column (not shown in the figure), a second fixing column 712, and a tension spring 713. The fixed seat 710 is fixedly installed on the vehicle frame 10. The footrest 711 is hinged to the fixed seat 710. The first fixing column is arranged on the fixed seat 710. The second fixing column 712 is arranged on the footrest 711. One end of the tension spring 713 is connected to the first fixing column, and the other end of the tension spring 713 is connected to the second fixing column 712. A clamping column (not shown in the figure) may be arranged on the footrest 711. A clamping groove 714 may be formed in the fixed seat 710 corresponding to the position of the clamping column. A locking member (not shown in the figure) may be arranged in the clamping groove 714. The locking member is connected to the motor controller 60. When the first side support bracket 71 is in the retracted state, the clamping column is clamped in the clamping groove 714 and locked by the locking member. When the first side support bracket 71 needs to be switched from the retracted state to the supporting state, the motor controller 60 controls the corresponding locking member to unlock, and the footrest 711 is switched to the supporting state under the elastic force of the tension spring 713, and the clamping column disengages from the clamping groove 714.

[0093] Specifically, the locking member may include a small electric push rod (not shown in the figure), a clamping block (not shown in the figure), and a compression spring (not shown in the figure). One side of the small electric push rod is connected to the clamping block. The other side of the clamping block is connected to one end of the compression spring. The other end of the compression spring is connected to the side wall of the clamping groove 714. The small electric push rod is communicatively connected to the motor controller 60. When the first side support bracket 71 is in the retracted state, the elastic force of the compression spring causes the clamping block to clamp the clamping column in the clamping groove 714. When the first side support bracket 71 needs to be switched from the retracted state to the supporting state, the motor controller 60 sends a signal to the corresponding small electric push rod, and the corresponding small electric push rod pushes the corresponding clamping block in the direction of compression of the corresponding compression spring, and the clamping block no longer clamps the clamping column. Thus, the footrest 711 is pulled towards the ground under the elastic force of the tension spring 713, and the footrest 711 is switched to the supporting state. When the first side support bracket 71 needs to be switched from the supporting state to the retracted state, the driver retracts the footrest 711, the clamping column enters the clamping groove 714, and the elastic force of the compression spring causes the clamping block to clamp the clamping column.

[0094] Among them, in some specific examples, the clamping column may be the second fixing column 712. The motor controller 60 and the small electric push rod may be connected by a hard wire so that the motor controller 60 can send a signal to the small electric push rod.

[0095] Of course, in the embodiments of the present application, the specific structure of the locking member is not limited, as long as it can cause the footrest 711 to be switched to the supporting state under the elastic force of the tension spring 713 when the first side support bracket 71 needs to be switched from the retracted state to the supporting state, and when the first side support bracket 71 is switched from the supporting state to the retracted state, the clamping column on the footrest 711 can be locked in the clamping groove 714.

[0096] It can be understood that the specific structure of the second side support bracket 72 is the same as that of the first side support bracket 71, and this application will not elaborate on it any further.

[0097] Please refer to Figure 7 , this application embodiment also provides a control method for the electric motorcycle 100 as described above. In at least one embodiment, the control method of this application embodiment is applied to the aforementioned motor controller 60, that is, executed by the aforementioned motor controller 60.

[0098] Among them, the control method includes:

[0099] S110. When a braking signal is received, obtain the pose parameters of the electric motorcycle 100. The pose parameters include the tilt angle of the electric motorcycle 100 and the slope where the electric motorcycle 100 is located.

[0100] Among them, the braking signal is output to the motor controller 60 by the braking assembly 50 when restricting the rotation of the wheel 31 (that is, when the driver operates the brake handle 51). The motor controller 60 can obtain the tilt angle of the electric motorcycle 100 and the slope where the electric motorcycle 100 is located through a pose sensing device. The pose sensing device can be set independently of the motor controller 60 or integrated into the motor controller 60. For example, the pose sensing device can include a gyroscope, an angle sensor, etc. that are set independently of the motor controller 60 or built into the motor controller 60.

[0101] S120. Determine whether the pose parameters meet the preset conditions.

[0102] Among them, the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range. That is, determine whether the tilt angle is within the preset angle range and whether the slope is within the preset slope range.

[0103] S130. When the pose parameters meet the preset conditions, control the side support structure 70 to switch from the retracted state to the supported state, so that the side support structure 70 supports the electric motorcycle 100.

[0104] S140. Control the drive motor 40 to output a reverse torque according to the slope to control the electric motorcycle 100 to maintain a stationary state.

[0105] Thus, when the braking assembly 50 restricts the rotation of the wheel 31 (i.e., when the driver operates the brake lever 51), the braking assembly 50 outputs a braking signal to the motor controller 60. The motor controller 60 receives the braking signal and, when the pose parameters of the electric motorcycle 100 meet the preset conditions, the motor controller 60 controls the side stand structure 70 to switch to the supporting state, enabling the side stand structure 70 to support the electric motorcycle 100, thereby preventing the electric motorcycle 100 from tipping over, allowing the electric motorcycle 100 to park stably, and improving the safety of the electric motorcycle 100. When the pose parameters meet the preset conditions, the motor controller 60 also calculates the reverse torque required for the drive motor 40 of the electric motorcycle 100 to maintain a stationary state according to the slope, and controls the drive motor 40 to output this reverse torque. The drive motor 40 keeps the electric motorcycle 100 stationary, so that when the driver stops operating the braking assembly 50, the electric motorcycle 100 can also be parked on a slope without the problem of rolling backward. Thus, when the electric motorcycle 100 is parked on a slope, the driver can stop operating the braking assembly 50 and still park stably.

[0106] Further, the control method may further include: when the side stand structure 70 switches from the supporting state to the retracted state or when the electric motorcycle 100 is powered on again, controlling the drive motor 40 to stop outputting the reverse torque.

[0107] Among them, when the side stand structure 70 switches from the supporting state to the retracted state or when the electric motorcycle 100 is powered on again, it indicates that the driver has a driving intention. Therefore, the motor controller 60 controls the drive motor 40 to stop outputting the reverse torque, and the driver can turn the throttle grip of the electric motorcycle 100 to drive normally.

[0108] Please refer to Figure 8 and the control method may further include:

[0109] S210. When the side stand structure 70 switches from the retracted state to the supporting state, determine that the vehicle state of the electric motorcycle 100 is in the parking locked state.

[0110] Among them, when the vehicle state is in the parking locked state, even if the driver turns the throttle grip, the motor controller 60 will not control the drive motor 40 to rotate and cause the wheel 31 to rotate, and thus will not cause the electric motorcycle 100 to move when the side stand structure 70 is in the supporting state. Thus, it can prevent the electric motorcycle 100 from moving when the side stand structure 70 is in the supporting state, which may cause the side stand structure 70 to hinder the movement of the electric motorcycle 100 and lead to a safety accident.

[0111] S230. When the side stand structure 70 switches from the supporting state to the retracted state or when the electric motorcycle 100 is powered on again, determine that the vehicle state is in the power-on ready state.

[0112] When the vehicle is in the power-on ready state, when the driver turns the throttle grip, the motor controller 60 will control the drive motor 40 to rotate, causing the wheel 31 to rotate, and then enabling the electric motorcycle 100 to travel normally. When the side stand structure 70 is switched from the supporting state to the retracted state, it indicates that the driver has the intention to drive, and switches the vehicle state to the power-on ready state, enabling the electric motorcycle 100 to travel normally. When the electric motorcycle 100 is powered on again, it indicates that the driver has the intention to drive. The driver will close the side stand structure 70 before or just after power-on, thus also switching the vehicle state to the power-on ready state, enabling the electric motorcycle 100 to travel normally.

[0113] The control method of the embodiment of the present application can be seen in detail in the aforementioned electric motorcycle 100, and will not be elaborated here.

[0114] The above embodiments are described in the preferred embodiment mode of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various deformations and improvements made by those of ordinary skill in the art to the technical solution of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. An electric motorcycle, comprising: a frame; a body covering, at least part of which is mounted on the frame; a running assembly connected to the frame; a power assembly, at least part of which is connected to the frame, the power assembly including a drive motor for driving the running assembly to work; a braking assembly, at least part of which is mounted on the frame and connected to the running assembly, the braking assembly being used to brake the running assembly and output a braking signal when braking the running assembly; a motor controller connected to the drive motor to control the rotation of the drive motor; a side stand structure mounted on the frame, the side stand structure including a supporting state and a retracted state; characterized in that the side stand structure is connected to the motor controller, and the motor controller is connected to the braking assembly, when the motor controller receives the braking signal, it obtains the pose parameters of the electric motorcycle, and the pose parameters include the tilt angle of the electric motorcycle and the slope where the electric motorcycle is located; when the pose parameters meet the preset conditions, the motor controller controls the side stand structure to switch from the retracted state to the supporting state so that the side stand structure supports the electric motorcycle; the motor controller controls the drive motor to output a reverse torque according to the slope to control the electric motorcycle to maintain a stationary state; wherein the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range.

2. The electric motorcycle according to claim 1, characterized in that the motor controller is further configured to: when the side stand structure switches from the supporting state to the retracted state or the electric motorcycle is re-powered on, control the drive motor to stop outputting the reverse torque.

3. The electric motorcycle according to claim 1 or 2, characterized in that the motor controller is further configured to: when the side stand structure switches from the retracted state to the supporting state, determine that the vehicle state of the electric motorcycle is in a parking locked state; when the side stand structure switches from the supporting state to the retracted state or the electric motorcycle is re-powered on, determine that the vehicle state is in a power-on ready state.

4. The electric motorcycle according to claim 1, characterized in that the side stand structure includes a first side stand bracket and a second side stand bracket, the first side stand bracket and the second side stand bracket are connected to the motor controller; the first side stand bracket and the second side stand bracket are mounted on the frame, and the first side stand bracket and the second side stand bracket are respectively arranged on the first side and the second side opposite to each other of the electric motorcycle.

5. The electric motorcycle according to claim 4, characterized in that the motor controller is further configured to: when it is determined according to the tilt angle that the electric motorcycle tilts to the first side, control the first side stand bracket to switch from the retracted state to the supporting state so that the first side stand bracket supports the electric motorcycle; When it is determined that the electric motorcycle is tilted to the second side according to the tilt angle, control the second side stand bracket to switch from the retracted state to the supported state, so that the second side stand bracket supports the electric motorcycle.

6. The electric motorcycle according to claim 1, wherein, the preset slope range includes 5% to 100%.

7. The electric motorcycle according to claim 1, wherein, the preset slope range includes 8% to 30%.

8. A control method for an electric motorcycle, applied to a motor controller, wherein, the electric motorcycle is as described in any one of claims 1-7, and the control method includes: When the motor controller receives the braking signal, obtain the pose parameters of the electric motorcycle, where the pose parameters include the tilt angle of the electric motorcycle and the slope where the electric motorcycle is located; When the pose parameters meet the preset conditions, control the side stand structure to switch from the retracted state to the supported state, so that the side stand structure supports the electric motorcycle; Control the drive motor to output a reverse torque according to the slope to control the electric motorcycle to maintain a stationary state; wherein, the preset conditions include that the tilt angle is within a preset angle range and the slope is within a preset slope range.

9. The control method according to claim 8, wherein, the control method further includes: When the side stand structure switches from the supported state to the retracted state or the electric motorcycle is re-powered on, control the drive motor to stop outputting the reverse torque.

10. The control method according to claim 8 or 9, wherein, further includes: When the side stand structure switches from the retracted state to the supported state, determine that the vehicle state of the electric motorcycle is in the parked and locked state; When the side stand structure switches from the supported state to the retracted state or the electric motorcycle is re-powered on, determine that the vehicle state is in the powered-on ready state.

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