Control method and electric auxiliary vehicle

Abstract

An electric power assisting control method is used for an electric auxiliary vehicle and comprises the steps that whether a non-destructive abnormal event and a destructive abnormal event happen to the electric auxiliary vehicle or not is judged, and a judgment result is generated; and according to the judgment result, controlling the electric auxiliary vehicle to operate in a general mode to maintain the electric assisting power, or to operate in a maintenance mode to maintain the electric assisting power or reduce the electric assisting power for a first time, and interrupting the electric assisting power after the first time.

Description

Technical Field

[0001] The present invention relates to the fields of control methods and electric-assisted vehicles, and in particular to a control method and an electric-assisted vehicle for maintaining or reducing electric power assistance when an abnormal event occurs. Background Art

[0002] The electronic control system of an electric assisted vehicle primarily consists of a motor, battery, and controller. It is coupled with peripheral sensing elements such as torque sensors and cadence sensors to detect the user's driving, riding, or pedaling behavior. This controls the motor's output of electric power to provide a better driving, riding, or pedaling experience. However, if any of these devices or components on the electric assisted vehicle malfunction or fail, the electronic control system may shut down or the electric power may suddenly cease, potentially placing the user in a dangerous situation.

[0003] Therefore, improving the control technology of the electric power output by the motor so that the motor can maintain / reduce / restore the electric power output when some devices or components on the electric assist vehicle malfunction or fail has become one of the goals of the industry. Summary of the Invention

[0004] The purpose of the present invention is to provide a control method and an electric assisted vehicle, which can operate in a maintenance mode when an abnormal event occurs in the electric assisted vehicle so that the electric assisted vehicle can temporarily maintain full / partial electric power output to allow the user to ride to a maintenance point for relevant inspection and maintenance.

[0005] To achieve the above objectives, the present invention provides a control method and an electric-assisted vehicle. The electric-assisted control method, used in an electric-assisted vehicle, comprises the following steps:

[0006] a. Determine whether a non-destructive abnormal event or a destructive abnormal event occurs in the electric assisted vehicle, and generate a judgment result; and

[0007] b. Based on the determination result, the electric assisted vehicle is controlled to operate in a normal mode to maintain the electric assist, or to operate in a maintenance mode to maintain the electric assist or reduce the electric assist for a first time, and then cut off the electric assist after the first time.

[0008] Preferably, step b comprises:

[0009] When the determination result indicates that the electric-assisted vehicle has not experienced the non-destructive abnormal event and the destructive event, controlling the electric-assisted vehicle to operate in the normal mode to output the electric assist; and

[0010] When the determination result indicates that the non-destructive abnormal event has occurred on the electric-assisted vehicle, controlling the electric-assisted vehicle to operate in the maintenance mode to maintain the electric power assist or reduce the electric power assist, and re-determining whether the non-destructive abnormal event has occurred on the electric-assisted vehicle after a second time period;

[0011] If it is determined that the non-destructive abnormal event has not occurred after the second time, the electric assisted vehicle is controlled to operate in the normal mode to maintain the electric assist; if it is determined that the non-destructive abnormal event has occurred after the second time, the electric assisted vehicle is controlled to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric assist is interrupted after the first time.

[0012] Preferably, step b further comprises:

[0013] When the judgment result indicates that the destructive abnormal event has occurred in the electric-assisted vehicle, the output of electric assist is stopped for a third time, and after the third time, the electric-assisted vehicle is controlled to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric-assisted vehicle is driven in a driving mode unrelated to the destructive abnormal event for a first time, and the electric assist is interrupted after the first time.

[0014] Preferably, when the determination result indicates that the electric-assisted vehicle does not have the destructive abnormal event and the non-destructive abnormal event, the general mode is related to the pedaling sensor and the torque sensor of the electric-assisted vehicle;

[0015] When the determination result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the torque sensor is faulty, the electric-assisted vehicle is stopped from being output for a third time, and after the third time, the driving mode is controlled to be related to the pedaling sensor and not related to the torque sensor, so as to maintain or interrupt the electric-assisted vehicle for a first time, and the electric-assisted vehicle is interrupted after the first time; and

[0016] When the judgment result indicates that the electric-assisted vehicle is the destructive abnormal event and the destructive abnormal event indicates that the pedaling sensor is faulty, the output of electric assist is stopped for a third time, and after the third time, the driving mode is controlled to be related to the torque sensor and unrelated to the pedaling sensor to maintain or reduce the electric assist of the electric-assisted vehicle for a first time, and the electric assist is interrupted after the first time.

[0017] Preferably, when the determination result indicates that the electric-assisted vehicle does not have the destructive abnormal event and the non-destructive abnormal event, the general pattern is related to the Hall effect sensor of the electric-assisted vehicle;

[0018] When the judgment result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the Hall sensor of the electric-assisted vehicle is faulty, the output of electric assist is stopped for a third time, and after the third time, the driving mode is controlled to be independent of the polarity and rotation angle of the motor sensed by the Hall sensor to maintain or reduce the electric assist of the electric-assisted vehicle for a first time, and the electric assist is interrupted after the first time.

[0019] Preferably, when the judgment result indicates that the non-destructive abnormal event or the destructive abnormal event occurs in the electric-assisted vehicle, a warning message is triggered.

[0020] Preferably, an electric assisted vehicle comprises:

[0021] motor;

[0022] Driver module; and

[0023] A control module is coupled to the drive module and is used to execute instructions a and b to control the drive module to drive the motor to output electric assist:

[0024] Among them, the instruction a includes: judging whether a non-destructive abnormal event and a destructive abnormal event occur in the electric assisted vehicle, and generating a judgment result; and the instruction b includes: according to the judgment result, controlling the drive module to drive the motor to operate in a normal mode to maintain the electric assist, or to operate in a maintenance mode to maintain the electric assist or reduce the electric assist for a first time, and interrupting the electric assist after the first time.

[0025] Preferably, the instruction b further includes:

[0026] When the determination result indicates that the electric-assisted vehicle has not experienced the non-destructive abnormal event and the destructive abnormal event, controlling the driving module to drive the motor to operate in the normal mode to output the electric assist; and

[0027] When the determination result indicates that the non-destructive abnormal event has occurred on the electric-assisted vehicle, controlling the drive module to drive the motor to operate in the maintenance mode to maintain the electric power assist or reduce the electric power assist, and re-determining whether the non-destructive abnormal event has occurred on the electric-assisted vehicle after a second time period;

[0028] If it is determined that the non-destructive abnormal event has not occurred after the second time, the drive module is controlled to drive the motor to operate in the normal mode to maintain the electric assist; if it is determined that the non-destructive abnormal event has occurred after the second time, the drive module is controlled to drive the motor to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric assist is interrupted after the first time.

[0029] Preferably, the instruction b further includes:

[0030] When the judgment result indicates that the destructive abnormal event has occurred in the electric-assisted vehicle, the output of electric assist is stopped for a third time, and after the third time, the drive module is controlled to drive the motor to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric-assisted vehicle is driven in a drive mode unrelated to the destructive abnormal event for a first time, and the electric assist is interrupted after the first time.

[0031] Preferably, when the determination result indicates that the electric-assisted vehicle does not have the destructive abnormal event and the non-destructive abnormal event, the general mode is related to the pedaling sensor and the torque sensor of the electric-assisted vehicle;

[0032] When the determination result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the torque sensor is faulty, stopping the output of electric assist for a third time, and after the third time, controlling the driving mode to be related to the pedaling sensor and not related to the torque sensor, so as to maintain or interrupt the electric assist of the electric-assisted vehicle for a first time, and interrupting the electric assist after the first time; and

[0033] When the judgment result indicates that the electric-assisted vehicle is the destructive abnormal event and the destructive abnormal event indicates that the pedaling sensor is faulty, the output of electric assist is stopped for a third time, and after the third time, the driving mode is controlled to be related to the torque sensor and unrelated to the pedaling sensor to maintain or reduce the electric assist of the electric-assisted vehicle for a first time, and the electric assist is interrupted after the first time.

[0034] Preferably, when the determination result indicates that the electric-assisted vehicle does not have the destructive abnormal event and the non-destructive abnormal event, the general mode is related to the Hall sensor of the electric-assisted vehicle; and

[0035] When the judgment result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the Hall sensor of the electric-assisted vehicle is faulty, the output of electric assistance is stopped for a third time, and after the third time, the driving mode is controlled not to adopt the polarity and rotation angle of the motor sensed by the Hall sensor, so as to maintain or reduce the electric assistance of the electric-assisted vehicle for a first time, and the electric assistance is interrupted after the first time.

[0036] Preferably, it also includes a human-machine interface; wherein the control module is also used to control the drive module to trigger an alarm message when the judgment result indicates that the electric assisted vehicle has occurred the non-destructive abnormal event or the destructive abnormal event, and display an error code on the human-machine interface according to the alarm message.

[0037] Compared to conventional technologies, where abnormalities or failures in any of the electric-assisted vehicle's devices or components can cause the electronic control system to shut down or completely eliminate power assistance, the present invention can determine whether an abnormality has occurred in the electric-assisted vehicle. In such cases, the vehicle will operate in maintenance mode to temporarily maintain full or partial power assistance, allowing the user to ride to a repair station for inspection and maintenance, effectively reducing the risk of a sudden and complete loss of power assistance due to an abnormality. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A and Figure 1B FIG. 1 is a schematic diagram of a motor drive control device and an electric assisted vehicle according to an embodiment of the present invention.

[0039] Figure 2 FIG. 1 is a flow chart of a control method according to an embodiment of the present invention.

[0040] Figure 3 FIG. 1 is a flow chart of a control method according to an embodiment of the present invention.

[0041] Figure 4 FIG. 1 is a flow chart of a control method according to an embodiment of the present invention.

[0042] Figure 5 FIG. 1 is a flow chart of a control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to provide a further understanding of the purpose, structure, features, and functions of the present invention, the present invention is described in detail below with reference to the embodiments.

[0044] Certain terms are used throughout the specification and claims to refer to specific components. Those skilled in the art will understand that manufacturers may use different terms to refer to the same component. This specification and claims do not distinguish components by name, but rather by their functional differences. Throughout the specification and claims, the term "including" is open-ended and should be interpreted as meaning "including, but not limited to."

[0045] Figure 1A and Figure 1BFigure 1 is a schematic diagram of a motor drive control device 10 and an electric-assisted vehicle 1 according to one embodiment of the present invention. The motor drive control device 10 includes a motor 100, a drive module 102, and a control module 104. The motor drive control device 10 can be installed anywhere on the electric-assisted vehicle 1. For example, the motor 100 can be a front-mounted motor, a rear-mounted motor, or a mid-mounted motor, located on the front wheel hub, rear wheel hub, or bottom axle of the electric-assisted vehicle 1, but is not limited thereto. The control module 104 can control the drive module 102 to drive the motor 100 to output electric power, providing the user with a better driving / riding / pedaling experience. Furthermore, the control module 104 can determine whether an abnormality has occurred on the electric-assisted vehicle 1 and, based on the determination, control the drive module 102 to drive the motor 100 to maintain, reduce, resume, or stop outputting electric power. In other words, in the event of an abnormality, the electric-assisted vehicle 1 can temporarily maintain full or partial electric power output, allowing the user to ride to a repair center for inspection and maintenance, effectively reducing the risk of a sudden interruption of electric power during an abnormality on the electric-assisted vehicle 1. It should be noted that the electric-assisted vehicle 1 only represents the necessary components required for the drive motor 100 to output electric power. Its basic architecture is well known in the art and will not be described in detail. Those skilled in the art can appropriately add other components as needed, such as batteries, sensors, vehicle control units (VCUs), and human-machine interfaces (HMIs), but the present invention is not limited to these.

[0046] It should be noted that the control module 104 may include a microcontroller unit (MCU) and a memory, wherein the memory stores program code for instructing the MCU to execute the control method. The control method can be summarized as process 2, as shown in FIG. 2. Process 2 includes the following steps:

[0047] Step S200: Start.

[0048] Step S202: determining whether a non-destructive abnormal event or a destructive abnormal event occurs in the electric-assisted vehicle 1, and generating a determination result.

[0049] Step S204 : Based on the determination result, the electric assisted vehicle 1 is controlled to operate in a normal mode to maintain the electric assist, or to operate in a maintenance mode to maintain the electric assist or reduce the electric assist for a first time, and then cut off the electric assist after the first time.

[0050] Step S206: End.

[0051] Generally speaking, when a user is driving, riding, or pedaling the electric assisted vehicle 1, abnormal events may primarily be caused by a component failure, malfunction, or overload in the electric assisted vehicle 1, resulting in the vehicle 1 stalling or a sudden loss of power assistance, placing the user in a dangerous situation. According to process 2, in step S202, the control module 104 may determine whether an abnormal event has occurred in the electric assisted vehicle 1 and generate a determination result. Furthermore, abnormal events such as component failure, malfunction, or overload in the electric assisted vehicle 1 may be destructive or non-destructive. For example, a non-destructive abnormal event in the electric assisted vehicle 1 may be, but is not limited to, an overload or overtemperature of the motor 100 entering protection mode, or an overtemperature of the switching elements of the battery, control module 104, or drive module 102. On the other hand, a destructive abnormal event in the electric assisted vehicle 1 may be, but is not limited to, a malfunction of a Hall effect sensor within the motor 100, or a malfunction of a pedaling sensor or torque sensor installed on the electric assisted vehicle 1. In step S204, when the judgment result indicates that no abnormal event has occurred in the electric-assisted vehicle 1, the control module 104 controls the drive module 102 to drive the motor 100 to operate in normal mode to maintain electric power assist. When the judgment result indicates that an abnormal event has occurred in the electric-assisted vehicle 1, the control module 104 controls the drive module 102 to drive the motor 100 to operate in maintenance mode to maintain, reduce, or interrupt electric power assist. In this way, when an abnormal event occurs, the electric-assisted vehicle 1 can continue to output full / partial electric power assist, allowing the user to ride to a repair center for relevant inspection and maintenance, and effectively reducing the risk of sudden interruption of electric power assist due to an abnormal event in the electric-assisted vehicle 1. In addition, when an abnormal event occurs, although electric power assist continues to be output, in order to avoid the risk of the user ignoring the abnormal event, the control module 104 can control the drive module 102 to drive the motor 100 to only temporarily output electric power assist for an initial period of time and then interrupt the electric power assist after the initial period of time. For example, the first time period may be one hour, and the user may use this hour to ride the electric-assisted vehicle 1 where the abnormal event has occurred to a maintenance center for related inspection and maintenance.

[0052] In one embodiment, for the above-mentioned non-destructive abnormal events, the various components of the electric-assisted vehicle 1 can be restored to normal operation by simply reducing the load or cooling the electric-assisted vehicle 1. In other words, when the judgment result indicates that a non-destructive abnormal event has occurred in the electric-assisted vehicle 1, the control module 104 controls the electric-assisted vehicle 1 to operate in a maintenance mode to maintain the electric power assist or reduce the electric power assist (load reduction), and re-judges whether the electric-assisted vehicle 1 still has a non-destructive abnormal event after a second time. If it is determined that no non-destructive abnormal event has occurred after the second time, the drive module 102 is controlled to drive the motor 100 to operate in a normal mode to maintain the electric power assist; if it is determined that a non-destructive abnormal event has occurred after the second time, the drive module 102 is controlled to drive the motor 100 to continue to operate in a maintenance mode to maintain the electric power assist or reduce the electric power assist, and the electric power assist is interrupted after the first time. It should be noted that the second time can be shorter than the first time, but is not limited to this. For example, the second time period may be ten minutes. If the electric assisted vehicle 1 is still in an overloaded state after thirty minutes, the control module 104 may control the electric assisted vehicle 1 to continue operating in the maintenance mode to reduce the power assist. If the electric assisted vehicle 1 is still in an overloaded state after one hour, the control module 104 may control the electric assisted vehicle 1 to cut off the power assist.

[0053] In another embodiment, for the above-mentioned destructive abnormal events, the Hall sensor, pedaling sensor or torque sensor usually cannot repair itself after failure. However, the driving mode / algorithm used by the control module 104 to control the motor 100 to output electric assistance will be related to the data sensed by the above-mentioned sensors. In other words, when the judgment result indicates that a destructive abnormal event has occurred, the control module 104 may not be able to control the motor 100 and interrupt the electric assistance. Therefore, when the judgment result indicates that a destructive abnormal event has occurred in the electric-assisted vehicle 1, the control module 104 can drive the electric-assisted vehicle 1 with a driving mode / algorithm that is unrelated to the destructive abnormal event and maintain the electric assistance or reduce the electric assistance. In this way, the user can take advantage of the first opportunity to ride the electric-assisted vehicle 1 that has experienced a destructive abnormal event to a maintenance point for relevant inspection and maintenance by electric assistance.

[0054] In short, the control module 104 of the embodiment of the present invention can determine whether the abnormal event is a non-destructive abnormal event or a destructive abnormal event, and control and drive the motor 100 to appropriately output electric assist according to different abnormal events.

[0055] In one embodiment, the control module 104 controls the motor 100 to output electric assist using a drive mode / algorithm that is pre-set based on data sensed by the pedaling sensor and the torque sensor. In other words, when the determination result indicates that the electric-assisted vehicle 1 has not experienced a destructive abnormal event (a pedaling sensor or torque sensor failure), the control module 104 controls the motor 100 to output electric assist using a drive mode / algorithm associated with the pedaling sensor and the torque sensor. In other words, the motor 100 operates in a normal mode associated with the pedaling sensor and the torque sensor. On the other hand, when the determination result indicates that the electric-assisted vehicle 1 has a pedaling sensor failure, the control module 104 controls the motor 100 to output electric assist using a first drive mode associated with the torque sensor and not associated with the pedaling sensor. Furthermore, when the determination result indicates that the electric-assisted vehicle 1 has a torque sensor failure, the control module 104 controls the motor 100 to output electric assist using a second drive mode / algorithm associated with the pedaling sensor and not associated with the torque sensor. Note that in this case, the electric-assisted vehicle 1 operates in a maintenance mode to maintain or reduce electric assist.

[0056] In another embodiment, the control module 104 controls the motor 100 to output electric assist using a drive mode / algorithm that is pre-set based on the data sensed by the Hall effect sensor (the polarity and rotation angle of the motor 100). In other words, when the determination result indicates that the electric-assisted vehicle 1 has not experienced a destructive abnormal event (Hall effect sensor failure), the control module 104 controls the motor 100 to output electric assist using a sensory control technique based on the data sensed by the Hall effect sensor. In other words, the motor 100 operates in a normal mode based on the Hall effect sensor. On the other hand, when the determination result indicates that the electric-assisted vehicle 1 has experienced a Hall effect sensor failure, the control module 104 controls the motor 100 to output electric assist using a sensorless control technique that is unrelated to the Hall effect sensor. In other words, the control module 104 drives the electric-assisted vehicle 1 in a drive mode that does not utilize the motor polarity and rotation angle sensed by the Hall effect sensor. Simultaneously, the electric-assisted vehicle 1 operates in a maintenance mode to maintain or reduce the electric assist. It should be noted that regarding the sensorless control technology, the control module 104 can estimate the position (polarity and rotation angle) of the rotor magnet of the motor 100 and drive the motor 100 accordingly. The sensorless control technology is well known in the art and will not be described in detail.

[0057] It should be noted that the above embodiments are different embodiments of the present invention, and those skilled in the art can combine, modify and / or change them accordingly, without limitation thereto. In one embodiment, when an abnormal event occurs in the electric-assisted vehicle 1, the control module 104 can trigger a warning message or display an error code or warning code on the human-machine interface. In another embodiment, when an abnormal event occurs in the electric-assisted vehicle 1, the control module 104 can control the motor 100 to temporarily stop outputting electric assistance for a third time. For example, the third time can be ten seconds. The control module 104 can perform necessary detection or judgment during the temporary cessation of outputting electric assistance, and decide whether to execute the control method of the present invention to resume outputting electric assistance based on the judgment result. For example, the control method of the present invention can be implemented by a combination of the above embodiments, which can be summarized as process 3, process 4 and process 5, as shown in Figures 3, 4 and 5.

[0058] Please refer to Figure 3 Process 3 is a process in which the control module 104 controls the motor 100 to output electric assist, and the driving mode / algorithm preset is related to the data sensed by the Hall sensor (polarity and rotation angle of the motor 100). Specifically, process 3 includes the following steps:

[0059] Step S300: Start.

[0060] Step S301: Determine whether the Hall sensor is faulty. If not, proceed to step S302; if so, proceed to step S303.

[0061] Step S302 : The control module 104 controls the motor 100 to output electric assist using a sensing control technique related to the data sensed by the Hall sensor.

[0062] Step S303: Display an error code.

[0063] Step S304: Stop outputting electric assist for a third time.

[0064] Step S305 : The control module 104 controls the motor 100 to output electric assist using a sensorless control technique that is independent of the Hall sensor.

[0065] Step S306: Continuously outputting electric assistance for the first time.

[0066] Step S307: Stop outputting electric power assistance.

[0067] Step S308: End.

[0068] Please refer to Figure 4 , process 4 is the control module 104 controlling the motor 100 to output the electric assist driving mode / algorithm preset related to the data sensed by the pedaling sensor and the torque sensor. Specifically, process 4 includes the following steps:

[0069] Step S400: Start.

[0070] Step S401: Determine whether the torque sensor is faulty. If so, proceed to step S402; if not, proceed to step S403.

[0071] Step S402: Display an error code.

[0072] Step S403: Stop outputting electric assist for a third time.

[0073] Step S404 : The control module 104 controls the motor 100 to output electric assist using the second driving mode (the motor 100 operates in relation to the pedaling sensor and not in relation to the torque sensor), and executes steps S410 - 412 .

[0074] Step S405: Determine whether the pedal sensor is faulty. If so, proceed to step S407; if not, proceed to step S406.

[0075] Step S406 : The control module 104 controls the motor 100 to output electric assist using the first normal mode (the motor 100 operates in relation to the pedaling sensor and the torque sensor).

[0076] Step S407: Display an error code.

[0077] Step S408: Stop outputting electric assist for a third time.

[0078] Step S409 : The control module 104 controls the motor 100 to output electric assist using the first driving mode (the motor 100 operates in relation to the torque sensor and has nothing to do with the pedaling sensor).

[0079] Step S410: Continuously outputting electric assistance for the first time.

[0080] Step S411: Stop outputting electric power assistance.

[0081] Step S412: End.

[0082] Process 5 includes the following steps:

[0083] Step S500: Start.

[0084] Step S501: Determine whether a destructive abnormal event occurs in the electric assisted vehicle 1. If so, proceed to step S502; if not, proceed to step S505.

[0085] Step S502: Determine the type of the destructive abnormal event.

[0086] Step S503: Display an error code.

[0087] Step S504 : The control module 104 controls the motor 100 to output electric assist using the maintenance mode; and proceeds to step S501 .

[0088] Step S505: Determine whether a non-destructive abnormal event (such as overload) occurs on the electric assisted vehicle 1. If yes, proceed to step S507; if not, proceed to step S506.

[0089] Step S506 : The control module 104 controls the motor 100 to output electric assist using a normal mode; and then proceeds to step S501 .

[0090] Step S507: Display a warning code.

[0091] Step S508 : The control module 104 controls the motor 100 to output electric assist using the maintenance mode; and then proceeds to step S501 .

[0092] For detailed descriptions of Process 3, Process 4, and Process 5 and their derivative changes, please refer to the above descriptions and will not be repeated here.

[0093] In summary, compared to conventional technologies, where abnormalities or failures in devices or components of an electric-assisted vehicle can cause the electronic control system to shut down or the power assist to suddenly cease, the motor drive control device and control method of the present invention determine whether an abnormal event has occurred and the type of abnormal event. This allows for dynamic switching of control technologies and maintenance or reduction of power assist output in various scenarios in which the user rides the electric-assisted vehicle. Therefore, the present invention effectively reduces the risk of a sudden loss of power assist due to abnormalities in the electric-assisted vehicle.

[0094] The present invention has been described with reference to the above embodiments. However, the above embodiments are merely exemplary embodiments of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the present invention. On the contrary, modifications and improvements that do not depart from the spirit and scope of the present invention are intended to be protected by the present invention.

Claims

1. An electric power assist control method for an electric power assist vehicle, characterized in that: The following steps are involved: a. Determine whether a non-destructive abnormal event or a destructive abnormal event occurs on the electric assisted vehicle, and generate a judgment result; as well as b. Based on the determination result, the electric assisted vehicle is controlled to operate in a normal mode to maintain the electric assist, or to operate in a maintenance mode to maintain the electric assist or reduce the electric assist for a first time, and then cut off the electric assist after the first time.

2. The electric power assist control method according to claim 1, wherein: Wherein step b includes: When the determination result indicates that the electric-assisted vehicle has not experienced the non-destructive abnormal event and the destructive event, controlling the electric-assisted vehicle to operate in the normal mode to output the electric assist; as well as When the determination result indicates that the non-destructive abnormal event has occurred on the electric-assisted vehicle, controlling the electric-assisted vehicle to operate in the maintenance mode to maintain the electric power assist or reduce the electric power assist, and re-determining whether the non-destructive abnormal event has occurred on the electric-assisted vehicle after a second time period; If it is determined that the non-destructive abnormal event has not occurred after the second time, controlling the electric-assisted vehicle to operate in a normal mode to maintain the electric assist; If the non-destructive abnormal event is determined to occur after the second time, the electric assisted vehicle is controlled to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric assist is interrupted after the first time.

3. The electric power assist control method according to claim 1, wherein: Wherein step b also includes: When the judgment result indicates that the destructive abnormal event has occurred in the electric-assisted vehicle, the output of electric assist is stopped for a third time, and after the third time, the electric-assisted vehicle is controlled to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric-assisted vehicle is driven in a driving mode unrelated to the destructive abnormal event for a first time, and the electric assist is interrupted after the first time.

4. The electric power assist control method according to claim 3, wherein: When the determination result indicates that the electric-assisted vehicle has not experienced the destructive abnormal event and the non-destructive abnormal event, the general mode is associated with a pedaling sensor and a torque sensor of the electric-assisted vehicle; When the determination result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the torque sensor is faulty, stopping the output of electric assist for a third time, and after the third time, controlling the driving mode to be related to the pedaling sensor and not related to the torque sensor, so as to maintain or interrupt the electric assist of the electric-assisted vehicle for a first time, and interrupting the electric assist after the first time; as well as, When the judgment result indicates that the electric-assisted vehicle is the destructive abnormal event and the destructive abnormal event indicates that the pedaling sensor is faulty, the output of electric assist is stopped for a third time, and after the third time, the driving mode is controlled to be related to the torque sensor and unrelated to the pedaling sensor to maintain or reduce the electric assist of the electric-assisted vehicle for a first time, and the electric assist is interrupted after the first time.

5. The electric power assist control method according to claim 3, wherein: When the determination result indicates that neither the destructive abnormal event nor the non-destructive abnormal event occurs in the electric-assisted vehicle, the general mode is associated with the Hall effect sensor of the electric-assisted vehicle; When the judgment result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the Hall sensor of the electric-assisted vehicle is faulty, the output of electric assist is stopped for a third time, and after the third time, the driving mode is controlled to be independent of the polarity and rotation angle of the motor sensed by the Hall sensor to maintain or reduce the electric assist of the electric-assisted vehicle for a first time, and the electric assist is interrupted after the first time.

6. The electric power assist control method according to claim 1, wherein: When the judgment result indicates that the non-destructive abnormal event or the destructive abnormal event occurs on the electric-assisted vehicle, a warning message is triggered.

7. An electric assisted vehicle, characterized in that: Includes: motor; Driver module; as well as A control module is coupled to the drive module and is used to execute instructions a and b to control the drive module to drive the motor to output electric assist: Among them, the instruction a includes: judging whether a non-destructive abnormal event and a destructive abnormal event occur in the electric assisted vehicle, and generating a judgment result; and the instruction b includes: according to the judgment result, controlling the drive module to drive the motor to operate in a normal mode to maintain the electric assist, or to operate in a maintenance mode to maintain the electric assist or reduce the electric assist for a first time, and interrupting the electric assist after the first time.

8. The electric assisted vehicle according to claim 7, wherein: This directive also includes: When the determination result indicates that the electric-assisted vehicle has not experienced the non-destructive abnormal event and the destructive abnormal event, controlling the driving module to drive the motor to operate in the normal mode to output the electric assist; and When the determination result indicates that the non-destructive abnormal event has occurred on the electric-assisted vehicle, controlling the drive module to drive the motor to operate in the maintenance mode to maintain the electric power assist or reduce the electric power assist, and re-determining whether the non-destructive abnormal event has occurred on the electric-assisted vehicle after a second time period; If it is determined that the non-destructive abnormal event has not occurred after the second time, the drive module is controlled to drive the motor to operate in the normal mode to maintain the electric assist; if it is determined that the non-destructive abnormal event has occurred after the second time, the drive module is controlled to drive the motor to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric assist is interrupted after the first time.

9. The electric assisted vehicle according to claim 7, wherein: The instruction b also includes: When the judgment result indicates that the destructive abnormal event has occurred in the electric-assisted vehicle, the output of electric assist is stopped for a third time, and after the third time, the drive module is controlled to drive the motor to operate in the maintenance mode to maintain the electric assist or reduce the electric assist, and the electric-assisted vehicle is driven in a drive mode unrelated to the destructive abnormal event for a first time, and the electric assist is interrupted after the first time.

10. The electric assisted vehicle according to claim 9, wherein: When the determination result indicates that the electric-assisted vehicle has not experienced the destructive abnormal event and the non-destructive abnormal event, the general mode is associated with a pedaling sensor and a torque sensor of the electric-assisted vehicle; When the determination result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the torque sensor is faulty, stopping the output of electric assist for a third time, and after the third time, controlling the driving mode to be related to the pedaling sensor and not related to the torque sensor, so as to maintain or interrupt the electric assist of the electric-assisted vehicle for a first time, and interrupting the electric assist after the first time; as well as When the judgment result indicates that the electric-assisted vehicle is the destructive abnormal event and the destructive abnormal event indicates that the pedaling sensor is faulty, the output of electric assist is stopped for a third time, and after the third time, the driving mode is controlled to be related to the torque sensor and unrelated to the pedaling sensor to maintain or reduce the electric assist of the electric-assisted vehicle for a first time, and the electric assist is interrupted after the first time.

11. The electric assisted vehicle according to claim 9, wherein: When the determination result indicates that neither the destructive abnormal event nor the non-destructive abnormal event occurs in the electric-assisted vehicle, the general mode is associated with the Hall effect sensor of the electric-assisted vehicle; as well as When the judgment result indicates that the electric-assisted vehicle is in the destructive abnormal event and the destructive abnormal event indicates that the Hall sensor of the electric-assisted vehicle is faulty, the output of electric assistance is stopped for a third time, and after the third time, the driving mode is controlled not to adopt the polarity and rotation angle of the motor sensed by the Hall sensor, so as to maintain or reduce the electric assistance of the electric-assisted vehicle for a first time, and the electric assistance is interrupted after the first time.

12. The electric assisted vehicle according to claim 7, wherein: It also includes a human-machine interface; wherein the control module is also used to control the drive module to trigger an alarm message when the judgment result indicates that the electric assisted vehicle has occurred the non-destructive abnormal event or the destructive abnormal event, and display an error code on the human-machine interface according to the alarm message.

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