All-terrain vehicle

Abstract

When a pressing signal generated by an auxiliary brake switch is received, the all-terrain vehicle is in a normal working state and the vehicle state meets a preset condition, a whole vehicle controller sends an auxiliary brake signal to a motor controller; and the motor controller controls the rotating speed of the driving motor to be reduced to the preset rotating speed according to the auxiliary braking signal, so that the speed of the all-terrain vehicle can be controlled to be reduced without braking during downhill. According to the all-terrain vehicle, the downhill auxiliary braking function is jointly achieved through the angle sensor, the whole vehicle controller, the motor controller and the auxiliary braking switch, and therefore downhill auxiliary braking of the all-terrain vehicle can be achieved without additionally arranging devices. Therefore, according to the all-terrain vehicle, the downhill auxiliary braking function of the all-terrain vehicle can be achieved, the device for achieving the downhill auxiliary braking function can be compact in structure, and miniaturization of the all-terrain vehicle is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular to an all-terrain vehicle. Background Art

[0002] All-terrain vehicles are vehicles that can travel on some complex terrains and can move freely on terrains where ordinary vehicles are difficult to maneuver. All-terrain vehicles usually need to face more complex road environments, which means that if they do not have downhill braking function when going downhill, the vehicle will only rely on mechanical friction of the brake disc when going downhill for a long time, and the braking force may be weakened or even fail, which poses certain safety hazards.

[0003] In the related art, an ATV is added to an ordinary vehicle. When the vehicle is detected to be going downhill, the downhill auxiliary braking function activates the auxiliary braking function to prevent the vehicle from going downhill at too high a speed and causing danger. However, since ATVs usually need to face complex road environments, the body size of the ATV needs to be minimized. If an ATV is directly added to an ATV, the body size of the ATV will increase, which is not conducive to the miniaturization of the ATV body. Utility Model Content

[0004] In view of this, the present application provides an all-terrain vehicle with a downhill auxiliary braking function and a device for realizing the function with a compact structure.

[0005] The technical solution of this application is as follows:

[0006] The present application provides an all-terrain vehicle, which includes a frame; a body covering, which is at least partially arranged on the frame; an angle sensor for detecting the tilt angle of the all-terrain vehicle; a vehicle controller connected to the angle sensor and used to receive the tilt angle; a motor controller for controlling the rotation of a drive motor of the all-terrain vehicle to control the speed of the all-terrain vehicle; wherein the all-terrain vehicle also includes an auxiliary brake switch, which is connected to the vehicle controller, and when the auxiliary brake switch is pressed, a pressing signal is generated to the vehicle controller; when the pressing signal is received and the all-terrain vehicle is in normal working condition, the vehicle controller starts a downhill auxiliary braking function; when the vehicle controller starts the downhill auxiliary braking function and the vehicle state of the all-terrain vehicle meets preset conditions, the vehicle controller sends an auxiliary braking signal to the motor controller, and the preset conditions include that the tilt angle is within a preset angle range; the motor controller controls the speed of the drive motor to be reduced to a preset speed according to the auxiliary brake signal.

[0007] In a possible implementation, the vehicle controller is also used to obtain the power-on status, vehicle speed, gear signal and acceleration signal of the all-terrain vehicle. The preset conditions also include that the power-on status is the start-up status, the vehicle speed is within a preset range, the gear is not in the parking gear, and no acceleration signal is received.

[0008] In a possible implementation, the vehicle controller is also used to obtain at least one of the power of the all-terrain vehicle and the minimum available negative torque of the vehicle, and the preset conditions also include at least one of the power being less than a first preset power and the minimum available negative torque of the vehicle being less than a preset torque.

[0009] In a possible implementation, when the tilt angle is outside a preset angle range, or an acceleration signal is received, or the gear is in the parking gear, the vehicle controller sends a stop signal to the motor controller, and the motor controller stops controlling the speed of the drive motor to reduce to a preset speed according to the stop signal.

[0010] In a possible implementation, when the vehicle controller starts the downhill auxiliary braking function and receives a pressing signal, the vehicle controller turns off the downhill auxiliary braking function.

[0011] In a possible implementation, when the vehicle controller starts the downhill auxiliary braking function and the power-on state of the all-terrain vehicle is in the off state, the downhill auxiliary braking function is turned off.

[0012] In a possible implementation, the all-terrain vehicle further includes a brake display module, which is connected to the vehicle controller; when the vehicle controller starts the downhill auxiliary braking function, the vehicle controller sends a first indication signal to the brake display module, and the first indication signal is used to indicate that the downhill auxiliary braking function is in an activated state;

[0013] When the vehicle controller sends an auxiliary braking signal to the motor controller, the vehicle controller sends a second indication signal to the brake display module, and the second indication signal is used to indicate that the downhill auxiliary braking function is in an execution state;

[0014] When the vehicle controller starts the downhill auxiliary braking function and the all-terrain vehicle is in a fault state, the vehicle controller sends a third indication signal to the brake display module, and the third indication signal is used to indicate that the all-terrain vehicle is in a fault state and cannot perform the downhill auxiliary braking function.

[0015] In a possible implementation, the all-terrain vehicle further includes a body controller, which is connected to the brake display module and the vehicle controller, and is used to send the first indication signal, the second indication signal and the third indication signal to the brake display module.

[0016] In a possible implementation manner, the auxiliary brake switch is disposed on the handlebar of the all-terrain vehicle.

[0017] In a possible implementation, the vehicle controller is connected to the angle sensor and the motor controller via a communication bus.

[0018] In the all-terrain vehicle of the present application, when receiving the pressing signal generated by the auxiliary brake switch and the all-terrain vehicle is in a normal working state, the vehicle controller starts the downhill auxiliary brake function, and when the vehicle controller starts the downhill auxiliary brake function and the vehicle state meets the preset conditions, the vehicle controller sends an auxiliary brake signal to the motor controller, and the motor controller controls the speed of the drive motor to be reduced to a preset speed according to the auxiliary brake signal, so that there is no need to brake when the all-terrain vehicle is going downhill, and the speed of the all-terrain vehicle can be controlled to be reduced to prevent the all-terrain vehicle from going downhill at too fast a speed and causing a safety accident. Moreover, since the all-terrain vehicle of the present application realizes the downhill auxiliary brake function through the angle sensor, the vehicle controller, the motor controller and the auxiliary brake switch, the downhill auxiliary brake of the all-terrain vehicle can be realized without setting up additional devices. Therefore, the all-terrain vehicle of the present application can not only realize the downhill auxiliary brake function of the all-terrain vehicle, but also make the device structure of realizing the downhill auxiliary brake function compact, which is conducive to the miniaturization of the all-terrain vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the all-terrain vehicle provided in an embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of the module connection of a part of the control device of the all-terrain vehicle provided in an embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of the module connection of the all-terrain vehicle provided in an embodiment of the present application.

[0022] Figure 4 It is a logic judgment diagram for implementing downhill auxiliary braking of an all-terrain vehicle provided in an embodiment of the present application.

[0023] Figure 5 This is a schematic diagram of module connections of an all-terrain vehicle provided in another embodiment of the present application.

[0024] Main component symbols

[0025] 100-all-terrain vehicle; 10-frame; 20-body covering; 30-wheel assembly; 31-wheel; 40-vehicle controller; 50-motor controller; 60-electronic parking brake system; 61-angle sensor; 70-body controller; 80-auxiliary brake switch; 90-brake display module. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0030] Please refer to Figure 1 , Figure 1 The present invention provides a schematic structural diagram of an all-terrain vehicle 100. The all-terrain vehicle 100 is also called an all-terrain four-wheel off-road vehicle, which can travel in harsh and complex terrains such as beaches, riverbeds, forest roads, streams, and deserts to carry people and transport materials.

[0031] It can be understood that the all-terrain vehicle 100 includes a vehicle frame 10, a vehicle body cover 20, a wheel assembly 30, a drive assembly (not shown) and a brake assembly (not shown). In the embodiment of the present application, the vehicle body structure is not specifically limited.

[0032] The body cover 20 is at least partially disposed on the frame 10. The wheel assembly 30 is connected to the frame 10, and the wheel assembly 30 includes a wheel 31. The brake assembly is mounted on the frame 10, and is used to brake the wheel assembly 30. The drive assembly is at least partially connected to the frame 10, and the drive assembly includes a drive motor (not shown), and the drive motor is used to drive the wheel 31 of the all-terrain vehicle 100 to rotate.

[0033] See also Figure 2The all-terrain vehicle 100 further includes a vehicle control unit (VCU) 21, a motor control unit (MCU) 22, an electronic parking brake system (EPB) 23, and a body control module (BCM) 24. The vehicle control unit 40 is respectively connected to the motor control unit 50, the electronic parking brake system 60, and the body control module 70 for communication.

[0034] The motor controller 50 can be connected to the drive motor to control the rotation of the drive motor, thereby controlling the rotation of the wheel 31 of the all-terrain vehicle 100 to control the speed of the all-terrain vehicle 100. The electronic parking brake system 60 can be connected to the brake assembly to control the operation of the brake assembly, and the body controller 70 can be connected to other components in the all-terrain vehicle 100 to control the operation of other components, such as the turn signal, brake light, anti-theft system, etc. in the all-terrain vehicle 100.

[0035] It can be understood that the electronic parking brake system 60 may include an angle sensor 61, which is used to detect the tilt angle of the all-terrain vehicle 100, so that the electronic parking brake system 60 can confirm whether the all-terrain vehicle 100 is traveling on a flat section, an uphill section or a downhill section based on the tilt angle. When braking is required, the brake component can be controlled to work according to the tilt angle.

[0036] The vehicle controller 40 is used to detect the vehicle status of the all-terrain vehicle 100, and send relevant signals to the motor controller 50, the electronic parking brake system 60 and the body controller 70 according to the vehicle status of the all-terrain vehicle 100, so that the motor controller 50, the electronic parking brake system 60 and the body controller 70 control the corresponding components to perform corresponding operations, thereby making the all-terrain vehicle 100 work.

[0037] For example, the vehicle controller 40 may be connected to the angle sensor 61 and used to receive the tilt angle, so as to determine the road section on which the all-terrain vehicle 100 is traveling according to the tilt angle.

[0038] The all-terrain vehicle 100 needs to travel in various harsh and complex terrains, and there are often scenes of going up and down steep slopes. When the all-terrain vehicle 100 brakes the wheel assembly 20 through the brake assembly 30 when going downhill, it is easy to cause wear on the brake disc in the brake assembly 30, resulting in a weakening or even failure of the braking force of the all-terrain vehicle 100, which poses certain safety hazards. If a downhill auxiliary braking device is added to the all-terrain vehicle 100, it will result in the need to reserve space for the all-terrain vehicle 100 to install the downhill auxiliary braking device, which is not conducive to the miniaturization of the body of the all-terrain vehicle 100.

[0039] See also Figure 3 , wherein the all-terrain vehicle 20 may further include an auxiliary brake switch 80, which is connected to the vehicle controller 40. When the auxiliary brake switch 80 is pressed, a pressing signal is generated to the vehicle controller 40. When the vehicle controller 40 receives the pressing signal and the all-terrain vehicle 100 is in a normal working state, the vehicle controller 40 starts the downhill auxiliary braking function. When the vehicle controller 40 starts the downhill auxiliary braking function and the vehicle state of the all-terrain vehicle 100 meets the preset conditions, the vehicle controller 40 sends an auxiliary braking signal to the motor controller 50, and the motor controller 50 controls the speed of the drive motor to be reduced to the preset speed according to the auxiliary braking signal, thereby reducing the speed of the wheel 31 to the preset speed. Among them, the preset conditions may include that the tilt angle is within a preset angle range.

[0040] It can be understood that when the tilt angle is within the preset angle range, it indicates that the all-terrain vehicle 100 is on a downhill section. When the vehicle controller 40 activates the downhill auxiliary braking function, only the downhill auxiliary braking function exists in the all-terrain vehicle 100, but the downhill auxiliary braking is not performed. When the vehicle controller 40 sends an auxiliary braking signal to the motor controller 50, and the motor controller 50 controls the speed of the drive motor to decrease to the preset speed according to the auxiliary braking signal, it indicates that the vehicle controller 40 and the motor controller 50 control the all-terrain vehicle 100 to perform downhill auxiliary braking, that is, the downhill auxiliary braking function is in execution.

[0041] Therefore, when the all-terrain vehicle 100 is going downhill, it is not necessary to brake the vehicle 100 by the brake assembly, and the speed of the all-terrain vehicle 100 can be controlled to decrease, so as to prevent the all-terrain vehicle 100 from going downhill at too high a speed and causing a safety accident. Moreover, since the all-terrain vehicle 100 of the embodiment of the present application realizes the downhill auxiliary function through the angle sensor 61, the vehicle controller 40, the motor controller 50 and the auxiliary brake switch 80, the downhill auxiliary braking of the all-terrain vehicle 100 can be realized without setting up additional devices. Therefore, the all-terrain vehicle 20 of the present application can not only realize the downhill auxiliary braking function of the all-terrain vehicle 100, but also make the structure of the device realizing the downhill auxiliary braking function compact, which is conducive to the miniaturization of the all-terrain vehicle 100 and can reduce the cost of the all-terrain vehicle 100.

[0042] In some embodiments, the motor controller 50 can adjust the speed of the drive motor through PI regulation to reduce the speed of the drive motor to a preset speed. The vehicle speed corresponding to the preset speed can be 10km / h, 8km / h, etc., which is set according to the safety requirements of the all-terrain vehicle 100 when going downhill. PI regulation means that the motor controller 50 can obtain the given speed of the drive motor in advance (which can be sent to the motor controller 50 by the vehicle controller 40), obtain the real-time speed and three-phase current of the drive motor in real time, perform Clark transformation and park transformation on the three-phase current to obtain the cross-axis current and the direct-axis current, calculate the control signal according to the given speed, real-time speed, cross-axis current and direct-axis current, and control the three-phase current of the drive motor by the control signal, thereby controlling the speed of the drive motor, thereby adjusting the speed of the wheel 31.

[0043] See also Figure 4 It can be understood that whether the ATV 100 is in a normal working state can be determined according to the power-on state, vehicle speed signal, gear signal, slope signal and power state of the ATV 100. That is to say, the vehicle controller 40 can detect the power-on state, vehicle speed signal, gear signal, slope signal and power state of the ATV 100 in real time, and when it is detected that the power-on state is the start state (i.e., the ATV 100 is powered by high voltage and can be started), the vehicle speed signal is valid, the gear signal is valid, the slope signal is valid and the power state is normal, it is determined that the ATV 100 is in a normal working state.

[0044] It can be understood that after the vehicle controller 40 receives the pressing signal, it can first detect the power-on state of the all-terrain vehicle 100. After determining that the high voltage is on the all-terrain vehicle 100, it can then detect whether the vehicle speed signal, gear signal and slope signal are valid and whether the power state is normal. When it is detected that the vehicle speed signal is valid, the gear signal is valid, the slope signal is valid and the power state is normal, it is determined that the all-terrain vehicle 100 is in a normal working state, and the vehicle controller 40 starts the downhill auxiliary braking function. If the vehicle controller 40 receives the pressing signal and detects that the power-on state of the all-terrain vehicle 100 is off, the vehicle controller 40 does not start the downhill auxiliary braking function, and the downhill auxiliary braking function remains off.

[0045] Among them, the vehicle speed signal is valid means that the vehicle controller 40 can normally receive the vehicle speed of the all-terrain vehicle 100, the gear signal is valid means that the vehicle controller 40 can normally receive the gear signal, and the slope signal is valid means that the vehicle controller 40 can normally receive the tilt angle detected by the angle sensor 61. The power state can be determined by the vehicle controller 40 by obtaining the state information of the driving components, batteries, motor controllers 50 and other components of the all-terrain vehicle 100. When one of the driving components, batteries, motor controllers 50 and other components is abnormal, it is determined that the power state of the all-terrain vehicle 100 is in a fault state. When the driving components, batteries, motor controllers 50 and other components are normal, it is determined that the power state of the all-terrain vehicle 100 is normal.

[0046] When the vehicle controller 40 receives the pressing signal, if the vehicle controller 40 cannot normally receive any of the vehicle speed signal, gear position signal or slope signal, or the power state is in a fault state, it is determined that the all-terrain vehicle 100 is in a fault state, and therefore the downhill auxiliary braking function cannot be performed. If the driver presses the auxiliary brake switch again at this time, the vehicle controller 40 turns off the downhill auxiliary braking function.

[0047] It is understood that when the downhill auxiliary braking function is in the activated state, the vehicle controller 40 is still detecting the vehicle speed signal, gear signal, slope signal and power state of the all-terrain vehicle 100 in real time. When the vehicle controller 40 detects that any of the vehicle speed signal, gear signal or slope signal is invalid, or the power state is abnormal, it is confirmed that the all-terrain vehicle 100 is in a fault state and cannot perform the downhill auxiliary braking function. If the driver presses the auxiliary brake switch at this time, the vehicle controller 40 turns off the downhill auxiliary braking function.

[0048] Please refer again Figure 4 Furthermore, after the vehicle controller 40 starts the downhill auxiliary braking function, the vehicle controller 40 can determine whether the vehicle state meets the preset conditions based on the real-time power-on state, vehicle speed signal, gear signal, acceleration signal and tilt angle.

[0049] Specifically, after the downhill auxiliary braking function is in the activated state, the vehicle controller 40 determines the speed of the all-terrain vehicle 100 according to the vehicle speed signal, and determines whether the vehicle speed is within the preset range. The vehicle controller 40 determines whether the all-terrain vehicle 100 is in the parking gear according to the gear signal. When the power-on state obtained by the vehicle controller 40 is the activated state, the vehicle speed is within the preset range, the gear is not in the parking gear, the acceleration signal is not received, and the tilt angle is within the preset angle range, it is determined that the vehicle state meets the preset conditions, so that the vehicle controller 40 starts the downhill auxiliary braking function and the vehicle state meets the preset conditions, and sends the auxiliary braking signal to the motor controller 50. It can be understood that the acceleration signal can be generated according to the state of the accelerator pedal of the all-terrain vehicle 100, and when the accelerator pedal is pressed, the acceleration signal is generated to the vehicle controller 40.

[0050] Among them, the preset range of vehicle speed can be set according to actual application requirements, for example, the preset range can be set to between 8km / h and 60km / h. When the vehicle speed is less than 8km / h, the speed of the all-terrain vehicle 100 itself is small enough, and there is no need to perform the downhill auxiliary braking function to reduce the vehicle speed. When the vehicle speed is greater than 60km / h, it is difficult to achieve the reduction of the speed of the wheel 31 simply by controlling the motor controller 50. The driver can slow down by braking, so the downhill auxiliary braking function may not be performed. The preset angle range is set according to the performance parameters of the all-terrain vehicle 100. For example, the preset angle range is an inclination angle less than or equal to -8° or an inclination angle greater than or equal to 8°. Since the critical value of the inclination angle of the all-terrain vehicle 100 to judge the downhill slope may be greater than zero or less than zero, the preset angle range is set to be less than or equal to -8° or greater than or equal to 8°. Before executing the downhill auxiliary braking function, the auxiliary brake switch 80 needs to be pressed to enable the all-terrain vehicle 100 to have the downhill auxiliary braking function. Therefore, the driver can press the auxiliary brake switch 80 before going downhill based on the actual vehicle conditions, thereby ensuring that the all-terrain vehicle 100 is traveling on a downhill section when executing the downhill auxiliary braking function, thereby improving the accuracy of downhill auxiliary braking.

[0051] It can be understood that the all-terrain vehicle 100 is provided with a battery for providing high voltage power to the all-terrain vehicle 100. Therefore, in some embodiments, the vehicle controller 40 can also obtain the power of the all-terrain vehicle 100 in real time, and the preset condition can also include that the power is less than a first preset power.

[0052] It is understandable that when the ATV 100 performs the downhill assist braking function, the drive motor that drives the wheel 31 in the ATV 100 to rotate may generate a reverse electromotive force to charge the battery of the ATV 100. In order to prevent the battery from being overcharged and causing a safety accident, the preset condition can be increased to a power level less than the first preset power level. That is, the preset condition also needs to meet the power level less than the first preset power level before the downhill assist braking function can be performed, thereby preventing the drive motor from generating a reverse electromotive force to charge the battery when the downhill assist braking function is performed, causing the battery to be overcharged. Among them, the first preset power level and the preset torque can be set according to the actual parameters of the battery of the ATV 100, for example, the first preset power level can be set to 90%.

[0053] In some embodiments, the vehicle controller 40 may also obtain the minimum available negative torque of the all-terrain vehicle 100 in real time, and the preset condition may also include that the minimum available negative torque of the vehicle is less than the preset torque.

[0054] Among them, the vehicle's minimum available negative torque is a parameter of the drive motor that drives the wheel 31 to rotate, which represents the ability of the drive motor to reduce the rotational speed of the wheel 31, that is, the ability of the all-terrain vehicle 100 to reduce the vehicle speed. The greater the vehicle's minimum available negative torque, the smaller the ability of the drive motor to reduce the rotational speed of the wheel 31, and the smaller the vehicle's minimum available negative torque, the greater the ability of the drive motor to reduce the rotational speed of the wheel 31.

[0055] In this embodiment, when the minimum available negative torque of the vehicle is less than the preset torque, it means that the drive motor can reduce the rotation speed of the wheel 31 of the all-terrain vehicle 100 to the preset rotation speed, and the all-terrain vehicle 100 can only perform the auxiliary braking function of getting off. When the minimum available negative torque of the vehicle is greater than the preset torque, it means that the drive motor cannot reduce the rotation speed of the wheel 31 of the all-terrain vehicle 100 to the preset rotation speed, and the auxiliary braking function of getting off cannot be achieved. Therefore, the preset condition can be increased that the minimum available negative torque of the vehicle is less than the preset torque to ensure that the all-terrain vehicle 100 can achieve the auxiliary braking function of getting off.

[0056] Furthermore, after the vehicle controller 40 sends the auxiliary braking signal to the motor controller 50, if it detects that the tilt angle is outside the preset angle range, or receives an acceleration signal, or the gear is in the parking gear, the vehicle controller 40 sends a stop signal to the motor controller 50, and the motor controller 50 stops controlling the speed of the wheel 31 to reduce to the preset speed according to the stop signal, that is, stops executing the downhill auxiliary braking function.

[0057] It can be understood that when the tilt angle is outside the preset angle range, it means that the all-terrain vehicle 100 is not in a downhill section, so there is no need to perform downhill auxiliary braking. When the vehicle controller 40 receives the acceleration signal, it means that the accelerator pedal of the all-terrain vehicle 100 is pressed, and the driver wants to accelerate, so there is no need to perform downhill auxiliary braking. When the gear is in the parking gear, it means that the all-terrain vehicle 100 is in a parking state at this time, and there is no need to perform downhill auxiliary braking. Therefore, the vehicle controller 40 can send a stop signal to the motor controller 50 to stop the motor controller 50 from performing the downhill auxiliary braking function. Of course, at this time, the all-terrain vehicle 100 still has the downhill auxiliary braking function, but it just stops performing downhill auxiliary braking. When the vehicle state of the all-terrain vehicle 100 meets the preset conditions again, the vehicle controller 40 can send an auxiliary braking signal to the motor controller 50 again to perform downhill auxiliary braking again.

[0058] Furthermore, when the preset condition also includes that the power is less than the first preset power, after the vehicle controller 40 sends the auxiliary braking signal to the motor controller 50, if it is detected that the power is greater than the second preset power, the vehicle controller 40 may also send a stop signal to the motor controller 50 to stop the motor controller 50 from performing the downhill auxiliary braking function. The second preset power may be greater than or equal to the first preset power.

[0059] When the battery power of the ATV 100 is greater than the second preset power, if the motor charges the battery during downhill auxiliary braking, it is easy to cause the battery to be overcharged and cause a safety accident, so the downhill auxiliary braking function is stopped to prevent the occurrence of a safety accident. It is understood that the second preset power can be set according to the actual parameters of the battery of the ATV 100, for example, it can be set to 94%.

[0060] When the preset conditions also include that the vehicle's minimum available negative torque is less than the preset torque, after the vehicle controller 40 sends an auxiliary braking signal to the motor controller 50, if it is detected that the vehicle's minimum available negative torque is greater than or equal to the preset torque, the vehicle controller 40 may also send a stop signal to the motor controller 50 to make the motor controller 50 stop performing the downhill auxiliary braking function.

[0061] When the vehicle's minimum available negative torque is greater than or equal to the preset torque, the drive motor of the all-terrain vehicle 100 cannot reduce the speed of the wheel 31 to the preset speed, that is, the downhill auxiliary braking function cannot be realized, so the downhill auxiliary braking function is stopped. The driver can control the brake assembly to brake as needed, thereby improving the safety of the all-terrain vehicle 100 when going downhill.

[0062] In some embodiments, the vehicle controller 40 may also send a stop signal to the motor controller 50 when the speed of the ATV 100 is less than a preset threshold value, so as to stop executing the downhill auxiliary braking function. The preset threshold value may refer to a speed that is difficult to reduce when the ATV 100 is on a downhill section, that is, the motor controller 50 cannot adjust the speed to less than the preset threshold value when going downhill. For example, the preset threshold value may be set to 7km / h. When the speed of the ATV 100 is less than 7km / h, it means that the ATV 100 has entered a flat section or is about to enter a flat section, and there is no need to continue to execute the downhill auxiliary braking function.

[0063] In some embodiments, when the vehicle controller 40 starts the downhill auxiliary braking function and receives a pressing signal, the vehicle controller 40 turns off the downhill auxiliary braking function. That is, when the all-terrain vehicle 100 has the downhill auxiliary braking function, if the driver presses the auxiliary brake switch 80, the vehicle controller 40 turns off the downhill auxiliary braking function, so that the all-terrain vehicle 100 does not have the downhill auxiliary braking function. Therefore, the driver can press the auxiliary brake switch 80 as needed to start and stop the downhill auxiliary braking function.

[0064] In some other embodiments, when the vehicle controller 40 starts the downhill auxiliary braking function, if the power-on state of the all-terrain vehicle 100 changes from the start state to the off state, the downhill auxiliary braking function is also turned off. That is, when the high voltage of the all-terrain vehicle 100 is disconnected, the downhill auxiliary braking function will be turned off. When the high voltage of the all-terrain vehicle 100 is powered on next time, if the downhill auxiliary braking function needs to be started, the auxiliary brake switch 80 is pressed again to prevent the driver from being unclear whether to start the downhill auxiliary braking function after the high voltage of the all-terrain vehicle 100 is powered on again, causing a safety accident.

[0065] It can be understood that the vehicle controller 40 starts the downhill auxiliary braking function when the downhill auxiliary braking function is in the starting state or when the downhill auxiliary braking function is in the execution state.

[0066] like Figure 5 As shown, in some embodiments, the all-terrain vehicle 20 may further include a brake display module 90 , and the brake display module 90 is connected to the vehicle controller 40 .

[0067] When the vehicle controller 40 starts the downhill auxiliary braking function, the vehicle controller 40 sends a first indication signal to the brake display module 90, and the first indication signal is used to indicate that the downhill auxiliary braking function is in the activated state, so that the brake display module 90 can display that the downhill auxiliary braking function is in the activated state according to the first indication signal. The driver can determine that the downhill auxiliary braking function of the all-terrain vehicle 100 is activated according to the first indication signal displayed by the brake display module 90.

[0068] When the vehicle controller 40 sends the auxiliary braking signal to the motor controller 50, the vehicle controller 40 sends a second indication signal to the brake display module 90, and the second indication signal is used to indicate that the downhill auxiliary braking function is in the execution state, so that the brake display module 90 can display that the downhill auxiliary braking function is in the execution state according to the second indication signal. The driver can determine that the all-terrain vehicle 100 is executing the downhill auxiliary braking function according to the second indication signal displayed by the brake display module 90.

[0069] When the vehicle controller 40 starts the downhill auxiliary braking function and the ATV 100 is in a fault state, the vehicle controller 40 sends a third indication signal to the brake display module 90, and the third indication signal is used to indicate that the ATV 100 is in a fault state, so that the brake display module 90 can display that the ATV 100 is in a fault state and cannot perform the downhill auxiliary braking function according to the third indication signal. The driver can determine that the ATV 100 is in a fault state according to the third indication signal displayed by the brake display module 90, although the ATV 100 starts the downhill auxiliary braking function, it cannot be performed.

[0070] Specifically, the brake display module 90 may include a brake light, which may light up in green according to the first indication signal, flash in green according to the second indicator light, and light up in yellow according to the third indication signal, so that the driver can determine the state of the downhill assist brake function according to the different colors and states of the brake light. Of course, the specific state and color of the brake light generated according to the indication signal is not limited thereto, as long as it can generate different states according to different indication signals to indicate the state of the downhill assist brake function.

[0071] The brake light may also be provided in the ATV 100 itself, and is used to indicate the braking state of the ATV 100. For example, when the ATV 100 is braked by the brake assembly, the brake light may also generate light different from the above state.

[0072] In some embodiments, the brake display module 90 may also include a display screen, which displays different icons according to different indication signals to indicate the status of the hill assist braking function.

[0073] It can be understood that the brake display module 90 can be connected to the vehicle controller 40 through the body controller 70, and the indication signal (the aforementioned first indication signal, second indication signal and third indication signal) sent by the vehicle controller 40 can be processed by the body controller 70 and then sent to the brake display module 90.

[0074] Furthermore, the vehicle controller 40 can determine whether the ATV 20 is in a fault state according to the vehicle speed signal, gear position signal, slope signal and power state. When any of the vehicle speed signal, gear position signal and slope signal is invalid or the power state is abnormal, it is confirmed that the ATV 20 is in a fault state.

[0075] In some embodiments, the auxiliary brake switch 80 may be disposed on the handlebar of the ATV 100 to facilitate the driver to perform a pressing operation.

[0076] In some embodiments, the vehicle controller 40 can be connected to the angle sensor 61 and the motor controller 50 via a communication bus, thereby facilitating communication between the vehicle controller 40, the angle sensor 61 and the motor controller 50. The communication bus can be a CAN bus, an RS485 bus, and the like.

[0077] The above embodiments are described in the form of preferred embodiments of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present application.

Claims

1. An all-terrain vehicle comprising: Frame; a body covering, the body covering being at least partially disposed on the vehicle frame; An angle sensor, the angle sensor is used to detect the tilt angle of the all-terrain vehicle; A vehicle controller, the vehicle controller is connected to the angle sensor and is used to receive the tilt angle; A motor controller, the motor controller is used to control the rotation of the drive motor of the all-terrain vehicle to control the speed of the all-terrain vehicle; It is characterized in that The all-terrain vehicle further comprises an auxiliary brake switch, which is connected to the vehicle controller, and when the auxiliary brake switch is pressed, a pressing signal is generated to the vehicle controller; When the pressing signal is received and the all-terrain vehicle is in a normal working state, the vehicle controller starts the downhill auxiliary braking function; when the vehicle controller starts the downhill auxiliary braking function and the vehicle state of the all-terrain vehicle meets a preset condition, the vehicle controller sends an auxiliary braking signal to the motor controller, and the preset condition includes that the tilt angle is within a preset angle range; The motor controller controls the rotation speed of the driving motor to decrease to a preset rotation speed according to the auxiliary braking signal.

2. The all-terrain vehicle according to claim 1, characterized in that: The vehicle controller is also used to obtain the power-on status, vehicle speed, gear signal and acceleration signal of the all-terrain vehicle. The preset conditions also include that the power-on status is the start-up status, the vehicle speed is within a preset range, the gear is not in the parking gear, and the acceleration signal is not received.

3. The all-terrain vehicle according to claim 2, characterized in that: The vehicle controller is also used to obtain at least one of the power of the all-terrain vehicle and the minimum available negative torque of the vehicle, and the preset condition also includes at least one of the power being less than a first preset power and the minimum available negative torque of the vehicle being less than a preset torque.

4. The all-terrain vehicle according to claim 2, characterized in that: When the tilt angle is outside the preset angle range, or the acceleration signal is received, or the gear is in the parking gear, the vehicle controller sends a stop signal to the motor controller, and the motor controller stops controlling the speed of the drive motor to reduce to the preset speed according to the stop signal.

5. The all-terrain vehicle according to any one of claims 1 to 4, characterized in that: When the vehicle controller starts the downhill auxiliary braking function and receives the pressing signal, the vehicle controller turns off the downhill auxiliary braking function.

6. The all-terrain vehicle according to claim 5, characterized in that: When the vehicle controller starts the downhill auxiliary braking function and the power-on state of the all-terrain vehicle is in the off state, the downhill auxiliary braking function is turned off.

7. The all-terrain vehicle according to claim 6, characterized in that: The all-terrain vehicle further comprises a brake display module, which is connected to the vehicle controller; when the vehicle controller starts the downhill auxiliary brake function, the vehicle controller sends a first indication signal to the brake display module, wherein the first indication signal is used to indicate that the downhill auxiliary brake function is in the activated state; When the vehicle controller sends the auxiliary braking signal to the motor controller, the vehicle controller sends a second indication signal to the brake display module, where the second indication signal is used to indicate that the downhill auxiliary braking function is in an execution state; When the vehicle controller starts the downhill auxiliary braking function and the all-terrain vehicle is in a fault state, the vehicle controller sends a third indication signal to the brake display module, and the third indication signal is used to indicate that the all-terrain vehicle is in a fault state and cannot perform the downhill auxiliary braking function.

8. The all-terrain vehicle according to claim 7, characterized in that: The all-terrain vehicle also includes a body controller, which is connected to the brake display module and the vehicle controller, and is used to send the first indication signal, the second indication signal and the third indication signal to the brake display module.

9. The all-terrain vehicle according to claim 1, wherein: The auxiliary brake switch is arranged on the handlebar of the all-terrain vehicle.

10. The all-terrain vehicle according to claim 1, wherein: The vehicle controller is connected to the angle sensor and the motor controller via a communication bus.

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