Intelligent system for regulating the speed of an electric motorcycle

• US 6,324,464 B1
• Filed: 12/30/1999
• Issued: 11/27/2001
• Est. Priority Date: 12/30/1999
• Status: Expired due to Fees

• Current Assignee: Academia Sinica (Government of The Republic of China)
• Original Assignee: Academia Sinica (Government of The Republic of China)
• Inventors: Wu, Chi-Haur, Lee, Der-Tsai
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US09/475,395
• Time in Patent Office: 698 Days
• Field of Search: 701/93, 11/22, 180/65.1, 180/65.6, 180/65.7, 180/65.8, 180/68.5
• US Class Current: 701/93
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2200/12 Bikes
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/429 Current
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/12 by confirmation, e.g. of the input
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2250/24 by lever actuation
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: B60L 3/08 Means for preventing excessive speed of the vehicle
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B62K 2202/00 Motorised scooters
• CPC Class Codes: B62K 2204/00 Adaptations for driving cycles by electric motor for driving electrically assisted bicycles B62M6/00
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A system for regulating the speed of a motorcycle, of the type powered by an electric motor and a battery, includes a command module that determines a desired speed of the motor, a speed sensor which determines an actual speed of the motor, and a controller which controls the electric motor based on the desired speed and the actual speed.

Claims

1. A system for regulating the speed of a motorcycle of the type powered by an electric motor and a battery, comprising:

a command module that generates a desired speed signal representative of a desired speed;

a battery sensor that generates an energy signal representing an amount of energy stored in the battery;

a distance setting element that generates a desired traveling distance signal representing a desired traveling distance of the motorcycle;

said command module being configured such that said desired speed signal is based on said energy signal and said desired traveling distance signal.

2. A system for regulating the speed of a motorcycle of the type powered by an electric motor and a battery, comprising:

a command module that generates a desired speed signal representative of a desired speed;

a speed sensor that generates an actual speed signal representative of the actual speed of the motor;

a controller that controls the electric motor in response to said desired speed signal and the actual speed signal; and

wherein said command module is further configured to compute a maximum allowable speed that can be maintained if the motorcycle is to travel said desired distance on said amount of energy.

3. The system of claim 2, wherein said command module is configured such that said desired speed signal is based on said maximum allowable speed when said target speed is above said maximum allowable speed.

4. The system of claim 2, wherein said command module further includes a memory for storing a lookup table, said lookup table being used for determining said maximum allowable speed.

5. The system of claim 2, wherein said command module further includes a computer program for computing said maximum allowable speed based on a formula.

6. The system of claim 2, wherein said command module determines said maximum allowable speed based on experimental data on motorcycle energy consumption at various speeds.

7. The system of claim 2, wherein said command module computes said maximum allowable speed based on properties of the motorcycle.

8. A system for regulating the speed of a motorcycle of the type powered by an electric motor and a battery, comprising:

a command module that generates a desired speed signal representative of a desired speed;

a speed sensor that generates an actual speed signal representative of the actual speed of the motor;

a controller that controls the electric motor in response to said desired speed signal and the actual speed signal;

a range sensor that measures a range distance between said motorcycle and an object; and

wherein the command module is further configured to determine a safe speed based on said range distance, said safe speed being a maximum actual speed that the motorcycle can attain without danger of colliding with said object.

9. The system of claim 8, further including a display for displaying said safe speed.

10. The system of claim 8, wherein said motorcycle is of the type having an actuator for setting a target speed of a motorcycle rider, said command module being configured such that the desired speed is based on said safe speed when said target speed is above said safe speed.

11. The system of claim 8, wherein said motorcycle is of the type having an actuator for setting a target speed of a motorcycle rider, said command module being configured such that the desired speed is based on a product of said target speed and a scaling parameter when said target speed is greater than said safe speed.

12. The system of claim 11, wherein said command module computes said scaling parameter based on said safe speed.

13. The system of claim 8, wherein said command module includes a memory for storing a lookup table, said lookup table being used by said command module to derive the safe speed.

14. The system of claim 8, wherein said command module includes a computer program for computing the safe speed based on a mathematical formula.

15. The system of claim 8, wherein the command module derives said safe speed based on experimental data on a braking distance of the motorcycle at different speeds.

16. The system of claim 8, wherein the command module determines said safe speed based on properties of the motorcycle.

17. The system of claim 8, further comprising an element for setting a motorcycle rider'"'"'s cruise speed, said command module being configured such that said desired speed signal is based on said cruise speed signal when said cruise speed element is activated.

18. A method of determining the desired speed of a motorcycle of the type having an actuator for generating a target speed signal, said target speed signal representing a target speed of the motorcycle, said method comprising:

establishing a safe speed in response to a range signal representing a range distance between the motorcycle and an obstacle in its path; and

setting the speed to a value below the safe speed when the target speed exceeds the safe speed.

19. A method of determining the desired speed of a motorcycle of the type having an actuator for generating a target speed signal, said target speed signal representing a target speed of the motorcycle, said method comprising:

establishing a safe speed in response to a range signal representing a range distance between the motorcycle and an obstacle in its path;

setting the speed to a value below the safe speed when the target speed exceeds the safe speed; and

wherein said value is determined by;

selecting a scaling parameter;

computing a product of said target speed and said scaling parameter; and

setting the value to said product, said scaling parameter being selected so that said product does not exceed said safe speed.

20. The method of claim 19 wherein said scaling parameter is a ratio of said safe speed and a highest attainable speed of the motorcycle.

21. A method of determining the desired speed of a motorcycle of the type having an actuator for generating a target speed signal, said target speed signal representing a target speed of the motorcycle, said method comprising:

establishing a safe speed in response to a range signal representing a range distance between the motorcycle and an obstacle in its path;

setting the speed to a value below the safe speed when the target speed exceeds the safe speed; and

wherein said safe speed is established using a lookup table that relates motorcycle braking distances to motorcycle speed.

22. A method of determining the desired speed of a motorcycle of the type having an actuator for generating a target speed signal, said target speed signal representing a target speed of the motorcycle, said method comprising:

establishing a safe speed in response to a range signal representing a range distance between the motorcycle and an obstacle in its path;

setting the speed to a value below the safe speed when the target speed exceeds the safe speed; and

wherein said safe speed is established using a formula that relates motorcycle braking distances to motorcycle speed.

23. A method of determining the desired speed of a motorcycle of the type driven by a motor powered by a battery, said motorcycle having an actuator for generating a target speed signal, said target speed signal representing a target seed of the motorcycle, said method comprising:

establishing a maximum allowable speed in response to an energy signal representing an available battery energy and a distance signal representing a desired traveling distance, said maximum allowable speed representing the maximum speed that the motorcycle can maintain without depleting said available energy before traveling said desired distance, and

setting the speed to a value below the maximum allowable speed when the target speed exceeds the maximum allowable speed.

24. The method of claim 23 wherein said value is determined by:

selecting a scaling parameter,

computing a product of said target speed and said scaling parameter, and

setting the value to said product, said scaling parameter being selected so that said product does not exceed said maximum allowable speed.

25. The method of claim 24 wherein said scaling parameter is a ratio of said maximum allowable speed and a highest attainable speed of the motorcycle.

26. The method of claim 23 wherein said maximum allowable speed is established using a lookup table that relates motorcycle energy consumption per unit of distance at various speeds.

27. The method of claim 23 wherein said maximum allowable speed is established using a formula that relates motorcycle energy consumption per unit of distance at various speeds.

28. A method for regulating the energy of a motorcycle of the type powered by an electric motor and a battery, comprising:

receiving as inputs a first signal indicative of an amount of available energy stored in the battery and a second signal indicative of a desired traveling distance of the motorcycle;

producing a desired speed signal indicative of a desired speed based on the first and second signals;

using the desired speed signal to control the speed of the motor so as to ensure that the available energy is sufficient to travel the desired traveling distance.

29. The method of claim 28, further comprising:

receiving a signal indicative of a range distance between the motorcycle and an object; and

determining from the signal a safe speed that can be attained by the motorcycle without colliding with the object.

30. The method of claim 29, further comprising:

adjusting the desired speed so that the desired speed does not exceed the safe speed.

31. A computer program tangibly stored on a computer-readable medium and operable to cause a computer to regulate the energy of a motorcycle of the type powered by an electric motor and a battery, the computer program comprising instructions to:

receive information indicative of an amount of available energy stored in the battery and an a desired traveling distance of the motorcycle;

produce a desired speed value from the information; and

use the desired speed value to control the speed of the motor so as to ensure that the available energy is sufficient to travel the desired traveling distance.