Micromobility electric vehicle with walk-assist mode
A micromobility electric vehicle with a controller that operates the vehicle in a walk-assist mode, expanding the population of users that can comfortably use the vehicle. In walk-assist mode, the speed of the vehicle may be limited to a walking speed, regardless of the position of a throttle. In contrast, in a riding mode, the maximum speed may be higher. The walk-assist mode may be entered or exited based on output of one or more sensors, indicating that the user is or is not riding the vehicle or that a user is or is not pushing the vehicle. Such sensors may be positioned in a seat, in a floorboard or on the handlebars of the vehicle. Alternatively or additionally, the sensor may be associated with a control, such as a tab configured to be pressed by a user's thumb when the user is pushing the vehicle.
1 . A micromobility electric vehicle, comprising:
a throttle on a handlebar, the throttle configured to be moved to a throttle position in a range of throttle positions;
one or more sensors including a force sensor configured to detect a pushing force on the handlebar; and
a controller operatively coupled to receive inputs from the throttle and the one or more sensors and to provide a motor control signal to a motor, wherein:
the controller is configured to generate the motor control signal based on inputs received from the throttle and the one or more sensors;
the controller is configured to selectively operate in a riding mode based on an input received from the one or more sensors indicating that a user is riding the micromobility electric vehicle and a walk-assist mode based on an input received from the one or more sensors indicating that the user is pushing the micromobility electric vehicle; and
in the walk-assist mode, the controller is configured to provide the motor control signal so as to provide a speed that corresponds to the throttle position based on movement of the throttle on the handlebar and is lower than a speed in the riding mode for the same throttle position, and the controller is further configured to:
increase the speed corresponding to the throttle position when a magnitude of the pushing force in a forward direction of the micromobility electric vehicle detected by the force sensor is greater than a first threshold; and
decrease the speed corresponding to the throttle position when a magnitude of the pushing force in a forward direction of the micromobility electric vehicle detected by the force sensor is less than a second threshold;
in the walk-assist mode, the controller is further configured to:
determine that a sensed speed of the micromobility electric vehicle exceeds a first predetermined maximum speed corresponding to the walk-assist mode;
calculate, in response to the determination that the sensed speed exceeds the first predetermined maximum speed, a maximum torque required to propel the micromobility electric vehicle at the first predetermined maximum speed under specified loading conditions; and
provide the motor control signal such that an output torque is proportional to the calculated maximum torque, thereby delivering a speed corresponding to the throttle position.
2 . The micromobility electric vehicle of claim 1 , wherein:
in the walk-assist mode, the motor control signal is limited to provide a speed less than 4 miles per hour.
3 . The micromobility electric vehicle of claim 1 , wherein:
in the riding mode and the walk-assist mode, the motor control signal is configured to control the motor so as to produce a speed of the micromobility electric vehicle that corresponds to the throttle position over at least a portion of the range of throttle positions.
4 . The micromobility electric vehicle of claim 3 , wherein:
in the walk-assist mode, the motor control signal is configured to control the motor to produce a speed that corresponds to the throttle position for speeds below a predetermined speed limit.
5 . The micromobility electric vehicle of claim 3 , wherein:
in the walk-assist mode, the motor control signal is configured to control the motor to produce a predetermined speed limit when the throttle is at an end of the range of throttle positions.
6 . The micromobility electric vehicle of claim 4 , wherein:
in the walk-assist mode, a rear wheel of the micromobility electric vehicle is configured to position the micromobility electric vehicle in an upright storage position such that the rear wheel makes contact with a ground surface and a front wheel of the micromobility electric vehicle lifts off the ground surface.
7 . The micromobility electric vehicle of claim 1 , wherein:
the one or more sensors comprise a rider sensor.
8 . The micromobility electric vehicle of claim 7 , wherein:
the rider sensor comprises a tire pressure sensor;
the controller is further configured to retrieve a tire pressure reading from the tire pressure sensor; and
the micromobility electric vehicle is configured to operate in at least one of the riding mode and the walk-assist mode based at least on the tire pressure reading.
9 . The micromobility electric vehicle of claim 7 , wherein:
the micromobility electric vehicle further comprises a seat;
the rider sensor comprises a force sensor positioned to measure a force on the seat;
the controller is configured to retrieve the measured force; and
the micromobility electric vehicle is configured to operate in at least one of the walk-assist mode and riding mode based at least on the measured force.
10 . The micromobility electric vehicle of claim 7 , wherein:
the micromobility electric vehicle further comprises a footboard;
the rider sensor comprises a force sensor positioned to measure a force on the footboard;
the controller is configured to retrieve the measured force; and
the micromobility electric vehicle is configured to operate in at least one of the walk-assist mode and riding mode based at least on the measured force.
11 . The micromobility electric vehicle of claim 1 , wherein:
the throttle comprises a tubular portion encircling the handlebar and a tab coupled to the tubular portion and extending radially outward from the tubular portion;
the controller is configured to receive an input indicating a position of the tab; and
the micromobility electric vehicle is configured to operate in at least one of the walk-assist mode and riding mode based at least on the tab being actuated.
12 . The micromobility electric vehicle of claim 1 , wherein:
the throttle comprises a tubular portion encircling the handlebar;
the micromobility electric vehicle further comprises a tab configured to rotate around the handlebar;
the one or more sensors comprise a sensor that is configured to sense a rotation of the tab;
the controller is configured to receive an input indicating the sensed rotation of the tab; and
the micromobility electric vehicle is configured to operate in at least one of the walk-assist mode and riding mode based at least on the sensed rotation of the tab.
13 . The micromobility electric vehicle of claim 1 , wherein:
the micromobility electric vehicle further comprises the force sensor configured to detect a pushing force on the handlebar; and
in the walk-assist mode, the motor control signal is configured to provide a speed for the micromobility electric vehicle that reduces the pushing force detected with the force sensor.
14 . The micromobility electric vehicle of claim 13 , wherein:
in the riding mode, the motor control signal is configured to provide a second predetermined maximum speed when the throttle is at a maximum end of the range of throttle positions; and
in the walk-assist mode, the motor control signal is configured to provide the speed for the micromobility electric vehicle that reduces the pushing force detected with the force sensor up to the first predetermined maximum speed.
15 . The micromobility electric vehicle of claim 1 , wherein:
the throttle comprises a tubular portion around the handlebar and a tab coupled to the tubular portion and extending radially outward from the tubular portion;
the tubular portion rotates around an axis of the handlebar; and
the tab is oriented at an angle between 5 and 45 degrees with respect to the axis.
16 . The micromobility electric vehicle of claim 1 , wherein the one or more sensors comprise a force sensor configured to detect a pushing force of the user, wherein the speed in the walk-assist mode is related to the detected pushing force.
17 . The micromobility electric vehicle of claim 16 , wherein the walk-assist mode is activated based on movement of the throttle.
18 . The micromobility electric vehicle of claim 1 , wherein the throttle comprises:
a first tubular portion encircling the handlebar that is coupled with a tab extending radially outward from the first tubular portion such that the first tubular portion rotates when the tab is pressed; and
a second tubular portion encircling the handlebar and positioned for the user to grasp while riding, wherein the controller is configured to:
provide the motor control signal based on actuation of the tab in the walk-assist mode; and
provide the motor control signal based on a rotation of the second tubular portion in the riding mode.
19 . A micromobility electric vehicle, comprising:
a handlebar;
a motor;
a throttle mounted to the handlebar and configured to be moved to a throttle position in a range of throttle positions, wherein the throttle comprises a tubular portion around the handlebar;
one or more sensors including a force sensor configured to detect a pushing force on the handlebar; and
a controller operatively coupled to receive inputs from the throttle and the one or more sensors and configured to generate a control signal to the motor such that the motor propels the micromobility electric vehicle at a maximum speed greater than 10 miles per hour in a riding mode when the one or more sensors detect that a user is riding the micromobility electric vehicle and propels the micromobility electric vehicle at a maximum speed limited to less than 5 miles per hour in a walk-assist mode when the one or more sensors detect that the user is pushing the micromobility electric vehicle, wherein a speed in the walk-assist mode corresponds to the throttle position based on movement of the throttle on the handlebar and is lower than a speed in the riding mode for the same throttle position, and the controller, in the walk-assist mode, is further configured to:
increase the speed corresponding to the throttle position when a magnitude of the pushing force in a forward direction of the micromobility electric vehicle detected by the force sensor is greater than a first threshold; and
decrease the speed corresponding to the throttle position when a magnitude of the pushing force in a forward direction of the micromobility electric vehicle detected by the force sensor is less than a second threshold;
in the walk-assist mode, the controller is further configured to:
determine that a sensed speed of the micromobility electric vehicle exceeds a first predetermined maximum speed corresponding to the walk-assist mode;
calculate, in response to the determination that the sensed speed exceeds the first predetermined maximum speed, a maximum torque required to propel the micromobility electric vehicle at the first predetermined maximum speed under specified loading conditions; and
provide the motor control signal such that an output torque is proportional to the calculated maximum torque, thereby delivering a speed corresponding to the throttle position.