# US 10,440,880 B2 · Control systems and methods for electric drive utility vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,440,880 B2 - Document ID: US10440880B2 - Status: Granted - Kind: B2 - Application number: 15/630,709 - Filed: 2017-06-22 - Published: 2018-11-29 - Granted: 2019-10-15 - Earliest claimed: 2007-09-11 - Assignees: Hydro-Gear Limited Partnership - Applicants: Hydro-Gear Limited Partnership - Inventors: Christopher K. Wyatt; Ivan E. Fox - Web page: https://patentgrep.com/patent/US10440880B2 ## CPC - A01D 34/008: {for automated or remotely controlled operation} - A01D 34/66: with two or more cutters - A01D 34/78: electric - B60L 15/007: {Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles} - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles} - B60L 15/38: with automatic control - H02P 5/68: controlling two or more DC dynamo-electric motors (H02P5/46, H02P5/60 take precedence) - H02P 5/74: controlling two or more AC dynamo-electric motors (H02P5/46, H02P5/60 take precedence) - H04L 12/403: with centralised control, e.g. polling - B60L 2200/40: Working vehicles - H05K 1/14: Structural association of two or more printed circuits (providing electric connection to or between printed circuits H05K1/11, H01R12/00) - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/72: Electric energy management in electromobility - A01D: HARVESTING; MOWING - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - H05K: PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract Electronic control systems and related control methods for controlling electric drive motors for propelling a vehicle and electric auxiliary motors for performing work, such as electric deck motors for mower blades. The apparatus is shown in use with a vehicle that includes a mowing deck. Features of the control systems allow for safe and efficient use of the vehicle. Controller assemblies and packaging for electronic control systems of electric motors utilized in utility vehicles or other power equipment are also disclosed. The controller assemblies are packaged for robust design and heat dissipation, while collectively housing the controllers, switches and sensors needed to operate multiple motors performing different functions, or the same function in serial. ## Claims ### Claim 1 A utility vehicle, comprising: a traction system comprising at least one electric drive motor in communication with a driven wheel of the vehicle; and an electric motor control system comprising: a plurality of operator interfaces for operating the utility vehicle each providing an operator interface input signal, wherein one of the operator interface input signals comprises an accelerator input signal; a plurality of sensors each providing a sensor input signal, wherein at least one of the plurality of sensors is in communication with at least one of the plurality of operator interfaces; and a traction controller in communication with the plurality of operator interfaces, the plurality of sensors, and the at least one electric drive motor, wherein the traction controller is configured to facilitate adjustment of the at least one electric drive motor based on the accelerator input signal and at least one of the sensor input signals; wherein the traction controller is configured to provide integrated power management and safety control of the at least one electric drive motor such that the at least one electric drive motor is automatically adjusted in response to conditions of the vehicle as determined from one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals; wherein the traction controller is further configured to automatically restrict initiation of a cruise mode of the vehicle based on whether the vehicle is travelling in an approximately straight line as determined from one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals. ### Claim 2 (depends on 1) The utility vehicle of claim 1, wherein: the plurality of operator interfaces comprises a performance switch having a plurality of selectable settings for controlling a power management function of the vehicle, wherein the operator interface input signal from the performance switch denotes a selected setting; and the traction controller is configured to modify power consumption of the at least one electric drive motor based on one or more of the selected setting of the performance switch, the accelerator input signal, or at least one of the sensor input signals. ### Claim 3 (depends on 2) The utility vehicle of claim 2, wherein the plurality of selectable settings of the performance switch comprises an aggressive mode and a non-aggressive mode; and wherein the traction controller is configured to use a first acceleration curve and a first deceleration curve when the performance switch is in the aggressive mode, and use a second acceleration curve and a second deceleration curve when the performance switch is in the non-aggressive mode. ### Claim 4 (depends on 1) The utility vehicle of claim 1, wherein: the plurality of operator interfaces comprises a user setting control interface having a plurality of user settings for controlling usage of the utility vehicle based on a selected user or a selected category of user, wherein the operator interface input signal from the user setting control interface denotes a selected user setting for the selected user or the selected category of user; and the traction controller is configured to enable or inhibit operation of the at least one electric drive motor based on the selected user setting and one or more of the accelerator input signal or at least one of the sensor input signals. ### Claim 5 (depends on 4) The utility vehicle of claim 4, wherein the user setting control interface comprises an input interface for enabling entry of a password to select one of the plurality of user settings. ### Claim 6 (depends on 4) The utility vehicle of claim 4, wherein the user setting control interface comprises a user setting switch for selecting one of the plurality of user settings. ### Claim 7 (depends on 1) The utility vehicle of claim 1, wherein the plurality of sensors comprises an object detection sensor, wherein the sensor input signal from the object detection sensor denotes a presence of an object in a vicinity of the vehicle in the direction of travel of the vehicle; and the traction controller is configured to automatically initiate a panic stop of the at least one electric drive motor based on the sensor input signal from the object detection sensor and one or more of the accelerator input signal or at least one of the operator interface input signals. ### Claim 8 (depends on 1) The utility vehicle of claim 1, wherein the traction controller is further configured to automatically cancel the cruise mode if a turn of the vehicle exceeds a parameter, based on one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals. ### Claim 9 (depends on 1) The utility vehicle of claim 1, wherein the traction controller is further configured to automatically cancel the cruise mode after the cruise mode has been initiated if the conditions of the vehicle exceed a predetermined threshold, based on one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals. ### Claim 10 (depends on 1) The utility vehicle of claim 1, wherein the traction controller is further configured to automatically reduce the speed of the at least one electric drive motor after the cruise mode has been initiated if the conditions of the vehicle exceed a predetermined threshold, based on one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals. ### Claim 11 (depends on 1) The utility vehicle of claim 1, wherein the driven wheel comprises an inner wheel of a track arrangement on a track vehicle. ### Claim 12 (depends on 1) The utility vehicle of claim 1, further comprising an auxiliary system comprising at least one electric auxiliary motor in communication with an auxiliary mechanism, wherein the electric motor control system further comprises an auxiliary controller in communication with the at least one electric auxiliary motor and the traction controller to facilitate adjustment of the at least one electric auxiliary motor; and wherein the traction controller and the auxiliary controller are configured to provide integrated power management and safety control of the at least one electric drive motor and the at least one electric auxiliary motor such that one or more of the at least one electric drive motor and the at least one electric auxiliary motor is automatically adjusted in response to conditions of the vehicle as determined from one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals. ### Claim 13 A utility vehicle, comprising: a traction system comprising at least one electric drive motor in communication with a driven wheel of the vehicle; an auxiliary system comprising at least one electric auxiliary motor in communication with an auxiliary mechanism; and an electric motor control system, comprising: a plurality of operator interfaces for operating the utility vehicle each providing an operator interface input signal, wherein one of the operator interface input signals comprises an accelerator input signal; a plurality of sensors each providing a sensor input signal, wherein at least one of the plurality of sensors is in communication with at least one of the plurality of operator interfaces; a traction controller in communication with the plurality of operator interfaces, the plurality of sensors, and the at least one electric drive motor, wherein the traction controller is configured to facilitate adjustment of the at least one electric drive motor based on the accelerator input signal and at least one of the sensor input signals; and an auxiliary controller in communication with the at least one electric auxiliary motor and the traction controller to facilitate adjustment of the at least one electric auxiliary motor; wherein the traction controller is configured to provide integrated power management and safety control of the at least one electric drive motor such that the at least one electric drive motor is automatically adjusted in response to conditions of the vehicle as determined from one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals; wherein the plurality of operator interfaces comprises a user setting control interface having a plurality of user settings for controlling usage of the utility vehicle based on a selected user or a selected category of user, wherein the operator interface input signal from the user setting control interface denotes a selected user setting for the selected user or the selected category of user; and wherein the traction controller is further configured to enable or inhibit operation of the at least one electric drive motor based on the selected user setting and one or more of the accelerator input signal or at least one of the sensor input signals. ### Claim 14 (depends on 13) The utility vehicle of claim 13, wherein the user setting control interface comprises an input interface for enabling entry of a password to select one of the plurality of user settings. ### Claim 15 (depends on 13) The utility vehicle of claim 13, wherein the user setting control interface comprises a user setting switch for selecting one of the plurality of user settings. ### Claim 16 (depends on 13) The utility vehicle of claim 13, wherein the auxiliary controller is configured to enable or inhibit operation of the at least one electric auxiliary motor based on the selected user setting and one or more of the accelerator input signal or at least one of the sensor input signals. ### Claim 17 A utility vehicle, comprising: a traction system comprising at least one electric drive motor in communication with a driven wheel of the vehicle; and an electric motor control system comprising: a plurality of operator interfaces for operating the utility vehicle each providing an operator interface input signal, wherein one of the operator interface input signals comprises an accelerator input signal; a plurality of sensors each providing a sensor input signal, wherein at least one of the plurality of sensors is in communication with at least one of the plurality of operator interfaces; and a traction controller in communication with the plurality of operator interfaces, the plurality of sensors, and the at least one electric drive motor, wherein the traction controller is configured to facilitate adjustment of the at least one electric drive motor based on the accelerator input signal and at least one of the sensor input signals; wherein the traction controller is configured to provide integrated power management and safety control of the at least one electric drive motor such that the at least one electric drive motor is automatically adjusted in response to conditions of the vehicle as determined from one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals; wherein the plurality of sensors comprises an object detection sensor, wherein the sensor input signal from the object detection sensor denotes a presence of an object in a vicinity of the vehicle in the direction of travel of the vehicle; and wherein the traction controller is further configured to automatically initiate a panic stop of the at least one electric drive motor based on the sensor input signal from the object detection sensor and one or more of the accelerator input signal or at least one of the operator interface input signals. ### Claim 18 (depends on 17) The utility vehicle of claim 17, wherein the object detection sensor is configured to be active to detect the presence of the object when the direction of travel of the vehicle is in reverse. ### Claim 19 (depends on 18) The utility vehicle of claim 18, wherein the object detection sensor is further configured to be active to detect the presence of the object when an electric auxiliary motor of the vehicle is active. ### Claim 20 A utility vehicle, comprising: a traction system comprising at least one electric drive motor in communication with a driven wheel of the vehicle; and an electric motor control system comprising: a plurality of operator interfaces for operating the utility vehicle each providing an operator interface input signal, wherein one of the operator interface input signals comprises an accelerator input signal; a plurality of sensors each providing a sensor input signal, wherein at least one of the plurality of sensors is in communication with at least one of the plurality of operator interfaces; and a traction controller in communication with the plurality of operator interfaces, the plurality of sensors, and the at least one electric drive motor, wherein the traction controller is configured to facilitate adjustment of the at least one electric drive motor based on the accelerator input signal and at least one of the sensor input signals; wherein the traction controller is configured to provide integrated power management and safety control of the at least one electric drive motor such that the at least one electric drive motor is automatically adjusted in response to conditions of the vehicle as determined from one or more of the accelerator input signal, at least one of the operator interface input signals, or at least one of the sensor input signals; wherein the plurality of sensors comprises an object detection sensor, wherein the sensor input signal from the object detection sensor denotes a presence of an object in a vicinity of the vehicle in the direction of travel of the vehicle; and wherein the traction controller is further configured to automatically reduce a speed of the at least one electric drive motor based on the sensor input signal from the object detection sensor and one or more of the accelerator input signal or at least one of the operator interface input signals. ### Claim 21 (depends on 20) The utility vehicle of claim 20, wherein the traction controller is further configured to automatically reduce the speed of the at least one electric drive motor by rapidly decelerating the speed of the at least one electric drive motor to achieve a panic stop of the vehicle. ### Claim 22 (depends on 20) The utility vehicle of claim 20, wherein the object detection sensor is configured to be active to detect the presence of the object when the direction of travel of the vehicle is in reverse. ### Claim 23 (depends on 22) The utility vehicle of claim 22, wherein the object detection sensor is further configured to be active to detect the presence of the object when an electric auxiliary motor of the vehicle is active.