JP5767701B2 - 電動二輪車、乗物制御装置及び乗物制御方法 - Google Patents
電動二輪車、乗物制御装置及び乗物制御方法 Download PDFInfo
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- JP5767701B2 JP5767701B2 JP2013514845A JP2013514845A JP5767701B2 JP 5767701 B2 JP5767701 B2 JP 5767701B2 JP 2013514845 A JP2013514845 A JP 2013514845A JP 2013514845 A JP2013514845 A JP 2013514845A JP 5767701 B2 JP5767701 B2 JP 5767701B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Description
18 電動モータ
21 バッテリ
22 インバータ
23 ECU(制御手段、乗物制御装置)
30 温度センサ(状態値検出手段)
31 インバータ温度センサ(状態値検出手段)
32 バッテリ温度センサ(状態値検出手段)
33 バッテリ電圧センサ(状態値検出手段)
34 バッテリ残量センサ(状態値検出手段)
35 回転数センサ(状態値検出手段)
36 車速センサ(状態値検出手段)
37 アクセル操作量センサ(運転指令検出手段)
38 ブレーキセンサ(運転指令検出手段)
39 クラッチスイッチ(運転指令検出手段)
40 ギヤ位置センサ(運転指令検出手段)
41 バンク角センサ
45 センサ異常検知部(状態値検出手段)
48 運転指令受信部
46 状態値受信部
49 コーナリング判定部
50 モード移行制御部
51 通常モード実行部
52 出力制限モード実行部(非通常モード実行部)
53 回生モード実行部(非通常モード実行部)
54 出力急増モード実行部(非通常モード実行部)
55 通知装置
Claims (10)
- 運転者からの運転指令を検出する運転指令検出手段と、
前記運転指令とは異なる状態値を検出可能な状態値検出手段と、
駆動輪に伝達される走行動力を発生する電動モータと、
前記運転指令検出手段で検出された前記運転指令に応じて前記電動モータの出力を制御する通常モードと、前記電動モータの出力を前記通常モードに対して異ならせる非通常モードとを実行可能であり、前記通常モード及び前記非通常モードのうち一方のモードにおいて前記状態値検出手段で検出される前記状態値に所定の移行条件が成立すると、前記通常モード及び前記非通常モードのうち他方のモードへと移行させる制御手段と、
車体の直立状態から横方向への傾斜角が所定角以上であると検出されたときに電動二輪車がコーナリング中であると判定するコーナリング判定手段と、を備え、
前記通常モードと前記非通常モードとの両方で前記電動モータの出力が走行動力とされ、
前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記コーナリング判定手段で電動二輪車がコーナリング中ではないと判定され且つ前記移行条件が成立したときよりも、前記電動モータの出力変化を抑制し、
前記非通常モードは、前記電動モータを発電状態とする回生モードを有する、電動二輪車。 - 前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記通常モード及び前記非通常モードのうち一方のモードから他方のモードへの移行を禁止する、請求項1に記載の電動二輪車。
- 前記傾斜角を検出するバンク角センサを更に備え、
前記コーナリング判定手段は、前記バンク角センサで検出された前記傾斜角が前記所定角以上であるときに電動二輪車がコーナリング中であると判定する、請求項1又は2に記載の電動二輪車。 - 運転者からの運転指令を検出する運転指令検出手段と、
前記運転指令とは異なる状態値を検出可能な状態値検出手段と、
駆動輪に伝達される走行動力を発生する電動モータと、
前記運転指令検出手段で検出された前記運転指令に応じて前記電動モータの出力を制御する通常モードと、前記電動モータの出力を前記通常モードに対して異ならせる非通常モードとを実行可能であり、前記通常モード及び前記非通常モードのうち一方のモードにおいて前記状態値検出手段で検出される前記状態値に所定の移行条件が成立すると、前記通常モード及び前記非通常モードのうち他方のモードへと移行させる制御手段と、
電動二輪車がコーナリング中であるか否かを判定するコーナリング判定手段と、を備え、
前記通常モードと前記非通常モードとの両方で前記電動モータの出力が走行動力とされ、
前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記コーナリング判定手段で電動二輪車がコーナリング中ではないと判定され且つ前記移行条件が成立したときよりも、前記電動モータの出力変化を抑制し、
前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記移行条件が成立することで前記電動モータの出力変化を抑制された状態から、前記移行条件が成立したまま前記コーナリング判定手段によりコーナリングが終了したことが判定されると、前記電動モータの出力の目標値をモード移行後の目標値に徐々に近づけるように制御する、電動二輪車。 - 運転者からの運転指令を検出する運転指令検出手段と、
前記運転指令とは異なる状態値を検出可能な状態値検出手段と、
駆動輪に伝達される走行動力を発生する電動モータと、
前記運転指令検出手段で検出された前記運転指令に応じて前記電動モータの出力を制御する通常モードと、前記電動モータの出力を前記通常モードに対して異ならせる非通常モードとを実行可能であり、前記通常モード及び前記非通常モードのうち一方のモードにおいて前記状態値検出手段で検出される前記状態値に所定の移行条件が成立すると、前記通常モード及び前記非通常モードのうち他方のモードへと移行させる制御手段と、
電動二輪車がコーナリング中であるか否かを判定するコーナリング判定手段と、を備え、
前記通常モードと前記非通常モードとの両方で前記電動モータの出力が走行動力とされ、
前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記コーナリング判定手段で電動二輪車がコーナリング中ではないと判定され且つ前記移行条件が成立したときよりも、前記電動モータの出力変化を抑制し、
前記移行条件は、所定の出力急増モード移行条件を有し、
前記非通常モードは、前記運転指令検出手段で検出されたアクセル操作量の増加率が所定の閾値以上であるときに、前記通常モードよりも前記電動モータの出力を一時的に増加させる出力急増モードを有し、
前記制御手段は、前記通常モードにおいて前記出力急増モード移行条件が成立すると、前記出力急増モードに移行させる、電動二輪車。 - 走行状態がコーナリングの終盤であるか否かを判定するコーナリング状態判定手段を備え、
前記制御手段は、前記コーナリング状態判定手段により走行状態がコーナリングの終盤であると判定された場合には、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記出力急増モード移行条件が成立しても、前記電動モータの出力変化の抑制を実施しない、請求項5に記載の電動二輪車。 - 運転者に通知するための通知手段を備え、
前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定されかつ前記移行条件が成立したときには、前記電動モータの出力変化を抑制している旨を前記通知手段により運転者に通知させる、請求項1乃至6のいずれかに記載の電動二輪車。 - 運転者からの運転指令を検出する運転指令検出手段と、
前記運転指令とは異なる状態値を検出可能な状態値検出手段と、
駆動輪に伝達される走行動力を発生する電動モータと、
前記運転指令検出手段で検出された前記運転指令に応じて前記電動モータの出力を制御する通常モードと、前記電動モータの出力を前記通常モードに対して異ならせる非通常モードとを実行可能であり、前記通常モード及び前記非通常モードのうち一方のモードにおいて前記状態値検出手段で検出される前記状態値に所定の移行条件が成立すると、前記通常モード及び前記非通常モードのうち他方のモードへと移行させる制御手段と、
電動二輪車がコーナリング中であるか否かを判定するコーナリング判定手段と、を備え、
前記通常モードと前記非通常モードとの両方で前記電動モータの出力が走行動力とされ、
前記制御手段は、前記コーナリング判定手段で電動二輪車がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記コーナリング判定手段で電動二輪車がコーナリング中ではないと判定され且つ前記移行条件が成立したときよりも、前記電動モータの出力変化を抑制し、
前記制御手段は、コーナリング中の車両運転状態に応じて前記電動モータの出力変化の抑制の程度を変化させる、電動二輪車。 - 運転者からの運転指令を受信する運転指令受信部と、
前記運転指令とは異なる状態値を受信可能な状態値受信部と、
前記運転指令に応じて電動モータの出力を制御する通常モード実行部と、
前記電動モータの出力を前記通常モードに対して異ならせる非通常モード実行部と、
前記通常モード及び前記非通常モードのうち一方のモードにおいて前記状態値受信部で受信される前記状態値に所定の移行条件が成立すると、前記通常モード及び前記非通常モードのうち他方のモードへと移行させるモード移行制御部と、
車体の直立状態から横方向への傾斜角が所定角以上であると検出されたときに乗物がコーナリング中であると判定するコーナリング判定部と、を備え、
前記通常モードと前記非通常モードとの両方で前記電動モータの出力が走行動力とされ、
前記モード移行制御部は、前記コーナリング判定部で乗物がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記コーナリング判定部で乗物がコーナリング中ではないと判定され且つ前記移行条件が成立したときよりも、前記電動モータの出力変化を抑制し、
前記非通常モードは、前記電動モータを発電状態とする回生モードを有する、乗物制御装置。 - 運転者からの運転指令を受信する運転指令受信工程と、
前記運転指令とは異なる状態値を受信可能な状態値受信工程と、
前記運転指令に応じて電動モータの出力を制御する通常モード実行工程と、
前記電動モータの出力を前記通常モードに対して異ならせる非通常モード実行工程と、
前記通常モード及び前記非通常モードのうち一方のモードにおいて前記状態値に所定の移行条件が成立すると、前記通常モード及び前記非通常モードのうち他方のモードへと移行させるモード移行制御工程と、
車体の直立状態から横方向への傾斜角が所定角以上であると検出されたときに乗物がコーナリング中であると判定するコーナリング判定工程と、を備え、
前記通常モードと前記非通常モードとの両方で前記電動モータの出力を走行動力とし、
前記モード移行制御工程では、前記コーナリング判定部で乗物がコーナリング中であると判定され且つ前記移行条件が成立したときには、前記コーナリング判定部で乗物がコーナリング中ではないと判定され且つ前記移行条件が成立したときよりも、前記電動モータの出力変化を抑制し、
前記非通常モードは、前記電動モータを発電状態とする回生モードを有する、乗物制御方法。
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- 2011-05-13 WO PCT/JP2011/002666 patent/WO2012157013A1/ja active Application Filing
- 2011-05-13 EP EP11865937.4A patent/EP2708457B1/en active Active
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CN103502088B (zh) | 2018-01-16 |
EP2708457B1 (en) | 2017-01-18 |
CN103502088A (zh) | 2014-01-08 |
WO2012157013A1 (ja) | 2012-11-22 |
US20170297552A1 (en) | 2017-10-19 |
EP2708457A1 (en) | 2014-03-19 |
JPWO2012157013A1 (ja) | 2014-07-31 |
US20140058609A1 (en) | 2014-02-27 |
US10351121B2 (en) | 2019-07-16 |
EP2708457A4 (en) | 2015-04-29 |
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