JPH05122805A - Electric traveling vehicle - Google Patents
Electric traveling vehicleInfo
- Publication number
- JPH05122805A JPH05122805A JP10411091A JP10411091A JPH05122805A JP H05122805 A JPH05122805 A JP H05122805A JP 10411091 A JP10411091 A JP 10411091A JP 10411091 A JP10411091 A JP 10411091A JP H05122805 A JPH05122805 A JP H05122805A
- Authority
- JP
- Japan
- Prior art keywords
- electric motor
- regenerative braking
- operator
- braking force
- electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、電動機の駆動力を駆動
輪に伝達して走行する電気走行車に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle that travels by transmitting a driving force of an electric motor to driving wheels.
【0002】[0002]
【従来の技術】この種の電気走行車においては、例えば
特開昭59−209004号公報に開示されているよう
に、下り坂等における惰性走行時や減速時に、従来のエ
ンジン自動車のエンジンブレーキに相当する回生制動を
電動機に与えるようにしたものが従来から知られてい
る。この回生制動は周知のように、駆動輪の惰性的な回
転力により電動機を発電機として動作させ、この時得ら
れる発電エネルギーをバッテリ等の電源に回収しつつ該
電動機に電気的制動を与えるものである。2. Description of the Related Art In an electric vehicle of this type, as disclosed in, for example, Japanese Patent Laid-Open No. 59-209004, an engine brake of a conventional engine vehicle is used during coasting on a downhill or during deceleration. It has been known in the past to provide a motor with a corresponding regenerative braking. As is well known, the regenerative braking is to apply electric braking to the electric motor while operating the electric motor as a generator by the inertial rotational force of the drive wheels and recovering the generated energy obtained at this time to a power source such as a battery. Is.
【0003】そして、例えば上記特開昭59−2090
04号公報に開示されている電気走行車においては、ブ
レーキの操作量に応じた回生制動力を電動機に生ぜし
め、また、惰性走行時には電動機の回転速度に応じた回
生制動力を電動機に生ぜしめるようにしている。And, for example, the above-mentioned Japanese Patent Laid-Open No. 59-2090.
In the electric traveling vehicle disclosed in Japanese Patent Publication No. 04, the regenerative braking force according to the operation amount of the brake is generated in the electric motor, and the regenerative braking force according to the rotation speed of the electric motor is generated in the electric motor during coasting. I am trying.
【0004】しかしながら、かかる電気走行車において
は、電動機に生ぜしめる回生制動力は、ブレーキの操作
量や電動機の回転速度に応じて一義的に生ぜしめるもの
であるため、次のような不都合があった。However, in such an electric vehicle, the regenerative braking force generated in the electric motor is uniquely generated in accordance with the operation amount of the brake and the rotation speed of the electric motor, and therefore has the following disadvantages. It was
【0005】すなわち、例えば長い下り坂においては、
頻繁なブレーキ操作は好ましくないものの、上記のよう
に惰性走行時に電動機の回転速度に応じた回生制動力を
生ぜしめる電気走行車にあっては、その惰性走行による
回生制動力だけでは種々の勾配の下り坂における走行に
対応した回生制動力を得ることができず、このため、運
転者は充分な制動力を得るためには頻繁にブレーキ操作
を行わなければならない。That is, for example, on a long downhill,
Although frequent braking is not desirable, in the case of an electric vehicle that produces a regenerative braking force according to the rotation speed of the electric motor during coasting as described above, the regenerative braking force due to the coasting alone produces various gradients. The regenerative braking force corresponding to the traveling on the downhill cannot be obtained, and therefore the driver must frequently perform the brake operation in order to obtain a sufficient braking force.
【0006】また、雪道走行時や旋回時においても、頻
繁なブレーキ操作は好ましくないものの、惰性走行によ
る回生制動力だけではその走行状況に応じた的確な回生
制動力を得ることができず、結局、運転者は上記と同様
に頻繁にブレーキ操作を行わなければならない。Further, although frequent braking operation is not preferable during traveling on a snowy road or during turning, it is not possible to obtain an accurate regenerative braking force according to the traveling condition only by the regenerative braking force by coasting. After all, the driver has to apply the braking operation as frequently as the above.
【0007】このように、従来の電気走行車にあって
は、回生制動力をブレーキの操作量や電動機の回転速度
に応じて一義的に生ぜしめるものであるため、種々の走
行状況に応じた回生制動力を得るためには、ブレーキの
頻繁な操作を要すると共に、運転者の好み等に応じた的
確な回生制動力を容易に得ることができなかった。As described above, in the conventional electric vehicle, since the regenerative braking force is uniquely generated according to the operation amount of the brake and the rotation speed of the electric motor, it can be adapted to various traveling situations. In order to obtain the regenerative braking force, it is necessary to frequently operate the brake, and it is not possible to easily obtain an accurate regenerative braking force according to the driver's preference.
【0008】[0008]
【発明が解決しようとする課題】本発明はかかる不都合
を解消し、電動機の回生制動力を種々の走行状況や運転
者の好み等に応じて的確、且つ容易に得ることができる
電気走行車を提供することを目的とする。DISCLOSURE OF THE INVENTION The present invention solves such inconveniences and provides an electric vehicle capable of accurately and easily obtaining the regenerative braking force of an electric motor in accordance with various running situations and driver's preferences. The purpose is to provide.
【0009】[0009]
【課題を解決するための手段】本発明はかかる目的を達
成するために、電動機の駆動力を駆動輪に伝達して走行
する電気走行車において、惰性走行時に前記電動機を回
生制動状態に制御する制御手段と、該電動機の回生制動
力の強弱を前記制御手段に対して設定可能に車室内に設
けられた操作子とを備え、前記制御手段は操作子により
設定された回生制動力を生ぜしめるべく電動機を制御す
ることを特徴とする。To achieve the above object, the present invention controls an electric vehicle in a regenerative braking state during coasting in an electric vehicle that travels by transmitting driving force of the electric motor to driving wheels. The control means is provided with an operator provided in the vehicle compartment so that the strength of the regenerative braking force of the electric motor can be set with respect to the control means, and the control means produces the regenerative braking force set by the operator. The feature is to control the electric motor accordingly.
【0010】[0010]
【作用】本発明の電気走行車によれば、惰性走行時に、
運転者は前記操作子を操作するだけで前記電動機の回生
制動力の強弱を変更することが可能となり、この時、該
電動機は、操作子により設定された回生制動力を生じる
ように前記制御手段により制御される。According to the electric vehicle of the present invention, during coasting,
The driver can change the strength of the regenerative braking force of the electric motor only by operating the operating element, and at this time, the electric motor is controlled by the control means so as to generate the regenerative braking force set by the operating element. Controlled by.
【0011】[0011]
【実施例】本発明の電気走行車の一例を図1に従って説
明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of an electric vehicle according to the present invention will be described with reference to FIG.
【0012】図1は該電気走行車の要部の構成を説明す
るための模式的構成図である。FIG. 1 is a schematic configuration diagram for explaining the configuration of the main part of the electric vehicle.
【0013】図1で、1は電動機、2,2は駆動輪であ
り、この電気走行車においては、電動機1の駆動力を、
プーリ/ベルト式無段階変速機であるCVT3、クラッ
チ4及び差動歯車機構5を順に介して駆動輪2,2に伝
達して走行するように構成されている。この場合、電動
機1は、後述のコントローラ14により制御される駆動
回路6を介して主バッテリ7に接続されており、力行時
には駆動回路6を介して主バッテリ7から電力が供給さ
れ、回生制動時にはその発電エネルギーを駆動回路6を
介して主バッテリ7に供給するようにしている。In FIG. 1, 1 is an electric motor, and 2 and 2 are drive wheels. In this electric vehicle, the driving force of the electric motor 1 is
The CVT 3, which is a pulley / belt type continuously variable transmission, the clutch 4, and the differential gear mechanism 5 are sequentially transmitted to the drive wheels 2 and 2 to travel. In this case, the electric motor 1 is connected to the main battery 7 via a drive circuit 6 controlled by a controller 14 described later, and is supplied with electric power from the main battery 7 via the drive circuit 6 during power running and during regenerative braking. The generated energy is supplied to the main battery 7 via the drive circuit 6.
【0014】また、同図で、8はこの電気走行車に係わ
る種々の走行モード等を運転者が設定するための操作
子、9は電動機1等の作動を制御する制御手段である。Further, in the figure, 8 is an operator for the driver to set various traveling modes and the like relating to the electric traveling vehicle, and 9 is a control means for controlling the operation of the electric motor 1 and the like.
【0015】操作子8はこの電気走行車の車室内に支軸
10の回りに揺動可能に設けられており、運転者はこの
操作子8を揺動・操作することにより、例えば、駐車用
の“Pレンジ”、後進用の“Rレンジ”及び前進用の
“Dレンジ”を設定可能としている。この場合、“Pレ
ンジ”、“Rレンジ”及び“Dレンジ”の間では、操作
子8は各レンジに段階的に揺動可能とされる一方、“D
レンジ”においては、所定の角度内で連続的に揺動可能
とされている。The operator 8 is swingably provided in the passenger compartment of the electric vehicle around the support shaft 10. The driver swings and operates the operator 8 to, for example, park the vehicle. The "P range", the "R range" for reverse, and the "D range" for forward can be set. In this case, between the "P range", the "R range", and the "D range", the operating element 8 can be swung stepwise in each range, while "D range" is changed.
In the "range", it is possible to continuously swing within a predetermined angle.
【0016】そして、操作子8の位置には、補助バッテ
リ11により通電された半円弧状のポテンショメータ1
2が支軸10を中心として配設されており、このポテン
ショメータ12には、操作子8と連動して支軸10の回
りに揺動する導体接触子13が接触されている。この場
合、導体接触子13は、ポーテンショメータ12との接
触箇所に対応した電位を受けるものであり、前記“Dレ
ンジ”においては、操作子8の連続的な揺動により導体
接触子13が受ける電位は連続的に変化するようになっ
ている。At the position of the operator 8, a potentiometer 1 in the shape of a semi-circle is energized by the auxiliary battery 11.
2 is arranged centering on the support shaft 10, and the potentiometer 12 is contacted with a conductor contactor 13 which swings around the support shaft 10 in cooperation with the operating element 8. In this case, the conductor contact 13 receives a potential corresponding to the contact position with the potentiometer 12, and in the "D range", the conductor contact 13 is moved by continuous swinging of the operator 8. The electric potential received is designed to change continuously.
【0017】制御手段9は、図示しないCPU等を含む
コントローラ14を有し、このコントローラ14には、
操作子8の各設定レンジにおける導体接触子13の電位
信号が各設定レンジ毎に各別のターミナル15p,15
r,15dを介して入力されると共に、車速センサ16
により検出される車速信号や、アクセルセンサ17によ
り検出されるアクセル(図示しない)のON/OFF信
号及びアクセルの踏み込み量信号等が入力される。そし
て、コントローラ14は、これらの入力信号に基づい
て、電動機1を駆動回路6を介して制御すると共に、ク
ラッチアクチュエータ18を介してクラッチ4の継断作
動を制御し、さらにはプーリアクチュエータ19,20
を介してCVT3の変速作動等を制御するようにしてい
る。The control means 9 has a controller 14 including a CPU (not shown) and the like.
The potential signal of the conductor contactor 13 in each setting range of the operating element 8 has terminals 15p and 15 for each setting range.
It is input via r, 15d and the vehicle speed sensor 16
The vehicle speed signal detected by, the ON / OFF signal of the accelerator (not shown) detected by the accelerator sensor 17, the accelerator depression amount signal, and the like are input. Based on these input signals, the controller 14 controls the electric motor 1 via the drive circuit 6 and the clutch actuator 18 to control the engagement / disengagement of the clutch 4, and further the pulley actuators 19, 20.
The gear shift operation of the CVT 3 is controlled via the.
【0018】次に、かかる電気走行車の作動を説明す
る。Next, the operation of such an electric vehicle will be described.
【0019】この電気走行車においては、例えば、操作
子8が運転者により“Dレンジ”に設定されているとき
には、アクセルをONすると、コントローラ14はその
アクセル踏み込み量に応じて電動機1に力行を行わしめ
るべく駆動回路6を介して電動機1を制御し、また、こ
の時、車速等に応じてCVT3の変速作動を行わしめ
る。In this electric vehicle, for example, when the operator sets the "D range" by the driver and the accelerator is turned on, the controller 14 causes the electric motor 1 to perform powering according to the accelerator pedal depression amount. The electric motor 1 is controlled via the drive circuit 6 so that the CVT 3 is shifted at this time according to the vehicle speed or the like.
【0020】一方、下り坂等において、走行時にアクセ
ルがOFFにされて惰性走行状態となると、コントロー
ラ14は、操作子8の設定位置に対応する導体接触子1
3の電位に応じた回生制動力を電動機1に生ぜしめるべ
く電動機1を駆動回路6を介して制御する。On the other hand, when the vehicle is traveling downhill or the like and the accelerator is turned off and the vehicle is coasting, the controller 14 causes the conductor contact 1 corresponding to the set position of the operator 8.
The electric motor 1 is controlled via the drive circuit 6 in order to generate the regenerative braking force according to the potential of 3 in the electric motor 1.
【0021】具体的には、例えば、図1において、操作
子8が“Dレンジ”における“Rレンジ”寄りの位置に
設定されているときには、比較的弱め、もしくは略零の
回生制動力を電動機1に生ぜしめ、操作子8が“Rレン
ジ”から離反する側に揺動されたときには、比較的強め
の回生制動力を電動機1に生ぜしめ、この回生制動力の
変更は、操作子8が“Dレンジ”において連続的に揺動
されるに伴って連続的に変化させる。このような回生制
動力の制御は、例えば電動機1への入力電圧や界磁電流
等を制御することにより行われる。Specifically, for example, in FIG. 1, when the operator 8 is set to a position closer to the "R range" in the "D range", a relatively weaker or nearly zero regenerative braking force is applied to the electric motor. When the operator 8 is swung to the side away from the “R range”, a relatively strong regenerative braking force is generated in the electric motor 1, and the operator 8 changes the regenerative braking force. In the "D range", it is changed continuously as it is continuously swung. Such control of the regenerative braking force is performed, for example, by controlling the input voltage to the electric motor 1 and the field current.
【0022】このように、この電気走行車においては、
運転者は、惰性走行時に操作子8を“Dレンジ”内にお
いて揺動させるだけで、電動機1の回生制動力を任意に
変更することができ、例えば、急な下り坂等において
は、強めの回生制動力が得られる位置に操作子8を設定
すれば、頻繁にブレーキ操作をせずとも、充分な制動力
を得ることができる。また、雪道走行時や旋回時等にお
いても、操作子8を適当な位置に揺動させておけば、そ
の走行状況や運転車の好み等に応じて的確な回生制動力
を得ることができる。Thus, in this electric vehicle,
The driver can arbitrarily change the regenerative braking force of the electric motor 1 only by swinging the operating element 8 in the “D range” during coasting, and for example, in a steep downhill, a stronger regenerative braking force can be obtained. If the operator 8 is set at a position where a regenerative braking force can be obtained, sufficient braking force can be obtained without frequent braking operation. Further, even when the vehicle is traveling on a snowy road or turning, if the operator 8 is swung to an appropriate position, an appropriate regenerative braking force can be obtained according to the traveling situation, the preference of the driving vehicle, and the like. ..
【0023】尚、本実施例では、“Dレンジ”において
操作子8を連続的に揺動可能として電動機1の回生制動
力を連続的に可変としたが、操作子8を段階的に揺動可
能として電動機1の回生制動力を段階的に可変とするこ
とも可能であることはもちろんであり、さらには、“R
レンジ”において操作子8を連続的あるいは段階的に揺
動可能として後進時における電動機1の回生制動力を連
続的あるいは段階的に可変とすることも可能であること
はもちろんである。In this embodiment, the manipulator 8 can be continuously rocked in the "D range" so that the regenerative braking force of the electric motor 1 is continuously variable. However, the manipulator 8 is rocked stepwise. As a matter of course, the regenerative braking force of the electric motor 1 can be varied stepwise, and further, "R
It is needless to say that the operator 8 can be continuously or stepwise oscillated in the "range" so that the regenerative braking force of the electric motor 1 at the time of reverse travel can be continuously or stepwise varied.
【0024】そして、このように、“Dレンジ”や“R
レンジ”において、操作子8を連続的あるいは段階的に
操作可能とした場合の操作子8の操作パターンとして
は、例えば図2(a)〜(i)に示すものが挙げられ
る。Then, in this way, the "D range" and "R
In the “range”, examples of the operation pattern of the operator 8 when the operator 8 can be operated continuously or stepwise include those shown in FIGS. 2 (a) to 2 (i).
【0025】ここで、図2(a)〜(c)に示すもの
は、“Dレンジ”において操作子8を連続的に操作可能
とした場合の操作パターン、図2(d)に示すものは、
さらに“Rレンジ”において操作子8を連続的に操作可
能とした場合の操作パターン、図2(e)〜(g)に示
すものは、“Dレンジ”において操作子8を段階的に操
作可能とした場合の操作パターン、図2(h),(i)
に示すものは、さらに“Rレンジ”において操作子8を
段階的に操作可能とした場合の操作パターンである。こ
の場合、図2(c),(g),(i)に示す操作パター
ンにおいては、エンジン自動車のニュートラルレンジに
相当する“Nレンジ”が設けられている。2A to 2C are operation patterns when the operator 8 is continuously operable in the "D range", and those shown in FIG. 2D are ,
Further, in the operation pattern when the operator 8 can be continuously operated in the "R range", the operation patterns shown in FIGS. 2 (e) to (g) can be operated stepwise in the "D range". Operation pattern in the case of
Shown in FIG. 7 are operation patterns when the operator 8 can be operated stepwise in the “R range”. In this case, in the operation patterns shown in FIGS. 2C, 2G, and 2I, the “N range” corresponding to the neutral range of the engine vehicle is provided.
【0026】[0026]
【発明の効果】上記の説明から明らかなように、本発明
の電気走行車によれば、運転車が操作子を操作すること
により電動機の回生制動力の強弱の設定を可変とし、惰
性走行時に、その設定された回生制動力を生ぜしめるよ
うに電動機を制御手段により制御したことによって、電
動機の回生制動力を種々の走行状況や運転者の好み等に
応じて的確、且つ容易に得ることができる。As is apparent from the above description, according to the electric traveling vehicle of the present invention, the setting of the strength of the regenerative braking force of the electric motor is made variable by the driver's operation of the operating element, so that the vehicle is coasted. By controlling the electric motor by the control means so as to generate the set regenerative braking force, the regenerative braking force of the electric motor can be accurately and easily obtained according to various traveling situations and driver's preference. it can.
【図1】本発明の電気走行車の一例の要部の構成を説明
するための模式的構成図、FIG. 1 is a schematic configuration diagram for explaining a configuration of a main part of an example of an electric vehicle of the present invention,
【図2】本発明の電気走行車に係わる操作子の操作パタ
ーンを示す説明図。FIG. 2 is an explanatory diagram showing an operation pattern of an operator of the electric vehicle of the present invention.
1…電動機、2…駆動輪、8…操作子、9…制御手段。 DESCRIPTION OF SYMBOLS 1 ... Electric motor, 2 ... Drive wheel, 8 ... Operator, 9 ... Control means.
Claims (1)
る電気走行車において、惰性走行時に前記電動機を回生
制動状態に制御する制御手段と、該電動機の回生制動力
の強弱を前記制御手段に対して設定可能に車室内に設け
られた操作子とを備え、前記制御手段は操作子により設
定された回生制動力を生ぜしめるべく電動機を制御する
ことを特徴とする電気走行車。1. An electric traveling vehicle that travels by transmitting the driving force of an electric motor to driving wheels, and a control means for controlling the electric motor to a regenerative braking state during coasting, and controlling the strength of the regenerative braking force of the electric motor. An electric vehicle, comprising: an operator provided in the vehicle compartment so that the electric motor is controlled by the operator to generate the regenerative braking force set by the operator.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10411091A JP3113308B2 (en) | 1991-05-09 | 1991-05-09 | Electric traveling car |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10411091A JP3113308B2 (en) | 1991-05-09 | 1991-05-09 | Electric traveling car |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH05122805A true JPH05122805A (en) | 1993-05-18 |
JP3113308B2 JP3113308B2 (en) | 2000-11-27 |
Family
ID=14371992
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10411091A Expired - Lifetime JP3113308B2 (en) | 1991-05-09 | 1991-05-09 | Electric traveling car |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3113308B2 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6009365A (en) * | 1997-12-25 | 1999-12-28 | Nissan Motor Co., Ltd. | Vehicle drive system controller and control method |
US6033041A (en) * | 1995-09-20 | 2000-03-07 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Regenerative braking control system for electric vehicle |
KR100579287B1 (en) * | 2004-06-15 | 2006-05-11 | 현대자동차주식회사 | Regeneration brake torque map controlling method of 4wd hybrid electric vehicle |
GB2454273A (en) * | 2007-10-31 | 2009-05-06 | Textron Inc | Electric Vehicle with an Operator Performance Setting Switch. |
EP2110295A2 (en) | 2008-04-18 | 2009-10-21 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Electric ground working vehicle |
CN103158560A (en) * | 2011-12-09 | 2013-06-19 | 华创车电技术中心股份有限公司 | Electric energy recharging operating device, electric energy recharging operating circuit and electric energy recharging control method of electrocar |
CN115052476A (en) * | 2020-02-07 | 2022-09-13 | 德赛洛博技术有限公司 | Hybrid power system for lawn robot |
-
1991
- 1991-05-09 JP JP10411091A patent/JP3113308B2/en not_active Expired - Lifetime
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6033041A (en) * | 1995-09-20 | 2000-03-07 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Regenerative braking control system for electric vehicle |
US6009365A (en) * | 1997-12-25 | 1999-12-28 | Nissan Motor Co., Ltd. | Vehicle drive system controller and control method |
KR100579287B1 (en) * | 2004-06-15 | 2006-05-11 | 현대자동차주식회사 | Regeneration brake torque map controlling method of 4wd hybrid electric vehicle |
GB2454273A (en) * | 2007-10-31 | 2009-05-06 | Textron Inc | Electric Vehicle with an Operator Performance Setting Switch. |
GB2454273B (en) * | 2007-10-31 | 2010-07-21 | Textron Inc | Operator Selectable Electric Vehicle Performance Switch |
US8219270B2 (en) | 2007-10-31 | 2012-07-10 | Textron Inc. | Operator selectable electric vehicle performance switch |
EP2110295A2 (en) | 2008-04-18 | 2009-10-21 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Electric ground working vehicle |
US7975786B2 (en) | 2008-04-18 | 2011-07-12 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Electric ground working vehicle |
CN103158560A (en) * | 2011-12-09 | 2013-06-19 | 华创车电技术中心股份有限公司 | Electric energy recharging operating device, electric energy recharging operating circuit and electric energy recharging control method of electrocar |
CN115052476A (en) * | 2020-02-07 | 2022-09-13 | 德赛洛博技术有限公司 | Hybrid power system for lawn robot |
Also Published As
Publication number | Publication date |
---|---|
JP3113308B2 (en) | 2000-11-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP3225578B2 (en) | Electric car | |
CN100455462C (en) | Motor vehicle and control method of the same | |
JP2741739B2 (en) | Pseudo creep generator for electric vehicles | |
KR100339093B1 (en) | Vehicle brake control device | |
JPH08300964A (en) | Front and rear wheel drive vehicle, and road surface mu detecting device | |
JPH08300965A (en) | Front and rear wheel drive vehicle | |
JPH06351104A (en) | Anti-skid control by regenerative braking of electric motor vehicle | |
JPH07322404A (en) | Drive controller for electric car | |
JP3113308B2 (en) | Electric traveling car | |
JPH0670406A (en) | Travel controller for electric motor vehicle | |
JPH1073033A (en) | Driving force control device of vehicle | |
JP2000104578A (en) | Energy-savingly traveling automobile | |
JP3146724B2 (en) | Driving force control device for electric vehicles | |
JP2006151020A (en) | Acceleration/deceleration controller | |
JP2005137063A (en) | Drive controller for vehicle | |
JP2022030479A (en) | Control device for electric automobile | |
JPH08322105A (en) | Method for controlling motor | |
JP2504120B2 (en) | Manual steering control method for unmanned vehicles | |
JP3714797B2 (en) | Power steering device | |
JPH10291484A (en) | Steering control device | |
JPH089508A (en) | Travel controller for battery-driven vehicle | |
JPH077814A (en) | Method for operating driving motor of electric automobile | |
JP2000102114A (en) | Creep force generating equipment of electric vehicle | |
JP4128051B2 (en) | Driving control device for automobile | |
KR0120207Y1 (en) | Gear change device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20070922 Year of fee payment: 7 |
|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080922 Year of fee payment: 8 |
|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080922 Year of fee payment: 8 |
|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090922 Year of fee payment: 9 |
|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100922 Year of fee payment: 10 |
|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100922 Year of fee payment: 10 |
|
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110922 Year of fee payment: 11 |
|
EXPY | Cancellation because of completion of term | ||
FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110922 Year of fee payment: 11 |