WO2015136664A1 - 車両制御装置および車両制御方法 - Google Patents
車両制御装置および車両制御方法 Download PDFInfo
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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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
- B60L2210/00—Converter types
- B60L2210/40—DC to AC converters
- B60L2210/42—Voltage source inverters
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
- B60L2250/28—Accelerator pedal thresholds
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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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
- B60Y2300/22—Reducing road induced vibrations, suppressing road noise
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- 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
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- 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
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- 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
Definitions
- the present invention relates to a vehicle control device and a vehicle control method for an electric vehicle having a motor for transmitting power to an axle, an inverter for driving the motor, and a battery for supplying electric power to the inverter.
- a vehicle speed difference obtained by subtracting the detected vehicle speed from the estimated vehicle speed estimated based on the driving force of the vehicle as the vehicle speed when there is no step is a predetermined detection from the start of the decrease in the detected vehicle speed.
- a method for determining that the vehicle has started over a step when the vehicle speed exceeds a predetermined vehicle speed within a service time see, for example, Patent Document 2.
- Patent Document 1 In the determination of starting over the step shown in Patent Document 1, when the vehicle body speed of the vehicle is zero and the required driving force of the vehicle exceeds a predetermined value, it is determined that the vehicle starts over the step.
- the wheel speed sensor for detecting the vehicle body speed of the vehicle is susceptible to noise in an extremely low speed region, there is a problem that the vehicle body speed zero determination may not be established.
- the motor control unit 111 controls the inverter 103 so that the motor 102 generates the driving force instructed from the vehicle control device 101. Specifically, the motor control unit 111 turns ON / OFF the switching signal of the inverter 103 based on signals from a current sensor built in the inverter 103 and an angular position sensor (eg, resolver) built in the motor 102. Control. Note that information exchange between the vehicle control device 101 and the motor control unit 111 is performed using CAN communication or the like.
- step S5 If it is determined in step S5 that the brake device is not OFF (ie, No), the processing in FIG.
- step S12 it is determined whether or not the motor rotational speed is smaller than a predetermined value M2 (second rotational speed) determined in advance by experiment or analysis (whether or not determination B is established) (step S12).
- the step over bump start determination unit 119 performs determination based on the output from the motor rotation number detection unit 113.
- step S13 when it is determined in step S13 that the required driving force is the upper limit value RDF_MAX (determination C is established) (that is, Yes), the elapsed time in this state is a predetermined value determined in advance by experiment or analysis. It is determined whether or not the value T2 (second time) has been reached (step S14). At this time, the drive control unit 110 makes a determination using a built-in timer.
- step S20 it is determined whether or not an elapsed time after the determination B is established has reached a predetermined value T3 (third time) set in advance (step S20). At this time, the drive control unit 110 makes a determination using a built-in timer.
- the step over time for all the wheels is calculated from the predetermined value M3 and the wheel base of the vehicle 301, and the calculated value is used as the completion of the step over the step.
- step S28 if it is determined in step S28 that the accelerator pedal depression amount is zero and the brake pedal depression amount is equal to or greater than the predetermined value BRK1 (that is, Yes), the step overstep control routine of the vehicle 301 is completed. It is determined that there is a step, and the step over climbing control routine determination is established (step S29).
- t3 is a timing at which the determination to get over the step is established, the motor control is switched from the normal control to the forced driving force control, and the required driving force is made zero regardless of the depression amount of the accelerator pedal. Further, t3 is a timing at which the required driving force starts to increase from zero at a constant speed regardless of the depression amount of the accelerator pedal.
- T4 is the timing at which the required driving force reaches the upper limit value RDF_MAX.
- T5 is a timing at which the predetermined value T2 elapses after the required driving force reaches the upper limit value RDF_MAX, and the step overstepping determination is established. Further, t5 is the timing when the required driving force is made zero regardless of the depression amount of the accelerator pedal because the determination that the step cannot be overcome is established.
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Abstract
Description
特許文献1に示された段差乗り越え発進の判定では、車両の車体速がゼロであるとともに、車両の要求駆動力が所定値以上になった場合に、段差乗り越え発進であることを判定しているが、車両の車体速を検出するための車輪速センサは、極低速域でノイズが乗りやすいので、車体速のゼロ判定が成立しない恐れがあるという問題がある。
そのため、段差乗り越え発進であることを正確に判定するとともに、段差乗り越え発進と判定された場合において、要求駆動力を適切な値に制御することができる。
図1は、この発明の実施の形態1に係る車両制御装置101が適用される車両(電動車両)301を示すブロック構成図である。図1では、車両301の段差乗り越え時の走行性および運転操作性を改善する機能を備えたフロントモータ・フロントホイールドライブ式(前輪駆動式)の車両301のパワートレインを、その制御系とともに示している。
そのため、段差乗り越え発進であることを正確に判定するとともに、段差乗り越え発進と判定された場合において、要求駆動力を適切な値に制御することができる。
Claims (9)
- モータからの動力によって走行する電動車両の車両制御装置であって、
前記モータの回転数をモータ回転数として検出するモータ回転数検出部と、
前記電動車両のアクセルペダルの踏込量をアクセルペダル踏込量として検出するアクセルペダル踏込量検出部と、
前記モータ回転数があらかじめ定められた第1回転数以下であり、前記アクセルペダル踏込量があらかじめ定められたアクセルペダル踏込量以上である状態が、あらかじめ定められた第1時間継続した場合に、前記電動車両が段差を乗り越えながら発進する段差乗り越え発進であることを判定する段差乗り越え発進判定部と、
前記段差乗り越え発進であると判定された場合に、前記アクセルペダル踏込量にかかわらず、前記モータの要求駆動力をゼロにした後、一定速度で増加させる駆動制御部と、
を備えた車両制御装置。 - 前記段差乗り越え発進であると判定され、前記駆動制御部が前記モータの要求駆動力を増加させている場合において、前記モータ回転数があらかじめ定められた第2回転数以上になったときに、前記電動車両が段差を乗り越え始めた段差乗り越え開始であることを判定する段差乗り越え開始判定部と、
前記段差乗り越え開始であると判定されたときの前記車両の要求駆動力を学習する学習部と、
をさらに備えた請求項1に記載の車両制御装置。 - 前記駆動制御部は、前記段差乗り越え開始であると判定されてから、前記電動車両の段差を乗り越えていない方の車輪が段差に当たるまでの間、前記アクセルペダル踏込量にかかわらず、前記モータ回転数をあらかじめ定められた第3回転数となるように制御する
請求項1または請求項2に記載の車両制御装置。 - 前記駆動制御部は、前記電動車両の段差を乗り越えていない方の車輪が段差に当たったときに、前記アクセルペダル踏込量にかかわらず、前記モータの要求駆動力を、前記学習部が学習した要求駆動力に制御する
請求項2に記載の車両制御装置。 - 前記駆動制御部は、前記電動車両の全車輪が段差を乗り越えた場合に、段差乗り越え完了であることを判定し、前記アクセルペダル踏込量にかかわらず、前記モータ回転数を前記第3回転数となるように制御するとともに、前記モータ回転数が前記第3回転数よりも高いときは、前記モータを強制的に制動させて、前記モータ回転数を前記第3回転数まで下げる
請求項3に記載の車両制御装置。 - 前記駆動制御部は、前記段差乗り越え完了であると判定された後、前記モータ回転数が前記第3回転数以下になった場合に、前記アクセルペダル踏込量にかかわらず、前記モータ回転数を前記第3回転数となるように制御する
請求項5に記載の車両制御装置。 - 前記駆動制御部は、前記段差乗り越え完了であると判定され、前記モータ回転数を前記第3回転数になった後、前記アクセルペダル踏込量がゼロであって、かつ前記車両のブレーキペダルの踏込量があらかじめ定められたブレーキ踏込量以上である場合に、段差乗り越え制御ルーチンが終了であることを判定し、前記モータの要求駆動力を、前記アクセルペダル踏込量に応じた制御に切り換える
請求項6に記載の車両制御装置。 - 前記駆動制御部は、前記段差乗り越え発進であると判定され、前記駆動制御部が前記モータの要求駆動力を増加させている場合において、前記モータの要求駆動力を上限値に設定しても、前記モータ回転数が前記第2回転数未満である状態があらかじめ定められた第2時間継続したときに、前記アクセルペダル踏込量にかかわらず、前記モータの要求駆動力をゼロにする
請求項2に記載の車両制御装置。 - モータからの動力によって走行する電動車両の車両制御方法であって、
前記モータの回転数をモータ回転数として検出するモータ回転数検出ステップと、
前記電動車両のアクセルペダルの踏込量をアクセルペダル踏込量として検出するアクセルペダル踏込量検出ステップと、
前記モータ回転数があらかじめ定められた第1回転数以下であり、前記アクセルペダル踏込量があらかじめ定められたアクセルペダル踏込量以上である状態が、あらかじめ定められた第1時間継続した場合に、前記電動車両が段差を乗り越えながら発進する段差乗り越え発進であることを判定する段差乗り越え発進判定ステップと、
前記段差乗り越え発進であると判定された場合に、前記アクセルペダル踏込量にかかわらず、前記モータの要求駆動力をゼロにした後、一定速度で増加させる駆動制御ステップと、
を有する車両制御方法。
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DE112014006461.0T DE112014006461T5 (de) | 2014-03-13 | 2014-03-13 | Fahrzeugsteuervorrichtung und Fahrzeugsteuerverfahren |
US15/111,540 US10053097B2 (en) | 2014-03-13 | 2014-03-13 | Vehicle control apparatus and vehicle control method |
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KR20210077067A (ko) * | 2019-12-16 | 2021-06-25 | 현대자동차주식회사 | 전기 모터를 구비한 자동차 및 그를 위한 주차 제어 방법 |
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