JP2006288121A - Drive control method of electrically operated vehicle - Google Patents

Drive control method of electrically operated vehicle Download PDF

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JP2006288121A
JP2006288121A JP2005106550A JP2005106550A JP2006288121A JP 2006288121 A JP2006288121 A JP 2006288121A JP 2005106550 A JP2005106550 A JP 2005106550A JP 2005106550 A JP2005106550 A JP 2005106550A JP 2006288121 A JP2006288121 A JP 2006288121A
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steering
wheels
vehicle
steering angle
drive
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JP4622634B2 (en
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Hiroyasu Suzuki
宏康 鈴木
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Suzuki Motor Corp
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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

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive control method of an electrically operated vehicle in which the target revolutions of a right and a left motors is distributed appropriately and effectively. <P>SOLUTION: A right and a left rear wheels 103 are independently driven by the driving motors, as driving wheels, respectively, while a right and a left front wheels 102 are steered by a handlebar 121, as steering wheels. In particular, when a vehicle speed in turning the vehicle is a set value or more, the revolutions of the driving motors is distributed at a ratio given by a steering angle of the outside steering wheel. When the vehicle speed is less than the set value, the revolutions of the driving motors is distributed based on the steering angle set according to the vehicle speed, in a range from the steering angle of the outside steering wheel to an intermediate angle of the two steering wheels. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、特に高齢者や足の不自由な人の利用に供する小型電動車両における駆動制御方法に関する。   The present invention relates to a drive control method in a small electric vehicle for use by an elderly person or a person with a disability.

この種の小型電動車両はセニアカー（登録商標）等と呼ばれ、高齢者等の足代わりになるものとして極めて利用価値が高い。かかる小型電動車両の基本構成において、車輪および運転者が着座するシートを取り付けた車体フレームに電動モータおよびバッテリ等が搭載される。そして、電動モータによって車輪が駆動される。   This type of small electric vehicle is called a “Senior Car” (registered trademark) or the like, and has extremely high utility value as a substitute for elderly people. In the basic configuration of such a small electric vehicle, an electric motor, a battery, and the like are mounted on a vehicle body frame on which wheels and a seat on which a driver sits are attached. And a wheel is driven by an electric motor.

また、たとえば車体後部のシートの前方には搭乗者が足を載せるためのフロアが設けられ、さらにその前方に前輪を操舵するステアリングシャフトが立設される。ステアリングシャフトの上端にはハンドルが取り付けられ、運転者はシートに着座して該ハンドルを操作するようになっている。   Further, for example, a floor for a passenger to put his / her foot on is provided in front of the seat at the rear of the vehicle body, and a steering shaft for steering the front wheels is further provided in front of the floor. A steering wheel is attached to the upper end of the steering shaft, and the driver sits on the seat and operates the steering wheel.

ここで、左右の後輪を駆動輪としてそれぞれ駆動モータにより独立に駆動する左右２モータ駆動方式で、かつ手動または自動（パワーステアリング）の強制操舵輪を持つ電動車両において、特に旋回時２つの駆動モータを適性に駆動制御することは、円滑で安定した走行特性もしくは性能を確保する上で極めて重要である。   Here, in an electric vehicle having left and right rear wheels as drive wheels and independently driving by left and right motors, and having manual or automatic (power steering) forced steering wheels, especially when turning, two drives Appropriate drive control of the motor is extremely important for ensuring smooth and stable running characteristics or performance.

強制操舵輪が１輪の場合には強制操舵輪の角度（通常、ステアリング角度と同一）から容易に左右モータの目標回転数配分を行うことができる。一方、強制操舵輪を左右２つ持つ場合、たとえば特許文献１に記載のものでは図６に示すように操舵輪の回転軸線と駆動輪の回転軸線が略１点で交差するように構成し、回転軸線同士の交点から各駆動輪の接地点までの距離の比に基づいて左右駆動輪の回転速度比を、「（Ｔ＋Ｘ）：Ｘ」となるように設定している。   When the number of forced steering wheels is one, the target rotational speed distribution of the left and right motors can be easily performed from the angle of the forced steering wheel (usually the same as the steering angle). On the other hand, in the case of having two left and right forced steering wheels, for example, the one described in Patent Document 1 is configured such that the rotation axis of the steering wheel and the rotation axis of the drive wheel intersect at approximately one point as shown in FIG. The rotational speed ratio of the left and right drive wheels is set to “(T + X): X” based on the ratio of the distance from the intersection of the rotation axes to the ground point of each drive wheel.

特開平９−２４０４７７号公報Japanese Patent Laid-Open No. 9-240477

しかしながら、左右２つの操舵輪（前輪）を持つ車両では、車両の機械構造上ステアリング角度を左右の操舵輪に対して理想の角度で振り分けることは実質的に困難である。上述の特許文献１に記載の車両においても、図６に示したような状態になるのは特定の操舵角となったときだけであり、それ以外の操舵角では図示のような理想状態となり得ない。強制操舵輪が１輪の場合と同様に、ステアリング角度から左右モータの目標回転数配分を行うと、一方あるいは両方のモータに余分な負荷が生じる等の問題がある。   However, in a vehicle having two left and right steering wheels (front wheels), it is substantially difficult to distribute the steering angle at an ideal angle with respect to the left and right steering wheels because of the mechanical structure of the vehicle. In the vehicle described in Patent Document 1 described above, the state shown in FIG. 6 is only when a specific steering angle is reached, and the ideal state as shown can be obtained at other steering angles. Absent. As in the case of a single forced steering wheel, when the target rotational speed distribution of the left and right motors is performed from the steering angle, there is a problem that an extra load is generated on one or both motors.

本発明はかかる実情に鑑み、適性かつ効果的に左右モータの目標回転数配分を行い得る電動車両の駆動制御方法を提供することを目的とする。   In view of such circumstances, an object of the present invention is to provide a drive control method for an electric vehicle capable of appropriately and effectively distributing a target rotational speed of left and right motors.

本発明による電動車両の駆動制御方法は、駆動輪として左右後輪をそれぞれ駆動モータにより独立に駆動するとともに、操舵輪として左右前輪をハンドルにより操舵するようにした電動車両の駆動制御方法であって、車両旋回時の車速に応じて、少なくとも外側の前記操舵輪の操舵角に基づき前記駆動モータの回転数配分を行うことを特徴とする。   The drive control method for an electric vehicle according to the present invention is a drive control method for an electric vehicle in which left and right rear wheels are independently driven by drive motors as drive wheels and the left and right front wheels are steered by steering wheels. The rotation number distribution of the drive motor is performed based on at least the steering angle of the outer steering wheel according to the vehicle speed when the vehicle turns.

また、本発明の電動車両の駆動制御方法において、車両旋回時の車速が設定値以上の場合、外側の前記操舵輪の操舵角によって与えられる比率で、前記駆動モータの回転数配分を行うことを特徴とする。   Further, in the drive control method for an electric vehicle according to the present invention, when the vehicle speed at the time of turning of the vehicle is equal to or higher than a set value, the number of rotations of the drive motor is distributed at a ratio given by a steering angle of the outer steering wheel. Features.

また、本発明の電動車両の駆動制御方法において、車両旋回時の車速が設定値未満の場合、外側の前記操舵輪の操舵角から２つの前記操舵輪の中間角度までの範囲で、車速に応じて設定された操舵角に基づき前記駆動モータの回転数配分を行うことを特徴とする。 Further, in the drive control method for an electric vehicle according to the present invention, when the vehicle speed at the time of turning of the vehicle is less than a set value, the range depends on the vehicle speed in a range from the steering angle of the outer steering wheel to the intermediate angle of the two steering wheels. The rotation number distribution of the drive motor is performed based on the steering angle set in the above.

本発明によれば、接地力の高い外側の操舵輪を基準にして左右の駆動モータの目標回転数配分を行うことで、各駆動モータに対する余分な負荷を大幅に軽減することができる。その結果、駆動モータの耐久性を向上し、さらに各駆動モータの消費電力を低減することができる等の利点がある。この場合、車速の高低に応じて駆動制御することで、つねに適正な走行性能を実現することができる。   According to the present invention, by distributing the target rotational speeds of the left and right drive motors with reference to the outer steering wheel having a high grounding force, it is possible to significantly reduce the extra load on each drive motor. As a result, there are advantages such as improving the durability of the drive motor and further reducing the power consumption of each drive motor. In this case, appropriate driving performance can always be realized by controlling the driving according to the level of the vehicle speed.

以下、図面に基づき、本発明による電動車両の駆動制御方法の好適な実施の形態を説明する。
図１は本発明の実施形態に係る小型電動車両の全体構成を示す側面図、図２は正面図、図３は平面図である。小型電動車両１００において、車体フレーム１０１に左右一対の前輪１０２および左右一対の後輪１０３が、サスペンションを介して支持される。車体フレーム１０１はその一部を除き、前部カバー１０４、レッグシールド１０５、フロア１０６および後部カバー１０７等からなる樹脂製カバーによって覆われる。 Hereinafter, preferred embodiments of a drive control method for an electric vehicle according to the present invention will be described with reference to the drawings.
FIG. 1 is a side view showing the overall configuration of a small electric vehicle according to an embodiment of the present invention, FIG. 2 is a front view, and FIG. 3 is a plan view. In the small electric vehicle 100, a pair of left and right front wheels 102 and a pair of left and right rear wheels 103 are supported on a body frame 101 via a suspension. The body frame 101 is covered with a resin cover including a front cover 104, a leg shield 105, a floor 106, a rear cover 107, and the like except for a part thereof.

車体後部において概略箱状もしくは箱型の後部カバー１０７が上方に突設され、後部カバー１０７の内側には左右それぞれの後輪１０３に対して、これを駆動するための駆動モータ１０８や駆動モータ１０８の出力を車軸１０９に伝達するギヤユニット１１０（図３参照）、さらにバッテリ１１１等が収容されている。各駆動モータ１０８は、コントロールユニット１１２により駆動制御されるようになっている。   A substantially box-shaped or box-shaped rear cover 107 protrudes upward at the rear of the vehicle body, and a drive motor 108 and a drive motor 108 for driving the left and right rear wheels 103 on the inner side of the rear cover 107. A gear unit 110 (see FIG. 3) that transmits the output of the engine to the axle 109, a battery 111, and the like are housed. Each drive motor 108 is driven and controlled by the control unit 112.

後部カバー１０７の上側には、車体フレーム１０１からたとえば門型に立ち上がるブラケット１１３を介して、搭乗者が着座するシート１１４が搭載される。シート１１４はシートクッション１１５とシートバック（背もたれ）１１６を含み、後部カバー１０７上で水平方向に旋回可能に支持される。なお、この旋回角度は車体センタから左右にたとえば４５度および９０度等に設定され、シートクッション１１３の両側部に付設された操作レバー１１７の操作で適宜旋回させることができる。   A seat 114 on which a passenger sits is mounted on the upper side of the rear cover 107 via a bracket 113 that rises from the body frame 101 in a gate shape, for example. The seat 114 includes a seat cushion 115 and a seat back (back) 116, and is supported on the rear cover 107 so as to be pivotable in the horizontal direction. The turning angle is set to 45 degrees and 90 degrees, for example, from the vehicle body center to the left and right, and can be appropriately turned by operating the operation levers 117 attached to both side portions of the seat cushion 113.

さらに、シートバック１１６の両側部にはアームレスト１１８が設けられ、各アームレスト１１８は、支点１１９のまわりに回動可能に支持される。各アームレスト１１８の側面にはそれぞれウィンカが配設されてよい。   Further, armrests 118 are provided on both sides of the seat back 116, and each armrest 118 is supported so as to be rotatable around a fulcrum 119. Each side of each armrest 118 may be provided with a winker.

レッグシールド１０５は車体前部で上方に突設され、シート１１４に着座した搭乗者の脚まわりを風等があたらないように保護する。レッグシールド１０５の内部には前輪１０２を操舵するためのステアリングシャフト１２０が立設されており、該ステアリングシャフト１２０の上端には、ハンドルユニット１２１が回動可能に取り付けられる。運転者は図１に示したように、シート１１４に着座してハンドルユニット１２１を操作するようになっている。また、ハンドルユニット１２１の適所には、左右一対のバックミラー１２２がステー１２３を介して支持される。   The leg shield 105 protrudes upward at the front of the vehicle body and protects the legs of the occupant seated on the seat 114 from being exposed to wind and the like. A steering shaft 120 for steering the front wheels 102 is erected inside the leg shield 105, and a handle unit 121 is rotatably attached to the upper end of the steering shaft 120. As shown in FIG. 1, the driver sits on the seat 114 and operates the handle unit 121. In addition, a pair of left and right rearview mirrors 122 are supported at appropriate positions of the handle unit 121 via a stay 123.

レッグシールド１０５の前面部には収納籠もしくはキャリヤケース１２４が装架され、該キャリヤケース１２４を適宜物入れとして使用することができる。なお、キャリヤケース１２４の下方適所にヘッドライトが取り付けられる。   A storage box or carrier case 124 is mounted on the front surface of the leg shield 105, and the carrier case 124 can be used as a container as appropriate. A headlight is attached at a suitable position below the carrier case 124.

小型電動車両１００の実使用において、シート１１４に着座した運転者は図１に示されるようにハンドルユニット１２１のハンドルを持ち、あるいは軽く手を掛け、該ハンドルに装着されたアクセルレバーを操作することで車両を走行させることができる。その際、アクセルレバーの押し加減を適宜調節することで、増速あるいは減速しスピードがコントロールされる。   In actual use of the small electric vehicle 100, the driver seated on the seat 114 holds the handle of the handle unit 121 as shown in FIG. 1, or lightly puts his hand and operates the accelerator lever attached to the handle. Can drive the vehicle. At that time, the speed is controlled by speeding up or slowing down by appropriately adjusting the amount of pressing of the accelerator lever.

ここで、本発明に係る小型電動車両１００において、車両旋回時の車速に応じて、少なくとも外側の操舵輪の操舵角に基づき左右の駆動モータ１０８の回転数配分を行う。すなわち、まず車両旋回時の車速が設定値以上の場合、外側の操舵輪の操舵角によって与えられる比率で、駆動モータ１０８の回転数配分を行う。   Here, in the small electric vehicle 100 according to the present invention, the rotational speed distribution of the left and right drive motors 108 is performed based on at least the steering angle of the outer steering wheel in accordance with the vehicle speed when the vehicle turns. That is, first, when the vehicle speed at the time of turning of the vehicle is equal to or higher than a set value, the rotation number distribution of the drive motor 108 is performed at a ratio given by the steering angle of the outer steering wheel.

つまり旋回時には外側の操舵輪の接地荷重が増加してその接地力が向上するため、車両の旋回方向に与える影響は内側操舵輪よりも大きくなる。このため外側の操舵輪の操舵角から左右の駆動モータ１０８の回転数配分を行うというものである。   That is, when the vehicle turns, the ground load on the outer steering wheel increases and the ground contact force is improved, so that the influence on the turning direction of the vehicle is greater than that on the inner steering wheel. Therefore, the number of rotations of the left and right drive motors 108 is distributed from the steering angle of the outer steering wheel.

以下、図４および図７に基づいて本発明の駆動モータ１０８の回転数配分方法について説明する。ステアリング操舵角に対する内輪および外輪の実際の操舵角は、ステアリング機構の設計値から算出可能であり、ステアリング操舵角αの関数で表すことができる。すなわち、内輪操舵角αINおよび外輪操舵角αOUTは、次式により表される（なお、図５を参照のこと）。
αIN ＝ｆi（α）
αOUT＝ｆo（α）
なお、実際に測定した値を使用してもよく、組付誤差等を考慮すると実測値を使用する方が正確である。いずれの場合も、ステアリング操舵角に対する実際の操舵角は、コントロールユニット１１２に記憶保存される。 Hereinafter, a method for distributing the number of rotations of the drive motor 108 according to the present invention will be described with reference to FIGS. The actual steering angles of the inner and outer wheels with respect to the steering angle can be calculated from the design value of the steering mechanism and can be expressed as a function of the steering angle α. That is, the inner wheel steering angle α IN and the outer wheel steering angle α OUT are expressed by the following equations (see FIG. 5).
α IN = f i (α)
α OUT = f o (α)
Actually measured values may be used, and it is more accurate to use measured values in consideration of assembly errors and the like. In any case, the actual steering angle with respect to the steering angle is stored and saved in the control unit 112.

図７において、ステアリング操舵角αを検出する(Ｓ７０１)と、この操舵角αに基づいて内輪操舵角αRおよび外輪操舵角αLを算出する。あるいは算出する代わりに、予め作成されたマップから読み込んでもよい。このときの車速Ｖを検出し(Ｓ７０２)、その車速Ｖが特に設定値Ｖｃ以上の場合には(比較的高速である）ステップＳ７０３に進み、ステアリング操舵角αより操舵方向を判別する。右旋回の場合、外輪操舵角αLから算出される旋回半径ＸLを用いて、この場合旋回内側の駆動モータ１０８および旋回外側の駆動モータ１０８の目標回転数を設定する(Ｓ７０４)。すなわち、この実施形態では図４のように、ＸL：（Ｔ＋ＸL）の比率で配分され、この比率になるようにコントロールユニット１１２によって制御される。 In FIG. 7, when the steering angle α is detected (S701), the inner wheel steering angle α R and the outer wheel steering angle α L are calculated based on the steering angle α. Or you may read from the map produced beforehand instead of calculating. The vehicle speed V at this time is detected (S702), and if the vehicle speed V is particularly equal to or higher than the set value Vc (relatively high speed), the process proceeds to step S703, and the steering direction is determined from the steering angle α. In the case of a right turn, the target rotation speeds of the drive motor 108 inside the turn and the drive motor 108 outside the turn are set using the turning radius X L calculated from the outer wheel steering angle α L (S704). That is, in this embodiment, as shown in FIG. 4, it is distributed at a ratio of X L : (T + X L ), and is controlled by the control unit 112 so as to be this ratio.

つぎに、車両旋回時の車速Ｖが設定値Ｖｃ未満の場合、ステップＳ７０７に進み、ステアリング操舵角αにより操舵方向を判別する。右旋回の場合、外側の操舵輪の操舵角から２つの操舵輪の中間角度までの範囲で、車速に応じて設定された操舵角に基づき駆動モータの回転数配分を行う(Ｓ７０８)。この実施形態では、例えば、速度Ｖにおける操舵角[α'＋Ｖ(αL'−α')／Ｖｃ]から算出される旋回半径により駆動モータ１０８の回転数配分を行う。なお、α’は次式により算出される。
α’＝（αL’＋αR”）／２
αL'＝ｆo -1（αL）
αR”＝ｆi -1（αR)
すなわち、旋回速度が速く十分な遠心力が作用する場合には前述のように駆動制御するが（Ｓ７０４，Ｓ７０８）、旋回速度が遅くなると内側操舵輪の影響も無視し得なくなる。このような場合、旋回速度によって外側操舵輪の角度から外側および内側の操舵輪の中間角度まで連続して切り替えるというものである。 Next, when the vehicle speed V during vehicle turning is less than the set value Vc, the process proceeds to step S707, and the steering direction is determined based on the steering angle α. In the case of a right turn, the rotation number of the drive motor is distributed based on the steering angle set according to the vehicle speed in the range from the steering angle of the outer steering wheel to the intermediate angle of the two steering wheels (S708). In this embodiment, for example, the rotational speed distribution of the drive motor 108 is performed based on the turning radius calculated from the steering angle [α ′ + V (α L ′ −α ′) / Vc] at the speed V. Α ′ is calculated by the following equation.
α ′ = (α L ′ + α R ″) / 2
α L '= f o -1 (α L )
α R ″ = f i −1 (α R )
That is, when the turning speed is high and sufficient centrifugal force is applied, the drive control is performed as described above (S704, S708). However, when the turning speed becomes slow, the influence of the inner steered wheels cannot be ignored. In such a case, depending on the turning speed, the angle is continuously switched from the angle of the outer steering wheel to the intermediate angle of the outer and inner steering wheels.

なお、左旋回する場合にも上記と同様に車速に応じて、左右２つの駆動モータ１０８の目標回転数設定し、コントロールユニット１１２により上記と同様に駆動制御される。（Ｓ７０６，Ｓ７１０）なお、直進時は左右のモータ１０８の回転数は等速配分となる。(Ｓ７０５，Ｓ７０９)   When turning left, the target rotational speeds of the left and right drive motors 108 are set according to the vehicle speed in the same manner as described above, and the drive control is performed by the control unit 112 as described above. (S706, S710) In addition, when going straight, the rotation speeds of the left and right motors 108 are distributed at a constant speed. (S705, S709)

本発明の駆動制御方法によれば、上述のように接地力の高い外側の操舵輪を基準にして左右２つの駆動モータ１０８の目標回転数配分を行うことで、各駆動モータ１０８に対する余分な負荷を大幅に軽減することができる。その結果、駆動モータ１０８の耐久性を向上し、さらに各駆動モータ１０８の消費電力を低減することができる。ひいてはバッテリ１１１の寿命を延ばすことができる。   According to the drive control method of the present invention, as described above, the target rotational speed distribution of the two left and right drive motors 108 is performed with reference to the outer steering wheel having a high grounding force, so that an extra load is applied to each drive motor 108. Can be greatly reduced. As a result, the durability of the drive motor 108 can be improved and the power consumption of each drive motor 108 can be reduced. As a result, the life of the battery 111 can be extended.

以上、本発明を実施形態とともに説明したが、本発明はこれらの実施形態にのみ限定されるものではなく、本発明の範囲内で変更等が可能である。
たとえば、本実施形態では四輪の小型電動車両の例を説明したが、その他にいわゆる電動車椅子（モータチェアタイプ）に対しても有効に適用可能であり、上記実施形態と同様な作用効果を得ることができる。 As mentioned above, although this invention was demonstrated with embodiment, this invention is not limited only to these embodiment, A change etc. are possible within the scope of the present invention.
For example, although an example of a four-wheeled small electric vehicle has been described in the present embodiment, the present invention can be effectively applied to other so-called electric wheelchairs (motor chair types), and the same effects as the above-described embodiments can be obtained. be able to.

本発明の実施形態に係る小型電動車両の側面図である。1 is a side view of a small electric vehicle according to an embodiment of the present invention. 本発明の実施形態に係る小型電動車両の正面図である。1 is a front view of a small electric vehicle according to an embodiment of the present invention. 本発明の実施形態に係る小型電動車両の平面図である。1 is a plan view of a small electric vehicle according to an embodiment of the present invention. 本発明の実施形態における目標回転数配分比率の算出方法の例を示す模式図である。It is a schematic diagram which shows the example of the calculation method of the target rotation speed distribution ratio in embodiment of this invention. 本発明の実施形態におけるステアリング操舵角と実際の操舵角との関係を示す図である。It is a figure which shows the relationship between the steering steering angle and actual steering angle in embodiment of this invention. 従来の目標回転数配分比率の算出方法の例を示す模式図である。It is a schematic diagram which shows the example of the calculation method of the conventional target rotation speed distribution ratio. 本発明の実施形態における制御方法を示すフローチャートである。It is a flowchart which shows the control method in embodiment of this invention.

符号の説明Explanation of symbols

１００ 小型電動車両
１０１ 車体フレーム
１０２ 前輪
１０３ 後輪
１０４ 前部カバー
１０５ レッグシールド
１０６ フロア
１０７ 後部カバー
１０８ 駆動モータ
１０９ 車軸
１１０ ギヤユニット
１１１ バッテリ
１１２ コントロールユニット
１１４ シート
１１５ シートクッション
１１６ シートバック
１１８ アームレスト
１２０ ステアリングシャフト
１２２ バックミラー
１２４ キャリヤケース 100 Small Electric Vehicle 101 Body Frame 102 Front Wheel 103 Rear Wheel 104 Front Cover 105 Leg Shield 106 Floor 107 Rear Cover 108 Drive Motor 109 Axle 110 Gear Unit 111 Battery 112 Control Unit 114 Seat 115 Seat Cushion 116 Seat Back 118 Armrest 120 Steering Shaft 122 Rearview mirror 124 Carrier case

Claims (3)

駆動輪として左右後輪をそれぞれ駆動モータにより独立に駆動するとともに、操舵輪として左右前輪をハンドルにより操舵するようにした電動車両の駆動制御方法であって、
車両旋回時の車速に応じて、少なくとも外側の前記操舵輪の操舵角に基づき前記駆動モータの回転数配分を行うことを特徴とする電動車両の駆動制御方法。 A drive control method for an electric vehicle in which left and right rear wheels are independently driven by drive motors as drive wheels and left and right front wheels are steered by steering wheels as steering wheels,
A drive control method for an electric vehicle, characterized in that the number of revolutions of the drive motor is distributed based on at least a steering angle of the outer steering wheel in accordance with a vehicle speed at the time of turning of the vehicle. 車両旋回時の車速が設定値以上の場合、外側の前記操舵輪の操舵角によって与えられる比率で、前記駆動モータの回転数配分を行うことを特徴とする請求項１に記載の電動車両の駆動制御方法。   2. The drive of an electric vehicle according to claim 1, wherein when the vehicle speed at the time of turning of the vehicle is equal to or higher than a set value, the number of rotations of the drive motor is distributed at a ratio given by a steering angle of the outer steering wheel. Control method. 車両旋回時の車速が設定値未満の場合、外側の前記操舵輪の操舵角から２つの前記操舵輪の中間角度までの範囲で、車速に応じて設定された操舵角に基づき前記駆動モータの回転数配分を行うことを特徴とする請求項１に記載の電動車両の駆動制御方法。   When the vehicle speed at the time of turning of the vehicle is less than a set value, the rotation of the drive motor is performed based on the steering angle set according to the vehicle speed in the range from the steering angle of the outer steering wheel to the intermediate angle of the two steering wheels. 2. The drive control method for an electric vehicle according to claim 1, wherein number distribution is performed.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015027185A (en) * 2013-07-26 2015-02-05 アイシン精機株式会社 Personal vehicle

Citations (3)

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Publication number Priority date Publication date Assignee Title
JPH05262154A (en) * 1992-03-19 1993-10-12 Mitsubishi Motors Corp Lateral driving force controller for vehicle
JPH09117017A (en) * 1995-10-20 1997-05-02 Honda Motor Co Ltd Motor-operated vehicle
JPH09240477A (en) * 1996-03-06 1997-09-16 Yamaha Motor Co Ltd Motor-driven carriage

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05262154A (en) * 1992-03-19 1993-10-12 Mitsubishi Motors Corp Lateral driving force controller for vehicle
JPH09117017A (en) * 1995-10-20 1997-05-02 Honda Motor Co Ltd Motor-operated vehicle
JPH09240477A (en) * 1996-03-06 1997-09-16 Yamaha Motor Co Ltd Motor-driven carriage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015027185A (en) * 2013-07-26 2015-02-05 アイシン精機株式会社 Personal vehicle

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