JP2014155234A - Travel motor control system of vehicle - Google Patents
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Abstract
Description
本発明は、モータ駆動で走行するＥＶ／ＨＥＶ車などに適用する走行モータの制御システムに関し、詳しくは車両の衝突発生時にその衝突状況に応じた適切な方法でモータ駆動を停止制御して車両の衝突衝撃を軽減させる制御方式に係わる。 The present invention relates to a travel motor control system applied to an EV / HEV vehicle that travels by motor drive, and more specifically, when a vehicle collision occurs, the motor drive is stopped and controlled by an appropriate method according to the collision situation. The present invention relates to a control method for reducing a collision impact.
周知のように、車両に搭載したバッテリーなどを電源とするモータの駆動により走行する頭記のＥＶ／ＨＥＶ車は、アクセル，ブレーキ，シフトレバーなどの操作情報、および走行モータの回転速度情報を基にモータの適正な出力トルク（指令トルク）を演算する車両統合制御ユニット（ＶＣＵ）、および走行モータを駆動制御するインバータ方式のモータ制御装置を搭載し、前記車両統合制御ユニットからのトルク指令にしたがってモータ制御装置が走行モータを駆動制御（ＰＷＭ制御）しており、車両統合制御ユニットとモータ制御装置との間のデータ通信はＣＡＮなどのバスライン（車載ＬＡＮ）を通じて一定の周期（例えば５０msec）で行うようにしている。 As is well known, the EV / HEV vehicles described above that travel by driving a motor powered by a battery mounted on the vehicle are based on operation information on the accelerator, brake, shift lever, etc., and on the rotational speed information of the traveling motor. Are equipped with a vehicle integrated control unit (VCU) that calculates an appropriate output torque (command torque) of the motor, and an inverter type motor control device that drives and controls the traveling motor, according to the torque command from the vehicle integrated control unit. The motor control device drives and controls the travel motor (PWM control), and data communication between the vehicle integrated control unit and the motor control device is performed at a constant cycle (for example, 50 msec) through a bus line (vehicle-mounted LAN) such as CAN. Like to do.
また、このＥＶ／ＨＥＶ車においては、走行中の車両が他車（先行車，または後続車），あるいは障害物に衝突をした時の被害軽減対策として、従来では車両に搭載した加速度センサ（Ｇセンサ）が感知した信号を基に、衝突発生時には走行モータを停止するようにしており、その操作は加速度センサの感知信号をＶＣＵ（車両統合制御ユニット）からモータ制御装置に通知してモータ駆動を停止制御するか、または加速度センサをインバータ装置自体に組み込んで停止制御を行うようにしている。 Also, in this EV / HEV vehicle, as a measure for reducing damage when a traveling vehicle collides with another vehicle (preceding vehicle or subsequent vehicle) or an obstacle, an acceleration sensor (G The travel motor is stopped when a collision occurs based on the signal sensed by the sensor), and the operation is reported to the motor controller from the VCU (vehicle integrated control unit) to detect the acceleration sensor. Stop control is performed, or an acceleration sensor is incorporated in the inverter device itself to perform stop control.
この場合に前者の方式では、ＶＣＵからの伝送指令を受けてからモータ制御装置（インバータ）が走行モータを停止制御するので応答速度が遅くなるほか、車両の衝突で車載バスライン（信号線）の通信機能が喪失した場合にはＶＣＵの指令がモータ制御装置に正しく伝送されなくなる。一方、インバータ装置に加速度センサを設けることはコストアップの要因になる。そのほか、加速度センサは車両の前部に取付けた場合に後方からの軽微な追突を感知しないなど、加速度センサはその取付け箇所によって衝突の状況を的確に検知できないなどの課題もある。 In this case, in the former method, since the motor control device (inverter) controls to stop the traveling motor after receiving a transmission command from the VCU, the response speed becomes slow, and the on-board bus line (signal line) of the vehicle crashes. When the communication function is lost, the VCU command is not correctly transmitted to the motor control device. On the other hand, providing an acceleration sensor in the inverter device increases the cost. In addition, when the acceleration sensor is attached to the front part of the vehicle, there is a problem that the acceleration sensor cannot accurately detect the situation of the collision depending on the attachment location, such as not detecting a slight rear collision from the rear.
そこで、加速度センサを使用しないで走行モ−タの回転数から車両の衝突を検知する方法として、走行モータの相電圧、相電流の乱れ、またはモータに取付けたレゾルバ（回転角センサ）の磁極位置情報から走行モータの回転数を演算し、その回転数の変動（加速度）が予め定めた閾値を超えた際に車両の衝突発生と判断してモータの停止処理を実行するようにしたモータ制御方法が知られている（例えば、特許文献１参照）。 Therefore, as a method of detecting a vehicle collision from the rotational speed of the traveling motor without using an acceleration sensor, the phase voltage or phase current of the traveling motor is disturbed, or the magnetic pole position of a resolver (rotation angle sensor) attached to the motor. A motor control method for calculating the rotational speed of the traveling motor from the information, and determining that a vehicle collision has occurred when the fluctuation (acceleration) of the rotational speed exceeds a predetermined threshold value, and executing a motor stop process Is known (see, for example, Patent Document 1).
ところで、先記の特許文献１に開示されている走行モータ制御方式では、走行モータの速度（回転数）変化率のみに着目して車両の衝突を判定するようにしており、走行中の車両（自車）が前方の先行車両，障害物に衝突（前方衝突）したのか、後方追従車両に追突された（後方衝突）かの区別はしていない。このために、衝突事故の状況（前方衝突か、後方衝突か）が判断できない。 By the way, in the traveling motor control system disclosed in the above-mentioned Patent Document 1, the collision of the vehicle is determined by paying attention only to the speed (rotation speed) change rate of the traveling motor, and the traveling vehicle ( No distinction is made as to whether the vehicle has collided with a preceding vehicle or obstacle ahead (front collision) or has been collided with a rear following vehicle (rear collision). For this reason, the situation of a collision accident (whether forward collision or backward collision) cannot be determined.
一方、インバータ制御によるモータの停止制御法として、回生制動停止法、およびインバータ出力を遮断してモータを惰性回転させるフリーラン停止法がある。また、車両の衝突発生時に走行モータの駆動を非常停止して被害を軽減させる法についても、衝突直後にモータを回生制動するか、フリーランとするかによって衝突後に車両が停止するまでの停止距離、および車両の衝突衝撃（衝突加速度）の大きさが変わるため、車両衝突の状況（前方衝突／後方衝突）よっていずれの停止方法が適切であるかが異なる。しかしながら、従来の衝突検知方式（特許文献１）では衝突の状況が判断できず、このために適切な走行モータの停止制御方法（回生制動／フリーラン）を選択して実行することができない。 On the other hand, as a motor stop control method by inverter control, there are a regenerative braking stop method and a free-run stop method in which the inverter output is cut off and the motor is inertially rotated. Also, for the method of reducing the damage by driving the driving motor emergencyly when a vehicle collision occurs, the stopping distance until the vehicle stops after the collision depending on whether the motor is regeneratively braked immediately after the collision or free run Since the magnitude of the impact shock (collision acceleration) of the vehicle changes, which stop method is appropriate depends on the situation of the vehicle collision (front collision / rear collision). However, in the conventional collision detection method (Patent Document 1), the situation of the collision cannot be determined, and for this reason, it is not possible to select and execute an appropriate travel motor stop control method (regenerative braking / free run).
本発明は上記の点に鑑みなされたものであり、その目的は、加速度センサを使用せずに、インバータ制御のために走行モータに付設した回転角センサ（例えば、レゾルバ）で取得した情報から車両の衝突検知、およびその衝突状況（前方衝突／後方衝突）を判定し、この判定を基に衝突状況に応じて適切な停止方法（回生制動／フリーラン）を選択，実行して衝突による二次災害（玉突き事故）、車両損傷の拡大、搭乗者傷害の軽減を図るフェールセーフ機能を備えた車両の走行モータ制御システムを提供することにある。 The present invention has been made in view of the above points, and its object is to use a vehicle from information acquired by a rotation angle sensor (for example, a resolver) attached to a traveling motor for inverter control without using an acceleration sensor. Collision detection and its collision situation (front collision / backward collision), and based on this determination, an appropriate stop method (regenerative braking / free run) is selected and executed according to the collision situation, and secondary by collision An object of the present invention is to provide a vehicle drive motor control system having a fail-safe function for reducing disaster (ball hitting accident), vehicle damage, and passenger injury.
上記目的を達成するために、本発明によれば、車両に車両統合制御ユニット、インバータ制御方式のモータ制御装置を搭載し、モータ制御装置が車両統合制御ユニットからのトルク指令を受けて走行モータを駆動制御する車両の走行モータ制御システムにおいて、
前記モータ制御装置には、モータに付設の回転角センサで取得した信号から走行モータの回転速度／回転方向／加速度／加速方向／車両走行速度を演算して車両の衝突検知、およびその衝突状況を判定し、その衝突状況の判定結果を基に回生制動、もしくはフリーランを選択してモータ駆動の停止制御を実行する処理手段を備える（請求項１）。
In order to achieve the above object, according to the present invention, a vehicle integrated control unit and an inverter control type motor control device are mounted on a vehicle, and the motor control device receives a torque command from the vehicle integrated control unit to In a travel motor control system for a vehicle that controls driving,
The motor control device calculates the rotation speed / rotation direction / acceleration / acceleration direction / vehicle traveling speed of a traveling motor from a signal acquired by a rotation angle sensor attached to the motor, and detects the collision of the vehicle, and the collision state thereof. And a processing unit that performs regenerative braking or free run selection based on the determination result of the collision state and executes motor drive stop control.
ここで、前記回転角センサは走行モータに付設したレゾルバであり、レゾルバ−デジタル（Ｒ／Ｄ）コンバータを組み合せて走行モータの回転速度／回転方向／加速度／加速方向／車両走行速度を演算し、これを基に車両の衝突検知、およびその衝突状況の判定を処理する（請求項２）。 Here, the rotation angle sensor is a resolver attached to the traveling motor, and calculates a rotational speed / rotational direction / acceleration / acceleration direction / vehicle traveling speed of the traveling motor by combining a resolver digital (R / D) converter, Based on this, vehicle collision detection and collision status determination are processed (claim 2).
また、前記処理手段には、走行モータの停止制御モードとして回生制動処理とフリーラン処理を登録しておき、衝突状況の判定が前進走行中，もしくは停止中の後方衝突である場合には回生制動を選択し、それ以外の衝突である場合にフリーランを選択してモータ駆動の停止制御処理を実行する（請求項３）。 In the processing means, regenerative braking processing and free-run processing are registered as stop control modes of the traveling motor, and regenerative braking is performed when the judgment of the collision state is forward traveling or stopped rear collision. Is selected, and if it is a collision other than that, a free run is selected and a motor drive stop control process is executed (claim 3).
さらに、前記処理手段には走行モータの異常情報、停止制御の処理情報を車両統合制御ユニットに送信する機能を備える（請求項４）。 Furthermore, the processing means has a function of transmitting the abnormality information of the traveling motor and the processing information of the stop control to the vehicle integrated control unit (Claim 4).
上記の走行モータ制御システムによれば、加速度センサを使わずに走行モータに付設してその回転角を検出するレゾルバから取得したモータの回転角情報から走行モータの回転速度／回転方向／加速度／加速方向／車両走行速度を演算し、加速度の変化が予め定めた閾値を超えた際に車両の衝突発生と判断するとともに、その加速方向から車両の衝突状況（前方衝突，後方衝突）を的確に判定し、この判定結果を基に車両の衝突状況に応じた適切な方法（回生制動／フリーラン）を選択して走行モータの駆動を非常停止させることかできる。 According to the above traveling motor control system, the rotational speed / rotational direction / acceleration / acceleration of the traveling motor from the rotational angle information of the motor that is obtained from the resolver that is attached to the traveling motor and detects its rotational angle without using the acceleration sensor. The direction / vehicle traveling speed is calculated, and when the change in acceleration exceeds a predetermined threshold, it is determined that a vehicle collision has occurred, and the vehicle collision status (front collision, rear collision) is accurately determined from the acceleration direction. Then, based on the determination result, an appropriate method (regenerative braking / free run) according to the collision state of the vehicle can be selected, and the driving of the travel motor can be stopped in an emergency.
これにより、車両の衝突による二次災害（例えば、後方追従車両に衝突された勢いで自車が先行車両に追突する玉突き事故）の回避、および車両損傷拡大，搭乗者傷害の軽減を図ることができる。 Accordingly, it is possible to avoid a secondary disaster caused by a vehicle collision (for example, a ball hitting accident in which the host vehicle collides with a preceding vehicle with the momentum of collision with a rear following vehicle), vehicle damage expansion, and reduction of passenger injury. it can.
また、車両衝突時における走行モータの異常情報を上位の車両統合制御ユニット（ＶＣＵ）に通知することにより、ＶＣＵは必要な異常処理が行えるほか、この異常情報を保存することにより、事故後の調査で衝突発生の原因、解析を詳細に究明することができる。 In addition, the VCU can perform necessary abnormality processing by notifying the upper vehicle integrated control unit (VCU) of the abnormality information of the traveling motor at the time of the vehicle collision, and can also investigate after the accident by storing this abnormality information. The details of the cause of the collision and the analysis can be investigated.
以下、本発明による実施の形態を図１〜図４、および図５に基づいて説明する。
まず、図１に示す走行モータ制御システムにおいて、１は走行モータ、２は車両統合制御ユニット（ＶＣＵ）、３はモータ制御装置、３ａはインバータの主回路、３ｂはインバータの制御部（ＥＣＵ）、４は走行モータ１の回転角をモータ制御装置３のインバータ制御部３ｂに通知するレゾルバ（回転角センサ）である。
Embodiments of the present invention will be described below with reference to FIGS. 1 to 4 and FIG.
First, in the travel motor control system shown in FIG. 1, 1 is a travel motor, 2 is a vehicle integrated control unit (VCU), 3 is a motor control device, 3a is a main circuit of an inverter, 3b is a control unit (ECU) of the inverter, A resolver (rotation angle sensor) 4 notifies the rotation angle of the traveling motor 1 to the inverter control unit 3 b of the motor control device 3.
ここで、前記モータ制御装置３の制御部３ｂには上位の車両統合制御ユニット（ＶＣＵ２からのトルク指令を受けてインバータ出力を制御（ＰＷＭ制御）するインバータ制御回路、レゾルバ４の回転角情報をデジタルに変換するレゾルバ−デジタル（Ｒ／Ｄ）コンバータ、および後記のようにレゾルバ４の回転角情報を基に走行モータ１の回転速度／回転方向／加速度／加速方向／車両走行速度を演算して車両の衝突発生検知、衝突状況の判定、および走行モータの停止方法を決定して実行する処理機能を持つ制御モジュール（マイクロコンピュータ）を備えている。 Here, the control unit 3b of the motor control device 3 has a higher-level vehicle integrated control unit (inverter control circuit that receives a torque command from the VCU 2 to control the inverter output (PWM control), and the rotation angle information of the resolver 4 is digitally stored. A resolver-digital (R / D) converter for converting to a vehicle, and a vehicle by calculating the rotational speed / rotational direction / acceleration / acceleration direction / vehicle traveling speed of the traveling motor 1 based on the rotational angle information of the resolver 4 as described later. A control module (microcomputer) having a processing function for detecting and generating a collision, determining a collision situation, and determining and executing a stopping method of the traveling motor.
次に、前記した制御モジュールによる車両の衝突検知、衝突状況の判定、およびその判定に基づく走行モータ停止処理のフローチャートを図２に示し、車両の衝突検知からモータ停止までの処理を以下に述べる。 Next, FIG. 2 shows a flowchart of vehicle collision detection, collision situation determination and travel motor stop processing based on the determination by the control module described above, and processing from vehicle collision detection to motor stop will be described below.
・ レゾルバ４から得た回転角を基に、一定の制御周期（例えば５０msec）で走行モータ１の回転方向，速度を演算して速度情報を取得する（ステップ：Ｓ１）。
・ その速度と前回周期の速度との変化から走行モータ１の加速度、加速方向(「加速」,「減速」)を求める(Ｓ２)。
Based on the rotation angle obtained from the resolver 4, the rotation direction and speed of the traveling motor 1 are calculated at a constant control cycle (for example, 50 msec) to obtain speed information (step: S1).
The acceleration and acceleration direction (“acceleration”, “deceleration”) of the traveling motor 1 is obtained from the change between the speed and the speed of the previous cycle (S2).
・ ステップＳ２で取得した加速度と予め定めた閾値を比較し（Ｓ３）、加速度が閾値を超えている場合には、その異常情報（加速度，加速方向）を保存（Ｓ４）した上で、衝突判定処理のプログラム（図４参照）を呼び出して（Ｓ５）、衝突状況（前方衝突／後方衝突）を判定する。 -The acceleration acquired in step S2 is compared with a predetermined threshold (S3). If the acceleration exceeds the threshold, the abnormality information (acceleration, acceleration direction) is saved (S4), and then the collision is determined. A processing program (see FIG. 4) is called (S5), and the collision situation (forward collision / rear collision) is determined.
・ また、バッテリー（走行モータの電源）の管理情報を読み出し（Ｓ６）、バッテリー情報が取得できたか否かを判断する（Ｓ７）。
・ バッテリー情報が正常で、かつ衝突状況が後方衝突（後方追従車両に追突された）と判定された場合（Ｓ８）は、「回生制動」の処理を起動（Ｓ９）して走行モータ１を回生制動し、このモータ回生制動と車両の油圧ブレーキ（フットブレーキ）を併用して車両を非常停止させる。
Further, the management information of the battery (travel motor power supply) is read (S6), and it is determined whether or not the battery information has been acquired (S7).
If the battery information is normal and the collision situation is determined to be a rear collision (rejected by a rear following vehicle) (S8), the “regenerative braking” process is started (S9) to regenerate the travel motor 1 The vehicle is braked, and the vehicle is brought to an emergency stop by using this motor regenerative braking together with the vehicle hydraulic brake (foot brake).
・ また、走行中に発生した衝突状況が前項（５）以外の前方衝突であると判定された場合には、「フリーラン」の処理を起動し（Ｓ１０）、走行モータ１をフリーラン（インバータ出力を遮断してモータ駆動を停止）にして車両の衝突衝撃力を軽減させる。 In addition, when it is determined that the collision situation that has occurred during traveling is a forward collision other than the preceding item (5), the “free-run” process is started (S10), and the traveling motor 1 is free-runned (inverter The output is cut off and the motor drive is stopped) to reduce the collision impact force of the vehicle.
・ 衝突時における走行モータの異常情報、衝突状況の判定結果、停止処理の情報を上位の車両統合制御ユニット（ＶＣＵ）２に送信して保存させる（Ｓ１１）。
次に、車両衝突状況の判定表を図３に、またこの判定表に対応したフローチャートを図４に示す。すなわち、図３で表すように、衝突事故の状況判定は、走行モータの回転方向／衝突時の加速方向／車両の走行状態／走行速度から判断し、走行中、ないし停止中の後方衝突と判定された場合は「回生制動」の処理を実行する。一方、先行車両、あるいは障害物に前方衝突した場合にはモータのインバータ制御を停止して「フリーラン」の処理を実行する。
-The abnormality information of the traveling motor at the time of the collision, the determination result of the collision situation, and the information of the stop process are transmitted to the host vehicle integrated control unit (VCU) 2 and stored (S11).
Next, a vehicle collision situation determination table is shown in FIG. 3, and a flowchart corresponding to this determination table is shown in FIG. That is, as shown in FIG. 3, the situation of the collision accident is determined from the rotation direction of the traveling motor / the acceleration direction at the time of the collision / the traveling state of the vehicle / the traveling speed. If so, “regenerative braking” processing is executed. On the other hand, when the vehicle collides forward with a preceding vehicle or an obstacle, the inverter control of the motor is stopped and the “free run” process is executed.
なお、図３における項目「走行状態」は、上位の車両統合制御ユニット（ＶＣＵ）（図１参照）からの指令（目標トルク／目標速度）とその時のインバータの制御状態で判断し、加速走行中，定速走行中，減速走行中をそれぞれ次記のように定義する。 The item “traveling state” in FIG. 3 is determined based on a command (target torque / target speed) from the host vehicle integrated control unit (VCU) (see FIG. 1) and the control state of the inverter at that time. , During constant speed driving and during decelerating driving are defined as follows.
加速走行中：ＶＣＵからの加速指令（目標トルク／目標速度）の±１０％以外
減速走行中：ＶＣＵからの減速指令（目標トルク／目標速度）の±１０％以外
定速走行中：ＶＣＵからの定速指令（目標トルク／目標速度）の±１０％以内
停止中：モータ停止
また、図２のフローチャート（ステップ：Ｓ３）に記した加速度の閾値については、例えば次記のように通常走行時に急ブレーキをかけて車両を急停止する際の加速度にマージンをかけた値を車両衝突判定の閾値とする。
During acceleration travel: Other than ± 10% of acceleration command (target torque / target speed) from VCU During deceleration travel: Other than ± 10% of deceleration command (target torque / target speed) from VCU During constant speed travel: From VCU Within ± 10% of constant speed command (target torque / target speed) Stopping: Motor stopped Also, for the acceleration threshold value shown in the flowchart (step: S3) in FIG. A value obtained by adding a margin to the acceleration when the vehicle is suddenly stopped with the brake applied is set as a vehicle collision determination threshold value.
すなわち、急ブレーキで走行中の車両が停止するまでの制動時間（秒）ｔは、
ｔ＝車速（秒速）／（重力加速度（９．８）×動摩擦係数μ
ここで、道路が乾いたアスファルト，コンクリートであれば最も早く停止でき、その動摩擦係数μ≒０．８とすると、
制動時間（秒）＝車速（秒速）／７．８４
加速度＝車速（秒速）／制動時間（秒）＝７．８４ｍ／sec２
であり、この加速度（７．８４ｍ／sec２）にマージン（１０％）をかけた値（８．６２４ｍ／sec２）を衝突判定の閾値とする。
In other words, the braking time (seconds) t until the vehicle that is running with sudden braking stops is
t = vehicle speed (second speed) / (gravity acceleration (9.8) × dynamic friction coefficient μ
Here, if the road is dry asphalt or concrete, it can stop the fastest, and if its dynamic friction coefficient μ ≒ 0.8,
Braking time (seconds) = vehicle speed (seconds) / 7.84
Acceleration = vehicle speed (second speed) / braking time (second) = 7.84 m / sec 2
A value (8.624 m / sec 2 ) obtained by multiplying the acceleration (7.84 m / sec 2 ) by a margin (10%) is set as a threshold for collision determination.
次に、車両衝突の判定、およびその判定結果に基づくモータ停止制御の処理を図４のフローチャートで説明する。
・ 走行モータの回転方向（正転（前進）／逆転（後進））を判断する。
Next, the determination of the vehicle collision and the motor stop control process based on the determination result will be described with reference to the flowchart of FIG.
• Determine the direction of rotation of the travel motor (forward (forward) / reverse (reverse)).
・ 正転（前進）走行中に前記閾値を超えた異常な加速度が加わった場合には、その加速度方向（「加速」／「減速」）を判断する。
・ そして、異常加速度の方向が「加速」の場合は、後方追従車両による後方衝突（追突）が発生したと判断し、ＶＣＵからの指令による走行状態（加速走行中／減速走行中／定速走行中）とその時の走行速度によって衝突の状況（発進時の衝突／加速走行中の衝突／定速走行中の衝突／減速走行中の衝突／停止時の衝突）を区別して判定する。
-If an abnormal acceleration exceeding the threshold is applied during forward (forward) running, the acceleration direction ("acceleration" / "deceleration") is determined.
If the direction of the abnormal acceleration is “acceleration”, it is determined that a rear collision (rear collision) by the rear following vehicle has occurred, and the traveling state (accelerated traveling / decelerating traveling / constant speed traveling) according to a command from the VCU Middle) and the state of the collision (collision at the start / collision during acceleration / collision during constant speed / collision during deceleration / collision during stop) are determined and distinguished based on the traveling speed at that time.
・ また、異常加速度の方向が「減速」の場合は、先行車両、あるいは障害物に前方衝突したと判断し、ＶＣＵからの指令による自車の走行状態（加速走行中，減速走行中，定速走行中）とその時の走行速度によって衝突の状況（停止時の衝突／減速走行中の衝突／停止のための減速中の衝突／停止時の衝突）を区別して判定する。 ・ If the direction of the abnormal acceleration is “decelerate”, it is determined that the vehicle has collided forward with the preceding vehicle or an obstacle, and the vehicle's traveling state (accelerated traveling, decelerating traveling, constant speed) according to a command from the VCU. The state of collision (collision during stop / collision during deceleration / collision during deceleration / collision during stop for collision) is discriminated and determined based on the traveling speed at that time.
・ 一方、逆転（後進）中に「加速」または「減速」方向の異常加速度が加わった場合は、その加速度方向が「加速」か「減速」かによって衝突の状況（前方から後進して来た他車による衝突／後方の後続車もしくは障害物に衝突）を区別して判定する。なお、後進時（縦列駐車、あるいは車庫入れ）の車速は一般に超低速であるので、走行速度を判定条件とせずに、異常加速度の方向（「加速」／「減速」）のみで衝突状況を判定する。 ・ On the other hand, if an abnormal acceleration in the "acceleration" or "deceleration" direction is applied during reverse rotation (reverse), the situation of the collision (reversed from the front depending on whether the acceleration direction is "acceleration" or "deceleration") Collision by another vehicle / collision with the following vehicle or obstacle behind) Note that the vehicle speed during reverse travel (parallel parking or garage storage) is generally very low, so the collision status is determined only by the direction of abnormal acceleration ("acceleration" / "deceleration") without using the traveling speed as a criterion. To do.
・ また、車両の停止中に異常加速度が加わった場合は、前項（５）の逆転（後進）の判定と同様に、異常加速度の方向（加速」／「減速」）だけで判断して後方衝突／前方衝突を判定する。 ・ Also, if abnormal acceleration is applied while the vehicle is stopped, the rear collision is determined only by the direction of acceleration (acceleration / deceleration) as in the case of reverse rotation (reverse) in the previous section (5). / Determine forward collision.
・ 前記の衝突判定結果を基に、車両が後方衝突である場合にはモータ停止制御モードとして「回生制動」の処理を実行し、前方衝突である場合には「フリーラン」の処理を実行する。 Based on the result of the collision determination, if the vehicle is a rear collision, the “regenerative braking” process is executed as the motor stop control mode, and if the vehicle is a front collision, the “free run” process is executed. .
上述のように車両の衝突発生時に衝突状況の判定、およびその判定結果を基に「回生制動」／「フリーラン」を選択してモータを停止制御するより、車両の後方衝突による二次災害（後続車に衝突された勢いで自車が先行車に追突する玉突き事故）の回避、および前方衝突による車両損傷／搭乗者傷害を軽減させるフェールセーフ機能を発揮できる。 As described above, when the collision of the vehicle occurs, the situation of the collision is determined, and “regenerative braking” / “free run” is selected based on the determination result, and the motor is stopped and controlled. A fail-safe function for avoiding a ball hitting accident in which the host vehicle collides with the preceding vehicle with the momentum of collision with the following vehicle and for reducing vehicle damage / passenger injury due to a frontal collision can be exhibited.
また、車両衝突時における走行モータの異常情報を上位の車両統合制御ユニット（ＶＣＵ）に通知する（図２のフローチャート参照）ことにより、ＶＣＵは必要な異常処理が行えるほか、この異常情報を保存することで事故後に衝突発生の原因、解析を詳細に究明することができる。 Further, by notifying the higher-level vehicle integrated control unit (VCU) of the abnormality information of the traveling motor at the time of the vehicle collision (see the flowchart of FIG. 2), the VCU can perform necessary abnormality processing and also stores this abnormality information. This makes it possible to investigate in detail the cause and analysis of a collision after an accident.
次に、定速走行中に自車が前方の渋滞列最後尾の車両に追突した場合を例に、走行モータの回転数、加速度の時間的変化の経緯を図５に示す。図５において、
・ 車両の走行中（前進）は上位のＶＣＵからのトルク指令（定速走行指令）を受けて、モータ制御装置のインバータが走行モータの回転数を定速走行の状態に制御している（図中の状態：Ｉ）。
Next, FIG. 5 shows the history of changes in the rotational speed and acceleration of the traveling motor over time, taking as an example a case where the host vehicle collides with the last vehicle in the forward traffic jam column during constant speed traveling. In FIG.
-While the vehicle is traveling (forward), it receives a torque command (constant speed traveling command) from the host VCU, and the inverter of the motor control device controls the rotational speed of the traveling motor to a constant speed traveling state (Fig. Medium state: I).
・ 路上前方の渋滞列を発見した運転者がブレーキを踏んで車両を急減速させる（状態：II）。
・ ブレーキによる停止が間に合わず、車両が渋滞列最後尾の先行車両に衝突し（状態：III）、車速が急減速する(状態：IV)。
・ The driver who finds a traffic jam in front of the road depresses the brakes and suddenly decelerates the vehicle (condition: II).
-The stop by the brake is not in time, the vehicle collides with the preceding vehicle at the end of the congestion line (state: III), and the vehicle speed decelerates rapidly (state: IV).
・ この衝突時にモータ制御装置がレゾルバの回転角信号からモータの回転速度、加速度を演算して求める。
・ 加速度が先記の閾値を超えている場合にモータ制御装置が加速度異常と判断し、またモータの回転方向から加速方向が「減速」であると判断して「フリーラン」の処理を実行し、走行モータの駆動を即時停止する（状態：Ｖ）。
-At the time of this collision, the motor control device calculates and calculates the motor rotation speed and acceleration from the resolver rotation angle signal.
・ If the acceleration exceeds the above threshold, the motor controller determines that the acceleration is abnormal, and determines that the acceleration direction is "Deceleration" from the motor rotation direction and executes "Free Run" processing. Then, the driving of the traveling motor is immediately stopped (state: V).
・ その後、車両が停止する（状態：VI）。 ・ After that, the vehicle stops (status: VI).
１ 走行モータ
２ 車両統合制御ユニット（ＶＣＵ）
３ モータ制御装置
３ａ インバータの主回路
３ｂ インバータの制御部（ＥＣＵ）
４ レゾルバ（回転角センサ）
1 Traveling motor 2 Vehicle integrated control unit (VCU)
3 Motor control device 3a Inverter main circuit 3b Inverter control unit (ECU)
4 Resolver (rotation angle sensor)
Claims (4)
前記モータ制御装置には、モータに付設の回転角センサで取得した信号から走行モータの回転速度／回転方向／加速度／加速方向／車両走行速度を演算して車両の衝突検知、およびその衝突状況を判定し、その衝突状況の判定結果を基に回生制動、もしくはフリーランを選択してモータ駆動の停止制御を実行する処理手段を備えたことを特徴とする車両の走行モータ制御システム。 In a vehicle travel motor control system in which a vehicle integrated control unit and an inverter control type motor control device are mounted on a vehicle, and the motor is driven and controlled by a torque command output from the vehicle integrated control unit.
The motor control device calculates the rotation speed / rotation direction / acceleration / acceleration direction / vehicle traveling speed of a traveling motor from a signal acquired by a rotation angle sensor attached to the motor, and detects the collision of the vehicle, and the collision state thereof. A traveling motor control system for a vehicle, comprising processing means for determining and executing regenerative braking or free run on the basis of a determination result of the collision state to execute motor drive stop control.
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