JP2019022342A - Device for controlling electric vehicle and method for controlling electric vehicle - Google Patents

Abstract

To provide a device for controlling an electric vehicle that can reduce power consumption for travelling, and to provide a method for controlling an electric vehicle.SOLUTION: A device for controlling an electric vehicle that travels with drive force transferred from a motor corrects drive torque that is calculated based on an accelerator opening degree at acceleration of the electric vehicle so that acceleration becomes a specified value based on a vehicle weight. The motor is controlled so as to output drive torque corrected as such.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device and a control method for an electric vehicle that travels while consuming electric power.

  2. Description of the Related Art There is known an electric vehicle that obtains a driving force for traveling by consuming electric power charged in a battery mounted on a vehicle and driving a motor. In this type of electric vehicle, traveling is performed using limited electric power charged in the battery, so it is required to extend the cruising distance, which is one of the important specifications of the electric vehicle. .

  Although electric vehicles are spreading mainly in passenger cars, in recent years, development and research are also being conducted on commercial vehicles including trucks. Patent Document 1 discloses an electric truck and a hybrid electric truck as an example of an electric commercial vehicle.

JP2015-123923A

  The cruising range is also an important specification for electric commercial vehicles. In electric commercial vehicles that are expected to become popular in the future, increasing the cruising distance by reducing the power consumption associated with traveling is the key to introduction into various logistics operators. In particular, a delivery truck that travels in an urban area is assumed to have a travel pattern that includes many stop-and-go movements. Therefore, there are many opportunities for the vehicle to accelerate, and power consumption tends to increase with respect to the travel distance.

  At least one embodiment of the present invention has been made in view of the above-described circumstances, and an object thereof is to provide an electric vehicle control device and an electric vehicle control method capable of further reducing power consumption related to traveling. .

(1) An electric vehicle control device according to at least one embodiment of the present invention is an electric vehicle control device that travels by a driving force transmitted from a motor in order to solve the above-described problem, and the electric vehicle is accelerated. An accelerator opening detector that detects an accelerator opening of an accelerator pedal that is operated by a driver, and a drive that corresponds to the accelerator opening based on the accelerator opening detected by the accelerator opening detector A driving torque calculation unit that calculates torque, a vehicle weight detection unit that detects a vehicle weight of the electric vehicle, and an acceleration of the electric vehicle based on the vehicle weight detected by the vehicle weight detection unit The torque correction unit for correcting the drive torque calculated by the drive torque calculation unit, and the torque correction unit To output the driving torque that is, including a motor controller controlling the motor.

According to the configuration of (1) above, the driving torque set in accordance with the accelerator opening by the operation of the accelerator pedal by the driver is determined based on the vehicle weight detected by the vehicle weight detecting unit in advance. Correction is made so as to obtain a prescribed value. Generally, when the vehicle weight fluctuates, the actually obtained acceleration changes for the same accelerator opening. Accordingly, when the load is relatively small and the vehicle weight is light, there is a possibility that the driver may perform unnecessary acceleration as compared with the case where the vehicle weight is heavy, thereby causing a deterioration in power consumption.
In this configuration, even if the vehicle weight fluctuates, the driving torque is corrected according to the vehicle weight, so that substantial fluctuations in acceleration can be suppressed. Therefore, regardless of the driver's accelerator operation that is easily influenced by the vehicle weight, it is possible to easily obtain an appropriate acceleration in consideration of power consumption. By performing torque control in consideration of the vehicle weight in this way, unnecessary acceleration can be avoided and power consumption related to traveling can be effectively reduced.
In particular, in driving patterns such as urban driving with many stops and go, the ratio of acceleration resistance to driving resistance tends to increase, so it is more effective to perform torque correction according to vehicle weight in this way. The power consumption can be reduced and the cruising range can be extended.

(2) In some embodiments, in the configuration of (1), the torque correction unit may determine the correction value of the driving torque in consideration of the gradient detected by the gradient detection unit.

  According to the configuration of (2) above, the correction amount by the torque correction unit is further determined in consideration of the gradient of the travel path of the electric vehicle. Thereby, more accurate acceleration control is possible. By performing torque correction in consideration of the gradient in this way, power consumption can be more effectively reduced and the cruising distance can be extended.

(3) In some embodiments, in the configuration of (1) or (2), the predetermined value may be defined as a range in which an acceleration of the electric vehicle having the vehicle weight is equal to or less than a predetermined reference value. .

  According to the configuration of (3) above, the drive torque is suppressed by the torque correction by the torque correction unit so that the acceleration of the electric vehicle is equal to or less than the predetermined reference value. Thereby, even if there is a possibility that the acceleration of the vehicle may vary with the variation of the vehicle weight, unnecessary acceleration can be prevented and power consumption can be efficiently saved.

(4) In some embodiments, in any one of the configurations (1) to (3), when the winker mounted on the electric vehicle is operating, the correction by the torque correction unit is interrupted. Also good.

  According to the configuration of (4) above, based on the operating state of the winker, a situation in which the acceleration operation by the driver is prioritized as in a lane change is detected, and in such a situation, the driving torque by the torque correction unit is detected. Correction can be interrupted. Accordingly, it is possible to safely execute lane change, right / left turn, merge, and the like while effectively reducing power consumption.

(5) In some embodiments, in any one of the configurations (1) to (4), when the accelerator opening per unit time detected by the accelerator opening detector is equal to or greater than a predetermined value, The correction by the torque correction unit may be interrupted.

  According to the configuration of (5) above, based on the accelerator opening per unit time, it is determined that there is a danger such as a collision and emergency avoidance is necessary. Under such circumstances, driving by the torque correction unit is performed. Torque correction can be interrupted. Thereby, power consumption can be reduced effectively without preventing the emergency avoidance operation of the vehicle.

(6) In some embodiments, in any one of the configurations (1) to (5), when the steering operation amount per unit time is equal to or greater than a predetermined value, the correction by the torque correction unit is interrupted. Also good.

  According to the configuration of (6) above, based on the steering operation amount per unit time, it is determined that there is a danger such as a collision and urgent avoidance is necessary. The correction of the driving torque can be interrupted. Thereby, power consumption can be reduced effectively without preventing the emergency avoidance operation of the vehicle.

(7) In some embodiments, in any one of the configurations (1) to (6), the electric vehicle is a truck vehicle having a cargo bed.

  According to the configuration of (7) above, the above effect can be enjoyed more greatly by applying the above configuration to a truck vehicle in which the vehicle weight largely varies depending on the loading amount on the loading platform.

(8) An electric vehicle control method according to at least one embodiment of the present invention is a method for controlling an electric vehicle that travels by a driving force transmitted from a motor in order to solve the above-described problem. An accelerator opening degree detecting step for detecting an accelerator opening degree of an accelerator pedal operated by a driver, and a driving torque for calculating a driving torque corresponding to the accelerator opening degree based on the detected accelerator opening degree A calculation step; a vehicle weight detection step of detecting a vehicle weight of the electric vehicle; and the calculated driving torque based on the detected vehicle weight so that an acceleration of the electric vehicle becomes a predetermined value. And a motor control step for controlling the motor so as to output the corrected driving torque. .

  The above method can be suitably implemented by the above-described electric vehicle control device (including the above-described various aspects).

  According to at least one embodiment of the present invention, it is possible to provide an electric vehicle control device and an electric vehicle control method capable of further reducing power consumption related to traveling.

1 is a block diagram showing an overall configuration of an electric vehicle 1 according to at least one embodiment of the present invention. FIG. 2 is a block diagram functionally showing the internal configuration of the VCU of FIG. 1. It is a flowchart which shows the control method implemented by VCU of FIG. 2 for every process. It is a graph which shows the typical breakdown of the running resistance which acts on the electric vehicle at the time of urban driving.

  Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.

FIG. 1 is a block diagram showing an overall configuration of an electric vehicle 1 according to at least one embodiment of the present invention. The electric vehicle 1 has a motor (electric motor) 2 as a driving power source. The motor 2 is an electric motor that generates power for running by consuming electric power charged in the battery 4. For example, the motor 2 includes a rotor with a permanent magnet attached and a stator with a three-phase coil wound around. It is a generator motor. The direct-current power charged in the battery 4 is converted into predetermined alternating-current power by a power conversion device 6 including an inverter and supplied to the motor 2.
The electric vehicle 1 is a truck vehicle having a cab and a cargo bed on a chassis frame. A load can be loaded on the loading platform as needed, whereby the vehicle weight m of the electric vehicle 1 is configured to be variable.

  The output of the motor 2 is transmitted from the propeller shaft 8 to the differential device 10, and is transmitted from the differential device 10 to the left and right drive wheels 14 via the drive shaft 12. Although FIG. 1 shows a case where the output side of the motor 2 is connected to the differential device 10 via the propeller shaft 8, the output side of the motor 2 is connected to the differential device 10 without providing the propeller shaft 8. It may be directly connected.

  When the electric vehicle 1 decelerates or travels on a downhill road, the motor 2 is configured to be able to generate power by regenerating as a generator. AC power generated by regeneration of the motor 2 is rectified by the power converter 6 and charged to the battery 4 as DC power. The operation of the power conversion device 6 is managed by the power conversion ECU 11.

  The battery 4 is a storage battery such as a lithium ion secondary battery. The charge / discharge state of the battery 4 (for example, the upper limit amount or lower limit value of the SOC, the battery temperature, etc.) is managed by a battery ECU 16 that is a control unit of the battery 4. The battery ECU 16 monitors the charge / discharge state of the battery 4 and shares the monitoring result with the VCU 100 described later, thereby being involved in vehicle control.

  The electric vehicle 1 is provided with sensors for detecting various states. For example, the accelerator opening sensor 18 detects the accelerator opening θacc of the accelerator pedal 20 that is used when the driver operates the accelerator at the driver's seat. The vehicle speed sensor 22 detects the vehicle speed V of the electric vehicle 1. The vehicle weight sensor 24 detects the vehicle weight m of the electric vehicle 1. The detection results of these sensors are sent as electrical signals to the VCU 100 described later and used for various controls.

  The VCU (vehicle control unit) 100 is a control unit for integrated control of the electric vehicle 1 and includes an electronic arithmetic unit. The VCU 100 has a control program installed in advance in a storage device (not shown), and vehicle control according to the program is performed.

  Here, the configuration of the VCU 100 will be described with reference to FIG. FIG. 2 is a block diagram functionally showing the internal configuration of the VCU 100 of FIG. 1, and FIG. 3 is a flowchart showing the control method implemented by the VCU 100 of FIG.

  As shown in FIG. 2, the VCU 100 corresponds to the vehicle speed detector 102 that detects the vehicle speed of the electric vehicle 1, the accelerator opening detector 104 that detects the accelerator opening θacc of the accelerator pedal 20, and the accelerator opening θacc. A driving torque calculation unit 106 that calculates the driving torque T to be performed, a vehicle weight detection unit 108 that detects the vehicle weight m of the electric vehicle 1, and a torque correction unit 110 that corrects the driving torque T calculated by the driving torque calculation unit 106. And a motor control unit 112 that controls the motor 2.

As shown in FIG. 3, the VCU 100 having such a configuration performs the following vehicle control.
First, the VCU 100 determines whether or not the electric vehicle 1 is in an acceleration state (step S1). The determination as to whether or not the vehicle is in an acceleration state is performed based on the time change of the vehicle speed V detected by the vehicle speed detection unit 102. If an acceleration sensor is mounted, the determination is performed based on the measured value. May be.

  When it is determined that the electric vehicle 1 is in the acceleration state (step S1: YES), the accelerator opening degree detection unit 104 detects the accelerator opening degree θacc of the accelerator pedal 20 (step S2). Subsequently, the drive torque calculator 106 calculates the drive torque T corresponding to the accelerator opening θacc based on the accelerator opening θacc detected by the accelerator opening detector 104 (step S3). Here, the relationship between the accelerator opening θacc and the driving torque T is stored in advance in a storage means (not shown) as a map, and the driving torque calculation unit 106 refers to the map to detect the accelerator opening detected in step S2. A driving torque T corresponding to the degree θacc is calculated.

Subsequently, the vehicle weight detection unit 108 detects the vehicle weight m of the electric vehicle 1 (step S4). The vehicle weight m detected by the vehicle weight detection unit 108 is sent to the torque correction unit 110 and used for correcting the driving torque T calculated in step S3.
In step 4, not only the vehicle weight but also the road gradient θ of the traveling road on which the electric vehicle 1 is traveling may be acquired. The road gradient θ may be a value obtained based on map information that associates the vehicle position with the road gradient θ in advance (the map information is stored in advance in storage means such as a memory mounted on the vehicle). Alternatively, it may be obtained from a database accessible via a network such as the Internet), or measured values detected by sensors mounted on the electric vehicle 1 may be used.

The torque correction unit 110 corrects the drive torque T calculated by the drive torque calculation unit 106 based on the vehicle weight m detected by the vehicle weight detection unit 108 (step S5). The correction of the driving torque T is performed so that the actual acceleration of the electric vehicle 1 becomes a predetermined value regardless of the vehicle weight.
The predetermined value may be defined as a range having a certain width. That is, it may be defined as a range in which acceleration is appropriate for the vehicle weight m.
In step S5, the driving torque T may be corrected in consideration of not only the vehicle weight but also the road gradient θ during traveling. Thereby, the actual acceleration of the vehicle can be controlled with higher accuracy.

  Here, details of the correction control of the driving torque T in step S5 will be described in detail. The driving torque T necessary for the acceleration to become a predetermined value needs to be determined in consideration of the weight of the electric vehicle 1 that is running. The driving torque T required to achieve an acceleration that is a predetermined value changes according to the vehicle weight. Therefore, the drive torque calculation unit 106 determines the required drive torque T using a drive torque map or the like corresponding to the vehicle weight, and calculates a correction value (control gain).

  Also, when the vehicle is traveling on a road surface with a road gradient such as an uphill road, the driving torque T required to achieve the acceleration that is a predetermined value changes. For this reason, the drive torque calculation unit 106 determines the required drive torque T using a drive torque map corresponding to the vehicle weight in consideration of the influence of the gradient, and calculates the correction value (control gain). Good. Thereby, the correction value can be calculated with higher accuracy.

  FIG. 4 is a graph showing a typical breakdown of the running resistance acting on the electric vehicle 1 during city driving. In FIG. 4, as an example of the electric vehicle 1, a simulation result is shown for a small truck that performs delivery while repeating stop and go in an urban area. As shown in this example, in the small truck for delivery, the proportion of the running resistance R is larger in the order of acceleration resistance R4, rolling resistance R2, gradient resistance R3, and air resistance R1. Particularly in urban areas, the acceleration resistance R4 is particularly large because there are many traveling patterns including stop and go.

  In step S5, the correction value of the driving torque T is determined so as to achieve a predetermined acceleration so as to reduce the acceleration resistance R4 of the traveling resistance R acting on the electric vehicle 1 that is traveling. As described above, the electric vehicle 1 as shown in FIG. 4 has the greatest influence of the acceleration resistance R4. Therefore, torque control that contributes to the power consumption can be performed by performing torque correction in consideration of the acceleration resistance R4. .

  Generally, when the vehicle weight m fluctuates, the acceleration actually obtained changes for the same accelerator opening. Accordingly, when the load is relatively small and the vehicle weight is light, there is a possibility that the driver may perform unnecessary acceleration as compared with the case where the vehicle weight is heavy, thereby causing a deterioration in power consumption. In the present embodiment, even if the vehicle weight fluctuates, the driving torque is corrected according to the vehicle weight, so that substantial fluctuations in acceleration can be suppressed. Therefore, regardless of the driver's accelerator operation that is easily influenced by the vehicle weight, it is possible to easily obtain an appropriate acceleration in consideration of power consumption. By performing torque control in consideration of the vehicle weight in this way, unnecessary acceleration can be avoided and power consumption related to traveling can be effectively reduced. In particular, in driving patterns such as urban driving with many stops and go, the ratio of acceleration resistance to driving resistance tends to increase, so it is more effective to perform torque correction according to vehicle weight in this way. The power consumption can be reduced and the cruising range can be extended.

  In the drive torque correction in step S5, the correction amount by the torque correction unit may be further determined in consideration of the gradient of the travel path of the electric vehicle. Thereby, more accurate acceleration control is possible. By performing torque correction in consideration of the gradient in this way, power consumption can be more effectively reduced and the cruising distance can be extended.

  Subsequently, the motor control unit 112 controls the motor 2 so as to output the drive torque T corrected by the torque correction unit 110 (step S6). Thereby, even if the vehicle weight m fluctuates, the driving torque is optimally corrected for achieving a predetermined acceleration according to the vehicle weight, so that substantial fluctuations in acceleration can be suppressed. By performing torque control in consideration of the vehicle weight in this way, unnecessary acceleration can be avoided and power consumption related to traveling can be effectively reduced.

  The control apparatus for an electric vehicle according to the present embodiment can include means for interrupting correction of drive torque by the torque correction unit.

  For example, the control apparatus for an electric vehicle according to the present embodiment includes a stop button for interrupting correction of drive torque by the torque correction unit, and the driver manually operates the button so that the torque correction unit The drive torque correction may be interrupted.

  Further, for example, in the control apparatus for an electric vehicle according to the present embodiment, a situation in which acceleration operation by the driver is prioritized as in a lane change is detected based on the operating state of the blinker. The drive torque correction by the torque correction unit may be interrupted. Accordingly, it is possible to safely execute lane change, right / left turn, merge, and the like while effectively reducing power consumption.

  Further, for example, in the control device for an electric vehicle according to the present embodiment, when the accelerator opening per unit time detected by the accelerator opening detecting unit is equal to or greater than a predetermined value, the correction by the torque correcting unit is interrupted. May be. According to this, based on the accelerator opening per unit time, it is determined that there is a danger such as a collision and urgent avoidance is necessary. Under such circumstances, correction of the drive torque by the torque correction unit is interrupted. can do. Thereby, power consumption can be reduced effectively without preventing the emergency avoidance operation of the vehicle.

  Further, for example, in the control apparatus for an electric vehicle according to the present embodiment, when the steering operation amount per unit time is equal to or larger than a predetermined value, the correction by the torque correction unit may be interrupted. According to this, based on the steering operation amount per unit time, it is determined that there is a danger such as a collision and urgent avoidance is necessary. Under such circumstances, the drive torque is corrected by the torque correction unit. Can be interrupted. Thereby, power consumption can be reduced effectively without preventing the emergency avoidance operation of the vehicle.

  As described above, according to the above-described embodiment, it is possible to provide an electric vehicle control device and an electric vehicle control method capable of further reducing power consumption related to traveling.

  INDUSTRIAL APPLICABILITY The present invention can be used for a control device and a control method for an electric vehicle that consumes electric power and travels.

DESCRIPTION OF SYMBOLS 1 Electric vehicle 2 Motor 4 Battery 6 Power converter 8 Propeller shaft 10 Differential device 12 Drive shaft 11 Power conversion ECU
14 Drive wheel 16 Battery ECU
18 Accelerator opening sensor 20 Accelerator pedal 22 Vehicle speed sensor 24 Vehicle weight sensor 102 Vehicle speed detector 104 Accelerator opening detector 106 Driving torque calculator 108 Vehicle weight detector 110 Torque corrector 112 Motor controller

Claims (8)

A control device for an electric vehicle that travels by driving force transmitted from a motor,
An accelerator opening detector for detecting an accelerator opening of an accelerator pedal operated by a driver when the electric vehicle accelerates;
A driving torque calculating unit that calculates a driving torque corresponding to the accelerator opening, based on the accelerator opening detected by the accelerator opening detecting unit;
A vehicle weight detector for detecting a vehicle weight of the electric vehicle;
A torque correction unit that corrects the drive torque calculated by the drive torque calculation unit based on the vehicle weight detected by the vehicle weight detection unit so that the acceleration of the electric vehicle becomes a predetermined value;
A motor control unit for controlling the motor so as to output the driving torque corrected by the torque correction unit;
A control device for an electric vehicle, including:   2. The electric vehicle control device according to claim 1, wherein the torque correction unit determines a correction value of the driving torque in consideration of a gradient of a traveling path of the electric vehicle.   The control device for an electric vehicle according to claim 1 or 2, wherein the predetermined value is defined as a range in which power consumption of the electric vehicle having the vehicle weight is a reference value.   The control device for an electric vehicle according to any one of claims 1 to 3, wherein the correction by the torque correction unit is interrupted when a winker mounted on the electric vehicle is operating.   The electricity according to any one of claims 1 to 4, wherein when the accelerator opening per unit time detected by the accelerator opening detection unit is a predetermined value or more, the correction by the torque correction unit is interrupted. Automotive control device.   The control apparatus for an electric vehicle according to any one of claims 1 to 5, wherein when the steering operation amount per unit time is equal to or greater than a predetermined value, the correction by the torque correction unit is interrupted.   The control device for an electric vehicle according to any one of claims 1 to 6, wherein the electric vehicle is a truck vehicle having a loading platform. A method for controlling an electric vehicle that travels by a driving force transmitted from a motor,
An accelerator position detecting step for detecting an accelerator position of an accelerator pedal operated by a driver when the electric vehicle accelerates;
A driving torque calculating step of calculating a driving torque corresponding to the accelerator opening, based on the detected accelerator opening;
A vehicle weight detection step of detecting a vehicle weight of the electric vehicle;
A torque correcting step of correcting the calculated driving torque based on the detected vehicle weight so that the acceleration of the electric vehicle becomes a predetermined value;
A motor control step of controlling the motor so as to output the corrected driving torque;
A method for controlling an electric vehicle, comprising:

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