JP2022110333A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device capable of stabilizing vehicle behavior to the extent possible while a vehicle is traveling even on the occurrence of abnormality with respect to rotational drive in either of a pair of drive wheels.SOLUTION: A vehicle 10 comprises right and left drive wheels 20R and 20L, rotating electric machines 30 individually arranged for the respective right and left drive wheels 20R and 20L, and a main control device 50. The main control device 50 determines whether or not either of the right and left drive wheels 20R and 20L has abnormality with respect to rotational drive and, and when determining that either of the right and left drive wheels has the abnormality, performs abnormal time control which curbs deviation of a rotation speed of an abnormal drive wheel, which is one of the right and left drive wheels 20R and 20L with the determination of abnormality, from the rotation speed of a normal drive wheel, which is the other of the right and left drive wheels.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle control device.

Conventionally, as described in Patent Document 1, for example, it is applied to a vehicle provided with left and right drive wheels and rotating electric machines provided individually corresponding to the left and right drive wheels to rotationally drive the drive wheels. Vehicle controllers are known.

JP 2012-186929 A

An abnormality related to rotational drive may occur in either of the left and right drive wheels. This abnormality is, for example, an abnormality that makes it impossible to properly perform drive control of a rotating electric machine corresponding to one of the left and right drive wheels. Even if an abnormality related to rotational drive occurs, it is required to stabilize the behavior of the running vehicle as much as possible.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control device that can stabilize the behavior of a running vehicle as much as possible even if an abnormality related to rotational drive occurs in one of the left and right drive wheels. Main purpose.

The present invention includes left and right drive wheels,
A vehicular control device applied to a vehicle including rotating electric machines that are individually provided corresponding to the left and right driving wheels and that rotationally drive the driving wheels,
a determination unit that determines whether or not an abnormality related to rotational drive has occurred in one of the left and right drive wheels;
When the determination unit determines that the abnormality has occurred, the rotation speed of the abnormal side drive wheel, which is the one of the left and right drive wheels determined to have the abnormality, and and an anomaly time control unit that performs an anomaly time control for suppressing deviation from the rotation speed of the normal side drive wheel, which is the other drive wheel.

In a running vehicle, if an abnormality related to rotational drive occurs in one of the left and right drive wheels, the rotational speed difference between the left and right drive wheels may increase. In this case, there is concern that the behavior of the vehicle may become unstable.

In this regard, in the present invention, the determination unit determines whether or not an abnormality related to rotational drive has occurred in either of the left and right drive wheels. When the determination unit determines that an abnormality has occurred, the rotation speed of the abnormal drive wheel, which is the one of the left and right drive wheels determined to have an abnormality, and the other drive wheel The abnormal time control unit performs an abnormal time control for suppressing deviation from the rotation speed of the normal side driving wheels. As a result, the behavior of the vehicle during running can be stabilized as much as possible even when an abnormality related to rotational drive occurs in either of the left and right drive wheels.

1 is an overall configuration diagram of an in-vehicle system according to a first embodiment; FIG. 4 is a flow chart showing a processing procedure of control in an abnormal state; 4 is a time chart showing an example of an execution mode of control in an abnormal state; 10 is a flowchart showing a procedure of abnormal control according to the second embodiment; 4 is a time chart showing an example of an execution mode of control in an abnormal state; FIG. 11 is a flow chart showing a processing procedure of abnormal control according to the third embodiment; FIG. 4 is a time chart showing an example of an execution mode of control in an abnormal state; FIG. 11 is a flow chart showing a processing procedure of abnormal control according to the fourth embodiment; FIG. 4 is a time chart showing an example of an execution mode of control in an abnormal state; The figure which shows a part of vehicle-mounted system which concerns on 5th Embodiment. 4 is a flow chart showing a processing procedure of control in an abnormal state; 4 is a time chart showing an example of an execution mode of control in an abnormal state; The figure which shows a part of vehicle-mounted system based on the modification of 5th Embodiment. FIG. 12 is a flow chart showing a processing procedure of abnormal control according to the sixth embodiment; FIG. 4 is a time chart showing an example of an execution mode of control in an abnormal state; The whole block diagram of the vehicle-mounted system which concerns on other embodiment.

<First Embodiment>
Hereinafter, a first embodiment embodying a control device according to the present invention will be described with reference to the drawings. The control device is mounted on the vehicle.

As shown in FIG. 1 , the vehicle 10 includes front and rear right wheels 20</b>R, front and rear left wheels 20</b>L, and a rotating electric machine 30 . In this embodiment, of the four wheels 20R and 20L, the rotating electric machine 30 is provided individually corresponding to each of the front right wheel 20R and the front left wheel 20L. Therefore, the front right wheel 20R and the front left wheel 20L are drive wheels that can be driven to rotate independently of each other. In this embodiment, the front right wheel 20R and the front left wheel 20L are steered wheels.

The rotating electric machine 30 is, for example, a permanent magnet synchronous machine in which permanent magnets are provided in the rotor. Further, the rotating electrical machine may be an in-wheel motor provided on the inner peripheral side of the driving wheel, or may be an on-board motor provided on the vehicle body.

The vehicle 10 has a braking device 21 . The braking device 21 applies braking force to the wheels. The brake device 21 includes a brake disc and brake pads sandwiching the brake disc, and is hydraulic or electric, for example. In the present embodiment, the braking device 21 is provided individually for each of the front right wheel 20R and the front left wheel 20L.

Vehicle 10 includes an inverter 31 and a motor control device 32 . The inverter 31 and the motor control device 32 are individually provided corresponding to each rotary electric machine 30 . The inverter 31 is connected to a DC power source such as a storage battery (not shown). The motor control device 32 performs power running drive control or regenerative drive control. Powering drive control is switching control of the inverter 31 for converting the DC power output from the DC power supply into AC power and supplying the AC power to the windings of the rotary electric machine 30 . When this control is performed, the rotating electric machine 30 functions as an electric motor and generates power running torque. Regenerative drive control is switching control of the inverter 31 for converting AC power generated by the rotary electric machine 30 into DC power and supplying the DC power to the DC power supply. When this control is performed, the rotating electric machine 30 functions as a generator and generates regenerative torque.

The vehicle 10 has various sensors including an accelerator sensor 40 , a brake sensor 41 , a steering angle sensor 42 and a vehicle speed sensor 43 . The accelerator sensor 40 detects an accelerator stroke, which is the depression amount of an accelerator pedal as an accelerator operating member. The brake sensor 41 detects a brake stroke, which is the amount of depression of the brake pedal by the driver. The steering angle sensor 42 detects the steering angle of the steering wheel associated with the driver's steering wheel operation. The steering angle of the steered wheels of the vehicle 10 is an angle corresponding to the steering angle of the steering wheel. Vehicle speed sensor 43 detects the traveling speed of vehicle 10 . Detected values of various sensors are input to a main controller 50 provided in the vehicle 10 .

The main controller 50 performs switching control of the inverter 31 and braking control of the brake device 21 . The main controller 50 and each motor controller 32 can exchange information by a predetermined communication format (for example, CAN).

Main controller 50 calculates a command rotation speed N* of the rotor constituting each rotary electric machine 30 based on the accelerator stroke Sa detected by accelerator sensor 40 and the steering angle θs detected by steering angle sensor 42 . For example, when the steering angle θs is within a range near 0, main controller 50 sets the command rotation speed N* of rotating electric machine 30 corresponding to each of right wheel 20R and left wheel 20L to the same value. Further, for example, when the steering angle θs is out of the range near 0, main controller 50 outputs command rotation speed N* of rotary electric machine 30 corresponding to the outer wheels of right wheel 20R and left wheel 20L to the inner wheels. It is made higher than the command rotational speed N* of the corresponding rotary electric machine 30 .

Main controller 50 calculates command torque Tr* of each rotating electrical machine 30 as a manipulated variable for feedback-controlling the rotation speed of the rotor constituting each rotating electrical machine 30 to command rotation speed N*. Note that the rotation speed may be calculated, for example, based on the detection value of a rotation angle sensor such as a resolver that detects the rotation angle (electrical angle θe) of the rotor that configures the rotary electric machine 30 .

The main controller 50 transmits the calculated command torque Tr* to each motor controller 32 . Motor control device 32 calculates a command voltage to be applied to each phase winding of rotating electrical machine 30 in order to control the torque of rotating electrical machine 30 to command torque Tr*, and configures inverter 31 based on the calculated command voltage. to generate gate signals for the upper and lower arm switches. Thus, switching control of the inverter 31 is performed. More specifically, torque feedback control may be performed in which the calculated torque Te is directly fed back to the command torque Tr*, or the calculated d, Current feedback control may be performed to feedback-control the q-axis currents Idr and Iqr. Note that the torque Te and the d- and q-axis currents Idr and Iqr may be calculated, for example, based on the electrical angle θe and the detection value of the current sensor that detects the phase current flowing through the rotating electrical machine 30 .

By the way, an abnormality related to rotational drive may occur in either of the right wheel 20R and the left wheel 20L on the front side, which are driving wheels. In the present embodiment, the main controller 50 performs abnormality control to stabilize the behavior of the running vehicle 10 as much as possible even when an abnormality occurs. This control will be described below with reference to FIG. The control processing in FIG. 2 is executed by main controller 50 . In this embodiment, main controller 50 performs the process of FIG. 2 when determining that vehicle 10 is traveling straight on a general road. The main control unit 50, for example, the map data stored in the reception result of the GPS receiver provided in the vehicle 10 and the storage unit (specifically, the memory) provided in the vehicle 10, or the imaging data of the vehicle-mounted camera, etc. Whether or not the vehicle 10 is traveling straight may be determined from the circumstances around the vehicle 10 grasped based on the above. Note that the memory is a non-transitional substantive recording medium other than ROM (for example, non-volatile memory other than ROM).

In step S10, it is determined whether or not an abnormality related to rotational drive has occurred in either of the front right wheel 20R and left wheel 20L, which are driving wheels. In this embodiment, when it is determined that any one of the following (A) to (E) has occurred, it is determined that an abnormality related to rotational drive has occurred.

(A) Control Abnormality of Rotating Electric Machine 30 If it is determined that any one of (A1) to (A3) below has occurred, it may be determined that a control abnormality of the rotating electric machine 30 has occurred.

(A1) Abnormality of the motor control device 32 For example, torque Te calculation processing, command torque Tr* calculation processing, command voltage calculation processing, and electrical angle θe calculation processing based on the detection value of the rotation angle sensor in the motor control device 32 , or when it is determined that an abnormality has occurred in any of the processes for calculating the d- and q-axis currents Idr and Iqr based on the detected values of the current sensors, if it is determined that an abnormality has occurred in the motor control device 32 good.

(A2) Sensor Abnormality For example, when it is determined that an abnormality has occurred in either the current sensor or the rotation angle sensor, it may be determined that a sensor abnormality has occurred.

(A3) Abnormal communication between motor control devices 32 For example, when it is determined that communication data between the motor control devices 32 is corrupted, it is determined that there is a communication abnormality.

(B) Abnormality of the inverter 31 For example, when it is determined that any of the upper and lower arm switches constituting the inverter 31 or the driver for driving each switch is abnormal, the inverter 31 is abnormal. It should be determined that it has occurred.

(C) Abnormal decrease in the internal pressure of the tires that make up the driving wheels 20R and 20L (D) Abnormal increase in the rolling resistance of the bearings of the driving wheels 20R and 20L occur due to For example, when it is determined that the torque Te of the rotary electric machine 30 has become greater than the command torque Tr* by a predetermined torque or more, it may be determined that the abnormality (D) has occurred.

(E) Abnormality of the brake device 21 This abnormality includes the abnormality in which the braking force is applied to the wheels from the brake device 21 even though the driver does not step on the brake pedal, and the brake stroke Sb detected by the brake sensor 41. Anomalies in which the actual braking force is less than the braking force appropriate for

In addition, in this embodiment, the process of step S10 corresponds to a "judgment part."

If it is determined in step S10 that an abnormality has occurred, the process proceeds to step S11, and the driving wheel determined to have an abnormality out of the right wheel 20R and the left wheel 20L is replaced with the abnormal side driving wheel. , and the other drive wheel is specified as the normal drive wheel.

In step S12, the rotation speed Nabnr of the abnormal drive wheel and the rotation speed Nnr of the normal drive wheel are compared. The rotational speeds Nabnr and Nnr may be calculated, for example, based on the electrical angle θe or the detected value of a wheel speed sensor provided in the vehicle 10 .

In step S13, based on the comparison result in step S12, it is determined whether or not the rotation speed Nnr of the normal drive wheels is higher than the rotation speed Nabnr of the abnormal drive wheels.

If the determination in step S13 is affirmative, the process proceeds to step S14, in which the command value to be transmitted to the motor control device (hereinafter referred to as the normal side control device) corresponding to the normal drive wheel among the motor control devices 32 is set to the command torque. Change from Tr* to command rotational speed N*. In this case, the normal-side control device switches the torque feedback control to rotational speed feedback control for feedback-controlling the rotational speed Nnr of the normal-side drive wheel to the command rotational speed N*. Main controller 50 transmits a command rotation speed N* lower than rotation speed Nabnr of the abnormal drive wheel to the normal controller. As a result, the normal-side control device reduces the rotation speed Nnr of the normal-side drive wheels to a command rotation speed N* that is lower than the rotation speed Nabnr of the abnormal-side drive wheels.

The process of step S<b>14 is performed to ensure running stability of the vehicle 10 . That is, for example, when the above abnormality (C) or (D) occurs, even if the torque feedback control described above is performed, the rotational speed of the right wheel 20R and the rotational speed of the left wheel 20L deviate greatly. , there is a concern that the running stability of the vehicle 10 is lowered. The process of step S14 is provided to address this concern.

Incidentally, when the determination in step S13 is affirmative, the main control device 50, among the motor control devices 32, for the motor control device corresponding to the abnormal drive wheel (hereinafter referred to as the abnormal side control device), the abnormal side control device You may transmit the stop command of the switching control of the inverter 31 which becomes the control object of .

In step S15, the command rotational speed N* to be transmitted to the normal-side control device is made to repeatedly straddle the rotational speed Nabnr of the abnormal-side driving wheel at each specified cycle Tcnt. As a result, the rotation speed Nnr of the normal side drive wheel repeatedly straddles the rotation speed Nabnr of the abnormal side drive wheel at each specified cycle Tcnt by the normal side control device. As a result, a large discrepancy between the rotation speed of the right wheel 20R and the rotation speed of the left wheel 20L is suppressed, and a decrease in running stability of the vehicle 10 traveling straight ahead is suppressed.

On the other hand, when a negative determination is made in step S13, the process proceeds to step S16, and by operating the brake device corresponding to the abnormal side drive wheel among the brake devices 21, the abnormal side drive wheel is operated until an affirmative determination is made in step S13. Braking control is performed to apply braking force to the driving wheels. As a result, the rotational speed of the abnormal drive wheel that cannot be properly controlled can be quickly reduced, and the difference between the rotational speed Nabnr of the abnormal drive wheel and the rotational speed Nnr of the normal drive wheel can be quickly reduced. can. After that, the processing of steps S14 and S15 is performed.

Incidentally, for example, if regenerative drive control can be performed by the abnormal side control device, braking force may be applied to the abnormal side drive wheels by regenerative drive control of the abnormal side control device instead of the braking device 21 .

Further, for example, when an abnormality occurs in the brake device 21, instead of the brake device 21, the front left wheel 20L is steered in the right turning direction, and the front right wheel 20R is steered in the left turning direction. A braking force may be applied to the abnormal-side drive wheel.

In this embodiment, the processing of steps S12 to S16 corresponds to the "abnormal time control unit".

FIG. 3 shows an example of an abnormality control that is executed by the main controller 50 when an abnormality related to rotational driving occurs.

Before time t1, the process of step S16 is performed to reduce the rotation speed Nabnr of the abnormal drive wheel. As a result, an affirmative determination is made in step S13, and the process of step S14 is performed. As a result, at time t1, the rotation speed Nnr of the normal drive wheels falls below the rotation speed Nabnr of the abnormal drive wheels. As a result, the time difference ΔT until time t2 at which the process of step S15 is started can be shortened.

After time t2, the process of step S15 is performed, so that the rotation speed Nnr of the normal side drive wheels repeatedly straddles the rotation speed Nabnr of the abnormal side drive wheels at each specified cycle Tcnt so that the vehicle 10 runs straight.

FIG. 3 shows the transition of the rotational speed Nnr of the normal-side drive wheel in a comparative example in which the process shown in FIG. 2 is not performed by a dashed line. In the comparative example, the rotational speed Nnr of the normal drive wheels is controlled so that the difference between the rotational speed Nabnr of the abnormal drive wheels and the rotational speed Nnr of the normal drive wheels does not increase. The rotation speed Nnr of the normal-side drive wheels is always higher than the speed Nabnr. Therefore, although it is desired to maintain the direction of travel of the vehicle 10 in the straight direction, there is a concern that it will not be possible to do so.

According to this embodiment detailed above, the following effects can be obtained.

Main controller 50 determines whether or not an abnormality related to rotational drive has occurred in either of right wheel 20R and left wheel 20L on the front side, which are driving wheels. When determining that an abnormality has occurred, the main controller 50 identifies the driving wheel determined to have an abnormality out of the right wheel 20R and the left wheel 20L on the front side as the abnormal side driving wheel. , the other drive wheel is identified as the normal drive wheel. Main controller 50 transmits a command rotation speed N* lower than the rotation speed Nabnr of the abnormal-side drive wheels to the normal-side control device in order to bring the rotation speed Nnr of the normal-side drive wheels closer to the rotation speed Nabnr of the abnormal-side drive wheels. do. As a result, even if an abnormality related to rotational drive occurs in either of the right wheel 20R and the left wheel 20L, which are the drive wheels, the normal side control device that can operate normally and the inverter to be controlled by the control device 31 and the rotary electric machine 30 can accurately reduce the difference between the rotational speed Nnr of the normal drive wheel and the rotational speed Nabnr of the abnormal drive wheel. As a result, the behavior of the running vehicle 10 can be stabilized as much as possible.

The main controller 50 causes the command rotational speed N* to be transmitted to the normal-side control device to repeatedly cross the rotational speed Nabnr of the abnormal-side drive wheel at each specified cycle Tcnt. As a result, the direction of travel of the vehicle 10 can be prevented from deviating to either the left side or the right side.

When the rotational speed Nabnr of the abnormal drive wheel is higher than the rotational speed Nnr of the normal drive wheel, main controller 50 controls the rotational speed of the abnormal drive wheel and the normal drive wheel before executing the process of step S14. In order to reduce the difference, the brake device 21 performs braking control to apply a braking force to the abnormal drive wheel. As a result, the difference between the rotation speed Nabnr of the abnormal drive wheel and the rotation speed Nnr of the normal drive wheel can be quickly reduced.

After executing the braking control, main controller 50 performs the processes of steps S14 and S15. As a result, the rotation speed Nnr of the normal drive wheel can be controlled while the rotation speed Nabnr of the abnormal drive wheel, which is the reference for determining the command rotation speed N*, is appropriately reduced. As a result, the running safety of the vehicle 10 can be ensured.

<Modified Example of First Embodiment>
The process of step S13 may be replaced with a process of determining whether or not the absolute value of the difference between the rotation speed Nnr of the normal drive wheel and the rotation speed Nabnr of the abnormal drive wheel is equal to or less than a predetermined value.

<Second embodiment>
The second embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In this embodiment, even when an abnormality related to rotational drive occurs while the vehicle 10 is traveling on a highway, it is possible to ensure the running stability of the vehicle 10 as much as possible. Description will be made below with reference to FIG. In this embodiment, main controller 50 performs the process of FIG. 4 when determining that vehicle 10 is traveling straight on the highway. In FIG. 4, the same reference numerals are assigned to the same processes as those shown in FIG. 2 for convenience. Note that the main controller 50 determines whether or not the vehicle 10 is traveling on a highway, based on the situation around the vehicle 10, which is grasped based on the reception result and map data of the GPS receiver, or the imaging data of the vehicle-mounted camera, for example. should be determined.

When an affirmative determination is made in step S13, the process proceeds to step S17. In step S17, the higher the rotational speed Nnr of the normal-side drive wheel, the shorter the specified cycle Tcnt used in step S15 is set. When the vehicle 10 is traveling on an expressway, as shown by the solid line in FIG. The stability of running can be improved. Incidentally, in step S17, the higher the running speed detected by the vehicle speed sensor 43, the shorter the prescribed period Tcnt used in step S15 may be set.

<Third Embodiment>
The third embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In the present embodiment, when an abnormality related to rotational drive occurs while the vehicle 10 is traveling on a highway, the details of processing for ensuring the running stability of the vehicle 10 are changed. A description will be given below with reference to FIG. In this embodiment, main controller 50 performs the processing of FIG. 6 when determining that vehicle 10 is traveling straight on the highway. In FIG. 6, the same reference numerals are assigned to the same processes as those shown in FIG. 4 for convenience.

After the processing of step S14 is completed, the process proceeds to step S15a, and the command rotation speed N* to be transmitted to the normal side control device is set to the road shoulder on the side opposite to the center side of the expressway (specifically, for example, the opposite lane side). In order to gradually bring the vehicle 10 closer, the rotational speed Nabnr of the abnormal-side driving wheel is repeatedly crossed at each specified cycle Tcnt. As a result, for example, in an area where the vehicle 10 travels in the left lane, the vehicle 10 gradually approaches the shoulder on the left side of the travel lane on the expressway.

It should be noted that whether the road shoulder is located on the left or right with respect to the driving lane differs depending on the region. For this reason, whether the direction of travel of the vehicle 10 should be the oblique left direction or the oblique right direction in order to bring the vehicle 10 closer to the shoulder of the road may be set in advance for each region where the vehicle 10 is used, for example. It may be set based on the reception result of the receiver and the map data, or may be set based on the situation around the vehicle 10 ascertained based on the imaging data of the vehicle-mounted camera or the like.

Further, for example, based on the detection value of a sensor such as an ultrasonic sensor that monitors the surrounding situation of the vehicle 10, the processing of step S15a is performed so that the distance between the vehicle 10 and other traveling vehicles is maintained at a predetermined distance or more. It should be executed.

FIG. 7 shows an example of changes in the rotation speed Nnr of the normal driving wheels and the rotation speed Nabnr of the abnormal driving wheels when the vehicle 10 is gradually brought closer to the left shoulder of the driving lane. In FIG. 7, the abnormal drive wheel is the left wheel 20L, and the normal drive wheel is the right wheel 20R. The dashed line shown in FIG. 7 indicates transition of the rotation speed Nnr of the normal drive wheel (specifically, the right wheel 20R) when the process of step S15 of FIG. 4 in the second embodiment is executed. In the example shown in FIG. 7, the rotation speed Nnr of the normal drive wheels when the process of step S15a is performed is set higher than the rotation speed Nnr of the normal drive wheels when the process of step S15 is performed. there is

According to the present embodiment described above, the vehicle 10 can be evacuated to the road shoulder when an abnormality occurs, and the safety of the occupants of the vehicle 10 can be ensured.

<Fourth Embodiment>
The fourth embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In this embodiment, the safety of pedestrians walking on the sidewalk can be ensured when an abnormality related to rotational drive occurs while the vehicle 10 is traveling on a general road. A description will be given below with reference to FIG. In this embodiment, main controller 50 performs the process of FIG. 8 when determining that vehicle 10 is traveling straight on a general road. In FIG. 8, the same reference numerals are assigned to the same processes as those shown in FIG. 4 for convenience. Note that the main controller 50 determines whether the vehicle is traveling on a general road, based on the situation around the vehicle 10, which is grasped based on the reception result and map data of the GPS receiver, or the imaging data of the vehicle-mounted camera, for example. should be determined.

After the processing of step S14 is completed, the process proceeds to step S15b, and the command rotational speed N* to be transmitted to the normal side control device is changed to the rotational speed of the abnormal side drive wheel at regular intervals Tcnt so as to gradually move the vehicle 10 away from the sidewalk. Straddle Nabnr repeatedly. As a result, the vehicle 10 gradually approaches the center line side of the traveling lane on the general road, and the vehicle 10 can be prevented from coming into contact with pedestrians.

Whether the vehicle 10 runs in the left lane or the right lane depends on the area. For this reason, whether the direction of travel of the vehicle 10 is diagonally to the right or diagonally to the left in order to keep the vehicle 10 away from the sidewalk may be set in advance for each region where the vehicle 10 is used, or may be determined by GPS. It may be set based on the reception result of the receiver and the map data, or may be set based on the situation around the vehicle 10 ascertained based on the imaging data of the vehicle-mounted camera or the like.

FIG. 9 shows the rotation speed Nnr of the normal side drive wheels and the rotation speed Nabnr of the abnormal side drive wheels when the vehicle 10 is gradually approaching the side opposite to the sidewalk on the left side of the lane when the vehicle 10 travels in the left lane. An example of the transition of In FIG. 9, the abnormal drive wheel is the left wheel 20L, and the normal drive wheel is the right wheel 20R. The dashed line shown in FIG. 9 indicates transition of the rotation speed Nnr of the normal drive wheel (specifically, the right wheel 20R) when the process of step S15 of FIG. 4 in the second embodiment is executed. In the example shown in FIG. 9, the rotation speed Nnr of the normal drive wheels when the process of step S15b is performed is set lower than the rotation speed Nnr of the normal drive wheels when the process of step S15 is performed. there is

According to the present embodiment described above, it is possible to prevent the vehicle 10 from approaching the sidewalk when an abnormality occurs, and to ensure the safety of pedestrians on the sidewalk.

<Fifth Embodiment>
The fifth embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In this embodiment, the voltage supplied to the inverter 31 is lowered when the behavior of the vehicle 10 during running may become unstable.

FIG. 10 is a diagram showing a configuration around inverter 31 in vehicle 10. As shown in FIG. Vehicle 10 includes DC power supply 60 and DCDC converter 33 . The DC power supply 60 is, for example, a secondary battery such as a lithium ion storage battery, or a fuel cell. The DCDC converter 33 is controlled by the motor control device 32 , transforms (specifically boosts) the output voltage of the DC power supply 60 , and supplies the voltage to the inverter 31 . Vdc shown in FIG. 10 is the power supply voltage supplied from the DCDC converter 33 to the inverter 31 . The DCDC converter 33 may be provided individually corresponding to each inverter 31 or may be provided commonly to each inverter 31 .

FIG. 11 shows the procedure of processing executed by main controller 50 . In FIG. 11, the same reference numerals are assigned to the same processes as those shown in FIG. 4 for convenience.

After completing the process of step S11, the process proceeds to step S18 to determine whether or not the power supply voltage Vdc needs to be lowered. Specifically, it is determined whether or not the difference between the friction coefficient μR between the right driving wheel 20R and the road surface and the friction coefficient μL between the left driving wheel 20L and the road surface is greater than a threshold value. For this determination, for example, road surface information of the area where the vehicle 10 travels, or a sensor detection value such as a yaw moment sensor that detects the behavior of the vehicle 10 is used.

If it is determined in step S18 that the difference in friction coefficient is equal to or less than the threshold, it is determined that the power supply voltage Vdc does not need to be lowered, and the process proceeds to step S12. On the other hand, if it is determined in step S18 that the difference in coefficient of friction is larger than the threshold, it is determined that the power supply voltage Vdc needs to be lowered, and the process proceeds to step S19. In step S19, a command is sent to each motor control device 32 to lower the power supply voltage Vdc of each inverter 31 to a level lower than that in the case where a negative determination is made in step S18. Specifically, for example, a command to halve the power supply voltage Vdc is transmitted. As a result, as shown in FIG. 12, the rotation speed Nnr of the normal drive wheels and the rotation speed Nabnr of the abnormal drive wheels can be reduced. As a result, the behavior of the vehicle 10 can be stabilized as much as possible even if either the left or right drive wheel slips, for example.

<Modified example of the fifth embodiment>
The configuration for lowering the power supply voltage Vdc is not limited to the configuration shown in FIG. 10, and may be, for example, the configuration shown in FIG. Specifically, the vehicle 10 includes a first DC power supply 61 , a second DC power supply 62 and a switching section 34 . The output voltage (eg rated voltage) V2 of the second DC power supply 62 is higher than the output voltage (eg rated voltage) V1 of the first DC power supply 61 . Specifically, for example, the output voltage V2 of the second DC power supply 62 is twice the output voltage V1 of the first DC power supply 61 . The switching unit 34 is controlled by, for example, the main controller 50 and switches the power supply voltage Vdc of each inverter 31 to either the output voltage V1 of the first DC power supply 61 or the output voltage V2 of the second DC power supply 62 .

In step S19, the main controller 50 controls the switching unit 34 to switch the power supply voltage Vdc of each inverter 31 from the output voltage V2 of the second DC power supply 62 to the output voltage V1 of the first DC power supply 61. I do. On the other hand, if the determination in step S18 is negative, main controller 50 controls switching unit 34 to set power supply voltage Vdc of each inverter 31 to output voltage V2 of second DC power supply 62 .

<Sixth Embodiment>
The sixth embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In the present embodiment, even when the vehicle 10 travels on a curved road when an abnormality related to rotational drive occurs, the traveling stability of the vehicle 10 can be ensured as much as possible.

Processing executed by main controller 50 will be described with reference to FIG. 14 . In FIG. 14, the same reference numerals are assigned to the same processes as those shown in FIG. 4 for convenience.

After completing the processing of step S11, the process proceeds to step S20, and it is determined whether or not the traveling road of the vehicle 10 is a curved road. For example, it may be determined whether or not the vehicle 10 is traveling on a curved road based on the reception result of the GPS receiver and map data, or the situation around the vehicle 10 grasped based on the imaging data of the vehicle-mounted camera.

If a negative determination is made in step S20, the process proceeds to step S13. On the other hand, if an affirmative determination is made in step S20, the process proceeds to step S21 to specify which of the normal drive wheels and the abnormal drive wheels is the inner wheel and the outer wheel. Then, as shown in FIG. 15, the normal-side control device controls the rotation speed of the inner ring to be lower than the rotation speed of the outer ring so as to set the rotation speed difference ΔN between the inner ring and the outer ring to a value corresponding to the steering angle θs. Calculate the command rotation speed N* to be transmitted to. Specifically, for example, the greater the steering angle θs, the greater the rotational speed difference between the inner and outer wheels. In step S22, the calculated command rotation speed N* is transmitted to the normal side control device. As a result, for example, when the vehicle 10 travels on a right curved road, the rotational speed of the left wheel 20L becomes higher than the rotational speed of the right wheel 20R. As a result, the vehicle 10 can be driven at the steering angle of the steered wheels according to the driver's steering wheel operation.

<Other embodiments>
It should be noted that each of the above-described embodiments may be implemented with the following changes.

- Of the four wheels 20R and 20L, the rotating electric machine 30 may be provided individually corresponding to each of the rear right wheel 20R and the rear left wheel 20L. In this case, each of the rear right wheel 20R and the rear left wheel 20L is used as a driving wheel.

Further, the vehicle is not limited to a vehicle in which two of the four wheels are drive wheels, and as shown in FIG. 16, a vehicle in which all four wheels are drive wheels may be used. In this case, for example, of the set of the two front drive wheels 20R and 20L and the set of the two rear drive wheels 20R and 20L, each of the two drive wheels in the set that does not include the abnormal drive wheel The switching control of the corresponding inverter 31 may be stopped.

- The vehicle 10 does not have to be equipped with the brake device 21 as long as it is configured to apply a sufficient braking force to the driving wheels by the regenerative drive control.

The CPU of the main controller 50 executes the program stored in the memory of the main controller 50, thereby executing the processes described in the first to sixth embodiments. The program may be stored in memory, for example, during the manufacturing process of the control device. Also, the program may be a program stored in the memory via wireless communication, such as a so-called OTA (Over The Air) program.

- The entity that executes the above-described processing when an abnormality occurs is not limited to both the main controller 50 and the motor controller 32 . For example, out of the main controller 50 and the motor controller 32, the motor controller 32 may be the main controller. In this case, signals such as sensor detection values necessary for the above-described processing may be input to each motor control device 32 . Also, in this case, if an abnormality (A1) occurs in one of the motor control devices 32, the motor control device in which this abnormality does not occur executes the above-described processing at the time of occurrence of the abnormality. Just do it.

- The controller and techniques described in this disclosure can be performed by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program; may be implemented. Alternatively, the controls and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control units and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

DESCRIPTION OF SYMBOLS 10... Vehicle, 20R, 20L... Drive wheel, 30... Rotary electric machine, 32... Motor control apparatus, 50... Main control apparatus.

Claims (10)

left and right drive wheels (20R, 20L);
A vehicular control device (32, 50) applied to a vehicle (10) provided with a rotating electrical machine (30) individually provided corresponding to each of the left and right driving wheels and rotationally driving the driving wheels,
a determination unit that determines whether or not an abnormality related to rotational drive has occurred in one of the left and right drive wheels;
When the determination unit determines that the abnormality has occurred, the rotation speed of the abnormal drive wheel, which is the one of the left and right drive wheels determined to have the abnormality ( Nabnr) and an abnormality time control unit that performs an abnormality time control that suppresses a deviation between the rotation speed (Nnr) of the normal side drive wheel that is the other drive wheel. The abnormal-time control unit, as the abnormal-time control, causes the rotational speed of the normal-side drive wheel to approach the rotational speed of the abnormal-side drive wheel. 2. The vehicle control device according to claim 1, wherein drive control of said rotating electric machine corresponding to said normal side drive wheel is performed so as to be below the speed. After executing the abnormality control, the abnormality control unit controls the rotation speed of the rotating electric machine corresponding to the normal drive wheel so that the rotation speed of the normal drive wheel repeatedly straddles the rotation speed of the abnormal drive wheel. 3. The vehicle control device according to claim 2, which performs drive control. 4. The abnormal-time control unit according to claim 3, wherein the cycle in which the rotation speed of the normal-side drive wheel straddles the rotation speed of the abnormal-side drive wheel is shortened when the running speed of the vehicle is higher than when the running speed is low. vehicle controller. When the vehicle is traveling on a highway, the abnormal-time control unit causes the vehicle to gradually approach a road shoulder on the side opposite to the center side of the highway so that the rotation speed of the normal-side drive wheels is set to the above-described level. 5. The vehicle control device according to claim 3, wherein the rotational speed of the abnormal drive wheel is repeatedly straddled. When the vehicle is running on a general road adjacent to a sidewalk, the abnormal-time control unit controls the rotational speed of the normal-side drive wheel so as to gradually move the vehicle away from the sidewalk. 5. The vehicle control device according to claim 3 or 4, wherein the speed is repeatedly straddled. When the vehicle is running on a curved road, the abnormality time control unit, as the abnormality time control, reduces the rotational speed of the inner wheels of the vehicle to the rotational speed of the outer wheels of the vehicle while controlling the rotation speed of the inner wheels and the outer wheels of the vehicle. 2. The control device for a vehicle according to claim 1, wherein drive control of said rotating electrical machine corresponding to said normal side drive wheel is performed so that a rotational speed difference between said normal side drive wheel and said rotational speed difference is set to a value corresponding to said steering angle of said vehicle. The abnormality control section performs the abnormality control when the rotational speed of the abnormal drive wheel is higher than the rotational speed of the normal drive wheel when the determination section determines that the abnormality has occurred. any one of claims 2 to 7, wherein braking control is performed to apply braking force to the abnormal drive wheel so as to reduce the rotational speed difference between the abnormal drive wheel and the normal drive wheel. The vehicle control device according to item 1. The abnormality control section performs the abnormality control when the rotational speed of the abnormal drive wheel is higher than the rotational speed of the normal drive wheel when the determination section determines that the abnormality has occurred. 2. The vehicular control device according to claim 1, wherein braking control is performed to apply a braking force to the abnormal drive wheel so as to reduce a rotational speed difference between the abnormal drive wheel and the normal drive wheel. The vehicle includes an inverter (31) electrically connected to the rotating electric machine,
The abnormality control unit executes the abnormality control when determining that a difference between the friction coefficient between the right drive wheel and the road surface and the friction coefficient between the left drive wheel and the road surface is larger than a threshold value. The vehicle according to any one of claims 1 to 9, wherein the input voltage (Vdc) of the inverter is reduced prior to controller for.

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