JP4507554B2 - Vehicle and vehicle motor control method - Google Patents

Description

  The present invention relates to a vehicle that uses output from a motor for driving.

  A technique for reducing electromagnetic noise generated from a motor for driving driving and an inverter that supplies electric power to the motor is known (see Patent Document 1 and Patent Document 2). Patent Document 1 discloses a technique in which all the switching frequencies for supplying power to a plurality of motors divided into two groups are made the same, and a predetermined phase difference is provided in the switching phase in each group.

  Patent Document 2 discloses a technique for reducing electromagnetic noise by increasing the switching frequency for supplying electric power to a motor to twice the normal frequency.

JP-A-6-165307 JP-A-8-172705

  In general, electromagnetic noise is treated as noise, and in particular, control has been performed to reduce the sound in the human audible range. However, if there is no sound generated from the vehicle, it is difficult for people around to notice the presence or approach of the vehicle.

  According to the present invention, an audible electromagnetic sound is generated by changing at least one of a frequency and a current value of a drive signal supplied to a motor for driving the vehicle according to the detected vehicle information.

  In the vehicle according to the present invention, the frequency and volume of the electromagnetic sound generated by the motor for driving and driving are changed according to the detected vehicle information, so that it is used as a sound source for notification to passengers and people around the vehicle. it can.

The best mode for carrying out the present invention will be described below with reference to the drawings.
(First embodiment)
FIG. 1 is a configuration diagram of a main part of an electric vehicle according to a first embodiment of the present invention. In FIG. 1, a motor 1 is constituted by a three-phase AC motor or the like, and drives a wheel 3 to rotate. The inverter 2 is a power converter that converts power supplied from a power source 7 such as a battery and supplies the converted power to the motor 1. Temperature sensors 11 and 12 are attached to the motor 1 and the inverter 2, respectively. The temperature sensor 11 detects the motor temperature, and the temperature sensor 12 detects the inverter temperature. Each detection signal is sent to the motor sound command device 10.

  The motor 1 is provided with a speed sensor 9 for detecting the rotational speed. A detection signal from the speed sensor 9 is sent to the torque control device 4.

  The turn signal detection device 13 detects a right turn and left turn instruction signal output from a turn signal switch operated by the driver, and sends it to the motor sound command device 10 as a turn signal detection signal indicating a state of a right turn instruction and a left turn instruction. .

  The READY detection device 14 is a device that detects a lighting ON signal of the READY lamp of the vehicle, and sends a READY detection signal to the motor sound command device 10 when a lighting ON signal is detected. When the ignition key is turned on (ON), the READY lamp lighting ON signal is diagnosed as to whether or not the vehicle can be driven by a diagnostic circuit (not shown), and is output when it is diagnosed that the vehicle can be driven. Signal.

  The reverse detection device 15 is a device that detects a reverse signal indicating that the shift lever of the vehicle is set at the reverse position, and sends a reverse detection signal to the motor sound command device 10 when a reverse signal is detected.

  The motor sound command device 10 receives vehicle information such as a motor temperature detection signal, an inverter temperature detection signal, a reverse detection signal, a turn signal detection signal, and a READY detection signal, and from the motor 1 based on these vehicle information. An alarm sound is generated. The notification sound is obtained by adjusting the volume and frequency range of the electromagnetic sound (noise) generated by the motor 1 (and the inverter 2) so that it can be heard around the vehicle and by the passengers of the vehicle. The motor sound command device 10 outputs an alarm sound current command value for generating a notification sound to the torque control device 4 and a switching frequency command value to the PWM generator 6.

  The torque control device 4 flows to the motor 1 according to the driver's accelerator pedal operation, that is, the torque command value obtained by the accelerator operation amount, the motor speed indicated by the detection signal from the speed sensor 9, and the alarm sound current command value. The current value is calculated, and the motor current command value is sent to the motor current control device 5.

  The motor current control device 5 calculates a voltage command value by performing feedback control (PI control) so that the motor current follows the motor current command value, and outputs the voltage command value to the PWM generator 6. The motor current is detected by the current sensor 8. The current sensor 8 is configured to send a current detection signal to the motor current control device 5.

  The PWM generator 6 generates a gate signal (PWM signal) for driving a switching element (not shown) of the inverter 2 based on the switching frequency command value and the voltage command value, and sends it to the inverter 2. Specifically, the switching frequency signal input as a triangular wave carrier signal and the voltage command value are compared with each other in a triangular wave, and the comparison result between the two is output as a gate signal.

  As a result of the inverter 2 being switched and driven by the gate signal from the PWM generator 6, the motor 1 generates a driving torque for accelerating and decelerating the vehicle. In general, in such an electric vehicle, electromagnetic noise is generated from the motor 1 (and the inverter 2) in accordance with the switching operation of the inverter 2. Electromagnetic sound is often handled as noise, and the switching frequency is set so that the frequency of the electromagnetic sound is outside the human audible sound range (20 KHz or more).

  The motor sound command device 10 according to the present invention changes the switching frequency command value (carrier frequency command value) and generates an audible frequency of the electromagnetic sound generated from the motor 1 (and the inverter 2) when generating a notification sound from the motor 1. Change to the range (for example, 1 kHz). The motor sound command device 10 further changes the alarm sound current command value in order to adjust the volume of the electromagnetic sound generated by the motor 1 (and the inverter 2).

  The flow of the command value determination process performed by the motor sound command device 10 described above will be described with reference to the flowcharts of FIGS. The process according to FIG. 2 starts in a state where electric power is supplied to the motor sound command device 10 from a battery (not shown).

  In step S11 of FIG. 2, the motor sound command device 10 sets and outputs the alarm sound current command value to the initial value of the alarm sound current command value # 0, and sets the carrier frequency command value to the carrier frequency command value # 0. Set and output, and proceed to step S12. The alarm sound current command value # 0 is stored in advance in a memory in the motor sound command device 10, and its value is zero. That is, the initial value is set so that the current amplitude value of the motor 1 is set to 0 and no notification sound is generated during normal times.

  The carrier frequency command value # 0 is also stored in advance in a memory in the motor sound command device 10, and the value is outside the human audible sound range (for example, 25 KHz). That is, the initial value is set so that the frequency of the electromagnetic sound is in a sound range that cannot be heard by humans during normal operation of the electric vehicle.

  In step S12, when the motor sound command device 10 detects a signal indicating that the ignition key has been turned on (ON), the process proceeds to step S13. In step S13, the motor sound command device 10 performs READY detection alarm sound generation logic processing and proceeds to step S14.

FIG. 3 is a flowchart for explaining the details of the READY detection alarm sound generation logic processing.
In step S31 of FIG. 3, the motor sound command device 10 determines whether or not a READY detection signal has been received. The motor sound command device 10 makes an affirmative decision in step S31 when the READY lamp lighting ON signal is input from the READY detection device 14, and proceeds to step S32. If the READY lamp lighting ON signal is not input, the motor sound command device 10 performs step. A negative determination is made in S31, and the determination process is repeated.

  In step S32, the motor sound command device 10 sets and outputs the alarm sound current command value to the alarm sound current command value # 1, and sets the carrier frequency command value to the carrier frequency command value # 1 and outputs it. Proceed to step S33. The alarm sound current command value # 1 is stored in advance in a memory in the motor sound command device 10 and is a current command value for generating a notification sound so that it can be heard sufficiently by the driver and pedestrians around the vehicle. is there.

  The carrier frequency command value # 1 is also stored in advance in a memory in the motor sound command device 10, and the value is a frequency within a human audible sound range (for example, 1 KHz). That is, the carrier frequency is set so as to generate an electromagnetic sound in a sound range that can be heard by a person when the electric vehicle is activated.

  In step S33, the motor sound command device 10 holds the alarm sound current command value # 1 and the carrier frequency command value # 1 until the time T is measured by a timer circuit (not shown), and when time T elapses, the process proceeds to step S34. move on.

  In step S34, the motor sound command device 10 sets and outputs the alarm sound current command value to the alarm sound current command value # 0, and sets the carrier frequency command value to the carrier frequency command value # 0 and outputs it. The process according to FIG. 3 is terminated, and the process proceeds to step S14 in FIG. Thereby, when time T after starting passes, the notification sound using the electromagnetic sound of the motor 1 (and the inverter 2) stops.

  In step S14 of FIG. 2, the motor sound command device 10 performs turn signal / reverse alarm sound generation logic processing and proceeds to step S15.

  FIG. 4 is a flowchart for explaining the details of the turn signal / reverse warning sound generation logic processing. In step S41 of FIG. 4, the motor sound command apparatus 10 determines whether or not a reverse detection signal has been received. The motor sound command device 10 makes an affirmative determination in step S41 when the reverse detection signal is input from the reverse detection device 15 and proceeds to step S43. If no reverse detection signal is input, the motor sound command device 10 makes a negative determination in step S41. Proceed to step S42.

  In step S42, the motor sound command device 10 determines whether or not a turn signal detection signal has been received. When the turn signal detection signal from the turn signal detection device 13 is input, the motor sound command device 10 makes an affirmative decision in step S42 and proceeds to step S44. If the turn signal detection signal is not input, the motor sound command device 10 denies step S42. Determine and proceed to step S47.

  In step S43, the motor sound command device 10 determines whether or not a turn signal detection signal has been received. The motor sound command device 10 makes an affirmative decision in step S43 when the turn signal detection signal from the turn signal detection device 13 is input and proceeds to step S46, and negates step S43 if the turn signal detection signal is not input. Determine and proceed to step S45.

  In step S44, the motor sound command device 10 sets and outputs the alarm sound current command value to the alarm sound current command value # 2, and sets the carrier frequency command value to the carrier frequency command value # 2 and outputs it. The process according to FIG. 4 is terminated, and the process proceeds to step S15 in FIG. The alarm sound current command value # 2 is stored in advance in a memory in the motor sound command device 10 and is a current command value for generating a notification sound so that it can be heard sufficiently by the driver and pedestrians around the vehicle. is there.

  The carrier frequency command value # 2 is also stored in advance in a memory in the motor sound command device 10, and the value is a frequency within the human audible sound range and a frequency different from the carrier frequency command value # 1. That is, the carrier frequency is set so as to generate an electromagnetic sound in a sound range that can be heard by a person when the electric vehicle turns right and left, and a notification sound is generated so that the driver and pedestrians around the vehicle can hear.

  In step S47, the motor sound command device 10 sets the alarm sound current command value to the alarm sound current command value # 0 and outputs it, and sets the carrier frequency command value to the carrier frequency command value # 0 and outputs it. The process according to FIG. 4 is terminated, and the process proceeds to step S15 in FIG. Thereby, when the electric vehicle does not turn right or left or reverse, the notification sound using the electromagnetic sound of the motor 1 (and the inverter 2) stops.

  In step S45, the motor sound command device 10 sets and outputs the alarm sound current command value to the alarm sound current command value # 3, and sets and outputs the carrier frequency command value to the carrier frequency command value # 3. The process according to FIG. 4 is terminated, and the process proceeds to step S15 in FIG. The alarm sound current command value # 3 is stored in advance in a memory in the motor sound command device 10, and is a current command value for generating a notification sound so that it can be heard sufficiently by the driver and pedestrians around the vehicle. is there.

  The carrier frequency command value # 3 is also stored in advance in the memory in the motor sound command device 10, and the value is a frequency within the human audible sound range and is a frequency different from the carrier frequency command values # 1 and # 2. . That is, the carrier frequency is set so as to generate an electromagnetic sound in a sound range that can be heard by a person when the electric vehicle moves backward, and a notification sound is generated so that the driver and pedestrians around the vehicle can hear.

  In step S46, the motor sound command device 10 sets and outputs the alarm sound current command value to the alarm sound current command value # 4, and sets and outputs the carrier frequency command value to the carrier frequency command value # 4. The process according to FIG. 4 is terminated, and the process proceeds to step S15 in FIG. The alarm sound current command value # 4 is stored in advance in a memory in the motor sound command device 10, and is a current command value for generating a notification sound so that it can be heard sufficiently by the driver and pedestrians around the vehicle. is there.

  The carrier frequency command value # 4 is also stored in advance in the memory in the motor sound command device 10, and the value is a frequency within the human audible sound range and is different from the carrier frequency command values # 1, # 2 and # 3. Is the frequency. That is, the carrier frequency is set so as to generate an electromagnetic sound in a sound range that can be heard by a person when turning left or right due to the backward movement of the electric vehicle, and a notification sound is generated so as to be heard by the driver and pedestrians around the vehicle.

  In step S15 of FIG. 2, the motor sound command apparatus 10 determines whether or not the ignition key is turned off. When the motor sound command device 10 detects a signal indicating that the ignition key has been turned to the OFF position, the motor sound command device 10 makes a positive determination in step S15 and ends the processing of FIG. On the other hand, if the motor sound command device 10 does not detect a signal indicating that the ignition key has been turned to the OFF position, the motor sound command device 10 makes a negative determination in step S15 and returns to step S14. Thereby, the process by step S14 is repeated until the ignition key is turned OFF.

  Calculation processing of the motor current command value performed by the torque control device 4 will be described with reference to the flowchart of FIG. The process shown in FIG. 5 starts when the ignition key is turned on. In step S51 of FIG. 5, the torque control device 4 refers to the current command value map A using the motor torque command value and the motor speed, derives the current command value IA, and proceeds to step S52. The current command value map A corresponds to the motor current command value and the motor speed optimum current command values from the point of efficiency of the motor 1 with respect to the current command values including both the current amplitude and phase information of the alternating current. It is what was obtained in advance. The current command value map A is recorded in a memory (not shown) in the torque control device 4.

  In step S52, the torque control device 4 compares the magnitude of the current command value IA obtained with reference to the current command value map A with the magnitude of the alarm sound current command value. When (current command value IA) <(alarm sound current command value) is satisfied, the torque control device 4 makes a positive determination in step S52 and proceeds to step S53, where (current command value IA) <(alarm sound current command value). ) Is not established, a negative determination is made in step S52, and the process proceeds to step S56. The alarm sound current command value is one of the above-described alarm sound current command values # 0 to # 4.

  In step S53, the torque control device 4 proceeds to step S54 using the alarm sound current command value as the amplitude of the alternating current. In step S54, the torque control device 4 refers to the current command value map B using the amplitude of the alternating current, the motor torque command value, and the motor speed, derives the current command value IB, and proceeds to step S55. The current command value map B shows the current command value for generating the required torque for the current command value including both the current amplitude and phase information of the alternating current, the amplitude of the AC current, the motor torque command value, and the motor speed. Is obtained in advance corresponding to each value of. The current command value map B is recorded in a memory (not shown) in the torque control device 4.

  In step S55, the torque control device 4 sends the current command value IB as the motor current command value to the motor current control device 5 and ends the processing in FIG.

  In Step S56, which proceeds after making a negative determination in Step S52 described above, the torque control device 4 sends the current command value IA to the motor current control device 5 as the motor current command value, and ends the processing in FIG.

The first embodiment described above will be summarized.
(1) The inverter 2 is switched and driven by the gate signal output from the PWM generator 6, and the motor 1 generates a driving torque for accelerating / decelerating the vehicle by controlling the current supplied from the inverter 2 to the motor 1. Electromagnetic sound is generated by the motor 1 (and the inverter 2). Set the carrier frequency command value so that the frequency of this electromagnetic sound is adjusted within the human audible range as necessary, and adjust the volume of the electromagnetic sound to a level that can be heard by the driver and pedestrians around the vehicle. By setting the alarm sound current command value, the electromagnetic sound is used as the notification sound. Therefore, it can be used as a sound source when notifying the driver of vehicle information or alerting a pedestrian. Since it is not necessary to provide an audio signal generator or a speaker in order to generate the notification sound, the cost can be reduced.

(2) When there is no need to generate a notification sound, the frequency of the electromagnetic sound is adjusted to be outside the human audible range, and the electromagnetic volume is reduced to prevent the sound from being heard by the human (steps S11, S34 and step 34). S47). Therefore, it is possible to keep quietness by suppressing generation of unnecessary sounds with respect to the surrounding environment.

(3) The vehicle occupant and surrounding pedestrians can be audibly informed of vehicle start-up (when the READY lamp is lit), turn left / right of the vehicle by operating the turn signal switch, and reverse of the vehicle by operating the shift lever. , Can improve the safety of electric vehicles.

(4) The corresponding carrier frequency command value is set to a different value so as to change the switching frequency of the inverter 2 depending on the notification contents such as when the vehicle is started, when turning left and right, and when the vehicle is moving backward (step S32, step S44). Step S45 and Step S46), the frequency of the notification sound differs depending on the notification content. An occupant and a pedestrian can auditorily determine the content of the notification by ascertaining whether the frequency of the notification sound is high or low. Further, when the frequency of the notification sound changes, it can be known that the driving state of the vehicle has changed.

(5) The current command value IA calculated based on the motor torque command value and the motor speed is compared with the alarm sound current command value for generating the alarm sound, and the alarm sound command value is larger (step For affirmative determination in S52, the motor current command value IB that can generate the required torque is calculated after setting the necessary amplitude of the alternating current (step S53) (step S54). Therefore, it is possible to obtain both the necessary notification volume and the necessary motor torque, and the torque fluctuation of the motor 1 occurs in order to generate the notification sound, or the notification volume varies with acceleration / deceleration of the vehicle. There is no.

  Instead of changing the frequency of the notification sound depending on the notification content, the volume of the notification sound may be changed. In this case, the occupant and the pedestrian can discriminate the notification content auditorily by ascertaining whether the volume of the notification sound is high or low.

  Further, both the frequency and volume of the notification sound may be changed according to the notification content.

  You may notify the passenger | crew of a vehicle by the notification sound about the temperature rise of the motor 1 or the inverter 2. When the motor 1 or the inverter 2 is driven, a switching loss (power conversion loss) occurs, and the temperatures of the motor 1 and the inverter 2 rise. In particular, when the carrier frequency is set high and the frequency range of the electromagnetic sound is set to a non-audible frequency range, the switching loss of the inverter 2 becomes large and the temperature rises easily. Therefore, the motor sound command device 10 uses the carrier frequency when at least one of the temperature values indicated by the detection signals from the temperature sensors 11 and 12 attached to the motor 1 and the inverter 2 exceeds a preset temperature value. Change the command value (switching frequency command value) to a frequency lower than normal. Note that the alarm sound current command value maintains the normal 0 (# 0).

  By lowering the switching frequency of the inverter 2, the electromagnetic noise generated from the motor 1 (and the inverter 2) can be heard by the occupant, and the temperature rise of the motor 1 and the inverter 2 can be notified. Furthermore, by lowering the carrier frequency command value, the switching loss is reduced, and as a result, the temperature rise of the motor 1 and the inverter 2 can be suppressed.

(Second embodiment)
In the second embodiment, a motor is provided for each of the left and right drive wheels. FIG. 6 is a diagram illustrating the arrangement of drive wheels and motors in the vehicle. In FIG. 6, the vehicle is driven independently by the left rear wheel 3a and the right rear wheel 3b. The left rear wheel 3a is driven by a motor 1a, and the electric power supplied to the motor 1a is controlled by an inverter 2a. The right rear wheel 3b is driven by a motor 1b, and the electric power supplied to the motor 1b is controlled by an inverter 2b.

  FIG. 7 is a main part configuration diagram of an electric vehicle according to a second embodiment of the present invention. In FIG. 7, the motor 1a, the inverter 2a, the current sensor 8a, the speed sensor 9a, the temperature sensors 11a and 12a, the PWM generator 6a, the motor current control device 5a, and the torque control device 4a correspond to the left rear wheel 3a. Each is arranged. Corresponding to the right rear wheel 3b, a motor 1b, an inverter 2b, a current sensor 8b, a speed sensor 9b, temperature sensors 11b and 12b, a PWM generator 6b, a motor current control device 5b, and a torque control device 4b are arranged. It is installed.

  The components corresponding to the left rear wheel 3a and the components corresponding to the right rear wheel 3b are the same as the components described in FIG. The motor sound command device 10A outputs a switching frequency command value and an alarm sound current command value for both the left and right systems.

  The motor sound command device 10A detects whether the turn signal detection signal from the turn signal detection device 13 indicates a right turn state or a left turn state, and sets and outputs a command value in a corresponding direction. For example, in the case of a left turn, the switching frequency command value a and the alarm sound current command value a are set so that a notification sound is generated from the motor 1a of the left rear wheel 3a, and the switching frequency command value a is input to the PWM generator 6a. The alarm sound current command value a is output to the torque control device 4a.

  On the other hand, in the case of a right turn, the switching frequency command value b and the alarm sound current command value b are set so that a notification sound is generated from the motor 1b of the right rear wheel 3b, and the switching frequency command value b is set to the PWM generator 6b. The alarm sound current command value b is output to the torque control device 4b.

  As described above, according to the second embodiment, the notification sound is generated by the motor 1a (and the inverter 2a) or the motor 1b (and the inverter 2b) located in the corresponding direction according to the turning direction of the vehicle. . As a result, it is possible to audibly inform the pedestrians around the vehicle of the turning direction of the vehicle, and safety can be improved. In addition, since the notification sound is generated from only one of the left and right wheels, it is not necessary to generate the notification sound from the motor (and the inverter) in an unnecessary direction, so it is possible to suppress the generation of unnecessary sound. For this reason, it does not harm the quietness of the surrounding environment.

  You may comprise so that the front wheel and rear wheel of a vehicle may each be driven. In this case, a notification sound is generated by a motor (and an inverter located in a corresponding direction depending on the traveling direction of the vehicle depending on the traveling direction of the vehicle when the vehicle moves forward and backward. The traveling direction of the vehicle can be audibly notified, and safety can be improved.

  Correspondence between each component in the claims and each component in the best mode for carrying out the invention will be described. The detection means includes, for example, a turn signal detection device 13, a READY detection device 14, and a reverse detection device 15. The electromagnetic sound generating means includes, for example, a motor 1 (1a, 1b) and an inverter 2 (2a, 2b). The ignition start signal corresponds to, for example, a lighting ON signal of the READY lamp. In addition, as long as the characteristic function of this invention is not impaired, each component is not limited to the said structure.

It is a principal part block diagram of the electric vehicle by 1st embodiment of this invention. It is a flowchart explaining the flow of command value determination processing. It is a flowchart explaining the flow of command value determination processing. It is a flowchart explaining the flow of command value determination processing. It is a flowchart explaining the flow of the calculation process of a motor current command value. It is a figure explaining the arrangement | positioning of the drive wheel and motor in a vehicle. It is a principal part block diagram of the electric vehicle by 2nd embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1a, 1b ... Three-phase alternating current motor 2, 2a, 2b ... Inverter 3, 3a, 3b ... Wheel 4, 4a, 4b ... Torque control device 5, 5a, 5b ... Motor current control device
6, 6a, 6b ... PWM generator 7 ... DC power supply 8, 8a, 8b ... Current sensor 9, 9a, 9b ... Speed sensor 10, 10A ... Motor sound command device 11, 11a, 11b ... Motor temperature sensor 12, 12a, 12b ... Inverter temperature sensor 13 ... Turn signal detection device 14 ... READY detection device 15 ... Retraction detection device

Claims (9)

At least a motor used for driving,
Detecting means for detecting vehicle information;
Motor sound command means for setting the frequency of the drive signal supplied to the motor and the first motor current command value according to the information detected by the detection means;
An electromagnetic sound generating means configured to generate an audible electromagnetic sound by changing the frequency and current value of the drive signal, the motor and a power conversion device supplying a drive signal to the motor;
Torque control means for setting a second motor current command value for causing the motor to generate a torque requested by the torque command value based on the first motor current command value and a torque command value for the motor; ,
Motor current control means for controlling the current value based on a current command value from the torque control means,
The power conversion device is driven by a gate signal generated based on a control value by the motor current control means and a set frequency by the motor sound command means . The torque control means includes
Of the first motor current command value and the torque command value for the motor, a third motor current command value that optimizes the efficiency of the motor is set based on the torque command value for the motor,
The first motor current command value is compared with the third current command value, and when the first motor current command value is larger than the third current command value, the second motor current command value is Output to the motor current control means, and when the first motor current command value is smaller than the third current command value, the third motor current command value is outputted to the motor current control means. The vehicle according to claim 1. The vehicle according to claim 1 or 2,
A plurality of the motors are provided corresponding to a plurality of drive wheels,
The electromagnetic sound generating means generates an audible electromagnetic sound from at least one of the plurality of motors according to the detected information. In the vehicle according to any one of claims 1 to 3 ,
The vehicle characterized in that the detection means detects a turn signal of the vehicle. The vehicle according to claim 4 , wherein
A plurality of the motors are provided corresponding to the left and right drive wheels of the vehicle,
The vehicle according to claim 1, wherein the electromagnetic sound generating means generates an audible electromagnetic sound from a motor in a direction indicated by the detected turn signal. In the vehicle according to any one of claims 1 to 3 ,
The vehicle characterized in that the detecting means detects a reverse signal of the vehicle. In the vehicle according to any one of claims 1 to 3 ,
The vehicle characterized in that the detecting means detects an ignition start signal of the vehicle. The vehicle according to claim 1 ,
The detection means detects two or more different information of the vehicle,
The vehicle according to claim 1, wherein the electromagnetic sound generating means sets at least one of a frequency and a current value of a drive signal supplied to the motor to different values for each piece of information detected by the detecting means. A detection process for detecting vehicle information;
A first setting step of setting at least a frequency of a drive signal supplied to a motor used for travel driving and a first motor current command value according to the information detected by the detection step;
Changing the frequency and current value of the driving Shingo to generate an audible electromagnetic sound from electromagnetic generation means constituted by the motor and a power converter that supplies a driving signal to the motor; and
A second setting step for setting a motor current command value for causing the motor to generate a torque requested by the torque command value based on the first motor current command value and a torque command value for the motor; ,
A current value control step of controlling the current value based on the current command value set by the second setting step;
A vehicle motor comprising a step of driving the power converter by a gate signal generated based on a control value obtained by the current value control step and a frequency set by the first setting step. Control method.

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