JP6557697B2 - 電動車両の制御装置 - Google Patents
電動車両の制御装置 Download PDFInfo
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Description
まず、図1及び図2を参照して、本発明の実施形態に係る制御装置100が搭載される電動車両1の構成について説明する。
続いて、図3〜図10を参照して、本実施形態に係る制御装置100の動作について説明する。
続いて、本実施形態に係る制御装置100の効果について説明する。
以上説明したように、本実施形態によれば、ドライバによるブレーキ操作が中断された場合に、停止力Fsとしてモータ25による車両駆動力を利用して電動車両1を停止状態に維持する第1ヒルホールド制御が開始される。それにより、発進のためにアクセル操作が行われる時点において、車両制動力が発生していない状態にする、又は発生している車両制動力を小さくすることができる。ゆえに、発進時の運転フィーリングを向上させることができる。
11,11a,11b,11c,11d 車輪
21 バッテリ
23,23f,23r インバータ
25,25f,25r モータ
27f フロントディファレンシャル装置
27r リヤディファレンシャル装置
31,31a,31b,31c,31d ブレーキ装置
33 ブレーキペダル
35 マスタシリンダ
37 油圧供給ユニット
51,51a,51b,51c,51d 車輪回転数センサ
53 加速度センサ
55 ブレーキペダルセンサ
57 アクセルペダルセンサ
59,59f,59r 温度センサ
100 制御装置
110 判定部
111 停車判定部
112 勾配判定部
130 決定部
131 設定時間決定部
132 停止力決定部
150 制御部
151 モータ制御部
152 ブレーキ制御部
Claims (9)
- 電動車両に作用する駆動力である車両駆動力を出力可能なモータと、
ドライバによるブレーキ操作に応じて前記電動車両に作用する制動力である車両制動力を発生させるブレーキ装置と、
を備える電動車両の制御装置であって、
前記ブレーキ操作が中断された場合に前記電動車両を停止させる停止力として前記モータによる前記車両駆動力を利用して前記電動車両を停止状態に維持する第1ヒルホールド制御を開始する制御部を備え、
前記制御部は、前記第1ヒルホールド制御を開始した後に前記ドライバによるアクセル操作が行われずに設定時間が経過した場合、前記モータによる前記車両駆動力の出力を停止させて前記停止力として前記ブレーキ装置による前記車両制動力を利用して前記電動車両を停止状態に維持する第2ヒルホールド制御を開始し、
前記制御装置は、前記設定時間を前記第1ヒルホールド制御の実行回数の累積値が大きいほど短くなるように決定する設定時間決定部をさらに備え、
前記設定時間決定部は、前記第1ヒルホールド制御が実行されない不実行時間が基準時間を超える場合、前記累積値をリセットする、
電動車両の制御装置。 - 前記設定時間決定部は、前記累積値が基準累積値を超える場合、前記設定時間を0に決定し、
前記制御部は、前記設定時間が0である場合、前記第1ヒルホールド制御を禁止する、
請求項1に記載の電動車両の制御装置。 - 前記停止力を決定する停止力決定部を備え、
前記制御部は、前記第1ヒルホールド制御において、前記車両駆動力及び前記車両制動力を合計が決定された前記停止力と一致するように制御する、
請求項1又は2に記載の電動車両の制御装置。 - 前記停止力決定部は、前記第1ヒルホールド制御における前記車両駆動力の目標値の前記停止力に対する割合を前記モータの温度が高いほど小さくなるように決定する、
請求項3に記載の電動車両の制御装置。 - 前記停止力決定部は、前記モータの温度が基準温度を超える場合、前記第1ヒルホールド制御における前記車両駆動力の目標値の前記停止力に対する割合を0に決定し、
前記制御部は、前記第1ヒルホールド制御における前記車両駆動力の目標値の前記停止力に対する割合が0である場合、前記第1ヒルホールド制御を禁止する、
請求項4に記載の電動車両の制御装置。 - 前記停止力決定部は、前記第1ヒルホールド制御における前記車両駆動力の目標値の前記停止力に対する割合を前記モータの温度の変化率が大きいほど小さくなるように決定する、
請求項3〜5のいずれか一項に記載の電動車両の制御装置。 - 前記停止力決定部は、前記モータの温度の変化率が基準変化率を超える場合、前記第1ヒルホールド制御における前記車両駆動力の目標値の前記停止力に対する割合を0に決定し、
前記制御部は、前記第1ヒルホールド制御における前記車両駆動力の目標値の前記停止力に対する割合が0である場合、前記第1ヒルホールド制御を禁止する、
請求項6に記載の電動車両の制御装置。 - 前記制御部は、前記第1ヒルホールド制御において、前記車両駆動力が目標値に到達するまでの時間を前記設定時間が短いほど短くなるように制御する、
請求項3〜7のいずれか一項に記載の電動車両の制御装置。 - 前記制御部は、前記第2ヒルホールド制御を開始した後に前記アクセル操作が行われずに前記ブレーキ操作が再開され、さらに前記ブレーキ操作が中断された場合、前記第1ヒルホールド制御を開始する、
請求項1〜8のいずれか一項に記載の電動車両の制御装置。
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CN201810282818.5A CN108688514B (zh) | 2017-04-05 | 2018-04-02 | 电动车辆的控制装置 |
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JP6694405B2 (ja) * | 2017-03-17 | 2020-05-13 | 本田技研工業株式会社 | 輸送機器の制御装置 |
CN109466341A (zh) * | 2018-11-22 | 2019-03-15 | 北京长城华冠汽车科技股份有限公司 | 电动汽车的控制方法、电动汽车的控制系统以及车辆 |
CN111845697B (zh) * | 2019-04-29 | 2022-07-19 | 蜂巢传动系统(江苏)有限公司保定研发分公司 | 驻坡控制系统、驻坡控制方法及电动车 |
US11623619B2 (en) | 2019-12-10 | 2023-04-11 | Bendix Commercial Vehicle Systems Llc | Parking brake apparatus and method therefor |
CN111002985B (zh) * | 2019-12-24 | 2021-04-30 | 东风航盛(武汉)汽车控制系统有限公司 | 一种电动汽车驻坡系统的控制方法 |
DE102020122275A1 (de) * | 2020-08-26 | 2022-03-03 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Halten eines zweispurigen Kraftfahrzeuges |
US11541762B2 (en) * | 2020-10-22 | 2023-01-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for extending a vehicle stall |
US11685263B2 (en) * | 2021-01-06 | 2023-06-27 | Rivian Ip Holdings, Llc | Systems and methods for managing stall torque limits |
WO2023134843A1 (en) * | 2022-01-12 | 2023-07-20 | Huawei Digital Power Technologies Co., Ltd. | Vehicle control unit and method for indicating a remaining time for which a hill hold feature can be provided |
DE102022115012A1 (de) | 2022-06-15 | 2023-12-21 | Bayerische Motoren Werke Aktiengesellschaft | Hanghaltefunktion für ein Kraftfahrzeug mit mehreren angetriebenen Achsen |
US20240034288A1 (en) * | 2022-07-26 | 2024-02-01 | Baidu Usa Llc | Accurate brake holding pressure on a gradient of the autonomous driving (ad) vehicle control system |
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JP3601276B2 (ja) * | 1997-12-08 | 2004-12-15 | アイシン・エィ・ダブリュ株式会社 | 自動変速機の制御装置 |
JP2003182404A (ja) * | 2001-12-17 | 2003-07-03 | Aisin Seiki Co Ltd | 電動車輌の坂路停止制御装置 |
DE10301471A1 (de) * | 2002-01-18 | 2003-08-07 | Hitachi Unisia Automotive Ltd | Vorrichtung und Verfahren zur Bremssteuerung |
CN101209682B (zh) * | 2006-12-26 | 2010-09-29 | 比亚迪股份有限公司 | 电动汽车爬坡状态下电机输出转矩控制系统及控制方法 |
JP2010149698A (ja) * | 2008-12-25 | 2010-07-08 | Nissan Motor Co Ltd | 車両用制動力制御装置及びその方法 |
JP5137897B2 (ja) * | 2009-05-20 | 2013-02-06 | 本田技研工業株式会社 | 車両の走行制御装置 |
JP2011166996A (ja) * | 2010-02-12 | 2011-08-25 | Toyota Motor Corp | モータ走行車両制御装置、モータ走行車両制御方法 |
JP5533191B2 (ja) * | 2010-04-23 | 2014-06-25 | 日産自動車株式会社 | ヒルスタートアシスト制御装置 |
JP5195889B2 (ja) | 2010-12-20 | 2013-05-15 | 株式会社日立製作所 | 電気駆動車両 |
JP5660309B2 (ja) * | 2011-01-14 | 2015-01-28 | スズキ株式会社 | 車両駆動用モータ制御装置 |
JP5811950B2 (ja) * | 2012-05-24 | 2015-11-11 | トヨタ自動車株式会社 | 車両の制御装置および車両の制御方法 |
US9707860B2 (en) * | 2013-08-05 | 2017-07-18 | Nissan Motor Co., Ltd. | Vehicle control device and vehicle control method |
JP6492593B2 (ja) * | 2014-12-03 | 2019-04-03 | 日産自動車株式会社 | 制駆動力制御装置及び制駆動力制御方法 |
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