JP7498625B2 - Vehicle control device, program, and vehicle control method - Google Patents

Description

The present invention relates to a vehicle control device , a program, and a vehicle control method .

As seen in, for example, Patent Document 1, a vehicle control device is known that is applied to a vehicle that includes a power storage device, an inverter electrically connected to the power storage device, and a rotating electric machine. The rotating electric machine has a stator winding electrically connected to the inverter, and a rotor capable of transmitting power to the drive wheels. This control device operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on the amount of accelerator operation of the vehicle.

Patent No. 3376832

When the charge rate of the power storage device is low, the internal resistance of the power storage device is high. In this case, the voltage of the power storage device fluctuates greatly in response to fluctuations in the current of the power storage device, and thus the torque of the rotating electric machine also fluctuates greatly. As a result, there is a concern that the drivability of the vehicle may deteriorate.

A primary object of the present invention is to provide a vehicle control device , a program, and a vehicle control method that can suppress deterioration of the drivability of a vehicle.

The present invention includes a power storage device and
an inverter electrically connected to the power storage device;
A vehicle control device applied to a vehicle including a stator winding electrically connected to the inverter, and a rotating electric machine having a rotor capable of transmitting power to driving wheels,
an operation unit that operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
and a torque limiting unit that, when the voltage of the power storage device falls below the threshold value, sets the command torque used in the operation unit to a limiting torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when controlling the torque of the rotating electric machine to a command torque determined based on the accelerator operation amount.

In the present invention, when the voltage of the power storage device falls below the threshold value, the command torque used in the operation unit is set to a limit torque that reduces the discharge power of the power storage device to less than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount. This makes it possible to suppress a drop in the voltage of the power storage device and to prevent the charging rate of the power storage device from decreasing as much as possible. This makes it possible to suppress an increase in the internal resistance of the power storage device and to suppress an increase in the torque fluctuation of the rotating electric machine. As a result, it is possible to suppress a deterioration in the drivability of the vehicle.

Here, the torque limiting unit may be configured to set the limit torque such that it repeatedly increases and decreases.

When the torque of the rotating electric machine is reduced, the discharge current from the power storage device is reduced and the voltage of the power storage device is increased. In this case, the difference between the voltage of the power storage device and its allowable lower limit value becomes large, creating room for temporarily increasing the torque of the rotating electric machine. On the other hand, when the torque of the rotating electric machine is increased, the discharge current from the power storage device is increased and the voltage of the power storage device is reduced.

With this in mind, the limit torque is set to repeatedly increase and decrease. This makes it possible to properly perform evacuation driving of the vehicle while preventing the voltage of the power storage device from falling below its allowable lower limit.

1 is an overall configuration diagram of an in-vehicle system according to a first embodiment. FIG. 4 is a characteristic diagram showing the relationship between cell voltage and SOC. 4 is a flowchart showing a processing procedure of an EVECU and a battery ECU. 4 is a time chart showing an example of processing of an EVECU and a battery ECU. FIG. 11 is a graph showing the relationship between battery temperature and limit torque according to the second embodiment. FIG. 11 is a diagram showing a method for setting a limit torque according to another embodiment. FIG. 11 is a diagram showing a method for setting a limit torque according to another embodiment. FIG. 11 is a diagram showing a method for setting a limit torque according to another embodiment.

First Embodiment
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a vehicle control device according to the present invention will now be described with reference to the drawings. The control device of this embodiment is mounted on a vehicle such as an electric vehicle that is equipped with only a rotating electric machine as a power source for running the vehicle.

As shown in FIG. 1, the vehicle 10 includes a rotating electric machine 20, an inverter 30, and a storage battery 31 as an electricity storage device. In this embodiment, the rotating electric machine 20 has a three-phase stator winding 21 and a rotor 22, and is, for example, a permanent magnet type synchronous machine.

The vehicle 10 is equipped with drive wheels 23. The rotor 22 is capable of transmitting power to the drive wheels 23 via a transmission and a drive shaft (not shown). In other words, the rotating electric machine 20 serves as a power source for driving the vehicle 10.

The stator winding 21 is electrically connected to the storage battery 31 via an inverter 30 and a contactor 32. The inverter 30 has upper and lower arm switches. The storage battery 31 is a battery pack consisting of a series connection of multiple battery cells, and is, for example, a secondary battery such as a lithium ion battery or a nickel metal hydride battery.

The vehicle 10 is equipped with an auxiliary device 33. In this embodiment, the auxiliary device 33 includes at least one of a DC-DC converter and an electric compressor. The DC-DC converter steps down the output voltage of the storage battery 31 and supplies it to a low-voltage load. The low-voltage load includes, for example, at least one of a low-voltage storage battery and a low-voltage electrical load. The low-voltage storage battery is a storage battery with a lower output voltage than the storage battery 31, for example a lead storage battery. The electric compressor constitutes an interior air conditioning device and is driven by power supplied from the storage battery 31 to circulate the refrigerant in the vehicle refrigeration cycle.

The vehicle 10 includes a battery ECU 34 that monitors the storage battery 31, and an EVECU 50. The battery ECU 34 detects voltage information of each battery cell of the storage battery 31, battery current information flowing through the storage battery 31, and battery temperature TSbat, which is the temperature of the storage battery 31. The battery ECU 34 sets the discharge power limit value Wout of the storage battery 31 and calculates the state of charge (SOC) of each battery cell based on these detected values. The discharge power limit value Wout is stored in a memory as a storage unit provided in the battery ECU 34, for example, as map information associated with the SOC, battery temperature TSbat, and voltage information. The memory is a non-transient substantial recording medium other than ROM (for example, a non-volatile memory other than ROM). For example, the battery ECU 34 sets the discharge power limit value Wout based on the voltage of the battery cell, and specifically, the higher the voltage of the battery cell, the larger the discharge power limit value Wout is set. The battery ECU 34 transmits the set discharge power limit value Wout, the calculated SOC, and voltage, current, temperature information, etc. to the EVECU 50.

The vehicle 10 is equipped with an accelerator sensor 40. The accelerator sensor 40 detects the amount of depression of the accelerator pedal (hereinafter, accelerator operation amount Sacc) by the driver as an accelerator operation member. The detection value of the accelerator sensor 40 is transmitted to the EVECU 50.

The EVECU 50 calculates the command torque Tacc based on the accelerator operation amount Sacc. For example, the EVECU 50 increases the absolute value of the command torque Tacc as the accelerator operation amount Sacc increases. In this embodiment, when the vehicle 10 moves forward, the sign of the command torque Tacc becomes positive, and the rotor 22 rotates in a first direction. On the other hand, when the vehicle 10 moves backward, the sign of the command torque Tacc becomes negative, and the rotor 22 rotates in a second direction opposite to the first direction. In order to control the torque of the rotating electric machine 20 to the command torque Tacc, the EVECU 50 performs switching control of the upper and lower arm switches constituting the inverter 30 with the contactor 32 turned on. In detail, the EVECU 50 performs power drive control, which is switching control that converts the DC power output from the storage battery 31 into AC power and supplies it to the stator winding 21. When this control is performed, the rotating electric machine 20 functions as an electric motor and generates power drive torque. The EVECU 50 also performs regenerative drive control, which is switching control that converts AC power generated by the rotating electric machine 20 into DC power and supplies it to the storage battery 31. When this control is performed, the rotating electric machine 20 functions as a generator and generates regenerative torque. The regenerative torque provides braking force to the wheels. The EVECU 50 also performs drive control of the auxiliary machine 33.

As shown in FIG. 2, the lower the SOC of the battery cells that make up the storage battery 31, the lower the terminal voltage of the battery cell. In FIG. 2, the region where the SOC of the battery cell is equal to or lower than a specified value Sth is shown as the depletion region. In the depletion region, the EVECU 50 and the battery ECU 34 perform control to appropriately perform evacuation driving of the vehicle 10 while minimizing deterioration of drivability. This control is explained below using FIG. 3.

In step S10, the battery ECU 34 determines whether the calculated discharge power limit value Wout is equal to or less than a predetermined value Wth.

If the battery ECU 34 determines that the discharge power limit value Wout is greater than the predetermined value Wth, the process proceeds to step S11, where the EVECU 50 performs normal control of the vehicle 10. In normal control, the inverter 30 is switched to control the torque of the rotating electric machine 20 to the command torque Tacc, which is set based on the detected accelerator operation amount Sacc.

In this embodiment, a margin ΔW is set between the discharge power limit value Wout and the output power Wr of the storage battery 31. Therefore, the drive control of the rotating electric machine 20 is performed so that the sum of the output power Wr of the storage battery 31 and the margin ΔW does not exceed the discharge power limit value Wout. Here, even during normal control, if the sum of the output power Wr of the storage battery 31 and the margin ΔW is likely to exceed the discharge power limit value Wout, the command torque is set to the limit torque Tlim, which is smaller than the command torque Tacc, which is set based on the accelerator operation amount Sacc.

On the other hand, if the battery ECU 34 determines that the discharge power limit value Wout is equal to or less than the predetermined value Wth, the process proceeds to step S12, where the battery ECU 34 outputs an output fixation determination signal to the EVECU 50. When this signal is input to the EVECU 50, the EVECU 50 reduces the power consumption of the auxiliary device 33. The EVECU 50 reduces the power consumption of the electric compressor or the DCDC converter, for example, and specifically stops the operation of the electric compressor or the DCDC converter.

In step S13, the battery ECU 34 selects the minimum value (hereinafter, minimum cell voltage Vmin) from the detected terminal voltages of each battery cell, and determines whether the minimum cell voltage Vmin is equal to or lower than the threshold voltage Vth. The threshold voltage Vth is set to a value equal to or higher than the allowable lower limit voltage Vlim of the battery cell, and specifically, for example, may be set to a value slightly higher than the allowable lower limit voltage Vlim.

The threshold value Vth may also be set based on the battery current Ir. Specifically, for example, the threshold value Vth may be set smaller as the battery current Ir increases. This is a process for suppressing the influence of the difference between the detected minimum cell voltage Vmin and the electromotive voltage of the battery cell. In other words, when the current flowing through the battery cell is large, the amount of voltage drop in the internal resistance of the battery cell increases, and the degree of decrease in the terminal voltage relative to the electromotive voltage of the battery cell increases.

When the battery ECU 34 determines that the minimum cell voltage Vmin is equal to or lower than the threshold value Vth, the process proceeds to step S14, where it outputs an output fix end determination signal to the EVECU 50. This signal is for notifying the EVECU 50 that the storage battery 31 is in a depleted state or close to it.

When the EVECU 50 receives the output fixation end determination signal, it transitions to evacuation driving control in step S15. Then, in step S16, the EVECU 50 sets the limit torque Tlim of the rotating electric machine 20 based on the minimum cell voltage Vmin received from the battery ECU 34 and the battery current Ir flowing through the storage battery 31. The EVECU 50 performs switching control of the inverter 30 to control the torque of the rotating electric machine 20 to the limit torque Tlim.

Here, the absolute value of the limit torque Tlim is smaller than the absolute value of the command torque Tacc, which is determined based on the accelerator operation amount Sacc. When the vehicle 10 moves forward, the EVECU 50 sets the positive limit torque Tlim to a larger value as the minimum cell voltage Vmin increases. This is because the higher the minimum cell voltage Vmin, the larger the difference between the minimum cell voltage Vmin and the allowable lower limit voltage Vlim becomes, and the greater the room for increasing the torque of the rotating electric machine 20.

When the vehicle 10 moves forward, the EVECU 50 sets the positive limit torque Tlim to a larger value as the battery current Ir increases. This is to suppress the influence of the difference between the detected minimum cell voltage Vmin and the electromotive voltage of the battery cell. In other words, the greater the current flowing through the storage battery 31, the greater the voltage drop in the internal resistance of the battery cells that make up the storage battery 31. For this reason, even if the terminal voltage of the battery cell when the current is large is the same as the terminal voltage of the battery cell when the current is small, the electromotive voltage of the battery cell when the current is large is higher than the electromotive voltage of the battery cell when the current is small. For this reason, there is more room to increase the limit torque Tlim when the electromotive voltage is high than when it is low. Therefore, the greater the battery current Ir, the greater the positive limit torque Tlim is set.

On the other hand, when the vehicle 10 is moving in reverse, the EVECU 50 sets the absolute value of the negative limit torque Tlim to a larger value as the minimum cell voltage Vmin is higher. Also, when the vehicle 10 is moving in reverse, the EVECU 50 sets the absolute value of the negative limit torque Tlim to a larger value as the battery current Ir is higher.

The limit torque Tlim may be set, for example, based on map information or formula information in which the limit torque Tlim is defined in relation to the minimum cell voltage Vmin and the battery current Ir. The process of step S16 corresponds to the "torque limiting unit."

Figure 4 shows an example of the processing performed by the EVECU 50 and the battery ECU 34 when the vehicle 10 moves forward. Figure 4(a) shows the progress of each judgment signal output from the battery ECU 34 to the EVECU 50, and Figure 4(b) shows the progress of the SOC calculated by the battery ECU 34. The solid line in Figure 4(c) shows the progress of the output power Wr of the storage battery 31, and the dashed line in Figure 4(c) shows the progress of the discharge power limit value Wout. Figure 4(d) shows the progress of the command torque Trq* of the rotating electric machine 20, Figure 4(e) shows the progress of the minimum cell voltage Vmin, and Figure 4(f) shows the progress of the battery current Ir.

At time t1 during normal control, the discharge power limit value Wout begins to decrease. In this embodiment, as described above, a margin is set between the output power Wr of the storage battery 31 and the discharge power limit value Wout. After the discharge power limit value Wout begins to decrease, the output power Wr of the storage battery 31 also begins to decrease in accordance with the decrease. As a result, the command torque of the rotating electric machine 20 is set to the limit torque Tlim, which is smaller than the command torque Tacc, which is set based on the accelerator operation amount Sacc. As a result, the discharge power of the storage battery 31 becomes smaller than the discharge power of the storage battery 31 when the torque of the rotating electric machine 20 is controlled to the command torque Tacc.

After that, at time t2, the battery ECU 34 outputs an output fixation determination signal to the EVECU 50. Then, at time t3, the battery ECU 34 outputs an output fixation end determination signal to the EVECU 50. This causes a transition to evacuation travel control. The EVECU 50 rapidly (e.g., in a step-like manner) reduces the command torque from the command torque Tacc, which is set based on the accelerator operation amount Sacc, to 0. This causes the minimum cell voltage Vmin to start rising. Note that FIG. 4(d) shows the transition of the limit torque Tlim when it is assumed that the minimum cell voltage Vmin has a greater influence on the setting of the limit torque Tlim than the battery current Ir after time t3.

When the limit torque Tlim is suddenly reduced, the discharge current from the storage battery 31 suddenly decreases, and the voltage of each battery cell increases. In this case, the difference between the minimum cell voltage Vmin and the allowable lower limit voltage Vlim increases, creating room to temporarily increase the limit torque Tlim. For this reason, in the period from time t3 to t4, the limit torque Tlim is increased as the minimum cell voltage Vmin increases. As a result, the minimum cell voltage Vmin begins to decrease at time t4.

On the other hand, if the limit torque Tlim is increased, the discharge current from the storage battery 31 increases and the voltage of each battery cell decreases. Therefore, in the period from time t4 to t5, the limit torque Tlim is reduced to 0 as the minimum cell voltage Vmin decreases.

After that, in the period from time t5 to t6, the limit torque Tlim is increased again as the minimum cell voltage Vmin increases. Also, in the period from time t6 to t7, the limit torque Tlim is decreased as the minimum cell voltage Vmin decreases.

When the battery ECU 34 determines that the minimum cell voltage Vmin has dropped and reached the allowable lower limit voltage Vlim, it outputs a low-power signal to the EVECU 50. When the EVECU 50 receives the low-power signal, it switches the contactor 32 off.

Incidentally, after time t3 in FIG. 4(d), the limit torque Tlim, which is set based on the minimum cell voltage Vmin and the battery current Ir, shows a trend in which it repeatedly increases and decreases. However, this trend is not limited to this, and as a result of setting the limit torque Tlim based on the minimum cell voltage Vmin, the limit torque Tlim may converge to a certain value.

The present embodiment described above provides the following advantages:

When the battery ECU 34 determines that the minimum cell voltage Vmin is equal to or lower than the threshold value Vth, it outputs an output fixation end determination signal to the EVECU 50. As a result, the EVECU 50 starts the evacuation travel control. In the evacuation travel control, the EVECU 50 sets the command torque to a limit torque Tlim that is smaller than the command torque Tacc set based on the accelerator operation amount Sacc. This makes it possible to suppress a drop in the terminal voltage of each battery cell that constitutes the storage battery 31. In addition, the limit torque Tlim is set based on the detected minimum cell voltage Vmin. This setting makes it possible to prevent the terminal voltage of each battery cell from falling below the allowable lower limit voltage Vlim. As a result, even if the storage battery 31 is in a depleted state, the vehicle 10 can perform evacuation travel so that the voltage (specifically, the electromotive voltage) of each battery cell does not fall below the allowable lower limit voltage Vlim.

In addition, by setting the command torque to the limit torque Tlim which is smaller than the command torque Tacc set based on the accelerator operation amount Sacc, it is possible to suppress a drop in the terminal voltage of the storage battery 31, and to prevent the SOC of the storage battery 31 from becoming as low as possible. This suppresses an increase in the internal resistance of the battery cells constituting the storage battery 31, and suppresses an increase in the terminal voltage of the battery cells relative to a fluctuation in the current flowing through the battery cells. As a result, it is possible to suppress a large fluctuation in the discharge power limit value Wout, which is set based on the terminal voltage of the battery cells, and suppress an increase in the torque fluctuation of the rotating electric machine 20. This suppresses a deterioration in the drivability of the vehicle 10.

When the EVECU 50 receives the output fixation end determination signal, it suddenly reduces the command torque. This allows the voltage of each battery cell to increase at the start of evacuation driving control. In addition, by suddenly reducing the command torque, the user of the vehicle 10 can feel the sudden change in torque of the rotating electric machine 20. As a result, the user of the vehicle 10 can understand that the storage battery 31 is in a depleted state, and can then properly perform evacuation driving of the vehicle 10.

In particular, in this embodiment, the command torque is suddenly lowered to 0, so the amount of voltage increase in each battery cell can be made larger. As a result, the peak value of the limit torque thereafter can be made larger. In addition, by suddenly lowering the command torque to 0, the user can accurately understand that the storage battery 31 is in a depleted state.

Second Embodiment
The second embodiment will be described below with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, the process of step S16 in Fig. 3 is changed. In detail, as shown in Fig. 5, the EVECU 50 increases the absolute value of the limit torque Tlim, which is set based on the minimum cell voltage Vmin and the battery current Ir, as the battery temperature TSbat increases. This process takes into account the fact that the higher the temperature of the storage battery 31, the smaller the internal resistance of the battery cells that make up the storage battery 31 becomes.

According to the present embodiment described above, by taking into account the battery temperature TSbat, the limit torque Tlim can be prevented from being set small. Therefore, when there is room to increase the limit torque Tlim, the torque of the rotating electric machine 20 can be increased as much as possible.

<Other embodiments>
Each of the above embodiments may be modified as follows.

- The process of step S13 in FIG. 3 may be replaced with a process of determining whether the smallest SOC among the SOCs of each battery cell is equal to or less than a specified value Sth. The specified value Sth is used to determine whether the storage battery 31 is in a depleted state, as shown in FIG. 2.

-When the EVECU 50 receives the output fixation end determination signal, it may suddenly reduce the command torque to a torque greater than 0, rather than to 0.

- During the periods from time t4 to t5 and from time t6 to t7 in FIG. 4(d), the EVECU 50 may reduce the limit torque Tlim to a value greater than 0, rather than to 0, in response to a decrease in the minimum cell voltage Vmin.

-When the EVECU 50 receives the output fixation determination signal, it may gradually reduce the command torque during the period from time t2 to time t3 in FIG. 4.

- As shown in FIG. 6, after receiving the output fixation end determination signal at time t1, the EVECU 50 may set a period during which the limit torque Tlim is set to 0 between the end timing t2 of the period during which the limit torque Tlim is reduced and the start timing t3 of the period during which the limit torque Tlim is increased. This allows the amount of increase in the minimum cell voltage Vmin from time t2 onwards to be increased. Therefore, the peak value when the limit torque Tlim is subsequently increased at time t4 can be increased. FIG. 6 shows an example in which the peak value at time t4 is greater than the peak value in the period from time t1 to t2.

The configuration described above allows the generated torque of the rotating electric machine 20 to be increased in situations where a large torque is required from the rotating electric machine 20, such as when the drive wheels 23 go over a stone or a step.

Instead of the example shown in FIG. 6, the limit torque Tlim may be set to 0 as shown in FIG. 7. Time t1 in FIG. 7 corresponds to time t1 in FIG. 6.

- The limit torque Tlim may increase and decrease in an arc-like manner, as shown in FIG. 8. Time t1 in FIG. 8 indicates the timing at which the EVECU 50 receives the output fixation end determination signal.

- In step S16 of FIG. 3, it is not necessary to use either the battery current Ir or the minimum cell voltage Vmin to set the limit torque Tlim. In addition, a voltage other than the minimum cell voltage Vmin among the voltages of each battery cell may be used to set the limit torque Tlim.

In addition, in step S16, the voltage used to set the limit torque Tlim is not limited to the voltage detected by the battery ECU 34. For example, if the vehicle 10 is equipped with an input voltage sensor that detects the input voltage of the inverter 30, the limit torque Tlim may be set based on the detection value of the input voltage sensor (corresponding to the correlation value of the terminal voltage of the storage battery 31).

In addition, in step S16, the current used to set the limit torque Tlim is not limited to the battery current detected by the battery ECU 34. For example, if the vehicle 10 is equipped with an input current sensor that detects the input current of the inverter 30, the limit torque Tlim may be set based on the detection value of the input current sensor (corresponding to the correlation value of the current flowing through the storage battery 31).

In addition, in step S16, the voltage used to set the limit torque Tlim is not limited to a detected value, and may be, for example, an estimated value based on the battery current Ir. Specifically, for example, it may be the voltage of the battery cell estimated based on the time-integrated value of the battery current Ir.

- The EVECU 50 may set the limit torque Tlim to repeatedly increase and decrease without using the battery cell voltage detection value and battery current Ir, for example, after time t3 in FIG. 4.

- It is not necessary to set a margin ΔW in the drive control of the rotating electric machine 20.

The storage battery is not limited to a battery pack. In this case, the voltage and SOC of the storage battery may be used in the process of FIG. 4, rather than the voltage and SOC of the battery cell. Also, the power storage device is not limited to a storage battery, and may be, for example, a large-capacity capacitor.

The inverter 30 and the storage battery 31 may be electrically connected via a DC-DC converter. This DC-DC converter boosts the output voltage of the storage battery 31 and supplies it to the inverter 30, or reduces the voltage from the inverter 30 and supplies it to the storage battery 31.

- The vehicle on which the control device is installed is not limited to a vehicle equipped with only a rotating electric motor as a power source for running, but may be a vehicle equipped with an internal combustion engine in addition to a rotating electric motor as a power source for running.

The control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by combining a processor and memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by the computer.

20... rotating electric machine, 30... inverter, 31... storage battery, 34... battery ECU, 50... EVECU.

Claims (17)

A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control device (50) applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
an operation unit that operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting unit that sets the command torque used by the operation unit to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value ,
The torque limiting unit sets the limit torque such that it repeatedly increases and decreases based on a voltage of the power storage device or a correlation value thereof. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control device (50) applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
an operation unit that operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting unit that sets the command torque used by the operation unit to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value,
The torque limiting unit sets the limit torque such that it repeatedly increases and decreases based on a current flowing through the power storage device or a correlation value thereof . A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control device (50) applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
an operation unit that operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting unit that sets the command torque used by the operation unit to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value,
A vehicle control device , wherein the torque limiting unit sets the limit torque such that it repeatedly increases and decreases. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control device (50) applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
an operation unit that operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting unit that sets the command torque used by the operation unit to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value,
The torque limiting unit is
setting the limit torque based on a voltage of the power storage device or a correlation value thereof;
When the temperature of the power storage device is high, the limit torque is increased as compared to when the temperature of the power storage device is low;
A vehicle control device that sets the limit torque so as to repeatedly increase and decrease, and sets a period during which the limit torque is set to 0 between a period during which the limit torque is decreased and a period during which the limit torque is increased . A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control device (50) applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
an operation unit that operates the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting unit that sets the command torque used by the operation unit to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value,
The torque limiting unit is
setting the limit torque based on a voltage of the power storage device or a correlation value thereof;
A vehicle control device that corrects the set limit torque so that it is larger as the temperature of the power storage device increases. 6. The vehicle control device according to claim 1 , wherein the torque limiting unit rapidly reduces the command torque used by the operation unit to the limit torque when a voltage of the power storage device becomes equal to or lower than the threshold value. The vehicle control device according to claim 6 , wherein the torque limiting unit abruptly reduces the command torque used by the operation unit to 0 when the voltage of the power storage device becomes equal to or lower than the threshold value. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A program applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
On the computer,
an operation process for operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
and executing a torque limiting process for setting a command torque used in the operation process to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
a program for setting, in the torque limiting process, the limit torque that repeatedly increases and decreases based on the voltage of the power storage device or a correlation value thereof; A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A program applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
On the computer,
an operation process for operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
and executing a torque limiting process for setting a command torque used in the operation process to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
a program for setting, in the torque limiting process, the limit torque that repeatedly increases and decreases based on a current flowing through the power storage device or a correlation value thereof; A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A program applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
On the computer,
an operation process for operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
and executing a torque limiting process for setting a command torque used in the operation process to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
A program for setting the limit torque in the torque limiting process so as to repeatedly increase and decrease the limit torque. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A program applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
On the computer,
an operation process for operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
and executing a torque limiting process for setting a command torque used in the operation process to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
In the torque limiting process,
setting the limit torque based on a voltage of the power storage device or a correlation value thereof;
When the temperature of the power storage device is high, the limit torque is increased as compared to when the temperature of the power storage device is low;
A program that sets the limit torque so as to repeatedly increase and decrease, and sets a period during which the limit torque is set to 0 between a period during which the limit torque is decreased and a period during which the limit torque is increased. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A program applied to a vehicle (10) including a stator winding (21) electrically connected to the inverter, and a rotating electric machine (20) having a rotor (22) capable of transmitting power to driving wheels (23),
On the computer,
an operation process for operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
and executing a torque limiting process for setting a command torque used in the operation process to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
In the torque limiting process,
setting the limit torque based on a voltage of the power storage device or a correlation value thereof;
The program corrects the set limit torque so that it is larger as the temperature of the power storage device increases. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control method applied to a vehicle (10) including a rotating electric machine (20) having a stator winding (21) electrically connected to the inverter and a rotor (22) capable of transmitting power to driving wheels (23), comprising:
an operation step of operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting step of setting the command torque used in the operation step to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
A control method for a vehicle, wherein in the torque limiting step, the limit torque is set so as to repeatedly increase and decrease based on a voltage of the power storage device or a correlation value thereof. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control method applied to a vehicle (10) including a rotating electric machine (20) having a stator winding (21) electrically connected to the inverter and a rotor (22) capable of transmitting power to driving wheels (23), comprising:
an operation step of operating the inverter so as to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting step of setting the command torque used in the operation step to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
The control method for a vehicle, wherein in the torque limiting step, the limit torque is set so as to repeatedly increase and decrease based on a current flowing through the power storage device or a correlation value thereof. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control method applied to a vehicle (10) including a rotating electric machine (20) having a stator winding (21) electrically connected to the inverter and a rotor (22) capable of transmitting power to driving wheels (23), comprising:
an operation step of operating the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting step of setting the command torque used in the operation step to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
A control method for a vehicle, comprising: setting the limit torque so as to repeatedly increase and decrease in the torque limiting step. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control method applied to a vehicle (10) including a rotating electric machine (20) having a stator winding (21) electrically connected to the inverter and a rotor (22) capable of transmitting power to driving wheels (23), comprising:
an operation step of operating the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting step of setting the command torque used in the operation step to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
In the torque limiting step,
setting the limit torque based on a voltage of the power storage device or a correlation value thereof;
When the temperature of the power storage device is high, the limit torque is increased as compared to when the temperature of the power storage device is low;
A control method for a vehicle, comprising: setting the limit torque so as to repeatedly increase and decrease; and setting a period during which the limit torque is set to 0 between a period during which the limit torque is decreased and a period during which the limit torque is increased. A power storage device (31);
an inverter (30) electrically connected to the power storage device;
A vehicle control method applied to a vehicle (10) including a rotating electric machine (20) having a stator winding (21) electrically connected to the inverter and a rotor (22) capable of transmitting power to driving wheels (23), comprising:
an operation step of operating the inverter to control the torque of the rotating electric machine to a command torque that is set based on an accelerator operation amount of the vehicle;
a torque limiting step of setting the command torque used in the operation step to a limit torque that makes the discharge power of the power storage device smaller than the discharge power of the power storage device when the torque of the rotating electric machine is controlled to a command torque determined based on the accelerator operation amount, when the voltage of the power storage device becomes equal to or lower than the threshold value;
In the torque limiting step,
setting the limit torque based on a voltage of the power storage device or a correlation value thereof;
A control method for a vehicle, comprising: correcting the set limit torque so that the limit torque is increased as the temperature of the power storage device increases.

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