JPH0775216A - Electric car with controller to prevent reverse movement on upward slope - Google Patents

Abstract

PURPOSE:To prevent a reverse movement of a car securely when starting it on an upward slope by detecting reverse rotation of a running motor and adjusting motor drive current in such a way as to prevent motor reverse rotation. CONSTITUTION:A means 10 to detect a driver's intention of stopping a car checks a driver's prerequisites for stopping a car, and a means 9 to detect motor reverse rotation detects a reverse rotation of an electric motor 6 on the basis of the output signal of an rpm sensor 7. When it has been confirmed by the means 9 and 10 that prerequisites for stopping a car are established, and a motor 6 is reversing, a reverse rotation prevention control means 11 controls the drive current of the motor 6 by controlling signal output to a motor controller 5 in order to keep the car stopping while preventing reverse movement of the car. Thus, this controller enables an electric car to stop safely on an upward slope, reducing a load on a driver.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle driven by an electric motor, and more particularly to an electric vehicle with an uphill road reverse travel prevention control, which considers reverse travel prevention of the vehicle when stopped on an uphill road.

[0002]

2. Description of the Related Art A conventional automatic transmission type gasoline vehicle is provided with an ISC (idle speed control) mechanism for maintaining the stopped state when the vehicle is stopped on an uphill road. ing. This is configured to control the engine speed and output so that the output torque from the torque converter is balanced against the gradient load of the vehicle, and to keep the vehicle stopped without pressing the brake pedal. Has been done.

[0003]

By the way, since there is no ISC mechanism in an electric vehicle, there is a risk that the vehicle will back when the vehicle is stopped on an uphill road. Therefore, it is necessary to keep depressing the brake pedal in order to keep the vehicle in the state of not backing up.

However, when the brake pedal is changed over to the accelerator pedal, there is a possibility that the vehicle will come back during that time, and it may be possible to approach the following vehicle. In order to eliminate this situation, it has been considered to perform control corresponding to the gradient of the vehicle, similar to a gasoline vehicle. As an example thereof, JP-A-58-12506 can be cited.

This is because the braking state is maintained until the drive current of the electric motor can be rotated forward by switching from the brake pedal to the accelerator pedal, and braking is performed when the drive current exceeds a predetermined value. It is configured to output a braking release signal for releasing. However, in the case of this configuration, the drive motor and the braking unit are separate bodies, and the predetermined value for determining the drive current is calculated and determined by the vehicle weight measuring device, the roadway slope measuring device, the vehicle characteristic storage device, and the like. Therefore, there is a problem that the structure is complicated and the cost is increased in many cases by connecting and controlling these devices.

The present invention was devised in view of the above problems, and provides an electric vehicle with uphill backward reversing prevention control, which is capable of reliably preventing backward traveling when starting uphill at a low cost. The purpose is to

[0007]

For this reason, an electric vehicle with reverse slope reverse control of the present invention according to the first aspect of the present invention comprises a traveling electric motor, and a rotational speed detecting means for detecting the rotational speed of the electric motor. In an electric vehicle equipped with an electric motor rotation control means for controlling the rotation state of the traveling electric motor based on the detection signal of the rotation speed detection means, the electric motor rotation control means includes the electric motor rotation control means based on the detection signal of the rotation speed detection means. An electric motor reverse rotation detecting means for detecting whether or not the traveling electric motor is reversely rotating, and the traveling electric motor when the detection signal indicating that the traveling electric motor is reversely rotating is received from the electric motor reverse rotation detecting means. In order to prevent the reverse rotation of the drive motor, the reverse rotation prevention control means for increasing and adjusting the drive current of the traveling electric motor is provided.

According to the second aspect of the present invention, in addition to the structure of the first aspect, the electric vehicle with uphill reverse traveling prevention control according to the present invention detects a temporary stop intention for detecting whether or not the driver is about to stop temporarily. The reverse rotation prevention control means receives a signal from the temporary stop intention detecting means indicating that the driver is temporarily stopping, and the reverse rotation detecting means reversely rotates the traveling electric motor. When the detection signal indicating that the traveling electric motor is received is received, the driving electric current of the traveling electric motor is increased and adjusted so as to prevent reverse rotation of the traveling electric motor.

Further, in the electric vehicle with uphill road reverse travel prevention control according to a third aspect of the present invention, in addition to the configuration of the second aspect, the temporary stop intention detecting means includes accelerator operation information and shift position information. On the basis of the above, it is determined that the driver has a will to stop if the accelerator is not operated and the shift position is at the stop position.

According to a fourth aspect of the present invention, there is provided an electric vehicle with an uphill reverse traveling prevention control, a traveling electric motor, a rotational speed detecting means for detecting the rotational speed of the electric motor, and detection by the rotational speed detecting means. An electric vehicle having electric motor rotation control means for controlling the rotational state of the traveling electric motor on the basis of a signal, an accelerator operating state detecting means for detecting an accelerator operating state, and a shift position detecting means for detecting a shift position. In the above, it is determined that the driver has a will to stop based on the detection information from the accelerator operation state detecting means and the shift position detecting means when the accelerator operation is not performed and the shift position is at the temporary stop position. And a reverse motor detecting means for detecting whether or not the traveling electric motor is reversely rotating based on a detection signal of the rotation speed detecting means. A rotation detection means and a detection signal indicating that the driver has a suspension intention from the suspension intention detection means, and a detection signal indicating that the traveling electric motor is reversely rotating from the electric motor reverse rotation detection means. When receiving, it is characterized by being provided with a reverse rotation prevention control means for increasing and adjusting the drive current of the traveling electric motor in order to prevent the reverse rotation of the traveling electric motor.

According to a fifth aspect of the present invention, there is provided an electric vehicle with reverse hill reverse travel prevention control according to the fourth aspect, wherein the reverse rotation prevention control means controls the drive current of the traveling electric motor. When the increase adjustment is performed, the drive current is increased by a constant amount in a predetermined cycle until the reverse rotation of the traveling electric motor is eliminated.

[0012]

In the electric vehicle equipped with the reverse slope reverse travel prevention control according to the present invention as set forth in claim 1, the traveling electric motor travels while the rotation state is controlled by the electric motor rotation control means based on the detection signal of the rotation speed detection means. . Then, when the reverse rotation prevention control means receives a detection signal from the electric motor reverse rotation detection means indicating that the traveling electric motor is rotating in reverse, the traveling electric motor of the traveling electric motor is blocked so as to prevent reverse rotation of the traveling electric motor. Adjust the drive current to increase.

As a result, the electric vehicle is prevented from moving backward and is maintained in the stopped state. Further, in the above-described electric vehicle with reverse hill reverse travel prevention control according to the present invention, the reverse rotation prevention control means receives the signal from the temporary stop intention detecting means indicating that the driver is temporarily stopping. Further, when a detection signal indicating that the traveling electric motor is reversely rotating is received from the electric motor reverse rotation detecting means, the drive current of the traveling electric motor is increased to prevent the reverse rotation of the traveling electric motor. To do.

Further, in the electric vehicle with uphill reverse traveling prevention control according to the third aspect of the present invention, the temporary stop intention detecting means performs the accelerator operation based on the accelerator operation information and the shift position information. If not, and if the shift position is at the temporary stop position, it is determined that the driver intends to temporarily stop. In addition, in the electric vehicle with uphill reverse traveling prevention control according to the present invention described in claim 4, the electric motor for traveling is rotated while the rotational state is controlled by the electric motor rotation control means based on the detection signal of the rotational speed detection means. To do.

On the other hand, the rotation speed detecting means detects the rotation of the traveling electric motor, the accelerator operation state detecting means detects the accelerator operation state, and the shift position detecting means detects the shift position. On the basis of the detection information from the accelerator operation state detecting means and the shift position detecting means, the temporary stop intention detecting means informs the driver of the temporary stop intention if the accelerator operation is not performed and the shift position is at the temporary stop position. It is determined that there is. The electric motor reverse rotation detecting means detects whether or not the traveling electric motor is rotating in reverse based on the detection signal of the rotation speed detecting means.

The reverse rotation prevention control means, when the driver has a temporary stop intention and the traveling electric motor is reversely rotating, based on the detection information from the temporary stop intention detecting means and the electric motor reverse rotation detecting means, In order to prevent the reverse rotation of the traveling electric motor, the drive current of the traveling electric motor is increased and adjusted. In addition, in the above-described electric vehicle with reverse slope prevention control of the present invention according to claim 5, when the reverse rotation prevention control means prevents reverse rotation of the traveling electric motor, the reverse rotation of the traveling electric motor is prevented. Until it is eliminated, the drive current of the traveling electric motor is increased by a constant amount in a predetermined cycle.

[0017]

1 is a functional block diagram focusing on the control system of the electric vehicle with an uphill road reverse travel prevention control according to an embodiment of the present invention.
Is a flow chart for explaining the control operation. As shown in FIG. 1, this electric vehicle is provided with a traveling electric motor 6 for rotationally driving the drive shafts 12A, 12A of the drive wheels 12, 12.

The traveling electric motor 6 is an electric motor rotation control means 4
The rotation state is controlled by the motor controller 5. That is, the traveling electric motor 6 is based on the detection signal of the rotation speed sensor 7 as the rotation speed detection means.
The rotation speed of the electric motor 6 is controlled by adjusting the current supplied to the motor controller 5.

The electric current supplied to the traveling electric motor 6 is measured by the motor ammeter 8 and feedback control to the target current is performed by the measured value. Then, a suspension intention detecting means 10 for detecting whether or not the driver is about to suspend is provided. The temporary stop intention detecting means 10 makes a judgment based on signals from an accelerator pedal position sensor 1 for detecting the depression amount of an accelerator pedal 1 and a shift position sensor 2 for detecting a set position of a shift lever.
For example, if it is detected from the amount of depression of the accelerator pedal that the accelerator pedal is off (not depressed) and the set position of the shift lever is the traveling mode, the precondition for the driver to temporarily stop is Judge that it holds.

This means that if the accelerator pedal is off, the driver may have the intention to stop, and if the set position of the shift lever is the traveling mode, the above-mentioned intention to stop is for parking. It can be judged that it is not for retreating, but for suspension. That is, if the shift position is in the P range (parking range), the traveling electric motor 6 is controlled to be in a stopped state, so there is no fear of reverse movement, and the uphill road reverse movement prevention control is unnecessary, and the shift position is in the R range If you are in the reverse range, you do not need uphill reverse control because you want to go backwards. If the shift position is in the driving mode range such as D range, you may need uphill reverse control. There is a nature.

The temporary stop intention detecting means 10 determines the precondition for the temporary stop of the driver, and receives the output signal of the rotation speed sensor 7 or the like to detect the running state of the electric vehicle. Has become. Also,
An electric motor reverse rotation detecting means 9 for detecting whether or not the electric motor 6 is reversely rotating is provided, and the electric motor reverse rotation detecting means 9 performs detection based on an output signal of the rotation speed sensor 7.

Here, the rotation speed sensor 7 is formed with high precision so as to appropriately control the traveling electric motor 6, and the reverse rotation detection of the electric motor reverse rotation detection means 9 is also accurately performed by minute rotation. It is like this. When the motor reverse rotation detection means 9 and the temporary stop intention detection means 10 satisfy the precondition for the driver to temporarily stop and the motor 6 is rotating in the reverse direction, a signal to this effect is received. ,
Reverse rotation prevention control means 11 is provided for increasing the drive current of the traveling electric motor so as to prevent the electric motor from rotating in the reverse direction and prevent the electric vehicle from traveling in the reverse direction and maintaining the stopped state.

This is because when the precondition for the driver to temporarily stop is satisfied and the electric motor 6 is rotating in the reverse direction, it can be judged that this corresponds to the case where the electric vehicle is going backward in the uphill road. That is, the accelerator pedal is off, the set position of the shift lever is in the traveling mode, and the uphill running state is detected by detecting the slight reverse rotation by the motor reverse rotation detection means 9. .

The reverse rotation prevention control means 11 outputs a control signal to the motor controller 5 to drive the traveling electric motor 6
Drive current is controlled to stop the traveling electric motor 6 to prevent the vehicle from moving backward and maintain the stopped state. The electric vehicle equipped with the uphill road reverse travel prevention control as one embodiment of the present invention is configured as described above. During normal traveling, the accelerator pedal position sensor 1, the shift position sensor 2 and the rotation of the electric motor rotation control means 4 are controlled. Based on the output signal of the number sensor 3, the motor controller 5 operates and the traveling electric motor 6 performs desired driving traveling.

At the time of stopping on the uphill road, as shown in FIG.
The operation according to the flowchart of FIG. First, in step S1, it is determined from the detection signal of the accelerator pedal position sensor 1 whether the accelerator pedal is in the off state. Here, the off state of the accelerator pedal is determined by whether or not the depression amount is equal to or less than a minute predetermined value.

If the driver is not in the off state, the driver has the intention of accelerating, and therefore, the "NO" route is taken and the uphill road reverse travel prevention control is not performed, but the vehicle is in a state of waiting for the next control cycle. If it is in the off state, the "YES" route is taken, and the next condition in step S2 is determined assuming that the driver has the intention to stop.

In step S2, the shift position detected by the shift position sensor 2 is set to the drive range (D range =
It is determined whether the vehicle is in a driving mode range other than the P range and the R range). If it is in a range other than the drive range, that is, if it is in the P range or the R range, the uphill road reverse travel prevention control is not necessary, and this control is not performed, and the state stands by in the next control cycle.

When the vehicle is in the drive range, since there may be a temporary stop intention, step S3 is executed through the "YES" route. In step S3, it is determined whether the traveling electric motor 6 has made a slight reverse rotation by the operation of the electric motor reverse rotation detection means 9. Here, if you make a slight reversal, the vehicle is on an uphill road,
The current driving force of the electric motor 6 for running indicates that the vehicle is moving backward, and the reverse rotation prevention control means 11 should maintain the stopped state.

Therefore, the reverse rotation prevention control means 11 outputs to the motor controller 5 a control signal for increasing the drive current of the traveling electric motor 6 in step S4. At this time, the motor controller 5 causes the motor ammeter 8 to
Drive current control is carried out via the drive current, and the traveling electric motor 6 is driven by the current It which has increased ΔI. Then, the next control cycle is performed, and the increase of the drive current in step S4 is repeated until the traveling electric motor 6 reaches the drive current at which the reverse rotation is not performed.

When the traveling electric motor 6 reaches a state where it does not rotate in the reverse direction, the "NO" route is taken in step S3, and the drive current is held (step S5).
In this way, the backward movement at the time of starting on the uphill road is prevented, but this system has a simple configuration using the rotation speed sensor 7 used for the normal traveling of the traveling electric motor 6, and is provided in the above-mentioned conventional manner. Since it does not require complicated equipment such as existing devices, it is possible to achieve reverse travel prevention on an uphill road at a low cost.

In addition, the existing speed sensor 7 in the electric vehicle
Is generally highly accurate, so that the reverse travel prevention control can be performed promptly without causing the driver to feel the reverse travel of the vehicle too much. Then, by appropriately suppressing the increase amount ΔI of the current to the electric motor 6 for traveling, it is possible to perform the reverse travel prevention control promptly without making the electric motor 6 for traveling excessively large.

[0032]

As described above in detail, according to the electric vehicle with uphill reverse traveling prevention control of the present invention as set forth in claim 1, the traveling electric motor and the rotational speed detecting means for detecting the rotational speed of the electric motor. And an electric motor rotation control means for controlling the rotation state of the traveling electric motor based on the detection signal of the rotation speed detection means, the electric motor rotation control means comprising:
Electric motor reverse rotation detection means for detecting whether or not the traveling electric motor is reversely rotating based on the detection signal of the rotational speed detection means, and the fact that the traveling electric motor is reversely rotated from the electric motor reverse rotation detection means. Receiving a detection signal of, in order to prevent the reverse rotation of the traveling electric motor, by comprising a reverse rotation prevention control means for increasing and adjusting the drive current of the traveling electric motor, even in an electric vehicle, It becomes possible to appropriately make a temporary stop on an uphill road and the like, and the burden on the driver can be reduced. Further, as the means used for this reverse rotation prevention control, the rotation speed detecting means generally equipped in an electric vehicle, the traveling electric motor for normal traveling, and the control device therefor can be used, so that the above-mentioned effects can be obtained. , Can be achieved at low cost.

According to the electric vehicle with uphill reverse traveling prevention control of the present invention as set forth in claim 2, in addition to the configuration of claim 1, a temporary stop for detecting whether or not the driver is about to make a temporary stop. The reverse rotation prevention control means is provided with a will detection means, and the reverse rotation prevention control means receives the signal from the temporary stop intention detection means indicating that the driver intends to make a temporary stop, and the reverse rotation detection means reverses the traveling electric motor. When receiving the detection signal indicating that the motor is rotating, the drive current of the motor for traveling is increased and adjusted to prevent reverse rotation of the motor for traveling, thereby avoiding unnecessary control. Then, when the driver wants a temporary stop on the uphill road, the vehicle is appropriately stopped. As a result, the burden on the driver can be reduced and the driving feeling can be improved.

According to the third aspect of the present invention, there is provided an electric vehicle with reverse climbing prevention control, wherein, in addition to the configuration of the second aspect, the temporary stop intention detecting means has accelerator operation information and a shift position. Based on the information, when the accelerator operation is not performed and the shift position is at the temporary stop position, it is configured to determine that the driver has the temporary stop intention. When the driver wants to make a precise decision and avoids unnecessary control appropriately, and the driver wants a temporary stop on the uphill road, the vehicle is appropriately stopped to reduce the driver's burden and drive. Effects such as improved feeling can be obtained.

According to another aspect of the present invention, there is provided a traveling electric motor, a rotational speed detecting means for detecting the rotational speed of the electric motor, and the rotational speed detecting means. And a motor rotation control means for controlling the rotation state of the traveling electric motor based on the detection signal of
In an electric vehicle having an accelerator operation state detecting means for detecting an accelerator operation state and a shift position detecting means for detecting a shift position, based on detection information from the accelerator operation state detecting means and the shift position detecting means,
A temporary stop intention detecting means for judging that the driver has a temporary stop intention when the accelerator is not operated and the shift position is at the temporary stop position, and the traveling electric motor based on the detection signal of the rotational speed detecting means. A reverse rotation detection means for detecting whether or not the motor is reversely rotating, and a detection signal indicating that the driver has a temporary stop intention from the temporary stop intention detection means, and the traveling from the reverse motor rotation detection means. When receiving a detection signal indicating that the driving electric motor is rotating in the reverse direction, a reverse rotation preventing control means for increasing and adjusting the drive current of the traveling electric motor is provided in order to prevent the reverse rotation of the traveling electric motor. Accordingly, even in the electric vehicle, when the driver wants a temporary stop, the vehicle can be reliably stopped on the uphill road, and the driver's burden can be reduced. Further, unnecessary temporary stop control can be avoided, and temporary stop control can be performed without disturbing normal driving, and a good driving feeling can be secured. Further, as in the case of the electric vehicle according to claim 1, as means for use in the reverse rotation prevention control, a rotation speed detecting means generally equipped in the electric vehicle, a traveling electric motor for normal traveling and control thereof. Since the device can be used, the above effect can be achieved at low cost.

According to a fifth aspect of the present invention, there is provided an electric vehicle with reverse hill reverse traveling prevention control according to the fourth aspect, in which, in addition to the configuration of the fourth aspect, the reverse rotation prevention control means supplies the drive current of the traveling electric motor. When the increase adjustment is performed, the driving current is increased by a constant amount in a predetermined cycle until the reverse rotation of the traveling electric motor is eliminated, so that the uphill road can be temporarily stopped with a good feeling. You can do it reliably and smoothly.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a control system of an electric vehicle with uphill road reverse travel prevention control according to an embodiment of the present invention.

FIG. 2 is a flow chart showing a control operation of an electric vehicle with an uphill road reverse travel prevention control as an embodiment of the present invention.

[Explanation of symbols]

 1 accelerator pedal position sensor 2 shift position sensor 3 rotation speed sensor 4 electric motor rotation control means 5 motor controller 6 traveling electric motor 7 rotation speed detection means 8 motor ammeter 9 electric motor reverse rotation detection means 10 temporary stop intention detection means 11 reverse rotation prevention Control means 12 Drive wheel 12A Drive shaft

 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Nobuyuki Kawamura 5-3-8, Shiba, Minato-ku, Tokyo Within Mitsubishi Motors Corporation (72) Inventor Masao Kato 5-33-8, Shiba, Minato-ku, Tokyo Mitsubishi Automotive Industry Co., Ltd.

Claims (5)

[Claims] 1. A traveling electric motor, a rotational speed detecting means for detecting the rotational speed of the electric motor, and an electric motor rotation control means for controlling a rotational state of the traveling electric motor based on a detection signal of the rotational speed detecting means. In the provided electric vehicle, the electric motor rotation control means detects electric motor reverse rotation detection means for detecting whether the traveling electric motor is reversely rotating based on a detection signal of the rotation speed detection means, and the electric motor reverse rotation detection means. When a detection signal indicating that the traveling electric motor is reversely rotating is received from the means, a reverse rotation prevention control means for increasing and adjusting the drive current of the traveling electric motor to prevent the reverse rotation of the traveling electric motor is provided. An electric vehicle with uphill backward reversal prevention control, which is characterized in that it is provided with the vehicle. 2. A temporary stop intention detecting means for detecting whether or not the driver is about to make a temporary stop, and the reverse rotation prevention control means is a signal from the temporary stop intention detecting means indicating that the driver is about to make a temporary stop. Upon receiving the detection signal indicating that the traveling electric motor is reversely rotating from the electric motor reverse rotation detecting means, the drive current of the traveling electric motor is blocked in order to prevent the backward rotation of the traveling electric motor. 2. The electric vehicle with uphill backward reversal prevention control according to claim 1, wherein the electric vehicle is configured to increase. 3. The driver has a temporary stop intention if the temporary stop intention detecting means is not performing an accelerator operation based on the accelerator operation information and the shift position information and the shift position is at the temporary stop position. 3. The electric vehicle with uphill backward reversal prevention control according to claim 2, wherein the electric vehicle is determined to be one. 4. A traveling electric motor, a rotational speed detecting means for detecting the rotational speed of the electric motor, and an electric motor rotation control means for controlling a rotational state of the traveling electric motor based on a detection signal of the rotational speed detecting means. In addition to the above, in an electric vehicle equipped with an accelerator operation state detecting means for detecting an accelerator operation state and a shift position detecting means for detecting a shift position, the detection information from the accelerator operation state detecting means and the shift position detecting means is provided. Based on the detection signal of the rotation speed detection means, a temporary stop intention detection means determines that the driver has a temporary stop intention when the accelerator is not operated and the shift position is at the temporary stop position. An electric motor reverse rotation detecting means for detecting whether or not the traveling electric motor is reversely rotating, and a temporary stop intention detecting means for the driver When a detection signal indicating that the traveling electric motor is rotating in the reverse direction is received from the detection signal indicating that the traveling electric motor is rotating in reverse, the reverse rotation of the traveling electric motor is blocked. An electric vehicle with uphill reverse travel prevention control, comprising reverse rotation prevention control means for increasing and adjusting a drive current of a traveling electric motor. 5. The reverse rotation prevention control means, when increasing the drive current of the traveling electric motor, adjusts the driving current by a constant amount in a predetermined cycle until the reverse rotation of the traveling electric motor is eliminated. 5. The electric vehicle with uphill backward reversal prevention control according to claim 4, wherein the electric vehicle is configured to increase the vehicle speed.