KR102485340B1 - Apparatus for controlling driving direction of electrical vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to an apparatus for controlling driving direction of an electric powered vehicle, a system including the same, and a method therefor. The apparatus for controlling driving of a vehicle according to an embodiment of the present invention determines conformity by determining whether a driving direction requested by a driver and a driving direction of a vehicle coincide. wealth; and a motor torque control unit controlling motor torque to converge to a predetermined value when the driving direction requested by the driver and the driving direction of the vehicle do not match.

Description

Apparatus for controlling driving direction of electrical vehicle, system having the same and method thereof}

The present invention relates to an apparatus for controlling the driving direction of an electric powered vehicle, a system including the same, and a method thereof, and more particularly, to a technology for determining compatibility between a driving direction requested by a driver and a driving direction of an electric powered vehicle and limiting vehicle control. it's about

Due to global high oil prices and exhaust gas regulations, electric power policy and fuel efficiency improvement have become key tasks in automobile development. Accordingly, car makers respond to electric power policies, and to improve fuel efficiency, reduce fuel consumption and reduce emissions, electric vehicles (EVs), hybrid electric vehicles (HEVs), plug-in hybrid vehicles (PHEVs); We are putting a lot of interest and effort into technology development such as Plug-in Hybrid Electric Vehicle).

An electric powered vehicle does not have a transmission and determines the driving direction of the vehicle only at the driver's request. Therefore, if you want to go forward (ex. D gear), the direction of motor torque is requested as (+), and if you want to go backward (R gear), you request (-) motor torque. In other words, due to the characteristics of the motor, when positive torque is applied in the D-stage stop, the motor rotates in the forward direction and the car moves forward. Conversely, in the R stop, if negative (-) torque is applied, the motor rotates in the reverse direction and the car moves backward. That is, in the case of an electric vehicle, since there is no transmission and the driving motor and the wheels (including the reducer) are directly connected, the rotational direction of the motor determines the driving direction of the vehicle.

However, if the driver's requested torque requires the forward direction, but negative (-) torque is requested from the motor due to a vehicle system defect or abnormal software operation, the vehicle will drive in the opposite direction to the driver's requested direction, that is, in reverse. There is a possibility of rash.

Embodiments of the present invention provide an apparatus for controlling driving direction of an electric powered vehicle capable of protecting a driver by determining compatibility between a driving direction requested by a driver and a driving direction of an electric powered vehicle and limiting vehicle control, a system including the same, and a method thereof. want to provide

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A vehicle driving control apparatus according to an embodiment of the present invention includes a consistency determining unit that determines whether a driving direction requested by a driver and a driving direction of a vehicle match; and a motor torque control unit controlling motor torque to converge to a predetermined value when the driving direction requested by the driver and the driving direction of the vehicle do not match.

In one embodiment, the consistency determination unit may include determining the requested driving direction of the driver by using at least one of a gear lever, an accelerator device, and a brake device.

In one embodiment, the consistency determination unit may include determining a driving direction of the vehicle using a motor torque direction and a motor rotation direction.

In one embodiment, the consistency determination unit determines that, when the driver's requested driving direction is a forward direction and both the motor torque direction and the motor rotation direction are reverse directions, the driver's requested driving direction and the driving direction of the vehicle do not match. This may include judging

In one embodiment, the consistency determination unit determines that, when the driver's requested driving direction is a reverse direction and both the motor torque direction and the motor rotation direction are forward, the driver's requested driving direction and the driving direction of the vehicle do not match. This may include judging

In one embodiment, when the driving direction requested by the driver and the driving direction of the vehicle do not match, an error in determining whether the driving vehicle speed or RPM is maintained beyond a predetermined time or whether the driving vehicle speed exceeds a predetermined vehicle speed. A judgment unit may be included.

In one embodiment, the motor torque control unit controls the motor torque to converge to a zero value when the traveling vehicle speed or RPM is maintained beyond a predetermined time or when the traveling vehicle speed exceeds a predetermined vehicle speed. can include

In an embodiment, the motor torque control unit may control the motor torque to converge to zero, hold the motor torque for a predetermined time, and release the setting of the zero value of the motor torque.

A vehicle driving control system according to an embodiment of the present invention includes a motor for driving wheels; A gear lever that adjusts the driving stage of the vehicle according to the driver's request; and determining whether the requested driving direction of the driver and the driving direction of the vehicle are identical based on the driving stage information of the vehicle received from the gear lever, the motor torque direction received from the motor, and the motor rotation direction, and according to the determination result It may include; a vehicle driving direction control device for controlling motor torque.

In one embodiment, the vehicle driving direction control device may include a consistency determination unit that determines whether a driving direction requested by a driver based on driving stage information of the vehicle and a vehicle driving direction based on the motor torque direction and the motor rotation direction match each other. ; and a motor torque control unit configured to control motor torque to converge to zero when the driving direction requested by the driver and the driving direction of the vehicle do not match.

In one embodiment, the consistency determination unit, when the driver's requested driving direction is a forward direction, if both the motor torque direction and the motor rotation direction are reverse directions, the driver's requested driving direction and the driving direction of the vehicle do not match This may include judging

In one embodiment, the consistency determination unit, when the driver's requested driving direction is a reverse direction, if both the motor torque direction and the motor rotation direction are forward, the driver's requested driving direction and the driving direction of the vehicle do not match This may include judging

In one embodiment, when the driving direction requested by the driver and the driving direction of the vehicle do not match, an error in determining whether the driving vehicle speed or RPM is maintained beyond a predetermined time or whether the driving vehicle speed exceeds a predetermined vehicle speed. A judgment unit may be included.

In one embodiment, the motor torque control unit controls the motor torque to converge to a zero value when the traveling vehicle speed or RPM is maintained beyond a predetermined time or when the traveling vehicle speed exceeds a predetermined vehicle speed. can include

In an embodiment, the motor torque control unit may control the motor torque to converge to zero, hold the motor torque for a predetermined time, and release the setting of the zero value of the motor torque.

A vehicle driving control method according to an embodiment of the present invention includes the steps of determining whether a driving direction of a vehicle is consistent with a driver's requested driving direction and a driving direction of the vehicle; and controlling the motor torque to converge to a predetermined value when the driving direction requested by the driver and the driving direction of the vehicle do not match.

In one embodiment, the determining of the driving direction consistency of the vehicle may include determining the requested driving direction of the driver by using at least one of a gear lever, an accelerator device, and a brake device.

In an embodiment, the determining of the driving direction consistency of the vehicle may include determining the driving direction of the vehicle using a motor torque direction and a motor rotation direction.

In one embodiment, the step of determining the driving direction matching of the vehicle may include, when the driver's requested driving direction is a forward direction, when both the motor torque direction and the motor rotation direction are reverse directions, the driver's requested driving direction and the driver's requested driving direction are reverse directions. It may include determining that the driving direction of the vehicle is inconsistent.

In one embodiment, the step of determining the driving direction matching of the vehicle may include, when the driver's requested driving direction is a reverse direction, if both the motor torque direction and the motor rotation direction are forward, the driver's requested driving direction and the driver's requested driving direction are in the forward direction. It may include determining that the driving direction of the vehicle is inconsistent.

This technology determines the consistency between the driving direction requested by the driver and the driving direction of the electric powered vehicle, and limits control when the direction is inconsistent to protect the driver.

1 is a block diagram of an electric vehicle driving direction control system according to an embodiment of the present invention.
2 is a diagram illustrating a quadrant based on a direction of motor torque and a rotation direction of a motor according to an embodiment of the present invention.
3 is a graph for explaining a motor torque control method according to an embodiment of the present invention.
4 is a detailed configuration diagram of an electric vehicle to which an electric vehicle driving direction control system according to an embodiment of the present invention is applied.
5 is a detailed configuration diagram of a hybrid vehicle to which an electric vehicle driving direction control system according to an embodiment of the present invention is applied.
6 is a flowchart illustrating a method for controlling an electric vehicle driving direction according to an embodiment of the present invention.
7 is a configuration diagram of a computer system to which a method for controlling an electric vehicle driving direction according to an embodiment of the present invention is applied.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 7 .

1 is a block diagram of an electric vehicle driving direction control system according to an embodiment of the present invention. 2 is a diagram illustrating a quadrant based on a direction of motor torque and a rotation direction of a motor according to an embodiment of the present invention, and FIG. 3 is a graph for explaining a motor torque control method according to an embodiment of the present invention.

Referring to FIG. 1 , the vehicle driving direction control system includes a gear lever 110, an accelerator device 120, a brake device 130, a motor 140, and a vehicle driving direction control device 200.

The gear lever 110 allows the driver to select whether to drive in a forward direction or a reverse direction. D-range and R-range can be selected by manipulating the gear lever 110, and D-range is a forward driving range and R-range is a reverse driving range.

The accelerator device 120 is implemented as a pedal type, etc., and is pressed when the driver requests acceleration driving.

The brake device 130 is implemented as a pedal type, etc., and is pressed when the driver requests deceleration or stop.

The motor 140 rotates the wheel by rotating the motor according to the motor torque and the rotation direction of the motor.

The vehicle driving direction control apparatus 200 is based on the driving stage information of the vehicle received from the gear lever 110, the motor torque direction and the motor rotation direction received from the motor 140, and the driving direction requested by the driver and the driving direction of the vehicle. It is determined whether these match, and the motor torque is controlled according to the result of the determination.

To this end, the vehicle driving direction control device 200 includes a communication unit 210, a storage unit 220, a control unit 230, a consistency determination unit 240, an error determination unit 250, and a motor torque control unit 260. do.

The communication unit 210 communicates with in-vehicle devices such as the gear lever 110, the accelerator device 120, the brake device 130, and the motor 140 to transmit and receive information for vehicle control.

The storage unit 220 may store information transmitted and received with in-vehicle devices, a motor torque setting value, and compatibility determination results.

The controller 230 controls the overall operation of each component.

The compatibility determination unit 240 determines the requested driving direction of the driver using at least one of the gear lever 110 , the accelerator device 120 , and the brake device 130 . That is, the consistency determining unit 240 determines that the driver requests driving in the forward direction when the gear lever 110 is positioned at the D position, and determines that the driver requests driving in the reverse direction when the gear lever 110 is positioned at the R position. judge what to do In addition, the consistency determination unit 240 may determine that the driver requests acceleration driving when the accelerator device 120 is pressed, and determine that the driver requests deceleration driving or driving stop when the brake device 130 is pressed. .

The consistency determination unit 240 may determine the driving direction of the vehicle using the motor torque direction and the motor rotation direction received from the motor 140 .

Referring to Table 1 below, driving modes according to motor torque direction and motor rotation direction can be known.

driving group motor torque direction motor rotation direction driving mode D + + D-speed creep/acceleration D - + D-stage regenerative braking D + D-stage high grade vehicle push D - - D-speed driving in an unintended direction
(Unintended Direction Drive for Gear D) R - - R gear creep/acceleration R + - R stage regenerative braking R - + R-stage high grade vehicle push R + + Driving in an unintended direction in R
(Unintended Direction Drive for Gear R)

That is, the consistency determination unit 240 may determine the D-stage creep/acceleration driving mode when the driving end is the D-speed, the motor torque direction is positive (+), and the motor rotation direction is positive (+). In addition, the matching determination unit 240 may determine the D-range regenerative braking mode when the drive stage is in the D-range, the motor torque direction is in the reverse direction (-) and the motor rotation direction is in the forward direction (+). The consistency determination unit 240 may determine the D-high gradient vehicle push mode when the driving end is the D-speed, the motor torque direction is positive (+), and the motor rotation direction is the reverse direction (-). The consistency determination unit 240 operates in an unintended direction (Unintended Direction Drive for Gear D) when the drive end is the D end, when the motor torque direction is reverse (-) and the motor rotation direction is reverse (-), Since the driving range is the D-range, the driver's requested driving direction is in the forward direction, but both the motor torque direction and the motor rotation direction are in reverse directions, so it is determined that the driver's requested driving direction and the vehicle driving direction do not match.

On the other hand, the consistency determination unit 240 may determine that the driving mode is the R-stage creep/acceleration driving mode when the motor torque direction is the reverse direction (-) and the motor rotation direction is the reverse direction (-) when the driving range is the R-range. In addition, the matching determination unit 240 may determine the R-range regenerative braking mode when the drive stage is in the R-range, the motor torque direction is positive (+) and the motor rotation direction is reverse (-). The consistency determination unit 240 may determine the R-range high gradient vehicle push mode when the driving range is in the R-range, the motor torque direction is negative (-), and the motor rotation direction is positive (+). The consistency determination unit 240 operates in an unintended direction (Unintended Direction Drive for Gear R) when the driving end is at the R end, when the motor torque direction is positive (+) and the motor rotation direction is positive (+), It is determined that the driver's requested driving direction and the vehicle driving direction are inconsistent because both the motor torque direction and the motor rotation direction are forward, although the driver's requested driving direction is in the reverse direction because the driving end is in the R position.

The power of the electric vehicle is a value obtained by multiplying the motor torque by the number of rotations of the motor torque, and discharge is output as (+) and charge is output as (-). Referring to FIG. 2, the driving direction requested by the driver and the driving direction of the vehicle can be divided into power areas (first quadrant, second quadrant, third quadrant, fourth quadrant), and driving outside the area determined in each quadrant The condition is judged to be an error. Due to the nature of electric vehicles, (+) power is discharged, so it gives meaning to driving and acceleration.

In stage D, the first quadrant means driving, the second and fourth quadrants mean charging, and when moving to the third quadrant, it is determined that the driving direction is wrong. In the R stage, the second quadrant means driving, the third and fourth quadrants mean charging, and when it moves to the first quadrant, it is determined that the driving direction is wrong.

When the driving direction requested by the driver and the driving direction of the vehicle do not match, the error determination unit 250 determines whether the driving vehicle speed or RPM is maintained beyond a predetermined time or whether the driving vehicle speed exceeds a predetermined vehicle speed.

The motor torque control unit 260 controls the motor torque to converge to zero when the driving vehicle speed or RPM is maintained beyond a predetermined time or when the driving vehicle speed exceeds a predetermined vehicle speed.

The motor torque control unit 260 controls the motor torque to converge to zero, maintains it for a predetermined time, and then cancels the setting of the zero value of the motor torque.

Referring to FIG. 3, D-speed, creep or accelerated driving, while driving at RPM>0 or higher ① when the motor torque is in the reverse direction (torque <0) and the motor rotation direction is in the reverse direction (motor RPM <0) ②, for a certain period of time After monitoring (-), if the time to maintain the vehicle speed or RPM exceeds a certain time (-) or if the certain vehicle speed exceeds (or is less than) the set vehicle speed, the motor torque is controlled to converge to 0 ③.

As described above, the present invention determines the case where the driving direction requested by the driver and the driving direction of the vehicle do not match, and controls the motor torque to converge to zero when they do not match, thereby controlling the driving direction requested by the driver and the driving direction of the vehicle. It can help the driver to drive safely by detecting vehicle control errors due to direction inconsistency.

4 is a detailed configuration diagram of an electric vehicle to which an electric vehicle driving direction control system according to an embodiment of the present invention is applied.

Referring to FIG. 4 , an electric vehicle to which an electric vehicle driving direction control system according to an embodiment of the present invention is applied includes a motor 21, a low voltage DC converter 22, a body controller 23, and a battery 24.

The motor 21 rotates the wheels through forward rotation or reverse rotation.

A Low Voltage DC-DC Converter (LDC) 22 may supply power to an electric vehicle and may serve as a generator that converts mechanical energy of an engine into electrical energy. The low voltage DC converter 22 may be in charge of charging the auxiliary battery.

The body controller (FATC, Full Automatic Temperature Control, 23) controls in-vehicle devices such as wipers.

The battery 24 provides electrical energy to the motor 21, the low voltage DC converter 22, and the body controller 23 through a main relay. The output voltage of the battery may be applied to the motor by driving (ON) of the main relay (not shown), and conversely, the battery 24 may be charged with power generated from the motor.

5 is a detailed configuration diagram of a hybrid vehicle to which an electric vehicle driving direction control system according to an embodiment of the present invention is applied.

Referring to FIG. 5 , the hybrid electric vehicle has a layout in which an engine 10, a drive motor 11 (an electric motor), and an automatic transmission 12 are arranged in a line.

In particular, the engine 10 and the drive motor 11 are connected so as to transmit power through the engine clutch 130, and the drive motor 11 and the automatic transmission 12 are directly connected to each other. In addition to the engine controller (not shown) connected to the engine 10, the drive motor controller (not shown) connected to the drive motor 11, and the automatic transmission controller (not shown) connected to the automatic transmission 120, HSG It may include a HSG controller connected to 15, a battery controller (not shown) connected to battery 14, and a hybrid controller 100 controlling each controller.

Hybrid Control Unit (HCU; 17) is the topmost controller responsible for controlling the driving of each controller, setting the hybrid driving mode, and controlling the overall vehicle. Connected through high-speed CAN communication lines, the upper controller transmits commands to the lower controller while exchanging information between the controllers.

In this configuration, driving force is obtained only by the drive motor 11 when the vehicle starts or when driving at low speed. At the initial start, the efficiency of the engine 10 is lower than that of the drive motor 11, so the efficiency is higher than that of the engine 10. It is advantageous in terms of fuel efficiency of the vehicle to start the initial start of the vehicle (vehicle launch) using this good drive motor 11 . After the vehicle starts, the HSG 15 starts the engine so that the output of the engine 10 and the output of the drive motor 11 can be used simultaneously.

Here, the operation of the hybrid electric vehicle will be described in detail.

The engine 10 is an internal combustion engine that supplies power to the hybrid electric vehicle.

The driving motor 11 is connected to a high voltage battery as a main power source for supplying power. The power of the driving motor 11 is divided into power that can be output instantaneously and power that can be output continuously. The power that can be output instantaneously has a large amount of power but the available time is short, while the power that can be output continuously is the amount of power Although small, the usable time is long.

As for the transmission 12, a transmission in which the R gear is deleted is applied. That is, when the engine clutch is opened (the engine can only rotate forward, avoiding the motor connection by opening the engine clutch) by using a transmission with the R gear removed, reverse movement is possible by the turning direction of the motor, like an electric vehicle. That is, since the rotation direction of the transmission can be determined by the rotation direction of the motor, it is possible to determine the matching between the driving direction requested by the driver and the driving direction of the vehicle when using the R-gear transmission.

The clutch 13 is a device that connects or disconnects the power of the drive motor 11, and arbitrarily connects and disconnects the shaft of the power. Clutch types include meshing clutches, friction clutches, fluid clutches or electromagnetic clutches.

The battery 14 is a device for storing electricity and supplying electricity to vehicle systems.

HSG (15, Hybrid Starter & Generator) is a hybrid starter generator that provides rotational force to the engine 10 at startup (that is, outputs cranking torque) and is connected to the engine 10. The HSG 15 assists torque control of the engine 10 to improve responsiveness. A belt is used so that the HSG 15 is connected to the engine 10, but the torque control is performed in consideration of the belt tension. can do.

The inverter 16 is a current conversion device connected to the driving motor 11, the battery 14 and the HSG 15.

Hereinafter, with reference to FIG. 6 , a method for controlling an electric vehicle driving direction according to an embodiment of the present invention will be described in detail. 6 is a flowchart illustrating a method for controlling an electric vehicle driving direction according to an embodiment of the present invention.

Referring to FIG. 6 , when the gear lever is input (S101), the vehicle driving direction control device 200 determines the driving range of the gear lever 110 (S102), and when the driving range is the forward driving range (D range). It is determined whether the motor torque direction is forward (+) or reverse (-) (S103).

If the motor torque direction is negative (-), the vehicle driving direction control device 200 determines whether the motor rotation direction is a reverse driving direction or a forward driving direction (S104). The vehicle driving direction control device 200 determines whether the motor RPM is greater than 0 to determine the motor torque rotation direction, and if the motor RPM is greater than 0, it is the forward driving direction, and if the motor RPM is less than 0, it is the reverse direction. Determine the driving direction.

When the motor torque rotation direction is the reverse direction, the vehicle driving direction control device 200 sets the driving vehicle speed ((-) vehicle speed) or the vehicle speed at which the maintaining time of RPM exceeds a predetermined time or the driving vehicle speed ((-) vehicle speed) is set. It is determined whether it exceeds (S105).

Accordingly, when the driving vehicle speed ((-) vehicle speed) or the RPM holding time exceeds a certain time or the driving vehicle speed ((-) vehicle speed) exceeds a predetermined vehicle speed, the vehicle driving direction control device 200 sets the motor torque to 0. (S107), and if the driving vehicle speed ((-) vehicle speed) or RPM maintenance time does not exceed a certain time or the driving vehicle speed ((-) vehicle speed) does not exceed the predetermined vehicle speed, the time count is increased by 1 (S106) Return to step S102 and repeat steps S102 to S105.

Meanwhile, the vehicle traveling direction control device 200 determines whether the motor torque exceeds a time limit after the motor torque is set to 0 (S108).

During the above process, if the drive range is D, the motor torque direction is positive, and the motor torque rotation direction is forward, it is determined that the driving direction requested by the driver and the driving direction of the vehicle coincide, and the motor torque set value is not controlled to zero. don't

If the time limit is exceeded after the motor torque is set to 0, the motor torque is set to 0 and ends. On the other hand, if the time limit is not exceeded, the tie count is increased by 1 (S109), the process returns to step S107, and steps S107 to S109 are repeatedly performed.

On the other hand, if the driving range is not the forward range (D range) in the above process S102, the vehicle driving direction control device 200 determines whether the driving range is the reverse range (R range) (S110), and determines whether the driving range is the reverse range. In this case, it is determined whether the motor torque direction is forward (+) or reverse (-) (S111).

When the motor torque direction is forward, the vehicle traveling direction control apparatus 200 determines whether the motor rotation direction is forward or reverse by determining the motor rotation direction (S112). That is, the vehicle driving direction control device 200 determines whether the motor rotation direction is a reverse driving direction or a forward driving direction. The vehicle driving direction control device 200 determines whether the motor RPM is greater than 0 to determine the motor torque rotation direction, and if the motor RPM is greater than 0, it is the forward driving direction, and if the motor RPM is less than 0, it is the reverse direction. Determine the driving direction.

In the vehicle driving direction control device 200, when the motor rotation direction is the forward driving direction, the driving vehicle speed ((+) vehicle speed) or the RPM maintenance time exceeds a predetermined time or the driving vehicle speed ((+) vehicle speed) exceeds a predetermined vehicle speed. It is determined whether to do (S113).

Accordingly, when the driving vehicle speed ((+) vehicle speed) or the RPM holding time exceeds a certain time or the driving vehicle speed ((+) vehicle speed) exceeds a predetermined vehicle speed, the vehicle driving direction control device 200 sets the motor torque to 0. (S107), and if the driving vehicle speed ((+) vehicle speed) or RPM maintenance time does not exceed a certain time or the driving vehicle speed ((+) vehicle speed) does not exceed the predetermined vehicle speed, the time count is increased by 1 (S114) Return to step S110 and repeat steps S110 to S114.

If the driving range is R, the output direction of the motor torque is in the reverse direction, and the motor torque rotation direction is in the reverse direction, the driving direction requested by the driver and the driving direction of the vehicle are determined to match, and the motor torque setting value is not controlled to zero. .

As described above, the present invention can protect the driver and the system by controlling the motor torque by checking whether the driving direction of the vehicle (motor torque direction, motor rotation direction) and the direction of the driving direction requested by the driver are compatible with each other.

7 is a configuration diagram of a computer system to which a method for controlling an electric vehicle driving direction according to an embodiment of the present invention is applied.

Referring to FIG. 7 , a computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and a storage connected through a bus 1200. 1600, and a network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes commands stored in the memory 1300 and/or the storage 1600 . The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented as hardware executed by the processor 1100, a software module, or a combination of the two. A software module resides in a storage medium (i.e., memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, or a CD-ROM. You may.

An exemplary storage medium is coupled to the processor 1100, and the processor 1100 can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). An ASIC may reside within a user terminal. Alternatively, the processor and storage medium may reside as separate components within a user terminal.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

110: gear lever
120: excel device
130: brake device
140: motor
200: Vehicle driving direction control device
210: Ministry of Communication
220: storage unit
230: control unit
240: consistency judgment unit
250: error determination unit
260: motor torque controller

Claims (20)

a consistency determination unit that determines whether the driving direction requested by the driver and the driving direction of the vehicle match;
an error determination unit determining whether the driving vehicle speed or RPM is maintained beyond a predetermined time or the driving vehicle speed exceeds a predetermined vehicle speed when the driving direction requested by the driver and the driving direction of the vehicle do not match; and
The motor torque control unit controls the motor torque to converge to a predetermined value when the traveling vehicle speed or RPM is maintained beyond a predetermined time or when the traveling vehicle speed exceeds a predetermined vehicle speed.
Electric vehicle driving direction control device comprising a. The method of claim 1,
The consistency determination unit,
An electric vehicle driving direction control device, characterized in that for determining the requested driving direction of the driver by using at least one of a gear lever, an accelerator device, and a brake device. The method of claim 2,
The consistency determination unit,
An electric powered vehicle driving direction control device, characterized in that for determining the driving direction of the vehicle using the motor torque direction and the motor rotation direction. The method of claim 3,
The consistency determination unit,
When the driver's requested driving direction is a forward direction,
and if both the motor torque direction and the motor rotation direction are reverse directions, it is determined that the driving direction requested by the driver and the driving direction of the vehicle do not match. The method of claim 3,
The consistency determination unit,
When the requested driving direction of the driver is a reverse direction,
If both the motor torque direction and the motor rotation direction are positive, it is determined that the driving direction requested by the driver and the driving direction of the vehicle do not match. delete The method of claim 1,
The motor torque controller,
Wherein the motor torque is controlled to converge to a zero value when the driving vehicle speed or RPM is maintained beyond a predetermined time or when the traveling vehicle speed exceeds a predetermined vehicle speed. The method of claim 7,
The motor torque controller,
After controlling the motor torque to converge to a zero value, maintaining it for a predetermined time, and then canceling the setting of the zero value of the motor torque. motors that drive wheels;
A gear lever that adjusts the driving stage of the vehicle according to the driver's request; and
Based on the driving stage information received from the gear lever, the motor torque direction received from the motor, and the motor rotation direction, it is determined whether the driving direction requested by the driver and the driving direction of the vehicle match, and according to the determination result, the motor a vehicle driving direction control device that controls torque;
including,
The vehicle driving direction control device,
a consistency determination unit that determines whether a driving direction requested by the driver based on the driving stage information of the vehicle and a driving direction of the vehicle based on the motor torque direction and the motor rotation direction match;
an error determination unit determining whether the driving vehicle speed or RPM is maintained beyond a predetermined time or the driving vehicle speed exceeds a predetermined vehicle speed when the driving direction requested by the driver and the driving direction of the vehicle do not match; and
and a motor torque control unit controlling motor torque to converge to zero when the traveling vehicle speed or RPM is maintained beyond a predetermined time or when the traveling vehicle speed exceeds a predetermined vehicle speed. Driving direction control system. delete The method of claim 9,
The consistency determination unit,
When the driver's requested driving direction is a forward direction,
and if both the motor torque direction and the motor rotation direction are reverse directions, it is determined that the driving direction requested by the driver and the driving direction of the vehicle do not match. The method of claim 9,
The consistency determination unit,
When the requested driving direction of the driver is a reverse direction,
If both the motor torque direction and the motor rotation direction are positive, it is determined that the driving direction requested by the driver and the driving direction of the vehicle do not match. delete The method of claim 9,
The motor torque controller,
Controlling the motor torque to converge to zero when the driving vehicle speed or RPM is maintained beyond a predetermined time or when the driving vehicle speed exceeds a predetermined vehicle speed. The method of claim 14,
The motor torque controller,
After controlling the motor torque to converge to a zero value, maintaining it for a predetermined time, and then canceling the setting of the zero value of the motor torque. determining whether the driver's requested driving direction and the driving direction of the vehicle coincide with each other;
determining whether a driving vehicle speed or RPM is maintained beyond a predetermined time or whether the driving vehicle speed exceeds a predetermined vehicle speed when the driving direction requested by the driver and the driving direction of the vehicle do not match; and
Controlling motor torque to converge to a predetermined value when the traveling vehicle speed or RPM is maintained for a predetermined time or the traveling vehicle speed exceeds a predetermined vehicle speed
A method for controlling the driving direction of an electric powered vehicle comprising a. The method of claim 16
Determining the matching of the driving direction of the vehicle,
A driving direction control method for an electric powered vehicle, characterized in that the driving direction requested by the driver is determined using at least one of a gear lever, an accelerator device, and a brake device. The method of claim 16
Determining the matching of the driving direction of the vehicle,
An electric power vehicle driving direction control method, characterized in that for determining the driving direction of the vehicle using the motor torque direction and the motor rotation direction. The method of claim 18
Determining the matching of the driving direction of the vehicle,
When the driver's requested driving direction is a forward direction,
and determining that the driving direction requested by the driver and the driving direction of the vehicle do not match when both the motor torque direction and the motor rotation direction are reverse directions. The method of claim 18
Determining the matching of the driving direction of the vehicle,
When the requested driving direction of the driver is a reverse direction,
and if both the motor torque direction and the motor rotation direction are positive, it is determined that the driving direction requested by the driver and the driving direction of the vehicle do not match.

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