TW202200413A - Driving control device and vehicle - Google Patents

Abstract

This driving control device and vehicle can select a reverse mode (M2) for reversing the vehicle (1) from an advance mode (M1) for advancing the vehicle (1) in a state where a predetermined mode selection condition has been established. The reverse mode (M2) includes a reverse operation (Mb), a reverse preparation operation (Mp) of impairing a backlash reduction torque (T), and a reverse preparation maintaining operation (Mw) switching to/from the reverse operation (Mb) in a state where the application of a backlash reduction torque (T) is maintained. When transition has been made from the advance mode (M1) to the reverse mode (M2), the driving control device and vehicle perform the reverse preparation operation (Mp). When switching between reverse and stop of the vehicle (1) if the mode selection condition has been still established in a state of being transitioned to the reverse operation (Mb), the driving control device and vehicle do not go through the advance mode (M1) and switch between the reverse operation (Mb) and the reverse preparation maintaining operation (Mw) in the reverse mode (M2).

Description

Drive control devices, vehicles

The present invention relates to a drive control device and a vehicle. This application claims the priority based on Japanese Patent Application No. 2020-054198 for which a patent application was filed in Japan on March 25, 2020, and the content of the application is incorporated into the specification of this application.

Conventionally, riders sometimes feel the stumbling caused by "contact (collision) between components" at the meshing portion between gears and various movable parts provided in the drive system of the vehicle. This stumbling is caused by "clearance formed between members", and occurs from "from the state where the members are separated from each other by the clearance to when the members are engaged (engaged) with each other" during start-up, acceleration, deceleration, etc. Time.

On the other hand, Patent Document 1, for example, discloses a structure for preventing chattering shock at the time of starting in an electric vehicle in which a rotating shaft of a drive wheel is driven by an electric motor. This structure, when starting, applies an initial torque to the electric motor before the accelerator is operated, and prevents the shaking and stumbling that occurs during starting by performing the shaking (elimination of backlash) of the driving system of the electric motor in advance. In addition, Patent Document 1 discloses a structure in which the electric motor is driven and controlled in order to perform chattering on the drive side (removal of backlash) in the following cases. The above-mentioned case refers to the case where the driven state of "the electric motor is driven by the driving wheel" is formed from the driving state of "the driving wheel is driven by the driving force of the electric motor". In addition to this, Patent Document 1 discloses that the aforementioned chattering control is stopped when the rotating shaft rotates at a high speed. [Prior Art Literature] [Patent Literature]

[Patent Document 1]: Japanese Patent No. 4747818

[Problems to be Solved by Invention]

Incidentally, depending on the type of vehicle, some can be moved backward (reverse) by a drive source such as an electric motor. However, even when switching between forward and backward, chattering (elimination of backlash) becomes necessary, and not only that, if chattering (elimination of backlash) is required when switching between backward and stop, it will not be possible to form a smooth action.

The present invention has been developed in view of the above-mentioned problems, and an object of the present invention is to provide a drive control device and a vehicle that can suppress the "time lag before starting" and improve the response in a vehicle driven by a prime mover . [means to solve the problem]

The first aspect of the present invention is a drive control device (120) of a vehicle (1) that drives the driving wheels (4a, 4b) to rotate by the driving force of a power unit (P) including a prime mover (30), characterized in that In a state where a predetermined mode selection condition has been established, from a forward mode (M1) that drives the vehicle (1) forward, a reverse mode (M2) that drives the vehicle (1) to move backward, and the reverse mode (M2) that drives the vehicle (1) backward can be selected. M2) includes: a reverse operation (Mb), which uses the driving force of the power unit (P) to reverse the vehicle (1); The power unit (P) will act on the driving wheels (4a, 4b) of the vibration torque (T) in the rotational direction when the vehicle (1) is moving backwards; From the state of the aforementioned backward motion (Mb), when the aforementioned mode selection condition has been established, when switching between the aforementioned vehicle (1) backward and stopped states, the aforementioned state of the action of the aforementioned shaking torque (T) is maintained, and the Switching between the aforementioned backward actions (Mb); when having transitioned from the aforementioned forward mode (M1) to the aforementioned backward mode (M2), execute the aforementioned backward preparation action (Mp); When the vehicle (1) is switched between the reverse and the stop when the mode selection condition is satisfied, the reverse operation (Mb) is switched in the reverse mode (M2) without going through the forward mode (M1). Preparing to maintain the action (Mw) with the aforementioned retreat.

In a second aspect of the present invention, in the first aspect described above, when the vehicle (1) has been stopped in a state where the transition to the reverse mode (M2) has been carried out and the mode selection condition has been satisfied , to maintain the execution state of the aforementioned back-up preparation action (Mp).

In the third aspect of the present invention, in the second aspect, the chattering torque (T) is compared with the first when the rotation number of the prime mover (30) is in the preset first speed range (V1). The torque (T1), the second torque (T2) when the aforementioned number of revolutions is in the second speed range (V2) set at the higher speed side than the aforementioned first speed range (V1), is set to be smaller in absolute value .

In a fourth aspect of the present invention, in any one of the first to third aspects described above, in a state where the transition to the backward mode (M2) is performed, if the mode selection condition is not satisfied, the transition to the forward mode is performed. mode (M1).

According to a fifth aspect of the present invention, in any one of the first to third aspects described above, the forward mode (M1) includes a forward motion (Mf) in which the driving force of the power unit (P) is used to cause the forward movement. The vehicle (1) moves forward; the forward preparation operation (Ma), in the state where the vehicle (1) has been stopped, the use of the power unit (P) will promote the vibration of the rotation direction of the vehicle (1) when it moves forward Torsion (T) acts on the drive wheels (4a, 4b); in the state of transition to the backward mode (M2), if the mode selection condition is not satisfied, the forward preparation operation (Ma) is entered.

In a sixth aspect of the present invention, in any one of the first to third aspects described above, after having transitioned from the backward mode ( M2 ) to the forward mode ( M1 ), when transitioning to the backward mode again At the time of (M2), the aforementioned back-up preparation operation (Mp) is performed again.

In a seventh aspect of the present invention, in any one of the first to third aspects, the mode selection condition includes: the rotation number of the prime mover (30) is equal to or less than a preset stop judgment value.

In an eighth aspect of the present invention, in any one of the first to third aspects described above, an accelerator (110) for adjusting the torque of the prime mover (30) is provided, and the mode selection condition includes the accelerator (110). 110) is fully closed.

In a ninth aspect of the present invention, in any one of the first to third aspects described above, wherein the retreating preparation action (Mp) acts on the shaking torque (T) only for a predetermined duration time, The aforementioned duration varies corresponding to the number of revolutions of the aforementioned prime mover (30).

In a tenth aspect of the present invention, in the ninth aspect, the duration time is shortened when the number of revolutions of the prime mover (30) increases.

According to an eleventh aspect of the present invention, there is provided a vehicle (1) characterized by including the drive control device (120) according to any one of the above-mentioned first to tenth aspects. [Effect of invention]

According to the above-described first aspect, switching between start (reverse) and stop after the reverse mode is selected is performed as described below as long as the mode selection condition is satisfied. That is, without going through the forward mode, it is performed between the backward movement and the backward preparation maintaining movement in the backward mode. In other words, at the time of stopping in a state where the backward mode is selected, the vibrating (backlash is eliminated) state is maintained, and the forward mode is not entered. For this reason, when restarting, it is not necessary to perform the bouncing action of the mechanism (reverse preparation action) again. Therefore, after selecting the reverse mode, when starting and stopping, the time lag before restart can be suppressed, and the sensitivity of the reverse mode can be improved.

According to the above-mentioned second aspect, after the reverse mode is selected, when the mode selection condition is satisfied and the mode is stopped, the operation in which the mechanism vibrates (reverse preparation operation) is maintained. In this way, the time lag before restarting can be suppressed, and when starting and stopping after the reverse mode is selected, it is possible to surely suppress the stuttering at the time of restarting.

According to the third aspect described above, in the reverse mode, when the number of revolutions of the prime mover is on the high-speed side, that is, when the reverse speed of the vehicle is high, the absolute value of the vibration torque in the reverse direction is set to be small. In this way, when the vehicle reverses at a relatively high speed, it is possible to suppress the generation of "a feeling of idling due to the driving force of the power unit".

According to the above-described fourth aspect, as long as the mode selection condition is not satisfied, the mode is directly returned to the forward mode, and therefore no special release operation and control are required. In this way, the operation burden of the user can be reduced.

According to the fifth aspect described above, when transitioning from the backward mode to the forward mode, the forward motion preparation operation is performed, and the forward motion operation is not directly performed. In this way, the chattering in the forward direction can be surely performed (removal of backlash), and the jerk at the time of forward movement can be surely suppressed.

According to the above-described sixth aspect, when transitioning from the forward mode to the backward mode again, the forward motion preparation operation is used to reliably execute the vibration in the backward direction (removal of backlash). In this way, the frustration at the time of retreating can be suppressed reliably.

According to the above-mentioned seventh aspect, when the number of revolutions of the prime mover is equal to or less than a specific value, the transition to the reverse mode is performed, and thus the following effects exist. In other words, it is possible to transfer to the backward mode by guaranteeing the state that "the large torsion force in the forward direction will not be applied". In this way, the frustration at the time of switching the reverse mode can be surely suppressed.

According to the above-mentioned eighth aspect, when the accelerator opening degree is fully closed, since the transition to the reverse mode is performed, the following effects exist. In other words, it is possible to transfer to the backward mode by guaranteeing the state that "the large torsion force in the forward direction will not be applied". In this way, the frustration at the time of switching the reverse mode can be surely suppressed.

According to the above-mentioned ninth aspect, the duration of time during which the wobble torque is applied in the retreat preparation operation is changed in accordance with the number of revolutions of the prime mover. For example, when the number of revolutions in the reverse direction of the prime mover is high, the duration of the chatter (elimination of backlash) is shortened. In this way, in a state in which the vehicle has already moved backward due to the operation of the operator or the inclination of the road surface, the backward motion can be quickly performed, and the sensitivity can be improved.

According to the tenth aspect described above, when the number of revolutions in the reverse direction of the prime mover is high, the duration of the chattering torque is shortened. In this way, in a state in which the vehicle has already moved backward due to the operation of the operator or the inclination of the road surface, the backward motion can be quickly performed, and the sensitivity can be improved.

According to the eleventh aspect, by including the drive control device as described above, in the vehicle driven by the power unit, the time lag before startup can be suppressed, and the sensitivity can be improved.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, directions such as front, rear, left, right, etc., are the same as (identical to) the directions of the vehicle described below unless otherwise specified. In the drawings used for the following description, arrows FR indicating the front of the vehicle, arrows LH indicating the left side of the vehicle, and arrows UP indicating the upper side of the vehicle are indicated at appropriate positions.

As shown in FIGS. 1 and 2 , in an electric vehicle (vehicle) 1 of the present embodiment, a front wheel 2 serving as a steered wheel is supported on a front vehicle body (vehicle front structure) 3 . The electric vehicle 1 supports a rear vehicle body (vehicle rear structure body) 5 as a pair (a pair) of left and right rear wheels (drive wheels) 4 a and 4 b as drive wheels. The electric vehicle 1 has a front vehicle body (swing side vehicle body) 3 on which a rider rides so as to be able to swing left and right (rolling ). The electric vehicle 1 is configured as a swing-type electric tricycle. The electric vehicle 1 of the present embodiment can travel forward in the front of the vehicle, and can travel backward in the rear of the vehicle.

The front body 3 includes a handlebar 6 for steering the front wheel, and a seat cushion 7 for a rider to sit on. The front vehicle body 3 has a spanning space 8 between the handlebar 6 and the seat cushion 7 , and a low chassis 9 is provided below the spanning space 8 . The front vehicle body 3 and the rear vehicle body 5 are connected to each other by a rotation mechanism (rolling joint) 50 . Symbol C1 in FIG. 1 denotes a rotation axis extending in the vehicle front-rear direction in the rotation mechanism 50 .

Referring to FIG. 1 , the front vehicle body 3 includes a front vehicle body frame 11 . The front body frame 11 includes a single front frame 14 extending downward from the rear side of the head pipe 12 and then being bent rearward, and a pair of left and right lower frames 15 extending from both sides of the curved portion of the front frame 14 The left and right branched and extended rearward; the left and right paired (a pair) rear portions 16 are bent and extended from the rear end portions of the left and right lower frames 15 toward the rear and upward diagonally. On the head tube 12, a front wheel suspension device (eg, a telescopic front fork) 13 is steerably supported. The front wheel 2 is supported at the lower end of the front wheel suspension device 13 .

Between the lower parts of the left and right rear frames 16, a bottom horizontal frame not shown in the drawing is arranged. On the bottom horizontal frame, the front structure 50F of the turning mechanism 50 is fixedly supported. The front vehicle body 3 is swung (tilted) in the turning direction by the turning mechanism 50 with respect to the rear vehicle body 5 which makes the left and right rear wheels 4a and 4b contact the road surface when the electric vehicle 1 turns. In this way, the front vehicle body 3 causes the steering angle to be generated by the front wheels 2 serving as steering wheels.

The entire front body 3 including the front body frame 11 is covered by a front body cover 90 . The front body cover 90 includes a front cover 91 and an inner cover 92 that cover the peripheries of the head pipe 12 and the front frame 14 from the front and rear, respectively, and a floor board 93 connected to the lower end of the inner cover 92 The rear of the seat cushion; the lower cover 94 of the seat cushion is erected at the rear of the bottom plate 93 and reaches the lower part of the seat cushion 7 . The bottom plate 93 constitutes the low chassis 9 together with the left and right lower frames 15 and the like. The seat cushion lower cover 94 is formed with a rear inclined portion 94a inclined upward and rearward.

The rear vehicle body 5 includes a rear vehicle body frame 21 which is independent from the front vehicle body frame 11 . The rear body frame 21 includes a second rear frame 22 extending obliquely rearward and upward from the rear structure 50R (non-rotating area) of the turning mechanism 50 , and a rear upper frame 23 extending rearward from the upper end of the second rear frame 22 . The second rear frame 22 and the rear upper frame 23 are formed integrally with each other, for example. The rear body frame 21 is located between the left and right rear wheels 4a, 4b in the left-right direction.

The rear end portion of the structure 50R behind the rotating mechanism 50 supports the front end portion of the swing unit 40 . The front end of the swing unit 40 is supported so as to be able to swing up and down through a "swing shaft (pivot shaft) 41 extending in the left-right direction". The rear end portion of the rocking unit 40 is connected to the upper rear portion of the rear vehicle body frame 21 via left and right rear bumpers (not shown) and is supported. Including these rocking units 40 , left and right rear cushions (not shown in the drawings), and the rear body frame 21 , the rear vehicle body 5 constitutes a rear wheel suspension device (rear suspension).

The entire rear body 5 including the rear body frame 21 is covered by a rear body cover 70 . The rear body cover 70 includes: a front wall part 71 forming an inclined front surface slightly parallel to the second rear frame 22; an upper wall part 72 extending rearward from an upper end of the front wall part 71 in a slightly parallel manner; a rear fender 74, covering the upper part of the left and right rear wheels 4a, 4b. The upper wall portion 72 forms a stage 75 on the upper surface of the rear vehicle body 5 together with the rear upper frame 23 and the like. The front wall portion 71 is formed to be approximately parallel to the rear inclined portion 94 a of the front vehicle body 3 . The front wall portion 71 is arranged so as to have a gap between the front wall portion 71 and the rear inclined portion 94a by a gap "to an extent that does not interfere with the rear inclined portion 94a when the front and rear vehicle bodies 3 and 5 are relatively rocked".

As shown in FIG. 2, the swing unit 40 is arranged between the left and right rear wheels 4a, 4b. The pan unit 40 is configured to extend from the pan shaft 41 to the rear wheel axle 42 in a side view. The swing unit 40 is arranged such that the longitudinal direction faces the front-rear direction.

The rocking unit 40 is constituted as a power unit P that "includes an electric motor (prime mover) 30 as a drive source of the electric vehicle 1". The swing unit 40 includes: a unit case 43 as a structure (rocker arm) that supports the left and right rear wheels 4a, 4b to be able to swing up and down; an electric motor 30 housed in the left side of the front part of the unit case 43; a differential mechanism (differential mechanism) 44 is accommodated in the rear of the unit case 43 . The swing unit 40 is swingably coupled to the turning mechanism 50 in a state in which it is mounted on the sub-arm 43a (refer to FIG. 1 ).

Inside the unit case 43 are provided a rotating shaft 45 , a countershaft 47 , and a rear axle 42 . The rotation shaft 45 , the intermediate shaft 47 , and the rear axle 42 have respective shaft centers extending in the left-right direction of the vehicle body, and are provided parallel to each other. Inside the front left side of the unit case 43, a motor case 46 is accommodated. The inside of the front part of the power unit P is provided with a parking lock mechanism 80 that locks the left and right rear wheels 4a and 4b so as not to rotate when the vehicle is parked on a slope.

The rotation shaft 45 is provided in the front part of the unit case 43 . The rotating shaft 45 is the output shaft of the electric motor 30 . The rotating shaft 45 is rotatably provided in "the motor housing 46 provided in the unit case 43" through the bearings 51 and 52. The electric motor 30 is provided within the motor housing 46 . The electric motor 30 includes a rotor 31 fixed to the radially outer side of the rotating shaft 45 , and a stator 32 provided on the radially outer side of the rotor 31 and fixed to a motor case 46 .

The rotation shaft 45 is provided so as to protrude from the motor housing 46 toward the right side of the vehicle body. The protruding portion of the rotating shaft 45 is rotatably supported by "the front end portion of the collar protruding from the right side of the motor housing 46" through the bearing 53a. The right end portion of the rotation shaft 45 is rotatably supported by the right side wall of the unit case 43 through the bearing 53b. A pinion gear 54 is provided at a portion located between the bearings 53a and 53b on the right protruding portion of the rotating shaft 45 . The pinion gear 54 is, for example, a helical gear.

The intermediate shaft 47 is provided at the rear of the vehicle body with respect to the rotation shaft 45 . Both ends of the intermediate shaft 47 are rotatably supported by the unit case 43 through bearings 55 and 56 . The intermediate shaft 47 is provided with a transmission gear 57 having a relatively large diameter that meshes with the pinion gear 54 of the rotating shaft 45 . In this way, the rotation of the rotating shaft 45 is decelerated and transmitted by the intermediate shaft 47 . A pinion gear 58 is engraved on the left side of the vehicle body with respect to the transmission gear 57 on the outer peripheral surface of the intermediate shaft 47 .

The rear axle 42 is provided behind the vehicle body with respect to the rotation shaft 45 and the intermediate shaft 47 . The rear axle 42 includes a right axle 42R and a left axle 42L that are coaxial with each other and are different from each other. The left axle 42L is rotatably supported by the left part of the unit case 43 through a bearing 59L. The center portion of the left rear wheel 4a is integrally rotatably supported at the left end portion of the left axle 42L. The right axle 42R is rotatably supported by the right side portion of the unit case 43 through a bearing 59R. At the right end portion of the right axle 42R, the center portion of the right rear wheel 4b is integrally rotatably supported.

A differential mechanism 44 is provided between the right axle 42R and the left axle 42L. The differential mechanism 44 is accommodated in the rear right side of the unit case 43 . The differential mechanism 44 includes a differential case 61 , a pair of pinion gears 62 , and a pair of side gears 63 .

The differential case 61 is rotatably supported by the unit case 43 through bearings 60A, 60B. A pair of pinion gears 62 are provided in the differential case 61 . A pair of pinion gears 62 are rotatably supported by pins 64 . A pair of side gears 63 are provided on the left and right sides in the differential case 61 . The left end portion of the right axle 42R is engaged with the right side gear 63 by the key groove. The right end portion of the left axle 42L is engaged with the left side gear 63 by the key groove.

An output gear 65 is provided on the outer peripheral surface of the left side portion of the differential case 61 . The output gear 65 meshes with the pinion gear 58 formed on the intermediate shaft 47 . The output gear 65 has a larger diameter than the pinion gear 58 . In this way, the rotation of the intermediate shaft 47 is decelerated and transmitted by the differential case 61 . The rear axle 42 (the right axle 42R, the left axle 42L) is rotationally driven through the differential mechanism 44 by the rotation of the differential case 61 .

The electric motor 30 of the power unit P is driven by the electric power of the battery 100 shown in FIG. 1 . For example, the electric motor 30 can be controlled by VVVF (variable voltage variable frequency; variable voltage variable frequency) to form a variable speed drive. Although the electric motor 30 is subject to the speed change control as if it had a continuously variable transmission, it is not limited to this, and may be subject to the speed change control as if it had a stepwise transmission. The battery 100 is provided, for example, below the seat cushion 7 of the front vehicle body 3 .

The operation of the electric motor 30 is controlled by the drive control device 120 shown in FIG. 3 . The drive control device 120 can switch the rotation direction of the electric motor 30 between the forward rotation direction and the reverse rotation direction. The aforementioned forward rotation direction is a rotation direction in which the rear wheels 4a and 4b are rotated in order to drive the electric vehicle 1 forward. The aforementioned reverse direction is a rotational direction in which the rear wheels 4a and 4b are rotated in order to cause the electric vehicle 1 to travel backward.

The drive control device 120 includes a mode selection unit 111 , an accelerator opening degree sensor 121 , a vehicle speed sensor 122 , a pattern memory unit 123 , and a control unit 124 .

The mode selection unit 111 accepts an operation input from the rider in order to switch the running mode of the electric vehicle 1 . As shown in FIG. 4 , in the present embodiment, the travel modes of the electric vehicle 1 include a forward mode M1 for causing the electric vehicle 1 to travel forward (forward) and a reverse mode M2 for causing the electric vehicle 1 to travel backward (reverse). .

The forward mode M1 includes a forward motion Mf and a forward motion preparation operation Ma. In the forward motion Mf, the electric vehicle 1 is moved forward by the driving force of the electric motor 30 . In the forward preparation operation Ma, in the state where the electric vehicle 1 has been stopped, the driving force of the electric motor 30 is used to promote the vibration torque (that is, the torque to eliminate the backlash) in the rotational direction when the electric vehicle 1 is traveling forward, Acts on the rear wheels 4a, 4b. The reverse mode M2 includes a reverse operation Mb and a reverse preparation operation Mp. In the reverse operation Mb, the electric vehicle 1 is reversed by the driving force of the electric motor 30 . In the backward motion preparation operation Mp, in the state where the electric vehicle 1 is stopped, the driving force of the electric motor 30 acts on the rear wheels 4a and 4b with the shaking torque in the turning direction when the electric vehicle 1 travels backward. The electric vehicle 1 can transition from the forward mode M1 to the reverse mode M2 (the reverse mode M2 can be selected) in a state where a predetermined mode selection condition is satisfied.

The mode selection unit 111 includes two operating elements 112 and 113 that can be operated by the rider. One of the operating elements 112 is, for example, a start switch (marked as “START” in FIG. 4 ) located on the right side of the handle 6 . Another operating element 113 is, for example, a backward switch (marked as “REVERSE” in FIG. 4 ) located on the left side of the handle 6 .

Each of the operating elements 112 and 113 outputs an ON signal to the control unit 124 when the rider performs an operation (for example, pressing). The rider can select the travel mode of the electric vehicle 1 by performing specific operations on the two operating elements 112 and 113 . The operations of the two operating elements 112 and 113 are included in the aforementioned mode selection conditions. The mode selection conditions are: the motor stop judgment has been completed; the accelerator is in a fully closed state; and the operation of at least one of the two operating elements 112 and 113 has been completed.

In the present embodiment, the mode selection unit 111 selects the forward mode M1 when either of the two operating elements 112 and 113 is in an OFF state where none of the operation elements 112 and 113 is operated. The mode selection unit 111 selects the reverse advance standby Mr in the reverse mode M2 when only one of the two operating elements 112 and 113 is operated to be in the ON state. The mode selection unit 111 selects the post-operation Mb when both of the two operating elements 112 and 113 are operated to be in the ON state.

The accelerator opening sensor 121 detects the opening of the accelerator handle (accelerator) 110 provided on the right side of the vehicle body of the handlebar 6 . The accelerator handle 110 is an operating element for adjusting the traveling speed (vehicle speed) of the electric vehicle 1 . The rider performs an adjustment to adjust the opening degree of the accelerator handle 110 . The electric motor 30 operates at "the number of revolutions corresponding to the opening degree of the accelerator handle 110", and acts on the left and right rear wheels 4a and 4b with a driving force (torque force) corresponding to the number of revolutions.

The vehicle speed sensor 122 is used to detect the running speed of the electric vehicle 1 . The vehicle speed sensor 122 , for example, can also detect the rotational speed of the front wheel 2 . In the present embodiment, the vehicle speed sensor 122 detects the traveling speed of the electric vehicle 1 by detecting "the rotational speed of the rotating shaft 45 driven by the electric motor 30".

The graphic memory unit 123 stores preset graphic information lm (refer to FIG. 5 and FIG. 6 ). The graphic information 1m is a means for causing the electric motor 30 to generate "torque corresponding to the opening degree of the accelerator handle 110 and the driving mode of the electric vehicle 1". The graphic information lm is set for each driving mode of the electric vehicle 1 and each opening degree of the accelerator handle 110 . The graph information lm has the following correlations set in each travel mode of the electric vehicle 1 . That is, the correlation between the traveling speed of the electric vehicle 1 and the torque generated by the electric motor 30 is set for each opening degree of the accelerator handle 110 .

The graphic information Im in FIG. 5 is graphic information Im1 when the reverse-preparation maintenance operation Mw or the reverse-preparation operation Mp in the reverse mode M2 is performed. The graphic information lm1 shows the correlation between "the number of revolutions of the electric motor 30" and "the torque generated by the electric motor 30". The graphic information Im shown in FIG. 6 is graphic information Im2 when entering the backward motion Mb from the back-up preparation operation Mp. The graph information 11m2 shows the correlation between "the execution time of the retraction preparation operation Mp (standby time before entering the retraction operation Mb)" and "the number of revolutions of the electric motor 30".

The control unit 124 selects the travel mode according to the satisfaction of the above-mentioned mode selection condition. When the forward mode M1 is selected, the control unit 124 controls (adjusts) the driving force of the electric motor 30 in accordance with the opening degree of the accelerator handle 110 . When the reverse mode M2 is selected, the control unit 124 executes the following control, for example, regardless of the opening degree of the accelerator handle 110 . That is, while the ON operations of the two operating elements 112, 113 have been performed, the vehicle speed is slowly increased up to the predetermined upper limit speed.

The graphics memory unit 123 and the control unit 124 are functionally provided by a PCU (Power Control Unit) 125 as hardware. The graphics memory unit 123 is set in a memory area provided in the PCU 125 . The control unit 124 can realize functionality by "processing executed according to a computer program preset in the PCU 125". The PCU 125 is, for example, a control unit integrally provided with a PDU (Power Driver Unit) and an ECU (Electric Control Unit: electronic control unit).

Referring to FIG. 4 , the control unit 124 first obtains the detection result of the opening degree of the accelerator handle 110 from the accelerator opening degree sensor 121 as the forward motion Mf. The control unit 124 refers to the graphic information Im corresponding to the "acquired opening degree of the accelerator handle 110" among the graphic information lm stored in the graphic memory unit 123. When the obtained opening degree of the accelerator handle 110 is other than the fully closed state, the control unit 124 refers to the graphic information lm corresponding to the opening degree of the accelerator handle 110 . The control unit 124 uses the electric motor 30 to generate a torque corresponding to “the traveling speed of the electric vehicle 1 detected by the vehicle speed sensor 122 ”, so as to drive the electric vehicle 1 to move forward.

The control unit 124 enters the advance preparation state Ma (arrow F1 in FIG. 4 ) when the opening degree of the accelerator handle 110 obtained from the accelerator opening degree sensor 121 is in the fully closed state during the forward motion Mf. . The control unit 124 executes the following control in the advance preparation state Ma. That is, in a state in which the electric vehicle 1 is stopped, the electric motor 30 (power unit P) is used to drive the electric motor 30 (the direction in which the rear wheels 4a and 4b are rotated (forward rotation direction) when the electric vehicle 1 is driven forward). , acting on a fine torque (vibration torque).

The chattering torque is set to such an extent that the backlash between the gears of the drive system of the power unit P can be eliminated without increasing the traveling speed of the electric vehicle 1 (without accelerating). The absolute value of the flutter torque is greater than: the minimum torque Tmin that the backlash of the power transmission path of the power unit P can be eliminated (removed backlash). In this way, when the opening degree of the accelerator handle 110 is increased from the advance preparation state Ma (arrow F2 in FIG. 4 ), it is possible to suppress the occurrence of "the shock caused by the collision between the gears in the drive system".

The control unit 124 can switch to the reverse mode M2 when the electric vehicle 1 is in a stopped state (forward preparation state Ma) in the forward mode M1. The advance preparation state Ma corresponds to when the stop determination of the electric motor 30 (eg, the rotation speed is equal to or less than a predetermined reference rotation speed (eg, 50 rpm)) is completed, and the accelerator handle 110 is in a fully closed state. The control unit 124 executes the following control when one of the operation elements 112 and 113 of the mode selection unit 111 is in the ON state in the advance preparation state Ma. That is, transition to the reverse advance standby Mr to the reverse mode M2 is permitted (arrow F3 in FIG. 4 ). The control unit 124 returns to the forward preparation state Ma (arrow F4 in FIG. 4 , when both the operating elements 112 and 113 are turned OFF when it is determined that the motor is stopped and the accelerator is fully closed during the pre-reverse standby Mr. ).

After entering the pre-reverse standby Mr, if both the operating elements 112 and 113 are in the ON state, the control unit 124 enters the retract preparation state Mp from the pre-reverse standby Mr (arrow F5 in FIG. 4 ). In the backward motion preparation operation Mp, the control unit 124 applies a fine torsion force (vibration torsion force) in the "direction (reverse direction) in which the rear wheels 4a and 4b are rotated when the electric vehicle 1 is driven backward." In the forward preparation state Ma, when both the operation elements 112 and 113 of the mode selection unit 111 are in the ON state, the control unit 124 may directly enter the backward preparation operation Mp.

In the retreat preparation operation Mp, if the ON states of both the operating elements 112 and 113 continue for a predetermined time (eg, 0.2 seconds), the control unit 124 enters the retreat operation Mb (arrow F6 in FIG. 4 ). In the reverse motion Mb, the control unit 124 gradually increases the vehicle speed up to a predetermined upper limit speed while the ON operation of the two operating elements 112 and 113 is performed. At this time, the backlash of the drive system is eliminated by the action of the chattering torque, so the following actions are obtained. That is, when switching to the backward motion Mb and when accelerating in the backward direction, it is possible to suppress the occurrence of "jerk caused by the collision between gears in the drive system".

Here, when switching from the retreating preparation operation Mp to the retreating operation Mb, the duration Tk of the retreating preparation operation Mp is set according to the graphic information Im2 shown in FIG. 6 . As shown in FIG. 6 , the duration Tk of the backward motion preparation operation Mp is a setting that changes according to the number of revolutions of the electric motor 30 . The graphic information Im2 is set so that the duration of the retreat preparation operation Mp is shortened when the number of revolutions of the electric motor 30 is increased. In this way, when the running mode is switched to the reverse preparation operation Mp, for example, when the reverse speed is higher than a certain level due to the influence of the road surface slope or the rider stepping on the road surface, the following effects are obtained. That is, it is possible to shorten the retraction preparation operation Mp and directly switch to the retraction operation Mb.

In addition, when the rider releases any one of the operating elements 112 and 113 to be in the OFF state during the backward motion preparation operation Mp, the control unit 124 executes the following control. That is, the running mode is brought into the reverse preparation maintaining operation Mw (arrow F7 in FIG. 4 ), which will be described later. The backward-ready maintenance operation Mw is a control that enables switching to be performed even when either of the operating elements 112 and 113 is in the OFF state during the backward-moving operation Mb.

When the rider releases any one of the operating elements 112 and 113 to be in the OFF state, the control unit 124 goes from the backward movement Mb to the backward preparation continuation action Mw (arrow F8 in FIG. 4 ). The control unit 124 maintains a state in which a slight torque (vibration torque) is applied in the "direction (reverse direction) of turning the rear wheels 4a and 4b" in the reverse preparation maintaining operation Mw. The control unit 124 continues the "reversing preparation continuation operation Mw" until the rider operates both of the operating elements 112 and 113 again to make the ON state. When the control unit 124 operates "both operating elements 112 and 113" again during the retreat preparation maintaining operation Mw and becomes the ON state, the control unit 124 returns from the retreat preparation maintaining operation Mw to the retreating operation Mb (arrow F9 in FIG. 4 ). At this time, the backlash of the drive system is eliminated by the action of the chattering torque, so the following actions are obtained. That is, when returning to the backward motion Mb and accelerating in the backward direction, it is possible to suppress the occurrence of "jerk caused by the collision between gears in the drive system".

In addition, when both the operating elements 112 and 113 have been turned off during the period of the backward-preparation maintenance operation Mw, the control unit 124 executes the following control. That is, as long as it is judged that the motor is stopped and the accelerator is in a fully closed state, it enters the advance preparation state Ma (arrow F10 in FIG. 4 ). That is, the forward mode M1 is entered from the backward mode M2.

In the advance preparation state Ma, the control unit 124 executes the following control. That is, in a state in which the electric vehicle 1 is stopped, the electric motor 30 (power unit P) is used to drive the electric motor 30 (the direction in which the rear wheels 4a and 4b are rotated (forward rotation direction) when the electric vehicle 1 is driven forward). , acting on a fine torque (vibration torque).

In this way, when the reverse mode M2 is selected by the mode selection unit 111 again when the reverse mode M2 has been returned to the forward mode Ma from the retraction preparation maintaining operation Mw, the control unit 124 executes the following control. That is, through the pre-reverse standby Mr and the reverse preparation operation Mp, the reverse operation Mb is entered.

Hereinafter, "graphic information Im1 in the state of the back-up preparation maintenance action Mw or the back-up preparation action Mp" will be described. As shown in FIG. 5, in the graphic information Im1, "torque force acting on the rear wheels 4a, 4b by the electric motor 30 (power unit P)" is set as follows. In the graphic information Im1, in the first speed range V1 in which the rotational speed of the electric motor 30 is set to a lower side (a side with a smaller absolute value, a lower side in a reverse speed), a reverse direction torque T1 acts at a constant (constant) value. In the graphic information Im1, "the torque applied by the electric motor 30 to reverse the rear wheels 4a, 4b" is displayed as a negative value of 0 or less.

The torque T1 is set to such an extent that the backlash between the gears of the drive system of the power unit P is eliminated, and the traveling speed of the electric vehicle 1 toward the rear is not increased (not accelerated). The absolute value of the torque T1 is greater than: the minimum torque Tmin that can eliminate the backlash of the power transmission path of the power unit P (eliminate the backlash). In this way, if the opening degree of the accelerator handle 110 is increased from the first speed range V1, it is possible to suppress the occurrence of "the shock caused by the collision between the gears in the drive system".

In addition, in the graphic information Im1, in the second speed range V2 on the higher side (the side with the larger absolute value, the side with the higher reverse speed) than the first speed range V1 in which the number of revolutions of the electric motor 30 is set, the reverse direction is changed. The torque T2 acts on the rear wheels 4a, 4b. The absolute value of the torque T2 is smaller than the torque T1 acting in the first speed range V1. In this way, it is possible to suppress the feeling of idling which is caused when the backward speed exceeds the predetermined upper limit speed or when the backward speed is high.

Further, in the graphic information Im1, the torque T3 acting on the rear wheels 4a and 4b by the electric motor 30 (power unit P) is in the third speed range set between the first speed range V1 and the second speed range V2 Change continuously in V3.

In this way, while the accelerator handle 110 is kept fully closed, when the vehicle speed changes from the second speed range V2 to the first speed range V1, or from the first speed range V1 to the second speed range V2, the following effect. That is, the torque generated by the electric motor 30 does not change in stages, and the rider is less likely to feel the change in the torque T3.

In addition, in the pattern information lm1, the extremely low-speed fourth speed range V4 is set on the lower speed side than the first speed range V1. In the graphic information lm1, when the traveling speed of the electric vehicle 1 is in the fourth speed range V4, the following settings are made. That is, it is set so that the electric motor 30 (power unit P) acts on the rear wheels 4a and 4b with a torque T4 smaller than the torque T1 in the first speed range V1. The fourth speed range V4 is an extremely low speed range including the stopped state of the electric vehicle 1 .

In such a fourth speed range V4, when the electric vehicle 1 is in a lower speed state, it is more difficult for the rider to feel "the torque T4 applied by the electric motor 30". In addition, in an extremely low-speed state such as when the electric vehicle 1 is stopped, the influence of, for example, stacking luggage on the electric vehicle 1 or when a rider moves forward on the electric vehicle 1 is suppressed. That is, when the electric vehicle 1 is stopped or the like, a situation in which the electric motor 30 unexpectedly applies torsion due to the influence of an external force acting on the electric vehicle 1 and the electric vehicle 1 starts to move rearward is suppressed.

Here, the fourth speed range V4 may be set to a torque larger than the torque T1 in the first speed range V1 when the electric vehicle 1 is in a stopped state (the running speed is 0, that is, the complete stop state). T0. This is because, for example, when the electric vehicle 1 starts to vibrate (remove the backlash), a larger torque is required than "vibration when the electric vehicle 1 decelerates and stops (removes the backlash)."

Further, in the graphic information lm1, the running speed of the electric vehicle 1 is set as follows in the fifth speed range V5 set between the first speed range V1 and the fourth speed range V4. That is, the fifth speed range V5 is set so as to continuously change “the torque T5 acting on the rear wheels 4a and 4b by the electric motor 30 (power unit P)”.

In the fifth speed range V5, the following effects are obtained when the vehicle speed changes from the first speed range V1 to the fourth speed range V4 while the accelerator handle 110 is kept in the fully closed state. That is, it is possible to suppress the acceleration feeling from being generated in the electric vehicle 1 . In addition, the rider is less likely to feel "the fluctuation of the torque T5 acted on by the electric motor 30".

In the drive control device 120 according to the embodiment, the control unit 124 executes the following control in the retreat preparation state Mw. That is, the power unit P acts on the rear wheels 4a and 4b with torsional force in the rotational direction when the electric vehicle 1 is driven backward. The control unit 124, in the mode selection unit 111, executes the following control when the selected reverse operation Mb state is released (when the mode selection condition is not satisfied). That is, without going through the forward mode M1, it is directly switched to the backward preparation maintaining operation Mw.

The control unit 124 executes the following control when the reverse motion Mb is selected by the mode selection unit 111 . That is, according to the pattern information Im stored in the pattern memory unit 123, the torsion force when the electric vehicle 1 is driven backward is applied to the rear wheels 4a and 4b. In the state where the backward motion Mb has been selected, when the "state where the backward motion Mb has been selected" is canceled by an input to the mode selection unit 111, the control unit 124 executes the following control. That is, the running mode is switched to the reverse preparation maintaining operation Mw.

In the reverse preparation maintaining operation Mw, the control unit 124 acts on the rear wheels 4a and 4b with the torque in the rotational direction when the electric vehicle 1 is driven backward by the power unit P. Therefore, when the travel mode is brought into the reverse operation Mb again by the rider's input to the mode selection unit 111, the backlash of the drive system is eliminated. Therefore, it is possible to suppress the jerk that occurs "when the reverse motion Mb has been entered" and "when the electric vehicle 1 is reversed". Therefore, the electric vehicle 1 can be urged to reverse with good sensitivity while suppressing the time lag. As a result, the "electric vehicle 1 driven by the power unit P" can be operated with less discomfort.

In addition, the control unit 124 executes the following control when the mode selection unit 111 cancels the state in which the backward motion Mb has been selected and enters the backward motion preparation maintenance motion Mw. That is, before the backward action Mb is selected again, the backward preparation maintenance action Mw is executed. In this way, even after the selected backward motion Mb is canceled, it is possible to enter the backward motion preparation maintenance motion Mw and maintain the vibrating state. In this way, it is possible to suppress the jerk that occurs when the reverse operation Mb is selected again, and to suppress the time lag and urge the electric vehicle 1 to move backward with good sensitivity.

In addition, the control unit 124 switches to the reverse operation Mb in the mode selection unit 111 when the reverse preparation operation Mp is continued and a predetermined time elapses. In this way, when the running mode is switched from the forward mode M1 to the reverse mode M2, the backlash of the drive system is eliminated by the reverse preparation operation Mp, and then automatically switched to the reverse operation Mb. In this way, when the electric vehicle 1 is caused to run backward, the following effects are obtained. That is, it is possible to suppress the setback of the drive system, suppress the time lag, and promote the rearward start of the electric vehicle 1 with good sensitivity.

In addition, the control unit 124 changes the "continuation time of the retreat preparation operation Mp" in accordance with the number of revolutions of the electric motor 30 . In this way, when the travel mode is switched from the forward motion Mf to the reverse motion Mb, the following effects are obtained. That is, when the electric vehicle 1 moves in the backward direction due to, for example, the inclination of the slope or the rider stepping on the road surface, the backward movement preparation operation Mp is performed for a time corresponding to the speed. In this way, it is possible to transition to (enter) the backward action Mb.

In addition, the control unit 124 shortens the "duration of the retraction preparation operation Mp" when the number of revolutions of the electric motor 30 increases. In this way, when the traveling speed is high when switching to the reverse preparation operation Mp, the reverse preparation operation Mp can be shortened and the reverse operation Mb can be directly switched.

In addition, when the running mode is in the reverse preparation maintaining operation Mw and it is determined that the motor is stopped and the accelerator is in a fully closed state, the control unit 124 executes the following control. That is, when both of the operating elements 112 and 113 are in the OFF state, the forwarding preparation state Ma is entered. In the forward preparation state Ma, the power unit P acts on the rear wheels 4a and 4b by the vibration torque in the rotational direction when the electric vehicle 1 is driven forward. Therefore, when the rider turns on the accelerator handle 110 in order to advance the electric vehicle 1 after that, the backlash of the drive system is eliminated. Therefore, it is possible to suppress "the jerk that occurs when the accelerator handle 110 is opened in order to drive the electric vehicle 1 forward." In this way, the electric vehicle 1 can be driven forward with good sensitivity while suppressing the time lag. In addition, as described above, by allowing the transition from the reverse preparation maintaining operation Mw to the forward mode M1, the rider's degree of freedom of operation can be improved.

In addition, the control unit 124 executes the following control when the mode selection unit 111 selects the backward motion Mb while in the advance preparation state Ma. That is, it is directly switched to the backward motion Mb after the backward motion preparation operation Mp. In this way, when the backward mode M2 is switched to the forward preparation state Ma from the backward preparation maintaining operation Mw, the following effects are obtained by passing through the backward preparation operation Mp. That is, the transition from the forward mode M1 to the backward mode M2 can be smoothly performed.

In addition, the control unit 124 executes the following control when the mode selection unit 111 performs a selection operation from the forward mode M1 to the reverse mode M2. That is, when the number of revolutions of the electric motor 30 is equal to or less than the predetermined reference number of revolutions, the backward movement preparation operation Mp is entered. In this way, when entering the reverse preparation operation Mp, the following effects are obtained. That is, "the state in which a large amount of torque is not applied by the electric motor 30" can be guaranteed. In this way, when entering the reverse mode M2 from the forward mode M1, it is possible to suppress the occurrence of a crash in the drive system.

In addition, the control unit 124 executes the following control when the mode selection unit 111 performs a selection operation from the forward mode M1 to the reverse mode M2. That is, when the accelerator handle 110 is in a fully closed state, the back-up preparation operation Mp is entered. In this way, when entering the reverse preparation operation Mp, the following effects are obtained. That is, "the state in which a large amount of torque is not applied by the electric motor 30" can be guaranteed. In this way, when entering the reverse mode M2 from the forward mode M1, it is possible to suppress the occurrence of a crash in the drive system.

In addition, in the state where the running mode is the reverse preparation maintaining operation Mw, when the running speed of the electric vehicle 1 toward the rear is within the predetermined first speed range V1, the control unit 124 executes the following control. That is, by the power unit P, a constant (constant) torque T1 acts on the rear wheels 4a and 4b. In this way, as long as it is within the first speed range V1, no matter what the driving speed is, the backlash of the drive system is completely eliminated. In this way, it is possible to suppress "the jerk that occurs when the accelerator handle 110 is opened in order to drive the electric vehicle 1 toward the rear."

In addition, when the traveling mode of the electric vehicle 1 is in the reverse preparation maintaining operation Mw and the traveling speed toward the rear is in the second speed range V2 higher than the first speed range V1, the control unit 124 executes the following control. That is, by the power unit P, the torque T2 whose absolute value is smaller than the torque T1 acts on the rear wheels 4a and 4b. In this way, when the electric vehicle 1 is traveling at a high speed toward the rear, it is possible to suppress the occurrence of "a feeling of idling due to the driving force of the power unit P".

In addition, in a state where the running mode is the reverse preparation maintaining operation Mw, the control unit 124 executes the following control in the third speed range V3 set between the first speed range V1 and the second speed range V2. That is, by the power unit P, the torque acting on the rear wheels 4a, 4b is continuously changed. In this way, when the vehicle speed is changed from the first speed range V1 to the second speed range V2, that is, when the electric vehicle 1 is accelerated toward the rear, it is possible to suppress the generation of a feeling of acceleration. In addition, it is difficult for the rider to feel "the change in the torque applied by the power unit P", and it is even more difficult for the rider to have an uncomfortable feeling.

In addition, the mode selection unit 111 includes two operation elements 112 and 113 . The control unit 124 enters the reverse advance standby Mr in the reverse mode M2 when only one of the two operating elements 112 and 113 is operated in the forward mode M1. The control unit 124 enters the reverse operation Mb of the reverse mode M2 when both the two operating elements 112 and 113 are operated.

As such, by changing the combination of operations of the two operating elements 112, 113, switching of the travel mode can be easily performed. For example, from the state of "manipulating the operating elements 112 and 113 to enter the backward motion Mb", it becomes possible to release one of the operating elements 112 and 113 to switch to the backward ready to maintain motion Mw. In this way, the switching of the travel mode can be set easily and intuitively.

As described above, the drive control device 120 of the embodiment is the drive control device 120 of the electric vehicle 1 that drives the rear wheels 4a, 4b to rotate by the driving force of the power unit P including the electric motor 30, and operates in a predetermined mode. In the state where the selection condition is satisfied, the forward mode M1 which drives the electric vehicle 1 forward can be selected from the reverse mode M2 which drives the electric vehicle 1 to move backward. The vehicle 1 is moved backward; the backward preparation action Mp, in the state where the electric vehicle 1 has been stopped, uses the power unit P to make the vibration torque T in the rotational direction of the electric vehicle 1 when it travels backward, acts on the rear wheels 4a, 4b; Reverse preparation maintenance operation Mw, when the mode selection condition has been established from the state where it has transitioned to the reverse operation Mb, when switching between reverse and stop of the electric vehicle 1, the state where the action of the shaking torque T is maintained is maintained between and Switch between the backward actions Mb; when the forward mode M1 has been transferred to the backward mode M2, the backward preparation action Mp is performed; when the state has been transferred to the backward action Mb and the mode selection condition has been established, when the electric vehicle is switched At the time of the backward movement and the stop of 1, the backward movement Mb and the backward preparation maintaining movement Mw are switched in the backward movement mode M2 without going through the forward movement mode M1.

According to this configuration, switching between start (reverse) and stop after the reverse mode M2 is selected is performed as described below as long as the mode selection condition is satisfied. That is, without going through the forward mode M1, it is performed between the backward movement Mb in the backward movement mode M2 and the backward movement preparation maintaining movement Mw. In other words, at the time of stopping in the state where the reverse mode M2 is selected, the state where the vibration has been eliminated (the backlash has been eliminated) is maintained, and the forward mode M1 is not entered. For this reason, when retreating again, it is not necessary to perform the bouncing action of the mechanism again (the retreat preparation action Mp). Therefore, when the reverse mode M2 is selected, when starting and stopping, the time lag before restart can be suppressed, and the sensitivity of the reverse mode M2 can be improved.

In the above-described drive control device 120 , when the electric vehicle 1 is stopped in the state where the transition to the reverse mode M2 has been made and the mode selection condition is satisfied, the execution state of the reverse preparation operation Mp is maintained. According to this structure, after the retraction mode M2 is selected, when the mode selection condition is satisfied and the mode is stopped, the vibrating operation (reverse preparatory operation Mp) of the mechanism is maintained. In this way, the time lag before restart can be suppressed, and when starting and stopping after the reverse mode M2 is selected, it is possible to surely suppress the stutter at the time of restart.

In the above-described drive control device 120, the chattering torque T is set as follows. That is, compared to the first torque ( T1 ) when the rotational speed of the electric motor 30 is in the preset first speed range V1 , when the rotational speed is at the second speed set on the higher speed side than the first speed range V1 The absolute value of the second torque T2 in the speed range V2 is set to be smaller. According to this configuration, in the reverse mode M2, when the number of revolutions of the electric motor 30 is on the high side, that is, when the reverse speed of the electric vehicle 1 is high, the absolute value of the vibration torque in the reverse direction is set to be small. In this way, when the electric vehicle 1 has a relatively high reverse speed, it is possible to suppress the generation of "a feeling of idling due to the driving force of the power unit P".

In the above-described drive control device 120, in the state where the transition to the reverse mode M2 is made, if the mode selection condition is not satisfied, the transition is made to the forward mode M1. According to this configuration, as long as the mode selection condition is not satisfied, the forward mode M1 is directly returned, and therefore no special release operation and control are required. In this way, the operation burden of the user can be reduced.

In the above-described drive control device 120, the forward mode M1 includes: a forward operation Mf, in which the electric vehicle 1 is advanced by the driving force of the power unit P; and a forward preparation operation Ma, in which the electric vehicle 1 is stopped by using the power unit P. , the vibration torque T in the direction of rotation that urges the electric vehicle 1 to move forward is applied to the rear wheels 4a, 4b; in the state that has shifted to the reverse mode M2, if the mode selection condition is not satisfied, the forward preparation operation Ma is entered. According to this configuration, when transitioning from the backward mode M2 to the forward mode M1, the forward motion Mf is not directly entered via the forward motion preparation operation Ma. In this way, the chattering in the forward direction can be surely performed (removal of backlash), and the jerk at the time of forward movement can be surely suppressed.

In the above-described drive control device 120, after the transition from the reverse mode M2 to the forward mode M1, when transitioning to the reverse mode M2 again, the reverse preparation operation Mp is performed again. According to this configuration, when transitioning from the forward mode M1 to the backward mode M2 again, the forward motion preparation operation Mp is used to surely perform the shaking in the backward direction (removal of backlash). In this way, the frustration at the time of retreating can be suppressed reliably.

In the drive control device 120 described above, the mode selection condition includes that the number of revolutions of the electric motor 30 is equal to or smaller than a preset stop determination value. According to this configuration, since the transition to the reverse mode M2 is performed when the number of revolutions of the electric motor 30 is equal to or smaller than a certain value, there are the following effects. That is, it is possible to transfer to the reverse mode M2 while maintaining the state of "no large torque in the forward direction being applied". In this way, it is possible to surely suppress the frustration at the time of switching the reverse mode M2.

The above-described drive control device 120 includes an accelerator handle 110 for adjusting the torque of the electric motor 30 , and the mode selection condition includes that the opening degree of the accelerator handle 110 is in a fully closed state. According to this configuration, when the accelerator opening degree is fully closed, since the transition to the reverse mode M2 is performed, there are the following effects. That is, it is possible to transfer to the reverse mode M2 while maintaining the state of "no large torque in the forward direction being applied". In this way, it is possible to surely suppress the frustration at the time of switching the reverse mode M2.

In the above-described drive control device 120 , in the retreat preparation operation Mp, the wobbling torque T acts only for a predetermined duration that varies according to the number of revolutions of the electric motor 30 . According to this configuration, the duration of time during which the chattering torque T acts in the retreat preparation operation Mp is changed according to the number of revolutions of the electric motor 30 . For example, when the number of revolutions of the electric motor 30 in the backward direction is high, the duration of the chattering torque T is shortened. In this way, in a state in which the electric vehicle 1 has already moved backward due to the operation of the operator or the inclination of the road surface, the backward motion can be quickly performed, and the sensitivity can be improved.

In the above-described drive control device 120, the aforementioned duration time is shortened as the number of revolutions of the electric motor 30 increases. According to this configuration, when the number of revolutions of the electric motor 30 in the backward direction is high, the duration of the chattering torque T is shortened. In this way, in a state in which the vehicle has already moved backward due to the operation of the operator or the inclination of the road surface, the backward motion can be quickly performed, and the sensitivity can be improved.

Then, according to the electric vehicle 1 provided with "the drive control device 120 described in any one of the above", by including the drive control device 120 as described above, in the electric vehicle 1 driven by the power unit P, the electric vehicle 1 can be driven by less Uncomfortable to maneuver.

The present invention is not limited to the above-described embodiments described with reference to the drawings, and various modifications are possible within the technical scope. For example, in the retreat preparation operation Mp, although "after a certain period of time has elapsed, enter the retreat operation Mb", but the present invention is not limited to this. For example, after entering the backward preparation action Mp, other operations such as turning on (rotating) the accelerator handle 110 can also be used to switch to the backward action Mb. Further, in the above-described embodiment, the electric vehicle 1 is configured to "run only by the driving force of the electric motor 30 as the prime mover", but the present invention is not limited to this. As long as the electric motor 30 is used for the electric vehicle, for example, the driving force of the engine and the driving force of the electric motor 30 may be used together, and may be of a hybrid type.

In addition, in the above-mentioned embodiment, although the structure provided with the electric motor 30 as the prime mover of the power unit P is formed, the prime mover is not limited to the electric motor 30 and may be an engine (internal combustion engine). In addition, the power unit P may also include, for example, a clutch actuator, an auxiliary motor (ACG), or the like. In the case where a clutch actuator driven by an electric motor, hydraulic pressure, or the like is employed as the power unit P, control can be performed as described below. That is, the clutch actuator is actuated by the clutch actuator corresponding to the accelerator opening degree, whereby torsional forces for the forward rotation direction and the reverse rotation direction of the drive wheel can be controlled.

In addition, although the electric vehicle 1 is a swing type vehicle in which the front and rear vehicle bodies are independent of each other and can swing (roll) left and right, the present invention is not limited to this, and can also be applied to an electric vehicle in which the front and rear vehicle bodies are integrated. In addition, the present invention is not limited to being applicable to three-wheeled vehicles with front and rear wheels, but can also be applied to locomotives (bicycles and scooters with prime movers); three-wheeled vehicles with front two wheels and rear wheels; or four-wheeled vehicles. wheeled vehicle. Furthermore, the electric vehicle 1 is not limited to a so-called straddle-type vehicle in which a rider sits on the seat cushion 7, and may be a vehicle having a seat with a seat back. Next, the structure in the above-described embodiment is only one example of the present invention, and various modifications can be made without departing from the gist of the present invention.

1: Electric vehicle (vehicle) 4a, 4b: rear wheel (drive wheel) 30: Electric motor (prime mover) 45: Rotary shaft 110: accelerator handle (accelerator) 111: Mode selection section 112, 113: Operating elements 120: Drive control device 121: Accelerator opening sensor 122: Speed sensor 123: Graphics Memory Department 124: Control Department Im,Im1,Im2: Graphic Information M1: Forward Mode M2: Back Mode Ma: Advance preparations Mf: forward action Mb: back action Mr: Stand back beforehand Mp: Backward preparation action Mw: step back and prepare to maintain the action P: power unit T: flutter torque T0, T1, T2, T3, T4, T5: Torque Tmin: minimum torque Tk: time V1: First speed range V2: Second speed range V3: Third speed range

[FIG. 1]: It is a left side view of the vehicle which concerns on embodiment of this invention. [FIG. 2] It is an expanded cross-sectional view showing the main shafts of the power unit of the above-mentioned vehicle side by side. [FIG. 3]: It is a block diagram showing the structure of the drive control apparatus in the said vehicle. [FIG. 4]: It is a figure which shows the state transition of the driving|running mode by control in the said drive control apparatus. [FIG. 5]: A graph showing an example of graph information used for control in the above-mentioned drive control device. [FIG. 6]: A graph showing one example of another kind of graph information used for control in the above-mentioned drive control device.

M1: Forward Mode

M2: Back Mode

Ma: Advance preparations

Mf: forward action

Mb: back action

Mr: Stand back beforehand

Mp: Backward preparation action

Mw: step back and prepare to maintain the action

F1~F10: Arrows

Claims (11)

A drive control device (120) is a drive control device (120) for driving a vehicle (1) driven by rotation of driving wheels (4a, 4b) by the driving force of a power unit (P) comprising a prime mover (30), Its characteristics are: In the state where the predetermined mode selection condition is satisfied, the forward mode M1 for moving the vehicle (1) forward, the reverse mode (M2) for moving the vehicle (1) backward can be selected, The reverse mode (M2) includes: a reverse operation (Mb), in which the vehicle (1) is reversed by the driving force of the power unit (P); and a reverse preparation operation (Mp) in a state where the vehicle (1) has been stopped Next, with the aforementioned power unit (P), the vibration torque (T) in the direction of rotation of the aforementioned vehicle (1) when moving backward acts on the aforementioned driving wheels (4a, 4b); the backward preparation maintenance action (Mw), In the state where the above-mentioned mode selection condition has been established, from the state of having transitioned to the above-mentioned reverse operation (Mb), when the vehicle (1) is switched backward and stopped, the state in which the above-mentioned shaking torque (T) acts is maintained, Toggle between and the aforementioned back action (Mb), After the transition from the forward mode (M1) to the backward mode (M2), the backward preparation operation (Mp) is executed, When the vehicle (1) is switched between the backward movement and the stop when the vehicle (1) is switched to the state of the reverse operation (Mb) and the mode selection condition is satisfied, the forward mode (M1) is not used, and the reverse mode (M1) is used. In M2), the aforementioned retraction action (Mb) and the aforementioned retraction preparation maintaining action (Mw) are switched. The drive control device (120) according to claim 1, wherein when the vehicle (1) has been stopped in a state where the state has transitioned to the reverse mode (M2) and the mode selection condition is satisfied, the drive control device (1) is maintained. The state in which the aforementioned back-up preparation action (Mp) has been executed. The drive control device (120) according to claim 2, wherein the chattering torque (T) is set to a first value when the rotational speed of the prime mover (30) is in a preset first speed range (V1) compared to the rotational speed of the prime mover (30). The torque (T1) is the second torque (T2) when the aforementioned number of revolutions is in the second speed range (V2) set on the higher speed side than the aforementioned first speed range (V1), and the absolute value thereof is smaller. The drive control device (120) according to any one of claim 1 to claim 3, wherein in the state of having transitioned to the reverse mode (M2), if the mode selection condition is not satisfied, transition to the forward mode (M1). The drive control device (120) according to any one of claim 1 to claim 3, wherein the forward mode (M1) includes a forward motion (Mf), wherein the driving force of the power unit (P) causes the The vehicle (1) moves forward; the forward preparation action (Ma), in the state where the vehicle (1) has been stopped, the power unit (P) will promote the vibration of the rotation direction of the vehicle (1) when it is moving forward Torsion (T), acting on the aforementioned drive wheels (4a, 4b), In the state of having transitioned to the aforementioned backward mode (M2), if the aforementioned mode selection condition is not satisfied, the aforementioned forward preparation operation (Ma) is entered. The drive control device (120) according to any one of claim 1 to claim 3, wherein, after transitioning from the backward mode (M2) to the forward mode (M1), when shifting to the backward mode again At the time of (M2), the aforementioned back-up preparation operation (Mp) is performed again. The drive control device (120) according to any one of claim 1 to claim 3, wherein the mode selection condition includes: the number of revolutions of the prime mover (30) is equal to or less than a preset stop judgment value. The drive control device (120) according to any one of claim 1 to claim 3, further comprising an accelerator (110) for adjusting the torque of the prime mover (30), The aforementioned mode selection conditions include: the opening degree of the aforementioned accelerator (110) is in a fully closed state. The drive control device (120) according to any one of claim 1 to claim 3, wherein the retreating preparation action (Mp) acts on the vibrating torque (T) only for a predetermined duration, The aforementioned duration time varies according to the number of revolutions of the aforementioned electric motor (30). The drive control device (120) according to claim 9, wherein the duration of time is shortened if the number of revolutions of the electric motor (30) becomes high. A vehicle (1) comprising the drive control device (120) according to any one of claim 1 to claim 10.

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