WO2013076806A1 - Dispositif de commande de véhicule - Google Patents

Dispositif de commande de véhicule Download PDF

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Publication number
WO2013076806A1
WO2013076806A1 PCT/JP2011/076870 JP2011076870W WO2013076806A1 WO 2013076806 A1 WO2013076806 A1 WO 2013076806A1 JP 2011076870 W JP2011076870 W JP 2011076870W WO 2013076806 A1 WO2013076806 A1 WO 2013076806A1
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WO
WIPO (PCT)
Prior art keywords
power
battery
power transmission
wheel
motor
Prior art date
Application number
PCT/JP2011/076870
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English (en)
Japanese (ja)
Inventor
加藤　正浩
Original Assignee
パイオニア株式会社
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Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2011/076870 priority Critical patent/WO2013076806A1/fr
Priority to JP2013545683A priority patent/JP5739548B2/ja
Publication of WO2013076806A1 publication Critical patent/WO2013076806A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00302—Overcharge protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00306—Overdischarge protection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
    • H02J2310/40—The network being an on-board power network, i.e. within a vehicle
    • H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to a vehicle drive device that supplies power to a vehicle motor to drive the vehicle.
  • utilization of this invention is not restricted to the vehicle drive device mentioned above.
  • an electric vehicle that is a moving body is provided with a motor and a wheel is driven, and an in-wheel motor structure is provided in which the motor is provided on the wheel. Is disclosed.
  • the first technology has a structure in which a spiral portion is provided in the electrical wiring between the vehicle body and the wheel, and this spiral portion is supported by a link provided between the vehicle body and the accelerator.
  • the electric wiring is prevented from drooping and can follow the operation such as the vertical stroke of the wheel (for example, see Patent Document 1 below).
  • the second technology is related to the wiring structure of the in-wheel motor, and the wiring from the stator coil is connected to the wiring connection part of the terminal board and is electrically integrated for each phase.
  • the third technology is that the vehicle has an inverter, a motor, and a speed reducer on the side closer to the wheel. Thereby, the size of the loop of the high-frequency current path is reduced to suppress the generation of radiation noise caused by the high-frequency current (see, for example, Patent Document 3 below).
  • the fourth technology has a configuration in which the electric wire from the vehicle body to the motor is wound in a spiral shape around the kingpin center line Ki of the suspension.
  • the part wound in a spiral shape is wound or unwound around the center line of the kingpin, preventing the hindrance of the steering by the electric wire, improving the steerability, and the durability of the electric wire (For example, refer to Patent Document 4 below).
  • the fifth technology is related to the connection of electric wires (power supply cables) that feed power from the vehicle to the wheel motor, and a connection terminal box is provided on the downstream side in the wheel rotation direction when the vehicle moves forward.
  • the sixth technology is related to the support structure for the electric power supplied from the vehicle to the wheel motor.
  • the electric cable (three-phase high-voltage cable) is encased in a sheath and supported by the cable support member.
  • the support portion is configured to be installed on the vehicle body so as to be movable in any direction such as the front-rear direction, the width direction, and the height direction of the vehicle body.
  • Patent Documents 1 to 6 are all separated into a vehicle-side inverter and a wheel-side motor, a power cable that allows a high-voltage large current to flow between the inverter and the wheels. Is required.
  • This high-voltage, high-current power cable is subjected to a bending load due to wheel rotation by steering, etc., but because of its large diameter, the durability of the cable is reduced and the steering performance cannot be improved.
  • since there is a thick power cable in the wheel space between the vehicle and the wheel it is difficult to wire so as not to interfere with the suspension, and mud, dust, rain, snow, etc. are likely to adhere and deteriorate. Because it is easy, maintenance such as replacement takes time.
  • a vehicle drive device is connected to a first storage battery that stores DC power acquired from an external power source, and to the first storage battery, and the DC of the first storage battery.
  • a power transmission means for transmitting power; a power reception means for receiving DC power transmitted by the power transmission means; an in-wheel motor mounted on a wheel hub for driving the wheel; and the power reception means provided on the wheel.
  • a second storage battery that stores the DC power received by the inverter, an inverter that is provided on the wheel and converts the DC power of the second storage battery into AC power, drive control means that controls the rotational drive of the in-wheel motor, and Power supply control means for controlling power supply from the power transmission means to the power reception means.
  • FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the first embodiment is mounted.
  • FIG. 2 is a block diagram illustrating a configuration of the vehicle drive device according to the first embodiment.
  • FIG. 3 is a diagram illustrating a circuit example of the inverter.
  • FIG. 4 is a diagram illustrating a circuit example of the bidirectional chopper.
  • FIG. 5 is a diagram showing an outline of power transmission between batteries.
  • FIG. 6 is a flowchart showing the entire control content related to power transmission.
  • FIG. 7 is a flowchart showing the control content of the power running torque control.
  • FIG. 8 is a flowchart showing the control content of the regenerative torque control.
  • FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the first embodiment is mounted.
  • FIG. 2 is a block diagram illustrating a configuration of the vehicle drive device according to the first embodiment.
  • FIG. 3 is a diagram
  • FIG. 9 is a flowchart of an example of a wireless power transmission control procedure according to the first embodiment.
  • FIG. 10 is a chart showing torque command values during power running.
  • FIG. 11 is a chart showing torque command values during regeneration.
  • FIG. 12 is a chart showing torque command values when the pedal is released.
  • FIG. 13 is a chart showing a motor efficiency map.
  • FIG. 14 is a diagram illustrating an example of torque redistribution when the remaining battery level is low.
  • FIG. 15A is a diagram illustrating a control characteristic of the cooperative brake used in the embodiment.
  • FIG. 15-2 is a diagram illustrating another control characteristic of the cooperative brake used in the embodiment.
  • FIG. 16 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the second embodiment is mounted.
  • FIG. 17 is a block diagram of a configuration of the vehicle drive device according to the second embodiment.
  • FIG. 18 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the third embodiment is mounted.
  • FIG. 19 is a block diagram of a configuration of the vehicle drive device according to the third embodiment.
  • FIG. 20 is a diagram illustrating an outline of power transmission between batteries according to the third embodiment.
  • FIG. 21 is a flowchart of an example of a wireless power transmission control procedure according to the third embodiment.
  • FIG. 22 is a chart showing an example of a vehicle travel pattern and travel energy.
  • FIG. 23 is a chart showing an example of energy consumption and inter-battery transmission power.
  • FIG. 24-1 is a chart showing the transition of the remaining battery level due to the difference in transmission power between batteries (part 1).
  • FIG. 24-2 is a chart showing a transition of the remaining battery level due to a difference in transmission power between batteries (part 2).
  • FIG. 24C is a chart of a transition of the remaining battery level due to a difference in transmission power between batteries (part 3).
  • FIG. 24-4 is a chart of a transition of the remaining battery level due to a difference in transmission power between batteries (part 4).
  • FIG. 25A is a chart of a battery overdischarge state when the transmission power is low (part 1).
  • FIG. 25-2 is a chart of a battery overdischarge state when the transmission power is low (part 2).
  • 26A is a chart showing the transition of the remaining battery state when the wired and wireless power transmission is combined (hybrid transmission control 1 part 1).
  • FIG. 26-2 is a chart showing the transition of the remaining battery state when hybrid and wired power transmission are combined (hybrid transmission control 1 part 2).
  • FIG. 27A is a chart showing a transition of the remaining battery state in the case of combining wired and wireless power transmission (hybrid transmission control 2 part 1).
  • FIG. 27-2 is a chart showing the transition of the remaining battery state when hybrid and wired power transmission are combined (hybrid transmission control 2 part 2).
  • the motor-driven power is transmitted from the vehicle to the wheels in a non-contact manner by radio.
  • FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the first embodiment is mounted.
  • the vehicle 100 is a four-wheel drive vehicle having left and right front wheels FL and FR and left and right rear wheels RL and RR.
  • the hubs of these four wheels FL, FR, RL, RR are provided with in-wheel type motor units M1 to M4, respectively, and are driven independently.
  • Each of the motor units M1 to M4 is provided with an inverter circuit (described later) for driving the motor, a second battery, and the like.
  • Each inverter circuit is provided with motor units M1 to M4 based on the control of the controller (ECU) 101. To drive. Various information is input to this controller 101, and as a result of torque distribution, motors (in-wheel motors) provided in the motor units M1 to M4 are driven.
  • Input to the controller 101 includes the following.
  • a steering angle is input from the handle 102.
  • the accelerator pedal 103 From the accelerator pedal 103, the total torque command value is input.
  • a brake amount is input from the brake pedal 104.
  • a shift brake amount is input from the shift brake 105.
  • Select positions such as R, N, and D are input from the selector 106.
  • the motor units M1 to M4 of the wheels FL, FR, RL, and RR are provided with sensors that detect the rotational speed V, and the rotational speeds Vfl, Vfr, and RR of the wheels FL, FR, RL, and RR are provided. Vrl and Vrr are input to the controller 101.
  • the vehicle 100 is provided with an acceleration sensor and a yaw rate sensor (not shown), and the detected acceleration and yaw rate are input to the controller 101.
  • the controller 101 drives each wheel FL, FR, RL, RR based on the above input.
  • the control signals S1 to S4 for driving are appropriately torque-distributed for each wheel FL, FR, RL, and RR, and supplied to the motor units M1 to M4.
  • the vehicle 100 is equipped with a battery and supplies power to the entire vehicle 100.
  • the battery is provided on the vehicle side, and is provided between the first storage battery (first battery) 111 that stores DC power acquired from an external power source outside the vehicle, and the motor units M1 to M4. It consists of the 2nd storage battery (2nd battery) to which electric power is transmitted. Motor units M1 to M4 of each wheel FL, FR, RL, RR are driven by the electric power stored in the second battery.
  • secondary batteries such as nickel metal hydride and lithium ion, fuel cells, and the like are applied.
  • An electric double layer capacitor may be used instead of the battery.
  • L1 to L4 are power supply lines.
  • This regeneration refers to power generation using the back electromotive force generated in the motor by relaxing the operation of the brake pedal 104 by the driver who drives the vehicle 100 and the depression of the accelerator pedal 103 during traveling.
  • the voltage converter includes a first converter (DC-AC converter) 121 (121a to 121d) provided on the vehicle side and an AC-DC converter (described later) provided in each of the wheel side motor units M1 to M4. ).
  • Power transmission antennas 122 (122a to 122d) and 123 (123a to 123d) for wirelessly transmitting power are provided on the vehicle side and the wheel side.
  • the controller 101 controls the supply of the power sources L1 to L4 that can be supplied from the first battery 111 on the vehicle side to the motor units M1 to M4 for each wheel by the control signals S11 to S14.
  • DC power is converted into AC power by the DC-AC converter 121 (121a to 121d) on the vehicle side.
  • power is wirelessly transmitted to the motor units M1 to M4 on the wheel side by the pair of power transmission antennas 122 (122a to 122d) and 123 (123a to 123d).
  • AC power is converted into DC power by an AC-DC converter provided in the wheel side motor units M1 to M4, and then supplied to the second battery.
  • Inverters 203 (203a to 203d) to be described later drive the motors of the motor units M1 to M4 using the electric power stored in the second battery.
  • FIG. 2 is a block diagram showing the configuration of the vehicle drive device.
  • the vehicle drive device 200 supplies power to the motor to drive the motor. Further, power transmission between the first battery 111 and the second battery 212a is controlled according to the traveling state of the vehicle 100 and the like.
  • a first battery 111 is provided on the vehicle 100 side, and is connected to the DC-AC converter 121a via the power line L1.
  • the DC-AC converter 121a converts DC power into AC power and outputs the AC power to the power transmission antenna (power transmission antenna) 122a.
  • the wheel side motor unit M1 is provided with a power transmission antenna (power receiving antenna) 123a paired with the power transmission antenna 122a.
  • the power transmission antenna 123a receives the power transmitted from the vehicle-side power transmission antenna 122a.
  • a wound coil can be used for these power transmission antennas 122a and 123a, and power can be transmitted between the vehicle 100 and the wheel motor unit M1 in a non-contact manner.
  • the power received by the power transmission antenna 123a is converted into DC power by the second converter (AC-DC converter) 201a and output to the bidirectional chopper 202a.
  • the bidirectional chopper 202a is a circuit for performing power transmission in both directions (forward direction or reverse direction).
  • the output of the bidirectional chopper 202a is output to the second battery 212a.
  • the power of the first battery 111 on the vehicle side is supplied to the second battery 212a on the wheel side (in the positive direction) and stored in the second battery 212a, and the motor M in the motor unit M1 is connected via the inverter 203a. To drive the motor M.
  • the controller 101 provided in the vehicle 100 includes a power supply control unit (remaining amount control unit) 221 that controls power supply to the power receiving unit, and a drive control unit (torque control unit) 222 that controls rotational driving of the wheels. Yes.
  • the remaining amount control unit 221 controls power supply to the second battery 212a.
  • the remaining amount control unit 221 detects the battery amounts (remaining battery amounts) of the first battery 111 and the second battery 212a. For example, when the remaining battery amount of the second battery 212a decreases, DC-AC conversion is performed. Power is transmitted from the vehicle 100 to the wheel motor unit M1 to the unit 121a and the AC-DC converter 201a via the control signal S11. At this time, the bidirectional chopper 202a performs power transmission in the positive direction from the vehicle 100 to the motor unit M1 by the control signal S11.
  • the remaining amount control unit 221 also uses the control signal S11 when performing power transmission in the reverse direction from the motor unit M1 to the vehicle side during regeneration of the motor M.
  • the presence / absence of transmission is controlled for the bidirectional chopper 202a.
  • power transmission from the second battery 212a toward the first battery is not performed.
  • the direction of power transmission is switched from the second battery 212a to the first battery 111.
  • the torque control unit 222 distributes the torque of all torque command values for each wheel FL, FR, RL, RR according to the running state.
  • the torque distribution value for the inverter 203a is output by the control signal S1a.
  • the motor unit M1 outputs the current value and voltage value of the second battery 212a to the controller 101 as a signal S1b, and outputs the rotation speed of the motor M to the controller 101 as a signal S1c.
  • control signals S1a to S1c and S11 are transmitted via a control line wired between the vehicle 100 and the motor unit M1 on the wheel side. Since these control signals S1a to S1c and S11 only need to be able to transmit data, a thin line can be used as a control line, and it is not necessary to use a thick line that performs large-capacity power transmission. There is no reduction.
  • FIG. 3 is a diagram illustrating an example of an inverter circuit.
  • the inverter 203a converts the DC power supplied from the second battery 212a into the three-phase AC power of the motor M.
  • a diode 301 and a driving transistor 302 are provided in each of the U, V, and W phases ⁇ , and a sine wave whose voltage and frequency are controlled by PWM modulation is generated and supplied to each phase of the motor M. Rotating drive.
  • FIG. 4 is a diagram illustrating a circuit example of a bidirectional chopper.
  • the bidirectional chopper 202 a includes a primary side half bridge circuit 401, a secondary side half bridge circuit 402, and a reactor 403.
  • the primary half bridge circuit 401 includes a switching element 404 connected to the AC-DC converter 201a and a diode 405.
  • the secondary half bridge circuit 402 includes a switching element 406 connected to the second battery 212a and a diode 407.
  • the reactor 403 is connected between the primary side and the secondary side. Under the control of the switching elements 404 and 406, forward power transmission from the primary side to the secondary side or reverse power transmission from the secondary side to the primary side can be performed via the reactor 403.
  • the motor M is supplied by supplying DC power from the vehicle 100 side. Can be driven. At this time, the supply of DC power between the vehicle 100 and the wheel motor unit M1 does not require a large current. This is because the electric power stored in the second battery 212a is used for driving the motor, and the amount of electric power necessary for outputting a large torque is stored in the second battery 212a with some margin. Just keep it. Therefore, if electric power transmission between the first battery 111 and the second battery 212a is continuously performed, it is not necessary to pass a large current. For this reason, the power transmission antennas 122a and 123a are provided in the vehicle 100 and the motor unit M1 of the wheel, respectively, so that non-contact wireless power transmission can be performed.
  • FIG. 5 is a diagram showing an outline of power transmission between batteries.
  • four motor units M1 to M4 are provided, and the first battery 111 having a relatively large capacity for driving the motors M of the four motor units M1 to M4 is used.
  • the second battery 212a provided in each of the motor units M1 (and M2 to M4) only needs to drive a single motor M, can be used with a relatively small capacity, and can reduce the weight.
  • the power transmission between the first battery 111 and the second battery 212a is such that the remaining amount (current value B1) of the second battery 212a in the motor unit M1 always approaches the target remaining amount value BS (Set). Control. This control is performed by the remaining amount control unit 221 of the controller 101.
  • the target remaining amount value BS is set to a predetermined value between the charging upper limit value BU (Upper) and the charging lower limit value BL (Lower).
  • RL (Lower) is a difference between the current value B1 and the charging lower limit value BL, and is a capacity that can be used by the second battery 212a.
  • the power transmission direction is bidirectional, that is, the forward direction and the reverse direction.
  • the positive direction is the direction from the first battery 111 to the second battery 212a.
  • the reverse direction is the direction from the second battery 212 a to the first battery 111.
  • the controller 101 basically has 1. Power transmission in the positive direction is performed during power running control. Power running control is performed, for example, when the depression of the accelerator pedal 103 is detected. 2. Power transmission in the reverse direction is performed during regenerative control. The regeneration control is performed, for example, when the depression of the brake pedal 104 is detected.
  • the controller 101 controls the regenerative power at the time of regeneration so that the current charging value B1 does not exceed the charging upper limit value BU of the second battery 212a. Further, the power running power during power running is controlled so that the current charge value B1 does not fall below the charge lower limit value BL of the second battery 212a.
  • FIG. 6 is a flowchart showing the entire control content related to power transmission. The process of power transmission and torque control performed by the controller 101 is shown. First, the controller 101 detects the current traveling speed with the sensors of the motor units M1 to M4. Further, depression of the accelerator pedal 103 and the brake pedal 104 is detected (step S701).
  • step S702 the combination of the current traveling state and the control mode is specified (step S702). as mentioned above, 1.
  • power running control is specified. 2.
  • regeneration control is specified. other than this, 3.
  • the power running control is specified. In this case, the pseudo creep torque described later is controlled. 4).
  • regeneration control is specified. In this case, a pseudo engine brake, which will be described later, is controlled. 5.
  • depression of the accelerator pedal 103 and the brake pedal 104 is not detected and the speed of the vehicle 100 is medium (not fast and not slow), it is specified that there is no control (coasting operation).
  • step S703 it is determined which control mode is used (step S703).
  • step S703 power running control
  • step S704 power running torque control
  • step S706 When the control mode is regenerative control (step S703: regenerative), regenerative torque control is performed (step S705), and the process proceeds to step S706. If the control mode is coasting (step S703: coasting), no control is performed and the process proceeds to step S706.
  • step S706 the above-described wireless power transmission control is performed (step S706), and the process ends.
  • the controller 101 performs the above processes continuously over time.
  • FIG. 7 is a flowchart showing the control content of the power running torque control. The detailed control content of power running torque control shown to step S704 of FIG. 6 is shown.
  • the controller 101 detects each value of the second battery 212 (212a to 212d, where 212b to 212d indicate the second batteries of the motor units M2 to M4, respectively) provided in the motor units M1 to M4 ( Step S801).
  • the charging lower limit value of the second battery 212 (212a to 212d) is BL, the current value (remaining amount) is B1 to B4, and the current voltage is V1 to V4.
  • the current values B1 to B4 of the second batteries 212a to 212d of the motor units M1 to M4 are always different depending on the driving state of the motor M.
  • torque distribution values T1 to T4 to each wheel are determined based on the depression amount of the accelerator pedal 103 and a predetermined torque distribution value, and power estimation using a motor efficiency map described later is performed.
  • the necessary powering powers W1 to W4 are calculated by the method (step S802).
  • capacitance RL which can use the electric power of the 2nd battery 212 is calculated (step S803).
  • the second batteries 212 (212a to 212d) provided in the motor units M1 to M4, respectively
  • Usable capacities RL1 to RL4 current values B1 to B4—charge lower limit BL Calculated by
  • step S804 the power running powers W1 to W4 required by the motor units M1 to M4 are compared with the capacities RL1 to RL4 usable in the second battery 212 (212a to 212d) calculated in step S803 (step S804).
  • step S804: Yes when the power running power W1 to W4 required for each motor unit M1 to M4 exceeds the capacity RL1 to RL4 usable by the corresponding second battery 212 (212a to 212d) (step S804: Yes), The torque distribution value of each wheel is recalculated so that the power running power is less than the usable capacities RL1 to RL4 (step S805). That is, when torque distribution is performed on all torque command values, the torque distribution value to the motor unit of the second battery 212 having a small remaining amount is decreased, and the torque distribution values of other motor units are also decreased at that ratio.
  • step S804 if the power running power W1 to W4 necessary for each of the motor units M1 to M4 is within the capacity RL1 to RL4 that can be used by the corresponding second battery 212 (212a to 212d) in step S804 (No in step S804).
  • the process of step S805 is not performed, and the process proceeds to step S806.
  • step S806 power running torque control is performed using the torque distribution values for the motor units M1 to M4 (step S806), and the process ends.
  • FIG. 8 is a flowchart showing the control content of the regenerative torque control. The detailed control content of regenerative torque control shown to step S705 of FIG. 6 is shown.
  • the motor M generates electric power.
  • the controller 101 detects each value of the second battery 212 (212a to 212d) provided in each of the motor units M1 to M4 (step S901).
  • the upper limit of charge of the second battery 212 is BU
  • the current value (remaining amount) is B1 to B4
  • the current voltage is V1 to V4.
  • torque distribution values T1 to T4 for each wheel are determined based on the depression amount of the brake pedal 104 and a predetermined torque distribution value, and power estimation using a motor efficiency map described later is performed.
  • the regenerative power W1 to W4 is calculated by the method (step S902).
  • step S903 the capacity
  • the second batteries 212 (212a to 212d) provided in the motor units M1 to M4, respectively,
  • Regenerative capacities RU1 to RU4 charge upper limit value BU ⁇ current values B1 to B4 Calculated by
  • step S904 the regenerative power W1 to W4 in each of the motor units M1 to M4 is compared with the capacity RU that can be regenerated by the second battery 212 (212a to 212d) calculated in step S903 (step S904).
  • the regenerative power W1 to W4 of each motor unit M1 to M4 exceeds the capacity RU1 to RU4 that can be regenerated by the corresponding second battery 212 (212a to 212d) (step S904: Yes)
  • the regenerative power The torque distribution value of each wheel is recalculated so that becomes less than the capacity RU1 to RU4 that can be regenerated (step S905). That is, when all torque command values are torque-distributed, the torque distribution value to the motor unit of the second battery 212 having a large remaining amount is decreased, and the torque distribution values of the other motor units are also decreased at that ratio.
  • step S904 if the regenerative power W1 to W4 of each motor unit M1 to M4 is within the capacity RU1 to RU4 that can be regenerated by the corresponding second battery 212 (212a to 212d) in step S904 (step S904: No), step S904 is performed. The process proceeds to step S906 without performing the process of S905.
  • step S906 regenerative torque control is performed using the torque distribution values for the motor units M1 to M4 (step S906), and the process ends.
  • FIG. 9 is a flowchart of an example of a wireless power transmission control procedure according to the first embodiment.
  • power transmission to the second battery 212a provided in the motor unit M1 will be described as an example.
  • similar processing is performed for the second batteries 212b to 212d provided in the other motor units M2 to M4. Good.
  • the controller 101 detects each value of the second battery 212a (step S1001).
  • the target remaining amount of the second battery 212a is BS
  • the current value (remaining amount) is B1
  • the current voltage is V1.
  • the maximum current of the wireless power supply line L1 for the motor unit M is Amax. This maximum current Amax has different allowable values (current allowable values) depending on the coils of the power transmission antennas 122a and 123a for wireless transmission provided on the power supply line L1, the driver IC, and the like.
  • an upper limit value Cmax at which electric power can be transmitted and electric power D to be transmitted are calculated by the following formula (step S1002).
  • the electric power D to be transmitted is electric power to be transmitted between the first battery 111 and the second battery 212a on the power supply line L1.
  • the electric power is required to drive the motor M in the positive direction from the first battery 111 to the second battery 212a corresponding to the assigned torque distribution value. At the time of regeneration, this corresponds to the power to transmit the line power to the first battery 111.
  • the power value of power transmission is determined (step S1003).
  • the power value of power transmission is performed by using the smaller one of the absolute value
  • step S1004 if the absolute value of power D to be transmitted does not exceed the upper limit Cmax at which power can be transmitted (step S1003: No), the processing of step S1004 is not performed and the power D to be transmitted is used as it is. The process proceeds to S1005.
  • step S1005 the differential capacity D is transmitted from the first battery 111 to the second battery 212a via the wireless power line L1. If the value of D is negative, it is during regeneration, and power is transmitted from the second battery 212a to the first battery 111 via the wireless power line L1 (step S1005).
  • FIG. 10 is a chart showing torque command values during power running. The relationship between the power running torque command value (vertical axis) and the depression amount (horizontal axis) of the accelerator pedal 103 is shown. As shown in the figure, the torque control unit 222 of the controller 101 does not control the amount of depression of the accelerator pedal 103 and the total torque command value at the time of power running in a proportional linear relationship, but the amount of depression of the accelerator pedal 103. On the other hand, a power running torque command value is output with a curve that gradually changes. Further, the power running torque command value at the time of backward movement is set to be gentler than that at the time of forward movement of the vehicle 100.
  • FIG. 11 is a chart showing torque command values during regeneration. The relationship of the regenerative torque command value (vertical axis) with respect to the depression amount (horizontal axis) of the brake pedal 104 is shown. As shown in the figure, the controller 101 controls the regenerative torque command value to have a substantially linear relationship with respect to the depression amount of the brake pedal 104. Further, the regenerative torque command value at the time of reverse movement is set so as to change more gently than at the time of forward movement of the vehicle.
  • FIG. 12 is a chart showing torque command values when the pedal is released. When neither the accelerator pedal 103 nor the brake pedal 104 is depressed, the controller 101 changes the torque command value according to the vehicle speed as shown in the figure.
  • pseudo creep torque is generated as positive (+) torque.
  • a pseudo engine brake is generated as a negative ( ⁇ ) torque.
  • the pseudo engine brake is applied when the vehicle speed is about 40 km / h or higher, and the largest torque value is applied when the vehicle speed is about 60 km. At a speed of about 60 km / h or more, a small torque value is gradually applied.
  • the coasting operation is performed with the torque command value set to zero.
  • the characteristics of the torque command value with respect to the vehicle speed may be changed for each switched mode.
  • the pseudo creep torque value is reduced in the eco mode compared to the normal mode, and the pseudo engine brake has a large negative torque value.
  • FIG. 13 is a chart showing a motor efficiency map.
  • the efficiency map 1400 shows the rotational speed-torque characteristics of the motor M, with the horizontal axis representing the rotational speed and the vertical axis representing the torque.
  • an efficiency map 1400 in the illustrated four quadrant is stored in advance.
  • the first to fourth quadrants of the efficiency map 1400 are respectively 1. Forward running: A state where the accelerator pedal is being depressed while moving forward. 2. Reverse power running: A state where the accelerator pedal is depressed during reverse. Reverse regeneration: State where the brake pedal is depressed during reverse. Normal regenerative regeneration: A state in which the brake pedal is depressed during forward travel.
  • the torque control unit 222 of the controller 101 calculates the total torque command amount from the depression amount of the accelerator pedal 103 and the brake pedal 104.
  • the total torque value is distributed to a torque distribution value T for each motor M of each wheel by a predetermined torque distribution.
  • the controller 101 detects the rotational speeds Vfl, Vfr, Vrl, Vrr by the sensors of the motor units M1 to M4 while the vehicle 100 is traveling.
  • the rotation speed is described as ⁇ .
  • the controller 101 refers to the efficiency map 1400 for the motor M, and obtains the efficiency ⁇ from the torque T and the rotational speed ⁇ .
  • the controller 101 estimates the power consumption at the time of power running, and the regenerative power at the time of regeneration from the following formula
  • Power efficiency ⁇ (T ⁇ ⁇ ) / (V ⁇ I)
  • Regeneration efficiency ⁇ (V ⁇ I) / (T ⁇ ⁇ ) (V and I are the voltage and current of the motor M or the voltage and current of the inverter 203)
  • V ⁇ I corresponds to the power consumption of the motor M during power running and the regenerative power W during regeneration.
  • the controller 101 obtains the current value and the usable or regenerative power amount for the second battery 212 (212a to 212d). Then, the amount of power that can be used or regenerated is compared with the calculated power consumption (regenerative power), and the torque distribution value for the motor M is corrected so as to be within the range.
  • the efficiency map 1400 the power consumption (regenerative power) of the motor M can be determined more accurately. As a result, it is possible to accurately estimate the amount of power required during power transmission (power D to be transmitted), accurately calculate the amount of power during power transmission, and perform efficient power transmission. Become.
  • the efficiency map 1400 is not limited to being acquired in advance.
  • the efficiency map 1400 may be created while the vehicle 100 is traveling.
  • the controller 101 includes an efficiency map generation unit, acquires the power consumption and the rotation speed of the motor M during traveling, and generates the efficiency map 1400 described above.
  • the efficiency map 1400 acquired in advance can be updated.
  • ⁇ Detects the torque value from the current I flowing through the motor M
  • ⁇ Detects the rotational speed of the wheel by a rotational position sensor such as a resolver
  • ⁇ Detects the current and voltage by a current sensor and a voltage sensor provided between the second battery 212a and the inverter 203a
  • the controller 101 can update the efficiency map 1400 stored in the storage unit at any time during traveling of the vehicle 100 by the above detection and calculation.
  • FIG. 14 is a diagram illustrating an example of torque redistribution when the remaining battery level is low.
  • the total torque command value is input as 100 [Nm] to the controller 101 by, for example, depressing the accelerator pedal 103.
  • the remaining amount of the battery of the second battery 212 (corresponding to 212b) provided in the motor unit M2 of the left front wheel FL is reduced, and the motor M of the left front wheel FL becomes 16%.
  • [Nm] can be output.
  • the torque of the left front wheel FL is simply lowered, the driving force of the left and right front wheels becomes unbalanced, which causes an effect that the direction of travel of the vehicle 100 changes.
  • the torque controller 222 of the controller 101 redistributes the torque as shown in FIG. That is, the torque is distributed to the left and right front wheels so that the same torque 16 [Nm] is obtained. Further, in order to make the left and right rear wheels the same ratio corresponding to the ratio (4/5) in which the torque of the front wheels is changed from 20 [Nm] to 16 [Nm]], 30 [Nm] to 24 [Nm] Change the torque to]. In this case, the total torque value is changed from 100 [Nm] to 80 [Nm].
  • the cooperative brake is a brake that generates a necessary braking force by combining a regenerative brake by the motor M and a mechanical brake by hydraulic control.
  • a regenerative brake by the motor M
  • a mechanical brake by hydraulic control.
  • a method of always using a regenerative brake and a mechanical brake at a predetermined ratio a method of using a regenerative brake up to a predetermined braking amount, and using a mechanical brake when a predetermined braking amount is exceeded,
  • a method of using a mechanical brake up to a predetermined braking amount and using a regenerative brake when the braking amount exceeds a predetermined braking amount is a method of using a mechanical brake up to a predetermined braking amount and using a regenerative brake when the braking amount exceeds a predetermined braking amount.
  • FIG. 15-1 is a diagram illustrating the control characteristics of the cooperative brake used in the embodiment.
  • the horizontal axis is speed, and the vertical axis is braking torque.
  • the motor M has a low rotation speed when the speed is low. Accordingly, as shown in the figure, when such a speed is low, the back electromotive force is also small, and thus a large regenerative brake cannot be obtained.
  • the controller 101 of the embodiment not only the regenerative brake of the motor M but also the coordinated brake control for obtaining the insufficient braking torque that cannot be obtained by the regenerative brake by the mechanical brake is performed.
  • the braking torque of the mechanical brake has a characteristic opposite to that of the regenerative brake, and increases as the speed decreases and decreases as the speed increases. Thereby, the braking torque value corresponding to the depression amount of the brake pedal 104 is obtained by the braking force of both the regenerative brake and the mechanical brake.
  • the controller 101 reduces the ratio of the regenerative brake braking torque in the same manner as at the low speed, thereby reducing the mechanical type. Cooperative brake control is performed so as to obtain a required braking torque by increasing the ratio of the braking torque by the brake.
  • FIG. 15-2 is a diagram illustrating other control characteristics of the cooperative brake used in the embodiment.
  • the ratio of the braking torque by the regenerative brake is gradually reduced, and conversely, the ratio by the mechanical brake is increased.
  • the braking torque is generated not only by the regenerative brake by the motor M but also by the cooperative brake control using the mechanical brake together, so that the necessary braking torque can be generated over a wide range of speeds. It can be done safely. Even when the second battery 212 cannot be charged due to a change in the charge capacity of the second battery 212, the necessary braking torque can be obtained.
  • a battery is provided in each of the vehicle and the wheel, and power is transmitted between the vehicle and the wheel by non-contact radio.
  • the power transmission between the batteries is controlled so that the capacity of the second battery on the wheel side always approaches the target remaining amount value. As a result, stable power can be supplied to the motor at all times.
  • power transmission is controlled according to the running state of the vehicle, in response to power running and regeneration, torque distribution to each motor, and changes in braking torque, ensuring driving safety and power transmission. Can be performed efficiently.
  • the motor-driven power is transmitted from the vehicle to the wheels by wire.
  • a second battery and an inverter are provided on the wheel side.
  • FIG. 16 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the second embodiment is mounted.
  • the same reference numerals are given to the same components as those in the first embodiment.
  • electric power is transmitted from the first battery 111 to the second batteries provided in the motor units M1 to M4 of the respective wheels in a wired manner. Therefore, on the power supply lines L1 to L4 shown in FIG. 16, the DC-AC converters 121 (121a to 121d) and the power transmission antennas 122 (122a to 122d) and 123 (123a to 123d) shown in the first embodiment are provided. ), It is not necessary to provide the AC-DC converter 201 (201a to 201d).
  • FIG. 17 is a block diagram of the configuration of the vehicle drive device according to the second embodiment. As shown in FIG. 17, on the power supply line L1, the vehicle 100 and the motor unit M1 on the wheel side are connected by a wired cable 1800.
  • the motor unit M1 is provided with a second battery 212a and an inverter 203a.
  • the wheel motor unit M1 is provided with the second battery 212a and can supply high-current power at a high voltage necessary for driving the motor M via the inverter 203a. Therefore, since the power supply line L1 between the first battery 111 and the second battery 212a is configured to be able to transmit power with a low DC current between them, for example, it is thick and has a large number as in the prior art. Since a three-phase high current cable is unnecessary, a thin wire can be used for the cable 1800. The number of conductors in the cable 1800 may be two for DC ⁇ , and the number of conductors in the cable 1800 can be reduced. Thus, since a thin wire can be used as the cable 1800 provided between the vehicle 100 and the wheel, the cable 1800 is easily bent in accordance with the rotation of the wheel, and the steering performance of the wheel is not affected.
  • the control related to the power transmission between the batteries in the second embodiment is the same as that described in the first embodiment (for example, FIG. 5 to FIG. 9), and only the power transmission is performed using a wired cable 1800.
  • the upper limit value capable of power transmission is set based on the wireless current allowable value Amax on the power supply line L1 (see FIG. 9).
  • an upper limit value capable of transmitting power may be set based on the allowable current value of the wire (cable 1800) on the power supply line L1.
  • the wired cable 1800 has different allowable current values depending on the type of cable, cross-sectional area, and the like. Therefore, the allowable current value is set based on the actually used cable 1800, and the upper limit value for power transmission is set.
  • the vehicle and the wheel are each provided with a battery, and the wheel motor is directly driven by the battery provided on the wheel side.
  • the vehicle and the wheel are wired, power can be transmitted between the batteries at a low current. Thereby, it is not necessary to provide a large-capacity power transmission cable between the vehicle and the wheel, and it is possible to eliminate damage and replacement of the cable.
  • the motor-driven power is transmitted from the vehicle to the wheel by wireless and wired (hybrid transmission).
  • hybrid transmission control 1 a configuration in which power transmission is always performed wirelessly and in a wired manner
  • hybrid transmission control 2 a configuration in which power transmission is normally performed in a wired manner and wireless power transmission is performed when necessary. That is, since the wireless transmission has a larger power transmission loss than the wired transmission, the hybrid transmission control 2 performs wireless power transmission by the minimum necessary power.
  • FIG. 18 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the third embodiment is mounted.
  • the same reference numerals are given to the same components as those in the first embodiment.
  • power can be transmitted wirelessly and by wire from the first battery 111 to the second batteries provided in the motor units M1 to M4 of the respective wheels.
  • DC-AC converters 121 (121a to 121d) and power transmission antennas 122 (122a to 122d) and 123 (123a to 123d) are provided on power supply lines L1 to L4 shown in FIG. ),
  • An AC-DC converter 201 (201a to 201d) is provided.
  • a wired connection cable is also wired between the battery 111 and the motor units M1 to M4 (second battery).
  • FIG. 19 is a block diagram illustrating a configuration of the vehicle drive device according to the third embodiment. As shown in FIG. 19, in the power supply line L1, a configuration relating to a wireless transmission system and a configuration relating to a wired transmission system are connected in parallel between the vehicle 100 and the motor unit M1 on the wheel side.
  • the configuration related to the wireless transmission system includes a DC-AC converter 121 (121a to 121d), power transmission antennas 122 (122a to 122d) and 123 (123a to 123d), and an AC-DC converter 201 (201a to 201d). Become.
  • the configuration relating to the wired transmission system is a wired cable 1800, and in order to directly connect the DC output of the first battery 111 to the second battery 212a, the front stage of the DC-AC conversion unit 121a and the AC-DC conversion
  • the cable 1800 is connected to the subsequent stage of the unit 201a.
  • the power supply line L1 between the first battery 111 and the second battery 212a only needs to be able to transmit power between the first battery 111 and the second battery 212a with a low DC current.
  • a thin line can be used for 1800.
  • a thin wire can be used as the cable 1800 provided between the vehicle 100 and the wheel, the cable 1800 is easily bent in accordance with the rotation of the wheel, and the steering performance of the wheel is not affected.
  • FIG. 20 is a diagram showing an outline of power transmission between batteries according to the third embodiment.
  • two items are added to each item regarding the battery amount of the second battery 212a described in the first embodiment (see FIG. 5). These are the wireless discharge execution determination value BJ + (plus) and the wireless charge execution determination value BJ ⁇ (minus), and items used by the controller 101 (remaining amount control unit 221) for control by the hybrid transmission control 2 described below. It is.
  • the wireless discharge execution determination value BJ + is set between the target remaining amount value BS of the second battery 212a and the charge upper limit value BU.
  • the wireless charging execution determination value BJ- is set between the target remaining amount value BS and the charging lower limit value BL.
  • power transmission may be always performed in combination with wireless and wired transmission systems.
  • the hybrid transmission control 2 power transmission is performed based on the same control content as that described in the first embodiment (for example, FIGS. 6 to 8).
  • a process for determining whether or not the wireless transmission system is used is added.
  • the power transmission control procedure described in the first embodiment (FIG. 9) is partially different.
  • FIG. 21 is a flowchart of an example of a wireless power transmission control procedure according to the third embodiment. Control contents of wireless power transmission in the hybrid transmission control 2 will be described.
  • the hybrid transmission control 2 assumes that power transmission by wire is always performed, and performs control by adding power transmission by radio only when necessary.
  • the controller 101 detects each value of the second battery 212a (step S2201).
  • the target remaining amount of the second battery 212a is BS
  • the current value (remaining amount) is B1
  • the current voltage is V1.
  • the maximum current of the wireless power supply line L1 for the motor unit M is Amax.
  • This maximum current Amax has different allowable values (current allowable values) depending on the coils of the power transmission antennas 122a and 123a for wireless transmission provided on the power supply line L1, the driver IC, and the like.
  • the upper limit side wireless discharge execution judgment value BJ + and the lower limit side wireless charging execution judgment value BJ- are used.
  • step S2202 it is determined whether the current value B1 of the second battery 212a is less than the lower limit side wireless charging execution determination value BJ ⁇ (step S2202). If the current value B1 of the second battery 212a is less than the lower limit side wireless charging execution determination value BJ- (step S2202: Yes), a value obtained by subtracting the current value B1 from the lower limit side wireless charging execution determination value BJ- is transmitted. It is assumed that the power D is desired (step S2203).
  • step S2202 if the current value B1 of the second battery 212a exceeds the lower limit side wireless charging execution determination value BJ- (step S2202: No), the current value B1 of the second battery 212a is the upper limit side wireless discharging execution determination value. It is determined whether or not BJ + is exceeded (step S2204). If the current value B1 of the second battery 212a exceeds the upper limit side radio discharge execution determination value BJ + (step S2204: Yes), it is desired to transmit a value obtained by subtracting the current value B1 from the upper limit side radio discharge execution determination value BJ +. The power is D (step S2205). If the current value B1 of the second battery 212a is less than the upper limit wireless discharge execution determination value BJ + (step S2204: No), the process is terminated.
  • an upper limit Cmax that allows power transmission is calculated by the following equation (step S2206).
  • Upper limit value Cmax at which power can be transmitted maximum current Amax at which power can be transmitted wirelessly ⁇ current voltage V1
  • the electric power D to be transmitted is electric power to be transmitted between the first battery 111 and the second battery 212a on the power supply line L1.
  • the electric power is required to drive the motor M in the positive direction from the first battery 111 to the second battery 212a corresponding to the assigned torque distribution value. At the time of regeneration, this corresponds to the power to transmit the line power to the first battery 111.
  • the power value of power transmission is determined (step S2207).
  • the power value of power transmission is performed by using the smaller one of the absolute value
  • step S2207 if the absolute value of power D to be transmitted does not exceed the upper limit Cmax that allows power transmission (step S2207: No), step S2208 is not performed and the power D to be transmitted is used as it is. The process moves to S2209.
  • step S2209 the differential capacity D is wirelessly transmitted from the first battery 111 to the second battery 212a.
  • D the value of D
  • power is transmitted wirelessly from the second battery 212a to the first battery 111 (step S2209).
  • the current value can be made the remaining amount separated from the charge upper limit value and the charge lower limit value, so that it is not necessary to limit the power running torque and the regenerative torque to prevent overcharge and overdischarge.
  • hybrid transmission control 2 when wireless power loss cannot be ignored, power transmission by non-contact charging is performed only when the current value exceeds the wireless charging execution determination value.
  • the wireless power transmission amount is set such that the current value approaches the wireless charging execution determination value or the wireless discharge execution determination value. This makes it difficult to approach the charge upper limit value and the charge lower limit value, thereby reducing the need for power running torque and regenerative torque limitation to prevent overcharge and overdischarge.
  • FIG. 22 is a chart showing an example of a vehicle travel pattern and travel energy.
  • a vehicle with a four-wheel drive in-wheel motor M having a vehicle weight of 1600 kg, an air resistance coefficient of 0.2, and a rolling resistance coefficient of 0.01 travels in the (10-15 mode) as shown in (a).
  • the horizontal axis represents time
  • the vertical axis represents speed.
  • the running resistance (air resistance, acceleration resistance, rolling resistance) and running energy of each wheel in this case are shown in (b).
  • the horizontal axis represents time
  • the vertical axis represents travel resistance and travel energy.
  • FIG. 23 is a chart showing an example of energy consumption and inter-battery transmission power.
  • the horizontal axis represents time, and the vertical axis represents the amount of power.
  • (A) is energy consumption and is equivalent to the driving
  • the upper limit of power transmission by a wired fine wire 1800 or wireless is 1 kW.
  • (B) shows the accumulated energy consumption and the accumulated transmission power amount between the batteries. Thus, the transmission power cannot follow the consumed energy.
  • FIGS. 24-1 to 24-4 are graphs showing changes in the remaining battery level due to the difference in the transmission power between the batteries.
  • the horizontal axis represents time, and the vertical axis represents the amount of power.
  • the target remaining amount value BS (initial value) of each battery is 40 Wh.
  • the upper limit of the transmission power is 1 kW
  • FIG. 24-2 is the upper limit of the transmission power, 1.5 kW
  • FIG. 24-3 is the upper limit of the transmission power, 2 kW
  • FIG. The upper limit is 2.5 kW.
  • the smaller the upper limit of the transmission power the larger the remaining amount of the second battery 212 from the target remaining amount value BS (40 Wh).
  • the larger the upper limit of the transmission power the smaller the remaining amount of the second battery 212 from the target remaining amount value BS.
  • the remaining amount of the second battery 212 is a difference between energy consumption and transmission power.
  • FIG. 25-1 and FIG. 25-2 are tables showing battery overdischarge states when the transmission power is low.
  • the horizontal axis represents time, and the vertical axis represents the amount of power.
  • FIG. 25A shows an example of energy consumption and inter-battery transmission power.
  • the upper limit of power transmission by the wired fine wire cable 1800 is 500 W.
  • the battery is discharged to an extent below the charging lower limit value BL of the second battery 212 and enters an overdischarged state.
  • the upper limit value of power transmission is small, it is necessary to perform power transmission using both wired and wireless.
  • FIG. 26A and FIG. 26B are charts showing the transition of the remaining battery state when the wired and wireless power transmission is combined.
  • the horizontal axis represents time, and the vertical axis represents the amount of power.
  • the hybrid transmission control 1 in which the upper limit of the power transmission by the wired thin cable 1800 is 500 W, the upper limit of the wireless power transmission is 1 kW, and the wired and wireless power transmission is always used together. Show. According to the example shown in FIG. 26B, overdischarge of the second battery 212 can be prevented.
  • FIGS. 27-1 and 27-2 are graphs showing the transition of the remaining battery level when wired and wireless power transmission is combined.
  • the horizontal axis represents time, and the vertical axis represents the amount of power.
  • the upper limit of power transmission by the wired thin wire cable 1800 is 500 W, and the upper limit of wireless power transmission is 1 kW.
  • wireless together only when the battery remaining charge falls is shown.
  • the remaining battery level of the second battery 212 is set to 20 Wh as the lower limit side wireless charging execution determination value BJ-. Therefore, at time 2800, when the remaining battery capacity of the second battery 212 falls below 20 Wh, wireless power transmission is performed. Although the remaining amount is less than 20 Wh, it does not need to be reduced as much as time 2600 in FIG. Thereby, the overdischarge of the 2nd battery 212 can be prevented.
  • the overdischarge and overcharge of the second battery 212 can be prevented by appropriately combining them. Become. And when performing power transmission by wire and performing power transmission by radio only when necessary, by performing the period of power transmission by radio based on the charge upper limit value and the charge lower limit value of the second battery 212, It becomes possible to prevent overdischarge and overcharge of the second battery 212.
  • the method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation.
  • This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer.
  • the program may be a transmission medium that can be distributed via a network such as the Internet.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

La présente invention a trait à un dispositif de commande de véhicule (100) qui est équipé : d'une première batterie (111) qui stocke une puissance en courant continu acquise à partir d'un bloc d'alimentation extérieur ; d'un moyen de transmission de puissance, qui est connecté à la première batterie, permettant de transmettre la puissance en courant continu de la première batterie ; d'un moyen de réception de puissance permettant de recevoir la puissance en courant continu qui est transmise par le moyen de transmission de puissance ; d'un moteur-roue (M) qui est attaché au moyeu d'une roue de manière à entraîner la roue ; d'une seconde batterie (212a) qui est prévue sur la roue et qui stocke la puissance en courant continu qui est reçue par le moyen de réception de puissance ; d'un onduleur (203a) qui est prévu sur la roue et qui convertit la puissance en courant continu de la seconde batterie en puissance en courant alternatif ; d'une unité de commande de puissance réelle (222) permettant de contrôler la rotation du moteur-roue ; et d'une unité de commande de quantité résiduelle (221) permettant de contrôler l'alimentation électrique depuis le moyen de transmission de puissance jusqu'au moyen de réception de puissance. Le moyen de transmission de puissance et le moyen de réception de puissance transmettent et reçoivent la puissance au moyen d'un câble ou sans fil.
PCT/JP2011/076870 2011-11-22 2011-11-22 Dispositif de commande de véhicule WO2013076806A1 (fr)

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JP2017500699A (ja) * 2014-01-22 2017-01-05 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 消費機器でバッテリ、特にリチウムイオンバッテリを駆動するための方法及び装置
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KR20160130836A (ko) * 2014-03-07 2016-11-14 고쿠리츠다이가쿠호우진 도쿄다이가쿠 인휠 모터 시스템
JP2018183012A (ja) * 2017-04-21 2018-11-15 東洋電機製造株式会社 電力変換装置
JP2019156381A (ja) * 2018-03-07 2019-09-19 トヨタ自動車株式会社 制動力制御システム、装置および方法
US11697415B2 (en) 2018-03-07 2023-07-11 Toyota Jidosha Kabushiki Kaisha Braking force control system, device, and method
JP7310102B2 (ja) 2018-03-07 2023-07-19 トヨタ自動車株式会社 制動力制御システム、制御装置、マネージャ、方法、プログラム、アクチュエータシステム、および車両
USRE49777E1 (en) 2018-03-07 2024-01-02 Toyota Jidosha Kabushiki Kaisha Braking force control system, device, and method
CN111867870A (zh) * 2018-03-20 2020-10-30 马自达汽车株式会社 车辆驱动装置
CN111867870B (zh) * 2018-03-20 2023-09-29 马自达汽车株式会社 车辆驱动装置
JP2021078200A (ja) * 2019-11-06 2021-05-20 株式会社デンソー 電気自動車
JP7451944B2 (ja) 2019-11-06 2024-03-19 株式会社デンソー 電気自動車

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