WO2020090231A1

WO2020090231A1 - Electric vehicle

Info

Publication number: WO2020090231A1
Application number: PCT/JP2019/035291
Authority: WO
Inventors: 市川広基; 少覚功; 森田晋二郎
Original assignee: 本田技研工業株式会社
Priority date: 2018-10-31
Filing date: 2019-09-09
Publication date: 2020-05-07
Also published as: TW202023861A; CN113195292B; JP7016968B2; CN113195292A; DE112019005444T5; JPWO2020090231A1; TWI725596B

Abstract

This electric vehicle (10) is provided with: a rotating electric machine (20) for moving the electric vehicle (10) forward by normally rotating while moving the electric vehicle (10) backward by reversely rotating; at least two switches (start switch (112), reverse switch (116)); and a PCU (66) for controlling the rotating electric machine (20). When the two switches are pressed, the PCU (66) reversely rotates the rotating electric machine (20), thereby moving the electric vehicle (10) backward.

Description

Electric vehicle

The present invention relates to an electric vehicle that moves forward by rotating the rotating electric machine in the forward direction, and moves backward by rotating the rotating electric machine in the reverse direction.

For example, Japanese Unexamined Patent Application Publication No. 2010-120597 discloses that the vehicle is moved forward by rotating the rotating electric machine in the forward direction, while the vehicle is moved backward by rotating the rotating electric machine in the reverse direction. In Japanese Unexamined Patent Application Publication No. 2010-120597, after the reverse switch provided on the steering wheel of the vehicle is pressed for a long time to shift to the reverse mode, the rotating electric machine reverses in response to the operation of the reverse switch, thereby causing the vehicle to reverse.

However, in the vehicle disclosed in Japanese Unexamined Patent Publication No. 2010-120597, there is a possibility that the vehicle may move backward due to an unintended operation of the reverse switch by the occupant. For example, in the case where the vehicle is a two-wheeled vehicle, if the luggage put in the front car in front of the handle moves to the handle and the reverse switch is pressed abruptly, the mode shifts to the reverse mode, the rotating electric machine reverses, and the vehicle moves backward.

Therefore, an object of the present invention is to provide an electric vehicle capable of preventing the vehicle from moving backward due to an unintentional operation of a switch by an occupant.

An aspect of the present invention is an electric vehicle that includes a rotating electric machine and that moves forward by rotating the rotating electric machine in the forward direction, and moves backward by rotating the rotating electric machine in the reverse direction. A control device that controls the electric machine is further provided, and the control device causes the electric vehicle to move backward by reversing the rotating electric machine when the two switches are pressed.

According to the present invention, when both of the two switches are pressed, the rotating electric machine reverses and the electric vehicle moves backward, so that the electric vehicle does not move backward even if one switch is abruptly pressed. As a result, it is possible to prevent the electric vehicle from moving backward due to an unintended operation of the switch by the occupant.

The above objects, features and advantages will be easily understood from the following description of the embodiments with reference to the accompanying drawings.

FIG. 1 is a left side view of the electric vehicle according to the present embodiment. 2 is a plan view of a front portion of the electric vehicle of FIG. FIG. 3 is a block diagram of the electric vehicle of FIG. FIG. 4 is a state transition diagram showing the operation of the electric vehicle of FIGS. 1 to 3. FIG. 5 is a flowchart including the reverse mode. FIG. 6 is a timing chart including the reverse mode. 7A to 7C are partial plan views of the meter. FIG. 8 is a state transition diagram of the modified example. FIG. 9 is a flowchart of the modified example.

Hereinafter, preferred embodiments of an electric vehicle according to the present invention will be described with reference to the accompanying drawings.

[1. Schematic configuration of electric vehicle 10 according to the present embodiment]
FIG. 1 is a left side view of an electric vehicle 10 according to this embodiment. In the following description, the front-back, left-right, and up-down directions will be described according to the direction viewed by an occupant (driver) seated on the seat 12 of the electric vehicle 10. In the electric vehicle 10, the left and right components of the pair of left and right components may be described with the letter "L" and the right component with the letter "R".

The electric vehicle 10 is an electric scooter having a low-floor portion 14, and travels by rotationally driving the rear wheels 16 by the driving force of a rotating electric machine 20 incorporated in a swing arm 18 that pivotally supports the rear wheels 16. .. The electric vehicle 10 according to the present embodiment is not limited to the electric scooter shown in FIG. 1 and can be applied to various electric saddle riding type vehicles driven by the rotating electric machine 20. In the following description, a scooter type electric vehicle 10 will be described.

The electric vehicle 10 includes a body frame 22 and a synthetic resin body cover 24 that covers the body frame 22. The vehicle body frame 22 includes a head pipe 26 at a front end, a down pipe 28 extending obliquely rearward and downward from the head pipe 26, a pair of left and right underframe portions 30L and 30R extending rearward from a rear end of the down pipe 28, and an underframe. The side frame portions 32L and 32R extend rearward and obliquely upward from the rear ends of the portions 30L and 30R. The side frame portions 32L and 32R include rising portions 34L and 34R that extend obliquely upward and rearward from the pair of left and right underframe portions 30L and 30R, and a rear frame 36L that extends rearward from the pair of left and right rising portions 34L and 34R. And 36R. The rear ends of the pair of left and right rear frames 36L and 36R are connected by a tail pipe portion 38.

Front forks 40L and 40R are attached to the head pipe 26 so as to be steerable. A handlebar 44 is attached to the upper portions of the front forks 40L and 40R via a steering stem 42. Front wheels 46 are attached to the lower ends of the front forks 40L and 40R. Therefore, the occupant can steer the electric vehicle 10 by operating the steering wheel 44 to steer the front wheels 46. A front fender 48 that covers the front wheel 46 from above is attached to the front forks 40L and 40R.

A connection support portion 50 is provided between the underframe portions 30L and 30R and the side frame portions 32L and 32R. The connection support portion 50 supports a pivot shaft 52 extending in the left-right direction (vehicle width direction) of the electric vehicle 10. A front end portion of the swing arm 18 is pivotally supported on the pivot shaft 52. The swing arm 18 is a cantilever type swing arm extending from the pivot shaft 52 along the front-rear direction of the electric vehicle 10 to the left side of the rear wheel 16. The rear end of the swing arm 18 supports the rear wheel 16.

The swing arm 18 incorporates the rotary electric machine 20 so that the rotary electric machine 20 is arranged on the left side of the rear wheel 16. The rotary electric machine 20 is an inner rotor type AC motor, and has a cylindrical stator 20a extending in the left-right direction on the left side of the rear wheel 16 and a rotor 20b extending in the left-right direction inside the stator 20a. Further, the rotary electric machine 20 is provided with a rotation angle sensor 54 such as a resolver that detects a rotation angle of the rotor 20b (hereinafter, also referred to as a rotary angle of the rotary electric machine 20). Therefore, the swing arm 18 is configured as a swing type power unit. A rear cushion 56 is connected between the rear end of the swing arm 18 and the left rear frame 36L.

Rear fenders 58 that cover the rear wheels 16 from above are attached to the rear frames 36L and 36R. Further, the swing arm 18 is provided with another fender 60 which directly covers the rear wheel 16 from above between the rear fender 58 and the rear wheel 16 and which can swing together with the swing arm 18.

The rear frames 36L and 36R support the seat 12 on which an occupant is seated from below. A battery 62 of the electric vehicle 10 is arranged in a space between the seat 12 and the pivot shaft 52 and between the pair of left and right rising portions 34L and 34R. The battery 62 is supported by a pair of left and right rising portions 34L and 34R, rear frames 36L and 36R, and a pipe 64 that connects the rising portions 34L and 34R forward.

A PCU (power control unit) 66, which is supported by the left and right rising portions 34L and 34R, is supported in front of the rear wheel 16 and diagonally below and behind the battery 62. The PCU 66 is a power supply control device (control device), for example, converts DC power supplied from the battery 62 into AC power, and supplies the converted AC power to the rotary electric machine 20.

Therefore, the rotor 20b of the rotary electric machine 20 is driven (rotated) by the AC power supplied from the PCU 66 during power running. The driving force (output) of the rotor 20b (hereinafter, also referred to as the driving force or output of the rotating electric machine 20) is transmitted to the rear wheels 16 so that the rear wheels 16 rotate and the electric vehicle 10 travels (drives). You can On the other hand, the rotary electric machine 20 functions as a generator during regeneration and supplies the generated AC power to the PCU 66. The PCU 66 converts AC power into DC power and charges the battery 62.

The locations of the battery 62 and the PCU 66 shown in FIG. 1 are merely examples, and may be located at other locations in the electric vehicle 10. For example, the battery 62 may be arranged in the space between the pair of left and right underframe portions 30L and 30R.

The vehicle body cover 24 is a cover that covers the vehicle body frame 22 and the like, and includes a front cover 68, a handle cover 70, leg shields 72, floor side covers 74L and 74R, a seat lower cover 76, rear side covers 78L and 78R, and the like. The front cover 68 covers the front end portion of the vehicle body frame 22 such as the head pipe 26 from the front. The handle cover 70 covers the left and right center portions of the handle 44 above the front cover 68. The leg shield 72 is connected to the front cover 68 and covers the head pipe 26 and the down pipe 28 from the rear. The under-seat cover 76 covers the space below the seat 12 from the front.

The pair of left and right floor side covers 74L and 74R are connected to the leg shield 72 and the seat lower cover 76, and cover the pair of left and right underframe portions 30L and 30R from both left and right sides. The rear side covers 78L and 78R are connected to the rear edge portion of the lower seat cover 76 and cover the PCU 66 and the like from the left and right sides.

The swing arm 18 is provided with a main stand 80. In this case, the shaft 82 of the main stand 80 is provided below the swing arm 18, and the main stand 80 is arranged so that a part of the main stand 80 is housed in the recess 84 in which the left side portion of the swing arm 18 is recessed. It is arranged. A side stand 86 is provided near the left rising portion 34L.

Headlights 88 are supported by stays 90 in front of the front cover 68. Winkers 92L and 92R are supported on both left and right sides of the stay 90. A front car 94 as a luggage compartment is provided in front of the front cover 68 and above the stay 90. Further,

knuckle guards

96L and 96R are provided in front of the left and right sides of the handle 44, respectively. Further,

rearview mirrors

98L and 98R are provided on the left and right sides of the handle 44, respectively. Furthermore, a windshield 100 is provided above the handle 44 and the handle cover 70.

[2. Configuration around the handle 44]
FIG. 2 is a plan view of a front portion (around the handle 44) of the electric vehicle 10. A main switch 102 is provided on the right side of the leg shield 72 and below the handle 44. A meter (notifying device) 104 that displays (notifies) various information related to the electric vehicle 10 is provided at the center of the upper surface of the handle cover 70. Note that the notification device that notifies various information is not limited to the meter 104, and an image output device such as a display that notifies various information as an image to the outside, or various information as a sound to the outside. A sound output device such as a speaker may be used.

The handle 44 extends in the left-right direction and has a central portion covered with a handle cover 70, a right grip 108R (hereinafter also referred to as a throttle grip 108R) provided at a right end portion of the handlebar 106, and a handle. It has a left grip 108L provided at the left end of the bar 106.

The right grip 108R is a grip that an occupant holds with his / her right hand, and a throttle grip for instructing the adjustment of the output of the rotary electric machine 20. That is, when the occupant rotates the throttle grip 108R around the axis of the handlebar 106, for example, in the clockwise direction (occupant side) in the left side view of FIG. 1, the throttle is opened and the output of the rotary electric machine 20 is increased. You can On the other hand, when the throttle grip 108R is returned to the initial position, the throttle is closed and the output (rotation) of the rotary electric machine 20 can be stopped.

A right switch box 110R is provided at the base end of the throttle grip 108R on the handlebar 106. A start switch (right switch) 112, which is a seesaw switch, is disposed behind the right switch box 110R (on the occupant side). Further, in the right switch box 110R, a stop switch 114, which is a seesaw switch, is arranged above the start switch 112.

The left grip 108L is a grip that an occupant holds with his / her left hand. A left switch box 110L is provided at the base end portion of the left grip 108L of the handlebar 106. In front of the left switch box 110L (in the direction away from the occupant), a reverse switch (left switch, reverse dedicated switch) 116 as a push switch is arranged. Various switches 118 related to traveling of the electric vehicle 10 are disposed behind the left switch box 110L.

[3. Configuration Related to Electric Control of Electric Vehicle 10]
FIG. 3 is a block diagram of the electric vehicle 10 according to the present embodiment. The electric vehicle 10 further includes a side stand switch 120, a throttle opening sensor 122, a seat switch 124, and a fall sensor 126. The side stand switch 120 and the seat switch 124 are both detection switches.

The main switch 102 is a system starting switch of the electric vehicle 10, and outputs a starting instruction signal to the PCU 66 when the driver turns it on. The start switch 112 is a switch for instructing a drive start of the rotary electric machine 20, that is, a transition to a traveling standby state of the electric vehicle 10 capable of starting forward rotation or reverse rotation of the rotary electric machine 20. When the occupant tilts one end of the start switch 112 and pushes it forward, the start switch 112 is turned on and a drive instruction signal is output to the PCU 66.

The normal rotation of the rotating electric machine 20 means rotating the rotor 20b counterclockwise in the left side view of FIG. In this case, when the rotor 20b rotates normally and the rear wheels 16 are driven, the electric vehicle 10 can be driven forward (forward traveling). Further, the reverse rotation of the rotating electric machine 20 means rotating the rotor 20b in the clockwise direction in the left side view of FIG. In this case, when the rotor 20b rotates in the reverse direction and the rear wheels 16 are driven, the electric vehicle 10 can travel backward (backward travel).

The stop switch 114 is a switch for instructing to stop driving the rotary electric machine 20. When the occupant tilts and presses one end of the stop switch 114, the stop switch 114 is turned on and a stop instruction signal is output to the PCU 66.

The side stand switch 120 outputs an ON signal indicating that the side stand 86 is in the stored state to the PCU 66 when the side stand 86 is stored in the electric vehicle 10. Further, the side stand switch 120 outputs an OFF signal to the PCU 66 indicating that the side stand 86 is in the non-contained state when the side stand 86 is extended downward. In the following description, for convenience of description, a state in which the output of the ON signal is stopped will be described as a state in which the OFF signal is output.

The throttle opening sensor 122 detects the amount of rotation of the throttle grip 108R (throttle opening) and outputs the detection result to the PCU 66.

As shown in FIG. 1, the seat switch 124 outputs an ON signal to the PCU 66 when an occupant can sit on the seat 12 and the seat 12 covers a storage box (not shown) from above. Further, the seat switch 124 outputs an OFF signal to the PCU 66 when the seat 12 is rotated and the upper part of the storage box is opened.

The rotation angle sensor 54 sequentially detects the rotation angle of the rotor 20b and outputs the detection result to the PCU 66. Fall sensor 126 sequentially detects the bank angle of electric vehicle 10 and outputs the detection result to PCU 66.

The PCU 66 has a DC / DC converter 130, an inverter 132, and a control unit 134. The DC / DC converter 130 supplies DC power to the inverter 132 by converting the DC voltage of the battery 62 into a DC voltage having a desired voltage value and outputting the DC voltage to the inverter 132. The inverter 132 converts the DC power supplied from the DC / DC converter 130 into three-phase AC power and supplies it to the rotary electric machine 20.

The control unit 134 executes a program stored in a memory (not shown) to control the rotary electric machine control unit 134a, the drive prohibition processing unit 134b, the drive return processing unit 134c, the throttle opening determination unit 134d, the rotary electric machine stop determination unit. The functions of 134e, the traveling state determination unit 134f, the torque command table 134g, and the fall state determination unit 134h are realized. Further, the control unit 134 controls the DC / DC converter 130 and the inverter 132 based on the information or signals from the above-described

sensors

54, 122 and 126 and the

respective switches

102, 112 to 116, 120 and 124, The rotating electric machine 20 is rotated (normal rotation or reverse rotation), or the rotation of the rotating electric machine 20 is stopped.

Specifically, the throttle opening determination unit 134d determines whether or not the throttle is closed based on the detection result of the throttle opening sensor 122. The rotary electric machine stop determination unit 134e determines whether or not the rotation of the rotor 20b is stopped based on the detection result of the rotation angle sensor 54.

The traveling state determination unit 134f travels the electric vehicle 10 based on the signals output from the

switches

102, 112 to 116, 120, and 124 and the determination results of the throttle opening determination unit 134d and the rotating electrical machine stop determination unit 134e. Determine the state. Further, the traveling state determination unit 134f determines, based on these signals and each determination result, whether the rotating electric machine 20 is normally rotated, the rotating electric machine 20 is reversely rotated, or the rotating electric machine 20 is stopped. The fall state determination unit 134h determines whether or not the electric vehicle 10 has fallen based on the bank angle detected by the fall sensor 126.

The drive prohibition processing unit 134b is based on the information or signals from the

sensors

54, 122, 126 and the

switches

102, 112 to 116, 120, 124, and the determination results of the traveling state determination unit 134f and the fall state determination unit 134h. , Determines to make a transition to the inhibitor state in which the driving of the electric vehicle 10 is prohibited, and notifies the rotary electric machine control unit 134a of the determination result.

The drive return processing unit 134c is based on the information or signals from the

sensors

54, 122, 126 and the

switches

102, 112 to 116, 120, 124 and the determination results of the traveling state determination unit 134f and the fall state determination unit 134h. , It is determined whether the inhibitory state of the electric vehicle 10 has been resolved. Further, when the drive restoration processing unit 134c determines that the inhibitor state has been resolved, the drive restoration processing unit 134c determines to restore the drive of the electric vehicle 10, and notifies the rotary electric machine control unit 134a of the determination result.

The rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the rotation amount of the throttle grip 108R and the rotation angle of the rotor 20b. Further, when the rotating electrical machine control unit 134a receives the notification of the transition to the inhibitor state from the drive prohibition processing unit 134b, it controls the DC / DC converter 130 and the inverter 132 to stop the rotation of the rotating electrical machine 20. The driving of the rear wheels 16 is stopped. Further, when the rotary electric machine control unit 134a receives the drive return notification of the electric vehicle 10 from the drive return processing unit 134c, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 to restart the rotation of the rotary electric machine 20. As a result, the driving of the rear wheels 16 is restarted.

That is, the rotary electric machine control unit 134a performs normal control for rotating the rotary electric machine 20 on the DC / DC converter 130 and the inverter 132, unless a notification is received from the drive prohibition processing unit 134b. Further, the rotary electric machine control unit 134a stops the rotation of the rotary electric machine 20 in the time period from the reception of the notification to the reception of the notification of the drive restoration processing unit 134c.

The term "inhibitor state before traveling of the electric vehicle 10" means that the electric vehicle 10 starts traveling (drive starts) even if the driver instructs the electric vehicle 10 to start traveling such as rotating the throttle grip 108R. It means a prohibited state. In addition, the inhibitory state while the electric vehicle 10 is running refers to a state in which the driving of the electric vehicle 10 is prohibited even when the driver instructs the driving of the electric vehicle 10 such as rotating the throttle grip 108R. Therefore, in the inhibitory state during traveling, the driving force is not transmitted from the rotary electric machine 20 to the rear wheels 16, and the electric vehicle 10 coasts.

In the following description, “during running of the electric vehicle 10” means that the electric vehicle 10 is running due to rotation of the rotary electric machine 20 and that the electric vehicle 10 coasts due to rotation stop of the rotary electric machine 20. It is a concept including a state in which the vehicle is running and a state in which the electric vehicle 10 in a traveling state is temporarily stopped at an intersection or the like.

Further, in a normal time, that is, when the rotating electrical machine control unit 134a receives an instruction (a determination result) to rotate the rotor 20b in the normal direction from the traveling state determination unit 134f, the rotation amount of the throttle grip 108R and the rotor are controlled. The rotor 20b is normally rotated by controlling the DC / DC converter 130 and the inverter 132 based on the rotation angle of 20b.

On the other hand, when the rotating electrical machine control unit 134a receives the instruction (determination result) to reverse the rotor 20b from the traveling state determining unit 134f, the command torque for the rotating electrical machine 20 and the rotation speed of the rotor 20b in the reverse rotation direction. By referring to the torque command table 134g storing the relationship with, and controlling the DC / DC converter 130 and the inverter 132 based on the command torque, the rotor 20b is reversed. The details of the processing in the PCU 66 relating to the forward rotation or the reverse rotation of the rotor 20b will be described later.

The control unit 134 also processes information of each

sensor

54, 122, 126 and each

switch

102, 112 to 116, 120, 124 (for example, vehicle speed according to the rotation angle) and processing of each unit in the control unit 134. The result is displayed on the meter 104.

[4. Operation of electric vehicle 10]
The operation of the electric vehicle 10 according to this embodiment configured as described above will be described with reference to FIGS. 4 to 7C. In this operation description, after the driver turns on the main switch 102 (see FIG. 2 and FIG. 3), transition to an inhibitor state during traveling of the electric vehicle 10 and return of driving of the electric vehicle 10 from the inhibitor state. Will be described. In addition, in this operation description, a process for causing the electric vehicle 10 to travel backward will also be described. 4 to 7C will be described with reference to FIGS. 1 to 3 as necessary.

<4.1 Operation of Steps S1 and S2 of FIG. 4>
First, in step S1, when an occupant seated on the seat 12 (see FIG. 1) turns on the main switch 102 (see FIGS. 2 and 3), the main switch 102 outputs a start instruction signal to the PCU 66. The PCU 66 is activated by receiving DC power from the battery 62 based on the activation instruction signal. Further, the PCU 66 supplies the DC power of the battery 62 to each electric component in the electric vehicle 10 such as the meter 104. As a result, the PCU 66 transits to a state of waiting for the drive instruction signal output from the start switch 112 in step S2. That is, when the main switch 102 is turned on in step S1, the PCU 66 determines that the condition T1 for system activation is satisfied, and transitions to the state of waiting for the output of the drive instruction signal in step S2.

<4.2 Operations of Steps S3 to S6 of FIG. 4>
As described above, the start switch 112 outputs the drive instruction signal for instructing the PCU 66 to start the rotation of the rotary electric machine 20 due to the operation of the driver. Therefore, step S2 is a state before traveling of the electric vehicle 10. Therefore, in step S2, when the driver performs some operation for instructing the traveling of the electric vehicle 10 while the start switch 112 is not turned on, the drive prohibition processing unit 134b shifts the electric vehicle 10 to the inhibitor state. Let Further, in step S2, when the electric vehicle 10 is in a state where it cannot travel, the drive prohibition processing unit 134b causes the electric vehicle 10 to transition to the inhibitor state.

In this case, the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating based on the rotation angle detected by the rotation angle sensor 54. The traveling state determination unit 134f determines that the electric vehicle 10 is in the traveling stopped state (state before traveling) based on the determination result of the rotating electrical machine stop determination unit 134e, and the determination result is the drive prohibition processing unit 134b. May be notified.

Specifically, when the side stand switch 120 outputs the off signal to the PCU 66 (condition T2), the drive prohibition processing unit 134b determines that the electric vehicle 10 cannot travel because the side stand switch 120 is in the non-stored state. to decide. Next, the drive prohibition processing unit 134b determines to transition the electric vehicle 10 to the inhibitor state based on this determination result (establishment of the condition T2), and notifies the rotary electric machine control unit 134a of the determination result. As a result, a transition is made from step S2 to the inhibitor state of step S3.

On the other hand, in step S3, when the ON signal is output from the side stand switch 120 to the PCU 66 and when the drive instruction signal is not output from the start switch 112 to the PCU 66 (condition T3), the drive return processing unit 134c: Since the side stand switch 120 is in the stored state, if the start switch 112 is turned on, it is determined that the electric vehicle 10 can travel. That is, the drive restoration processing unit 134c determines that the inhibitor state caused by the non-housed state of the side stand 86 has been eliminated. Next, the drive return processing unit 134c determines to return the electric vehicle 10 to the drive state from the inhibitory state based on the determination result (the condition T3 is satisfied), and notifies the rotary electric machine control unit 134a of the determination result. This causes the transition from step S3 to step S2.

When the detection result indicating that the throttle grip 108R is rotating (the throttle is open) is output from the throttle opening sensor 122 to the PCU 66 (condition T4), the drive prohibition processing unit 134b uses the start switch. Even though 112 is not turned on, it is determined that the electric vehicle 10 cannot travel because there is an instruction to adjust the output of the rotary electric machine 20. Since the throttle opening degree determination unit 134d determines whether or not the throttle is closed, the drive prohibition processing unit 134b determines whether the condition T4 is satisfied based on the determination result of the throttle opening degree determination unit 134d. You may.

Next, the drive prohibition processing unit 134b, based on this determination result (establishment of the condition T4), determines to transition the electric vehicle 10 to the inhibitor state, and notifies the rotary electric machine control unit 134a of the determination result. As a result, a transition is made from step S2 to the inhibitor state of step S4.

On the other hand, in step S4, when the detection result indicating that the throttle grip 108R has been returned to the initial position (throttle is closed) is output from the throttle opening sensor 122 to the PCU 66 (condition T5), the drive return processing is performed. When the start switch 112 is turned on, the part 134c determines that the electric vehicle 10 can travel. That is, the drive recovery processing unit 134c determines that the inhibitory state caused by the rotation of the throttle grip 108R has been eliminated. Also in this case, the drive prohibition processing unit 134b may determine whether the condition T5 is satisfied, based on the determination result of the throttle opening determination unit 134d.

Next, the drive return processing unit 134c determines to return the electric vehicle 10 to the drive state from the inhibitor state based on this determination result (establishment of the condition T5), and notifies the rotary electric machine control unit 134a of the determination result. This causes the transition from step S4 to step S2.

Furthermore, when the OFF signal is output from the seat switch 124 to the PCU 66 (condition T6), the drive prohibition processing unit 134b determines that the electric vehicle 10 cannot travel because the seat 12 is open. Next, the drive prohibition processing unit 134b determines, based on this determination result (establishment of the condition T6), to transition the electric vehicle 10 to the inhibitory state, and notifies the rotary electric machine control unit 134a of the determination result. This causes the transition from the step S2 to the inhibitor state of step S5.

On the other hand, in step S5, when the ON signal is output from the seat switch 124 to the PCU 66 (condition T7), the drive return processing unit 134c determines that the start switch 112 is turned on because the seat 12 blocks the storage box. It is determined that the electric vehicle 10 can run. That is, the drive return processing unit 134c determines that the inhibitor state caused by the opening of the seat 12 has been resolved. Next, the drive return processing unit 134c determines to return the electric vehicle 10 to the drive state from the inhibitor state based on this determination result (establishment of the condition T7), and notifies the rotary electric machine control unit 134a of the determination result. This causes the transition from step S5 to step S2.

When the stop instruction signal is output from the stop switch 114 to the PCU 66 (condition T8), the drive prohibition processing unit 134b instructs the output stop of the rotary electric machine 20 even though the start switch 112 is not turned on. Therefore, it is determined that the electric vehicle 10 cannot travel. Next, the drive prohibition processing unit 134b determines to transition the electric vehicle 10 to the inhibitory state based on this determination result (establishment of the condition T8), and notifies the rotary electric machine control unit 134a of the determination result. As a result, a transition is made from step S2 to the inhibitor state of step S6.

On the other hand, in step S6, when the stop instruction signal and the drive instruction signal are not output from the stop switch 114 and the start switch 112 to the PCU 66 (condition T9), the drive restoration processing unit 134c instructs the rotation electrical machine 20 to stop the output. Therefore, if the start switch 112 is turned on, it is determined that the electric vehicle 10 can travel. That is, the drive recovery processing unit 134c determines that the inhibitor state caused by the stop switch 114 has been eliminated. Next, the drive return processing unit 134c determines to return the electric vehicle 10 to the drive state from the inhibitory state based on the determination result (condition T9 is satisfied), and notifies the rotary electric machine control unit 134a of the determination result. This causes the transition from step S6 to step S2.

In each inhibitor state of steps S3 to S6, the rotating electrical machine control unit 134a prevents the rotor 20b from rotating, that is, the driving force from the rotor 20b to the rear wheel 16 based on the notification from the drive prohibition processing unit 134b. The DC / DC converter 130 and the inverter 132 are controlled so as to block the transmission of

<4.3 Operation of Steps S7 and S8 of FIG. 4>
In step S2, when the occupant tilts one end of the start switch 112 and pushes it forward, the start switch 112 is turned on, and a drive instruction signal is output from the start switch 112 to the PCU 66. Further, the rotation angle sensor 54 sequentially detects the rotation angle of the rotor 20b and outputs the detection result to the PCU 66. In this case, since the electric vehicle 10 is in a state before traveling, the rotor 20b has stopped rotating. Therefore, the rotary electric machine stop determination unit 134e determines that the rotor 20b has stopped rotating. Further, the traveling state determination unit 134f determines that the start of traveling of the electric vehicle 10 is instructed based on the drive instruction signal and the determination result of the rotary electric machine stop determination unit 134e (condition T10). Then, the traveling state determination unit 134f notifies the rotary electric machine control unit 134a of the determination result.

The rotating electrical machine control unit 134a can recognize from the notification from the running state determination unit 134f that the rotating electrical machine 20 has reached a state in which it is possible to control the DC / DC converter 130 and the inverter 132. .. In this way, the electric vehicle 10 transitions from the state of step S2 to the state of step S7 when the condition T10 is satisfied. It should be noted that step S7 refers to a state in which the rotor 20b stops forward rotation, among the states of the electric vehicle 10 that is traveling forward.

In step S7, when the driver rotates the throttle grip 108R, the throttle opening sensor 122 detects the rotation amount of the throttle grip 108R and outputs the detection result to the PCU 66. The rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the detection results of the throttle opening sensor 122 and the rotation angle sensor 54 to rotate the rotary electric machine 20 in the normal direction (the condition T11 is satisfied). ). As a result, the process proceeds from step S7 to step S8, the driving force of the rotor 20b of the rotary electric machine 20 is transmitted to the rear wheels 16, and the electric vehicle 10 starts traveling forward. That is, step S8 refers to a state in which the rotor 20b is rotating in the forward direction among the states of the electric vehicle 10 that is traveling forward.

In step S8, when the occupant returns the throttle grip 108R to the initial position, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 to stop the normal rotation of the rotor 20b (the condition T12 is satisfied). ). As a result, the process proceeds from step S8 to step S7, the transmission of the driving force from the rotor 20b to the rear wheels 16 is stopped, and the electric vehicle 10 is temporarily stopped.

Therefore, after the occupant operates the start switch 112, the electric vehicle 10 transits between step S7 and step S8. In this embodiment, if the occupant operates the start switch 112 in step S2 and the rotor 20b starts normal rotation (condition T13), the process immediately proceeds from step S2 to step S8. Good.

<4.4 Operation of Steps S9 and S10 of FIG. 4>
In steps S7 and S8, when the off signal is output from the side stand switch 120 to the PCU 66 (conditions T14 and T15), the drive prohibition processing unit 134b prevents the electric vehicle 10 from traveling forward because the side stand 86 is in the non-stored state. Judge as impossible. Next, the drive prohibition processing unit 134b determines, based on this determination result (establishment of the conditions T14 and T15), that the electric vehicle 10 traveling forward is transitioned to the inhibitor state, and the determination result is the rotating electrical machine control unit. Notify 134a. As a result, the state transitions from steps S7 and S8 to the inhibitor state of step S9.

In step S9, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the notification from the drive prohibition processing unit 134b so that the rotor 20b does not rotate normally. As a result, the transmission of the driving force from the rotor 20b to the rear wheels 16 is prohibited. In addition, in the case where the transition from step S7 to step S9 is performed, the temporarily stopped state of the electric vehicle 10 is maintained. In addition, when transitioning from step S8 to step S9, the electric vehicle 10 performs coasting.

In step S9, (1) the side stand switch 120 outputs an ON signal to the PCU 66, (2) the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating, and (3) the start switch 112 instructs the PCU 66 to drive. When the signal is output and (4) the throttle is closed (the throttle grip 108R is returned to the initial position) (condition T16), the drive return processing unit 134c determines that the inhibitor state caused by the side stand switch 120 is Since it has been resolved, it is determined that the electric vehicle 10 can travel.

Next, the drive return processing unit 134c determines to drive-back the electric vehicle 10 from the inhibitor state based on this determination result (condition T16 is satisfied), and notifies the rotary electric machine control unit 134a of the determination result. As a result, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the notification from the drive restoration processing unit 134c to return the rotor 20b to the normal rotation state. That is, the state of the electric vehicle 10 transits from step S9 to step S7. In this way, when the driving state is returned from the inhibitor state, the state returns from the inhibitor state of step S9 to the traveling state of step S7 without passing through the stop state of step S2.

On the other hand, in step S9, (1) the side stand switch 120 outputs an ON signal to the PCU 66, (2) the rotary electric machine stop determination unit 134e determines the rotation of the rotor 20b, and (3) the start switch 112 instructs the PCU 66 to drive. When the signal is output and (4) the throttle is closed (condition T17), the drive return processing unit 134c determines that the inhibitor state caused by the side stand switch 120 is canceled and the electric vehicle 10 can travel.

Next, the drive return processing unit 134c determines to return the electric vehicle 10 to the drive state from the inhibitor state based on this determination result (establishment of the condition T17), and notifies the rotary electric machine control unit 134a of the determination result. Even in this case, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the notification from the drive restoration processing unit 134c to return the rotor 20b to the normal rotation state. Therefore, the electric vehicle 10 transits from step S9 to step S8 without going through the stop state of step S2.

Further, in steps S7 and S8, when the occupant operates the stop switch 114 and the stop instruction signal is output from the stop switch 114 to the PCU 66 (conditions T18 and T19), the drive prohibition processing unit 134b causes the stop switch 114 to operate. Since the operation is instructed to stop the normal rotation of the rotor 20b, it is determined that the electric vehicle 10 cannot travel forward. Next, the drive prohibition processing unit 134b determines, based on this determination result (establishment of the conditions T18 and T19), that the electric vehicle 10 that is traveling forward is transitioned to the inhibitor state, and the determination result is the rotating electrical machine control unit. Notify 134a. This causes the transition from the steps S7 and S8 to the inhibitor state of step S10.

In step S10, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the notification from the drive prohibition processing unit 134b so that the rotor 20b does not rotate. Even in this case, since the driving force is not transmitted from the rotor 20b to the rear wheels 16, the state in which the electric vehicle 10 is temporarily stopped is maintained when the process proceeds from step S7 to step S10. In addition, when transitioning from step S8 to step S10, the electric vehicle 10 coasts.

In step S10, (1) the output of the stop instruction signal from the stop switch 114 to the PCU 66 is stopped, (2) the rotary electric machine stop determination unit 134e determines the rotation of the rotary electric machine 20, and (3) the start switch 112. When the drive instruction signal is output from the PCU 66 to the PCU 66 and (4) the throttle is closed (condition T20), the drive return processing unit 134c eliminates the inhibitor state caused by the stop switch 114, and drives the electric vehicle 10. Judge as possible.

Next, the drive return processing unit 134c determines to drive-return the electric vehicle 10 from the inhibitor state based on this determination result (establishment of the condition T20), and notifies the rotary electric machine control unit 134a of the determination result. As a result, the rotary electric machine control unit 134a controls the DC / DC converter 130 and the inverter 132 based on the notification from the drive restoration processing unit 134c to return the rotor 20b to the normal rotation state. In this case, the electric vehicle 10 transits from step S10 to step S8 without going through the stop state of step S2.

In step S10, (1) the output of the stop instruction signal from the stop switch 114 to the PCU 66 is stopped, (2) the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating, and (3) When the throttle is closed (condition T21), the drive return processing unit 134c determines that the electric vehicle 10 is in the stopped state while the inhibitor state caused by the stop switch 114 is eliminated.

Next, the drive return processing unit 134c determines to return the electric vehicle 10 to the drive state from the inhibitor state based on this determination result (establishment of the condition T21), and notifies the rotary electric machine control unit 134a of the determination result. In this case, the electric vehicle 10 transits from step S10 to step S2.

<4.5 Operation of Steps S11 and S12 of FIG. 4>
In step S7, (1) the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating, (2) the throttle opening determination unit 134d determines that the throttle is closed, and (3) the start switch 112. When the drive instruction signal is output from the PCU 66 to the PCU 66 and (4) the reverse instruction signal is output from the reverse switch 116 to the PCU 66 (condition T22), the traveling state determination unit 134f causes the rotating electrical machine 20 to stop rotating. While traveling, it is determined that the occupant has instructed the electric vehicle 10 to travel backward. Then, the traveling state determination unit 134f determines, based on the determination result, that the rotating electric machine 20 is rotated in the reverse direction and the electric vehicle 10 is caused to travel backward.

Next, the traveling state determination unit 134f notifies the rotary electric machine control unit 134a of this determination result (establishment of the condition T22). This causes the process to transition from step S7 to step S11. In response to the notification from the traveling state determination unit 134f, the rotating electrical machine control unit 134a outputs the drive instruction signal from the start switch 112 to the PCU 66 and the reverse instruction signal from the reverse switch 116 to the PCU 66, The rotor 20b is rotated in the reverse direction by referring to the torque command table 134g and controlling the DC / DC converter 130 and the inverter 132 with a command torque according to the rotation speed in the reverse rotation direction. As a result, the driving force is transmitted from the rotor 20b to the rear wheels 16, and the electric vehicle 10 can be moved backward. A specific control method related to the reverse rotation of the rotor 20b and the backward running of the electric vehicle 10 will be described later.

In step S11, when the occupant releases his / her hand from at least one of the start switch 112 and the reverse switch 116 and the switch is released from the pressed state, the output of the signal from at least one switch to the PCU 66 is stopped. (Condition T23). The traveling state determination unit 134f determines to stop the rotation (reverse rotation) of the rotor 20b based on the stop of the output of the signal from at least one switch, and determines the determination result (establishment of the condition T23) to the rotating electrical machine control unit 134a. To notify.

As a result, the process transitions from step S11 to step S12, and the rotary electric machine control unit 134a receives the notification from the traveling state determination unit 134f, controls the DC / DC converter 130 and the inverter 132, and stops the reverse rotation of the rotor 20b. .. It should be noted that step S12 corresponds to the case where the electric vehicle 10 is temporarily stopped due to an instruction from the occupant during the backward traveling.

On the other hand, in step S12, when the occupant presses the start switch 112 and the reverse switch 116, the output of signals from both switches to the PCU 66 is restarted (condition T24). The traveling state determination unit 134f determines to restart the reverse rotation of the rotor 20b based on the restart of the output of the signals from both switches, and notifies the rotary electric machine control unit 134a of the determination result (establishment of the condition T24).

As a result, the process proceeds from step S12 to step S11, and the rotary electric machine control unit 134a receives the notification from the traveling state determination unit 134f, refers to the torque command table 134g, and controls the DC / DC converter 130 and the inverter 132. Then, the reverse rotation of the rotor 20b is restarted. As a result, the electric vehicle 10 resumes backward travel. Therefore, the electric vehicle 10 transits between step S11 and step S12 while traveling in reverse.

In step S12, (1) the output of the reverse drive instruction signal from the reverse switch 116 to the PCU 66 is stopped, (2) the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating, and (3) the throttle is closed. When the throttle opening determination unit 134d determines that the rotor 20b is present (condition T25), the traveling state determination unit 134f determines to restart the normal rotation of the rotor 20b. When the condition T25 is satisfied, the electric vehicle 10 transits from step S12 to step S7.

Further, in steps S11 and S12, when the off signal is output from the side stand switch 120 to the PCU 66 (conditions T26 and T27), the drive prohibition processing unit 134b advances the electric vehicle 10 because the side stand 86 is in the non-stored state. Judge that it is impossible to drive. Next, the drive prohibition processing unit 134b determines, based on this determination result (establishment of the conditions T26 and T27), that the electric vehicle 10 traveling in reverse is transitioned to the inhibitor state, and the determination result is the rotating electrical machine control unit. Notify 134a. As a result, the process transitions from steps S11 and S12 to step S9.

Further, in steps S11 and S12, when the occupant operates the stop switch 114 and the stop instruction signal is output from the stop switch 114 to the PCU 66 (conditions T28 and T29), the drive prohibition processing unit 134b causes the reverse rotation of the rotor 20b. Since the stop is instructed, it is determined that the backward traveling of the electric vehicle 10 is impossible. Next, the drive prohibition processing unit 134b determines, based on this determination result (establishment of the conditions T28 and T29), that the electric vehicle 10 traveling in reverse is transitioned to the inhibitor state, and the determination result is the rotating electrical machine control unit. Notify 134a. As a result, the process transitions from steps S11 and S12 to step S10.

<4.6 Operation of Step S13 of FIG. 4>
In steps S2, S7, S8, S11, and S12, the fall state determination unit 134h determines that the electric vehicle 10 is in the fall state when the bank angle detected by the fall sensor 126 exceeds the threshold angle, and the determination is made. The result is notified to the drive prohibition processing unit 134b. The drive prohibition processing unit 134b receives this determination result, determines that the electric vehicle 10 cannot travel (conditions T30 to T34 are satisfied), and notifies the rotating electrical machine control unit 134a of the determination result. This causes the transition from the steps S2, S7, S8, S11, and S12 to the inhibitor state of step S13.

<4.7 Operation of FIGS. 5 to 7C>
Next, the operation relating to the backward running (reverse mode) of the electric vehicle 10 will be described with reference to FIGS. 5 to 7C. 5 to 7C corresponds to steps S1, S2, S7, S11, S12 and conditions T1, T10, T22 to T25, etc. of FIG.

In step S21 of FIG. 5, when the occupant turns on the main switch 102 (see FIGS. 2 and 3), the main switch 102 outputs a start instruction signal to the PCU 66. As a result, in the time period from t0 to t1 in FIG. 6, the control unit 134 shifts to a state of waiting for the output of the drive instruction signal from the start switch 112. Therefore, step S21 corresponds to steps S1 and S2 in FIG. It should be noted that FIG. 7A is a partial plan view showing a display portion relating to forward movement or backward movement of electric vehicle 10 in meter 104. At the stage of step S21, nothing is displayed on the display units 104a to 104d of the meter 104.

In step S22, during the time period from t1 to t2, when the occupant pushes one end of the start switch 112 forward to turn on the start switch 112, the start switch 112 outputs a drive instruction signal to the PCU 66. As a result, the traveling state determination unit 134f of the control unit 134 determines that the start of traveling of the electric vehicle 10 has been instructed, and notifies the rotary electric machine control unit 134a of the determination result. As a result, the electric vehicle 10 transitions to the rotation stopped state of the rotary electric machine 20 during forward traveling. Therefore, step S22 corresponds to steps S2 and S7 of FIG.

In this case, as shown in FIG. 7B, the control unit 134 (see FIG. 3) causes the display unit 104 a of the meter 104 to display the letters “READY”, and the electric vehicle 10 can move forward or backward (runnable). The passenger is informed that the vehicle is in the “state”. The character "READY" is displayed on the display unit 104a even while the electric vehicle 10 is traveling (forward traveling or backward traveling).

After that, when the rotating electric machine 20 rotates in the normal direction based on the operation of the throttle grip 108R by the occupant and the driving force of the rotor 20b is transmitted to the rear wheels 16, the electric vehicle 10 starts traveling forward. In this case, the rotation angle sensor 54 sequentially outputs the detection result of the rotation angle of the rotor 20b to the PCU 66. Therefore, in step S23, the rotary electric machine stop determination unit 134e determines whether the rotation speed Nm of the rotor 20b is less than a predetermined threshold value Nmth. When the rotation speed Nm becomes less than the threshold value Nmth at the time point t3 in FIG. 6 (step S23: YES), the process proceeds to the next step S24. The threshold value Nmth is a threshold value of the number of revolutions at which the electric vehicle 10 can be determined to be in the stopped state.

In step S24, the traveling state determination unit 134f determines whether both the start switch 112 and the reverse switch 116 are turned on. Specifically, at time t3, when the occupant pushes the reverse switch 116 rearward with the left hand, the reverse switch 116 starts outputting the reverse drive instruction signal to the PCU 66. The traveling state determination unit 134f starts execution of determination processing relating to the shift to the reverse mode based on the input of the reverse drive instruction signal.

In this case, as illustrated in FIG. 7C, the control unit 134 (see FIG. 3) may cause the display unit 104b of the meter 104 to display the letter “R”, and the electric vehicle 10 may transition to the reverse mode. Is notified to the passenger.

Next, at time t4, when the occupant pushes the reverse switch 116 backward while pushing the start switch 112 forward with the right hand, the output of the drive instruction signal from the start switch 112 to the PCU 66 is started. Then, at a time point t5 when a predetermined time Ts has elapsed from the time point t4, the traveling state determination unit 134f determines that both the start switch 112 and the reverse switch 116 are in the ON state (step S24: YES), and the next step Proceed to S25. Therefore, the time zone from the time point t3 to the time point t5 is the inspection time Td in which the running state determination unit 134f executes the determination process of the step S24, and the time zone from the time point t4 to the time point t5 is positive in the step S24. It is the time Ts for confirming the determination result.

In step S25, the traveling state determination unit 134f notifies the rotating electrical machine control unit 134a of the determination result indicating the shift to the reverse mode in step S11 of FIG. 4 at time t5. Note that the display of "R" in FIG. 7C can be performed at the step S25 (time t4 or time t5) instead of the step S24 (time t3).

In step S26, the rotary electric machine control unit 134a receives the notification from the traveling state determination unit 134f, refers to the torque command table 134g, and based on the command torque according to the rotation speed Nm, the DC / DC converter 130 and the inverter 132. To control. As a result, energization of the rotary electric machine 20, that is, reverse rotation of the rotary electric machine 20 is started. In this case, the rotating electrical machine control unit 134a controls the DC / DC converter 130 and the inverter 132 so that the absolute value of the command torque increases with time after time t5.

At the transition time Tt from the time point t5 to the time point t6, the absolute value of the command torque gradually increases with the passage of time. As a result, the rotation speed Nm in the reverse rotation direction starts increasing after a delay from the start of increasing the absolute value of the command torque. As a result, the rear wheels 16 are driven, and the electric vehicle 10 in the stopped state starts backward traveling. Note that in FIG. 6, the command torque and the rotation speed Nm are illustrated so as to increase in the negative direction in order to clearly indicate the reverse rotation of the rotary electric machine 20. The letter “R” in FIG. 7C is displayed on the display unit 104b even while the electric vehicle 10 is traveling in reverse.

After that, the command torque is maintained at a substantially constant value in the time period from time t6 to time t7. As a result, the rotary electric machine 20 can be rotated in the reverse direction at a substantially constant rotation speed Nm. As a result, the electric vehicle 10 can be made to travel backward at a constant vehicle speed. In addition, it is desirable that the vehicle speed for the reverse traveling is lower than the vehicle speed for the forward traveling (for example, several km / h).

In step S27, the traveling state determination unit 134f determines whether or not at least one of the start switch 112 and the reverse switch 116 is turned off. In this case, when the occupant releases his / her left hand from the reverse switch 116 at time t7 and the reverse switch 116 is released from the pressed state, the output of the reverse drive instruction signal from the reverse switch 116 to the PCU 66 is stopped (step S27: YES). As a result, the traveling state determination unit 134f can determine that the reverse traveling of the electric vehicle 10 has stopped. Then, the traveling state determination unit 134f notifies the rotary electric machine control unit 134a of the determination result.

In the next step S28, the rotary electric machine control unit 134a receives the notification from the running state determination unit 134f, controls the DC / DC converter 130 and the inverter 132, and stops the rotary electric machine 20. As a result, the electric vehicle 10 transitions from step S11 of FIG. 4 to step S12.

In the next step S29, the traveling state determination unit 134f determines whether or not the reverse mode (step S12 in FIG. 4) should be transited to the forward traveling state (step S7 in FIG. 4). When continuing the reverse mode (step S29: NO), the traveling state determination unit 134f returns to step S24 and executes the processes of steps S24 to S29 again.

On the other hand, when the start switch 112 is turned off at the time point t8 and then the condition T25 of FIG. 4 is satisfied, the traveling state determination unit 134f determines to transition to the forward traveling state (step S29: YES). Then, in the control unit 134, the process returns to step S23, and the processes of steps S23 to S29 are executed again.

As a result, the meter 104 switches from the display content of FIG. 7C to the display content of FIG. 7B, and the character “R” is hidden. By visually confirming the display unit 104b, the occupant can recognize that the backward traveling has been switched to the forward traveling.

It should be noted that, in step S24 and the time period from t3 to t5, the case where the start switch 112 is turned on after the reverse switch 116 is turned on has been described. In the present embodiment, the running state determination unit 134f can perform the same determination process even when the reverse switch 116 is turned on after the start switch 112 is turned on first. Further, the time Ts may be appropriately adjusted according to the specifications of the electric vehicle 10. Furthermore, the case where the reverse switch 116 is turned off in the time zone of step S27 and t7 to t8 has been described. In the present embodiment, the running state determination unit 134f can perform the same determination processing even when the start switch 112 is turned off.

[5. Modification of this embodiment]
Next, a modified example of the electric vehicle 10 according to the present embodiment will be described with reference to FIGS. 8 and 9. In the description of the modified example, only the points different from FIGS. 1 to 7C will be described.

As shown in FIG. 8, this modified example is different from the embodiments of FIGS. 1 to 7C in that a standby state (reverse standby state) of step S31 is provided for the reverse mode. As a result, it is possible to determine the transition from the reverse mode (reverse traveling) to the forward traveling or the restart of the backward traveling without stopping the rotary electric machine 20. That is, during the reverse mode, it is possible to continuously switch between the reverse running and the standby state without stopping the rotary electric machine 20.

Compared to FIG. 4, the state transition diagram of FIG. 8 has a reverse mode standby state of step S31 in place of step S12. Accordingly, in FIG. 8, conditions T41 to T47 are provided instead of the conditions T22 to T25, T27, T29, and T34 of FIG.

Specifically, the standby state of step S31 is a standby state before the reverse traveling, and includes (1) the transition from the forward traveling to the reverse traveling, the transition from the backward traveling to the forward traveling, or the reverse traveling once. The temporary state of the electric vehicle 10 at the time of resuming the backward traveling after the suspension.

Therefore, the condition T41 for transitioning from step S7 to step S31 is that (1) the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating, and (2) that the throttle is closed, the throttle opening degree determination is performed. The determination is made by the unit 134d, and (3) the case where the drive instruction signal is output from the start switch 112 to the PCU 66 or the reverse instruction signal is output from the reverse switch 116 to the PCU 66. When the condition T41 is satisfied, the traveling state determination unit 134f determines that the occupant has instructed the backward traveling of the electric vehicle 10 while the rotation of the rotating electric machine 20 is stopped, and the standby state of the reverse mode (reverse traveling) of step S31 is set. Transition.

In the standby state of step S31, when the occupant pushes the start switch 112 and the reverse switch 116 and signals are output from both switches to the PCU 66, the condition T42 is satisfied. As a result, the process proceeds to step S11, the rotor 20b is rotated in the reverse direction, and the backward traveling is started.

On the other hand, in step S11, the occupant releases one of the start switch 112 and the reverse switch 116 and the switch is released from the pressed state, so that the output of the signal from the one switch to the PCU 66 is stopped. Then, the condition T43 is satisfied. As a result, the process transits from step S11 to step S31. In step S31 after the transition, the power supply from the inverter 132 to the rotary electric machine 20 is stopped, but the rotor 20b is reversely rotated by inertia. Therefore, when the process transitions from step S11 to step S31, the electric vehicle 10 coasts backward.

In step S31, (1) the output of signals from both the start switch 112 and the reverse switch 116 to the PCU 66 is stopped, (2) the rotary electric machine stop determination unit 134e determines that the rotary electric machine 20 has stopped rotating, and (3) When the throttle opening degree determination unit 134d determines that the throttle is closed, the condition T44 is satisfied. This causes the process to transition from step S31 to step S7.

Further, if the conditions T45, T46, and T47 similar to the conditions T27, T29, and T34 are satisfied in step S31, the process transits to steps S9, S10, and S13.

Next, referring to FIG. 9, the operation in the backward running (reverse mode) in the modified example will be described. The operation description of FIG. 9 corresponds to steps S1, S2, S7, S11, S31 and conditions T1, T10, T41 to T44, etc. of FIG.

In step S41 of FIG. 9, as in step S21 of FIG. 5, when the occupant turns on the main switch 102 (see FIGS. 2 and 3), a start instruction signal is output from the main switch 102 to the PCU 66. As a result, the control unit 134 transitions to a state of waiting for the output of the drive instruction signal from the start switch 112. In this case, the display on the meter 104 is in the state of FIG. 7A.

In step S42, as in step S22, the occupant pushes one end of the start switch 112 forward to turn it on, whereby the start switch 112 outputs a drive instruction signal to the PCU 66. As a result, the electric vehicle 10 transitions to the rotation stopped state of the rotary electric machine 20 during forward traveling. In this case, the display of the meter 104 switches from the state of FIG. 7A to the state of FIG. 7B.

After that, the electric vehicle 10 starts traveling forward by the forward rotation of the rotating electric machine 20 based on the operation of the throttle grip 108R by the occupant. In step S43, similarly to step S23, it is determined whether Nm <Nmth. In step S43, it is also determined whether the throttle is closed (whether the throttle opening is less than a predetermined value).

When Nm <Nmth and the throttle is closed (step S43: YES), in the next step S44, the traveling state determination unit 134f turns on one of the start switch 112 and the reverse switch 116. Determine whether or not

When one switch is turned on (step S44: YES), in the next step S45, the traveling state determination unit 134f switches from forward traveling to reverse mode (reverse traveling) based on the output of the signal from the one switch. It is determined that the shift is instructed to shift to the reverse mode standby state. In this case, the display of the meter 104 switches from the state of FIG. 7B to the state of FIG. 7C.

In step S46, as in step S24, the traveling state determination unit 134f determines whether both the start switch 112 and the reverse switch 116 are turned on.

When both the start switch 112 and the reverse switch 116 are pressed by the occupant (step S46: YES), in the next step S47, the traveling state determination unit 134f shifts from the standby state to the backward traveling as in step S25. Let As a result, in step S48, as in step S26, reverse rotation of the rotating electric machine 20 is started, and the electric vehicle 10 starts reverse traveling.

In step S49, the traveling state determination unit 134f determines whether one of the start switch 112 and the reverse switch 116 is turned off, as in step S27.

When one switch is turned off (step S49: YES), in the next step S50, the traveling state determination unit 134f shifts from the reverse traveling to the standby state based on the stop of the output of the signal from the one switch. It is determined that the instruction has been given, and a transition is made to the standby state. In the standby state of step S50, the electric power supply from the inverter 132 to the rotary electric machine 20 is stopped and the rotor 20b reverses by inertia, so that the electric vehicle 10 coasts backward.

In step S51, the traveling state determination unit 134f determines whether both the start switch 112 and the reverse switch 116 are turned on.

When both the start switch 112 and the reverse switch 116 are pressed again by the occupant (step S51: YES), the process returns to step S47 to return from the standby state to the reverse running. As a result, the backward traveling can be resumed without stopping the rotation of the rotary electric machine 20.

On the other hand, when both the start switch 112 and the reverse switch 116 are not turned on (step S51: NO), in the next step S52, the traveling state determination unit 134f turns off both the start switch 112 and the reverse switch 116. Determine whether or not

When the occupant releases the start switch 112 and the reverse switch 116 and the output of signals from both switches is stopped (step S52: YES), the traveling state determination unit 134f determines to stop the backward traveling of the electric vehicle 10. .. As a result, in the next step S53, the rotary electric machine 20 is stopped as in step S28. In other words, the standby state is changed to the forward traveling rotation stopped state. In this case, the meter 104 switches from the display content of FIG. 7C to the display content of FIG. 7B, and the character “R” is hidden. As a result, the occupant can recognize that the reverse traveling has been switched to the forward traveling. After that, the traveling state determination unit 134f returns to step S43, and executes the processes of steps S43 to S53 again.

[6. Effect of this embodiment]
The effects of the electric vehicle 10 according to the present embodiment described above will be described.

The electric vehicle 10 according to the present embodiment is an electric vehicle that includes a rotating electric machine 20 and that moves forward by rotating the rotating electric machine 20 in the forward direction, and moves backward by rotating the rotating electric machine 20 in the reverse direction. Two switches (start switch 112 and reverse switch 116) and a PCU (control device) 66 that controls the rotating electric machine 20 are further provided. The PCU 66 includes the rotating electric machine 20 when the start switch 112 and the reverse switch 116 are pressed. Reverse.

As a result, when both the start switch 112 and the reverse switch 116 are pressed, the rotary electric machine 20 reversely rotates and the electric vehicle 10 moves backward, so that the electric vehicle 10 does not move backward even if one switch is abruptly pressed. .. As a result, it is possible to prevent the electric vehicle 10 from moving backward due to an unintended operation of the switch by the occupant. For example, it is possible to prevent the electric vehicle 10 from moving backward due to a luggage such as newspaper placed in the front car 94 falling backward and one switch being abruptly pressed.

The electric vehicle 10 further includes a steering wheel 44 that steers the electric vehicle 10. The handlebar 44 has a right grip 108R provided on the right side in the forward direction of the electric vehicle 10 and a left grip 108L provided on the left side in the forward direction. The two switches (start switch 112 and reverse switch 116) are a start switch (right switch) 112 arranged on the right grip 108R side of the steering wheel 44 and a reverse switch (left switch) arranged on the left grip 108L side of the steering wheel 44. ) 116.

Due to this, unless the occupant presses the start switch 112 and the reverse switch 116 with the right hand and the left hand, respectively, the electric vehicle 10 does not move backward. Therefore, it is possible to prevent the electric vehicle 10 from moving backward unexpectedly.

In this case, the start switch 112 is a switch for instructing the PCU 66 to transition to the traveling standby state in which the forward rotation or the reverse rotation of the rotary electric machine 20 can be started. In this way, since the start switch 112 also has a plurality of functions, it is possible to prevent the number of switches from increasing.

Further, the reverse switch 116 is a reverse drive switch for instructing the PCU 66 only to reverse the rotary electric machine 20. By using the reverse switch 116 as a dedicated switch, it is possible to clearly reflect the intention of the occupant to drive the electric vehicle 10 backward.

Here, the start switch 112 and the reverse switch 116 can be pressed in different directions. As a result, it is possible to prevent the electric vehicle 10 from unintentionally moving backward due to an erroneous operation or the like.

In this case, the start switch 112 and the reverse switch 116 can be pressed in opposite directions. As a result, it is possible to reliably prevent the electric vehicle 10 from moving backward.

Moreover, in this embodiment, the start switch 112 can be pressed in the forward direction and the reverse switch 116 can be pressed in the backward direction. This makes it easier for the occupant to stand on the side (for example, left side) of the electric vehicle 10 and push the start switch 112 and the reverse switch 116 when pushing the electric vehicle 10 while walking.

Further, the PCU 66 reverses the rotating electric machine 20 to move the electric vehicle 10 backward when the start switch 112 and the reverse switch 116 are continuously pressed for a predetermined time (time Ts). As a result, the backward traveling can be started after a certain amount of time has elapsed after both switches have been pressed. As a result, it is possible to prevent the backward traveling from starting at the moment when both switches are pressed.

Furthermore, when the start switch 112 and the reverse switch 116 are pressed, the PCU 66 gradually increases the reverse rotation speed Nm of the rotary electric machine 20 over time, thereby gradually increasing the speed in the reverse direction of the electric vehicle 10. Increase to. In this way, the vehicle speed in the reverse direction does not increase rapidly, so that the occupant can safely drive the electric vehicle 10 in the reverse direction.

Further, the PCU 66 refers to the torque command table 134g indicating the relationship between the command torque for the rotary electric machine 20 and the rotation speed Nm in the reverse rotation direction, and increases the absolute value of the command torque supplied to the rotary electric machine 20 with the passage of time. By doing so, the rotation speed Nm in the reverse rotation direction is increased. As a result, the electric vehicle 10 can be accurately moved backward.

Further, when the start switch 112 and the reverse switch 116 are pressed while the rotating electric machine 20 is stopped, the PCU 66 reverses the rotating electric machine 20 to move the electric vehicle 10 backward. As a result, it is possible to prevent the reverse running from suddenly starting from the forward running state.

In this case, the PCU 66 stops the rotating electrical machine 20 when at least one of the start switch 112 and the reverse switch 116 is released from the pressed state while the electric vehicle 10 is moving backward. As a result, the electric vehicle 10 that is traveling backward can be stopped and then moved forward.

When one of the start switch 112 and the reverse switch 116 is pressed while the rotary electric machine 20 is stopped, the PCU 66 causes the electric vehicle 10 to transit to the standby mode in the reverse mode, and the standby state. At the time, when the start switch 112 and the reverse switch 116 are pressed, the rotary electric machine 20 is reversely rotated to move the electric vehicle 10 backward. As a result, it is possible to reliably prevent the reverse traveling from suddenly starting from the forward traveling state.

Further, the PCU 66 shifts the electric vehicle 10 to the standby state in the reverse mode when one of the start switch 112 and the reverse switch 116 is released from the pressed state while the electric vehicle 10 is moving backward, and the PCU 66 shifts to the standby state. In the above, when the start switch 112 and the reverse switch 116 are pressed, the rotating electric machine 20 is rotated in the reverse direction and the electric vehicle 10 is moved backward again. As a result, the reverse traveling of the reverse mode can be resumed without stopping the rotary electric machine 20. As a result, in the reverse mode, it is possible to continuously switch between the reverse traveling state and the stopped state.

In this case, the PCU 66 stops the rotary electric machine 20 when the start switch 112 and the reverse switch 116 are released from the pressed state in the standby state. As a result, it is possible to smoothly switch from the backward traveling state to the forward traveling state.

It should be noted that the electric vehicle 10 further includes a meter (informing device) 104 that informs the outside that the switch is pressed when at least one of the start switch 112 and the reverse switch 116 is pressed. There is. Thereby, the traveling state (forward traveling, backward traveling) of the electric vehicle 10 can be appropriately notified to the occupant.

Although the present invention has been described above using the preferred embodiment, the technical scope of the present invention is not limited to the description range of the above embodiment. It will be apparent to those skilled in the art that various modifications and improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiment added with such changes or improvements can be included in the technical scope of the present invention. Further, the reference numerals in parentheses described in the claims are added according to the reference numerals in the accompanying drawings for facilitating the understanding of the present invention, and the present invention is limited to the elements to which the reference numerals are attached. It is not intended to be interpreted.

Claims

An electric vehicle (10) comprising a rotating electric machine (20), which advances by rotating the rotating electric machine (20) in a forward direction, and which moves backward by rotating the rotating electric machine (20) in reverse.
Further comprising at least two switches (112, 116) and a controller (66) for controlling the rotating electric machine (20),
The control device (66) causes the electric vehicle (10) to move backward by reversing the rotating electric machine (20) when the two switches (112, 116) are pressed, the electric vehicle (10). ..
The electric vehicle (10) according to claim 1,
A steering wheel (44) for steering the electric vehicle (10),
The handle (44) has a right grip (108R) provided on the right side in the forward direction of the electric vehicle (10) and a left grip (108L) provided on the left side in the forward direction,
The two switches (112, 116) are arranged on the right grip (108R) side of the handle (44) and the left grip (108L) side of the handle (44). Electric vehicle (10) with the left switch (116) turned on.
The electric vehicle (10) according to claim 2,
The right switch (112) is a start switch for instructing the control device (66) to make a transition to a traveling standby state in which the normal rotation or reverse rotation of the rotating electric machine (20) can be started. 10).
The electric vehicle (10) according to claim 2 or 3,
The electric vehicle (10), wherein the left switch (116) is a reverse-only switch for instructing the control device (66) to perform only reverse rotation of the rotating electric machine (20).
The electric vehicle (10) according to any one of claims 2 to 4,
The electric vehicle (10) in which the right switch (112) and the left switch (116) can be pressed in different directions.
The electric vehicle (10) according to claim 5,
The electric vehicle (10) in which the right switch (112) and the left switch (116) can be pressed in opposite directions.
The electric vehicle (10) according to any one of claims 2 to 6,
The right switch (112) can be pressed in the forward direction,
The left switch (116) is an electric vehicle (10) that can be pressed in a reverse direction of the electric vehicle (10).
The electric vehicle (10) according to any one of claims 1 to 7,
The control device (66) reverses the rotating electric machine (20) to rotate the electric vehicle (20) when the two switches (112, 116) are pressed for a predetermined time (Ts). An electric vehicle (10) that reverses 10).
The electric vehicle (10) according to any one of claims 1 to 8,
When the two switches (112, 116) are pressed, the control device (66) increases the rotational speed (Nm) in the reverse rotation direction of the rotating electric machine (20) with the passage of time, An electric vehicle (10) for gradually increasing the speed of the electric vehicle (10) in the reverse direction.
The electric vehicle (10) according to claim 9,
The control device (66) refers to a torque command table (134g) indicating the relationship between the command torque for the rotating electric machine (20) and the rotation speed (Nm) in the reverse rotation direction, and refers to the rotating electric machine (20). An electric vehicle (10) that increases the rotation speed (Nm) in the reverse rotation direction by increasing the absolute value of the command torque to be supplied over time.
The electric vehicle (10) according to any one of claims 1 to 10,
The controller (66) reverses the rotating electric machine (20) by rotating the rotating electric machine (20) in a stopped state and pressing the two switches (112, 116). An electric vehicle (10) that reverses the electric vehicle (10).
The electric vehicle (10) according to any one of claims 1 to 11,
The controller (66) is configured to rotate the electric rotating machine (20) when at least one of the two switches (112, 116) is released from a pressed state while the electric vehicle (10) is moving backward. (10) which stops an electric vehicle.
The electric vehicle (10) according to any one of claims 1 to 10,
The control device (66)
When the rotating electric machine (20) is stopped and one of the two switches (112, 116) is pressed, the electric vehicle (10) is caused to transition to the reverse drive standby state. ,
An electric vehicle (10) that reverses the rotating electric machine (20) to move the electric vehicle (10) backward when the two switches (112, 116) are pressed in the reverse drive standby state.
The electric vehicle (10) according to any one of claims 1 to 10,
The control device (66)
When one of the two switches (112, 116) is released from the pressed state during the reverse movement of the electric vehicle (10), the electric vehicle (10) is transited to a reverse waiting state,
An electric vehicle (10) that reverses the electric rotating machine (20) to reverse the electric vehicle (10) again when the two switches (112, 116) are pressed in the reverse traveling standby state.
The electric vehicle (10) according to claim 14,
The electric vehicle (10) wherein the control device (66) stops the rotating electric machine (20) when the two switches (112, 116) are released from the pressed state in the reverse drive standby state.
The electric vehicle (10) according to any one of claims 1 to 15,
The electric vehicle (10) further comprising a notification device (104) that notifies the outside that the switch is pressed when at least one of the two switches (112, 116) is pressed.