# US 11,027,617 B2 · Control method for electrically driven vehicle and control device for electrically driven vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,617 B2 - Document ID: US11027617B2 - Status: Granted - Kind: B2 - Application number: 16/479,640 - Filed: 2018-01-19 - Published: 2021-01-07 - Granted: 2021-06-08 - Earliest claimed: 2017-01-24 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Ikuma Shindo; Tatsuya Suzuki; Naoki Miyashita - Web page: https://patentgrep.com/patent/US11027617B2 ## CPC - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60L 15/2009: {for braking} - B60L 7/14: for vehicles propelled by AC motors - B60L 9/18: fed from DC supply lines - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60L 2240/12: Speed - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2250/28: Accelerator pedal thresholds - B60W 2710/083: Torque - B60Y 2200/91: Electric vehicles - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract An electrically driven vehicle includes a motor configured to supply the vehicle with a braking force or a driving force corresponding to an accelerator operation amount. The braking force is controlled when the accelerator operation amount is less than a predetermined value and the driving force is controlled when the accelerator operation amount is the predetermined value or more. A torque target value at which the motor is caused to output a braking or driving torque corresponding to the accelerator operation amount is calculated. A disturbance torque acting on the motor as a resistance corresponding to a road surface gradient is estimated, and a correction to remove the disturbance torque from the torque target value is performed. The correction amount is reduced in a downhill road when the accelerator operation amount is less than the predetermined value and a vehicle speed is larger than a predetermined vehicle speed. ## Claims ### Claim 1 A control method for an electrically driven vehicle including a motor configured to supply the vehicle with a braking force or a driving force corresponding to an accelerator operation amount, the control method being for controlling the braking force when the accelerator operation amount is less than a predetermined value and controlling the driving force when the accelerator operation amount is the predetermined value or more, the control method comprising: calculating a torque target value at which the motor is caused to output a braking torque or a driving torque corresponding to the accelerator operation amount; estimating a disturbance torque acting on the motor as a resistance corresponding to a road surface gradient; performing a correction to remove the disturbance torque from the torque target value; controlling the motor in accordance with the torque target value subjected to the correction; and reducing a correction amount in the correction on a downhill road only when the accelerator operation amount is less than the predetermined value and a vehicle speed is larger than a predetermined vehicle speed. ### Claim 2 (depends on 1) The control method for the electrically driven vehicle, according to claim 1, wherein the predetermined vehicle speed has a value an absolute value which is larger than zero. ### Claim 3 (depends on 1) The control method for the electrically driven vehicle, according to claim 1, wherein, on the downhill road, when the accelerator operation amount is less than the predetermined value and the vehicle speed is larger than the predetermined vehicle speed, a ratio to reduce the correction amount is decreased as the vehicle speed decreases. ### Claim 4 (depends on 1) The control method for the electrically driven vehicle, according to claim 1, wherein: a rotation speed of the motor or a speed parameter proportional to the rotation speed is detected; and when the vehicle speed becomes a stop-control-start vehicle speed or less, the motor is controlled without reducing the correction amount so that a motor torque converges to the disturbance torque along with a decrease of the rotation speed of the motor or the speed parameter. ### Claim 5 (depends on 4) The control method for the electrically driven vehicle, according to claim 4, wherein that the vehicle speed is the stop-control-start vehicle speed or less indicates that the vehicle is just before a stop and the rotation speed of the motor or the speed parameter is smaller than a default value determined in advance. ### Claim 6 A control device for an electrically driven vehicle, the control device being applied to the electrically driven vehicle including a motor configured to supply the vehicle with a braking force or a driving force corresponding to an accelerator operation amount, the control device being for controlling the braking force when the accelerator operation amount is less than a predetermined value and controlling the driving force when the accelerator operation amount is the predetermined value or more, the control device being configured to: calculate a torque target value at which the motor is caused to output a braking torque or a driving torque corresponding to the accelerator operation amount; estimate a disturbance torque acting on the motor as a resistance corresponding to a road surface gradient; perform a correction to remove the disturbance torque from the torque target value; control the motor in accordance with the torque target value subjected to the correction; and reduce a correction amount in the correction on a downhill road only when the accelerator operation amount is less than the predetermined value and a vehicle speed is larger than a predetermined vehicle speed.