Control apparatus for electric vehicle, electric vehicle, and recording medium in which computer program is recorded

An electric vehicle mounted with a control system of the electric vehicle, the electric vehicle including:

• at least one drive motor configured to output a drive torque to a wheel of the electric vehicle;
• at least one inverter circuit configured to drive the at least one drive motor by providing current to the at least one drive motor based on a target current value;
• a current sensor configured to detect a current value representing current output from a battery to the at least one inverter circuit;
• a force sensor installed on the wheel and configured to:
• detect a torque transmitted from the at least one drive motor to the wheel as a second torque value;
• and
• detect a force that acts on the wheel in a longitudinal direction of the vehicle as a driving force value;
• and
• a control apparatus configured to control the control system of the electric vehicle, the control apparatus comprising:
• one or more memories configured to store first data including
• a first current value of current input to the at least one drive motor, and
• a first torque value of torque output by the at least one drive motor according to the current of the first current value;
• and
• one or more processors coupled to the one or more memories, the one or more processors configured to drive the electric vehicle by controlling the target current value to be directed to the at least one inverter circuit, the target current value being calculated using the first data in accordance with a target torque, the target torque being calculated based on an operation amount of an accelerator pedal of the electric vehicle,
• wherein the one or more processors are configured to:
• acquire second data including:
• the second current value detected by the current sensor;
• and
• the second torque value detected by the force sensor;
• detect an abnormality in the electric vehicle when a deviation is greater than or equal to a predetermined threshold, the deviation being calculated based on at least a difference between the first torque value and the second torque value, the first torque value and the second torque value each corresponding to a same current value;
• and
• determine, in response to determining the abnormality, a location of the abnormality based on the target current value, the second current value detected by the current sensor, the second torque value detected by the force sensor, and the driving force value detected by the force sensor.

A non-transitory recording medium in which a computer program being configured to be applied to a control system of an electric vehicle, the electric vehicle including at least one drive motor configured to output a drive torque, and at least one inverter circuit configured to drive the drive motor, the computer program causing one or more processors to execute a process, the process comprising:

• driving the electric vehicle by controlling a target current value to be directed to the at least one inverter circuit, the target current value being calculated using first data in accordance with a target torque, the target torque being calculated based on an operation amount of an accelerator pedal of the electric vehicle, the first data including a first current value of current input to the at least one drive motor, and a first torque value of torque output by the at least one drive motor according to the current of the first current value,
• acquiring second data including:
• a second current value representing current output from a battery to the at least one inverter circuit, the second current value being detected by a first sensor that is (1) installed in the electric vehicle and (2) configured to detect the current from the battery to the at least one inverter circuit as the second current value;
• and
• a second torque value representing torque output from the at least one drive motor to a wheel, the second torque value being detected by a second sensor that is (1) installed in the electric vehicle on the wheel and (2) configured to:
• detect a torque transmitted from the at least one drive motor to the wheel as a second torque value;
• and
• detect a driving force acting on the wheel in a longitudinal direction of the vehicle as a driving force value;
• detecting an abnormality in the electric vehicle when a deviation is greater than or equal to a predetermined threshold, the deviation being calculated based on at least a difference between the first torque value and the second torque value, the first torque value and the second torque value each corresponding to a same current value;
• and
• determining, in response to determining the abnormality, a location of the abnormality based on the target current value, the second current value detected by the first sensor, the second torque value detected by the second sensor, and the driving force value detected by the second sensor.