Control device for electric motor vehicle and control method for electric motor vehicle

A control method for electric motor vehicle using a motor as a traveling drive source, and having an accelerator pedal for instructing acceleration, deceleration, and stop of the vehicle, and configured to control a vehicle speed from deceleration state to a stopped state by a regenerative braking force of the motor, the method comprising:

• an accelerator operation amount detection step of detecting an accelerator operation amount;
• a vehicle speed detection step of detecting a speed parameter proportional to a traveling speed of the electric motor vehicle;
• a vehicle speed estimation step of estimating the speed parameter in accordance with a state of the electric motor vehicle;
• a feedback torque calculation step of calculating a feedback torque for stopping the electric motor vehicle on the basis of the speed parameter detected in the vehicle speed detection step;
• a feedforward torque calculation step of calculating a feedforward torque for compensating for a shortage of the feedback torque on the basis of the speed parameter estimated in the vehicle speed estimation step, the feedforward torque being configured to shorten a braking distance by compensating for the shortage of the feedback torque;
• a motor torque command value calculation step of calculating a motor torque command value;
• and
• a motor control step of controlling the motor on the basis of the motor torque command value, wherein:
• in the motor torque command value calculation step, the motor torque command value is converged to zero on the basis of the feedback torque and the feedforward torque with a reduction in the traveling speed when the pedal is operated so that the accelerator operation amount is to be a predetermined value or less and the electric motor vehicle stops shortly.

A control device for electric motor vehicle using a motor as a traveling drive source and configured to control a vehicle speed from decelerating state to a stopped state by a regenerative braking force of the motor, comprising:

• an accelerator pedal for instructing acceleration, deceleration, and stop of the vehicle;
• an accelerator operation amount detecting unit configured to detect an accelerator operation amount, the accelerator operation amount is a state of operation of the accelerator pedal;
• a vehicle speed detecting unit configured to detect a speed parameter proportional to a traveling speed of the electric motor vehicle;
• a vehicle speed estimating unit configured to estimate the speed parameter in accordance with a state of the electric motor vehicle;
• a feedback torque calculating unit configured to calculate a feedback torque for stopping the electric motor vehicle on the basis of the speed parameter detected by the vehicle speed detection unit;
• a feedforward torque calculating unit configured to calculate a feedforward torque for compensating for a shortage of the feedback torque on the basis of the speed parameter estimated by the vehicle speed estimation unit, the feedforward torque being configured to shorten a braking distance by compensating for the shortage of the feedback torque;
• a disturbance torque estimating unit configured to estimating a disturbance torque
• a motor torque command value calculating unit configured to calculate a motor torque command value;
• and
• a motor control unit configured to control the motor on the basis of the motor torque command value, wherein:
• the motor torque command value calculating unit converges the motor torque command value to the disturbance torque on the basis of the feedback torque and the feedforward torque with a reduction in the traveling speed when the pedal is operated so that the accelerator operation amount is to be a predetermined value or less and the electric motor vehicle stops shortly.

A control method for electric motor vehicle using a motor as a traveling drive source, and having an accelerator pedal for instructing acceleration, deceleration, and stop of the vehicle, and configured to control vehicle speed from decelerating state to a stopped state by a regenerative braking force of the motor, the method comprising:

• an accelerator operation amount detection step of detecting an accelerator operation amount, the accelerator operation amount is a state of operation of the accelerator pedal;
• a vehicle speed detection step of detecting a speed parameter proportional to a traveling speed of the electric motor vehicle;
• a vehicle speed estimation step of estimating the speed parameter in accordance with a state of the electric motor vehicle;
• a feedback torque calculation step of calculating a feedback torque for stopping the electric motor vehicle on the basis of the speed parameter detected by the vehicle speed detection unit;
• a feedforward torque calculation step of calculating a feedforward torque for compensating for a shortage of the feedback torque on the basis of the speed parameter estimated by the vehicle speed estimation unit, the feedforward torque being configured to shorten a braking distance by compensating for the shortage of the feedback torque;
• a disturbance torque estimation step of estimating a disturbance torque,
• a motor torque command value calculation step of calculating a motor torque command value;
• and
• a motor control step of controlling the motor on the basis of the motor torque command value, wherein:
• in the motor torque command value calculation step, the motor torque command value is converged to the disturbance torque on the basis of the feedback torque and the feedforward torque with a reduction in the traveling speed when the pedal is operated so that the accelerator operation amount is to be a predetermined value or less and the electric motor vehicle stops shortly.