# US 9,919,617 B2 · Control device for electric motor vehicle and control method for electric motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,919,617 B2 - Document ID: US9919617B2 - Status: Granted - Kind: B2 - Application number: 15/110,603 - Filed: 2015-01-05 - Published: 2016-12-01 - Granted: 2018-03-20 - Earliest claimed: 2014-01-10 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Akira Sawada; Ken Ito; Takashi Nakajima; Yuji Katsumata; Hiroyuki Komatsu - Web page: https://patentgrep.com/patent/US9919617B2 ## CPC - B60L 15/2009: {for braking} - B60L 7/14: for vehicles propelled by AC motors - B60L 7/18: Controlling the braking effect (B60L7/12, B60L7/14, B60L7/16 take precedence) - 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 50/51: characterised by AC-motors - B60L 2220/58: with more than three phases - B60L 2240/12: Speed - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2240/429: Current - B60L 2240/642: Slope of road - B60L 2250/26: by pedal actuation - B60L 2260/44: by parameter estimation - B60L 2270/145: Structure borne vibrations - B60Y 2300/18091: Preparing for stopping - B60Y 2300/181: Hill climbing or descending - B60Y 2300/20: Reducing vibrations in the driveline - 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 - Y02T 90/16: Information or communication technologies improving the operation of electric vehicles - 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 - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A control device for electric motor vehicle using a motor as a traveling drive source and configured to decelerate by a regenerative braking force of the motor includes a motor torque command value setter configured to set a first torque target value for traveling based on the vehicle information as a motor torque command value for traveling based on the vehicle information before a speed parameter proportional to a traveling speed of an electric motor vehicle becomes equal to or less than a predetermined value, and set a second torque target value for stopping the electric motor vehicle and maintaining a vehicle stopped state as the motor torque command value when the speed parameter becomes equal to or less than the predetermined value, a motor controller configured to control the motor on the basis of the motor torque command value. ## Claims ### Claim 1 A control device for an electric motor vehicle using an electric motor as a traveling drive source, comprising: a motor controller configured to: decelerate the electric motor vehicle by a regenerative braking force of the electric motor, set a first torque target value for traveling based on vehicle information as a motor torque command value for traveling based on the vehicle information before a speed parameter proportional to a traveling speed of the electric motor vehicle becomes equal to or less than a predetermined value, set a second torque target value for stopping the electric motor vehicle and maintaining a vehicle stopped state as the motor torque command value when the speed parameter becomes equal to or less than the predetermined value, and control the electric motor on the basis of the motor torque command value, wherein the motor controller stops the electric motor vehicle and maintains the electric motor vehicle stopped state by the second torque target value as the motor torque command value when the speed parameter becomes equal to or less than the predetermined value. ### Claim 2 (depends on 1) The control device for the electric motor vehicle according to claim 1, wherein the motor controller is configured to determine whether the electric motor vehicle is at a just-before-stop moment, which is a point in time before the electric motor vehicle stops, and wherein the motor controller determines that the just-before-stop moment has not been reached when the first torque target value is larger than the second torque target value, and determines that the just-before-stop moment has been reached when the second torque target value is larger than the first torque target value. ### Claim 3 (depends on 1) The control device for the electric motor vehicle according to claim 1, wherein the motor controller is configured to estimate a disturbance torque, wherein the motor controller is configured to calculate a torque target value as the second torque target value, and wherein the torque target value converges to the disturbance torque with a reduction in the speed parameter. ### Claim 4 (depends on 3) The control device for the electric motor vehicle according to claim 3, wherein the motor controller estimates the disturbance torque to be a positive value on an uphill road and a negative value on a downhill road. ### Claim 5 (depends on 3) The control device for the electric motor vehicle according to claim 3, wherein the motor controller zeros the disturbance torque on a flat road. ### Claim 6 (depends on 3) The control device for the electric motor vehicle according to claim 3, wherein the motor controller is configured to: calculate a basic torque target value on the basis of the vehicle information, and calculate the first torque target value by correcting the calculated basic torque target value on the basis of the disturbance torque. ### Claim 7 (depends on 6) The control device for the electric motor vehicle according to claim 6, wherein the motor controller calculates a disturbance correction torque by multiplying the disturbance torque by a predetermined gain and calculates the first torque target value by adding the basic torque target value and the disturbance correction torque. ### Claim 8 (depends on 7) The control device for the electric motor vehicle according to claim 7, wherein the motor controller calculates the disturbance correction torque by multiplying a product of the disturbance torque and the predetermined gain by a speed correction gain corresponding to the speed parameter, and wherein the speed correction gain is 1 when the speed parameter is smaller than a first predetermined value, 0 when the speed parameter is larger than a second predetermined value larger than the first predetermined value, and a value not smaller than 0 and not larger than 1 and closer to 0 as the speed parameter increases when the speed parameter is not smaller than the first predetermined value and not larger than the second predetermined value. ### Claim 9 A control method performed by a motor controller for an electric motor vehicle using an electric motor as a traveling drive source, the method comprising: a step of decelerating the electric motor vehicle by a regenerative braking force of the motor; a step of setting, by the motor controller, a first torque target value for traveling based on vehicle information as a motor torque command value before a speed parameter proportional to a traveling speed of the electric motor vehicle becomes equal to or less than a predetermined value, and setting a second torque target value as the motor torque command value when the speed parameter becomes equal to or less than the predetermined value; and a step of controlling the electric motor on the basis of the motor torque command value, wherein, in the step of controlling the electric motor, the electric motor vehicle is stopped and the electric motor vehicle stopped state is maintained by the second torque target value as the motor torque command value when the speed parameter becomes equal to or less than the predetermined value. ### Claim 10 (depends on 9) The control method performed by the motor controller for the electric motor vehicle according to claim 9, the method further comprising: a step of determining whether the electric motor vehicle is at a just-before-stop moment, which is a point in time before the electric motor vehicle stops, wherein, in the step of determining, the electric motor vehicle is determined to have not reached the just-before-stop moment when the first torque target value is larger than the second torque target value, and the electric motor vehicle is determined just-before-stop moment has been reached when the second torque target value is larger than the first torque target value. ### Claim 11 (depends on 9) The control method performed by the motor controller for the electric motor vehicle according to claim 9, further comprising: a step of estimating a disturbance torque, wherein a torque target value is calculated as the second torque target value, and wherein the torque target value converges to the disturbance torque with a reduction in the speed parameter. ### Claim 12 (depends on 11) The control method performed by the motor controller for the electric motor vehicle according to claim 11, wherein the disturbance torque is estimated as a positive value on an uphill road and as a negative value on a downhill road. ### Claim 13 (depends on 11) The control method performed by the motor controller for the electric motor vehicle according to claim 11, wherein the disturbance torque is estimated as zero on a flat road. ### Claim 14 (depends on 11) The control method performed by the motor controller for the electric motor vehicle according to claim 11, wherein a basic torque target value is calculated on the basis of the vehicle information, and wherein the first torque target value is calculated by correcting the calculated basic torque target value on the basis of the disturbance torque. ### Claim 15 (depends on 14) The control method performed by the motor controller for the electric motor vehicle according to claim 14, wherein a disturbance correction torque is calculated by multiplying the disturbance torque by a predetermined gain, and wherein the first torque target value is calculated by adding the basic torque target value and the disturbance correction torque. ### Claim 16 (depends on 15) The control method performed by the motor controller for the electric motor vehicle according to claim 15, wherein the disturbance correction torque is calculated by multiplying a product of the disturbance torque and the predetermined gain by a speed correction gain corresponding to the speed parameter, and wherein the speed correction gain is 1 when the speed parameter is smaller than a first predetermined value, 0 when the speed parameter is larger than a second predetermined value larger than the first predetermined value, and a value not smaller than 0 and not larger than 1 and closer to 0 as the speed parameter increases when the speed parameter is not smaller than the first predetermined value and not larger than the second predetermined value.