CN-116056942-B - Driving control device for electric vehicle

CN116056942BCN 116056942 BCN116056942 BCN 116056942BCN-116056942-B

Abstract

A drive control device for an electric vehicle is provided with brake devices (30 a-30 d) provided on the left and right wheels of the vehicle, a front motor (4) and a rear motor (6) that drive and regeneratively brake the wheels of the vehicle, a vehicle motion control unit (37) that calculates a braking addition request amount corresponding to a yaw moment addition amount to the vehicle according to the running state of the vehicle, a brake ECU (31) that controls the braking devices (30 a-30 d) independently from left and right to control the yaw moment of the vehicle according to the braking addition request amount, and a motor torque control unit (39) that controls the drive torque and the regenerative braking torque of the front motor (4) and the rear motor (6), wherein the motor torque control unit (39) executes a correction for increasing the drive torque or decreasing the regenerative braking torque in accordance with an increase in the braking torque of the brake devices (30 a-30 d) according to the braking addition request amount.

Inventors

Gu Heliangyou
MARUYAMA AKIRA
FURUICHI TETSUYA

Assignees

三菱自动车工业株式会社

Dates

Publication Date: 20260512
Application Date: 20210714
Priority Date: 20200730

Claims (4)

1. A drive control device for an electric vehicle is provided with: brake devices provided on left and right wheels of the vehicle, respectively; An electric motor that drives and regeneratively brakes wheels of the vehicle; A vehicle motion control unit that calculates a yaw moment additional amount to be added to the vehicle, based on a running state of the vehicle; A brake control unit that controls the brake independently from left to right based on the yaw moment addition amount calculated by the vehicle motion control unit, thereby controlling the yaw moment of the vehicle, and A motor control unit that controls a drive torque and a regenerative braking torque of the motor, It is characterized in that the method comprises the steps of, The vehicle is provided with a front wheel drive motor for driving the left and right front wheels together and a rear wheel drive motor for driving the left and right rear wheels together as the motors, The brake device control unit executes turning support control that increases a brake torque of the brake device on a turning inner wheel side to promote turning of the vehicle at the time of turning of the vehicle, or turning spin suppression control that increases a brake torque of the brake device on a turning outer wheel side to suppress turning of the vehicle at the time of turning of the vehicle, based on a running state of the vehicle, The motor control unit increases the drive torque of the rear wheel drive motor more than the drive torque of the front wheel drive motor when the turning assist control is performed during acceleration running, and increases the drive torque of the front wheel drive motor more than the drive torque of the rear wheel drive motor when the turning spin suppression control is performed during acceleration running, in accordance with an increase in the brake torque of the brake device controlled by the brake device control unit.
2. A drive control device for an electric vehicle is provided with: brake devices provided on left and right wheels of the vehicle, respectively; An electric motor that drives and regeneratively brakes wheels of the vehicle; A vehicle motion control unit that calculates a yaw moment additional amount to be added to the vehicle, based on a running state of the vehicle; A brake control unit that controls the brake independently from left to right based on the yaw moment addition amount calculated by the vehicle motion control unit, thereby controlling the yaw moment of the vehicle, and A motor control unit that controls a drive torque and a regenerative braking torque of the motor, It is characterized in that the method comprises the steps of, The vehicle is provided with a front wheel drive motor for driving the left and right front wheels together and a rear wheel drive motor for driving the left and right rear wheels together as the motors, The brake device control unit executes turning support control that increases a brake torque of the brake device on a turning inner wheel side to promote turning of the vehicle at the time of turning of the vehicle, or turning spin suppression control that increases a brake torque of the brake device on a turning outer wheel side to suppress turning of the vehicle at the time of turning of the vehicle, based on a running state of the vehicle, The motor control unit increases the brake torque of the brake device controlled by the brake device control unit, and increases the decrease amount of the regenerative brake torque of the front wheel drive motor when the turning support control is executed during deceleration traveling, and increases the decrease amount of the regenerative brake torque of the rear wheel drive motor when the turning spin suppression control is executed during deceleration traveling.
3. A drive control device for an electric vehicle is provided with: brake devices provided on left and right wheels of the vehicle, respectively; An electric motor that drives and regeneratively brakes wheels of the vehicle; A vehicle motion control unit that calculates a yaw moment additional amount to be added to the vehicle, based on a running state of the vehicle; A brake control unit that controls the brake independently from left to right based on the yaw moment addition amount calculated by the vehicle motion control unit, thereby controlling the yaw moment of the vehicle, and A motor control unit that controls a drive torque and a regenerative braking torque of the motor, It is characterized in that the method comprises the steps of, The motor control unit is capable of controlling the driving torque of the wheels independently from one of the front and rear sides, The vehicle motion control unit calculates, based on a running state of the vehicle, a yaw moment distribution amount that distributes the yaw moment addition amount added to the vehicle as a first yaw moment addition amount based on the brake device and a second yaw moment addition amount based on the motor, The braking device control unit and the motor control unit control the braking devices and the motors, respectively, based on the yaw moment distribution amounts, The brake device control unit executes turning assist control that increases a brake torque of the brake device on a turning inner wheel side to promote turning of the vehicle at the time of turning of the vehicle, or turning spin suppression control that increases a brake torque of the brake device on a turning outer wheel side to suppress turning of the vehicle at the time of turning of the vehicle, The motor control unit increases the braking torque of the braking device controlled by the braking device control unit, and increases the driving torque of the wheel on the turning inner wheel side more than the driving torque of the wheel on the turning outer wheel side when the turning assist control is executed during acceleration running, and increases the driving torque of the wheel on the turning outer wheel side more than the driving torque of the wheel on the turning inner wheel side when the turning spin suppression control is executed during acceleration running.
4. A drive control device for an electric vehicle is provided with: brake devices provided on left and right wheels of the vehicle, respectively; An electric motor that drives and regeneratively brakes wheels of the vehicle; A vehicle motion control unit that calculates a yaw moment additional amount to be added to the vehicle, based on a running state of the vehicle; A brake control unit that controls the brake independently from left to right based on the yaw moment addition amount calculated by the vehicle motion control unit, thereby controlling the yaw moment of the vehicle, and A motor control unit that controls a drive torque and a regenerative braking torque of the motor, It is characterized in that the method comprises the steps of, The motor control unit is capable of controlling the driving torque of the wheels independently from one of the front and rear sides, The vehicle motion control unit calculates, based on a running state of the vehicle, a yaw moment distribution amount that distributes the yaw moment addition amount added to the vehicle as a first yaw moment addition amount based on the brake device and a second yaw moment addition amount based on the motor, The braking device control unit and the motor control unit control the braking devices and the motors, respectively, based on the yaw moment distribution amounts, The brake device control unit executes turning assist control that increases a brake torque of the brake device on a turning inner wheel side to promote turning of the vehicle at the time of turning of the vehicle, or turning spin suppression control that increases a brake torque of the brake device on a turning outer wheel side to suppress turning of the vehicle at the time of turning of the vehicle, The motor control unit increases the braking torque of the braking device controlled by the braking device control unit, and increases the amount of decrease in the regenerative braking torque of the wheel on the turning inner wheel side when the turning assist control is performed during deceleration traveling, and increases the amount of decrease in the regenerative braking torque of the wheel on the turning outer wheel side when the turning spin suppression control is performed during deceleration traveling.

Description

Driving control device for electric vehicle Technical Field The present invention relates to a drive control device for an electric vehicle capable of independently performing brake control by left and right wheels. Background In recent years, in order to prevent side slip of a vehicle and improve cornering performance, a brake driving device has been developed that controls driving torque and braking torque of the vehicle at different values on left and right wheels (running wheels). As the brake driving device, a sideslip prevention device, an active yaw control device, and the like of a vehicle are known. For example, in the vehicle disclosed in patent document 1, each wheel of the vehicle is provided with a driving motor and a brake device, and each driving motor and each brake device can be independently controlled. In patent document 1, the yaw moment of the vehicle is controlled by controlling the operation of the drive motor or the brake device based on the steering angle and the actual yaw rate. Prior art literature Patent literature Patent document 1 Japanese patent laid-open publication No. 2005-247276 Technical problem to be solved by the invention However, in the brake driving device as described above, the device for controlling the yaw moment of the vehicle by only the braking torque generated by the brake device can be executed relatively inexpensively, and the versatility is high. However, by applying the braking torque generated by the braking device, the speed as a whole of the vehicle may be reduced, and the driver may feel a sense of discomfort. In addition, the brake device has a problem that it is difficult to control the braking torque with high accuracy due to a deviation of the state of the disc rotor or the like. Disclosure of Invention The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a drive control device for an electric vehicle, which can suppress the sense of incongruity caused by braking in a vehicle in which the yaw moment of the vehicle is controlled by braking of wheels. Technical means for solving the technical problems In order to achieve the above object, a drive control device for an electric vehicle according to the present invention includes a brake device provided on each of left and right wheels of the vehicle, an electric motor that drives and regeneratively brakes the wheels of the vehicle, a vehicle motion control unit that calculates a yaw moment addition amount added to the vehicle in accordance with a running state of the vehicle, a brake device control unit that controls the brake device independently from left and right based on the yaw moment addition amount calculated by the vehicle motion control unit so as to control a yaw moment of the vehicle, and a motor control unit that controls a drive torque and a regenerative braking torque of the electric motor, the motor control unit performing a correction control that increases the drive torque of the electric motor or decreases the regenerative braking torque of the electric motor in accordance with an increase in the braking torque of the brake device controlled by the brake device control unit. In this way, when the yaw moment of the vehicle is controlled by the brake device control unit, the vehicle is braked by the brake device, but the deceleration of the vehicle can be alleviated by increasing the drive torque controlled by the motor control unit or reducing the regenerative brake torque with an increase in the braking torque. Preferably, the brake device control unit executes turning support control that increases a braking torque of the brake device on a turning inner wheel side to promote turning of the vehicle when the vehicle is turning, or turning spin suppression control that increases a braking torque of the brake device on a turning outer wheel side to suppress turning of the vehicle when the vehicle is turning, based on a running state of the vehicle, and the motor control unit executes correction control of the driving torque or the regenerative braking torque that are different when the turning support control is executed and when the turning spin suppression control is executed, respectively. Thus, by controlling the left and right brake devices by the brake device control unit, it is possible to perform turning support control for promoting turning of the vehicle and turning spin suppression control for suppressing turning of the vehicle. Further, by performing correction control of the drive torque and the regenerative braking torque separately by the turning assist control and the turning spin suppression control, correction of the drive torque and the regenerative braking torque is appropriately performed when the turning assist control is performed and the turning spin suppression control is performed, respectively, and thus the turning performance and the running stability performance of the vehicle can