Vehicle control device

Abstract

A vehicle control device effectively utilizes a damping force caused by a short circuit of a motor in an electric suspension device. An electric suspension control ECU (20) shorts a motor (46) and limits a vehicle speed (V) to a prescribed speed (VM) or less in a case where an abnormality occurs in an electric suspension device (10) in a vehicle (1) equipped with the electric suspension device (10) driven by the motor (46).

Description

Technical Field

[0001] The present invention relates to a vehicle control device. Background Art

[0002] Conventionally, there is known a technology related to an electric suspension device that is mounted on a vehicle and driven by a motor.

[0003] For example, the electric suspension device described in Patent Document 1 generates a damping force by short-circuiting a motor when the vehicle speed is equal to or lower than a predetermined speed, such as during starting or deceleration.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2016-13794 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] However, in the electric suspension device described in Patent Document 1, the damping force characteristics when the coil is short-circuited differ from those of a typical hydraulic shock absorber in that the damping force decreases in the region where the suspension stroke speed is relatively high. This can sometimes cause discomfort to the driver from the perspective of tire vibration damping.

[0009] An object of the present invention is to provide a vehicle control device that effectively utilizes a damping force caused by a short circuit of a motor in an electric suspension device.

[0010] Means for solving problems

[0011] One embodiment of the present invention provides a vehicle control device that, in a vehicle including an electric suspension device driven by a motor, short-circuits the motor and limits the vehicle speed to a predetermined speed or less when an abnormality occurs in the electric suspension device.

[0012] According to another aspect of the present invention, the electric suspension device includes electric actuators provided at a plurality of wheels, and the predetermined speed is reduced as the number of abnormal electric actuators increases.

[0013] According to another aspect of the present invention, the electric suspension device includes electric actuators provided at a plurality of wheels, and when the electric actuators provided at the rear wheels malfunction, the predetermined speed is reduced compared to when the electric actuators provided at the front wheels malfunction.

[0014] According to another aspect of the present invention, the predetermined speed is 1 km / hour or more.

[0015] Effects of the Invention

[0016] According to the present invention, it is possible to effectively utilize the damping force caused by a short circuit of the motor in the electric suspension device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a perspective view showing an example of the arrangement of an electric suspension device.

[0018] Figure 2 This is a diagram showing an example of the structure of an electric suspension device.

[0019] Figure 3 This is a diagram showing an example of the structure of a short-circuit circuit.

[0020] Figure 4 This is a flowchart showing an example of processing by the control ECU according to the first method.

[0021] Figure 5 This is a flowchart showing an example of processing by the control ECU according to the second method.

[0022] Description of labels

[0023] 1: Vehicle; 10: Electric suspension device; 12: Electric actuator; 12A: First electric actuator; 12B: Second electric actuator; 12C: Third electric actuator; 12D: Fourth electric actuator; 13: Power line; 14: Signal line; 20: Electric suspension control ECU (vehicle control device); 21A: Memory; 21B: Processor; 211: Abnormality detection unit; 212: Short-circuit indication unit; 213: Speed ​​indication unit; 22: Inverter; 24: Short-circuit circuit; 30: Connecting unit; 32: Inner tube; 34: Nut; 40: Outer tube; 42: Threaded shaft; 44: Bearing; 46: Motor; 50: Speed ​​control ECU; BD: Vehicle body; NE: Number; S1: Acceleration sensor; S2: Stroke sensor; S3: Rotation angle sensor; ST: Stroke; TR: Wheel; V: Vehicle speed; VM: Specified speed; α: Acceleration; θ: Rotation angle. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0025] [1. Structure of the electric suspension system]

[0026] Figure 1 It is a perspective view showing an example of the arrangement of the electric suspension device 10 . Figure 2 1 is a diagram showing an example of the structure of the electric suspension device 10 .

[0027] Reference Figure 1 and Figure 2 , the electric suspension device 10 will be described.

[0028] like Figure 1 As shown, the vehicle 1 includes a vehicle body BD, four wheels TR, and an electric suspension device 10. The electric suspension device 10 includes an electric actuator 12 and an electric suspension control ECU 20.

[0029] The electric actuator 12 consists of a first electric actuator 12A, a second electric actuator 12B, a third electric actuator 12C, and a fourth electric actuator 12D. The first electric actuator 12A is positioned between the vehicle body BD and the right front wheel. The second electric actuator 12B is positioned between the vehicle body BD and the left front wheel. The third electric actuator 12C is positioned between the vehicle body BD and the right rear wheel. The fourth electric actuator 12D is positioned between the vehicle body BD and the left rear wheel.

[0030] An electric suspension control ECU (Electronic Control Unit) 20 controls each of the first to fourth electric actuators 12A to 12D. The electric suspension control ECU 20 is connected to each of the first to fourth electric actuators 12A to 12D via a power line 13 and a signal line 14 .

[0031] The power line 13 supplies power from the first to fourth electric actuators 12A to 12D. Figure 2 The signal line 14 will Figure 2 Detection signals from the sensors S1 to S3 are transmitted to the electric suspension control ECU 20 .

[0032] Reference Figure 2 Sensors S1 to S3 will be described.

[0033] In the following description, the electric suspension control ECU 20 may be referred to as the control ECU 20 for convenience.

[0034] The first to fourth electric actuators 12A to 12D have substantially the same structure. Therefore, hereinafter, when the first to fourth electric actuators 12A to 12D are not distinguished from each other, the first to fourth electric actuators 12A to 12D may be simply referred to as the electric actuator 12 .

[0035] Next, refer to Figure 2 The structure of the electric actuator 12 will be described.

[0036] like Figure 2As shown in the right portion of FIG, the electric actuator 12 includes a coupling portion 30, an inner tube 32, and a nut 34 as components on the wheel TR side. Furthermore, the electric actuator 12 includes an outer tube 40, a threaded shaft 42, a bearing 44, and a motor 46 as components on the vehicle body BD side. The outer tube 40, threaded shaft 42, bearing 44, and motor 46 are fixed to a chassis 48 disposed below the vehicle body BD.

[0037] Reference Figure 3 The structure of the motor 46 will be described.

[0038] The screw shaft 42 is supported by a bearing 44 and a nut 34. The inner surface of the nut 34 is screwed to a screw groove formed on the outer surface of the screw shaft 42 via the bearing.

[0039] The motor 46 rotates the threaded shaft 42, thereby moving the nut 34 in the vertical direction. When the nut 34 moves downward, the inner tube 32 moves downward. When the nut 34 moves upward, the inner tube 32 moves upward.

[0040] In this manner, the position of the inner tube 32 in the vertical direction relative to the outer tube 40 fixed to the chassis 48 of the vehicle body BD can be adjusted.

[0041] The connecting portion 30 is connected to the wheel TR via a steering knuckle (not shown) fixed to the suspension system. When vibration is input to the connecting portion 30 from the wheel TR side, applying, for example, an upward acceleration α, the inner tube 32 and the nut 34 rise integrally with the outer tube 40. In this case, the motor 46 rotates the threaded shaft 42 in a direction that absorbs the upward acceleration, i.e., so that the inner tube 32 moves upward, thereby attenuating vibration transmitted from the wheel TR to the vehicle body BD.

[0042] An acceleration sensor S1 , a stroke sensor S2 , and a rotation angle sensor S3 are arranged in the electric actuator 12 .

[0043] The acceleration sensor S1 is fixed to the outer peripheral surface of the inner tube 32, for example, and detects the acceleration α applied from the wheel TR to the coupling portion 30. Alternatively, the acceleration sensor S1 may be disposed on the chassis 48 of the vehicle body BD, the motor 46, or in the vicinity thereof.

[0044] The stroke sensor S2 is disposed at a position of the inner tube 32 facing the threaded shaft 42, and detects a stroke ST indicating the amount of downward movement of the nut 34. The stroke sensor S2 is constituted by a distance measuring sensor or the like.

[0045] The rotation angle sensor S3 is constituted by a so-called resolver or the like, and detects the rotation angle θ of the motor 46 .

[0046] The acceleration α, the stroke ST, and the rotation angle θ are output to the control ECU 20 .

[0047] [2. Electric Suspension Control ECU Structure]

[0048] The control ECU 20 controls the motor 46 via the inverter 22 based on the detection results of the acceleration sensor S1 , the stroke sensor S2 , and the rotation angle sensor S3 .

[0049] The control ECU 20 includes a memory 21A and a processor 21B.

[0050] Memory 21A is a storage device that nonvolatilely stores programs and data executed by processor 21B. Memory 21A is comprised of a magnetic storage device, a semiconductor storage element such as a flash ROM (Read Only Memory), or another type of nonvolatile storage device. Memory 21A may also include RAM (Random Access Memory), which serves as a work area for processor 21B. Memory 21A stores data processed by control ECU 20 and control programs executed by processor 21B.

[0051] The electric suspension control ECU 20 corresponds to an example of a “vehicle control device”.

[0052] The processor 21B may be composed of a single processor, or may be a configuration in which a plurality of processors function as the processor 21 B. The processor 21B executes a control program to control each unit of the electric suspension device 10 .

[0053] The control ECU 20 includes an abnormality detector 211, a short circuit instructing unit 212, and a speed instructing unit 213. Specifically, the processor 21B of the control ECU 20 functions as the abnormality detector 211, the short circuit instructing unit 212, and the speed instructing unit 213 by executing a control program.

[0054] The abnormality detection unit 211 determines whether an abnormality has occurred in the electric suspension device 10 .

[0055] The abnormality detection unit 211 determines whether an abnormality has occurred in the electric suspension device 10 based on the detection results of the acceleration sensor S1 , the stroke sensor S2 , and the rotation angle sensor S3 , for example.

[0056] For example, when the S / N ratio of the detection signals of the acceleration sensor S1, the stroke sensor S2, and the rotation angle sensor S3 is less than or equal to a predetermined S / N ratio, the abnormality detection unit 211 determines that an abnormality has occurred in the electric suspension device 10. Furthermore, when the detection signals of the acceleration sensor S1, the stroke sensor S2, and the rotation angle sensor S3 are greater than or equal to a predetermined upper limit, or less than or equal to a predetermined lower limit, the abnormality detection unit 211 determines that an abnormality has occurred in the electric suspension device 10.

[0057] Furthermore, for example, when each of the first to fourth electric actuators 12A to 12D is not operating normally, the abnormality detection unit 211 determines that an abnormality has occurred in the electric suspension device 10 .

[0058] As an abnormality of the electric suspension device 10, for example, a case where a voltage sensor detects an abnormality in the driving power supply to the electric suspension control ECU 20, a case where a temperature sensor detects excessive heat generation of the electric suspension control ECU 20, or a case where a current sensor detects generation of excessive current can be considered.

[0059] When the abnormality detection unit 211 determines that an abnormality has occurred in the electric suspension device 10 , the short-circuit instruction unit 212 short-circuits the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0060] Specifically, when the abnormality detection unit 211 determines that an abnormality has occurred in any of the first to fourth electric actuators 12A to 12D, the short-circuit instruction unit 212 short-circuits the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0061] In addition, the short circuit indicator 212 refers to Figure 3 The short-circuit circuit 24 described above short-circuits the motors 46 of the first to fourth electric actuators 12A to 12D.

[0062] When the abnormality detection unit 211 determines that an abnormality has occurred in the electric suspension device 10 , the speed instruction unit 213 causes the speed control ECU 50 to limit the vehicle speed V to a predetermined speed VM or less.

[0063] For example, the greater the number NE of abnormal electric actuators 12, the more the speed instruction unit 213 reduces the predetermined speed VM. The number NE is the number of electric actuators 12 determined to be abnormal by the abnormality detection unit 211 among the first to fourth electric actuators 12A to 12D. Figure 4 Provide explanation.

[0064] In addition, the speed instruction unit 213 reduces the predetermined speed VM when the electric actuator 12 provided at the rear wheel is abnormal, for example, compared to the case where the electric actuator 12 provided at the front wheel is abnormal. Figure 5 Provide explanation.

[0065] Furthermore, the speed instruction unit 213 sets the predetermined speed VM to 1 km / hour or more.

[0066] The speed control ECU 50 controls at least one of the drive mechanism, the drive force transmission mechanism, and the brake mechanism in accordance with an instruction from the speed instruction unit 213 so that the vehicle speed V of the vehicle 1 becomes equal to or lower than a predetermined speed VM.

[0067] The driving mechanism includes at least one of an engine and a drive motor. The speed control ECU 50 limits the vehicle speed V by, for example, reducing the rotation speed of the engine. In addition, the speed control ECU 50 limits the vehicle speed V by, for example, reducing the rotation speed of the drive motor.

[0068] The driving force transmission mechanism transmits the driving force of the engine to the drive wheels. The driving force transmission mechanism includes gears having multiple gear ratios. The speed control ECU 50 limits the vehicle speed V by, for example, increasing the gear ratio.

[0069] The brake mechanism includes a disc brake. The speed control ECU 50 limits the vehicle speed V by pressing the brake rotor with brake pads from both sides.

[0070] [3.Structure of short-circuit circuit]

[0071] like Figure 2 As shown, the control ECU 20 controls the inverter 22 and the short-circuit circuit 24. The control ECU 20 controls the rotation direction and rotation speed of the motor 46 via the inverter 22. In addition, the control ECU 20 short-circuits the motor 46 via the short-circuit circuit 24.

[0072] Figure 3 1 is a diagram showing an example of the configuration of the short-circuit circuit 24 .

[0073] like Figure 3 As shown, the short-circuit circuit 24 includes a switch 60 a , a switch 60 b , and a switch 60 c , and resistors 62 a , 62 b , and 62 c , which are turned on and off according to an instruction from the control ECU 20 .

[0074] exist Figure 3 , an example is shown in which the short-circuit circuit 24 includes three switches 60a to 60c. However, the short-circuit circuit 24 may also include only switch 60a and switch 60b, for example, and the three phases of the motor 46 may be short-circuited by the two switches 60a and 60b. Furthermore, the short-circuit circuit 24 may also have a circuit configuration in which the resistors 62a to 62c are omitted depending on the characteristics of the motor 46.

[0075] The motor 46 is, for example, a three-phase AC brushless motor. Figure 3 As shown, three motor coils 50u, 50v, and 50w are provided.

[0076] The motor 46 rotationally drives the screw shaft 42 using electric power supplied from the battery 16 via the inverter 22 .

[0077] The motor 46 generates regenerative electric power by an external force input to the screw shaft 42 from the wheel TR side, and outputs the generated electric power to the battery 16 .

[0078] Switch 60a short-circuits power lines 64u and 64v corresponding to motor coil 50u and motor coil 50v, respectively, in response to an instruction from short-circuit instruction unit 212. Resistor 62a adjusts the current flowing through motor coil 50u and motor coil 50v when switch 60a short-circuits power lines 64u and 64v.

[0079] Switch 60b short-circuits power lines 64v and 64w corresponding to motor coils 50v and 50w, respectively, in response to an instruction from short-circuit instruction unit 212. Resistor 62b adjusts the current flowing through motor coils 50v and 50w when switch 60b short-circuits power lines 64v and 64w.

[0080] Switch 60c short-circuits power lines 64u and 64w corresponding to motor coils 50u and 50w, respectively, in response to an instruction from short-circuit instruction unit 212. Resistor 62c adjusts the current flowing through motor coils 50u and 50w when switch 60c short-circuits power lines 64u and 64w.

[0081] [4. Regarding the Processing of the Control ECU in the First Method]

[0082] Figure 4 1 is a flowchart showing an example of processing by the electric suspension control ECU 20 in accordance with the first method. In the first method, the speed instruction unit 213 decreases the predetermined speed VM as the number NE of abnormal electric actuators 12 increases.

[0083] like Figure 4 As shown, first, in step S101 , the abnormality detection unit 211 determines whether an abnormality has occurred in the electric suspension device 10 .

[0084] If the abnormality detection unit 211 determines that the electric suspension device 10 has no abnormality (step S101 ; No), the process enters a standby state. If the abnormality detection unit 211 determines that the electric suspension device 10 has an abnormality (step S101 ; Yes), the process proceeds to step S103 .

[0085] Then, in step S103 , the short-circuit instruction unit 212 short-circuits the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0086] Next, in step S105 , the speed instruction unit 213 determines whether the number NE is 4. The number NE is the number of electric actuators 12 determined to be abnormal by the abnormality detection unit 211 among the first to fourth electric actuators 12A to 12D.

[0087] When the speed instruction unit 213 determines that the number NE is not 4 (step S105 ; No), the process proceeds to step S107 .

[0088] Then, in step S107 , the speed instruction unit 213 determines whether the number NE is three.

[0089] When the speed instruction unit 213 determines that the number NE is not 3 (step S107 ; No), the process proceeds to step S109 .

[0090] Then, in step S109, the speed instruction unit 213 sets the predetermined speed VM to 90 km / hour. Then, the process proceeds to step S115.

[0091] When the speed instruction unit 213 determines that the number NE is 3 (step S107 ; YES), the process proceeds to step S111 .

[0092] Then, in step S111, the speed instruction unit 213 sets the predetermined speed VM to 70 km / hour. Then, the process proceeds to step S115.

[0093] When the speed instruction unit 213 determines that the number NE is 4 (step S105 ; Yes), the process proceeds to step S113 .

[0094] Then, in step S113, the speed instruction unit 213 sets the predetermined speed VM to 50 km / hour. Then, the process proceeds to step S115.

[0095] Next, in step S115 , the speed instruction unit 213 causes the speed control ECU 50 to limit the vehicle speed V to a predetermined speed VM or less.

[0096] As reference Figure 4 As described above, the greater the number NE of abnormal electric actuators 12 is, the more the speed instruction unit 213 reduces the predetermined speed VM. Therefore, the predetermined speed VM can be set to an appropriate value.

[0097] [5. Regarding the Processing of the Control ECU in the Second Method]

[0098] Figure 52 is a flowchart showing an example of the processing of the electric suspension control ECU 20 in accordance with the second method. In the second method, when the electric actuator 12 provided at the rear wheel is abnormal, the speed instruction unit 213 reduces the predetermined speed VM compared to when the electric actuator 12 provided at the front wheel is abnormal. Figure 1 The third electric actuator 12C and the fourth electric actuator 12D are shown. The electric actuator 12 provided on the front wheel is Figure 1 A first electric actuator 12A and a second electric actuator 12B are shown.

[0099] like Figure 5 As shown, first, in step S201 , the abnormality detection unit 211 determines whether an abnormality has occurred in the electric suspension device 10 .

[0100] If the abnormality detection unit 211 determines that the electric suspension device 10 has no abnormality (step S201 ; No), the process enters a standby state. If the abnormality detection unit 211 determines that the electric suspension device 10 has an abnormality (step S201 ; Yes), the process proceeds to step S203 .

[0101] Then, in step S203 , the short-circuit instruction unit 212 short-circuits the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0102] Next, in step S205 , the speed instruction unit 213 determines whether the abnormality detection unit 211 determines that the two electric actuators 12 provided for the rear wheels, ie, the third electric actuator 12C and the fourth electric actuator 12D, are abnormal.

[0103] When the speed instruction unit 213 determines that the abnormality detection unit 211 has not determined that the two electric actuators 12 provided for the rear wheels are abnormal (step S205 ; No), the process proceeds to step S207 .

[0104] Then, in step S207 , the speed instruction unit 213 determines whether the abnormality detection unit 211 determines that the two electric actuators 12 provided for the front wheels, ie, the first electric actuator 12A and the second electric actuator 12B, are abnormal.

[0105] When the speed instruction unit 213 determines that the abnormality detection unit 211 has not determined that the two electric actuators 12 provided for the front wheels are abnormal (step S207 ; No), the process proceeds to step S209 .

[0106] Then, in step S209, the speed instruction unit 213 sets the predetermined speed VM to 90 km / hour. Then, the process proceeds to step S215.

[0107] When the speed instruction unit 213 determines that the two electric actuators 12 provided for the front wheels are abnormal as determined by the abnormality detection unit 211 (step S207 ; Yes), the process proceeds to step S211 .

[0108] Then, in step S211, the speed instruction unit 213 sets the predetermined speed VM to 80 km / hour. Then, the process proceeds to step S215.

[0109] When the speed instruction unit 213 determines that the abnormality detection unit 211 determines that the two electric actuators 12 provided for the rear wheels are abnormal (step S205 ; Yes), the process proceeds to step S213 .

[0110] Then, in step S213, the speed instruction unit 213 sets the predetermined speed VM to 60 km / hour. Then, the process proceeds to step S215.

[0111] Next, in step S215 , the speed instruction unit 213 causes the speed control ECU 50 to limit the vehicle speed V to a predetermined speed VM or less.

[0112] As reference Figure 5 As described above, when the electric actuator 12 provided at the rear wheel is abnormal, the speed instruction unit 213 lowers the predetermined speed VM compared to when the electric actuator 12 provided at the front wheel is abnormal. Therefore, the predetermined speed VM can be set to an appropriate value.

[0113] [6. Structure and Effect]

[0114] As described above, in the vehicle 1 including the electric suspension device 10 driven by the motor 46 , the electric suspension control ECU 20 of the present embodiment short-circuits the motor 46 and limits the vehicle speed V to a predetermined speed VM or less when an abnormality occurs in the electric suspension device 10 .

[0115] With this configuration, by short-circuiting motor 46, regenerative power can be generated in motor 46, thereby applying a braking force to motor 46. This allows the operation of electric actuators 12 (in this embodiment, first to fourth electric actuators 12A, 12D) constituting electric suspension device 10 to be restricted. Furthermore, by limiting vehicle speed V to a predetermined speed VM or less, the behavior of vehicle 1 can be stabilized.

[0116] The electric suspension device 10 includes electric actuators 12 provided at a plurality of wheels TR, and the electric suspension control ECU 20 reduces the predetermined speed VM as the number NE of abnormal electric actuators 12 increases.

[0117] According to this configuration, the predetermined speed VM is lowered as the number NE of abnormal electric actuators 12 increases. Therefore, the behavior of the vehicle 1 can be stabilized.

[0118] The electric suspension device 10 includes electric actuators 12 provided for a plurality of wheels TR. When an electric actuator 12 provided for a rear wheel fails, the electric suspension control ECU 20 reduces the predetermined speed VM compared to when an electric actuator 12 provided for a front wheel fails.

[0119] According to this configuration, when the electric actuator 12 provided at the rear wheel is abnormal, the predetermined speed VM is lowered compared to when the electric actuator 12 provided at the front wheel is abnormal.

[0120] In addition, the prescribed speed VM is 1 km / hour or more.

[0121] According to this configuration, even when an abnormality occurs in the electric suspension device 10 , the vehicle 1 can be retreated to a safe location.

[0122] [7. Other Implementation Methods]

[0123] The present invention is not limited to the configurations of the above-described embodiments, and can be implemented in various forms without departing from the spirit and scope of the present invention.

[0124] For example, in the above embodiment, the electric suspension device 10 is described as including the first to fourth electric actuators 12A to 12D, but the present invention is not limited thereto. For example, the electric suspension device 10 may include the third and fourth electric actuators 12C and 12D, but not the first and second electric actuators 12A and 12B. Conversely, the electric suspension device 10 may include the first and second electric actuators 12A and 12B, but not the third and fourth electric actuators 12C and 12D.

[0125] For example, in the above embodiment, the electric suspension control ECU 20 short-circuits the motor 46 via the short-circuit circuit 24, but the present invention is not limited thereto. The electric suspension control ECU 20 may short-circuit the motor 46 via the inverter 22, for example. Specifically, the electric suspension control ECU 20 may short-circuit the motor 46 by, for example, fixing the inverter 22 to an on position.

[0126] In addition, in the above embodiment, referring to Figure 4While the electric suspension control ECU 20 has been described as lowering the predetermined speed VM as the number NE of abnormal electric actuators 12 increases, this is not limiting. Alternatively, the predetermined speed VM may be set based on the locations and number NE of abnormal electric actuators 12. In this case, the predetermined speed VM can be set more appropriately.

[0127] In addition, in the above embodiment, referring to Figure 5 While the electric suspension control ECU 20 has been described as lowering the predetermined speed VM when two electric actuators 12 provided at the rear wheels are abnormal compared to when two electric actuators 12 provided at the front wheels are abnormal, the present invention is not limited thereto. For example, the predetermined speed VM may be lowered when one electric actuator 12 provided at the rear wheel is abnormal compared to when one electric actuator 12 provided at the front wheel is abnormal.

[0128] Figure 2 At least a portion of each functional block shown may be implemented by hardware, or by hardware and software, and is not limited to the configuration in which independent hardware resources are arranged as shown in the figure.

[0129] The control program executed by the processor 21B of the electric suspension control ECU 20 of the electric suspension device 10 is stored in the memory 21A. However, the control program may be stored in an external HDD or the like.

[0130] Figure 4 as well as Figure 5 The processing units of each flowchart shown are divided according to the main processing contents in order to facilitate understanding of the processing related to the electric suspension control ECU 20. Figure 4 as well as Figure 5 The processing units shown in each flowchart are divided into different ways and have different names. The processing of the electric suspension control ECU 20 can be divided into more processing units according to the processing content, or one processing unit can be divided to include more processing. The processing order of the above flowcharts is not limited to the examples shown in the figures.

[0131] The control method of the electric suspension control ECU 20 can be realized by causing the processor 21B of the electric suspension control ECU 20 to execute a control program corresponding to the control method of the electric suspension control ECU 20. The control program can be recorded in advance on a recording medium that can be recorded in a computer-readable manner. The recording medium can use a magnetic recording medium, an optical recording medium, or a semiconductor memory device. Specifically, there can be mentioned removable or fixed recording media such as a floppy disk, a CD-ROM (Compact Disk Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray (registered trademark) optical disk, a magneto-optical disk, a flash memory, and a card-type recording medium. The recording medium can also be a non-volatile storage device such as a RAM, ROM, or HDD as an internal storage device of the electric suspension device 10. The control program corresponding to the control method of the electric suspension control ECU 20 is stored in a server device, etc., and the control method of the electric suspension control ECU 20 can be realized by downloading the control program from the server device to the electric suspension control ECU 20.

[0132] [8. Structure supported by the above-mentioned embodiment]

[0133] The above-mentioned embodiment supports the following structure.

[0134] (Structure 1) A vehicle control device includes an electric suspension device driven by a motor. When an abnormality occurs in the electric suspension device, the vehicle control device short-circuits the motor and limits the vehicle speed to a predetermined speed or less.

[0135] According to the vehicle control device of Configuration 1, by short-circuiting the motor, the motor can generate regenerative power and apply braking force to the motor. This allows the operation of the electric actuator that constitutes the electric suspension system to be restricted. Furthermore, by limiting the vehicle speed to a predetermined speed or less, the vehicle's behavior can be stabilized.

[0136] (Structure 2) The vehicle control device according to Structure 1, wherein the electric suspension device includes electric actuators provided at a plurality of wheels, and the predetermined speed is reduced as the number of abnormal electric actuators increases.

[0137] According to the vehicle control device of Configuration 2, the predetermined speed is reduced as the number of abnormal electric actuators increases. Therefore, the behavior of the vehicle can be stabilized.

[0138] (Structure 3) A vehicle control device according to Structure 1 or Structure 2, wherein the electric suspension device includes electric actuators respectively provided on a plurality of wheels, and in the event of an abnormality in the electric actuator provided on the rear wheel, the prescribed speed is reduced compared to the event of an abnormality in the electric actuator provided on the front wheel.

[0139] According to the vehicle control device of Configuration 3, when the electric actuator provided at the rear wheel is abnormal, the predetermined speed is reduced compared to when the electric actuator provided at the front wheel is abnormal.

[0140] (Structure 4) The vehicle control device according to any one of Structures 1 to 3, wherein the predetermined speed is 1 km / hour or more.

[0141] According to the vehicle control device of the fourth configuration, even when an abnormality occurs in the electric suspension device 10 , the vehicle can be retreated to a safe location.

Claims

1. A vehicle control device for controlling a vehicle equipped with an electric suspension device driven by a motor, wherein: When an abnormality occurs in the electric suspension device, the vehicle control device short-circuits the motor and limits the vehicle speed to a predetermined speed or less. The electric suspension device includes electric actuators provided on a plurality of wheels, The greater the number of abnormal electric actuators, the lower the predetermined speed.

2. The vehicle control device according to claim 1, wherein: When the electric actuator provided at the rear wheel is abnormal, the predetermined speed is reduced compared to when the electric actuator provided at the front wheel is abnormal.

3. The vehicle control device according to claim 1, wherein: The prescribed speed is 1 km / hour or more.

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