Drive control device, vehicle

Abstract

The drive control device and the vehicle can select a reverse mode (M2) for reversing the vehicle (1) from a forward mode (M1) for advancing the vehicle (1) when a predetermined mode selection condition is satisfied. The reverse mode (M2) includes a reverse action (Mb), a reverse preparation action (Mp) for imparting a backlash elimination torque (T), and a reverse preparation maintaining action (Mw) for switching between the reverse action (Mb) and the reverse action (Mb) while maintaining the imparting of the backlash elimination torque (T). When the vehicle is transferred from the forward mode (M1) to the reverse mode (M2), the reverse preparation action (Mp) is performed. When the vehicle (1) is switched between reversing and stopping while the mode selection condition is still satisfied, the reverse action (Mb) and the reverse preparation maintaining action (Mw) are switched within the reverse mode (M2) without passing through the forward mode (M1).

Description

Technical Field

[0001] The present invention relates to a drive control device and a vehicle.

[0002] This application claims priority based on Japanese Patent Application No. 2020-054198 filed in Japan on March 25, 2020, the contents of which are incorporated herein by reference. Background Art

[0003] Conventionally, occupants of vehicles sometimes experience the impact of contact (collision) between components at the meshing points of gears and various moving parts in vehicle drive systems. This impact occurs when components mesh with each other after gaps are formed between them, such as during starting, acceleration, or deceleration.

[0004] In contrast, for example, Patent Document 1 discloses a structure for preventing backlash reduction shocks from occurring at the start of an electric vehicle in which the rotating shaft of the drive wheel is driven by an electric motor. This structure applies initial torque to the electric motor before the accelerator is operated at the start, and performs backlash reduction on the drive system of the electric motor in advance, thereby preventing backlash reduction shocks from occurring at the start. In addition, Patent Document 1 discloses a structure for controlling the drive of the electric motor to perform backlash reduction on the drive side under the following circumstances. This situation is a situation in which the driving state in which the drive wheel is driven by the driving force of the electric motor is changed to a driven state in which the electric motor is driven by the drive wheel. In addition, Patent Document 1 describes a situation in which the backlash reduction control is terminated when the rotating shaft rotates at high speed.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 4747818 Summary of the Invention

[0008] Summary of the Invention

[0009] Problems to be solved by the invention

[0010] However, some vehicles may be configured to be capable of reverse movement (moving backward) using a drive source such as an electric motor.

[0011] However, if backlash elimination is required when switching between forward and reverse, and further, when switching between reverse and stop, smooth operation cannot be achieved.

[0012] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a drive control device and a vehicle that can suppress a time lag until the vehicle starts and improve the response in a vehicle driven by a prime mover.

[0013] Solutions to Problems

[0014] A first embodiment of the present invention relates to a drive control device (120) for a vehicle (1) that drives drive wheels (4a, 4b) to rotate by a driving force of a power unit (P) including a prime mover (30), characterized in that, when a predetermined mode selection condition is satisfied, a reverse mode (M2) for causing the vehicle (1) to move backward can be selected from a forward mode (M1) for causing the vehicle (1) to move forward, and the reverse mode (M2) includes: a reverse action (Mb) by the power unit (P) The driving force of the power unit (P) causes the vehicle (1) to move backward; a backward preparation action (Mp), in which, when the vehicle (1) is stopped, the power unit (P) applies a backlash-eliminating torque (T) in the rotational direction of causing the vehicle (1) to move backward to the driving wheels (4a, 4b); and a backward preparation maintaining action (Mw), in which, from the state of the backward action (Mb), the vehicle (1) is switched between moving backward and stopping while the mode selection condition is still satisfied, the backlash-eliminating torque is maintained. In the state of imparting the moment (T), switching is performed between the reverse action (Mb), when transferring from the forward mode (M1) to the reverse mode (M2), the reverse preparation action (Mp) is performed, and in the state of transferring to the reverse action (Mb), when switching between the reverse and stop of the vehicle (1) when the mode selection condition is still satisfied, the reverse action (Mb) and the reverse preparation maintaining action (Mw) are switched in the reverse mode (M2) without passing through the forward mode (M1), and in the When the vehicle (1) is stopped while the mode selection condition is still satisfied in the state of being transferred to the reverse mode (M2), the state in which the reverse preparation action (Mp) is performed is maintained, and with respect to the backlash elimination torque (T), the absolute value of the second torque (T2) when the rotation speed of the prime mover (30) is in a second speed range (V2) set at a higher speed side than the first speed range (V1) is set to be smaller than the first torque (T1) when the rotation speed of the prime mover (30) is in a pre-set first speed range (V1).

[0015] A second aspect of the present invention is based on the first aspect, and is characterized in that, in the state of transitioning to the reverse mode (M2), when the mode selection condition is not satisfied, the vehicle transitions to the forward mode (M1).

[0016] The third scheme of the present invention is based on the above-mentioned second scheme, and is characterized in that the forward mode (M1) includes: a forward action (Mf), in which the vehicle (1) is moved forward by the driving force of the power unit (P); and a forward preparation action (Ma), in which, when the vehicle (1) is stopped, the power unit (P) is used to apply a backlash-eliminating torque (T) in the rotational direction in which the vehicle (1) moves forward to the drive wheels (4a, 4b), and when the mode selection condition is not met when the vehicle (1) is switched to the reverse mode (M2), the vehicle is switched to the forward preparation action (Ma).

[0017] The fourth scheme of the present invention is based on any one of the above-mentioned first to third schemes, and is characterized in that when the vehicle is transferred to the reverse mode (M2) again after transferring from the reverse mode (M2) to the forward mode (M1), the reverse preparation action (Mp) is performed again.

[0018] A fifth embodiment of the present invention is based on any one of the first to third embodiments, and is characterized in that the mode selection condition includes the rotation speed of the prime mover (30) being below a preset stop determination value.

[0019] The sixth scheme of the present invention is based on any one of the first to third schemes described above, and is characterized in that the drive control device (120) has a throttle (110) for adjusting the torque of the prime mover (30), and the mode selection condition includes the opening of the throttle (110) being in a fully closed state.

[0020] A seventh embodiment of the present invention relates to a drive control device (120) for a vehicle (1) that drives drive wheels (4a, 4b) to rotate by the driving force of a power unit (P) including a prime mover (30), characterized in that, when a predetermined mode selection condition is satisfied, a reverse mode (M2) for causing the vehicle (1) to move backward can be selected from a forward mode (M1) for causing the vehicle (1) to move forward, and the reverse mode (M2) includes: a reverse action (Mb) for causing the vehicle (1) to move backward by the driving force of the power unit (P); a reverse preparation action (Mp) for applying a backlash-eliminating torque (T) in a rotational direction for causing the vehicle (1) to move backward to the drive wheels (4a, 4b) by the power unit (P) when the vehicle (1) is stopped; and a reverse preparation maintaining action (Mw). , from the state of transitioning to the reverse action (Mb), when switching between the reverse and stop of the vehicle (1) while the mode selection condition is still satisfied, switching is performed between the reverse action (Mb) while maintaining the imparting of the anti-backlash torque (T), and when transitioning from the forward mode (M1) to the reverse mode (M2), the reverse preparation action (Mp) is performed, and in the state of transitioning to the reverse action (Mb), when switching between the reverse and stop of the vehicle (1) while the mode selection condition is still satisfied, the reverse action (Mb) and the reverse preparation maintaining action (Mw) are switched within the reverse mode (M2) without passing through the forward mode (M1), and the reverse preparation action (Mp) imparts the anti-backlash torque (T) for a predetermined duration, and the duration varies according to the rotation speed of the prime mover (30).

[0021] The eighth aspect of the present invention is based on the seventh aspect, and is characterized in that the duration is shortened when the rotation speed of the prime mover (30) becomes higher.

[0022] A ninth aspect of the present invention provides a vehicle (1), characterized in that it comprises a drive control device (120) as described in any one of the first to third and seventh to eighth aspects.

[0023] Effects of the Invention

[0024] According to the first solution described above, if the mode selection conditions are met, the switch between starting (reverse) and stopping after selecting reverse mode is performed as follows. Specifically, the switch is performed between the reverse action and the reverse preparation maintenance action within reverse mode, without passing through forward mode. In other words, when stopping with reverse mode selected, the vehicle does not transition to forward mode, and the backlash elimination state is maintained. Therefore, the engine backlash elimination action (reverse preparation action) does not need to be repeated when restarting. Therefore, when starting and stopping after selecting reverse mode, the time lag until restarting can be reduced, improving the responsiveness of reverse mode.

[0025] According to the second embodiment, after selecting reverse mode, when the vehicle stops while the mode selection conditions are still met, the engine backlash elimination operation (reverse preparation operation) is maintained. This reduces the time lag before the vehicle restarts, and reliably suppresses the shock of restarting when starting and stopping after selecting reverse mode.

[0026] According to the third aspect, in reverse mode, when the rotational speed of the prime mover is high, that is, when the vehicle is moving at a high speed, the absolute value of the anti-backlash torque in the reverse direction is set to a small value. This can suppress the feeling of freewheeling caused by the driving force of the power unit when the vehicle is moving at a high speed.

[0027] According to the fourth aspect, if the mode selection condition is not satisfied, the vehicle directly returns to the forward mode, eliminating the need for a specific release operation or control, thereby reducing the operational burden on the user.

[0028] According to the fifth aspect, when shifting from the reverse mode to the forward mode, the vehicle does not directly shift to the forward movement but instead shifts to the forward preparation movement. This ensures that backlash in the forward direction is eliminated and the impact during forward movement is reliably suppressed.

[0029] According to the sixth aspect, when the vehicle shifts from the forward mode to the reverse mode again, backlash elimination in the reverse direction is reliably performed by the reverse preparation operation, thereby reliably suppressing the shock during the reverse movement.

[0030] According to the seventh embodiment, the vehicle switches to reverse mode when the engine speed falls below a predetermined value. This provides the following advantages: The vehicle can switch to reverse mode without applying a large torque in the forward direction. This reliably reduces the impact of switching to reverse mode.

[0031] According to the eighth aspect, the vehicle switches to reverse mode when the accelerator pedal is fully closed. This provides the following advantages: The vehicle can switch to reverse mode without applying a large torque in the forward direction. This reliably suppresses the shock of switching to reverse mode.

[0032] According to the ninth aspect, the duration of the anti-backlash torque applied during the reverse preparatory operation is varied according to the engine speed. For example, when the engine speed in the reverse direction is high, the duration of the anti-backlash torque is shortened. This allows for faster reverse operation even when the vehicle is already reversed due to user control or a road inclination, thereby improving responsiveness.

[0033] According to the tenth aspect, the duration of the anti-backlash torque is shortened when the speed of the motor in the reverse direction is high. This allows for quick reverse movement even when the vehicle has already reversed due to user operation or a sloped road surface, thereby improving response.

[0034] According to the eleventh aspect, by providing the drive control device as described above, in a vehicle driven by the power unit, it is possible to suppress a time lag until the vehicle starts and improve response. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a left side view of the vehicle according to the embodiment of the present invention.

[0036] Figure 2 This is a developed cross-sectional view showing the main axes of the power unit of the above vehicle side by side.

[0037] Figure 3 This is a block diagram showing the configuration of a drive control device in the above-mentioned vehicle.

[0038] Figure 4 1 is a diagram showing the state transition of the driving mode based on the control in the above-mentioned drive control device.

[0039] Figure 5 This is a map showing an example of mapping information used for control of the drive control device.

[0040] Figure 6 This is a map showing an example of another mapping information used for control of the drive control device. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, references to directions such as front, rear, left, and right in the following description are identical to those in the vehicle described below. Furthermore, arrows FR indicating the front of the vehicle, LH indicating the left of the vehicle, and UP indicating the top of the vehicle are shown at appropriate locations in the drawings used in the following description.

[0042] like Figure 1 、 Figure 2As shown, the electric vehicle (vehicle) 1 of this embodiment supports a front wheel 2, which serves as a steering wheel, on a front vehicle body (vehicle front structure) 3. The electric vehicle 1 supports a pair of left and right rear wheels (drive wheels) 4a, 4b, which serve as drive wheels, on a rear vehicle body (vehicle rear structure) 5. The electric vehicle 1 is capable of causing the front vehicle body (swinging side vehicle body) 3, on which passengers sit, to swing (roll) left and right relative to the rear vehicle body (non-swinging side vehicle body) 5, which has the left and right rear wheels 4a, 4b grounded. The electric vehicle 1 is configured as a swing-type electric tricycle. The electric vehicle 1 of this embodiment is capable of traveling forward toward the front of the vehicle and traveling backward (reverse) toward the rear of the vehicle.

[0043] The front vehicle body 3 includes an operating handle 6 for front wheel steering and a seat 7 for passenger seating. The front vehicle body 3 defines a straddling space 8 between the operating handle 6 and the seat 7 and includes a low floor bottom surface 9 below the straddling space 8 .

[0044] The front vehicle body 3 and the rear vehicle body 5 are connected to each other via a rotation mechanism (roll joint) 50 . Figure 1 Indicated by reference numeral C1 is a rotation axis of the rotation mechanism 50 extending in the vehicle front-rear direction.

[0045] Reference Figure 1 The front vehicle body 3 includes a front vehicle body frame 11. The front vehicle body frame 11 comprises a single front frame 14 that extends downward from the rear side of the head pipe 12 and then bends rearward; a pair of left and right lower frames 15 that branch left and right from the bent portion of the front frame 14 and then extend rearward; and a pair of left and right rear frames 16 that extend from the rear ends of the left and right lower frames 15 and bend obliquely rearward and upward. A front wheel suspension device (e.g., a telescopic front fork) 13 is steerably supported on the head pipe 12. The front wheel 2 is supported by the lower end of the front wheel suspension device 13.

[0046] A lower cross frame (not shown) is disposed between lower portions of the left and right rear frames 16. A front structure 50F of the rotation mechanism 50 is fixedly supported by the lower cross frame.

[0047] When the electric vehicle 1 turns, the front body 3 swings (tilts) in the turning direction relative to the rear body 5, which has the left and right rear wheels 4a and 4b in contact with the road surface, via the turning mechanism 50. Thus, the front body 3 causes the front wheels 2, which are steerable wheels, to generate a steering angle.

[0048] The entire front body 3, including the front body frame 11, is covered by a front body cover 90. The front body cover 90 includes a front cover 91 and an inner cover 92, which cover the periphery of the head pipe 12 and the front frame 14 from the front and rear, respectively; a floor panel 93 connected to the rear of the lower end of the inner cover 92; and a seat lower cover 94, which rises behind the floor panel 93 and extends below the seat 7. The floor panel 93, together with the left and right lower frames 15 and other components, constitutes the low floor bottom surface 9. The seat lower cover 94 has a rear inclined portion 94a that slopes downward, with the front portion lower than the front and the rear portion higher than the rear.

[0049] The rear vehicle body 5 includes a rear vehicle body frame 21 that is independent of the front vehicle body frame 11. The rear vehicle body frame 21 includes a second rear frame 22 that extends obliquely upward and rearward from the rear structure 50R (non-rotating region) of the rotation mechanism 50; and a rear upper frame 23 that extends rearward from the upper end of the second rear frame 22. The second rear frame 22 and the rear upper frame 23 are, for example, integrally formed with each other. The rear vehicle body frame 21 is positioned between the left and right rear wheels 4a and 4b in the left-right direction.

[0050] The front end of the swing unit 40 is supported by the rear end of the rear structure 50R of the rotation mechanism 50. The front end of the swing unit 40 is supported for vertical swinging via a swing axis (pivot) 41 extending in the left-right direction. The rear end of the swing unit 40 is connected to and supported by the upper rear portion of the rear vehicle body frame 21 via left and right rear shock absorbers (not shown). The swing unit 40, the left and right rear shock absorbers (not shown), and the rear vehicle body frame 21 together constitute the rear wheel suspension system (rear suspension) on the rear vehicle body 5.

[0051] The entire rear body 5, including the rear body frame 21, is covered by a rear body cover 70. The rear body cover 70 includes a front wall 71 forming an inclined front surface generally parallel to the second rear frame 22; an upper wall 72 extending rearward and generally horizontally from the upper end of the front wall 71; and rear fenders 74 covering the areas above the left and right rear wheels 4a, 4b. The upper wall 72, together with the rear upper frame 23 and other components, forms a cargo rack 75 on the upper surface of the rear body 5. The front wall 71 is generally parallel to the rear inclined portion 94a of the front body 3. A gap is provided between the front wall 71 and the rear inclined portion 94a. This gap is set to prevent interference with the rear inclined portion 94a during relative swinging of the front and rear bodies 3, 5.

[0052] like Figure 2 As shown, the swing unit 40 is disposed between the left and right rear wheels 4a and 4b. The swing unit 40 is disposed so as to extend from a swing axis 41 to a rear wheel axle 42 in a side view. The swing unit 40 is disposed so that its longitudinal direction faces the front-rear direction.

[0053] The swing unit 40 is configured as a power unit P including an electric motor (prime mover) 30, which is the driving source of the electric vehicle 1. The swing unit 40 includes: a unit housing 43, which serves as a structure (swing arm) that supports the left and right rear wheels 4a and 4b so that they can swing up and down; the electric motor 30, which is housed in the front left side of the unit housing 43; and a differential mechanism 44, which is housed in the rear part of the unit housing 43. The swing unit 40 is mounted on a jib 43a (see Figure 1 ) state, it can be connected to the rotation mechanism 50 in a swingable manner.

[0054] A rotating shaft 45, a countershaft 47, and a rear wheel axle 42 are disposed within the unit housing 43. The rotating shaft 45, countershaft 47, and rear wheel axle 42 are arranged parallel to each other, with their axis centers extending in the left-right direction of the vehicle body. A motor housing 46 is housed within the front left side of the unit housing 43.

[0055] A parking lock mechanism 80 is provided on the inner side of the front portion of the power unit P. The parking lock mechanism 80 is locked so as to prevent the left and right rear wheels 4a and 4b from rotating when the vehicle is parked on a slope or the like.

[0056] A rotating shaft 45 is provided at the front portion of the unit housing 43. The rotating shaft 45 serves as the output shaft of the electric motor 30. The rotating shaft 45 is rotatably mounted in a motor housing 46 disposed within the unit housing 43 via bearings 51 and 52. The electric motor 30 is mounted within the motor housing 46. The electric motor 30 includes a rotor 31 fixed radially outward of the rotating shaft 45, and a stator 32 disposed radially outward of the rotor 31 and fixed to the motor housing 46.

[0057] The rotating shaft 45 protrudes from the motor housing 46 toward the right side of the vehicle body. The protruding portion of the rotating shaft 45 is rotatably supported via a bearing 53a at the front end of a collar protruding from the right side of the motor housing 46. The right end of the rotating shaft 45 is rotatably supported by the right side wall of the unit case 43 via a bearing 53b.

[0058] A pinion gear 54 is provided at a portion located between the bearings 53a and 53b in the right protruding portion of the rotating shaft 45. For example, a helical gear is used as the pinion gear 54.

[0059] The countershaft 47 is disposed rearward of the vehicle body relative to the rotating shaft 45. Both ends of the countershaft 47 are rotatably supported by the unit case 43 via bearings 55 and 56. A relatively large-diameter transmission gear 57 is provided on the countershaft 47, meshing with the pinion gear 54 of the rotating shaft 45. This reduces the rotation of the rotating shaft 45 and transmits it to the countershaft 47. A pinion gear 58 is engraved on the outer circumference of the countershaft 47, on the left side of the vehicle body relative to the transmission gear 57.

[0060] The rear wheel axle 42 is provided at the rear of the vehicle with respect to the rotation axis 45 and the counter shaft 47 .

[0061] The rear wheel axle 42 includes a right axle 42R and a left axle 42L, which are coaxial and separate. The left axle 42L is rotatably supported on the left side of the unit case 43 via a bearing 59L. The center of the left rear wheel 4a is rotatably supported on the left end of the left axle 42L. The right axle 42R is rotatably supported on the right side of the unit case 43 via a bearing 59R. The center of the right rear wheel 4b is rotatably supported on the right end of the right axle 42R.

[0062] A differential mechanism 44 is provided between the right axle 42R and the left axle 42L. The differential mechanism 44 is housed in the rear right portion of the unit case 43. The differential mechanism 44 includes a differential case 61, a pair of pinion gears 62, and a pair of side gears 63.

[0063] The differential case 61 is rotatably supported by the unit case 43 via bearings 60A and 60B. A pair of pinion gears 62 are provided within the differential case 61. The pair of pinion gears 62 are pivotally supported by pins 64. A pair of side gears 63 are provided on the left and right sides of the differential case 61. The left end of the right axle 42R is spline-engaged with the right side gear 63. The right end of the left axle 42L is spline-engaged with the left side gear 63.

[0064] An output gear 65 is provided on the outer circumference of the left side of the differential case 61. The output gear 65 meshes with the pinion gear 58 formed on the countershaft 47. The output gear 65 has a larger diameter than the pinion gear 58. As a result, the rotation of the countershaft 47 is transmitted to the differential case 61 at a reduced speed. The rotation of the differential case 61 drives the rear wheel axles 42 (the right axle 42R and the left axle 42L) in rotation via the differential mechanism 44.

[0065] The electric motor 30 of the power unit P as described above is Figure 1 The electric motor 30 is driven by power from the battery 100 shown. The electric motor 30 is variable-speed driven, for example, using VVVF (variable voltage variable frequency) control. While the electric motor 30 is controlled to have a continuously variable transmission, this is not limiting and the electric motor 30 may also have a stepped transmission. The battery 100 is, for example, located below the seat 7 of the front vehicle body 3.

[0066] The electric motor 30 is Figure 3The drive control device 120 shown in the figure controls its operation. The drive control device 120 can switch the rotation direction of the electric motor 30 between forward and reverse rotation. The forward rotation direction rotates the rear wheels 4a and 4b to move the electric vehicle 1 forward. The reverse rotation direction rotates the rear wheels 4a and 4b to move the electric vehicle 1 backward.

[0067] The drive control device 120 includes a mode selection unit 111 , an accelerator opening sensor 121 , a vehicle speed sensor 122 , a map storage unit 123 , and a control unit 124 .

[0068] The mode selection unit 111 receives an operation input from a passenger in order to switch the driving mode of the electric vehicle 1. Figure 4 As shown, in this embodiment, the travel modes of the electric vehicle 1 include a forward mode M1 for causing the electric vehicle 1 to travel forward (forward) and a reverse mode M2 ​​for causing the electric vehicle 1 to travel backward (reverse).

[0069] The forward mode M1 includes a forward motion Mf and a forward preparation motion Ma. The forward motion Mf uses the driving force of the electric motor 30 to advance the electric vehicle 1. The forward preparation motion Ma uses the driving force of the electric motor 30 to apply a backlash reduction torque to the rear wheels 4a and 4b in the rotational direction that causes the electric vehicle 1 to move forward, while the electric vehicle 1 is stopped.

[0070] The reverse mode M2 ​​includes a reverse operation Mb and a reverse preparation operation Mp. The reverse operation Mb uses the driving force of the electric motor 30 to reverse the electric vehicle 1. The reverse preparation operation Mp uses the driving force of the electric motor 30 to apply a backlash-eliminating torque to the rear wheels 4a and 4b in the rotational direction that causes the electric vehicle 1 to travel backward while the electric vehicle 1 is stopped.

[0071] The electric vehicle 1 can shift from the forward mode M1 to the reverse mode M2 ​​(the reverse mode M2 ​​can be selected) when a predetermined mode selection condition is satisfied.

[0072] The mode selection unit 111 includes two operating elements 112 and 113 that are operated by the passenger. One operating element 112 is, for example, a start switch ( Figure 4 The other operating member 113 is a reverse gear switch ( Figure 4 , marked as "REVERSE").

[0073] When operated (e.g., pressed) by a passenger, each operating element 112, 113 outputs an ON signal to the control unit 124. The passenger can select the driving mode of the electric vehicle 1 by performing predetermined operations on the two operating elements 112, 113. The operation of the two operating elements 112, 113 is included in the mode selection conditions. The mode selection conditions include a determination that the motor is stopped, a condition that the throttle is fully closed, and a condition that at least one of the two operating elements 112, 113 is operated.

[0074] In this embodiment, the mode selection unit 111 selects the forward mode M1 when both operating elements 112 and 113 are in the OFF state and not operated. The mode selection unit 111 selects the reverse preliminary standby Mr of the reverse mode M2 ​​when only one of the operating elements 112 and 113 is operated and in the ON state. The mode selection unit 111 selects the reverse operation Mb when both operating elements 112 and 113 are operated and in the ON state.

[0075] The throttle opening sensor 121 detects the opening of the accelerator grip (throttle) 110, located on the right side of the vehicle body relative to the operating handle 6. The throttle grip 110 is an operating element for adjusting the speed (vehicle speed) of the electric vehicle 1. The passenger operates the throttle grip 110 to adjust its opening. The electric motor 30 operates at a rotational speed corresponding to the opening of the throttle grip 110, applying a driving force (torque) corresponding to the rotational speed to the left and right rear wheels 4a and 4b.

[0076] The vehicle speed sensor 122 detects the running speed of the electric vehicle 1. The vehicle speed sensor 122 can also detect the rotation speed of the front wheels 2, for example. In this embodiment, the vehicle speed sensor 122 detects the rotation speed of the rotating shaft 45 driven by the electric motor 30, thereby detecting the running speed of the electric vehicle 1.

[0077] The mapping storage unit 123 stores preset mapping information Im (see Figure 5 、 Figure 6 The mapping information Im is used to cause the electric motor 30 to generate a torque corresponding to the opening of the accelerator grip 110 and the driving mode of the electric vehicle 1. The mapping information Im is set for each driving mode of the electric vehicle 1 and each opening of the accelerator grip 110. The mapping information Im sets the following correlation for each driving mode of the electric vehicle 1. Specifically, the correlation between the driving speed of the electric vehicle 1 and the torque generated by the electric motor 30 is set for each opening of the accelerator grip 110.

[0078] Figure 5The map information Im is map information Im1 when executing the reverse preparation maintaining operation Mw or the reverse preparation operation Mp in the reverse mode M2 ​​. The map information Im1 indicates the correlation between the rotation speed of the electric motor 30 and the torque generated by the electric motor 30 . Figure 6 The mapping information Im is mapping information Im2 when the reverse preparation operation Mp is shifted to the reverse operation Mb. The mapping information Im2 indicates the correlation between the execution time of the reverse preparation operation Mp (the waiting time until the shift to the reverse operation Mb) and the rotation speed of the electric motor 30 .

[0079] The control unit 124 selects a driving mode based on whether the aforementioned mode selection conditions are met. When forward mode M1 is selected, the control unit 124 controls (adjusts) the driving force of the electric motor 30 based on the degree of opening of the accelerator grip 110. When reverse mode M2 ​​is selected, the control unit 124 performs the following control regardless of the degree of opening of the accelerator grip 110. Specifically, while both operating elements 112 and 113 are being turned on, the vehicle speed is gradually increased to a predetermined upper speed limit.

[0080] The PCU (Power Control Unit) 125, which is hardware, functionally includes a map storage unit 123 and a control unit 124. The map storage unit 123 is stored in a memory area included in the PCU 125. The control unit 124 is functionally implemented by executing a process based on a computer program pre-set in the PCU 125. The PCU 125 is a control unit that integrally includes, for example, a PDU (Power Driver Unit) and an ECU (Electric Control Unit).

[0081] Reference Figure 4 The control unit 124 first obtains the detection result of the opening of the accelerator grip 110 from the accelerator opening sensor 121 as the forward motion Mf. The control unit 124 then refers to the map information Im stored in the map storage unit 123, which corresponds to the obtained opening of the accelerator grip 110. If the obtained opening of the accelerator grip 110 is not fully closed, the control unit 124 refers to the map information Im corresponding to the opening of the accelerator grip 110. The control unit 124 causes the electric motor 30 to generate torque corresponding to the travel speed of the electric vehicle 1 detected by the vehicle speed sensor 122, thereby moving the electric vehicle 1 forward.

[0082] During the forward movement Mf, the control unit 124 shifts to the forward movement preparation state Ma when the opening degree of the accelerator grip 110 obtained from the accelerator opening degree sensor 121 is in the fully closed state. Figure 4). The control unit 124 performs the following control in the forward preparation state Ma. Specifically, while the electric vehicle 1 is kept stationary, the electric motor 30 (power unit P) applies a small torque (anti-backlash torque) in the direction (forward rotation direction) that rotates the rear wheels 4a and 4b when the electric vehicle 1 travels forward.

[0083] The anti-backlash torque is set to a level that eliminates the backlash between the gears of the drive system of the power unit P and does not increase the running speed of the electric vehicle 1 (does not accelerate). The absolute value of the anti-backlash torque is greater than the absolute value of the minimum torque Tmin for eliminating the backlash in the power transmission path of the power unit P (performing backlash elimination). Therefore, when the opening of the accelerator handle 110 is increased from the forward preparation state Ma ( Figure 4 Arrow F2 in the figure can suppress the impact caused by the gears colliding with each other in the drive system.

[0084] When the electric vehicle 1 is in a stopped state (forward preparation state Ma) in the forward mode M1, the control unit 124 can transfer to the reverse mode M2. The forward preparation state Ma is equivalent to performing a stop judgment of the electric motor 30 (for example, when the speed is below a predetermined reference speed (for example, 50 rpm)) and the throttle grip 110 is in a fully closed state. In the forward preparation state Ma, when one of the operating members 112 and 113 of the mode selection unit 111 becomes ON, the control unit 124 performs the following control. That is, the transfer to the reverse pre-standby Mr of the reverse mode M2 ​​is allowed ( Figure 4 The control unit 124 maintains the motor stop determination and throttle fully closed state in the reverse pre-standby state Mr, and returns to the forward preparation state Ma ( Figure 4 Arrow F4).

[0085] After the transition to the backward pre-standby Mr, when both the operating elements 112 and 113 are turned on, the control unit 124 transitions from the backward pre-standby Mr to the backward preparation operation Mp ( Figure 4 In the reverse preparation operation Mp, the control unit 124 applies a small torque (anti-backlash torque) in the direction (reverse direction) to rotate the rear wheels 4a and 4b when the electric vehicle 1 travels backward. In the forward preparation state Ma, when both the operating elements 112 and 113 of the mode selection unit 111 are turned on, the control unit 124 can directly transition to the reverse preparation operation Mp.

[0086] In the backward preparation operation Mp, when the ON state of both the operating elements 112 and 113 continues for a predetermined time (for example, 0.2 seconds), the control unit 124 shifts to the backward operation Mb ( Figure 4(See arrow F6 in the figure). During the reverse motion Mb, the control unit 124 slowly increases the vehicle speed to a predetermined upper speed limit while both operating elements 112 and 113 are turned on. At this time, the application of anti-backlash torque eliminates backlash in the drive system, thereby achieving the following benefits: Specifically, during the switch to the reverse motion Mb and during acceleration in the reverse direction, the impact caused by gear collisions in the drive system can be suppressed.

[0087] Here, when switching from the back-moving preparatory operation Mp to the back-moving operation Mb, the time Tk for continuing the back-moving preparatory operation Mp is based on Figure 6 The mapping information Im2 shown is set. Figure 6 As shown, the duration Tk of the reverse preparation operation Mp is set to change according to the rotational speed of the electric motor 30. In this map information Im2, the duration of the reverse preparation operation Mp is set to shorten as the rotational speed of the electric motor 30 increases. This provides the following benefits when the driving mode is switched to the reverse preparation operation Mp, for example, if the reverse speed exceeds a predetermined level due to a road inclination or a passenger kicking the road surface. Specifically, the reverse preparation operation Mp can be shortened, allowing the vehicle to immediately switch to the reverse operation Mb.

[0088] Furthermore, during the reverse preparation operation Mp, when the occupant releases one of the operating elements 112 and 113 to turn it off, the control unit 124 performs the following control. That is, the driving mode is shifted to the reverse preparation maintaining operation Mw described later ( Figure 4 The backward movement preparation maintaining operation Mw is a control that shifts to the state even when either of the operating elements 112 and 113 is turned OFF during the backward movement Mb.

[0089] When the passenger releases one of the operating elements 112 and 113 to turn them into the OFF state, the control unit 124 shifts from the reverse motion Mb to the reverse preparation maintaining motion Mw ( Figure 4 The control unit 124 maintains a state in which a small torque (anti-backlash torque) is applied in the direction of rotating the rear wheels 4a and 4b (reverse direction) during the reverse preparation maintenance action Mw. The control unit 124 continues the reverse preparation maintenance action Mw until the passenger operates both the operating members 112 and 113 again to turn them into the ON state. When both the operating members 112 and 113 are operated again to turn them into the ON state during the reverse preparation maintenance action Mw, the control unit 124 returns from the reverse preparation maintenance action Mw to the reverse action Mb ( Figure 4(See arrow F9 in the figure). At this time, the backlash of the drive system is eliminated by applying the anti-backlash torque, thereby having the following effect: Specifically, during the recovery of the backward movement Mb and during acceleration in the backward direction, the impact caused by the collision of gears in the drive system can be suppressed.

[0090] Furthermore, during the reverse preparation maintenance operation Mw, when both the operating elements 112 and 113 are in the OFF state, the control unit 124 performs the following control. That is, if the motor is stopped and the throttle is fully closed, the vehicle is shifted to the forward preparation state Ma ( Figure 4 In other words, the vehicle shifts from the reverse mode M2 ​​to the forward mode M1.

[0091] In the forward movement preparation state Ma, the control unit 124 performs the following control: with the electric vehicle 1 stopped, the electric motor 30 (power unit P) applies a small torque (anti-backlash torque) in the direction (forward rotation direction) that rotates the rear wheels 4a and 4b when the electric vehicle 1 travels forward.

[0092] When returning to the forward preparation state Ma from the reverse preparation maintaining operation Mw, if the reverse mode M2 ​​is selected again by the mode selection unit 111, the control unit 124 performs the following control: that is, the vehicle shifts to the reverse operation Mb via the rear wheel pre-standby Mr and the reverse preparation operation Mp.

[0093] Here, the mapping information Im1 when in the retreat preparation maintenance operation Mw or the retreat preparation operation Mp is described. Figure 5 As shown, in the map information Im1, the torque applied by the electric motor 30 (power unit P) to the rear wheels 4a, 4b is set as follows. In the map information Im1, a constant value of torque T1 in the reverse direction is applied within a first speed range V1 set at the lower speed side (the side with a smaller absolute value, the side with a lower reverse speed) of the electric motor 30. In the map information Im1, the torque applied by the electric motor 30 to reverse the rear wheels 4a, 4b is represented as a negative value equal to or less than 0.

[0094] This torque T1 is set to a level sufficient to eliminate backlash between the gears and other components of the drive system of the power unit P while preventing an increase in the rearward speed of the electric vehicle 1 (preventing acceleration). The absolute value of torque T1 is greater than the absolute value of the minimum torque Tmin required to eliminate backlash (reduce backlash) in the power transmission path of the power unit P. This reduces the impact caused by gear collisions in the drive system when the accelerator handle 110 is opened from the first speed range V1.

[0095] Furthermore, in the mapping information Im1, in a second speed range V2, which is set to a higher speed side (a higher absolute value side, a higher reverse speed side) than the first speed range V1, torque T2 in the reverse direction is applied to the rear wheels 4a and 4b. The absolute value of this torque T2 is smaller than the absolute value of torque T1 applied in the first speed range V1. This prevents the reverse speed from exceeding a predetermined upper limit or causing a feeling of idleness at high reverse speeds.

[0096] Furthermore, in the map information Im1, in the third speed range V3 set between the first speed range V1 and the second speed range V2, the torque T3 applied to the rear wheels 4a and 4b by the electric motor 30 (power unit P) is continuously changed.

[0097] Thus, when the accelerator grip 110 is kept fully closed and the vehicle speed changes from the second speed range V2 to the first speed range V1 or from the first speed range V1 to the second speed range V2, the following effect is achieved: the torque generated by the electric motor 30 does not change in stages, and the occupant is less likely to feel the change in torque T3.

[0098] Furthermore, in the mapping information Im1, a fourth speed range V4 of extremely low speed is set to the lower speed side than the first speed range V1. In the mapping information Im1, when the traveling speed of the electric vehicle 1 is within the fourth speed range V4, the following settings are made. Specifically, the electric motor 30 (power unit P) is configured to apply a torque T4, which is smaller than the torque T1 in the first speed range V1, to the rear wheels 4a and 4b. This fourth speed range V4 is an extremely low speed region that includes the stopped state of the electric vehicle 1.

[0099] In this fourth speed range V4, when the electric vehicle 1 is at a lower speed, the occupants are less likely to feel the torque T4 applied by the electric motor 30. Furthermore, at extremely low speeds, such as when the electric vehicle 1 is stopped, the effects of, for example, loading cargo onto the electric vehicle 1 or occupants moving forward on the electric vehicle 1 can be suppressed. In other words, when the electric vehicle 1 is stopped, the electric motor 30 can be prevented from unexpectedly applying torque, such as due to external forces acting on the electric vehicle 1, causing the electric vehicle 1 to begin moving backward.

[0100] Here, in the fourth speed range V4, when the electric vehicle 1 is stopped (travel speed is 0, i.e., completely stopped), a torque T0 greater than the torque T1 in the first speed range V1 may be set. This is because, for example, when the electric vehicle 1 is started, a torque greater than the torque required to eliminate backlash of the power unit P is required to eliminate backlash when the electric vehicle 1 is decelerated and stopped.

[0101] Furthermore, in the map information Im1, the running speed of the electric vehicle 1 is set as follows within the fifth speed range V5, which is set between the first speed range V1 and the fourth speed range V4. Specifically, within the fifth speed range V5, the torque T5 applied to the rear wheels 4a and 4b by the electric motor 30 (power unit P) is set to continuously vary.

[0102] In this fifth speed range V5, when the accelerator grip 110 is held fully closed and the vehicle speed changes from the first speed range V1 to the fourth speed range V4, the following effects are achieved: The sense of acceleration in the electric vehicle 1 is suppressed. Furthermore, the occupants are less likely to feel the fluctuations in the torque T5 applied by the electric motor 30.

[0103] In the drive control device 120 of the embodiment, the control unit 124 performs the following control during the reverse preparation and maintenance operation Mw. Specifically, the power unit P applies torque in the rotational direction that causes the electric vehicle 1 to travel backward to the rear wheels 4a and 4b. When the reverse operation Mb is selected in the mode selection unit 111 (when the mode selection condition is not met), the control unit 124 performs the following control. Specifically, the vehicle directly switches to the reverse preparation and maintenance operation Mw without passing through the forward mode M1.

[0104] When the reverse action Mb is selected by the mode selection unit 111, the control unit 124 performs the following control. Specifically, based on the mapping information Im stored in the mapping storage unit 123, the torque for causing the electric vehicle 1 to travel backward is applied to the rear wheels 4a and 4b. If the reverse action Mb is selected and the selection is canceled by input to the mode selection unit 111, the control unit 124 performs the following control. Specifically, the driving mode is switched to the reverse preparation maintenance action Mw.

[0105] During the reverse preparation maintenance operation Mw, the control unit 124 applies torque in the rotational direction that causes the electric vehicle 1 to travel backward to the rear wheels 4a and 4b via the power unit P. Therefore, when the driving mode is shifted again to the reverse operation Mb by the occupant's input to the mode selection unit 111, backlash in the drive system is eliminated. This can suppress the shock generated when the vehicle shifts to the reverse operation Mb and when the electric vehicle 1 moves backward. Consequently, time lag can be suppressed, allowing the electric vehicle 1 to move backward with good responsiveness. As a result, the electric vehicle 1 driven by the power unit P can be operated with less discomfort.

[0106] Furthermore, when the state in which the reverse action Mb is selected is released in the mode selection unit 111 and the state is transitioned to the reverse preparation and maintenance action Mw, the control unit 124 performs the following control. Specifically, the reverse preparation and maintenance action Mw is executed until the reverse action Mb is selected again. Thus, even after the state in which the reverse action Mb is selected is released, the state transitions to the reverse preparation and maintenance action Mw, maintaining the backlash elimination state. This suppresses the impact that would otherwise occur if the reverse action Mb were selected again, allowing the electric vehicle 1 to reverse with good responsiveness and reduced time lag.

[0107] Furthermore, the control unit 124 switches the mode selection unit 111 to the reverse operation Mb if the reverse preparatory operation Mp continues for a predetermined period of time. Thus, when the driving mode is switched from the forward mode M1 to the reverse mode M2, the reverse operation Mb is automatically switched after the drive system backlash is eliminated by the reverse preparatory operation Mp. This provides the following benefits when driving the electric vehicle 1 rearward: Specifically, it is possible to suppress shocks in the drive system and, with minimal time lag, enable the electric vehicle 1 to start rearward with good responsiveness.

[0108] Furthermore, the control unit 124 varies the duration of the reverse preparation operation Mp based on the rotational speed of the electric motor 30. This provides the following benefits when the driving mode switches from the forward operation Mf to the reverse operation Mb. Specifically, if the electric vehicle 1 moves in the reverse direction due to, for example, the gradient of a slope or a passenger's kick on the road surface, the reverse preparation operation Mp is executed for a time corresponding to that speed. This allows the vehicle to transition to the reverse operation Mb.

[0109] Furthermore, the control unit 124 shortens the duration of the reverse preparation operation Mp when the rotation speed of the electric motor 30 increases. This shortens the reverse preparation operation Mp and allows the vehicle to immediately switch to the reverse operation Mb when the travel speed is high.

[0110] In addition, the control unit 124 performs the following control when the driving mode is in the reverse preparation maintenance action Mw and is in the motor stop judgment and throttle fully closed state. That is, when both the operating members 112 and 113 are in the OFF state, the vehicle is transferred to the forward preparation state Ma. In the forward preparation state Ma, the power unit P applies the anti-backlash torque in the rotational direction when the electric vehicle 1 is moving forward to the rear wheels 4a and 4b. Therefore, when the passenger opens the accelerator handle 110 to move the electric vehicle 1 forward, the gear backlash of the drive system is eliminated. Therefore, the impact generated when the accelerator handle 110 is opened to move the electric vehicle 1 forward can be suppressed. As a result, the electric vehicle 1 can be moved forward with good response while suppressing time lag. Moreover, by allowing the transfer from the reverse preparation maintenance action Mw to the forward mode M1 in this way, the passenger's freedom of operation can be improved.

[0111] Furthermore, when the mode selection unit 111 selects the reverse motion Mb while the vehicle is in the forward preparation state Ma, the control unit 124 performs the following control. Specifically, the vehicle switches to the reverse motion Mb via the reverse preparation motion Mp. Consequently, after transitioning from the reverse preparation maintaining motion Mw to the forward preparation state Ma, the vehicle switches again to the reverse mode M2 ​​via the reverse preparation motion Mp. This provides the following advantages: Specifically, the vehicle can smoothly transition from the forward mode M1 to the reverse mode M2.

[0112] Furthermore, when the mode selection unit 111 selects the forward mode M1 to the reverse mode M2, the control unit 124 performs the following control. Specifically, when the rotational speed of the electric motor 30 falls below a predetermined reference rotational speed, the vehicle transitions to the reverse preparation operation Mp. This provides the following advantages when transitioning to the reverse preparation operation Mp: Specifically, it ensures that the electric motor 30 does not apply excessive torque. This prevents the vehicle from experiencing a shock in the drive system when transitioning from the forward mode M1 to the reverse mode M2.

[0113] Furthermore, when the mode selector 111 selects the forward mode M1 to the reverse mode M2, the control unit 124 performs the following control. Specifically, when the accelerator grip 110 is fully closed, the vehicle transitions to the reverse preparation operation Mp. This provides the following advantages when transitioning to the reverse preparation operation Mp: Specifically, it ensures that the electric motor 30 is not applying a large torque. This prevents the vehicle from experiencing a shock in the drive system when transitioning from the forward mode M1 to the reverse mode M2.

[0114] Furthermore, when the driving mode is in the reverse preparation maintenance action Mw and the electric vehicle 1's rearward speed is within a predetermined first speed range V1, the control unit 124 performs the following control. Specifically, a constant torque T1 is applied to the rear wheels 4a and 4b via the power unit P. This allows drive system backlash to be consistently eliminated regardless of the vehicle's speed while within the first speed range V1. This also reduces the impact caused by opening the accelerator grip 110 to drive the electric vehicle 1 rearward.

[0115] Furthermore, when the driving mode is in the reverse preparation maintenance action Mw and the electric vehicle 1's rearward travel speed is within a second speed range V2, which is higher than the first speed range V1, the control unit 124 performs the following control. Specifically, the power unit P applies torque T2, whose absolute value is smaller than the absolute value of torque T1, to the rear wheels 4a and 4b. This prevents the electric vehicle 1 from experiencing a feeling of free wheeling due to the driving force of the power unit P when the rearward travel speed is high.

[0116] Furthermore, when the driving mode is in the reverse preparation maintenance action Mw, the control unit 124 performs the following control within a third speed range V3, which is set between the first speed range V1 and the second speed range V2. Specifically, the torque applied by the power unit P to the rear wheels 4a and 4b is continuously varied. This prevents the occurrence of a sense of acceleration when the vehicle speed changes from the first speed range V1 to the second speed range V2, i.e., when the electric vehicle 1 accelerates backward. Furthermore, the occupants are less likely to feel the fluctuations in the torque applied by the power unit P, which can further reduce any discomfort.

[0117] The mode selection unit 111 includes two operating elements 112 and 113. The control unit 124 shifts the mode to the reverse preliminary standby Mr of the reverse mode M2 ​​when only one of the two operating elements 112 and 113 is operated in the forward mode M1. The control unit 124 shifts the mode to the reverse operation Mb of the reverse mode M2 ​​when both of the two operating elements 112 and 113 are operated.

[0118] Thus, by changing the combination of operations on the two operating elements 112 and 113, the driving mode can be easily switched. For example, it is possible to switch from a reverse motion Mb by operating both operating elements 112 and 113 to a reverse preparation maintaining motion Mw by releasing one operating element 112 or 113. This makes it easy and intuitive to set the driving mode switching operation.

[0119] As described above, the drive control device 120 of the embodiment is a drive control device 120 for the electric vehicle 1 that drives the rear wheels 4a and 4b to rotate by the driving force of the power unit P including the electric motor 30. When a predetermined mode selection condition is met, the drive control device 120 can select a reverse mode M2 ​​for causing the electric vehicle 1 to move backward from the forward mode M1 for causing the electric vehicle 1 to move forward. The reverse mode M2 ​​includes: a reverse action Mb for causing the electric vehicle 1 to move backward by using the driving force of the power unit P; and when the electric vehicle 1 is stopped, the power unit P is used to apply the anti-backlash torque T in the rotational direction when causing the electric vehicle 1 to move backward to the rear wheels 4a and 4b. 4b assigned reverse preparation action Mp; from the state of transfer to reverse action Mb, when the electric vehicle 1 is switched between reverse and stop when the mode selection condition is satisfied, the reverse preparation maintaining action Mw is switched between the reverse action Mb while maintaining the assignment of the anti-backlash torque T, wherein, when transferring from the forward mode M1 to the reverse mode M2, the reverse preparation action Mp is performed, and in the state of transfer to the reverse action Mb, when the electric vehicle 1 is switched between reverse and stop when the mode selection condition is still satisfied, the reverse action Mb and the reverse preparation maintaining action Mw are switched in the reverse mode M2 ​​without going through the forward mode M1.

[0120] According to this configuration, if the mode selection conditions remain met, the switch between starting (reverse) and stopping after selecting reverse mode M2 ​​is performed as follows. Specifically, the switch is performed between reverse action Mb and reverse preparation maintenance action Mw within reverse mode M2, without passing through forward mode M1. In other words, when stopping with reverse mode M2 ​​selected, the vehicle does not transition to forward mode M1, maintaining the backlash elimination state. Therefore, the engine backlash elimination action (reverse preparation action Mp) does not need to be repeated when reversing. Consequently, when starting and stopping after selecting reverse mode M2, the time lag until restarting can be reduced, improving the responsiveness of reverse mode M2.

[0121] In the drive control device 120 , when the electric vehicle 1 is stopped while the mode selection condition is still satisfied in the state of transitioning to the reverse mode M2 ​​, the reverse preparation operation Mp is maintained.

[0122] According to this configuration, after selecting reverse mode M2, during a stop while the mode selection conditions are still met, the engine backlash elimination operation (reverse preparation operation Mp) is maintained. This reduces the time lag before restarting, and reliably suppresses the shock of restarting during starting and stopping after selecting reverse mode M2.

[0123] In the drive control device 120, the anti-backlash torque T is set as follows. Specifically, the absolute value of the second torque T2 when the rotational speed of the electric motor 30 is in a second speed range V2 set higher than the first speed range V1 is set smaller than the first torque T1 when the rotational speed of the electric motor 30 is in a predetermined first speed range V1.

[0124] With this configuration, in reverse mode M2, when the rotational speed of electric motor 30 is high, that is, when the reverse speed of electric vehicle 1 is high, the absolute value of backlash-eliminating torque T in the reverse direction is set to a small value. This can suppress the feeling of freewheeling caused by the driving force of power unit P when the reverse speed of electric vehicle 1 is high.

[0125] In the drive control device 120 , when the vehicle is in the reverse mode M2 ​​, if the mode selection condition is not satisfied, the vehicle is shifted to the forward mode M1 .

[0126] According to this configuration, if the mode selection condition is not satisfied, the vehicle directly returns to the forward travel mode M1 , eliminating the need for a specific release operation or control, thereby reducing the operational burden on the user.

[0127] In the above-mentioned drive control device 120, the forward mode M1 includes: a forward action Mf for moving the electric vehicle 1 forward by utilizing the driving force of the power unit P; and a forward preparation action Ma for imparting the anti-backlash torque T in the rotational direction when the electric vehicle 1 moves forward to the rear wheels 4a and 4b through the power unit P when the electric vehicle 1 is stopped. In the state of transferring to the reverse mode M2, if the mode selection condition is not met, the mode is transferred to the forward preparation action Ma.

[0128] According to this configuration, when shifting from the reverse mode M2 ​​to the forward mode M1, the vehicle does not directly shift to the forward motion Mf but instead shifts to the forward preparation motion Ma. This ensures that backlash in the forward direction is eliminated and shock during forward movement is reliably suppressed.

[0129] In the drive control device 120 , when the vehicle shifts from the reverse mode M2 ​​to the forward mode M1 and then shifts back to the reverse mode M2 ​​, the reverse preparation operation Mp is performed again.

[0130] According to this configuration, when the vehicle shifts again from the forward mode M1 to the reverse mode M2 ​​, backlash in the reverse direction is reliably eliminated by the reverse preparation operation Mp, thereby reliably suppressing the shock during reverse movement.

[0131] In the drive control device 120 , the mode selection condition includes a condition that the rotation speed of the electric motor 30 is equal to or lower than a preset stop determination value.

[0132] This configuration shifts to reverse mode M2 ​​when the rotational speed of electric motor 30 falls below a predetermined value, thereby providing the following benefits: It ensures that the vehicle can shift to reverse mode M2 ​​without applying a large torque in the forward direction. This reliably reduces the shock of switching to reverse mode M2.

[0133] The drive control device 120 includes an accelerator grip 110 for adjusting the torque of the electric motor 30 , and the mode selection condition includes a condition that the opening of the accelerator grip 110 is in a fully closed state.

[0134] This configuration shifts to reverse mode M2 ​​when the accelerator pedal is fully closed, thereby providing the following benefits: It ensures that no significant torque is applied in the forward direction before shifting to reverse mode M2. This reliably reduces the shock of switching to reverse mode M2.

[0135] In the drive control device 120 , the reverse preparation operation Mp applies the backlash eliminating torque T for a predetermined duration, and the duration varies according to the rotation speed of the electric motor 30 .

[0136] According to this configuration, the duration of applying the backlash-eliminating torque T during the reverse preparation operation Mp is varied according to the rotational speed of the electric motor 30. For example, when the rotational speed of the electric motor 30 in the reverse direction is high, the duration of the backlash-eliminating torque T is shortened. This allows the electric vehicle 1 to quickly perform a reverse operation even when it has already reversed due to user operation, a sloped road surface, or the like, thereby improving responsiveness.

[0137] In the drive control device 120 described above, as the rotation speed of the electric motor 30 increases, the duration is shortened.

[0138] This configuration shortens the duration of the anti-backlash torque T when the electric motor 30 rotates at a high speed in the reverse direction. This allows for quick reverse movement even when the vehicle is already reversed due to user operation, a road inclination, etc., and improves response.

[0139] Furthermore, according to the electric vehicle 1 including any of the drive control devices 120 described above, the electric vehicle 1 driven by the power unit P can be operated with less discomfort by including the drive control device 120 described above.

[0140] It should be noted that the present invention is not limited to the above-mentioned embodiment described with reference to the accompanying drawings, and various modifications can be considered within the technical scope. For example, in the reverse preparation action Mp, the reverse action Mb is transferred after a certain period of time, but it is not limited to this. For example, after transferring to the reverse preparation action Mp, it is also possible to switch to the reverse action Mb by other operations such as opening the accelerator handle 110. Moreover, in the above-mentioned embodiment, the electric vehicle 1 travels only by the driving force of the electric motor 30 as the prime mover, but it is not limited to this. The electric vehicle only needs to use the electric motor 30, for example, it can be a hybrid type that uses the driving force of the engine and the driving force of the electric motor 30.

[0141] In the above embodiment, the power unit P is configured with an electric motor 30 as the prime mover. However, the prime mover is not limited to the electric motor 30 and may also be an engine (internal combustion engine). Furthermore, the power unit P may include, for example, a clutch actuator, an assist motor (ACG), etc. When the power unit P employs a clutch actuator driven by an electric motor or hydraulic pressure, control can be performed as follows. Specifically, the clutch actuator actuates the clutch according to the throttle opening, thereby controlling the torque applied to the drive wheels in the forward and reverse directions.

[0142] In addition, the electric vehicle 1 is a swing-type vehicle that can swing the front and rear bodies that are separated from each other to the left and right (roll movement), but it is not limited to this and can also be applied to electric vehicles with integrated front and rear bodies. Moreover, it is not limited to being applied to three-wheeled vehicles with one front wheel and two rear wheels, and can also be applied to motorized two-wheeled vehicles (including bicycles and small motorcycle-type vehicles with prime movers), three-wheeled vehicles with two front wheels and one rear wheel, and four-wheeled vehicles. In addition, the electric vehicle 1 is not limited to a so-called straddle-type vehicle in which the passenger straddles the seat 7, but can also be a vehicle in which the passenger sits on a seat with a backrest. In addition, the structure in the above embodiment is an example of the present invention, and various changes can be made without departing from the scope of the main purpose of the present invention.

[0143] Explanation of symbols

[0144] 1 Electric vehicle (vehicle)

[0145] 4a, 4b rear wheels (drive wheels)

[0146] 30 Electric motor (prime mover)

[0147] 45 Rotation axis

[0148] 110 Throttle handle (throttle)

[0149] 111 Mode selection unit

[0150] 112, 113 operating parts

[0151] 120 drive control device

[0152] 121 Throttle opening sensor

[0153] 122 Vehicle speed sensor

[0154] 123 Mapping Storage Unit

[0155] 124 Control Department

[0156] Im, Im1, Im2 mapping information

[0157] M1 forward mode

[0158] M2 Backward Mode

[0159] Ma forward preparation

[0160] Mf forward motion

[0161] Mb Backward Action

[0162] Mr. Backward Standby

[0163] Mp Backward Preparation

[0164] Mw Backward preparation and maintenance action

[0165] P Power Unit

[0166] T Anti-backlash torque

[0167] T0, T1, T2, T3, T4, T5 torque

[0168] Tmin minimum torque

[0169] Tk time

[0170] V1 First speed range

[0171] V2 Second speed range

[0172] V3 Third Speed ​​Range

Claims

1. A drive control device (120) for a vehicle (1) that drives drive wheels (4a, 4b) to rotate by the driving force of a power unit (P), wherein the power unit (P) transmits the power of a single prime mover (30) from a prime mover rotation shaft (45) of the prime mover (30) to the drive wheel rotation shaft (42) of the drive wheels (4a, 4b) via a plurality of gears (54, 57, 58, 62, 63), characterized in that: In a state where a predetermined mode selection condition is satisfied, a reverse mode (M2) for causing the vehicle (1) to move backward can be selected from a forward mode (M1) for causing the vehicle (1) to move forward, The reverse mode (M2) includes: a reverse action (Mb) in which the vehicle (1) is reversed by the driving force of the power unit (P); and a reverse preparation action (Mp) in which, with the vehicle (1) stopped, the power unit (P) applies the anti-backlash torque (T) between the gears (54, 57, 58, 62, 63) in the rotation direction when the vehicle (1) moves backward to the drive wheels (4a, 4b). The anti-backlash torque (T) is configured such that the absolute value of a second torque (T2) when the rotation speed of the prime mover (30) is in a second speed range (V2) set at a higher speed than the first speed range (V1) is set smaller than the first torque (T1) when the rotation speed of the prime mover (30) is in a predetermined first speed range (V1). When the vehicle is shifted from the forward mode (M1) to the reverse mode (M2), the reverse preparation action (Mp) is performed, or the reverse preparation action (Mp) is performed via the reverse pre-standby state (Mr) for shifting to the forward mode (M1), Switching between the state of transitioning to the reverse action (Mb) and the reverse preparation maintaining action (Mw) for maintaining the application of the anti-backlash torque (T) when switching between reverse and stop of the vehicle (1), The state in which the reverse preparation operation (Mp) is performed is maintained until the reverse mode is released via the reverse preparation maintaining operation (Mw).

2. The drive control device (120) according to claim 1, characterized in that When the mode selection condition is not satisfied in the state of shifting to the reverse mode (M2), the vehicle shifts to the forward mode (M1).

3. The drive control device (120) according to claim 2, characterized in that: The forward mode (M1) includes: a forward motion (Mf) in which the vehicle (1) is advanced by the driving force of the power unit (P); and a forward preparation motion (Ma) in which, while the vehicle (1) is stopped, the power unit (P) applies a backlash-eliminating torque (T) in a rotational direction in which the vehicle (1) moves forward to the driving wheels (4a, 4b). When the mode selection condition is not satisfied in the state of transitioning to the reverse mode (M2), the vehicle transitions to the forward preparation operation (Ma).

4. The drive control device (120) according to any one of claims 1 to 3, characterized in that: When the vehicle shifts to the reverse mode (M2) again after shifting from the reverse mode (M2) to the forward mode (M1), the reverse preparation operation (Mp) is performed again.

5. The drive control device (120) according to any one of claims 1 to 3, characterized in that: The mode selection condition includes a condition that the rotation speed of the prime mover (30) is equal to or less than a preset stop determination value.

6. The drive control device (120) according to any one of claims 1 to 3, characterized in that: The drive control device (120) includes a throttle (110) for adjusting the torque of the prime mover (30). The mode selection condition includes a condition that the throttle (110) is in a fully closed state.

7. The drive control device (120) according to any one of claims 1 to 3, characterized in that: When the vehicle (1) is switched between reverse and stop in the state of transitioning to the reverse action (Mb) while the mode selection condition is still satisfied, the reverse action (Mb) and the reverse preparation maintaining action (Mw) are switched within the reverse mode (M2) without passing through the forward mode (M1).

8. The drive control device (120) according to any one of claims 1 to 3, characterized in that: When the vehicle (1) is stopped while the mode selection condition is still satisfied in the state of shifting to the reverse mode (M2), the state in which the reverse preparation operation (Mp) is performed is maintained.

9. The drive control device (120) according to any one of claims 1 to 3, characterized in that: The anti-backlash torque (T) is set to a value that eliminates the backlash between the gears in the power unit (P) without increasing the running speed of the vehicle (1).

10. The drive control device (120) according to any one of claims 1 to 3, characterized in that: In the first speed range (V1), the first torque (T1) is a constant torque value.

11. A drive control device (120) for a vehicle (1) that drives drive wheels (4a, 4b) to rotate by a driving force of a power unit (P) including a prime mover (30), characterized in that: In a state where a predetermined mode selection condition is satisfied, a reverse mode (M2) for causing the vehicle (1) to move backward can be selected from a forward mode (M1) for causing the vehicle (1) to move forward, The reverse mode (M2) includes: a reverse action (Mb), in which the vehicle (1) is reversed by the driving force of the power unit (P); a reverse preparation action (Mp), in which, when the vehicle (1) is stopped, the power unit (P) applies a backlash torque (T) in the rotation direction when the vehicle (1) moves backward to the drive wheels (4a, 4b); and a reverse preparation maintaining action (Mw), in which, when the reverse action (Mb) is switched and the vehicle (1) is switched between reverse and stop while the mode selection condition is still satisfied, the reverse action (Mb) is switched while the application of the backlash torque (T) is maintained. When the vehicle is shifted from the forward mode (M1) to the reverse mode (M2), the reverse preparation operation (Mp) is performed. In the state of transitioning to the reverse action (Mb), when switching between reverse and stop of the vehicle (1) while the mode selection condition is still satisfied, the reverse action (Mb) and the reverse preparation maintaining action (Mw) are switched in the reverse mode (M2) without passing through the forward mode (M1). The reverse preparation action (Mp) applies the anti-backlash torque (T) for a predetermined duration. The duration varies according to the rotational speed of the prime mover (30).

12. The drive control device (120) according to claim 11, characterized in that: As the rotation speed of the prime mover (30) becomes higher, the duration is shortened.

13. A vehicle (1), characterized in that The drive control device (120) comprises the drive control device (120) according to any one of claims 1 to 3 and 11 to 12.

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