Vehicle control device

Abstract

This invention provides a vehicle control device. The vehicle control device (10) includes a rotary motor (12), a power conversion device (13), and a control unit (31). The rotary motor (12) is connected to the drive wheels of the vehicle. The power conversion device (13) transmits and receives power to the rotary motor (12). The control unit (31) controls the operation of the power conversion device (13). When the rotary motor (12) is in a locked state where the rotation of the rotary motor (12) is stopped when energized, the control unit (31) assists the driver of the vehicle in performing a predetermined operation to set the rotation angle of the rotary motor (12) to a predetermined rotation angle, and, after the driver performs the predetermined operation, starts the vehicle to move based on the power of the rotary motor (12).

Description

Technical Field

[0001] This invention relates to vehicle control devices. Background Technology

[0002] Previously, for example, there was a known vehicle that performed torque increase / decrease control when the motor for driving was in a stopped (locked) state due to increased load from uphill roads, etc. (see, for example, Japanese Patent Application Publication No. 2009-189072). As a torque increase / decrease control for eliminating the locked state of current concentrated in the appropriate phase of the motor, the vehicle first reverses by reducing the output torque of the motor, and then increases the output torque of the motor to change the vehicle from reversing to moving forward. Summary of the Invention

[0003] The aforementioned vehicles in the prior art set the torque change in torque increase / decrease control to not cause excessive discomfort to the driver, and when the duration of torque increase / decrease control is longer than the predetermined time for the driver to begin to feel discomfort, the occupants are notified that the torque increase / decrease control is in operation.

[0004] However, because the torque increase and decrease control is initiated and continued regardless of the driver's intentions, the changes in vehicle behavior caused by torque variations may cause discomfort to the driver and go against the driver's wishes.

[0005] The purpose of this invention is to provide a vehicle control device that can appropriately assist the vehicle in moving according to the driver's wishes.

[0006] One embodiment of the vehicle control device of the present invention includes: a rotary motor connected to the drive wheels of a vehicle; a power conversion device that transmits and receives power from the rotary motor; and a control device that controls the operation of the power conversion device. When the rotary motor is in a locked state where its rotation is stopped when energized, the control device assists the driver of the vehicle in performing a predetermined operation to set the rotation angle of the rotary motor to a predetermined rotation angle, and, after the driver performs the predetermined operation, starts the vehicle to move based on the power of the rotary motor.

[0007] The vehicle control device described above may also include: an accelerator operation sensor that detects the driver's accelerator operation on the vehicle and outputs a detection signal of the accelerator operation; and a brake operation sensor that detects the driver's braking operation on the vehicle and outputs a detection signal of the braking operation. When the rotary motor is in the locked state, the control device increases the torque of the rotary motor independently of the accelerator operation, and after increasing the torque, decreases the torque in response to the decrease in braking operation.

[0008] The vehicle control device described above may also include a first brake operating member and a second brake operating member that cause the vehicle to perform different braking actions. The brake operation sensor includes: a first brake operation sensor that detects the driver's operation on the first brake operating member and outputs a detection signal of the operation of the first brake operating member; and a second brake operation sensor that detects the driver's operation on the second brake operating member and outputs a detection signal of the operation of the second brake operating member. When the rotary motor is in the locked state, the control device increases the torque of the rotary motor independently of the accelerator operation when the operation of the first brake operating member is below a predetermined level. After increasing the torque, the torque is reduced in response to the reduction of the operation of the second brake operating member.

[0009] In the vehicle control device described above, the first braking actuator may brake the wheels other than the drive wheels, and the second braking actuator may brake the drive wheels.

[0010] The vehicle control device described above may also include: a rotation angle sensor that detects the rotation angle of the rotary motor and outputs a detection signal of the rotation angle; and a notification device that notifies the driver of specified information by control of the control device, wherein the control device notifies the driver that the rotation angle of the rotary motor has been set to the specified rotation angle when the rotation angle is consistent with the specified rotation angle.

[0011] The vehicle control device described above may also include a notification device that notifies the driver of prescribed information by means of the control device. When the rotary motor is in the locked state, the control device notifies the driver of information urging the driver to perform the prescribed operation.

[0012] The vehicle control device described above may also include: an accelerator operation sensor that detects the driver's accelerator operation on the vehicle and outputs a detection signal of the accelerator operation; and a rotation angle sensor that detects the rotation angle of the rotary motor and outputs a detection signal of the rotation angle, wherein, when the rotation angle is consistent with the predetermined rotation angle, the control device sets the torque of the rotary motor to the holding torque required to maintain the position of the vehicle, independent of the accelerator operation.

[0013] The vehicle control device described above may also include a brake operation sensor that detects the driver's braking operation on the vehicle and outputs a detection signal of the braking operation. When the control device detects the braking operation after setting the torque of the rotary motor to the holding torque, it causes the rotary motor to operate according to the accelerator operation.

[0014] According to the aforementioned vehicle control device, by having a control device, it is possible to appropriately assist the vehicle in moving according to the driver's wishes. The control device assists the driver in releasing the locked state of the rotary motor through the driver's operation, so that the driver can start the vehicle to move.

[0015] In the case of the aforementioned vehicle control device, by having a control device that increases the torque of the rotary motor independently of accelerator operation before the driver's braking operation is reduced, unwanted backward movement of the vehicle due to insufficient torque of the rotary motor can be suppressed. By having a control device that reduces the torque in accordance with the reduction of braking operation after the torque is increased, the driver can be appropriately assisted in moving the vehicle as desired by the driver based on the driver's braking operation.

[0016] In the case of the vehicle control device described above, by having a control device that controls the torque of the rotary motor according to the driver's operation of each of the multiple braking operation components, it is possible to provide more detailed assistance to the driver in moving the vehicle as desired by releasing the locked state of the rotary motor.

[0017] In the case of the aforementioned vehicle control device, by having a control device that reduces torque based on the operation of a second braking operation member that brakes the drive wheels, it is easy to reflect the driver's intentions in the vehicle's movement as desired by the driver.

[0018] In the case of the aforementioned vehicle control device, by having a control device that notifies the driver that the rotation angle of the rotary motor has been set to a predetermined rotation angle, it is possible to appropriately assist the start of driving of the vehicle powered by the rotary motor.

[0019] In the case of the aforementioned vehicle control device, by having a control device that prompts the execution of a prescribed operation when the rotary motor is in a locked state, the locked state can be quickly released according to the driver's wishes.

[0020] In the case of the aforementioned vehicle control device, by having a control device that sets the torque of the rotary motor to a holding torque independent of accelerator operation when the rotation angle matches a predetermined rotation angle, the driver can recognize that the vehicle is ready to start moving. By enabling the driver to recognize that the vehicle is ready to start moving, the necessary operations for starting movement can be prompted.

[0021] In the case of the aforementioned vehicle control device, by having a control device that, upon detecting a braking operation after setting a holding torque, activates a rotary motor based on accelerator operation, it is possible to suppress unwanted vehicle movement by the driver and appropriately assist in initiating vehicle movement in accordance with the driver's wishes. Attached Figure Description

[0022] Figure 1 This is a structural diagram of the vehicle control device according to an embodiment of the present invention.

[0023] Figure 2 This is a diagram showing the stopped state and the reverse state of a vehicle equipped with the vehicle control device according to an embodiment of the present invention on an uphill road.

[0024] Figure 3 This is a flowchart illustrating the locking determination operation of the vehicle control device in an embodiment of the present invention.

[0025] Figure 4 This is a flowchart illustrating the operation of the maximum torque position notification of the vehicle control device in an embodiment of the present invention.

[0026] Figure 5 This is a graph showing the relationship between the rotation angle (mechanical angle) of the rotary motor of the vehicle control device in an embodiment of the present invention and the output torque and output torque.

[0027] Figure 6 This is a graph showing the changes in the output torque and rotation angle (mechanical angle) of the rotary motor of the vehicle control device in an embodiment of the present invention.

[0028] Figure 7 This is a flowchart illustrating the operation of the maximum torque position notification of the vehicle control device in a modified embodiment of the present invention. Detailed Implementation

[0029] Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0030] Figure 1 This is a structural diagram of the vehicle control device 10 in the embodiment. Figure 2 This is a diagram showing the stopped state and the reverse state of the vehicle 1 equipped with the vehicle control device 10 of the embodiment on an uphill road.

[0031] The vehicle control device 10 of the embodiment is mounted on an electric vehicle 1. The electric vehicle 1 includes, for example, at least one of a power source such as a battery, a fuel cell, and an internal combustion engine, and a rotary motor for driving. The vehicle 1 of the embodiment is, for example, a motorized two-wheeled vehicle that is an electric straddle-type vehicle.

[0032] like Figure 1 As shown, the vehicle control device 10 includes, for example, a battery 11, a rotary motor 12 (notification device), a power conversion device 13 (notification device), a front braking device 14, a rear braking device 15, an audio device 16 (notification device), a display device 17 (notification device), a rotation angle sensor 21, a speed sensor 22, an accelerator position sensor 23 (accelerator operation sensor), a front brake sensor 24 (brake operation sensor, first brake operation sensor), a rear brake sensor 25 (brake operation sensor, second brake operation sensor), and a control unit 31 (control device).

[0033] The battery 11 is, for example, a high-voltage battery that serves as the power source for the vehicle 1. The battery 11 includes a battery casing and multiple battery modules housed within the battery casing. Each battery module includes multiple battery cells connected in series or in parallel.

[0034] The rotary motor 12, for example, is used for driving the vehicle 1, generating rotational driving force by utilizing electricity supplied from the battery 11 via the power conversion device 13 for powered operation. The rotating shaft of the rotary motor 12 (not shown) is, for example... Figure 2 It is connected to the rear wheel RW, which serves as the drive wheel of vehicle 1, as shown. The rotary motor 12 can also generate electricity by regenerating the rotational power input from the wheel side to the rotation shaft.

[0035] The rotary motor 12 is, for example, a three-phase AC brushless DC motor. The three phases are U-phase, V-phase, and W-phase. The rotary motor 12 has a rotating component and a stationary component. The rotating component has a permanent magnet for excitation, and the stationary component has a three-phase stator winding that generates a rotating magnetic field that causes the rotating component to rotate.

[0036] Figure 1The power conversion device 13 shown includes, for example, a power converter that converts DC power to AC power, and a voltage converter that performs bidirectional voltage conversion, such as boosting and bucking. Each converter includes, for example, a component module formed by multiple switching elements and rectifier elements connected in a multi-phase bridge configuration, and a capacitor for smoothing.

[0037] The switching elements are, for example, transistors such as IGBTs (Insulated Gate Bipolar Transistors) or MOSFETs (Metal-Oxide Semiconductor Field Effect Transistors). The rectifier elements are, for example, freewheeling diodes connected in forward parallel from the emitter to the collector between the collector and emitter of each transistor.

[0038] The smoothing capacitor smooths out the voltage fluctuations that occur as each switching element switches on and off.

[0039] The power conversion device 13 transmits and receives power from the rotating motor 12 based on signals input from the control unit 31, thereby controlling the operation of the rotating motor 12. For example, during the operation of the rotating motor 12, the power conversion device 13 converts the DC power input from the positive and negative terminals into three-phase AC power and supplies it to the rotating motor 12. The power conversion device 13 generates rotational driving force by sequentially commutating the energization of the three-phase stator windings of the rotating motor 12. For example, during regeneration of the rotating motor 12, the power conversion device 13 converts the three-phase AC power input from the three-phase AC terminals into DC power by driving the switching elements of each phase, synchronized with the rotation of the rotating motor 12, to turn on (conduct) and off (cut off). The power conversion device 13 can supply the DC power converted from the three-phase AC power to the battery 11.

[0040] The front braking device 14 and the rear braking device 15 are, for example, hydraulic disc brakes. Each braking device 14, 15 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake control unit. The brake control unit controls the electric motor based on information input from the control unit 31 or the brake operating element, thereby outputting braking torque to the front wheel (FW) and the rear wheel (RW) respectively. Each braking device 14, 15 includes, for example, a mechanism that, in addition to the hydraulic pressure generated by the electric motor, also transmits hydraulic pressure generated by the operation of the brake operating element to the master cylinder via the master cylinder. It should be noted that each braking device 14, 15 is not limited to the above structure; it is also possible to control the actuator based on information input from the control unit 31 or the brake operating element, thereby transmitting hydraulic pressure from the master cylinder to the master cylinder.

[0041] like Figure 2 As shown, the front braking device 14 includes, for example, a brake lever 41 (first brake operating member), which serves as a front brake operating member positioned relative to the front wheel FW, which is a driven wheel. The rear braking device 15 includes, for example, a brake pedal 42 (second brake operating member), which serves as a rear brake operating member positioned relative to the rear wheel RW, which is a drive wheel.

[0042] The audio device 16 includes, for example, a loudspeaker and a buzzer.

[0043] The display device 17 includes, for example, a touch panel and a light. The touch panel may be a multi-information display, such as a liquid crystal display or an organic EL display.

[0044] The rotation angle sensor 21, such as a rotary transformer, detects the rotation angle of the rotary motor 12. The rotation angle sensor 21 outputs, for example, an analog signal of a two-phase AC voltage that varies according to the rotation angle, as a detection signal for the rotation angle of the rotary motor 12. The analog signal output from the rotation angle sensor 21 is converted into digital angle data, for example, by a control unit 31.

[0045] The speed sensor 22 detects the speed of the vehicle 1, for example, based on the rotational speed of the driven wheel, and outputs a speed detection signal.

[0046] The accelerator position sensor 23 may be a magnetic sensor, for example, composed of a contactless Hall element. The accelerator position sensor 23 may detect accelerator operation and output a detection signal of accelerator operation, which is the accelerator position that changes according to the operation of the accelerator lever by the driver of vehicle 1.

[0047] The front brake sensor 24 and the rear brake sensor 25 are, for example, hydraulic sensors or stroke sensors. The front brake sensor 24 detects, for example, the operation of the brake lever 41 by the driver of the vehicle 1 or the hydraulic braking operation caused by the operation of the brake lever 41, and outputs a braking operation detection signal. The rear brake sensor 25 detects, for example, the operation of the brake pedal 42 by the driver of the vehicle 1 or the hydraulic braking operation caused by the operation of the brake pedal 42, and outputs a braking operation detection signal.

[0048] The control unit 31 includes, for example, a driving control device 32 and an HMI (Human Machine Interface) control device 33. Each control device 32 and 33 functions as a software functional unit, for example, by executing a predetermined program by a processor such as a CPU (Central Processing Unit). The software functional unit is an ECU (Electronic Control Unit) that includes a processor such as a CPU, ROM (Read-Only Memory) for storing programs, RAM (Random Access Memory) for temporarily storing data, and electronic circuits such as timers. It should be noted that at least a portion of each control device 32 and 33 may also be an integrated circuit such as an LSI (Large Scale Integration).

[0049] The driving control device 32 controls the power conversion device 13, the front braking device 14 and the rear braking device 15 respectively based on the detection signals output from each sensor 21, 22, 23, 24 and 25 and the control signals output from the HMI control device 33.

[0050] The driving control device 32 generates, for example, a control signal for outputting the desired torque (rotational driving force) through the power operation of the rotary motor 12 by means of pulse width modulation.

[0051] The driving control device 32 generates control signals, for example, by pulse width modulation, to output the desired torque from the rotating motor 12 and to notify the driver of prescribed information by sound generated from the rotating motor 12. The driving control device 32 notifies the driver of prescribed information by varying the volume, timbre (waveform generated by the frequency components of the sound) and interval of the so-called magnetic excitation sound, which is the sound generated by magnetostriction caused by the excitation of the stator windings of the rotating motor 12.

[0052] The driving control device 32 generates switching commands (e.g., door signals, etc.) to drive the switching elements of the power conversion device 13 to be turned on and off based on the amplification and level shift of the generated control signal. The driving control device 32 controls the energization of the rotary motor 12 by inputting the generated switching commands to the power conversion device 13.

[0053] The HMI control unit 33 controls the audio device 16 and the display device 17 respectively based on the detection signals output from each sensor 21, 22, 23, 24, 25 and the control signals output from the driving control unit 32.

[0054] When the rotary motor 12 is in a locked state where its rotation is stopped when energized, the control unit 31 assists the driver in performing a predetermined operation to set the rotation angle of the rotary motor 12 to a predetermined rotation angle, and initiates the driving of the vehicle 1 based on the power of the rotary motor 12 after the predetermined operation is performed.

[0055] The following describes the processing performed by the control unit 31 as an operation of the vehicle control device 10.

[0056] Figure 3 This is a flowchart illustrating the locking determination operation of the vehicle control device 10 in the embodiment. Figure 4 This is a flowchart illustrating the operation of the maximum torque position notification of the vehicle control device 10 in the embodiment. Figure 5 It is a graph showing the relationship between the rotation angle (mechanical angle) of the rotary motor 12 of the vehicle control device 10 in the embodiment and the output torque and output torque. Figure 6 It is a graph showing the changes in the output torque and rotation angle (mechanical angle) of the rotary motor 12 of the vehicle control device 10 in the embodiment.

[0057] For example, the control unit 31 repeats the operation at appropriate time intervals. Figure 3 The following is a series of processes for determining the lock.

[0058] First of all, Figure 3 In step S01 shown, the control unit 31 acquires the detection signals from the accelerator position sensor 23 and the speed sensor 22.

[0059] Next, in step S02, the control unit 31 determines whether the accelerator position is in the open state (i.e., the accelerator operation is greater than zero) and the speed is almost zero for a specified time.

[0060] If the determination result is "yes", the control unit 31 causes the process to proceed to step S03. On the other hand, if the determination result is "no", the control unit 31 causes the process to end.

[0061] Next, in step S03, the control unit 31 notifies the driver that the rotation of the rotary motor 12 has stopped when energized due to increased load, for example, due to an uphill road, and also notifies the driver to perform a prescribed operation to unlock the motor. The control unit 31 notifies the driver, for example, by temporarily reducing the torque output from the rotary motor 12, independent of the driver's accelerator operation. Then, the control unit 31 terminates the process.

[0062] For example, when the control unit 31 performs Figure 3After the processing shown in step S03, execute Figure 4 The maximum torque position notification is a series of processes shown.

[0063] First of all, Figure 4 In step S11 shown, the control unit 31 obtains the detection signals of the front brake sensor 24 and the rear brake sensor 25, and determines whether the release of the braking operation performed by the driver has begun.

[0064] The control unit 31 assumes that the driver, who has identified the locked state of the rotary motor 12 through the execution of the above-described step S03, reduces the accelerator operation to zero before unlocking the motor and stops the vehicle 1 on the uphill road by braking. For the vehicle 1 that has stopped on the uphill road by braking, the control unit 31 determines whether the braking operation was released before reversing began, and thus determines whether the driver has started reversing the vehicle 1.

[0065] If the determination result is "yes", the control unit 31 proceeds to step S12. On the other hand, if the determination result is "no", the control unit 31 repeats the determination process of step S11.

[0066] Next, in step S12, the control unit 31 outputs the torque (holding torque) required to maintain the position of the vehicle 1 from the rotary motor 12. The control unit 31 outputs the holding torque from the rotary motor 12 to prevent the vehicle 1 from rolling backward on the uphill road, for example, by increasing the torque of the rotary motor 12 independently of the driver's accelerator operation.

[0067] For example, Figure 5 The rotation angle R0 and shown Figure 6 As shown at time t0, the holding torque used to maintain the position of vehicle 1 is the torque Tqm0 in the locked state, and is the output torque Tqm corresponding to the rotation angle R0 of the rotary motor 12 in the locked state.

[0068] Next, in Figure 4 In step S13 shown, the control unit 31 reduces the torque output from the rotary motor 12 based on the detection signals of each brake sensor 24, 25, as the amount of brake release performed by the driver increases (i.e., the amount of brake operation decreases).

[0069] For example, Figure 5 The rotation angles R0 to R1 (<R0) shown are as follows: Figure 6As shown from time t0 to time t1, with the reduction of braking operation, the output torque Tq of the rotary motor 12 changes in a manner that gradually decreases from the torque Tqm0 in the locked state. The control unit 31 reduces the torque of the rotary motor 12 in accordance with the braking operation, thereby causing the vehicle 1 on the uphill road to reverse according to the driver's intention and operation.

[0070] It should be noted that, as Figure 5 The rotation angle R1 shown below and Figure 6 As shown at time t1, even if the vehicle 1 is continuously reversing on the uphill road, the output torque Tq of the rotary motor 12 is kept constant by reducing and appropriately maintaining the braking operation after stopping the braking operation.

[0071] Next, in Figure 4 In step S14 shown, the control unit 31 obtains the detection signal of the rotation angle sensor 21, thereby obtaining the rotation angle of the rotary motor 12, which changes with the rotation of the drive wheel (e.g., the rear wheel RW) that accompanies the reversing of the vehicle 1.

[0072] Next, in step S15, the control unit 31 determines whether the rotation angle of the rotary motor 12 has reached the specified rotation angle Rq.

[0073] If the determination result is "yes", the control unit 31 causes the process to proceed to step S17. On the other hand, if the determination result is "no", the control unit 31 causes the process to proceed to step S16.

[0074] like Figure 5 As shown, the rotation angle Rq (<R1) is defined as the rotation angle when the output torque Tqm of the rotary motor 12 becomes the maximum torque Tqmax, for example, the rotation angle when the combined torque of the magnet torque and the reluctance torque of the rotary motor 12 becomes the maximum.

[0075] Next, in Figure 4 In step S16, as shown, the control unit 31 notifies the driver that the rotation angle of the rotary motor 12 has not reached the predetermined rotation angle Rq. The control unit 31 notifies the driver of this failure to reach the specified rotation angle, for example, through a magnetic excitation sound generated by the first excitation of the rotary motor 12. Then, the control unit 31 returns the process to step S13 described above.

[0076] Additionally, in step S17, the control unit 31 notifies the driver that the rotation angle of the rotary motor 12 has reached a predetermined rotation angle Rq. The control unit 31 notifies the driver of this reached rotation angle, for example, through a magnetic excitation sound generated by the second excitation of the rotary motor 12.

[0077] For example, the control unit 31 applies a second excitation, such as the stator winding current that maximizes the volume of the magnetic excitation, to the rotating motor 12 when the rotation angle is consistent with a predetermined rotation angle Rq, so that the volume of the magnetic excitation generated by the second excitation is relatively greater than the volume of the magnetic excitation generated by the first excitation.

[0078] Next, in step S18, the control unit 31 outputs the holding torque required to maintain the position of the vehicle 1 from the rotary motor 12. For example, as Figure 5 The rotation angle Rq shown and Figure 6 As shown at time t2, the holding torque is the torque Tqm0 in the locked state, and is the output torque Tqm corresponding to the rotation angle R0 of the rotary motor 12 in the locked state.

[0079] Next, in Figure 4 In step S19 shown, the control unit 31 determines whether there is a driver braking operation based on the detection signals of each brake sensor 24, 25.

[0080] If the determination result is "no", the control unit 31 repeats the determination process of step S19. On the other hand, if the determination result is "yes", the control unit 31 terminates the process. Afterwards, the control unit 31 activates the rotary motor 12 according to the driver's accelerator operation, thereby assisting the driver in starting the vehicle 1 to move.

[0081] As described above, the vehicle control device 10 of the embodiment, by having a control unit 31, can appropriately assist the vehicle in moving according to the driver's wishes. The control unit 31 assists the driver in releasing the locked state of the rotary motor through the driver's operation, so that the driver can start the vehicle 1 to move.

[0082] Control unit 31 suppresses unwanted backward rolling of vehicle 1 on uphill roads due to insufficient torque of rotary motor 12 by increasing the torque of rotary motor 12 to a holding torque independently of accelerator operation before the driver's braking operation is reduced. Control unit 31 can appropriately assist the driver in reverse rolling of vehicle 1 according to the driver's braking operation by decreasing the torque in response to the reduction of braking operation after the torque increase.

[0083] The control unit 31 can appropriately assist the vehicle 1 in starting to move by notifying the driver that the rotation angle of the rotary motor 12 has reached the specified rotation angle Rq.

[0084] The control unit 31 can quickly unlock the vehicle by urging the driver to perform a prescribed operation when the rotary motor 12 is locked.

[0085] When the rotation angle of the rotary motor 12 is consistent with the predetermined rotation angle Rq, the control unit 31 sets the torque of the rotary motor 12 to a holding torque, independent of accelerator operation, thereby enabling the driver to recognize that the vehicle 1 can begin to move. By enabling the driver to recognize that the vehicle 1 can begin to move, the control unit 31 can urge the driver to perform the operations required to start driving.

[0086] When the control unit 31 detects a braking operation after setting the holding torque, it activates the rotary motor 12 according to the accelerator operation. This suppresses the undesirable backward movement of the vehicle 1 and appropriately assists the vehicle 1 to start moving in accordance with the driver's wishes.

[0087] (Modified Example)

[0088] Hereinafter, variations of the embodiments will be described. It should be noted that the same reference numerals are used for parts that are the same as those in the embodiments described above, and the descriptions are omitted or simplified.

[0089] In the above embodiment, the control unit 31 performs... Figure 3 After the processing shown in step S03, execute Figure 4 The maximum torque position notification shown is processed, but not limited to this. For example, the control unit 31 can also perform the following actions after the driver has performed prescribed operations such as braking the front brake 14 and rear brake 15 and illuminating the emergency flashing indicator lights: Figure 4 The maximum torque position shown indicates the corresponding processing.

[0090] Figure 7 This is a flowchart illustrating the operation of the maximum torque position notification of the vehicle control device 10 in a modified embodiment.

[0091] For example, when the control unit 31 performs Figure 3 After the processing shown in step S03, execute Figure 7 The variation shown illustrates a series of processes for notifying the maximum torque position.

[0092] First of all, Figure 7 In step S21 shown, the control unit 31 determines whether there is a driver's braking operation on the front braking device 14 and the rear braking device 15 based on the detection signals of each braking sensor 24 and 25.

[0093] Control unit 31 assumes that the driver, who has identified the locked state of rotary motor 12 through the execution of the above step S03, reduces the accelerator operation to zero before unlocking the state and stops vehicle 1 on the uphill road by braking. Control unit 31 determines whether to stop vehicle 1 on the uphill road before reversing begins by determining whether there is a braking operation by the driver.

[0094] If the determination result is "yes", the control unit 31 proceeds to step S22. On the other hand, if the determination result is "no", the control unit 31 repeats the determination process of step S21.

[0095] Next, in step S22, the control unit 31 determines whether the driver has initiated the release of the brakes on the front brake device 14.

[0096] If the determination result is "yes", the control unit 31 proceeds to step S23. On the other hand, if the determination result is "no", the control unit 31 repeats the determination process of step S22.

[0097] Next, in step S23, the control unit 31 outputs the torque (holding torque) required to maintain the position of the vehicle 1 from the rotary motor 12. The control unit 31 outputs the holding torque from the rotary motor 12 to prevent the vehicle 1 from rolling backward on the uphill road, for example, by increasing the torque of the rotary motor 12 independently of the driver's accelerator operation.

[0098] For example, Figure 5 The rotation angle R0 shown and Figure 6 As shown at time t0, the holding torque is the torque Tqm0 in the locked state, and is the output torque Tqm corresponding to the rotation angle R0 of the rotary motor 12 in the locked state.

[0099] Next, in Figure 7 In step S24 shown, the control unit 31 determines whether the driver has initiated the release of the brakes on the rear brake device 15.

[0100] If the determination result is "yes", the control unit 31 proceeds to step S25. On the other hand, if the determination result is "no", the control unit 31 repeats the determination process of step S24.

[0101] Next, in step S25, the control unit 31 reduces the torque output from the rotary motor 12 based on the detection signals of each brake sensor 24, 25, as the amount of brake release performed by the driver increases (i.e., the amount of brake operation decreases).

[0102] For example, Figure 5 The rotation angles R0 to R1 (<R0) shown are as follows: Figure 6As shown from time t0 to time t1, with the reduction of braking operation, the output torque Tq of the rotary motor 12 changes in a manner that gradually decreases from the torque Tqm0 in the locked state. The control unit 31 reduces the torque of the rotary motor 12 in accordance with the braking operation, thereby causing the vehicle 1 on the uphill road to reverse according to the driver's intention and operation.

[0103] Next, in Figure 7 In step S26 shown, the control unit 31 obtains the detection signal of the rotation angle sensor 21, thereby obtaining the rotation angle of the rotary motor 12, which changes with the rotation of the drive wheel (e.g., the rear wheel RW) that accompanies the reversing of the vehicle 1.

[0104] Next, in step S27, the control unit 31 determines whether the rotation angle of the rotary motor 12 has reached the specified rotation angle Rq.

[0105] If the determination result is "yes", the control unit 31 causes the process to proceed to step S17. On the other hand, if the determination result is "no", the control unit 31 causes the process to proceed to step S16.

[0106] like Figure 5 As shown, the rotation angle Rq (<R1) is defined as the rotation angle when the output torque Tqm of the rotary motor 12 becomes the maximum torque Tqmax, for example, the rotation angle when the combined torque of the magnet torque and the reluctance torque of the rotary motor 12 becomes the maximum.

[0107] Next, in Figure 7 In step S28, as shown, the control unit 31 notifies the driver that the rotation angle of the rotary motor 12 has not reached the predetermined rotation angle Rq. The control unit 31 notifies the driver of this failure to reach the specified rotation angle, for example, through a magnetic excitation sound generated by the first excitation of the rotary motor 12. Then, the control unit 31 returns the process to step S25 described above.

[0108] Additionally, in step S29, the control unit 31 notifies the driver that the rotation angle of the rotary motor 12 has reached a predetermined rotation angle Rq. The control unit 31 notifies the driver of the arrival of the rotation angle, for example, through a magnetic excitation sound generated by the second excitation of the rotary motor 12.

[0109] For example, the control unit 31 applies a second excitation, such as the stator winding current that maximizes the volume of the magnetic excitation, to the rotating motor 12 when the rotation angle is consistent with a predetermined rotation angle Rq, so that the volume of the magnetic excitation generated by the second excitation is relatively greater than the volume of the magnetic excitation generated by the first excitation.

[0110] Next, in step S30, the control unit 31 outputs the holding torque required to maintain the position of the vehicle 1 from the rotary motor 12. For example, as Figure 5 The rotation angle Rq shown and Figure 6 As shown at time t2, the holding torque is the torque Tqm0 in the locked state, and is the output torque Tqm corresponding to the rotation angle R0 of the rotary motor 12 in the locked state.

[0111] Next, in Figure 7 In step S31 shown, the control unit 31 determines whether there is a driver braking operation based on the detection signals of each brake sensor 24, 25.

[0112] If the determination result is "no", the control unit 31 repeats the determination process of step S31. On the other hand, if the determination result is "yes", the control unit 31 terminates the process. Afterwards, the control unit 31 activates the rotary motor 12 according to the driver's accelerator operation, thereby assisting the vehicle 1 to start moving.

[0113] According to the above-described modification, the control unit 31 controls the torque of the rotary motor 12 based on the driver's operation of each of the multiple braking components (brake lever 41 and brake pedal 42), thereby providing more detailed assistance to the driver in reversing the vehicle 1 to release the locked state of the rotary motor 12.

[0114] The control unit 31 reduces torque according to the driver's operation of the brake pedal 42 on the brake drive wheel (e.g., the rear wheel RW), which can easily reflect the driver's intention to reverse the vehicle 1 as desired by the driver.

[0115] In the above embodiment, the control unit 31 reduces the torque of the rotary motor 12 as shown in step S03 and notifies the driver of information by increasing the volume of the magnetic excitation sound generated by the excitation of the rotary motor 12 as shown in each of steps S16, 17, 28, and 29, but is not limited thereto.

[0116] The control unit 31 can also notify the driver of information through vibrations generated by the excitation of the rotary motor 12, the timbre of the magnetic excitation sound, and the interval of the sound output. The control unit 31 can also notify the driver of information through appropriate means that the driver can recognize, such as the outputs of the audio device 16 and the display device 17. For example, when the rotation angle of the rotary motor 12 changes from the locked rotation angle R0 to a predetermined rotation angle Rq due to the driver's reversing of the vehicle 1, various notification methods can be controlled to gradually increase the driver's awareness by gradually decreasing the interval of the sound output.

[0117] In the above embodiments, the control unit 31 can also execute... Figure 3 The process shown in step S03 is executed after that. Figure 4 or Figure 7 In the case of the maximum torque position notification shown, the driver is notified that auxiliary control for releasing the locked state of the rotary motor 12 is being performed.

[0118] In the above embodiment, the drive wheels of vehicle 1 are the rear wheels RW, but it is not limited to this. The drive wheels of vehicle 1 can also be the front wheels FW.

[0119] In the above embodiments, vehicle 1 is, for example, a straddle-mounted vehicle where the driver rides over the vehicle body, like a motorized two-wheeled vehicle, but it is not limited to this and can also be a vehicle with other riding postures besides straddle-mounted.

[0120] The embodiments of the present invention have been described by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope or spirit of the invention, and are included within the scope of the invention as set forth in the claims and its equivalents.

Claims

1. A vehicle control device, wherein, The vehicle control device includes: A rotary electric motor connected to the vehicle's drive wheels; A power conversion device that transmits and receives power from the rotating motor; and A control device that controls the operation of the power conversion device. When the rotary motor is in a locked state where its rotation is stopped when energized, the control device assists the driver of the vehicle in performing a predetermined operation to set the rotation angle of the rotary motor to a predetermined angle, and initiating the vehicle's movement based on the power of the rotary motor after the predetermined operation is performed. The specified rotation angle is the rotation angle when the output torque of the rotary motor is at its maximum.

2. The vehicle control device according to claim 1, wherein, The vehicle control device includes: An accelerator operation sensor detects the driver's accelerator operation on the vehicle and outputs a detection signal of the accelerator operation; and A brake operation sensor detects the driver's braking operation on the vehicle and outputs a detection signal of the braking operation. When the rotating motor is in the locked state, the control device increases the torque of the rotating motor independently of the accelerator operation, and then decreases the torque in response to the reduction of the braking operation.

3. The vehicle control device according to claim 2, wherein, The vehicle control device includes a first braking actuator and a second braking actuator that enable the vehicle to perform different braking actions. The braking operation sensor includes: A first brake operation sensor detects the driver's operation on the first brake operation component and outputs a detection signal of the operation of the first brake operation component. as well as The second brake operation sensor detects the driver's operation on the second brake operating component and outputs a detection signal of the operation of the second brake operating component. When the rotary motor is in the locked state, and the operation of the first braking actuator is below a predetermined level, the control device increases the torque of the rotary motor independently of the accelerator operation. After increasing the torque, the torque is reduced in response to the reduction of the operation of the second braking actuator.

4. The vehicle control device according to claim 3, wherein, The first braking actuator brakes the wheels other than the drive wheel. The second braking actuator brakes the drive wheel.

5. The vehicle control device according to any one of claims 1 to 4, wherein, The vehicle control device includes: A rotation angle sensor detects the rotation angle of the rotating motor and outputs a detection signal of the rotation angle; and A notification device that notifies the driver of prescribed information via control of the control device. When the rotation angle is consistent with the specified rotation angle, the control device notifies the driver that the rotation angle of the rotary motor has been set to the specified rotation angle.

6. The vehicle control device according to any one of claims 1 to 4, wherein, The vehicle control device includes a notification device that notifies the driver of specified information by means of control of the control device. When the rotary motor is in the locked state, the control device notifies the driver to urge them to perform the prescribed operation.

7. The vehicle control device according to any one of claims 1 to 4, wherein, The vehicle control device includes: An accelerator operation sensor detects the driver's accelerator operation on the vehicle and outputs a detection signal of the accelerator operation; and A rotation angle sensor detects the rotation angle of the rotary motor and outputs a detection signal of the rotation angle. When the rotation angle is consistent with the specified rotation angle, the control device sets the torque of the rotary motor to the holding torque required to maintain the position of the vehicle, independent of the operation of the accelerator.

8. The vehicle control device according to claim 7, wherein, The vehicle control device includes a brake operation sensor that detects the driver's braking operation on the vehicle and outputs a detection signal of the braking operation. When the control device detects the braking operation after setting the torque of the rotary motor to the holding torque, it causes the rotary motor to operate according to the accelerator operation.

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