ELECTRIC VEHICLE

Abstract

Electric vehicle (10) with a vehicle body (12), a pair of wheels (20, 22) which are provided in a vehicle width direction of the vehicle body (12), a first motor (26) that drives one of the wheels (20, 22), a second motor (28) that drives the other of the wheels (20, 22), a first inverter circuit (36) comprising a plurality of first switching elements, wherein the first inverter circuit (36) is configured to supply an alternating current electrical power to the first motor (26), a second inverter circuit (38) comprising a plurality of second switching elements, wherein the second inverter circuit (38) is configured to supply alternating current electrical power to the second motor (28), an inverter control device (48) configured to output first switching signals that control the operation of the plurality of first switching elements, and second switching signals that control the operation of the plurality of second switching elements, a first anomaly detection device configured to output a first anomaly signal when an anomaly occurs in the first inverter circuit (36), a second anomaly detection device configured to output a second anomaly signal when an anomaly occurs in the second inverter circuit (38), a plurality of first signal lines (56) configured to transmit the first switching signals from the inverter control device (48) to the first inverter circuit (36), a plurality of second signal lines (58) configured to transmit the second switching signals from the inverter control device (48) to the second inverter circuit (38), and a signal blocking circuit (50) inserted into the plurality of first signal lines (56) and the plurality of second signal lines (58), wherein the signal blocking circuit (50) receives an input of the first anomaly signal and the second anomaly signal, the signal blocking circuit (50) is configured to output first OFF signals to the first inverter circuit (36) instead of the first switching signals from the inverter control device (48) and to output second OFF signals to the second inverter circuit (38) instead of the second switching signals from the inverter control device (48) when at least one of the first anomaly signal and the second anomaly signal is received, wherein the first OFF signals are signals to switch off the plurality of first switching elements and the second OFF signals are signals to switch off the plurality of second switching elements, wherein the first anomaly signal and the second anomaly signal are entered into the inverter control device (48), the inverter control device (48) is configured, to obtain a torque difference between the first motor (26) and the second motor (28) after receiving the first anomaly signal or the second anomaly signal, to send a signal to cause the signal blocking circuit (50) to cancel the output of the first OFF signals, while the first switching signals to reduce the torque difference are generated and output when the torque difference exceeds a specified acceptable value and the first anomaly signal is not received, and to send a signal to cause the signal blocking circuit (50) to cancel the output of the second OFF signals, while the second switching signals to reduce the torque difference are generated and output when the torque difference exceeds the specified acceptable value and the second anomaly signal is not received, and the signal blocking circuit (50) is configured, to output the second switching signals from the inverter control device (48) to the second inverter circuit (38) instead of the second OFF signals when the first anomaly signal is received and then the signal to cancel the output of the second OFF signals from the inverter control device (48) is received, and to output the first switching signals from the inverter control device (48) to the first inverter circuit (36) instead of the first OFF signals when the second anomaly signal is received and then continues to receive the signal to cancel the output of the first OFF signals from the inverter control device (48).

Description

BACKGROUND OF THE INVENTION 1. Field of the invention

[0001] The present invention relates to an electric vehicle. The term "electric vehicle" as used in this description generally refers to a vehicle with a motor that drives wheels. Examples of electric vehicles include electric vehicles that use a battery as a power source, electric vehicles that use fuel cells as a power source (so-called fuel cell vehicles), and electric vehicles that not only have a motor but also a main drive unit such as a power generator (so-called hybrid vehicles). 2. Description of the state of the art

[0002] Publication JP 2010 - 268 566 A discloses a control device for electric vehicles with independent wheel drive, wherein an electric motor is provided for each wheel. The control device includes an anomaly block that determines whether there is an anomaly in the magnetic circuit or the coil of each motor. If an anomaly is detected, an anomaly signal is output to a switching block that sets current command values ​​to zero.

[0003] Patent application US 9,126,599 B2 discloses an electric vehicle with a plurality of motors for individually driving the left and right wheels, a motor anomaly detection device for detecting the occurrence of an anomaly in each of the motors, and a control device for responding to a unilateral anomaly. If an anomaly other than a motor stall is detected in the motor of the left or right wheel located at the same front or rear position of the vehicle, this control device controls the motor of the other wheel so that it approximates the same state as that of the motor in which the anomaly was detected.

[0004] US Patent 2010 / 0027170A1 discloses an electric vehicle comprising a control unit with an overcurrent generation assessment unit, an inverter selection unit, and an inverter drive control unit. The overcurrent generation assessment unit evaluates whether an overcurrent is being generated in either a power generation inverter or a drive inverter. If an overcurrent is generated in one of the inverters, the inverter selection unit selects the other inverter to drive. The inverter drive control unit stops the drive of one inverter and drives the other inverter to power a drive motor or a generator.

[0005] An electric vehicle is disclosed in JP 2013-251991A. The electric vehicle comprises a first motor driving one wheel from a pair of left and right wheels, a second motor driving the other wheel from the pair of left and right wheels, and a first inverter circuit comprising a plurality of switching elements, wherein the first inverter circuit supplies alternating current electrical power to the first motor. The electric vehicle also comprises a second inverter circuit comprising a plurality of switching elements, wherein the second inverter circuit supplies alternating current electrical power to the second motor, and an inverter control device controlling the operation of the first inverter circuit and the second inverter circuit. SUMMARY OF THE INVENTION

[0006] In the electric vehicle described above, a suitable control system for both the first and second motors ensures the proper execution of operations such as forward movement, reverse movement, cornering, and stopping. Therefore, if, for example, an anomaly occurs in the first inverter circuit, the control system for the first motor may fail, potentially leading to unintended behavior of the electric vehicle. Accordingly, if an anomaly occurs in the first inverter circuit, consideration is given to switching off the multiple switching elements of the first inverter circuit to stop the electrical power supply to the first motor. However, even with the electrical power supply to the first motor stopped, the electric vehicle may still exhibit unintended behavior if the electrical power supply to the second motor continues.Accordingly, if an anomaly occurs in the first inverter circuit, it is effective to deactivate not only the numerous switching elements of the first inverter circuit, but also the numerous switching elements of the second inverter circuit. Likewise, if an anomaly occurs in the second inverter circuit, it is effective to deactivate not only the numerous switching elements of the second inverter circuit, but also the numerous switching elements of the first inverter circuit.

[0007] In light of the circumstances described above, it is preferable for the inverter control device to simultaneously perform the processing to switch off the multitude of switching elements of the first inverter circuit and the processing to switch off the multitude of switching elements of the second inverter circuit when an anomaly occurs in either the first or the second inverter circuit. However, the inverter control device is generally configured using a microcomputer or other processors to sequentially execute a multitude of preset processing operations, one after the other, based on pre-installed programs.Therefore, the processes for switching off the numerous switching elements of the first inverter circuit and the process for switching off the numerous switching elements of the second inverter circuit are, strictly speaking, executed at different times. As a result, a measurable time difference is generated between the execution times of the two processes. This means that during this time difference, the electrical power supply to one motor is stopped, while the electrical power supply to the other motor continues, which can cause unintended behavior in the electric vehicle.

[0008] It is an object of the present invention to provide a technology capable of switching off a plurality of switching elements of both the first inverter circuit and the second inverter circuit when an anomaly occurs in one of the inverter circuits.

[0009] This problem is solved by an electric vehicle as specified in claim 1.

[0010] Advantageous embodiments are specified in the dependent patent claims.

[0011] According to the configuration of claim 1, when both the first inverter circuit and the second inverter circuit are operating normally, the first switching signals output by the inverter control device are fed into the first inverter circuit via the plurality of first signal lines, and the second switching signals output by the inverter control device are fed into the second inverter circuit via the second signal lines. Accordingly, the operation of the first motor and the second motor is controlled by the inverter control device. If an anomaly occurs in the first inverter circuit and / or the second inverter circuit, the first anomaly signal and / or the second anomaly signal is fed into the signal blocking circuit.The signal blocking circuit is inserted into the first signal lines and the second signal lines. When the first and / or second anomaly signal is received, first OFF signals and second OFF signals are output instead of the first and second switching signals from the inverter control device. The first OFF signals switch off the first switching elements of the first inverter circuit, and the second OFF signals switch off the second switching elements of the second inverter circuit. Accordingly, if an anomaly occurs in the first inverter circuit and / or the second inverter circuit, the switching elements of both inverter circuits can be switched off simultaneously, regardless of the first and second switching signals output by the inverter control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Features, advantages, and the technical and industrial significance of exemplary embodiments of the invention are described below with reference to the accompanying drawings, in which the same reference numerals denote the same elements. The drawings show: Fig. 1 a front view that schematically illustrates an electric vehicle 10, Fig. 2 a side view that schematically illustrates the electric vehicle 10, Fig. 3 a front view illustrating the electric vehicle 10, which regulates an angle of inclination according to a centrifugal force during cornering, Fig. 4 a front view illustrating the electric vehicle 10, which regulates the tilt angle according to the unevenness of a road surface, Fig. 5 a block diagram illustrating an electrical configuration of the electric vehicle 10, Fig. 6 a circuit diagram illustrating the configuration of a first inverter circuit 36 ​​and a second inverter circuit 38, Fig. 7 a block diagram which schematically illustrates the configuration of a motor control unit 44 according to a first embodiment, Fig. 8 a block diagram which schematically illustrates the configuration of a signal blocking circuit 50 according to the first embodiment, Fig. 9 a truth table of the signal blocking circuit 50 according to the first embodiment, Fig. 10 a time sequence diagram illustrating an operating sequence of the motor control unit 44 according to the first embodiment, Fig. 11 a block diagram which schematically illustrates the configuration of a motor control unit 144 according to a second embodiment, Fig. 12 a block diagram which schematically illustrates the configuration of a signal blocking circuit 150 according to the second embodiment, Fig. 13 a truth table of the signal blocking circuit 150 according to the second embodiment, Fig. 14 a flowchart illustrating an operating sequence of the motor control unit 144 according to the second embodiment, Fig. 15 a time sequence diagram illustrating an operating sequence of the motor control unit 144 according to the second embodiment, and Fig. Figure 16 shows a graphical view that schematically illustrates the relationship between a negative torque and the state of the first inverter circuit 36, wherein the negative torque is output by the first motor 26 when all first switching elements Q1 to Q6 of the first inverter circuit 36 ​​are switched off. The in Fig. The relationship illustrated in Figure 16 is also applied to the second motor 28 and the second inverter circuit 38. DETAILED DESCRIPTION OF EXAMPLES OF EXECUTION (First example of execution)

[0013] An electric vehicle 10 according to an exemplary embodiment is described with reference to the drawings. As it is in Fig. 1 and Fig. As illustrated in Figure 2, the electric vehicle 10 comprises a body 12, a pair of left and right wheels 20 and 22, and a single idler wheel 24. The body 12 is sized and shaped to accommodate a driver. It is equipped with a seat 14 for the driver to sit on. The body 12 is also equipped with a steering device 16 and an acceleration device 18. The steering device 16 is a control unit operated by the driver to steer the electric vehicle 10. The steering device 16 outputs a steering signal according to the driver's input. The acceleration device 18 is a control unit operated by the driver to accelerate the electric vehicle 10. The acceleration device 18 outputs an acceleration signal according to the driver's input.

[0014] The pair of left and right wheels 20, 22 comprises a left wheel 20 and a right wheel 22. The left wheel 20 is positioned on one side (left side) in the width direction of the vehicle body 12. The right wheel 22 is positioned on the other side (right side) in the width direction of the vehicle body 12. The idler wheel 24 is positioned in the center of the width direction of the vehicle body 12. The pivot shafts of the left wheel 20, the right wheel 22, and the idler wheel 24 are each parallel to the width direction of the vehicle body 12. According to one example, in the electric vehicle 10 according to the present embodiment, the pair of left and right wheels 20 is positioned in a front part of the vehicle body 12, and the idler wheel 24 is positioned in a rear part of the vehicle body 12. The electric vehicle 10 can have four or more wheels instead of the three wheels described above.Alternatively, the electric vehicle 10 can have only the pair of left and right wheels 20, 22, and the guide wheel 24 can be omitted.

[0015] The electric vehicle 10 has a first motor 26 that drives the left wheel 20 and a second motor 28 that drives the right wheel 22. In the electric vehicle 10, the left and right wheels 20 and 22 are driven individually by motors that are different from each other. The electric vehicle 10 travels straight ahead by driving the left wheel 20 and the right wheel 22 at the same rotational speed. The electric vehicle 10 turns a curve by driving the left wheel 20 and the right wheel 22 at different rotational speeds. According to one example, the first motor 26 and the second motor 28 in the present embodiment are in-wheel motors. The first motor 26 is arranged on a hub of the left wheel 20, and the second motor 28 is arranged on a hub of the right wheel 22. The first motor 26 and the second motor 28 in the present embodiment are permanent magnet synchronous motors.

[0016] The electric vehicle 10 has a rocker arm 30 and a tilting actuation device 31. The rocker arm 30, which is an element extending in the transverse direction of the vehicle body 12, is pivotally supported relative to the vehicle body 12. A pivot shaft 30a of the rocker arm 30 is arranged parallel to a transverse direction of the vehicle body 12 and is located at the center of the transverse direction of the vehicle body 12. One end of the rocker arm 30 is coupled to the left wheel 20, whereas the other end of the rocker arm 30 is coupled to the right wheel 22. The tilting actuation element 31 is an actuating element that pivots the rocker arm 30 relative to the vehicle body 12. As shown in Fig. 3 and Fig. As illustrated in Figure 4, when the tilting actuator 31 pivots the rocker arm 30, the vertical position of the pair of left and right wheels 20 and 22 changes with respect to the vehicle body 12. Accordingly, when the electric vehicle 10, for example, performs a turn, the vehicle body 12 can be tilted laterally in accordance with the centrifugal force acting on the vehicle body 12 (see Figure 4). Fig. 3) Alternatively, if the electric vehicle 10 travels on a road surface 2 that is not flat, the pair of left and right wheels 20, 22 move up and down according to the unevenness of the road surface, which can prevent the vehicle body 12 from pivoting. A pivot angle of the rocker arm 30 relative to the vehicle body 12 is called the tilt angle.

[0017] Below is an electrical configuration of the electric vehicle 10 with reference to Fig. 5 to 8 described. As it is in Fig. As illustrated in Figure 5, the electric vehicle 10 has a first battery 32 and a second battery 34. The first battery 32 is a DC power supply that provides electrical power to the first motor 26. The second battery 34 is a DC power supply that provides electrical power to the second motor 28. The first battery 32 and the second battery 34 each have a plurality of secondary cells, such as lithium-ion battery cells. One or both of the first battery 32 and the second battery 34 can be DC power supplies of other types, such as fuel cell batteries or solar batteries. The electric vehicle 10 does not necessarily have two DC power supplies, but can have at least one DC power supply that provides electrical power to the first motor 26 and the second motor 28.The DC electrical power supply used here, for example, features a combination of a power generator driven by a power machine and an AC-DC converter.

[0018] The electric vehicle 10 has a first inverter circuit 36 ​​and a second inverter circuit 38. The first inverter circuit 36 ​​is located between the first battery 32 and the first motor 26. The first inverter circuit 36 ​​converts the direct current (DC) power from the first battery 32 into alternating current (AC) power, and the AC power is supplied to the first motor 26. Similarly, the second inverter circuit 38 is located between the second battery 34 and the second motor 28. The second inverter circuit 38 converts the DC power from the second battery 34 into alternating current (AC) power and supplies the AC power to the second motor 28. Both the first motor 26 and the second motor 28 are three-phase motors, and both the first inverter circuit 36 ​​and the second inverter circuit 38 are three-phase inverters.This means that the first inverter circuit 36 ​​and the second inverter circuit 38 each supply the first motor 26 and the second motor 28 with the electrical three-phase alternating current power with a U-phase, a V-phase and a W-phase.

[0019] The electric vehicle 10 has a first current sensor 40 and a second current sensor 42. The first current sensor 40 detects three-phase AC components Iu1, Iv1, and Iw1, each flowing into the first motor 26. The second current sensor 42 detects three-phase AC components Iu2, Iv2, and Iw2, each flowing into the second motor 28. The specific configuration of the first current sensor 40 and the second current sensor 42 is not particularly restricted. For example, the first current sensor 40 and the second current sensor 42 can each be configured with a variety of current sensing elements, such as Hall effect sensors.

[0020] The electric vehicle 10 has a motor control unit 44 and an integrated control unit 46. The motor control unit 44 and the integrated control unit 46 are interconnected for communication purposes. The integrated control unit 46 is also connected to the steering device 16 and the acceleration device 18. The steering signal and the acceleration signal described above are input into the integrated control unit 46. The integrated control unit 46 determines a target torque value Tt1 for the first motor 26 and a target torque value Tt2 for the second motor 28 based on the steering signal, the acceleration signal, and other vehicle states. The determined target torque values ​​Tt1 and Tt2 are communicated to the motor control unit 44. The integrated control unit 46 is also interconnected for communication purposes with the tilt actuator 31.Control of the operation of the tilt actuating element 31 enables the integrated control unit 46 to regulate a tilt angle of the vehicle body 12.

[0021] The motor control unit 44 outputs a variety of primary control signals SA1 to SA6 to the first inverter circuit 36 ​​to control its operation. As a result, the operation of the first motor 26 is controlled. The motor control unit 44 also outputs a variety of secondary control signals SA7 to SA12 to the second inverter circuit 38 to control its operation. As a result, the operation of the second motor 28 is controlled. The motor control unit 44 is connected to the first current sensor 40 and the second current sensor 42, so that the current values ​​Iu1, Iv1, and Iw1 of the first motor 26 and the current values ​​Iu2, Iv2, and Iw2 of the second motor 28 are input into the motor control unit 44. The motor control unit 44 also receives input of the first monitoring signals FL1 and FL6 and the second monitoring signals FL7 to FL12 described below.Based on the various input indices, the motor control unit 44 generates the multitude of first control signals SA1 to SA6 and the multitude of second control signals SA7 to SA12.

[0022] As it is in Fig. As illustrated in Figure 6, the first inverter circuit 36 ​​has a plurality of first switching elements Q1 to Q6, a plurality of diodes D1 to D6 and a plurality of driver circuits G1 to G6.The plurality of first switching elements Q1 to Q6 includes switching element Q1, which is provided between a U-phase terminal of the first motor 26 and a positive electrode of the first battery 32; switching element Q2, which is provided between the U-phase terminal of the first motor 26 and a negative electrode of the first battery 32; switching element Q3, which is provided between a V-phase terminal of the first motor 26 and the positive electrode of the first battery 32; switching element Q4, which is provided between the V-phase terminal of the first motor 26 and the negative electrode of the first battery 32; switching element Q5, which is provided between a W-phase terminal of the first motor 26 and the positive electrode of the first battery 32; and switching element Q6, which is provided between the W-phase terminal of the first motor 26 and the negative electrode of the first battery 32.The switching elements Q1 to Q6 are each connected in reverse parallel to a corresponding diode from the plurality of diodes D1 to D6. The switching elements Q1 to Q6 are connected to a corresponding circuit from the plurality of driver circuits G1 to G6. For each of the first switching elements Q1 to Q6, an insulated-gate bipolar transistor (IGBT) or a metal-oxide-semiconductor field-effect transistor (MOSFET) can be used, although the first switching elements Q1 to Q6 are not specifically restricted in this respect.

[0023] The second inverter circuit 38 has a plurality of second switching elements Q7 to Q12, a plurality of diodes D7 to D12 and a plurality of driver circuits G7 to G12.The plurality of second switching elements Q7 to Q12 includes switching element Q7, which is provided between a U-phase terminal of the second motor 28 and a positive electrode of the second battery 34; switching element Q8, which is provided between the U-phase terminal of the second motor 28 and a negative electrode of the second battery 34; switching element Q9, which is provided between a V-phase terminal of the second motor 28 and the positive electrode of the second battery 34; switching element Q10, which is provided between the V-phase terminal of the second motor 28 and the negative electrode of the second battery 34; switching element Q11, which is provided between a W-phase terminal of the second motor 28 and the positive electrode of the second battery 34; and switching element Q12, which is provided between the W-phase terminal of the second motor 28 and the negative electrode of the second battery 34.The switching elements Q7 to Q12 are each connected antiparallel to a corresponding diode from the set of diodes D7 to D12. Each switching element Q7 to Q12 is connected to a corresponding driver circuit from the set of driver circuits G7 to G12. An IGBT or a MOSFET can be used for the driver circuits Q7 to Q12, although the second switching elements Q7 to Q12 are not specifically restricted to either.

[0024] As it is in Fig. As illustrated in Figure 6, the first control signals SA1 to SA6, output by the motor control unit 44, are each fed into a corresponding circuit from the plurality of drive circuits G1 to G6 of the first inverter circuit 36. The driver circuits G1 to G6 each switch an element from the plurality of switching elements Q1 to Q6 on and off in response to a signal from the received first control signals SA1 to SA6. Each of the plurality of first control signals SA1 to SA6 is a binary signal that changes between a high level and a low level. For example, a first control signal SA1 is fed into the driver circuit G1, which is connected to a first switching element Q1. The driver circuit G1 switches on the corresponding first switching element Q1 when the received first control signal SA1 is at the high level.Driver circuit G1 switches off the corresponding first switching element Q1 when the received first control signal SA1 is at a low level. Similarly, the other driver circuits G2 to G6 switch on the corresponding first switching elements Q2 to Q6 when the received first control signals SA2 to SA6 are at a high level. Driver circuits G2 to G6 switch off the corresponding first switching elements Q2 to Q6 when the received first control signals SA2 to SA6 are at a low level.

[0025] Similarly, each of the multiple second control signals SA7 to SA12 output by the motor control unit 44 is input into a corresponding circuit from the multiple driver circuits G7 to G12 of the second inverter circuit 38. Each of the multiple driver circuits G7 to G12 switches an element from the multiple second switching elements Q7 to Q12 on and off in response to a signal from the received second control signals SA7 to SA12. Each of the multiple second control signals SA7 to SA12 is also a binary signal that changes between a high level and a low level. For example, a second control signal SA7 is input into the driver circuit G7 connected to a second switching element Q7. The driver circuit G7 switches on the corresponding second switching element Q7 when the received second control signal SA7 is at the high level.Driver circuit G7 switches off the corresponding second switching element Q7 when the received second control signal SA7 is at a low level. Similarly, the other driver circuits G8 to G12 switch on the corresponding second switching elements Q8 to Q12 when the received second control signals SA8 to SA12 are at a high level. Driver circuits G8 to G12 switch off the corresponding second switching elements Q8 to Q12 when the received second control signals SA8 to SA12 are at a low level.

[0026] The multiple driver circuits G1 to G6 of the first inverter circuit 36 ​​each output the first monitoring signals FL1 to FL6. Each of the first monitoring signals FL1 to FL6 is a binary signal that alternates between a low level, indicating normality, and a high level, indicating an anomaly. Each of the multiple driver circuits G1 to G6 monitors the normality or anomaly of a corresponding element from the multiple first switching elements Q1 to Q6. For example, driver circuit G1 monitors the associated first switching element Q1. Driver circuit G1 outputs a first monitoring signal FL1 at a low level when the first switching element Q1 is normal, and outputs a first monitoring signal FL1 at a high level when an anomaly occurs in the first switching element Q1.Examples of anomalies of the first switching element Q1 that can be detected by the driver circuit G1 include an overcurrent of the first switching element Q1, overheating of the first switching element Q1, and a short circuit of the first switching element Q1. In any case, the driver circuit G1 outputs a first monitoring signal FL1 at a high level when the electrical power supplied to the driver circuit G1 itself becomes insufficient (loss of power supply). Similarly, the other driver circuits G2 to G6 normally output first monitoring signals FL2 to FL6, each at a low level. If an anomaly occurs in the corresponding first switching elements Q2 to Q6, or if a loss of power supply occurs in the driver circuits G2 to G6 themselves, the driver circuits G2 to G6 each output first monitoring signals FL2 to FL6 at a high level.The first monitoring signals FL1 to FL2, output by the plurality of driver circuits G1 to G6, are input into the motor control unit 44. The plurality of driver circuits G1 to G6 are examples of devices or circuits that detect an anomaly occurring in the first inverter circuit 36. The first inverter circuit 36 ​​may include devices or circuits that detect various types of anomalies occurring in the first inverter circuit 36, instead of or in addition to the plurality of driver circuits G1 to G6.

[0027] The plurality of driver circuits G7 to G12 of the second inverter circuit 38 each output the second monitoring signals FL7 to FL12. As in the first inverter circuit 36 ​​described above, the driver circuits G7 to G12 normally output second monitoring signals FL7 to FL12 at a low level. If an anomaly occurs in the corresponding second switching element Q7 to Q12, or if a loss of power occurs in the driver circuits G7 to G12 themselves, the driver circuits G7 to G12 each output second monitoring signals FL7 to FL12 at a high level. The second inverter circuit 38 may also include devices or circuits that detect various types of anomalies occurring in the second inverter circuit 38, instead of or in addition to the plurality of driver circuits G7 to G12.

[0028] The configuration of the engine control unit 44 is described with reference to Fig. The motor control unit 44 is described in section 7. It comprises an inverter control device 48, a signal blocking circuit 50, and two OR gates 52 and 54. The inverter control device 48 is configured with a processor (for example, a microcomputer) to perform various types of processing by executing pre-installed programs. The inverter control device 48 receives input of the torque setpoint Tt1 of the first motor 26, the torque setpoint Tt2 of the second motor 28, the current values ​​Iu1, Iv1, Iw1 of the first motor 26, and the current values ​​Iu2, Iv2, and Iw2 of the second motor 28. The inverter control device 48 calculates an actual torque of the first motor 26 based on the current values ​​Iu1, Iv1, and Iw1 of the first motor 26.The inverter control device 48 then generates and outputs initial switching signals SB1 to SB6 based on a deviation of the torque setpoint Tt1 of the first motor 26 from the actual torque. Each of the initial switching signals SB1 to SB6 is a pulse-width modulation (PWM) control signal, which is a binary signal that changes between a high level and a low level. The initial switching signals SB1 to SB6 of the inverter control device 48 are normally output from the motor control unit 44 through a plurality of initial signal lines 56 and are input into the first inverter circuit 36 ​​as the initial control signals SA1 to SA6. Consequently, the operation of the first motor 26 is controlled such that the actual torque of the first motor 26 equals the torque setpoint Tt1.

[0029] Similarly, the inverter control device 48 calculates an actual torque of the second motor 28 based on the current values ​​Iu2, Iv2, and Iw2 of the second motor 28. The inverter control device 48 then generates and outputs second switching signals SB7 to SB12 based on a deviation of the torque setpoint Tt2 of the second motor 28 from the actual torque. Each of the second switching signals SB7 to SB12 is also a PWM control signal, which is a binary signal that changes between a high level and a low level. The second switching signals SB7 to SB12 of the inverter control device 48 are normally output from the motor control unit 44 via a plurality of second signal lines 58 and are input into the second inverter circuit 48 as the second control signals SA7 to SA12.Consequently, the operation of the second motor 28 is controlled such that the actual torque of the second motor 28 equals the target torque value Tt2. The control method of the first motor 26 and the second motor 28 is not particularly restricted by the inverter control device 48. According to one example, vector control is used in the inverter control device 48 as described in the present embodiment.

[0030] An OR gate 52 receives the plurality of first monitoring signals FL1 to FL6 and outputs a single first integrated monitoring signal FLL. The first integrated monitoring signal FLL is a binary signal that alternates between a high level and a low level. When all of the plurality of first monitoring signals FL1 to FL6 are at a low level, the first integrated monitoring signal FLL is also at a low level. When at least one of the plurality of first monitoring signals FL1 to FL6 is at a high level, the first integrated monitoring signal FLL is at a high level. That is, if an anomaly occurs in the first inverter circuit 36, the first integrated monitoring signal FLL becomes a high-level signal. The first integrated monitoring signal FLL is fed into the inverter control device 48 and the signal blocking circuit 50.

[0031] Similarly, the other OR gate 54 receives the plurality of second monitoring signals FL7 to FL12 and outputs a single second integrated monitoring signal FLR. The second integrated monitoring signal FLR is also a binary signal that changes between a high level and a low level. If all of the plurality of second monitoring signals FL7 to FL12 are at a low level, the second integrated monitoring signal FLR is also at a low level. If at least one of the plurality of second monitoring signals FL7 to FL12 is at a high level, the second integrated monitoring signal FLR is at a high level. That is, if an anomaly occurs in the second inverter circuit 38, the second integrated monitoring signal FLR becomes a signal at a high level.The second integrated monitoring signal FLR is also input into the inverter control device 48 and the signal blocking circuit 50.

[0032] Upon receiving at least one of the first integrated monitoring signal FLL at a high level and the second integrated monitoring signal FLR at a high level, the inverter control device 48 ignores the torque setpoints Tt1 and Tt2 from the integrated control unit 46 and fixes the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 at a low level. Once the first switching signals SB1 to SB6 are fixed at a low level, all of the first switching elements Q1 to Q6 of the first inverter circuit 36 ​​are switched off and the electrical power supply to the first motor 26 is stopped. Similarly, once the level of the second switching signals SB7 to SB12 is fixed at a low level, all of the second switching elements Q7 to Q12 of the second inverter circuit 38 are switched off and the electrical power supply to the second motor 28 is stopped.Thus, if an anomaly occurs in at least one of the first inverter circuit 36 ​​and the second inverter circuit 38, the inverter control device 48 generates the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 in such a way that the electrical power supply to both the first motor 26 and the second motor 28 is stopped, and outputs them.

[0033] The signal blocking circuit is interposed between the plurality of first signal lines 56 and the plurality of second signal lines 58. The signal blocking circuit 50 receives an input of the first integrated monitoring signal FLL and the second integrated monitoring signal FLR. Upon receiving at least one of the first integrated monitoring signal FLL at a high level and the second integrated monitoring signal FLR at a high level, the signal blocking circuit 50 blocks the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 from the inverter control device 48 and outputs first OFF signals and second OFF signals in place of the blocked signals. The first OFF signals are signals for switching off all first switching elements Q1 to Q6. According to the present embodiment, the first OFF signals are fixed at a low level.The second OFF signals are signals for switching off all second switching elements Q7 to Q12. According to the present embodiment, the second OFF signals are fixed at a low level. The first OFF signals are output to the first inverter circuit 36 ​​via the plurality of first signal lines 56 from the motor control unit 44 as the first control signals SA1 to SA6. The second OFF signals are output to the second inverter circuit 38 via the plurality of second signal lines 58 from the motor control unit 44 as the second control signals SA7 to SA12.

[0034] Fig. Figure 8 illustrates the configuration of the signal blocking circuit 50 according to the present embodiment. The configuration of the signal blocking circuit 50 as described here is merely an example, and its specific configuration is not particularly restricted. As shown in Fig. As illustrated in Figure 8, the signal blocking circuit 50 comprises a first NOR gate 60, a second NOR gate 62, a plurality of first AND gates 64, and a plurality of second AND gates 66. The first NOR gate 60 and the second NOR gate 62 each receive an input of the first integrated monitoring signal FLL and the second integrated monitoring signal FLR, respectively. The first NOR gate 60 and the second NOR gate 62 each output a high-level signal only when both the first integrated monitoring signal FLL and the second integrated monitoring signal FLR are at a low level. An output signal from the first NOR gate 60 is input to each of the plurality of first AND gates 64. An output signal from the second NOR gate 62 is input to each of the plurality of second AND gates 66.Each of the first AND gates 64 is connected in a corresponding line from the first signal lines 56. This means that the first control signals SA1 to SA6 from the inverter control device 48 are input to each of the first AND gates 64 together with the output signal of the first NOR gate 60. Output signals from the first AND gates 64 are output to the first inverter circuit 36 ​​from the motor control unit 44 as the first control signals SA1 to SA6. Similarly, each of the second AND gates 66 is connected in a corresponding line from the second signal line 58. This means that the second control signals SA7 to SA12 from the inverter control device 48 are output to each of the second AND gates 66 together with the output signal of the second NOR gate 62.Output signals from the multitude of second AND gates 66 are output to the second inverter circuit 38 from the motor control unit 44 as the second control signals SA7 to SA12.

[0035] Fig. Figure 9 illustrates a truth table for signal blocking circuit 50. In the table of Fig. Column 9 lists the values ​​of the first integrated monitoring signal FLL in a column "FLL" and the values ​​of the second integrated monitoring signal FLR in a column "FLR". A column "SB1 to SB6, SB7 to SB12" lists the values ​​of the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 that are input to the signal blocking circuit 50. A column "SA1 to SA6, SA7 to SA12" lists the values ​​of the first control signals SA1 to SA6 and the second control signals SA7 to SA12 that are output from the signal blocking circuit 50. In the table, the letter "H" represents a high level, and the letter "L" represents a low level. As can be seen from the Fig. 8 and Fig. As can be seen from Figure 9, when both the first integrated monitoring signal FLL and the second integrated monitoring signal FLR are at a low level, the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 input to the signal blocking circuit 50 are equivalent to the first control signals SA1 to SA6 and the second control signals SA7 to SA12 output from the signal blocking circuit 50. That is, when both the first inverter circuit 36 ​​and the second inverter circuit 38 are normal, the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 are input by the inverter control device to the first inverter circuit 36 ​​and the second inverter circuit 38, respectively, as the first control signals SA1 to SA6 and the second control signals SA7 to SA12.If at least one of the first integrated monitoring signal FLL and the second integrated monitoring signal FLR is at a high level, the first control signals SA1 to SA6 and the second control signals SA7 to SA12 output from the signal blocking circuit 50 are fixed at a low level, irrespective of the values ​​of the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12. The first control signals SA1 to SA6, fixed at a low level, are signals that switch off all of the first switching elements Q1 to Q6 of the first inverter circuit 36. These signals are examples of the first OFF signals described above. Similarly, the second control signals SA1 to SA12, fixed at a low level, are signals that switch off all of the second switching elements Q7 to Q12 of the second inverter circuit 38.The signals are examples of the second OFF signals described above.

[0036] With reference to Fig. Section 10 describes the operation of the motor control unit 44 using a case in which an anomaly occurs in any of the first switching elements Q1 to Q6 as an example. If an anomaly occurs at time t1 in any of the first switching elements Q1 to Q6, a first integrated monitoring signal FLL at a high level is input into the inverter control device 48 and the signal blocking circuit 50.

[0037] Upon receiving the first integrated monitoring signal FLL at a high level, the inverter control device 48 sets all of the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 to a low level in order to stop the electrical power supply to the first motor 26 and the second motor 28. However, the inverter control device 48 is configured with a processor so that a variety of preset operations are executed sequentially based on installed programs. Therefore, the operation of setting the first switching signals SB1 to SB6 to a low level is completed at time t2, which is later than time t1. The operation of setting the second switching signals SB7 to SB12 to a low level is completed by time t3, which is even later than time t2.For example, the time period from time t1 to time t2 and the time period from time t2 to time t3 could be a few microseconds or a few tens of microseconds.

[0038] It is now assumed that the signal blocking circuit 50 is not present. In this case, the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12, which are output by the inverter control device 48, are fed into the first inverter circuit 36 ​​and the second inverter circuit 38, respectively. Between time t1 and time t2, electrical power is continuously supplied to the first motor 26 by the first inverter circuit 36, in which the anomaly occurred. In this case, the first motor 26 is not controlled properly, so the electric vehicle 10 may exhibit unintended behavior. Between time t2 and time t3, the electrical power supply to the first motor 26 is stopped, whereas the electrical power supply to the second motor 28 continues.In this case, only the second motor 28 is driven, which can cause the electric vehicle 10 to exhibit unintended behavior. Thus, without the signal blocking circuit 50, it is impossible to simultaneously stop the electrical power supply to the first motor 26 and the second motor 28 within a short time after the anomaly occurs in the first inverter circuit 36 ​​or the second inverter circuit 38. As a result, the electric vehicle 10 may exhibit unintended behavior.

[0039] In contrast, if the signal blocking circuit 50 is present as in the present embodiment, the first control signals SA1 to SA6, which are input to the first inverter circuit 36, are fixed to a low level at time t1 when the signal blocking circuit 50 receives the first integrated monitoring signal FLL at a high level. Likewise, the second control signals SA7 to SA12, which are input to the second inverter circuit 38, are also fixed to a low level at time t1. As a result, the electrical power supply to the first motor 26 and the second motor 28 is stopped simultaneously.

[0040] According to the configuration of the present embodiment, if an anomaly occurs in at least one of the first inverter circuits 36 and the second inverter circuit 38, all first switching elements Q1 to Q6 of the first inverter circuit 36 ​​and all second switching elements Q7 to Q21 of the second inverter circuit 38 can be switched off simultaneously. Therefore, it becomes possible to stop the electric vehicle 10 while preventing or suppressing unintended behavior of the electric vehicle 10, since the electrical power supply to the first motor 26 and the second motor 28 is stopped simultaneously. (Second example)

[0041] An electric vehicle according to the second embodiment is described below. The electric vehicle according to the second embodiment is similar to the electric vehicle 10 according to the first embodiment, except that the configuration of the motor control unit 44 is modified. The main difference compared to the first embodiment is described below. The electric vehicle according to the second embodiment has the same configuration and functions as according to the first embodiment, unless otherwise specifically described.

[0042] As it is in Fig. As illustrated in Figure 11, a motor control unit 144 according to the second embodiment comprises an inverter control device 148, a signal blocking circuit 150, and two OR gates 52 and 54. The inverter control device 148 has the configuration and functions of the inverter control device 48 described according to the first embodiment. Furthermore, the inverter control device 148 is configured according to the present embodiment to output a logic signal LK. The logic signal LK is a binary signal that changes between a low level and a high level. The condition under which the inverter control device 148 changes the level of the logic signal LK between the low level and the high level is described later.The logic signal LK output from the inverter control device 148 is fed into the signal blocking circuit 150. The two OR gates 52 and 54 are as described in the first embodiment.

[0043] As it is in Fig. As illustrated in Figure 12, the signal blocking circuit 150, according to the present embodiment, comprises the first NOR gate 60, the second NOR gate 62, a plurality of first AND gates 64, and a plurality of second AND gates 66. Additionally, the signal blocking circuit 150 comprises a third AND gate 168 and a fourth AND gate 170. The third AND gate 168 receives an input of the first integrated monitoring signal FLL and the logic signal LK, which is output from the inverter control device 148. An output signal of the third AND gate 168 is at a high level if both the first integrated monitoring signal FLL and the logic signal LK are at a high level. Otherwise, the output signal of the third AND gate 168 is at a low level. The output signal of the third AND gate 168 is fed into the second NOR gate 62.The second NOR gate 62 receives the output signal of the third AND gate 168 and the second integrated monitoring signal FLR. The second NOR gate 62 outputs a high-level signal if both the output signal of the third AND gate 168 and the second integrated monitoring signal FLR are low-level. Otherwise, the second NOR gate 62 outputs a low-level signal. The output signal of the second NOR gate 62 is fed into each of the multiple second AND gates 66. Each of the multiple second AND gates 66 receives the output signal of the second NOR gate 62 and a corresponding signal from the multiple second switching signals SB7 to SB12.

[0044] The fourth AND gate 170 receives input from the second integrated monitoring signal FLR and the logic signal LK, which is output from the inverter control device 148. The fourth AND gate 170 outputs a high-level signal if both the second integrated monitoring signal FLR and the logic signal LK are high. Otherwise, the fourth AND gate 170 outputs a low-level signal. The output signal of the fourth AND gate 170 is input to the first NOR gate 60. The first NOR gate 60 receives the output signal of the fourth AND gate 170 and the first integrated monitoring signal FLL. The output signal of the first NOR gate 60 is high if both the output signal of the fourth AND gate 170 and the first integrated monitoring signal FLL are low.Otherwise, the output signal of the first NOR gate 60 is at a low level. The output signal of the first NOR gate 60 is input into each of the plurality of first AND gates 64. Each of the plurality of first AND gates 64 receives the output signal of the first NOR gate 60 and a corresponding signal from the plurality of first switching signals SB1 to SB6.

[0045] Fig. Figure 13 illustrates a truth table of the signal blocking circuit 150 according to the present embodiment. In the table of Fig. Column 13, "LINK" ("Link"), specifies values ​​of the link signal LK, column "FLL" specifies values ​​of the first integrated monitoring signal FLL, and column "FLR" specifies values ​​of the second integrated monitoring signal FLR. Columns "SB1 to SB6" specify values ​​of the first switching signals SB1 to SB6 inputted to the signal blocking circuit 150, and columns "SA1 to SA6" specify values ​​of the first control signals SA1 to SA6 output from the signal blocking circuit 150. Columns "SB7 to SB12" specify values ​​of the second switching signals SB7 to SB12 inputted to the signal blocking circuit 150, and columns "SA7 to SA12" specify values ​​of the second control signals SA7 to SA12 output from the signal blocking circuit 150. In the table, the letter "H2" represents a high level, and the letter "L" represents a low level.

[0046] As it is in Fig. As illustrated in Figure 13, when the linking signal LK is at a high level, the signal blocking circuit 150 according to the present embodiment functions in a similar manner to the signal blocking circuit 50 according to the first embodiment. More precisely, when both the first integrated monitoring signal FLL and the second integrated monitoring signal FLR are at a low level, the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 input to the signal blocking circuit 50 become equivalent to the first control signals SA1 to SA6 and the second control signals SA7 to SA12 output from the signal blocking circuit 50.If, on the other hand, at least one of the first integrated monitoring signal FLL and the second integrated monitoring signal FLR is at a high level, the first control signals SA1 to SA6 and the second control signals SA7 to SA12 output from the signal blocking circuit 50 are fixed at a low level, regardless of the values ​​of the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12. As a result, all first switching elements Q1 to Q6 of the first inverter circuit 36 ​​and all second switching elements Q7 to Q12 of the second inverter circuit 38 can be switched off simultaneously.

[0047] If, on the other hand, the logic signal LK assumes a low level, the signal blocking circuit 150 exhibits different operation. For example, suppose that the logic signal LK is at a low level, the first integrated monitoring signal FLL is at a high level, and the second integrated monitoring signal FLR is at a low level. This indicates that an anomaly is occurring in the first inverter circuit 36, whereas the second inverter circuit 38 is operating normally. In this case, the first control signals SA1 to SA6, which are output from the signal blocking circuit 150, are fixed to a low level, irrespective of the first switching signals SB1 to SB6.This means that the first inverter circuit 36, which exhibits an anomaly, receives a low-level input of the first control signals SA1 to SA6 instead of the first switching signals SB1 to SB6 from the inverter control device 148. In contrast, the second control signals SA7 to SA12, output from the signal blocking circuit 150, are equivalent to the second switching signals SB7 to SB12 input to the signal blocking circuit 150. This means that the normal second inverter circuit 38 receives an input of the second switching signals SB7 to SB12 from the inverter control device 148 as the second control signals SA7 to SA12.Thus, in the motor control unit 44 according to the present embodiment, when the inverter control device 148 outputs a logic signal LK at a low level while an anomaly occurs in the first inverter circuit 36, the normal second inverter circuit 38 receives an input of the second switching signals SB7 to SB12 from the inverter control device 148 as the second control signals SA7 to SA12. Consequently, the motor control unit 144 can control the operation of the second motor 28 using the normal second inverter circuit 38.Similarly, if the inverter control device 148 outputs a low-level logic signal LK while an anomaly occurs in the second inverter circuit 38, the normal first inverter circuit 36 ​​receives an input of the first switching signals SB1 to SB6 from the inverter control device 148 as the first control signals SA1 to SA6. Consequently, the motor control unit 144 can control the operation of the first motor 26 using the normal first inverter circuit 36.

[0048] With reference to Fig. 14 and Fig. Section 15 describes the operation of the motor control unit 144 according to the present embodiment, using the case in which an anomaly occurs in the first inverter circuit 36 ​​as an example. Generally, the inverter control device 148 outputs a logic signal LK at a high level (step S2). If an anomaly occurs at time t1 in any of the first switching elements Q1 to Q6 (JA in step S4), a first integrated monitoring signal FLL at a high level is input to the inverter control device 148 and the signal blocking circuit 150. It is assumed that the anomaly does not occur in the second inverter circuit 38, and that the second integrated monitoring signal FLR is at a low level.Upon receiving the first integrated monitoring signal FLL at a high level, the signal blocking circuit 150 outputs low-level signals (i.e., first OFF signals and second OFF signals) to the first inverter circuit 36 ​​and the second inverter circuit 38 instead of the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 output by the inverter control device 148. Consequently, all first switching elements Q1 to Q6 of the first inverter circuit 36 ​​and all second switching elements Q7 to Q12 of the second inverter circuit 38 are switched off, so that the electrical power supply to the first motor 26 and the second motor 28 is stopped simultaneously (step S6).

[0049] Upon receiving the first integrated monitoring signal FLL at a high level, the inverter control device 148 ignores the torque setpoints Tt1 and Tt2 from the integrated control unit 46 and sets the first switching signals SB1 to SB6 and the second switching signals SB7 to SB12 at a low level (step S8). As described in the first embodiment, the processing of setting the first switching signals SB1 to SB6 at a low level is completed at time t2, which is later than time t1. The processing of setting the second switching signals SB7 to SB12 at a low level is completed at time t3, which is even later than time t2 (see Fig. 15).

[0050] The inverter control device 148 then monitors a torque difference between the first motor 26 and the second motor 28. If the electrical power supply to the first motor 26 and the second motor 28 is stopped while the electric vehicle is driving (during and after time t1 in Fig. 15), both the first motor 26 and the second motor 28 deliver a negative torque. This varies as shown in Fig. Figure 16 illustrates the magnitude of the negative torque delivered by the first motor 26, corresponding to the state of the first inverter circuit 36. If the anomaly occurring in the first inverter circuit 36 ​​is a loss of power supply to the driver circuits G1 to G6, an overcurrent of the first switching elements Q1 to Q6, or overheating of the first switching elements Q1 to Q6, the magnitude of the negative torque delivered by the first motor 26 will be essentially the same as the value obtained when the first inverter circuit 36 ​​is operating normally. This is because, even when these anomalies occur, all the first switching elements Q1 to Q6 of the first inverter circuit 36 ​​can be switched off as if the first inverter circuit 36 ​​were operating normally.However, if the anomaly occurring in the first inverter circuit 36 ​​is a short-circuit fault in any of the first switching elements Q1 to Q6, the magnitude of the negative torque delivered by the first motor 26 will be significantly greater than in other anomaly cases. If the short-circuit fault occurs in any of the first switching elements Q1 to Q6, a short circuit is formed between the first motor 26 and the first inverter circuit 36, causing the first motor 26 to deliver a large braking torque (negative torque). As a result, even if the electrical power supply to both the first motor 26 and the second motor 28 is stopped, a large torque difference can be generated between the first motor 26 and the second motor 28.When a large torque difference is generated between the first motor 26 and the second motor 28, the electric vehicle may exhibit unintended behavior, such as sharp cornering. The above description also applies to the second motor 28. The magnitude of the negative torque delivered by the second motor 28 varies according to the state of the second inverter circuit 38 connected to the second motor 28, as shown in [reference]. Fig. 16 is illustrated.

[0051] Therefore, if the torque difference between the first motor 26 and the second motor 28 exceeds an acceptable value α (JA in step S10), the inverter control device 148 changes the linking signal LK from a high level to a low level (step S12). The acceptable value α used here can be a fixed value or a value that varies according to the driving state of the electric vehicle or the operating state of a driver. According to the present embodiment, the inverter control device 148 determines the acceptable value α according to the vehicle speed of the electric vehicle, the tilt angle of the electric vehicle, and the degree of operation (steering angle) with which the steering device 16 is acted upon by the driver.Accordingly, the inverter control device 148 stores a three-dimensional characteristic map 148a that specifies the acceptable value α according to the vehicle speed, tilt angle, and steering angle, as described above. The inverter control device 148 obtains indices such as the vehicle speed, tilt angle, and steering angle from the integrated control unit 46 and determines the acceptable value α based on the three-dimensional characteristic map 148a. The inverter control device 148 can determine the acceptable value α according to the vehicle speed, tilt angle, and / or steering angle described above, or according to other indices. Accordingly, the torque difference between the first motor 26 and the second motor 28 can be appropriately limited according to the driving condition of the electric vehicle.

[0052] As described above, the inverter control device 148 is able to re-control the operation of the second motor 28 by outputting the linkage signal LK at a low level. The inverter control device 148 generates the second switching signals SB7 to SB12 to reduce a torque difference between the first motor 26 and the second motor 28. As a result, the operation of the normal second inverter circuit 38 (i.e., the operation of the second motor 28) is controlled (step S14). Accordingly, as described in Fig.As illustrated in Figure 15, the torque difference between the first motor 26 and the second motor 28 at time t4 and thereafter is reduced, and the behavior of the electric vehicle is stabilized. The inverter control device 148 repeatedly executes the control (steps S10 to S14) according to the torque difference described above until the electric vehicle stops (YES in step S16).

[0053] As described above, upon receiving the first integrated monitoring signal FLL at a high level, the inverter control device 148 monitors the torque difference between the first motor 26 and the second motor 28. If the torque difference exceeds the acceptable value α and the second integrated monitoring signal FLR is at a low level (i.e., when the second inverter circuit 38 is normal), the inverter control device 148 changes the logic signal to a low level and generates and outputs the second switching signals SB7 to SB12 to reduce the torque difference. The second switching signals SB7 to SB12 are input into the second inverter circuit 38 in place of the second OFF signals. As a result, the control of the second motor 28 is performed.Similarly, the inverter control device 148 monitors the torque difference between the first motor 26 and the second motor 28 even after receiving the second integrated monitoring signal FLR at a high level. If the torque difference exceeds the acceptable value α and the first integrated monitoring signal FLL is at a low level (i.e., when the first inverter circuit 36 ​​is normal), the inverter control device 148 changes the logic signal to a low level and generates and outputs the first switching signals SB1 to SB6 to reduce the torque difference. The first switching signals SB1 to SB6 are input into the first inverter circuit 36 ​​in place of the first OFF signals. As a result, the control of the first motor 26 is performed.

[0054] According to the configuration of the present embodiment, if an anomaly occurs in at least one of the first inverter circuits 36 and the second inverter circuit 38, all first switching elements Q1 to Q6 of the first inverter circuit 36 ​​and all second switching elements Q7 to Q12 of the second inverter circuit 38 can be switched off simultaneously. Then, if a measurable torque difference is generated between the first motor 26 and the second motor 28, the first motor 26 or the second motor 28 can be controlled using the normal operation of the first inverter circuit 36 ​​or second inverter circuit 38, respectively, in such a way as to reduce the torque difference. Consequently, it becomes possible to stop the electric vehicle while suppressing its unintended behavior.

[0055] The technical components of the embodiment described above are described below. Each of the technical components described below is independently useful.

[0056] In the electric vehicle disclosed in this description, a first anomaly signal and a second anomaly signal are preferably also input into the inverter control device. In this case, the inverter control device monitors a torque difference between the first motor and the second motor after receiving a first anomaly signal or a second anomaly signal. If the torque difference exceeds a specified acceptable value and the first anomaly signal is not received, the inverter control device can send a cancellation signal to the signal blocking circuit, while first switching signals are generated and output to reduce the torque difference.Alternatively, if the torque difference exceeds the acceptable value and the second anomaly signal is not received, the inverter control device can send a cancel signal to the signal blocking circuit while generating and outputting second switching signals to reduce the torque difference. Upon receiving the first anomaly signal and subsequently the cancel signal, the signal blocking circuit can output the second switching signals from the inverter control device to the second inverter circuit instead of the second OFF signals. Alternatively, if the second anomaly signal is received and then the cancel signal is received, the signal blocking circuit can output the first switching signals from the inverter control device to the first inverter circuit instead of the first OFF signals.

[0057] According to the configuration described above, if a measurable torque difference is generated between the first and second motors, the inverter control device can control either the first or second motor using the normal first or second inverter circuit to reduce the torque difference. Consequently, it becomes possible to stop the electric vehicle while suppressing its unintended behavior.

[0058] The inverter control device can determine the acceptable value according to the vehicle speed, tilt angle, and / or steering angle of the electric vehicle. With such a configuration, the torque difference between the first and second motors can be appropriately limited according to the driving conditions of the electric vehicle.

Claims

[1] Electric vehicle (10) with a vehicle body (12), a pair of wheels (20, 22) which are provided in a vehicle width direction of the vehicle body (12), a first motor (26) that drives one of the wheels (20, 22), a second motor (28) that drives the other of the wheels (20, 22), a first inverter circuit (36) comprising a plurality of first switching elements, wherein the first inverter circuit (36) is configured to supply an alternating current electrical power to the first motor (26), a second inverter circuit (38) comprising a plurality of second switching elements, wherein the second inverter circuit (38) is configured to supply alternating current electrical power to the second motor (28), an inverter control device (48) configured to output first switching signals that control the operation of the plurality of first switching elements, and second switching signals that control the operation of the plurality of second switching elements, a first anomaly detection device configured to output a first anomaly signal when an anomaly occurs in the first inverter circuit (36), a second anomaly detection device configured to output a second anomaly signal when an anomaly occurs in the second inverter circuit (38), a plurality of first signal lines (56) configured to transmit the first switching signals from the inverter control device (48) to the first inverter circuit (36), a plurality of second signal lines (58) configured to transmit the second switching signals from the inverter control device (48) to the second inverter circuit (38), and a signal blocking circuit (50) inserted into the plurality of first signal lines (56) and the plurality of second signal lines (58), wherein the signal blocking circuit (50) receives an input of the first anomaly signal and the second anomaly signal, the signal blocking circuit (50) is configured to output first OFF signals to the first inverter circuit (36) instead of the first switching signals from the inverter control device (48) and to output second OFF signals to the second inverter circuit (38) instead of the second switching signals from the inverter control device (48) when at least one of the first anomaly signal and the second anomaly signal is received, wherein the first OFF signals are signals to switch off the plurality of first switching elements and the second OFF signals are signals to switch off the plurality of second switching elements, wherein the first anomaly signal and the second anomaly signal are entered into the inverter control device (48), the inverter control device (48) is configured, to obtain a torque difference between the first motor (26) and the second motor (28) after receiving the first anomaly signal or the second anomaly signal, to send a signal to cause the signal blocking circuit (50) to cancel the output of the first OFF signals, while the first switching signals to reduce the torque difference are generated and output when the torque difference exceeds a specified acceptable value and the first anomaly signal is not received, and to send a signal to cause the signal blocking circuit (50) to cancel the output of the second OFF signals, while the second switching signals to reduce the torque difference are generated and output when the torque difference exceeds the specified acceptable value and the second anomaly signal is not received, and the signal blocking circuit (50) is configured, to output the second switching signals from the inverter control device (48) to the second inverter circuit (38) instead of the second OFF signals when the first anomaly signal is received and then the signal to cancel the output of the second OFF signals from the inverter control device (48) is received, and to output the first switching signals from the inverter control device (48) to the first inverter circuit (36) instead of the first OFF signals when the second anomaly signal is received and then continues to receive the signal to cancel the output of the first OFF signals from the inverter control device (48). [2] Electric vehicle (10) according to claim 1, wherein the signal blocking circuit (50) is configured, to output the second OFF signals to the second inverter circuit (38) instead of the second switching signals from the inverter control device (48) when the first anomaly signal is received, and to output the first OFF signals to the first inverter circuit (36) instead of the first switching signals from the inverter control device (48) when the second anomaly signal is received. [3] Electric vehicle (10) according to claim 1, wherein the inverter control device (48) determines the acceptable value according to a vehicle speed, an inclination angle and / or a steering angle of the electric vehicle (10).

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