Electric vehicle

Abstract

To brake an electric vehicle with a simple configuration and with accuracy.SOLUTION: An electric vehicle includes: an electric motor 12: a travel device driven by power transmitted from the electric motor 12; a vehicle speed sensor 31 configured to detect a vehicle speed; and a motor controller 24 configured to control the electric motor 12. The motor controller 24 is configured to perform a stop control in such a manner as to maintain a rotation speed of the electric motor 12 at a predetermined reference rotation speed RR larger than zero when the vehicle speed detected by the vehicle speed sensor 31 reaches a predetermined reference vehicle speed RS or less.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an electric vehicle that runs on power transmitted from an electric motor. [Background technology]

[0002] As disclosed in Patent Document 1, an electric vehicle is provided with various brakes such as wheel brakes and a parking brake, and the brakes are used to brake and stop the vehicle. The brakes are operated by a brake pedal, a handbrake lever, or the like.

[0003] Here, even if the electric vehicle is stopped, if the electric vehicle is stopped on a slope, the electric vehicle may start moving unless the brake pedal is continuously depressed or the parking brake is activated.

[0004] For this reason, some electric vehicles are equipped with an angle sensor that detects whether the vehicle is parked on a slope. When the angle sensor detects that the vehicle is parked on a slope, such electric vehicles automatically control the brakes to maintain a braking state. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2022-176727 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, such electric vehicles need to be equipped with an angle sensor and also with a configuration that automatically controls the brakes according to the inclination angle, and there is a demand for a simpler configuration that can easily brake electric vehicles and keep them stopped.

[0007] An object of the present invention is to brake an electric vehicle with a simple configuration and high accuracy. [Means for solving the problem]

[0008] In order to achieve the above-mentioned objective, an electric vehicle according to one embodiment of the present invention comprises an electric motor, a driving device driven by power transmitted from the electric motor, a vehicle speed sensor that detects vehicle speed, and a motor controller that controls the electric motor, and when the vehicle speed detected by the vehicle speed sensor falls below a predetermined reference vehicle speed, the motor controller executes stopping control to maintain the rotation speed of the electric motor at a predetermined reference rotation speed greater than 0.

[0009] With this configuration, even if the vehicle speed becomes zero, the electric motor continues to rotate at the reference rotation speed, so power continues to be transmitted to the traveling device. Therefore, even if the electric vehicle is stopped on a slope, the electric vehicle is prevented from moving up the slope without operating the brakes. As a result, the electric vehicle can easily maintain a stopped state and can be braked (stopped) simply and accurately.

[0010] The vehicle may further include a torque acquisition unit that acquires an output torque of the electric motor, and a rotation speed sensor that detects the rotation speed of the electric motor, and the motor controller may control the electric motor based on the output torque when the vehicle speed is greater than the reference vehicle speed, and control the electric motor based on the rotation speed when the vehicle speed is equal to or less than the reference vehicle speed.

[0011] Generally, electric motors are controlled based on output torque (torque control). With the above configuration, the stopping control is performed based on the rotation speed of the electric motor (rotation speed control), so the rotation speed of the electric motor can be controlled with high precision. As a result, the electric motor can be maintained at a reference rotation speed with high precision, and the electric vehicle can be maintained in a stopped state and braked (stopped) simply and accurately.

[0012] The motor controller may execute the stop control for a predetermined maintaining time after the vehicle speed becomes equal to or lower than the reference vehicle speed.

[0013] If the electric motor is operated continuously for a long period of time, the electric motor and the electric equipment driven by the electric motor may overheat. According to the above configuration, the stopping control is continued for a predetermined maintenance time, so that the electric motor is prevented from being operated continuously for a long period of time, and the electric motor and the electric equipment can be prevented from overheating.

[0014] The vehicle may further include an electric device driven by the electric motor and a temperature sensor for detecting the temperature of the electric device, and when the temperature detected by the temperature sensor becomes equal to or higher than a predetermined reference temperature, the motor controller may reduce the rotation speed of the electric motor in accordance with the temperature.

[0015] With this configuration, the rotation speed of the electric motor can be gradually reduced as the temperature of the electrically-driven device increases, thereby preventing the electrically-driven device from becoming too hot and overheating.

[0016] The vehicle may further include a brake that brakes the traveling device, and the motor controller may execute the stopping control whether the brake is in operation or not.

[0017] This configuration prevents the electric vehicle from moving along the slope regardless of the brake operation, and as a result, the electric vehicle can be maintained in a stopped state, and braking (stopping) can be performed simply and accurately.

[0018] The vehicle may further include a stop operation tool that receives an operation to stop the stopping control, and the motor controller may stop the stopping control when the motor controller receives an operation on the stop operation tool.

[0019] There may be cases where stopping control is not necessary depending on the situation of the place where the electric vehicle is stopped, the stopped state of the electric vehicle, etc. With the above configuration, since an operation to stop the stopping control can be accepted depending on the situation, the electric vehicle can brake (stop) simply and accurately by executing the stopping control only when necessary.

[0020] The vehicle may further include a brake for braking the traveling device and a braking operation device for accepting operation of the brake, and the motor controller may stop the stopping control when it accepts operation of the braking operation device during the stopping control.

[0021] With this configuration, an existing operating tool can be used to accept the operation to stop the stopping control, so that the electric vehicle can be simply configured to execute stopping control only when necessary, allowing for easy and precise braking (stopping).

[0022] The vehicle may further include a battery that supplies power to the electric motor, a regeneration controller that performs regenerative control to regenerate power generated by braking the electric motor to the battery, an accelerator operating device that accepts operations to adjust the output of the electric motor, and a rotation speed sensor that detects the rotation speed of the electric motor, and the regeneration controller may control the regenerative output in the regenerative control in accordance with at least one of the operating position of the accelerator operating device and the rotation speed detected by the rotation speed sensor.

[0023] Generally, electric vehicles are equipped with a transmission such as a continuously variable transmission. The transmission changes the gear state in response to the operation of an operating device related to driving, such as an accelerator operating device, the vehicle speed, the number of rotations of the electric motor, etc., and generates a braking force.

[0024] According to the above configuration, even if the electric vehicle does not have a transmission, the kinetic energy of the electric motor can be converted into electric power and a braking force can be generated in accordance with the operation of the accelerator operating tool and the rotation speed of the electric motor.

[0025] The vehicle may further include an electric device driven by the electric motor and a temperature sensor that detects the temperature of the electric device, and the regenerative controller may control the regenerative output by further taking into account the temperature detected by the temperature sensor.

[0026] With this configuration, the regenerative output can be increased as the temperature of the electrically-driven device increases, thereby reducing the amount of operation of the electric motor. As a result, the power transmitted to the electrically-driven device is reduced, preventing the electrically-driven device from becoming too hot, and thus preventing the electrically-driven device from overheating.

[0027] Also, a predetermined working device may be further provided, and work may be performed using the working device while traveling.

[0028] With this configuration, even in an electric work vehicle, the vehicle can be easily maintained in a stopped state, and braking (stopping) can be performed simply and accurately. [Brief description of the drawings]

[0029] [Figure 1] FIG. 2 is a side view of the utility vehicle as seen from the left side. [Diagram 2] FIG. 2 is a plan view showing the transmission case, the electric motor, the inverter, and the battery. [Diagram 3] FIG. 2 is a diagram illustrating a configuration for executing vehicle stop control. [Figure 4] FIG. 4 is a diagram illustrating a flow of vehicle stopping control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] A utility vehicle, which is an example of an electric vehicle of the present invention, will be described below with reference to the drawings. In the following description, the direction of the arrow F shown in Fig. 1 is the "front side of the vehicle body", the direction of the arrow B is the "rear side of the vehicle body", the direction of the arrow U is the "upper side of the vehicle body", the direction of the arrow D is the "lower side of the vehicle body", the direction of the front side of the paper in Fig. 1 is the "left side of the vehicle body", and the direction of the back side of the paper in Fig. 1 is the "right side of the vehicle body". The left-right direction of the vehicle body corresponds to the width direction of the vehicle body.

[0031] [Overall configuration of multi-purpose vehicle] The multipurpose vehicle shown in Fig. 1 is used for multiple purposes such as transporting luggage and recreation. The multipurpose vehicle has a pair of left and right running devices, front wheels 1, and a pair of left and right running devices, rear wheels 2. The front wheels 1 and rear wheels 2 are provided on a running vehicle body 3 (machine body). The front wheels 1 can be steered and driven, and the rear wheels 2 can be driven.

[0032] The multipurpose vehicle is equipped with a driver's section 4 in which a driver sits, at the front of a traveling body 3. The driver's section 4 of the multipurpose vehicle is equipped with a driver's seat 5, a steering wheel 6 for steer- ing the front wheels 1, a ROP 7 surrounding the riding space, an accelerator pedal 16 for controlling the vehicle speed, a brake pedal 17 for controlling the wheel brakes, a handbrake lever 18 for operating the parking brake, a gear shift lever 19 for shifting gears, etc. In the multipurpose vehicle, the wheel brakes are operated to brake the vehicle when the brake pedal 17 is operated, and the parking brake is operated to maintain the vehicle stopped when the handbrake lever 18 is operated.

[0033] The multi-purpose vehicle is provided with a cargo bed 8 behind the driver's section 4. The cargo bed 8 is supported by a vehicle body frame 9. The cargo bed 8 can swing up and down around a connecting axis P between the cargo bed 8 and the vehicle body frame 9, and can be changed between a dump state in which the cargo bed 8 swings upward and a traveling state in which the cargo bed 8 swings downward.

[0034] [Drive of the running gear] 2, the utility vehicle includes a transmission case 11, an electric motor 12, an inverter 13, and a battery 14 to drive the front wheels 1 and the rear wheels 2. The battery 14 is charged by a charging device 15 provided on the traveling vehicle body 3.

[0035] As shown in Figs. 1 and 2, the transmission case 11 is provided between the left and right rear wheels 2 below the cargo bed 8. The battery 14 is provided in the space below the driver's seat 5. The battery 14 is provided in a mounting position in which the length in the vehicle width direction is longer than the length in the vehicle front-rear direction. The electric motor 12 is provided below the cargo bed 8. The electric motor 12 is provided between the pair of left and right rear wheels 2, rearward of the battery 14 and forward of the transmission case 11. The inverter 13 is provided in a space S located rearward of the battery 14 and forward of the electric motor 12. The inverter 13 is arranged so as to be located within the width of the battery 14 in the space S.

[0036] Electric power is supplied from a battery 14 to an inverter 13 and converted into AC electricity, and the AC electricity is supplied from the inverter 13 to the electric motor 12 to drive the electric motor 12. The power of the electric motor 12 is input to a transmission case 11 and is shifted by a transmission 11M provided inside the transmission case 11. The shifted power is output to the left and right rear wheels 2 from a rear wheel differential mechanism (not shown) provided in the transmission case 11. The shifted power is output to the left and right front wheels 1.

[0037] [Stopping control] 3 and 4, the multi-purpose vehicle includes an ECU 21 having a processor such as a CPU. The ECU 21 controls the running of the multi-purpose vehicle in response to an operation by the driver or automatically.

[0038] The ECU 21 includes a travel controller 23, a motor controller 24, and a memory unit 25. The travel controller 23 controls the driving and steering of the travel device in response to operations on operating tools such as the steering wheel 6, the accelerator pedal 16, the gear shift lever 19, the brake pedal 17, the handbrake lever 18, etc.

[0039] Specifically, the travel controller 23 receives the operation of the accelerator pedal 16 and controls the rotation speed of the electric motor 12 via the motor controller 24. The travel controller 23 receives the operation of the gear shift lever 19 and controls the gear shift state of the transmission 11M. The travel controller 23 receives the operation of the brake pedal 17 and the hand brake lever 18 and controls the brakes 27. The brakes 27 include the wheel brakes and parking brakes described above, and may also include other brake systems such as a regenerative brake described below. The wheel brakes are mainly operated by the brake pedal 17, and the parking brake is mainly operated by the hand brake lever 18.

[0040] The multi-purpose vehicle executes stopping control as an auxiliary function for precisely maintaining the vehicle stopped. The stopping control is a control for maintaining the rotation speed of the electric motor 12 at a predetermined rotation speed when the vehicle speed approaches 0 and approaches a stopped state. More specifically, the stopping control is a control for maintaining the rotation speed of the electric motor 12 at a predetermined reference rotation speed RR greater than 0 when the vehicle speed of the multi-purpose vehicle becomes equal to or lower than a predetermined reference vehicle speed RS.

[0041] In order to execute the stopping control, the multi-purpose vehicle further includes a vehicle speed sensor 31 and a rotation speed sensor 32. The vehicle speed sensor 31 detects the vehicle speed at which the multi-purpose vehicle is traveling. The vehicle speed sensor 31 may be configured to detect the vehicle speed by detecting the rotation speed of the axle, but may be configured to detect the vehicle speed in any manner. The rotation speed sensor 32 detects the rotation speed of the electric motor 12 in any manner. The rotation speed of the electric motor 12 is the rotation speed of the output shaft of the electric motor 12. The stopping control is executed by the motor controller 24 based on the detection values ​​of the vehicle speed sensor 31 and the rotation speed sensor 32.

[0042] While the multi-purpose vehicle is traveling, the motor controller 24 judges whether the vehicle speed of the multi-purpose vehicle detected by the vehicle speed sensor 31 is equal to or lower than the reference vehicle speed RS (step #1 in FIG. 4). The reference vehicle speed RS is stored in advance in the storage unit 25, and the motor controller 24 reads out the reference vehicle speed RS stored in the storage unit 25 to make the judgment. If the vehicle speed is higher than the reference vehicle speed RS (step #1 No in FIG. 4), the motor controller 24 controls (torque controls) the electric motor 12 based on the output torque of the electric motor 12 in response to the operation of the operating tool (step #2 in FIG. 4). The output torque is obtained by detecting the output current of the inverter 13 by the current sensor 33 and converting it from the output current by the motor controller 24. The output torque may be acquired by a torque acquisition unit consisting of the current sensor 33 and a part of the functions of the motor controller 24, but the torque acquisition unit may also be a torque sensor provided in the electric motor 12 to directly detect the output torque.

[0043] When the vehicle speed becomes equal to or lower than the reference vehicle speed RS (Yes in step #1 of FIG. 4), the motor controller 24 switches from torque control to rotation speed control and controls the electric motor 12 based on the rotation speed of the electric motor 12 detected by the rotation speed sensor 32 (step #3 of FIG. 4).

[0044] Then, the motor controller 24 maintains the rotation speed of the electric motor 12 at the reference rotation speed RR (step #4 in FIG. 4). The reference rotation speed RR is stored in the storage unit 25 in advance, and the motor controller 24 reads out the reference rotation speed RR stored in the storage unit 25 to control the electric motor 12. The reference rotation speed RR is a rotation speed at which the vehicle runs at a slow speed, and is equal to or lower than the rotation speed corresponding to the reference vehicle speed RS. The stopping control is performed whether or not the brake pedal 17 or the handbrake lever 18, which are the braking operation tools, are operated, that is, whether or not the brake 27 is in a braking state (whether or not the brake 27 is in operation) (whether or not the brake 27 is in operation). However, this does not apply when the braking operation tool is used as the stop operation tool 34 described later.

[0045] In this way, just before the vehicle stops, specifically, when the vehicle speed is decelerated to the reference vehicle speed RS, the motor controller 24 maintains the electric motor 12 at the reference rotation speed RR. By performing such control, the electric motor 12 continues to output power at the reference rotation speed RR even when the vehicle is stopped. As a result, even when the vehicle is stopped on a slope, the vehicle is prevented from moving along the slope without operating the brake 27. For example, even if the vehicle stops while climbing a slope in a forward direction, the electric motor 12 maintains rotation. In this state, unless the gear shift state is changed from the forward state, the vehicle tries to move forward slightly, so that the vehicle is prevented from moving backward along the slope. As a result, the multi-purpose vehicle can easily maintain a stopped state and can be braked (stopped) simply and accurately.

[0046] Furthermore, by changing the control of the electric motor 12 from torque control to rotation speed control during vehicle stop control, the rotation speed of the electric motor 12 can be controlled to the reference rotation speed RR with higher accuracy.

[0047] [Maintaining parking control] The motor controller 24 may maintain the stopping control for a predetermined period of time, or may maintain the stopping control until a predetermined operation is performed. Furthermore, the stopping control may be configured to maintain the stopping control for a predetermined period of time, but may be stopped if a predetermined operation is performed during the period.

[0048] For example, the motor controller 24 measures the elapsed time from the start of execution of the stopping control, and judges whether or not a predetermined maintenance time RP has elapsed (step #5 in FIG. 4). The maintenance time RP is stored in advance in the storage unit 25, and the motor controller 24 reads out the maintenance time RP stored in the storage unit 25 to make the judgment.

[0049] When it is determined that the maintenance time RP has elapsed (Yes in step #5 in FIG. 4), the motor controller 24 stops the vehicle stopping control (step #6 in FIG. 4).

[0050] If the electric motor 12 is operated continuously for a long time, the electric motor 12 may become hot, which may cause a malfunction of the electric motor 12. Furthermore, the electric motor 12 becoming hot may cause the temperature of other devices to rise, which may cause a malfunction. By stopping the stopping control when the maintenance time RP has elapsed and stopping the electric motor 12 in accordance with the vehicle speed, it is possible to prevent the electric motor 12 from becoming hot, and to prevent malfunctions of the electric motor 12 and other devices.

[0051] If it is determined that the maintenance time RP has not elapsed (No in step #5 of FIG. 4), the motor controller 24 determines whether or not a predetermined operating tool is being operated (step #7 of FIG. 4).

[0052] The stopping control is maintained until the specified operating tool is operated (step #7 No in FIG. 4), and when the specified operating tool is operated (step #7 Yes in FIG. 4), the motor controller 24 stops the stopping control (step #6 in FIG. 4).

[0053] The predetermined operation tool may be a dedicated stop operation tool 34 that is operable by the driver, but other operation tools may also be used. For example, the brake pedal 17 or hand brake lever 18, which is a braking operation tool, may be used as the predetermined operation tool, and the motor controller 24 may be configured to stop the stopping control when the brake pedal 17 or hand brake lever 18 is operated. Furthermore, the motor controller 24 may stop the stopping control when the accelerator pedal 16 or the gear shift lever 19 is operated to start traveling.

[0054] There is little need to execute the stopping control when the multi-purpose vehicle is parked on a flat surface or braked by the brake 27. In this way, the stopping control is stopped when a predetermined operating tool is operated or travel is started, and the vehicle transitions to a predetermined state. As a result, the stopping control can be stopped according to the situation, and the multi-purpose vehicle can execute the stopping control only when necessary.

[0055] [Another embodiment] (1) In the above embodiment, during vehicle stop control, the motor controller 24 may control the electric motor 12 by any method, such as torque control, not limited to rotation speed control. This allows vehicle stop control to be performed while freely controlling the electric motor.

[0056] (2) In each of the above embodiments, the motor controller 24 may control the rotation speed of the electric motor 12 during stopping control in accordance with the temperature of the electric device 36 mounted on the multi-purpose vehicle. The electric device 36 may be operated by power supplied from the battery 14 and driven by the electric motor 12. The multi-purpose vehicle is equipped with a temperature sensor 37 that detects the temperature of the electric device 36. The temperature sensor 37 may have any configuration as long as it can detect the temperature of the electric device 36.

[0057] Then, when the temperature of the electric device 36 detected by the temperature sensor 37 becomes equal to or higher than a predetermined reference temperature RT, the motor controller 24 reduces the rotation speed of the electric motor 12 from the reference rotation speed RR. For example, when the temperature of the electric device 36 becomes equal to or higher than the predetermined reference temperature RT, the motor controller 24 gradually reduces the rotation speed of the electric motor 12 in accordance with the temperature of the electric device 36.

[0058] This suppresses a rise in temperature of the electric motor 12, and suppresses a rise in temperature of the electrically-driven device 36 due to the temperature of the electric motor 12. This makes it possible to suppress a malfunction caused by the electrically-driven device 36 becoming too hot.

[0059] (3) In each of the above embodiments, the multi-purpose vehicle may be equipped with a regenerative brake. In other words, the multi-purpose vehicle performs regenerative control to brake the vehicle by reducing the rotation speed of the electric motor 12 by an amount corresponding to the generated electric power through regenerative control for regenerating the electric power generated by braking the electric motor 12 into the battery 14. The regenerative control is controlled by a regenerative controller 39 mounted on the ECU 21.

[0060] For example, the regenerative controller 39 controls the regenerative output in the regenerative control in response to at least one of the operation position of the accelerator pedal 16, which corresponds to an accelerator operation tool, and the rotation speed of the electric motor 12 detected by the rotation speed sensor 32. Depending on the magnitude of the regenerative output corresponding to the reduced rotation speed of the electric motor 12, the vehicle is braked and the regenerative power is regenerated to the battery 14.

[0061] By performing such regenerative control, the vehicle can be braked without using brakes 27 such as wheel brakes, and the power consumption of the battery 14 can be made more efficient. Furthermore, even if a transmission such as a continuously variable transmission is not installed, dynamic braking can be reproduced by the regenerative braking associated with the regenerative control.

[0062] (4) In the above alternative embodiment (3), the motor controller 24 may control the regenerative output taking into account the temperature of the electric device 36. In other words, the regenerative controller 39 controls the regenerative output in the regenerative control in accordance with at least one of the operation position of the accelerator pedal 16, which corresponds to an accelerator operation tool, and the rotation speed of the electric motor 12 detected by the rotation speed sensor 32, and further taking into account the temperature of the electric device 36 detected by the temperature sensor 37.

[0063] As a result, the motor controller 24 can increase the regenerative output as the temperature of the electric device 36 increases, thereby reducing the amount of operation of the electric motor 12. The temperature rise of the electric motor 12 is suppressed, and the temperature rise of the electric device 36 due to the temperature of the electric motor 12 is suppressed. As a result, it is possible to suppress the electric device 36 from becoming too hot and causing problems.

[0064] (5) In each of the above embodiments, the ECU 21 is not limited to being configured with the above-mentioned functional blocks, and may be configured with any functional blocks. For example, each functional block of the ECU 21 may be further subdivided, or conversely, some or all of the functional blocks may be combined. The ECU 21 may include other functional blocks for performing controls other than the control of braking of the multi-purpose vehicle, and the ECU 21 may be dedicated to braking (stopping control). The functions of the ECU 21 are not limited to the above-mentioned functional blocks, and may be realized by a method executed by any functional block. Some or all of the functions of the ECU 21 may be configured with software. A program related to the software is stored in any storage device and executed by a processor such as a CPU included in the ECU 21 or a processor provided separately.

[0065] (6) In each of the above embodiments, the multi-purpose vehicle is not limited to an electric vehicle that runs only on the electric motor 12, but may be a hybrid electric vehicle that runs on the electric motor 12 and an engine.

[0066] (7) In each of the above embodiments, the electric vehicle of the present invention is not limited to a multi-purpose vehicle, but may be a work vehicle equipped with a work device for performing agricultural work or other work and performing various works while traveling. [Industrial Applicability]

[0067] The present invention can be applied to various electric vehicles that are driven by an electric motor. [Explanation of symbols]

[0068] 1 Front wheels (running gear) 2 Rear wheels (running gear) 12 Electric motor 14 Battery 16 Accelerator pedal (accelerator operation device) 17 Brake pedal (braking device) 18 Handbrake lever (braking device) 23 Driving Controller 24 Motor Controller 27 Brake 31 Vehicle speed sensor 32 Rotational speed sensor 34 Stop operation tool 36 Electric equipment 37 Temperature Sensor 39 Regenerative Controller RP maintenance time RR Reference RPM RS reference vehicle speed RT reference temperature

Claims

1. An electric motor; A traveling device driven by power transmitted from the electric motor; A vehicle speed sensor for detecting a vehicle speed; A motor controller for controlling the electric motor, The motor controller executes a stop control to maintain the rotation speed of the electric motor at a predetermined reference rotation speed greater than 0 when the vehicle speed detected by the vehicle speed sensor becomes equal to or lower than a predetermined reference vehicle speed.

2. a torque acquisition unit that acquires an output torque of the electric motor; a rotation speed sensor for detecting the rotation speed of the electric motor, 2. The electric vehicle according to claim 1, wherein the motor controller controls the electric motor based on the output torque when the vehicle speed is greater than the reference vehicle speed, and controls the electric motor based on the rotation speed when the vehicle speed is equal to or less than the reference vehicle speed.

3. The electric vehicle according to claim 1 or 2, wherein the motor controller executes the stop control for a predetermined maintaining time after the vehicle speed becomes equal to or lower than the reference vehicle speed.

4. an electric device driven by the electric motor; A temperature sensor for detecting a temperature of the electrically-driven device is further provided.

3. The electric vehicle according to claim 1, wherein the motor controller reduces the rotation speed of the electric motor in accordance with the temperature detected by the temperature sensor when the temperature becomes equal to or higher than a predetermined reference temperature.

5. A brake for braking the traveling device is further provided, The electric vehicle according to claim 1 or 2, wherein the motor controller executes the stop control whether the brake is in operation or not.

6. A stop operation tool that receives an operation to stop the stopping control is further provided. The electric vehicle according to claim 1 or 2, wherein the motor controller stops the stop control when an operation on the stop operating tool is received.

7. A brake for braking the traveling device; Further comprising a braking operation tool that receives an operation on the brake, The electric vehicle according to claim 1 or 2, wherein the motor controller stops the stopping control when an operation on the braking operation tool is received during the stopping control.

8. a battery for supplying power to the electric motor; a regeneration controller that performs regeneration control to regenerate electric power generated by braking the electric motor into the battery; an accelerator operation tool that receives an operation for adjusting an output of the electric motor; a rotation speed sensor for detecting the rotation speed of the electric motor, 3. The electric vehicle according to claim 1, wherein the regenerative controller controls a regenerative output in the regenerative control in accordance with at least one of an operating position of the accelerator operating tool and the rotation speed detected by the rotation speed sensor.

9. an electric device driven by the electric motor; A temperature sensor for detecting a temperature of the electrically-driven device is further provided. The electric vehicle according to claim 8 , wherein the regenerative controller controls the regenerative output by further taking into account the temperature detected by the temperature sensor.

10. Further comprising a predetermined working device, 3. The electric vehicle according to claim 1, wherein the working device is used to perform work while the vehicle is traveling.

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