Vehicle system, motor controllers, application device, program, and control method

Abstract

To provide a vehicle system that reduces working time for setting identification information, and to provide motor controllers, an application device, a program and a control method therefor.SOLUTION: A vehicle system according to an embodiment comprises a plurality of motor controllers, and an application device. The plurality of motor controllers control a plurality of motors provided to a plurality of wheels, respectively. The application device sets different identification information for the respective motors to the plurality of respective motor controllers according to a rotation direction of a revolving shaft of each of the motors, when a vehicle moves during initial setting of the plurality of motor controllers.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a vehicle system, a motor control device, an application device, a program, and a control method. [Background technology]

[0002] Electric vehicles are known that are equipped with multiple motors for multiple wheels and run by controlling the multiple motors with multiple inverters. Electric vehicles often use inverters with the same specifications. Each inverter is connected to, for example, a vehicle control device via a common communication line. In such electric vehicles, it is necessary to identify which motor each inverter controls to drive which wheel in order to adjust the rotation direction of the rotating shaft of each motor and the torque distribution in each motor. Therefore, each inverter is assigned identification information, specifically, an ID (Identification), to identify the inverter.

[0003] As a method for setting identification information for each inverter, a technique is known in which, after the inverter is installed, the vehicle is lifted with a jack, the tires are rotated one by one, and individual identification information is set for the inverter corresponding to the rotated tire (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-61660 Summary of the Invention [Problem to be solved by the invention]

[0005] However, this technique requires lifting the vehicle and rotating each tire individually, which increases the time required to set the identification information in the inverter.

[0006] The present invention has been made in view of the above, and has as its object to shorten the work time required to set identification information. [Means for solving the problem]

[0007] According to one aspect of the embodiment, a vehicle system includes a plurality of motor control devices and an assigning device. The plurality of motor control devices control a plurality of motors provided on a plurality of wheels. When the vehicle moves during initial setting of the plurality of motor control devices, the assigning device assigns different identification information to the plurality of motor control devices for each motor according to the rotation direction of the rotation shaft of each motor. [Effects of the Invention]

[0008] When setting identification information for multiple motor control devices, the vehicle system according to the embodiment can set the identification information in accordance with differences in the rotational direction of the motor's rotary shafts that occur when the vehicle is moved and the wheels rotate. For example, the vehicle system can set the identification information when the vehicle is pushed. Therefore, the vehicle system can set the identification information without having to lift the vehicle. Therefore, the vehicle system can shorten the work time required to set the identification information. Furthermore, the vehicle system can simultaneously set different identification information for multiple motor control devices in accordance with differences in the rotational direction of the rotary shafts of the multiple motors that occur when the vehicle is moved. Therefore, the vehicle system can shorten the work time required to set the identification information. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an outline of a vehicle on which a vehicle system according to a first embodiment is mounted. [Figure 2] FIG. 2 is a block diagram illustrating the vehicle system according to the first embodiment. [Figure 3] FIG. 3 is a block diagram illustrating the motor control device according to the first embodiment. [Figure 4]FIG. 4 is a diagram showing a specific example of rule information according to the first embodiment. [Figure 5] FIG. 5 is a flowchart illustrating the process of determining identification information in the motor control device according to the first embodiment. [Figure 6] FIG. 6 is a flowchart illustrating the process of setting identification information in the vehicle control device according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing an outline of a vehicle equipped with a vehicle system according to the second embodiment. [Figure 8] FIG. 8 is a block diagram illustrating a vehicle system according to the second embodiment. [Figure 9] FIG. 9 is a diagram showing a specific example of rule information according to the second embodiment. [Figure 10] FIG. 10 is a flowchart for explaining the process of determining identification information in the motor control device according to the second embodiment. [Figure 11] FIG. 11 is a flowchart illustrating the process of setting identification information in the vehicle control device according to the second embodiment. [Figure 12] FIG. 12 is a diagram illustrating the inner wheel difference that occurs when a vehicle turns. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a vehicle system, a motor control device, an application device, a program, and a control method according to embodiments will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments.

[0011] (First embodiment) A vehicle system 1 according to the first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing an outline of a vehicle C on which the vehicle system 1 according to the first embodiment is mounted. The vehicle C is equipped with a plurality of wheels 2a to 2d. The plurality of wheels 2a to 2d includes a left front wheel 2a, a right front wheel 2b, a left rear wheel 2c, and a right rear wheel 2d. In the following description, when the wheels 2a to 2d are not to be distinguished from one another, they will be referred to as "wheels 2."

[0012] The vehicle system 1 is mounted on a vehicle C. The vehicle system 1 includes a plurality of in-wheel motors 3a, 3b and a vehicle control device 4 (an application device).

[0013] The multiple in-wheel motors 3a, 3b are provided on the multiple wheels 2. The multiple in-wheel motors 3a, 3b are provided on the front wheels 2a, 2b or rear wheels 2c, 2d. For example, the in-wheel motor 3a is provided on the left front wheel 2a. The in-wheel motor 3b is provided on the right front wheel 2b. The in-wheel motor 3a may be provided on the left rear wheel 2c. The in-wheel motor 3b may be provided on the right rear wheel 2d. In the following, when the multiple in-wheel motors 3a, 3b are not to be distinguished from one another, they will be referred to as "in-wheel motors 3".

[0014] As shown in FIG. 2, the in-wheel motors 3 are connected to a vehicle control device 4 via a common bus B, which is a common communication bus. FIG. 2 is a block diagram illustrating a vehicle system 1 according to a first embodiment. Each in-wheel motor 3 is individually controlled using identification information set for each in-wheel motor 3. The identification information is information for distinguishing each in-wheel motor 3, and serves as an identifier. A method for setting the identification information will be described later.

[0015] The in-wheel motor 3a includes a motor control device 10a, a motor 11a, and a rotation speed sensor 12a. The in-wheel motor 3b includes a motor control device 10b, a motor 11b, and a rotation speed sensor 12b. In the following, when the configuration of the in-wheel motor 3 is not to be distinguished, the reference symbols "a" and "b" will be omitted. The vehicle system 1 includes multiple motor control devices 10 that control multiple motors 11.

[0016] Regarding the in-wheel motor 3, the in-wheel motor 3a will be described below as an example, but the same applies to the in-wheel motor 3b.

[0017] The motor control device 10a controls the motor 11a in accordance with the control instructions of the vehicle control device 4. Specifically, the motor control device 10a generates an AC drive signal for driving the motor 11a in accordance with the control instructions of the vehicle control device 4, and outputs the generated drive signal to the motor 11a. The motor control device 10a is an inverter.

[0018] As shown in Fig. 3, the motor control device 10a includes a storage unit 20 and a controller 21. Fig. 3 is a block diagram illustrating the motor control device 10a according to the first embodiment. The motor control device 10b has a similar configuration to the motor control device 10a.

[0019] The storage unit 20 is realized by a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, etc. The storage unit 20 stores rule information 22.

[0020] The rule information 22 is information relating to rules for setting identification information for each in-wheel motor 3. As shown in FIG. 4, the rule information 22 is information in which an "attachment position," a "rotation direction," and a "motor ID" are associated with one another. FIG. 4 is a diagram showing a specific example of the rule information 22 according to the first embodiment. The "attachment position" is the attachment position of the in-wheel motor 3.

[0021] The "rotation direction" is the direction of rotation of the rotary shaft of the motor 11 when the vehicle C moves forward. In other words, the "rotation direction" is the direction of rotation of the wheel 2 when the vehicle C moves forward. Note that the "rotation direction" is the direction of rotation when the vehicle C is viewed from the outside in the left-right direction.

[0022] The "motor ID" is an identifier that identifies each in-wheel motor 3. For example, in the rule information 22, "M101" is set as the motor ID corresponding to the left front wheel 2a. Also, in the rule information 22, "M102" is set as the motor ID corresponding to the right front wheel 2b. The rule information 22 is common to each of the motor control devices 10a, 10b. That is, the same rule information 22 is stored in each of the motor control devices 10a, 10b.

[0023] 3, the controller 21 is realized by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphical Processing Unit), etc. The controller 21 executes programs stored in the storage unit 20 using RAM as a work area. The controller 21 can also be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0024] The controller 21 controls the motor 11a in accordance with a control instruction from the vehicle control device 4. Furthermore, when the vehicle C moves during initial configuration of the multiple motor control devices 10, the controller 21 outputs temporary identification information corresponding to the rotation direction of the rotation shaft of the motor 11a to the vehicle control device 4. That is, the controller 21 notifies the vehicle control device 4 of the temporary identification information. The temporary identification information will be described later.

[0025] The initial setting is, for example, setting identification information for the in-wheel motor 3 after the in-wheel motor 3 is mounted on the vehicle C. The initial setting is performed when identification information has not been set for each in-wheel motor 3 and when identification information is to be reset for each in-wheel motor 3.

[0026] The initial setting is performed when the vehicle C is moving. For example, the initial setting is performed when the vehicle C is being pushed to rotate the wheels 2 without being driven by the motor 11 to rotate the wheels 2, and when the vehicle C is being moved. That is, the initial setting is performed when the vehicle C is being pushed to rotate the wheels 2 and the rotation shaft of the motor 11. The initial setting is performed when the vehicle C is being pushed so as to move straight ahead. For example, the initial setting is performed when the vehicle C is moving forward.

[0027] Furthermore, when the vehicle control device 4 sets identification information for the motor control device 10a, the controller 21 confirms the identification information for the motor control device 10a.

[0028] 2, the motor 11a is, for example, a motor driven by a three-phase AC power supply, and rotates its rotary shaft based on a drive signal output from the motor control device 10a.

[0029] The rotation speed sensor 12a is a sensor that detects the rotation direction and the rotation speed of the rotating shaft of the motor 11a. The rotation speed sensor 12a detects the rotation direction and the rotation speed of the rotating shaft of the motor 11a, for example, by detecting magnetic flux generated in the rotor of the motor 11a. The rotation direction and the rotation speed of the rotating shaft of the motor 11a detected by the rotation speed sensor 12a are output to the motor control device 10a.

[0030] The vehicle control device 4 is a control device that individually controls each of the multiple in-wheel motors 3. The vehicle control device 4 controls each in-wheel motor 3 by controlling the torque of each in-wheel motor 3 based on the steering angle, accelerator opening, etc.

[0031] The vehicle control device 4 includes a storage unit 30 and a controller 31. The storage unit 30 is realized by a storage device such as a ROM, a RAM, or a flash memory. The storage unit 30 stores rule information 22 and motor information 32. The rule information 22 is the same as the rule information 22 stored in the storage unit 20 of the motor control device 10.

[0032] The motor information 32 is information that associates the motor ID, forward rotation direction, and unique information of each in-wheel motor 3 with each other. The unique information here includes the serial number and characteristic information of the motor 11. Furthermore, the characteristic information includes information on the maximum torque value of the motor 11, information on the temperature characteristics of the motor 11, and the like.

[0033] The controller 31 is realized by a CPU, an MPU, a GPU, etc. The controller 31 executes a program stored in the storage unit 30 using RAM as a work area. The controller 31 can also be realized by an integrated circuit such as an ASIC or an FPGA.

[0034] When the vehicle C moves during the initial setting of the motor control devices 10, the controller 31 sets different identification information for each motor 11 in the motor control devices 10 according to the rotation direction of the rotation shaft of each motor 11.

[0035] Next, the process for determining identification information in the motor control device 10 according to the first embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the process for determining identification information in the motor control device 10 according to the first embodiment. The process in Fig. 5 is performed during initial configuration of multiple motor control devices 10. The process is performed in each motor control device 10.

[0036] The controller 31 detects the rotation direction of the rotation shaft of the motor 11 using the rotation speed sensor 12 (S100).

[0037] Next, the controller 21 notifies the temporary identification information (S101). Specifically, the controller 21 reads out the motor ID from the rule information 22 based on the rotation direction of the rotation shaft of the motor 11. When the vehicle C is pushed forward, the rotation shaft of the motor 11a of the in-wheel motor 3a provided on the left front wheel 2a rotates left (counterclockwise). When the vehicle C is pushed forward, the rotation shaft of the motor 11b of the in-wheel motor 3b provided on the right front wheel 2b rotates right (clockwise).

[0038] Therefore, the controller 21 determines the mounting position of the motor 11 according to the rotation direction of the rotary shaft of the motor 11, and reads out the motor ID corresponding to the mounting position of the motor 11 from the rule information 22.

[0039] Specifically, if the rotation direction of the rotary shaft of the motor 11 is counterclockwise, the controller 21 determines that the attachment position of the motor 11 is the left front wheel 2a, and reads out the motor ID "M101" from the rule information 22. On the other hand, if the rotation direction of the rotary shaft of the motor 11 is clockwise, the controller 21 determines that the attachment position of the motor 11 is the right front wheel 2b, and reads out the motor ID "M102" from the rule information 22.

[0040] Then, the controller 21 notifies the vehicle control device 4 of the read motor ID as temporary identification information. In this way, when the vehicle C moves during the initial setting, the controller 21 notifies the vehicle control device 4 of temporary identification information according to the rotation direction of the rotation shaft of the motor 11.

[0041] The controller 21 may notify the other motor control devices 10 of the temporary identification information. The other motor control devices 10 may determine the installation position of the motor 11 based on the notified temporary identification information.

[0042] Next, the controller 21 determines whether or not the determination information has been received (S102). Specifically, the controller 21 determines whether or not the determination information has been output from the vehicle control device 4. The determination information is information that confirms the temporary identification information. If the controller 21 determines that the determination information has not been received (S102: No), the controller 21 repeats the processing of step S102 until the determination information is received.

[0043] When the controller 21 determines that the determination information has been received (S102: Yes), the controller 21 finalizes the identification information (S103). Specifically, the controller 21 stores the tentative identification information as the identification information of the motor 11.

[0044] For example, controller 21, which notified motor ID "M101" as temporary identification information in step S101, stores motor ID "M101" as identification information in storage unit 20. As a result, motor control device 10 stores that the motor ID of motor 11 that it controls is "M101."

[0045] Furthermore, the controller 21, which notified the motor ID "M102" as temporary identification information in step S101, stores the motor ID "M102" as identification information in the storage unit 20. As a result, the motor control device 10 stores that the motor ID of the motor 11 that it controls is "M102."

[0046] In this way, controller 21 of motor control device 10 determines the identification information for each. Once the identification information is determined, motor control device 10a becomes able to control motor 11a in accordance with the control instructions of vehicle control device 4. Also, once the identification information is determined, motor control device 10b becomes able to control motor 11b in accordance with the control instructions of vehicle control device 4. The control instructions of vehicle control device 4 include a motor ID as identification information. Motor control devices 10a, 10b control motors 11a, 11b in accordance with control instructions having identification information that matches their own identification information.

[0047] Next, the process of setting identification information in the vehicle control device 4 according to the first embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating the process of setting identification information in the vehicle control device 4 according to the first embodiment. The setting process in Fig. 6 is performed during the initial setup of the multiple motor control devices 10, similar to the determination process.

[0048] The controller 31 determines whether or not temporary identification information has been received from each motor control device 10 (S200). The controller 31 receives the temporary identification information when it is notified by the motor control device 10. If the controller 31 has not received the temporary identification information (S200: No), the controller 31 repeats the processing of step S200.

[0049] When the controller 31 receives temporary identification information (S200: Yes), the controller 31 determines whether or not there is any unacquired temporary identification information (S201). Specifically, the controller 31 determines whether or not the motor IDs "M101" and "M102" stored in the rule information 22 have been received as temporary identification information. When the controller 31 has not received the temporary identification information of the motor ID "M101" or "M102," the controller 31 determines that there is any unacquired temporary identification information. When the controller 31 has received the temporary identification information of the motor IDs "M101" and "M102," the controller 31 determines that there is no unacquired temporary identification information. When the controller 31 determines that there is any unacquired temporary identification information (S201: Yes), the controller 31 returns to step S200 and repeats the above process.

[0050] If the controller 31 determines that there is no unacquired temporary identification information (S201: No), it sets identification information for the multiple motor control devices 10 based on the temporary identification information (S202). Specifically, the controller 31 generates decision information for finalizing the temporary identification information. The controller 31 generates decision information for setting the motor ID "M101" for the left front wheel 2a for the motor control device 10a and for setting the motor ID "M102" for the right front wheel 2b for the motor control device 10b.

[0051] Next, the controller 31 transmits the determination information to each motor control device 10 (S203). That is, the controller 31 transmits a request to each motor control device 10 to cause each motor control device 10 to confirm the tentative identification information.

[0052] In this way, the controller 31 sets different identification information for each motor 11 in the motor control devices 10 according to the rotation direction of the rotation shaft of each motor 11. Specifically, the controller 31 sets different identification information for each motor 11 in the motor control devices 10 according to the rotation direction of the rotation shaft of the motor 11a provided on the left front wheel 2a and the rotation direction of the rotation shaft of the motor 11b provided on the right front wheel 2b.

[0053] In a comparative example in which identification information is set for multiple motor control devices without using the identification information setting method according to the above embodiment, a vehicle is lifted with a jack, the wheels are rotated one by one, and identification information is individually set for the motor control devices corresponding to the rotated wheels. In the comparative example, for example, the order in which the wheels are rotated is set in advance, and the wheels are rotated according to the set order, thereby individually setting identification information for the motor control devices corresponding to the rotated wheels.

[0054] However, in the comparative example, the vehicle needs to be lifted with a jack and the wheels need to be rotated one by one, which increases the work time required to set the identification information.

[0055] The vehicle system 1 includes a plurality of motor control devices 10 and a vehicle control device 4. The motor control device 10 controls a plurality of motors 11 provided on a plurality of wheels 2. When the vehicle C moves during initial configuration of the plurality of motor control devices 10, the vehicle control device 4 sets different identification information for each motor 11 in the plurality of motor control devices 10 according to the rotation direction of the rotation shaft of each motor 11.

[0056] As a result, when setting identification information for multiple motor control devices 10, the vehicle system 1 can set the identification information in accordance with differences in the rotational direction of the rotational shafts of the motors 11 that occur when the vehicle C is moved and the wheels 2 rotate. For example, the vehicle system 1 can set the identification information when the vehicle C is pushed. Therefore, the vehicle system 1 can set the identification information without having to lift the vehicle C. Therefore, the vehicle system 1 can shorten the work time required to set the identification information. Furthermore, the vehicle system 1 can simultaneously set different identification information for multiple motor control devices 10 in accordance with differences in the rotational direction of the rotational shafts of the multiple motors 11 that occur when the vehicle C is moved. Therefore, the vehicle system 1 can shorten the work time required to set the identification information.

[0057] The motors 11 are provided, for example, on the front wheels 2a and 2b. The vehicle control device 4 sets identification information according to the rotation direction of the rotation shaft of the motor 11a provided on the left front wheel 2a and the rotation direction of the rotation shaft of the motor 11b provided on the right front wheel 2b.

[0058] The rotation direction of the rotary shaft of motor 11a provided on left front wheel 2a is opposite to the rotation direction of the rotary shaft of motor 11b provided on right front wheel 2b. By setting the identification information according to the rotation direction of the rotary shaft, vehicle control device 4 can accurately set the identification information for multiple motor control devices 10.

[0059] The motor control device 10 includes a controller 21 that controls the motor 11 provided on the wheel 2. When the vehicle C moves during initial setting of the motor control device 10, the controller 21 notifies the vehicle control device 4 of temporary identification information corresponding to the rotation direction of the rotation shaft of the motor 11.

[0060] This allows the controller 21 to notify the vehicle control device 4 of the temporary identification information without lifting the vehicle C with a jack. Therefore, the motor control device 10 can shorten the operation time required to notify the vehicle control device 4 of the temporary identification information.

[0061] The vehicle control device 4 includes a controller 31 that sets different identification information for each of the motor control devices 10 that control the motors 11 provided on the wheels 2. When the vehicle C moves during initial setup of the motor control devices 10, the controller 31 sets the identification information according to the rotation direction of the rotation shaft of each motor 11.

[0062] This allows the controller 31 to set different identification information for each motor 11 to the multiple motor control devices 10 in accordance with differences in the rotation direction of the rotation shaft of each motor 11 that occur when the vehicle C moves and the wheels 2 rotate. Therefore, the controller 31 can simultaneously set different identification information for each motor 11 to the multiple motor control devices 10 without the vehicle C being lifted with a jack. Therefore, the vehicle control device 4 can shorten the work time required to set identification information to the multiple motor control devices 10.

[0063] (Second embodiment) Next, a vehicle system 50 according to a second embodiment will be described with reference to Figures 7 and 8. Figure 7 is a diagram showing an outline of a vehicle C1 equipped with a vehicle system 50 according to the second embodiment. Figure 8 is a block diagram showing a vehicle system 50 according to the second embodiment. Here, configurations and processes that differ from the first embodiment will be described, and descriptions of configurations and processes that are similar to the first embodiment will be omitted.

[0064] The vehicle system 50 includes a plurality of in-wheel motors 3a to 3d. As shown in Fig. 7, the plurality of in-wheel motors 3a to 3d are provided on the front wheels 2a, 2b and the rear wheels 2c, 2d. The in-wheel motor 3c is provided on the left rear wheel 2c. The in-wheel motor 3d is provided on the right rear wheel 2d. That is, the vehicle system 50 includes an in-wheel motor 3 for each wheel 2.

[0065] 8, the in-wheel motor 3c includes a motor control device 10c, a motor 11c, and a rotation speed sensor 12c. The in-wheel motor 3d includes a motor control device 10d, a motor 11d, and a rotation speed sensor 12d. The in-wheel motors 3c and 3d are connected to the vehicle control device 4 via a common bus B.

[0066] The multiple in-wheel motors 3a-3d have different rotation characteristics between the in-wheel motors 3a and 3b provided on the front wheels 2a and 2b and the in-wheel motors 3c and 3d provided on the rear wheels 2c and 2d. Specifically, when the vehicle C1 moves straight, the rotation speed of the rotary shafts of the motors 11a and 11b in the in-wheel motors 3a and 3b differs from the rotation speed of the rotary shafts of the motors 11c and 11d in the in-wheel motors 3c and 3d. Therefore, when the vehicle C1 moves straight, a difference in rotation speed occurs between the rotary shafts of the motors 11a and 11b in the in-wheel motors 3a and 3b and the rotary shafts of the motors 11c and 11d in the in-wheel motors 3c and 3d.

[0067] For example, the gear ratios of the in-wheel motors 3a and 3b are different from those of the in-wheel motors 3c and 3d. The number of pole pairs of the motor 11 may be different between the in-wheel motors 3a and 3b and the in-wheel motors 3c and 3d.

[0068] When the vehicle C1 travels straight, the in-wheel motors 3 are provided so that the rotation speed of the rotary shafts of the motors 11a and 11b is greater than the rotation speed of the rotary shafts of the motors 11c and 11d. Note that when the vehicle C1 travels straight, the in-wheel motors 3 may be provided so that the rotation speed of the rotary shafts of the motors 11a and 11b is smaller than the rotation speed of the rotary shafts of the motors 11c and 11d.

[0069] The rule information 33 stored in the in-wheel motor 3 and the motor control device 10 associates "mounting position," "rotation direction," and "motor ID" with one another, as shown in Fig. 9. Fig. 9 is a diagram showing a specific example of the rule information 33 according to the second embodiment.

[0070] For example, in the rule information 33, "M101" is set as the motor ID corresponding to the left front wheel 2a. In addition, in the rule information 33, "M102" is set as the motor ID corresponding to the right front wheel 2b. In addition, in the rule information 33, "M103" is set as the motor ID corresponding to the left rear wheel 2c. In addition, in the rule information 33, "M104" is set as the motor ID corresponding to the right rear wheel 2d.

[0071] Next, the process for determining identification information in the motor control device 10 according to the second embodiment will be described with reference to Fig. 10. Fig. 10 is a flowchart for explaining the process for determining identification information in the motor control device 10 according to the second embodiment. The process in Fig. 10 is performed during initial configuration of multiple motor control devices 10. The process is performed in each motor control device 10.

[0072] The controller 21 detects the rotation direction of the rotary shaft of the motor 11 using the rotation speed sensor 12 (S300).

[0073] Next, the controller 21 counts the number of rotations of the rotary shaft of the motor 11 (S301). Specifically, the controller 21 counts the number of rotations since the vehicle C1 starts moving at the time of initial setting.

[0074] Next, the controller 21 determines whether the rotation speed of the rotating shaft of the motor 11 has reached a predetermined rotation speed (S302). The predetermined rotation speed is a preset rotation speed. The predetermined rotation speed is a rotation speed at which it is possible to accurately determine that there is a difference between the rotation speed of the rotating shaft of the motors 11a and 11b provided on the front wheels 2a and 2b and the rotation speed of the rotating shaft of the motors 11c and 11d provided on the rear wheels 2c and 2d.

[0075] When the controller 21 determines that the rotation speed of the rotary shaft of the motor 11 has reached a predetermined rotation speed (S302: Yes), the controller 21 notifies the first temporary identification information (S303). The controller 21 notifies the first temporary identification information according to the rotation direction and rotation speed of the rotary shaft of the motor 11.

[0076] During initial setup, when the vehicle C1 is moving, the rotation speed of the rotary shafts of the motors 11a and 11b provided on the front wheels 2a and 2b becomes higher than the rotation speed of the rotary shafts of the motors 11c and 11d provided on the rear wheels 2c and 2d. Therefore, the rotation speed of the rotary shafts of the motors 11a and 11b becomes a predetermined rotation speed faster than the rotation speed of the rotary shafts of the motors 11c and 11d. The controller 21 determines that the motor 11 whose rotation speed of the rotary shaft has reached the predetermined rotation speed is the motor 11a or 11b provided on the front wheels 2a and 2b. Furthermore, the controller 21 reads out a motor ID corresponding to the rotation direction of the rotary shaft of the motor 11 from the rule information 33, depending on the rotation direction of the rotary shaft of the motor 11.

[0077] Specifically, when the rotation speed of the rotary shaft of the motor 11 reaches a predetermined rotation speed and the rotation direction of the rotary shaft of the motor 11 is counterclockwise, the controller 21 determines that the attachment position of the motor 11 is the left front wheel 2a and reads out the motor ID "M101." When the rotation speed of the rotary shaft of the motor 11 reaches a predetermined rotation speed and the rotation direction of the rotary shaft of the motor 11 is clockwise, the controller 21 determines that the attachment position of the motor 11 is the right front wheel 2b and reads out the motor ID "M102."

[0078] Then, the controller 21 notifies the other motor control devices 10 and the vehicle control device 4 of the read motor ID as first temporary identification information.

[0079] In this way, when the rotation speed of the rotating shaft of the motor 11 reaches a predetermined number after the vehicle C1 starts moving, the controller 21 notifies other motor control devices 10 and the vehicle control device 4 of the first temporary identification information corresponding to the rotation direction of the rotating shaft of the motor 11.

[0080] If the controller 21 determines that the rotation speed of the rotary shaft of the motor 11 is less than the predetermined rotation speed (S302: No), it determines whether or not first temporary identification information has been received (S304) from another motor control device 10. If the controller 21 determines that first temporary identification information has not been received from another motor control device 10 (S304: No), it returns to step S301 and repeats the above processing.

[0081] When the controller 21 determines that it has received first temporary identification information from another motor control device 10 (S304: Yes), it determines whether the rotation directions of the rotary shafts of the motors 11 are the same (S305). Specifically, the controller 21 determines whether the rotation direction of the rotary shaft of the motor 11 in the first temporary identification information is the same as the rotation direction of the rotary shaft of the motor 11 detected in step S300.

[0082] For example, if the motor ID of the first temporary identification information is "M101" and the rotation direction of the motor 11 detected in step S300 is counterclockwise, the controller 21 determines that the rotation directions of the rotary shafts of the motors 11 are the same. Also, if the motor ID of the first temporary identification information is "M102" and the rotation direction of the motor 11 detected in step S300 is counterclockwise, the controller 21 determines that the rotation directions of the rotary shafts of the motors 11 are not the same.

[0083] When the controller 21 determines that the rotation directions of the rotary shafts of the motors 11 are not the same (S305: No), the controller 21 returns to step S301 and repeats the above processing.

[0084] If the controller 21 determines that the rotation directions of the rotation shafts of the motors 11 are the same (S305: Yes), it notifies the controller 21 of the second temporary identification information (S306). If the rotation directions of the rotation shafts of the motors 11 are the same, the controller 21, i.e., the wheel 2 on which the in-wheel motor 3 is provided, is a wheel in the same left-right direction as the wheel 2 on which the motor 11 indicated by the motor ID in the first temporary identification information is provided. Furthermore, the rotation speed of the rotation shaft of the motor 11 indicated by the motor ID in the first temporary identification information is a predetermined rotation speed, and the rotation speed of the rotation shaft of the motor 11 detected by the controller 21 is less than the predetermined rotation speed. Therefore, the controller 21 determines that the wheel 2 on which the in-wheel motor 3 is provided is the rear wheel 2c, 2d.

[0085] For example, if the motor ID in the first temporary identification information is "M101" and the detected rotation direction of the motor 11 is counterclockwise, the controller 21 determines that the motor 11 is attached to the left rear wheel 2c and reads out the motor ID "M103." If the motor ID in the first temporary identification information is "M102" and the detected rotation direction of the rotary shaft of the motor 11 is clockwise, the controller 21 determines that the motor 11 is attached to the right rear wheel 2d and reads out the motor ID "M104."

[0086] The controller 21 then notifies the vehicle control device 4 of the read motor ID as second temporary identification information. In this way, among the motor control devices 10 that have received the first temporary identification information, the motor control device 10 in which the rotation speed of the rotating shaft of the motor 11 is less than a predetermined rotation speed notifies the vehicle control device 4 of second temporary identification information corresponding to the rotation direction of the rotating shaft of the motor 11.

[0087] After notifying the first temporary identification information in step S303 or notifying the second temporary identification information in step S306, the controller 21 determines whether or not the decision information has been received (S307). If the controller 21 determines that the decision information has not been received (S307: No), the controller 21 repeats the determination until the decision information is received (S307).

[0088] When it is determined that the determination information has been received (S307: Yes), the controller 21 determines the identification information (S308).

[0089] Next, the process of setting identification information in the vehicle control device 4 according to the second embodiment will be described with reference to Fig. 11. Fig. 11 is a flowchart illustrating the process of setting identification information in the vehicle control device 4 according to the second embodiment. The setting process in Fig. 11 is performed during the initial setup of the multiple motor control devices 10, similar to the determination process.

[0090] The controller 31 determines whether or not the first temporary identification information or the second temporary identification information has been received from the motor control device 10 (S400). Specifically, the controller 31 receives the first temporary identification information or the second temporary identification information when the first temporary identification information or the second temporary identification information has been output from the motor control device 10. If the controller 31 has not received the first temporary identification information or the second temporary identification information (S400: No), the controller 31 repeats the processing of step S400.

[0091] When the controller 31 receives the first temporary identification information or the second temporary identification information (S400: Yes), the controller 31 determines whether there is any unacquired temporary identification information (S401). In other words, the controller 31 determines whether all the temporary identification information notified from the multiple motor control devices 10 has been collected. Specifically, the controller 31 determines whether the motor IDs "M101" to "M104" stored in the rule information 33 have been received as the first temporary identification information or the second temporary identification information.

[0092] If the controller 31 has not received any one of the motor IDs "M101" to "M104" as the first temporary identification information or the second temporary identification information, the controller 31 determines that there is temporary identification information that has not been acquired. In other words, the controller 31 determines that all the temporary identification information is not available.

[0093] When the controller 31 receives all of the motor IDs "M101" to "M104" as the first temporary identification information or the second temporary identification information, the controller 31 determines that there is no unacquired temporary identification information. In other words, the controller 31 determines that all the temporary identification information is available.

[0094] If the controller 31 determines that there is tentative identification information that has not yet been acquired (S401: Yes), the controller 31 returns to step S400 and repeats the above processing.

[0095] When it is determined that there is no unacquired temporary identification information (S401: No), the controller 31 sets (S402) identification information for the multiple motor control devices 10. That is, when the temporary identification information for the multiple motor control devices 10a to 10d is completed based on the first temporary identification information and the second temporary identification information, the controller 31 sets the identification information for the multiple motor control devices 10.

[0096] Specifically, the controller 31 generates decision information for finalizing the first temporary identification information and the second temporary identification information. The controller 31 generates decision information for setting the motor ID "M101" for the left front wheel 2a for the motor control device 10a, and for setting the motor ID "M102" for the right front wheel 2b for the motor control device 10b. The controller 31 also generates decision information for setting the motor ID "M103" for the left rear wheel 2c for the motor control device 10c, and for setting the motor ID "M104" for the right rear wheel 2d for the motor control device 10d.

[0097] In this way, when the temporary identification information for the plurality of motor control devices 10a to 10d is collected, the controller 31 can set the identification information for the plurality of motor control devices 10, thereby setting accurate identification information for the plurality of motor control devices 10.

[0098] Next, the controller 31 transmits the determination information to each motor control device 10 (S403). In this way, when the vehicle C1 moves during the initial setting of the multiple motor control devices 10, the controller 31 sets the identification information of the multiple motor control devices 10 according to the rotation direction of the rotary shaft of each motor 11 and the rotation speed of the rotary shaft of each motor 11.

[0099] Even when in-wheel motors 3a to 3d are provided, the controller 31 can set identification information for multiple motor control devices 10 based on the differences in the rotation direction and rotation speed of the rotation shaft of the motor 11 that occur when the vehicle C1 moves.

[0100] When the vehicle C1 travels straight, the rotation speed of the rotary shafts of the motors 11a and 11b provided on the front wheels 2a and 2b differs from the rotation speed of the rotary shafts of the motors 11c and 11d provided on the rear wheels 2c and 2d, resulting in a difference in the rotation speed of the rotary shafts. Furthermore, when the vehicle C1 moves, the left front wheel 2a and the right front wheel 2b rotate in different directions. Furthermore, when the vehicle C1 moves, the left rear wheel 2c and the right rear wheel 2d rotate in different directions. Therefore, even when the vehicle C1 has in-wheel motors 3a to 3d provided on the four wheels 2a to 2d, the controller 31 can set different identification information for each motor 11 to multiple motor control devices 10 without the vehicle C1 being lifted by a jack.

[0101] Furthermore, when the vehicle C1 travels straight, a difference in rotation speed occurs between the rotating shafts of the motors 11a and 11b provided on the front wheels 2a and 2b and the rotating shafts of the motors 11c and 11d provided on the rear wheels 2c and 2d, and the rotation directions are different between the left and right wheels 2. This prevents the multiple motor control devices 10a to 10d from simultaneously notifying temporary identification information of the same motor ID.

[0102] (Third embodiment) Next, a vehicle system 50 according to a third embodiment will be described. Here, configurations and processes that are different from those of the first or second embodiment will be described, and descriptions of configurations and processes that are similar to those of the first or second embodiment will be omitted.

[0103] Similar to the vehicle system 50 according to the second embodiment, the vehicle system 50 according to the third embodiment includes in-wheel motors 3a to 3d.

[0104] The in-wheel motors 3a-3d have the same rotation characteristics. Specifically, when the vehicle C1 moves straight, the rotation speed of the rotary shafts of the motors 11a and 11b provided on the front wheels 2a and 2b is the same as the rotation speed of the rotary shafts of the motors 11c and 11d provided on the rear wheels 2c and 2d.

[0105] In a vehicle system 50 according to the third embodiment, the multiple motor control devices 10 are initially configured while the vehicle C1 is turning. That is, the multiple motor control devices 10 are initially configured while the vehicle C1 is being steered. For example, the front wheels 2a and 2b are steered. When the vehicle C1 turns, as shown in FIG. 12, the path L1 of the left front wheel 2a differs from the path L2 of the left rear wheel 2c, resulting in an inner wheel difference as the difference between the rotation radius R1 of the left front wheel 2a and the rotation radius R2 of the left rear wheel 2c. That is, even if the multiple in-wheel motors 3 have the same rotation characteristics, when the vehicle C1 turns, the rotation speed of the rotating shafts of the motors 11a and 11b provided on the front wheels 2a and 2b differs from the rotation speed of the rotating shafts of the motors 11c and 11d provided on the rear wheels 2c and 2d. For example, when the front wheels 2a and 2b are steered and the vehicle C1 is turning, the rotation speed of the rotary shafts of the motors 11a and 11b provided on the front wheels 2a and 2b is greater than the rotation speed of the motors 11c and 11d provided on the rear wheels 2c and 2d. Figure 12 is a diagram illustrating the inner wheel difference that occurs when the vehicle C1 is turning.

[0106] The controller 31 of the third embodiment sets identification information of the multiple motor control devices 10 according to the direction of rotation of the rotating shaft of each motor 11 and the number of rotations of the rotating shaft of each motor 11 when the vehicle C1 turns during initial setting of the multiple motor control devices 10.

[0107] The process for determining identification information in the motor control device 10 according to the third embodiment is the same as the process for determining identification information in the motor control device 10 according to the second embodiment. The process for setting identification information in the vehicle control device 4 according to the third embodiment is the same as the process for setting identification information in the vehicle control device 4 according to the second embodiment. Note that the process for determining identification information in the motor control device 10 according to the third embodiment and the process for setting identification information in the vehicle control device 4 according to the third embodiment are performed when the vehicle C1 is turning.

[0108] When the process of determining the identification information is performed while the vehicle C1 is turning, the rotation speed of the rotating shafts of the motors 11a and 11b provided on the front wheels 2a and 2b reaches a predetermined rotation speed earlier than the rotation speed of the motors 11c and 11d provided on the rear wheels 2c and 2d. Therefore, the controller 21 of the motor control device 10 determines that the motor 11 whose rotation speed of the rotating shaft has reached the predetermined rotation speed is the motor 11a or 11b provided on the front wheels 2a and 2b.

[0109] The steering angle of the vehicle C1 when turning and the predetermined rotation speed are set so that it is possible to accurately determine that there is a difference between the rotation speed of the motors 11a and 11b provided on the front wheels 2a and 2b and the rotation speed of the motors 11c and 11d provided on the rear wheels 2c and 2d.

[0110] Even if the multiple in-wheel motors 3a-3d have the same rotation characteristics, it is possible to generate a difference in rotation speed between the motors 11a-11b provided on the front wheels 2a-2b and the motors 11c-11d provided on the rear wheels 2c-2d when the vehicle C1 is turning. Therefore, even if the vehicle C1 has in-wheel motors 3a-3d provided on the four wheels 2a-2d, the controller 31 can set different identification information for each motor 11 to the multiple motor control devices 10 without the vehicle C1 being lifted by a jack.

[0111] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0112] 1.50 Vehicle System 2a Left front wheel (front wheel) 2b Right front wheel (front wheel) 2c Left rear wheel (rear wheel) 2d Right rear wheel (rear wheel) 3a~3d In-wheel motor 4 Vehicle control device (applying device) 10a to 10d Motor control device 11a~11d Motor 21 Controller 22, 33 Rule Information 31 Controller

Claims

1. a plurality of motor control devices that control a plurality of motors provided on a plurality of wheels; an assigning device that assigns different identification information to each of the motors in accordance with the rotation direction of the rotary shaft of each motor to the motor control devices when the vehicle moves during initial setting of the motor control devices; A vehicle system comprising:

2. the plurality of motors are provided on the front wheels or the rear wheels, 2. The vehicle system according to claim 1, wherein the assigning device sets the identification information according to a rotation direction of a rotary shaft of a motor provided on a left wheel and a rotation direction of a rotary shaft of a motor provided on a right wheel.

3. 2. The vehicle system according to claim 1, wherein the assigning device sets the identification information according to the rotation direction of the rotary shaft of each motor and the number of rotations of the rotary shaft of each motor when the vehicle moves during the initial setting.

4. the plurality of motors are provided on the front wheels and the rear wheels, When the vehicle travels straight, the rotation speed of the rotary shaft of the motor provided on the front wheel is different from the rotation speed of the rotary shaft of the motor provided on the rear wheel, The vehicle system according to claim 3 , wherein the assigning device assigns the identification information in accordance with a rotation direction of the rotary shaft of each motor and a rotation speed of the rotary shaft of each motor.

5. 2. The vehicle system according to claim 1, wherein the assigning device sets the identification information according to a rotation direction of the rotary shaft of each motor and a rotation speed of the rotary shaft of each motor when the vehicle turns during the initial setting.

6. when the number of rotations of the rotary shaft of the motor reaches a predetermined number of rotations after the movement of the vehicle is started, the motor control device notifies the other motor control devices and the providing device of first temporary identification information corresponding to the rotation direction of the rotary shaft of the motor; Among the other motor control devices that have received the first temporary identification information, a motor control device whose rotation speed of the rotary shaft of the motor is less than the predetermined rotation speed notifies the providing device of second temporary identification information corresponding to the rotation direction of the rotary shaft of the motor; The vehicle system according to claim 3 or 5, wherein the assigning device sets the identification information when the temporary identification information of the plurality of motor control devices is completed by notification of the first temporary identification information and the second temporary identification information.

7. A motor control device including a controller that controls a motor provided on a wheel, The motor control device, wherein the controller notifies the assigning device of temporary identification information corresponding to a rotation direction of a rotary shaft of the motor when the vehicle is moving during initial setting of the motor control device.

8. a controller that sets different identification information for each of a plurality of motor control devices that control a plurality of motors provided on a plurality of wheels; The controller sets the identification information according to the rotation direction of the rotary shaft of each motor when the vehicle is moving during initial setting of the plurality of motor control devices.

9. a process of notifying the assigning device of temporary identification information corresponding to the rotation directions of the rotation shafts of the plurality of motors provided on the plurality of wheels when the vehicle is moving during the initial setting of the plurality of motor control devices; a process of setting different identification information for each motor in the plurality of motor control devices according to the temporary identification information; A program that causes a computer to execute the following.

10. When a vehicle moves during initial setting of a motor control device that controls a motor provided on a wheel, a process of notifying an assigning device of temporary identification information according to the rotation direction of the motor's rotation shaft. A program that causes a computer to execute the following.

11. A process for setting different identification information for each of a plurality of motor control devices that control a plurality of motors provided on a plurality of wheels. on the computer, a program for setting the identification information according to the rotation direction of the rotary shaft of each motor when the vehicle is moving during initial setting of the plurality of motor control devices;

12. A control method for a motor control device that controls a motor provided in a wheel, comprising: A control method in which, if the vehicle is moving during initial setting of the motor control device, temporary identification information corresponding to the rotation direction of the rotary shaft of the motor is notified to the assigning device.

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