Vehicle

Abstract

To provide a vehicle capable of braking even in a case where there is a limit in input to a battery.SOLUTION: A vehicle includes: a wheel; a motor providing the wheel with drive power and regenerative brake power; a battery for exchanging power with the motor; and a processor configured to, in a case where there is a limit in input to the battery, put priority in a route without downhill, put priority in a route with a high traveling load, drive the wheel left and right, or give the motor a reverse rotation or reverse torque.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to vehicles. [Background technology]

[0002] Vehicles that use only the regenerative braking force of the motor for braking are known. In such vehicles, if the battery's SOC (State of Charge) is high, the input power of the battery is limited, and sufficient regenerative braking force may not be obtained. On the other hand, it is possible to lower the SOC in advance, but lowering the SOC may result in a shortage of power to run the vehicle.

[0003] Patent Document 1 discloses a technology that sets the maximum vehicle speed based on the maximum power that can be input to the battery and controls the motor so that the actual vehicle speed is equal to or less than the maximum vehicle speed. This prevents the battery's SOC from rising to an upper limit during regenerative braking, limiting battery charging and lengthening the vehicle's braking distance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2024-006579 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the technology of Patent Document 1, if the travel route includes, for example, a downhill slope, the vehicle speed may exceed the maximum vehicle speed.

[0006] The present disclosure has been made in view of the above, and has an object to provide a vehicle that can perform braking even when there is a battery input limit. [Means for solving the problem]

[0007] The vehicle according to the present disclosure includes wheels, a motor that provides driving force and regenerative braking force to the wheels, a battery that exchanges power with the motor, and a processor that is configured to prioritize a route without downhill slopes, prioritize a route with high running resistance, drive the wheels left and right, or apply reverse rotation and reverse torque to the motor when there is an input limit on the battery. [Effects of the Invention]

[0008] According to the present disclosure, a vehicle can be realized that is capable of braking even when there is a battery input limit. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a vehicle according to an embodiment. [Figure 2] FIG. 2 is a flowchart showing the processing executed by the vehicle. [Figure 3] FIG. 3 is a timing chart showing the processing executed by the vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0010] A vehicle according to an embodiment of the present disclosure will be described with reference to the drawings. Note that components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially the same.

[0011] (Embodiment) [Vehicle configuration] 1 is a diagram showing a schematic configuration of a vehicle according to an embodiment. The vehicle 1 includes wheels 2, a motor (MG) 3, an inverter 4, a battery 5, and an ECU (Electronic Control Unit) 6.

[0012] The vehicle 1 is a vehicle that does not have hydraulic brakes, and performs braking by regenerative braking using the regenerative braking force of the MG 3. The vehicle 1 is, for example, a BEV (Battery Electric Vehicle) that can perform off-road driving by autonomous driving, but is not limited to autonomous driving and may be a vehicle that can be driven by a driver.

[0013] The MG3 applies driving force and regenerative braking force to the wheels 2. The MG3 is a motor / generator having a motor function and a power generation function, and is electrically connected to a battery 5 via an inverter 4. The MG3 is driven by power supplied from the battery 5 via the inverter 4. The power output from the MG3 is transmitted to the wheels 2, which are the left and right front wheels, via gears, a transmission, etc. However, the power output from the MG3 may also be transmitted to the wheels 2, which are the left and right rear wheels. Alternatively, an IWM (In-Wheel Motor) system may be used in which a motor is provided on each wheel 2 and each motor applies driving force and regenerative braking force to the wheel 2.

[0014] The inverter 4 is a power conversion device that converts DC power from the battery 5 into AC power and supplies it to the MG 3. The inverter 4 is controlled by the ECU 6, whereby the MG 3 is controlled.

[0015] The battery 5 exchanges power with the MG3 via the inverter 4. The battery 5 is configured by a secondary battery, and is a power storage device capable of storing, for example, power generated by the MG3.

[0016] The ECU 6 is configured using a processor having hardware such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an FPGA (Field-Programmable Gate Array) or a CPU (Central Processing Unit). The ECU 6 reads a program stored in the ROM into a working area of ​​the RAM and executes it, and controls each component through the execution of the program by the processor, thereby enabling the hardware and software to work together to realize a functional module that meets a predetermined purpose.

[0017] Furthermore, when there is an input limit to the battery 5, the ECU 6 prioritizes a route without downhill slopes, prioritizes a route with high running resistance, drives the wheels 2 left and right, or applies reverse rotation and reverse torque to the MG 3.

[0018] [Vehicle Control] Next, a description will be given of control in the vehicle 1. The following description will be given taking as an example a vehicle 1 that travels by automatic driving.

[0019] 2 is a flowchart showing the process executed by the vehicle. As shown in FIG. 2, first, the ECU 6 determines whether or not the input power Win of the battery 5 is being limited (step S1).

[0020] When the ECU 6 determines that the input power Win of the battery 5 is not being limited (step S1: No), the regenerative braking force of the MG 3 can be sufficiently applied to the wheels 2, and therefore the series of processes is ended.

[0021] On the other hand, if the ECU 6 determines that the input power Win of the battery 5 is being limited (step S1: Yes), the SOC (State Of Charge) of the battery 5 is high, and the regenerative braking force of the MG 3 cannot be sufficiently applied to the wheels 2. At this time, the ECU 6 determines whether a downhill slope has been detected on the route along which the vehicle 1 is scheduled to travel by autonomous driving (step S2).

[0022] If the ECU 6 determines that no downhill slope is detected on the route on which the vehicle 1 is traveling (step S2: No), the input power Win of the battery 5 is being limited, and the vehicle 1 can be braked even if the regenerative braking force of the MG3 is limited, so the series of processes is terminated.

[0023] On the other hand, if the ECU 6 determines that a downhill slope has been detected on the route along which the vehicle 1 is traveling (step S2: Yes), the ECU 6 determines whether it is possible to select a route that avoids the downhill slope as the route along which the vehicle 1 is traveling by automatic driving (step S3).

[0024] If the ECU 6 determines that it is possible to select a route that avoids downhill slopes (step S3: No), the ECU 6 selects a route that avoids downhill slopes, prioritizing a route without downhill slopes, as the route to travel by automatic driving (step S4), and ends the series of processes.

[0025] On the other hand, if the ECU 6 determines that it is impossible to select a route that avoids downhill slopes (step S3: Yes), the ECU 6 preferentially selects a route with high running resistance from among routes that can be selected as routes to be traveled by autonomous driving (step S5). By selecting a route with high running resistance, it is possible to reduce the vehicle speed or suppress an increase in vehicle speed.

[0026] Thereafter, the ECU 6 determines whether or not the vehicle 1 is accelerating (step S6). If the ECU 6 determines that the vehicle 1 is not accelerating (step S6: No), the vehicle 1 can be braked, and the series of processes is terminated.

[0027] On the other hand, if the ECU 6 determines that the vehicle 1 is accelerating (step S6: Yes), the ECU 6 controls the vehicle 1 to move left and right by driving the wheels 2 left and right (step S7). By moving the body of the vehicle 1 left and right while traveling, the resistance of the wheels 2 can reduce the vehicle speed or suppress an increase in the vehicle speed.

[0028] Furthermore, similar to step S6, the ECU 6 determines whether the vehicle 1 is accelerating (step S8). If the ECU 6 determines that the vehicle 1 is not accelerating (step S8: No), the vehicle 1 can be braked, and the series of processes ends.

[0029] On the other hand, if the ECU 6 determines that the vehicle 1 is accelerating (step S8: Yes), the ECU 6 controls the inverter 4 to apply a weak reverse rotation speed and a weak reverse torque to the MG 3 (step S9).

[0030] 3 is a timing chart showing the processing executed by the vehicle. As shown in FIG. 3, first, at time T0, the ECU 6 makes a "Yes" determination in step S8. Then, the determination flag changes from OFF to ON, and the ECU 6 controls the inverter 4 to set the rotation speed of the MG3 to a weak reverse rotation speed and the torque of the MG3 to a weak reverse torque. As a result, the battery 5 changes from a charged state to a discharged state, and braking can be performed while consuming the power of the battery 5.

[0031] According to the embodiment described above, when there is an input limit on the battery 5, the ECU 6 executes the following processes in this order: prioritizing a route without downhill slopes, prioritizing a route with high running resistance, driving the wheels left and right, and applying reverse rotation and reverse torque to the motor. Therefore, the vehicle 1 can be braked even when there is an input limit on the battery 5.

[0032] In the embodiment, an example has been described in which the ECU 6 executes all of the processes in this order when there is an input limit to the battery 5: prioritizing a route without downhill slopes, prioritizing a route with high running resistance, driving the wheels left and right, and applying reverse rotation and reverse torque to the MG 3. However, this is not limiting. When there is an input limit to the battery 5, the ECU 6 may execute one or more of the processes of prioritizing a route without downhill slopes, prioritizing a route with high running resistance, driving the wheels left and right, and applying reverse rotation and reverse torque to the MG 3. By executing one or more of these processes, it is possible to obtain the effect of making it easier to brake the vehicle 1 even when there is an input limit to the battery 5.

[0033] Furthermore, in the embodiment, an example in which the vehicle 1 travels by autonomous driving has been described, but this is not limiting. In the case of the vehicle 1 travelling by a driver's driving operation, the ECU 6 may in step S4 display a route that avoids downhill slopes on a display or the like of the car navigation system, and guide the driver to travel along the route that avoids downhill slopes. Similarly, in step S5, the ECU 6 may in step S7 display a route with high running resistance on a display or the like of the car navigation system, and guide the driver to travel along the route with high running resistance. Similarly, in step S7, the ECU 6 may in step S7 display an instruction to drive the wheels 2 left and right on a display or the like of the car navigation system, and guide the driver to drive by driving the wheels 2 left and right.

[0034] Further advantages and modifications will readily occur to those skilled in the art. Thus, 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]

[0035] 1 vehicle 2 wheels 3MG 4 inverters 5 Battery 6 ECU

Claims

[Claim 1] Wheels and a motor that applies a driving force and a regenerative braking force to the wheels; a battery that exchanges power with the motor; a processor configured to prioritize a route without downhill slopes, prioritize a route with high running resistance, drive the wheels left or right, or apply reverse rotation and reverse torque to the motor when there is an input limit for the battery; A vehicle equipped with:

Images