Electric vehicles

Abstract

Regardless of whether autonomous driving is in operation or not, we want to recreate the driving sensation of a virtual vehicle as imagined by the driver, in an electric vehicle. [Solution] The electric vehicle is equipped with a control device that controls the vehicle in a virtual vehicle mode that simulates a virtual vehicle in response to a request from the driver. The control device is capable of performing autonomous driving, which involves accelerating and decelerating automatically without driver intervention. When autonomous driving is not performed in virtual vehicle mode, the control device changes the motor torque output by the electric motor according to the amount of accelerator pedal operation and the speed of the vehicle, in order to simulate the torque characteristics of a virtual vehicle. When autonomous driving is performed in virtual vehicle mode, the control device changes the motor torque according to the distance to the preceding vehicle and the speed of the vehicle, in order to simulate the acceleration characteristics of a virtual vehicle.

Description

Technical Field

[0001] The present disclosure relates to an electric vehicle having an electric motor as a drive source.

Background Art

[0002] As disclosed in Patent Document 1, a technique for reproducing the driving sensations of various virtual vehicles (e.g., MT vehicles) in an electric vehicle by controlling the motor torque of an electric motor has been considered. In the technique disclosed in Patent Document 1, standard vehicle characteristic data and locked special vehicle characteristic data are prepared as vehicle characteristic data for reproducing the driving sensations of virtual vehicles, and a driver can select them.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, in order to reduce the burden of a driver's driving operation, an automatic driving function that automatically performs at least acceleration and deceleration without depending on the driver's driving operation has been mounted on vehicles. The automatic driving function is also mounted on electric vehicles, but for the driver, it is desirable that the driving sensations of a virtual vehicle can be reproduced even during automatic driving.

[0005] One object of the present disclosure is to provide a technique for reproducing the driving sensations of a virtual vehicle expected by a driver in an electric vehicle regardless of whether automatic driving is being executed, in view of the above problems.

Means for Solving the Problems

[0006] One aspect of this disclosure relates to an electric vehicle having an electric motor as a power source. The electric vehicle is equipped with a control device that controls the vehicle in a virtual vehicle mode that simulates a virtual vehicle in response to a request from the driver. The control device is capable of performing autonomous driving, which involves accelerating and decelerating automatically without driver intervention. When autonomous driving is not performed in virtual vehicle mode, the control device changes the motor torque output by the electric motor according to the amount of accelerator pedal operation and the speed of the vehicle, in order to simulate the torque characteristics of a virtual vehicle. When autonomous driving is performed in virtual vehicle mode, the control device changes the motor torque according to the distance to the preceding vehicle and the speed of the vehicle, in order to simulate the acceleration characteristics of a virtual vehicle. [Effects of the Invention]

[0007] The electric vehicle of this disclosure is controlled in a virtual vehicle mode that simulates a virtual vehicle in response to a request from the driver. Control in virtual vehicle mode is performed not only when autonomous driving is not being performed but also when it is being performed. When autonomous driving is not being performed, the motor torque output by the electric motor is changed according to the amount of accelerator pedal operation and the speed of the vehicle, so as to simulate the torque characteristics of a virtual vehicle. When autonomous driving is being performed, the motor torque is changed according to the distance to the preceding vehicle and the speed of the vehicle, so as to simulate the acceleration characteristics of a virtual vehicle. In this way, the electric vehicle of this disclosure can reproduce the driving sensation of a virtual vehicle that the driver expects, regardless of whether autonomous driving is being performed or not. [Brief explanation of the drawing]

[0008] [Figure 1] This diagram shows the configuration of an electric vehicle according to the first embodiment of this disclosure. [Figure 2] This is a block diagram showing an example configuration of a control device as a motor control device according to the first embodiment of this disclosure. [Figure 3] This is a block diagram showing an example configuration of a virtual vehicle model. [Figure 4] This is a block diagram showing an example configuration of a control device as a motor control device according to the second embodiment of this disclosure. [Figure 5] This block diagram shows an example configuration of a control device as a motor control device according to the third embodiment of this disclosure. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described below with reference to the drawings.

[0010] 1. First Embodiment 1-1. Configuration of the powertrain of an electric vehicle Figure 1 is a schematic diagram showing the configuration of an electric vehicle 100 according to the first embodiment of this disclosure. First, the configuration of the power system of the electric vehicle 100 will be described with reference to Figure 1.

[0011] The electric vehicle 100 is equipped with an electric motor (M) 10 as a power source for propulsion. The electric motor 10 is, for example, a three-phase AC motor. The output shaft 3 of the electric motor 10 is connected to a drive shaft 8 at the front of the vehicle via a gear mechanism (not shown). Drive wheels 6 are provided at both ends of the drive shaft 8. The drive wheels 6 may be the rear wheels and the driven wheels 4 may be the front wheels, or the drive wheels 6 may be the front wheels and the driven wheels 4 may be the rear wheels. Alternatively, all of the rear and front wheels may be drive wheels.

[0012] The electric vehicle 100 is equipped with a battery (BATT) 12 and an inverter (INV) 16. The battery 12 stores electrical energy to drive the electric motor 10. In other words, the electric vehicle 100 is a battery electric vehicle (BEV) that runs on the electrical energy stored in the battery 12. The inverter 16 is, for example, a voltage-type inverter that controls the torque of the electric motor 10 by PWM control.

[0013] 1-2. Configuration of the control system of an electric vehicle Next, we will explain the configuration of the control system of the electric vehicle 100, referring to Figure 1.

[0014] The electric vehicle 100 is equipped with a millimeter-wave radar 28. The millimeter-wave radar 28 is located on the front of the electric vehicle 100. The millimeter-wave radar 28 is used to measure the distance to the vehicle ahead. The electric vehicle 100 is also equipped with an ACC switch 26. When the driver turns on the ACC switch 26, the adaptive cruise control (ACC), an automatic driving function of the electric vehicle 100, is activated. With ACC, the vehicle automatically accelerates and decelerates to follow the vehicle ahead, without any driving input from the driver.

[0015] The electric vehicle 100 is equipped with a vehicle speed sensor 30. At least one of the wheel speed sensors (not shown) provided on each of the front, rear, left, and right wheels is used as the vehicle speed sensor 30 to measure the speed of the vehicle. The electric vehicle 100 is also equipped with an accelerator pedal stroke sensor 32. The accelerator pedal stroke sensor 32 is provided on the accelerator pedal 22 and outputs a signal indicating the amount of operation of the accelerator pedal 22, i.e., the accelerator opening degree. Furthermore, the electric vehicle 100 is equipped with a brake pedal stroke sensor 34. The brake pedal stroke sensor 34 is provided on the brake pedal 24 and outputs a signal indicating the amount of operation of the brake pedal 24, i.e., the brake opening degree. The accelerator pedal 22 and brake pedal 24 are driving operation members used to drive the electric vehicle 100.

[0016] The electric vehicle 100 includes a human machine interface (HMI) 20 as an interface with the driver and an in-vehicle speaker 21. The HMI 20 presents information to the driver and receives input from the driver. The HMI 20 provided, for example, with a touch panel display. At this time, the HMI 20 displays information on the touch panel display and receives input from the driver by a touch operation on the touch panel display. In addition, the HMI 20 may be composed of a meter display, a steering switch, etc. The in-vehicle speaker 21 is a sound generator that artificially generates sound in the vehicle interior and provides information to the driver. The in-vehicle speaker 21 can further output a pseudo engine sound described later.

[0017] The electric vehicle 100 includes a control device 101. Sensors and devices to be controlled mounted on the electric vehicle 100 are connected to the control device 101 by an in-vehicle network such as a controller area network (CAN). In addition to a vehicle speed sensor 30, an accelerator pedal stroke sensor 32, and a brake pedal stroke sensor 34, various sensors are mounted on the electric vehicle 100.

[0018] The control device 101 is typically an electronic control unit (ECU). The control device 101 may be a combination of a plurality of ECUs. The control device 101 includes at least a processing circuit 102 and a memory 103. The memory 103 includes a RAM that temporarily records data, and a ROM that stores a program 104 executable by the processing circuit 102 and various data 105 related to the program. The program 104 is composed of a plurality of instructions. The processing circuit 102 reads out the program 104 and data 105 from the memory 103 and executes them, and generates a control signal based on the signals acquired from each sensor.

[0019] The processing circuit 102 may be implemented to include at least one of a general-purpose processor, a special-purpose processor, an integrated circuit, ASICs (Application Specific Integrated Circuits), a CPU (Central Processing Unit), a conventional circuit, and combinations thereof. The processing circuit 102 is hardware programmed to implement the functions described below, or is hardware that executes the functions described below. The processing circuit 102 may include any hardware known to be programmed to implement the functions described below, or to execute the functions described below.

[0020] 1-3. Control Mode The control device 101 has two control modes, a normal mode and a virtual vehicle mode, regarding the control of the electric vehicle 100. The normal mode is a control mode for performing normal control as a BEV. The virtual vehicle mode is a control mode for performing control such that the acceleration characteristics with respect to the driver's driving operation reproduce a virtual vehicle. That is, in the virtual vehicle mode, the control device 101 controls the electric vehicle 100 so that the driver can obtain an acceleration feeling as if driving a virtual vehicle. The virtual vehicle may be assumed to be an actual vehicle, or may be assumed to be a vehicle that does not actually exist.

[0021] The selection of the control mode by the driver can be configured to be performed by operating the HMI20. For example, the driver selects the control mode by touching the touch panel display of the HMI20. There are two options for the control mode, the normal mode and the virtual vehicle mode, but in the virtual vehicle mode, the driver may be able to select a preferred vehicle from a plurality of virtual vehicles. Each of the plurality of virtual vehicles is assumed to be a variety of vehicles with different acceleration characteristics from each other. Each virtual vehicle may be assumed to be an actual vehicle, or may be assumed to be a vehicle that does not actually exist. The control device 101 controls the electric vehicle 100 according to the control mode selected by the driver operating the HMI20.

[0022] The control device 101 functions as a motor control device that generates control signals for torque control of the electric motor 10, and as a sound control device that generates control signals for outputting a simulated engine sound from the in-vehicle speaker 21. More specifically, the control device 101 functions as at least a motor control device and a sound control device when the processing circuit 102 executes the program 104 stored in the memory 103. The motor control by the control device 101 (motor control device) and the sound control by the control device 101 (sound control device) will be described below.

[0023] 1-4. Motor Control Figure 2 is a block diagram showing an example configuration of the control device 101 as a motor control device according to the first embodiment. The control device 101 as a motor control device includes a basic torque calculation unit 210 and an ACC torque calculation unit 220. The basic torque calculated by the basic torque calculation unit 210 is the motor torque generated by the electric motor 10 when the ACC is not activated. The ACC torque calculated by the ACC torque calculation unit 220 is the motor torque generated by the electric motor 10 when the ACC is activated.

[0024] The control device 101, which functions as a motor control device, further includes a torque selection unit 230. When the ACC operation flag, which indicates whether the ACC switch 26 is on or off, is off, the torque selection unit 230 selects the basic torque calculated by the basic torque calculation unit 210 as the motor torque to be generated by the electric motor 10. When the ACC operation flag is on, the torque selection unit 230 selects the ACC torque calculated by the ACC torque calculation unit 220 as the motor torque to be generated by the electric motor 10.

[0025] The basic torque calculation unit 210 consists of a base vehicle basic torque calculation unit 211, a virtual vehicle basic torque calculation unit 212, and a basic torque selection unit 213. When the normal mode is selected as the control mode, the basic torque selection unit 213 selects the base vehicle basic torque calculated by the base vehicle basic torque calculation unit 211 as the basic torque. When the virtual vehicle mode is selected as the control mode, the basic torque selection unit 213 selects the virtual vehicle basic torque calculated by the virtual vehicle basic torque calculation unit 212 as the basic torque.

[0026] The base vehicle basic torque calculation unit 211 calculates the base vehicle basic torque based on the accelerator opening and vehicle speed. The base vehicle basic torque is the basic torque when a virtual vehicle is not reproduced, that is, the torque required to achieve the most efficient operation as an electric vehicle. For example, a map in which the basic torque is set for each accelerator opening and vehicle speed is used to calculate the base vehicle basic torque. In addition to the accelerator opening and vehicle speed, other inputs such as driving environment information may also be used to calculate the base vehicle basic torque.

[0027] The virtual vehicle basic torque calculation unit 212 calculates the virtual vehicle basic torque based on the accelerator opening and vehicle speed. The virtual vehicle basic torque is the torque that allows the driver to experience a driving sensation as if they were driving a virtual vehicle, particularly the feeling of acceleration and deceleration. A virtual vehicle model, which is a physical model that models the motion characteristics of a virtual vehicle, is used to calculate the virtual vehicle basic torque. Details of the virtual vehicle model will be described later. In addition to the accelerator opening and vehicle speed, other inputs such as driving environment information may also be used to calculate the virtual vehicle basic torque.

[0028] The ACC torque calculation unit 220 consists of a base vehicle ACC torque calculation unit 221, a virtual vehicle ACC torque calculation unit 222, and an ACC torque selection unit 223. When the normal mode is selected as the control mode, the ACC torque selection unit 223 selects the base vehicle ACC torque calculated by the base vehicle ACC torque calculation unit 221 as the base torque. When the virtual vehicle mode is selected as the control mode, the ACC torque selection unit 223 selects the virtual vehicle ACC torque calculated by the virtual vehicle ACC torque calculation unit 222 as the ACC torque.

[0029] The base vehicle ACC torque calculation unit 221 calculates the base vehicle ACC torque based on the distance to the preceding vehicle and the vehicle speed. The base vehicle ACC torque is the ACC torque when a virtual vehicle is not reproduced, that is, the torque required to make the vehicle follow the preceding vehicle with the most efficient acceleration for an electric vehicle. For example, a map is used to calculate the base vehicle ACC torque in which the ACC torque is set for each distance to the preceding vehicle and for each vehicle speed. In addition to the distance to the preceding vehicle and the vehicle speed, other inputs such as driving environment information may also be used to calculate the base vehicle ACC torque. Furthermore, the base vehicle ACC torque calculation unit 221 calculates the acceleration achieved by the base vehicle ACC torque as the base target acceleration.

[0030] The virtual vehicle ACC torque calculation unit 222 calculates the virtual vehicle ACC torque based on the base target acceleration and vehicle speed. The virtual vehicle ACC torque is a torque that provides a driving sensation, particularly an acceleration / deceleration sensation, as if the driver were driving the virtual vehicle while making the vehicle follow the preceding vehicle. For example, a model equation describing the acceleration characteristics of the virtual vehicle is used to calculate the virtual vehicle ACC torque. In addition to the base target acceleration and vehicle speed, other inputs such as driving environment information may also be used to calculate the virtual vehicle ACC torque.

[0031] As described above, the control device 101, as a motor control device, performs control in virtual vehicle mode not only when ACC is not in operation but also when it is in operation. When ACC is not in operation, the control device 101 changes the motor torque output by the electric motor 10 according to the accelerator opening and vehicle speed to simulate the torque characteristics of a virtual vehicle. When ACC is in operation, the control device 101 changes the motor torque according to the distance to the preceding vehicle and the vehicle speed to simulate the acceleration characteristics of a virtual vehicle. Because this motor control is performed by the control device 101, the driving sensation of a virtual vehicle that the driver expects can be reproduced in an electric vehicle, regardless of whether ACC is in operation or not.

[0032] 1-5. Virtual Vehicle Models Figure 3 is a block diagram showing an example of the configuration of a virtual vehicle model 300. The virtual vehicle model 300 consists of an internal combustion engine model 301, a transmission model 302, a drivetrain model 303, and a vehicle / environment model 304. When multiple virtual vehicles can be selected in virtual vehicle mode, a virtual vehicle model is prepared for each virtual vehicle.

[0033] The internal combustion engine model 301 is a model of the internal combustion engine of a virtual vehicle. The internal combustion engine model 301 simulates the operation of the internal combustion engine in response to inputs such as accelerator opening and vehicle speed. The internal combustion engine model 301 outputs virtual engine speed and virtual engine torque. Parameters that can be changed in the internal combustion engine model 301 according to the virtual vehicle include, for example, maximum engine torque and engine torque responsiveness.

[0034] The transmission model 302 is a model of the automatic transmission of a virtual vehicle. The transmission model 302 outputs virtual transmission output torque from the virtual engine torque output by the internal combustion engine model 302 and the gear ratio determined by the virtual gears. The transmission model 302 includes a stepped transmission model that simulates a stepped transmission and a continuously variable transmission model that simulates a continuously variable transmission. Either the stepped transmission model or the continuously variable transmission model is selected depending on the virtual vehicle. Parameters that can be changed in the transmission model 302 depending on the virtual vehicle include, for example, the gear ratio for each gear and the shift timing.

[0035] The drivetrain model 303 is a model of the drivetrain of a virtual vehicle. For example, the drivetrain model 303 models the mechanical structure from the transmission to the drive wheels. The drivetrain model 303 calculates the drive wheel torque using the virtual transmission output torque output by the transmission model 302 and a predetermined reduction ratio, and outputs the virtual driving force of the virtual vehicle. Parameters that can be changed in the drivetrain model 303 according to the virtual vehicle include, for example, the reduction ratio and the maximum allowable torque of the propeller shaft.

[0036] The vehicle / environment model 304 is a model of the dynamic characteristics of the virtual vehicle's body and the driving environment of the virtual vehicle. The vehicle / environment model 304 calculates the driving resistance acting on the virtual vehicle and calculates the virtual acceleration of the virtual vehicle from the virtual driving force output from the drivetrain model 303 and the dynamic characteristics of the virtual vehicle's body. Parameters that can be changed in the vehicle / environment model 304 according to the virtual vehicle include, for example, vehicle weight, tire diameter, and drag coefficient (Cd value).

[0037] By using such a vehicle model 300, the virtual acceleration of the virtual vehicle is calculated in relation to the accelerator opening and vehicle speed. In the virtual vehicle basic torque calculation unit 212, the virtual vehicle basic torque is calculated from the virtual acceleration calculated by the vehicle model 300 using a model equation that describes the acceleration characteristics of the electric vehicle 100. The model equation is, for example, a linear equation with the weight of the electric vehicle 100 and the driving resistance acting on the electric vehicle 100 as coefficients. This model equation is also used in the virtual vehicle ACC torque calculation unit 222 to calculate the virtual vehicle ACC torque from the base target acceleration.

[0038] 1-6. Sound Control When the virtual vehicle mode is selected as the control mode, the control device 101, acting as a sound control device, generates a simulated engine sound based on the virtual engine speed and virtual engine torque calculated by the virtual vehicle model 300. The sound pressure of the simulated engine sound is increased as the virtual engine torque increases, and the frequency is increased as the virtual engine speed increases. The control device 101, acting as a sound control device, outputs the generated simulated engine sound from the in-vehicle speaker 21.

[0039] When ACC is not active, the virtual engine speed and virtual engine torque are calculated based on the accelerator opening and vehicle speed in the internal combustion engine model 301. Therefore, when ACC is not active, the simulated engine sound output from the in-cabin speaker 21 changes according to the accelerator opening and vehicle speed.

[0040] When ACC is active, the virtual engine speed and virtual engine torque are calculated based on the base target acceleration by inversely calculating the vehicle model 300. The base target acceleration is calculated based on the distance to the preceding vehicle and the vehicle speed. Therefore, when ACC is active, the simulated engine sound output from the in-cabin speaker 21 changes according to the distance to the preceding vehicle and the vehicle speed.

[0041] When the control mode is set to virtual vehicle mode, the sound control described above is performed both when ACC is active and when ACC is not active. This gives the driver a sense of realism, as if they were driving a virtual vehicle.

[0042] 2. Second Embodiment Figure 4 is a block diagram showing an example configuration of the control device 101 as a motor control device according to the second embodiment. The configuration of the ACC torque calculation unit 220 differs between the second embodiment and the first embodiment. The ACC torque calculation unit 220 according to the second embodiment includes a base vehicle ACC torque calculation unit 221, a virtual vehicle ACC torque calculation unit 222, and an ACC torque selection unit 223, in addition to a target acceleration calculation unit 224.

[0043] The target acceleration calculation unit 224 converts the base target acceleration calculated by the base vehicle ACC torque calculation unit 221 into a target acceleration that matches the acceleration characteristics of the virtual vehicle. A virtual vehicle map, with the distance to the preceding vehicle and the vehicle speed as parameters, is used to convert the base target acceleration to the target acceleration. A correction coefficient is obtained by inputting the distance to the preceding vehicle and the vehicle speed into the virtual vehicle map. The target acceleration is calculated by multiplying the base target acceleration by this correction coefficient. The relationship between the distance to the preceding vehicle, the vehicle speed, and the correction coefficient is adapted to the acceleration characteristics of the virtual vehicle.

[0044] In the second embodiment, the target acceleration calculated by the target acceleration calculation unit 224 is input to the virtual vehicle ACC torque calculation unit 222. The virtual vehicle ACC torque calculation unit 222 calculates the virtual vehicle ACC torque based on the target acceleration and vehicle speed. This makes it possible to match the acceleration characteristics of the electric vehicle 100 when ACC is activated to the acceleration characteristics of the virtual vehicle imagined by the driver.

[0045] 3. Third Embodiment Figure 5 is a block diagram showing an example configuration of the control device 101 as a motor control device according to the third embodiment. The configuration of the ACC torque calculation unit 220 differs between the third embodiment and the first embodiment. The ACC torque calculation unit 220 according to the third embodiment includes a base vehicle ACC torque calculation unit 221, a virtual vehicle ACC torque calculation unit 222, and an ACC torque selection unit 223, in addition to a target acceleration calculation unit 225.

[0046] The target acceleration calculation unit 225 includes multiple virtual vehicle maps A, B, and C. Each virtual vehicle map takes the distance to the preceding vehicle and the vehicle speed as input and outputs a correction coefficient, but there are differences in the relationship between the distance, vehicle speed and the correction coefficient. For example, virtual vehicle map A is adapted to obtain standard acceleration characteristics, virtual vehicle map B is adapted to obtain sportier acceleration characteristics, and virtual vehicle map C is adapted to obtain gentler acceleration characteristics.

[0047] The driver can select a driving mode on the HMI 20. The driving modes include standard mode, sport mode, and comfort mode. If the driver selects standard mode, the target acceleration calculation unit 225 determines a correction coefficient using virtual vehicle map A, and calculates the target acceleration from the base target acceleration using that correction coefficient. If the driver selects sport mode, the target acceleration calculation unit 225 determines a correction coefficient using virtual vehicle map B, and calculates the target acceleration from the base target acceleration using that correction coefficient. If the driver selects comfort mode, the target acceleration calculation unit 225 determines a correction coefficient using virtual vehicle map C, and calculates the target acceleration from the base target acceleration using that correction coefficient. This makes it possible to match the acceleration characteristics of the electric vehicle 100 when ACC is operating to the acceleration characteristics of the virtual vehicle imagined by the driver.

[0048] 4. Others The technical features of this embodiment are not limited to battery electric vehicles, but are broadly applicable to any electric vehicle that uses an electric motor as a power source for driving. For example, the technical features of this embodiment are applicable to hybrid electric vehicles (HEVs) and plug-in hybrid electric vehicles (PHEVs) that have a mode of driving solely on the driving force of an electric motor. They are also applicable to fuel cell electric vehicles (FCEVs) that supply electric energy generated by a fuel cell to an electric motor. [Explanation of Symbols]

[0049] 10 Electric motor 21 In-car speakers 22 Accelerator pedal 26 ACC switch 28 mm wave radar 100 Electric Vehicles 101 Control device 102 Processing Circuit 103 memory 300 vehicle models

Claims

1. An electric vehicle having an electric motor as its power source, The system includes a control device that controls its own vehicle in a virtual vehicle mode that simulates a virtual vehicle in response to a request from the driver, The control device is It is configured to be capable of autonomous driving, which involves accelerating and decelerating automatically without driver intervention, and When the automated driving is not performed in the virtual vehicle mode, the motor torque output by the electric motor is changed according to the amount of accelerator pedal operation and the speed of the vehicle, in order to simulate the torque characteristics of the virtual vehicle. When performing the automated driving in the virtual vehicle mode, the motor torque is configured to change according to the distance to the preceding vehicle and the speed of the vehicle itself, in order to simulate the acceleration characteristics of the virtual vehicle. An electric vehicle characterized by the following features.

2. In the electric vehicle according to claim 1, The control device is When autonomous driving is not performed in the virtual vehicle mode, the simulated engine sound output from the speaker is changed according to the amount of accelerator pedal operation and the speed of the vehicle. During the execution of the automated driving in the virtual vehicle mode, the simulated engine sound is configured to change according to the distance to the preceding vehicle and the speed of the own vehicle. An electric vehicle characterized by the following features.

3. In the electric vehicle according to claim 1 or 2, The control device is When the automated driving is performed in the virtual vehicle mode, The target acceleration is calculated based on the distance between the vehicle and the preceding vehicle and the speed of the vehicle itself. The system is configured to change the motor torque based on the target acceleration and the speed of the vehicle so that the acceleration of the vehicle becomes the target acceleration. An electric vehicle characterized by the following features.

4. In the electric vehicle according to claim 3, The virtual vehicle mode includes a plurality of driving modes that differ in the distance between the vehicle and the preceding vehicle and the acceleration characteristics with respect to the speed of the vehicle itself. The control device is configured to correct the target acceleration according to the driving mode selected by the driver. An electric vehicle characterized by the following features.

5. In the electric vehicle according to claim 1, The aforementioned autonomous driving system is adaptive cruise control. An electric vehicle characterized by the following features.

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