Vehicle control system and control method

Abstract

In vehicles equipped with an electric motor as a drive source, the transmission characteristics are appropriately customized to achieve driving control that mimics the driving of an automatic transmission engine vehicle. [Solution] Driving control is performed to simulate the driving of a virtual vehicle based on a vehicle model that reproduces the vehicle characteristics of a virtual vehicle in the vehicle. The vehicle model is a transmission model that reproduces the shift characteristics of an automatic transmission engine vehicle as a virtual vehicle in the vehicle, and includes a transmission model constructed based on the shift line map of a stepped transmission equipped in an automatic transmission engine vehicle. When customized settings for the shift characteristics are received from the user interface, the shift characteristics are customized according to the customized settings.

Description

Technical Field

[0001] The present disclosure relates to a system and method for controlling a vehicle including an electric motor as a drive source.

Background Art

[0002] Various devices have been proposed and put into practical use for enjoying video games of a driving simulator system. For example, Patent Document 1 discloses a steering reaction force device used in a driving simulator. In this prior art, a reaction force applied to the steering is calculated based on a friction characteristic that combines a frictional force that changes in proportion to the steering angle of the steering and Coulomb friction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As an enjoyment of a video game of a driving simulator system, there is a selection of a virtual vehicle driven by a user. Also, customization of the selected virtual vehicle is one of the enjoyments. In the customization of a virtual vehicle, for example, vehicle characteristics of the selected virtual vehicle are adjusted according to a user's preference.

[0005] Consider a case where vehicle characteristics according to a user's preference are obtained by customizing vehicle characteristics. In this case, the user may expect the reflection of the vehicle characteristics after customization on an actual vehicle. Therefore, if the vehicle characteristics after customization can be reflected on the actual vehicle and the actual vehicle after reflection can be driven, the enjoyment of the user of the actual vehicle increases.

[0006] In relation to the above, the inventors of this disclosure are considering using multiple vehicle models corresponding to each of these virtual vehicles to perform driving control that simulates the driving of a virtual vehicle, with the aim of giving the vehicle driver an experience as if they were riding in various virtual vehicles. Here, we consider the case where the virtual vehicle is an automatic transmission engine vehicle equipped with a stepped transmission (hereinafter also referred to as "AT engine vehicle"). In this case, as a way to customize the vehicle characteristics, one can consider customizing the shift characteristics by customizing the gear ratio of the stepped transmission.

[0007] However, the gear changes in typical automatic transmission (AT) vehicles are performed based on a gear shift map that defines the conditions for switching between two adjacent gears. Therefore, if only the gear ratios of a stepped transmission are customized, but the gear shifting conditions are not, malfunctions may occur when the driving control system simulates the driving behavior of the customized AT vehicle.

[0008] This disclosure has been made in view of the above-mentioned issues. One purpose of this disclosure is to appropriately customize the shift characteristics in order to achieve driving control that mimics the driving of an AT engine vehicle in a vehicle equipped with an electric motor as a drive source. Another purpose of this disclosure is to suppress the occurrence of malfunctions when only the gear ratio of the stepped transmission of an AT engine vehicle is customized. [Means for solving the problem]

[0009] The first aspect of this disclosure is a system for controlling a vehicle equipped with an electric motor as a drive source, and having the following features: This control system comprises one or more memory devices and one or more processing circuits. The one or more memory devices store a vehicle model for reproducing the vehicle characteristics of a virtual vehicle in a real vehicle, and a gear shift line map for a stepped transmission equipped with an automatic transmission engine vehicle as a virtual vehicle. The one or more processing circuits perform driving control that simulates the driving of the virtual vehicle based on the vehicle model. The vehicle model is a transmission model for reproducing the shifting characteristics of an automatic transmission engine vehicle in a vehicle, and includes a transmission model constructed based on a shift line map. When one or more processing circuits receive customized settings for the shift characteristics from the user interface, they perform customization processing of the shift characteristics according to the customized settings.

[0010] A second aspect of this disclosure is a control method for a vehicle equipped with an electric motor as a drive source, which has the following features: This control method causes a computer to perform driving control that simulates the driving of a virtual vehicle, based on a vehicle model that reproduces the vehicle characteristics of the virtual vehicle in the actual vehicle. The vehicle model is a transmission model that reproduces the shift characteristics of an automatic transmission engine vehicle as a virtual vehicle in the actual vehicle, and includes a transmission model constructed based on the shift line map of the stepped transmission equipped in the automatic transmission engine vehicle. This control method further involves, upon receiving customized settings for the shift characteristics from the user interface, causing the computer to perform a customization process for the shift characteristics according to those customized settings. [Effects of the Invention]

[0011] According to this disclosure, when customized settings for the shift characteristics of an AT engine vehicle are received from the user interface, the shift characteristics are customized according to the customized settings. In other words, the vehicle user can use the user interface to customize the settings for the shift characteristics of the AT engine vehicle that the vehicle reproduces to their liking.

[0012] Furthermore, as can be understood from the embodiments described later, according to this disclosure, if only the gear ratio of a stepped transmission is customized, the gear shifting conditions are customized based on the gear ratio included in the customized settings. Therefore, it is possible to suppress the occurrence of problems when only the gear ratio is customized.

Brief Description of the Drawings

[0013] [Figure 1] It is a diagram showing the configuration of a vehicle to which the control system according to the embodiment is applied. [Figure 2] It is a tree diagram showing an example of a vehicle control mode selectable by the control device. [Figure 3] It is a diagram showing the configuration of a control device related to the running control of a vehicle. [Figure 4] It is a diagram showing the configuration of a control device related to the sound control of a vehicle. [Figure 5] It is a tree diagram showing an example of an operation procedure of an HMI for customizing vehicle characteristics. [Figure 6] It is a diagram showing an example of a method for customizing shift characteristics by operating the HMI. [Figure 7] It is a diagram showing an example of a method for customizing shift characteristics by operating the HMI. [Figure 8] It is a diagram showing an example of a method for customizing shift characteristics by operating the HMI. [Figure 9] It is a diagram showing an example of a method for customizing shift characteristics by operating the HMI. [Figure 10] It is a diagram showing an example of a method for customizing engine characteristics by operating the HMI. [Figure 11] It is a diagram showing an example of a method for customizing engine characteristics by operating the HMI. [Figure 12] It is a flowchart showing the processing executed by the customization system. [Figure 13] It is a tree diagram showing another example of a vehicle control mode selectable by the control device. [Figure 14] It is a diagram showing the configuration of a control device related to the running control of a vehicle. [Figure 15] It is a tree diagram showing an example of an operation procedure of an HMI for customizing shift characteristics of an AT engine vehicle. [Figure 16] It is a diagram showing an example of a method for customizing shift characteristics by operating the HMI. [Figure 17] It is a diagram showing an example of a method for customizing shift characteristics by operating an HMI. [Figure 18] It is a diagram showing an example of a method for customizing shift characteristics by operating an HMI. [Figure 19] It is a diagram showing an example of a method for customizing shift characteristics by operating an HMI. [Figure 20] It is a flowchart showing the processing executed by the customization system.

Embodiments for Carrying Out the Invention

[0014] 1. Configuration of the Vehicle 1-1. Example of the Configuration of the Power Train FIG. 1 is a diagram schematically showing the configuration of a vehicle 100 to which a control system according to an embodiment of the present disclosure is applied. First, an example of the configuration of the power train of the vehicle 100 will be described with reference to FIG. 1.

[0015] The vehicle 100 includes two electric motors (M) 4F and 4R at the front and rear as driving power sources for traveling. The electric motors 4F and 4R are, for example, three-phase AC motors. The front electric motor 4F is connected to a front drive shaft 5F that drives the front wheels 6F. The rear electric motor 4R is connected to a rear drive shaft 5R that drives the rear wheels 6R. The front wheels 6F are suspended by an electronically controlled front suspension 7F with independent left and right sides. The rear wheels 6R are suspended by an electronically controlled rear suspension 7R with independent left and right sides.

[0016] Inverters (INV) 3F and 3R are respectively attached to the front electric motor 4F and the rear electric motor 4R. The front inverter 3F and the rear inverter 3R are respectively connected to a battery (BATT) 2. The battery 2 stores electric energy for driving the electric motors 4F and 4R. That is, the vehicle 100 is a battery electric vehicle (BEV) that travels using the electric energy stored in the battery 2. The inverters 3F and 3R are, for example, voltage-type inverters, and control the torque of the electric motors 4F and 4R by PWM control.

[0017] 1-2. Example of a control system configuration Next, we will explain an example of the control system configuration for vehicle 100, referring to Figure 1.

[0018] Vehicle 100 is equipped with a battery management system (BMS) 10. The battery management system 10 is a device that monitors the cell voltage, current, temperature, etc., of the battery 2. The battery management system 10 has a function to estimate the state of charge (SOC) of the battery 2.

[0019] Vehicle 100 is equipped with a vehicle speed sensor 11. At least one of the wheel speed sensors (not shown) provided on each of the left and right front wheels 6F and the left and right rear wheels 6R is used as the vehicle speed sensor 11. Vehicle 100 is also equipped with an accelerator pedal stroke sensor 12. The accelerator pedal stroke sensor 12 is provided on the accelerator pedal 22 and outputs a signal indicating the amount the accelerator pedal 22 is pressed, i.e., the accelerator opening. Furthermore, vehicle 100 is equipped with a brake pedal stroke sensor 13. The brake pedal stroke sensor 13 is provided on the brake pedal 23 and outputs a signal indicating the amount the brake pedal 23 is pressed, i.e., the brake opening.

[0020] The accelerator pedal 22 and brake pedal 23 are driving control members used to drive the vehicle 100. Separately from these driving control members, the vehicle 100 is equipped with simulated gear shifting control members that mimic the control members used for shifting gears in a manual transmission engine vehicle (hereinafter also referred to as an "MT engine vehicle") as a virtual vehicle. The simulated gear shifting control members include the following simulated H-type shifter 24, simulated paddle shifter 25, and simulated clutch pedal 26.

[0021] The pseudo-H-type shifter 24 is a dummy, different from a real H-type shifter. The pseudo-H-type shifter 24 has a structure similar to a shift stick installed on the console and can move along an H-shaped gate between shift positions. However, since the vehicle 100 does not have a real transmission, the shift positions of the pseudo-H-type shifter 24 are virtual shift positions. The pseudo-H-type shifter 24 is equipped with a shift position sensor 14. The shift position sensor 14 outputs a signal indicating the shift position selected by the pseudo-H-type shifter 24.

[0022] The simulated paddle shifter 25 is a dummy, different from a real paddle shifter, which is a type of sequential shifter. The simulated paddle shifter 25 has a structure that resembles a shift paddle attached to the steering wheel, and the left and right paddles can be moved independently. The simulated paddle shifter 25 is equipped with a paddle shift switch 15. The paddle shift switch 15 outputs an upshift signal when the right paddle is pulled and a downshift signal when the left paddle is pulled.

[0023] The simulated clutch pedal 26 is a dummy, different from the actual clutch pedal. The simulated clutch pedal 26 has a structure similar to the clutch pedal found in conventional MT engine vehicles. For example, the simulated clutch pedal 26 is equipped with a reaction force mechanism that generates a reaction force in response to the driver's depressing. The position when no force is applied is the starting position of the simulated clutch pedal 26, and the position when it is pressed all the way down is the ending position of the simulated clutch pedal 26. The driver can operate the simulated clutch pedal 26 from the starting position to the ending position, resisting the reaction force from the reaction force mechanism. The simulated clutch pedal 26 is equipped with a clutch pedal stroke sensor 16. The clutch pedal stroke sensor 16 outputs a signal indicating the amount the simulated clutch pedal 26 is pressed. Since the vehicle 100 does not have a real clutch, the amount of operation of the simulated clutch pedal 26, i.e., the clutch opening, is a virtual clutch opening.

[0024] Although the simulated clutch pedal 26 is a pedal-type operating device operated with the foot, a lever-type or dial-type operating device operated by hand may also be provided as a simulated clutch operating device. The simulated clutch operating device can be operated by the driver against the reaction force from the starting position to the ending position, and various structures can be adopted as long as the driver can experience the same operating feel as a clutch pedal in a conventional MT engine vehicle with their feet or hands.

[0025] The vehicle 100 also includes a human-machine interface (HMI) 20 and an in-vehicle speaker 21 as user interfaces. The HMI 20 has a touch panel display. The HMI 20 displays information on the touch panel display and accepts input from the driver via touch operation on the touch panel display. The in-vehicle speaker 21 provides information to the driver by voice and can also output a simulated engine sound, which will be described later.

[0026] Vehicle 100 is equipped with a control device 101. Sensors and controlled devices mounted on vehicle 100 are connected to the control device 101 via an in-vehicle network. In addition to the battery management system 10, vehicle speed sensor 11, accelerator pedal stroke sensor 12, brake pedal stroke sensor 13, shift position sensor 14, paddle shift switch 15, and clutch pedal stroke sensor 16, various other sensors are also installed on vehicle 100.

[0027] The control device 101 is typically an electronic control unit (ECU). The control device 101 may be a combination of multiple ECUs. The control device 101 includes at least a processor 102 and a memory 103. The memory 103 includes RAM for temporarily recording data and ROM for storing a program 104 executable by the processor 102 and various data 105 related to the program. The program 104 consists of multiple instruction codes. The processor 102 reads the program 104 and data 105 from the memory 103 and executes them, and generates control signals based on signals acquired from each sensor. The control device 101 may have one or more processors 102.

[0028] The control device 101 can control the vehicle 100 in various control modes. The control mode can be selected by the driver by touching the touch panel display of the HMI 20. Specifically, by touching the touch panel display of the HMI 20, one or more programs 104 associated with each touch operation are read from the memory 103 and executed by the processor 102. The following describes the control modes of the vehicle 100 by the control device 101 that can be selected by the driver by operating the HMI 20.

[0029] 2. Vehicle control modes Figure 2 is a tree diagram showing an example of a control mode for the vehicle 100 that can be selected by the control device 101. In the HMI 20, the selection screen is displayed on the touch panel display according to the control tree shown in Figure 2.

[0030] The initial screen of the HMI20 displays the option "Control Mode" OP000. Selecting "Control Mode" OP000 displays the options "Automatic Mode" OP110 and "Manual Mode" OP120 on the touch panel display. If "Automatic Mode" OP110 is selected, the control mode of the vehicle 100 switches to automatic mode. Automatic mode is the control mode for driving the vehicle 100 as a normal BEV. In automatic mode, the driver can basically drive the vehicle 100 using only the accelerator pedal 22, brake pedal 23, and the steering wheel (not shown). In automatic mode, the shift operation of the simulated H-shaped shifter 24, the shift operation of the simulated paddle shifter 25, and the clutch operation of the simulated clutch pedal 26 are disabled.

[0031] If the option "Manual Mode" OP120 is selected, the control mode of vehicle 100 switches to manual mode. Manual mode is a control mode that makes vehicle 100 operate like a manual transmission (MT) engine vehicle. By selecting the option "Manual Mode" OP120, the touch panel display shows the options "Shift Mode" OP210, "Engine Characteristics" OP220, "Engine Sound" OP230, "Drive Mode" OP240, and "Suspension Characteristics" OP250. The driver can determine the characteristics of an MT engine vehicle that they want vehicle 100 to replicate by appropriately combining these options OP210-OP250.

[0032] The "Shift Mode" option OP210 is an option for selecting the shift mode of the manual transmission when operating vehicle 100 as a manual transmission vehicle. Selecting the "Shift Mode" option OP210 displays the options "Paddle Shift" OP311, "Stick Shift with Clutch Operation" OP312, and "Stick Shift without Clutch Operation" OP313 on the touch panel display. If the "Paddle Shift" option OP311 is selected, the shift mode of the manual transmission reproduced in vehicle 100 switches to paddle shift mode. Paddle shift mode is a mode in which the simulated paddle shifter 25 is used for shifting. In paddle shift mode, the shift operation of the simulated H-type shifter 24 is disabled. In paddle shift mode, the operation when the gear ratio of a manual transmission is switched is reproduced by the shift operation of the simulated paddle shifter 25. In a real paddle shift type manual transmission, the clutch operation is performed automatically by a robot. Therefore, in paddle shift mode, clutch operation of the simulated clutch pedal 26 is not required. In paddle shift mode, clutch operation of the simulated clutch pedal 26 is disabled.

[0033] If option "Stick Shift with Clutch Operation" OP312 is selected, the Stick Shift with Clutch Operation mode is selected. The Stick Shift with Clutch Operation mode is a mode in which the simulated H-type shifter 24 and the simulated clutch pedal 26 are used for shifting. In this mode, the operation when the gear ratio of a manual transmission is switched is reproduced by the shift operation of the simulated H-type shifter 24 and the clutch operation of the simulated clutch pedal 26. In addition, the shift operation of the simulated paddle shifter 25 is disabled in this mode.

[0034] If option "Clutchless Stick Shift" OP313 is selected, the clutchless stick shift mode is selected. The clutchless stick shift mode is a mode in which only the simulated H-type shifter 24 is used for shifting without using the simulated clutch pedal 26. Even in real H-type shifter manual transmissions, there are those in which the driver performs the clutch operation themselves and those in which the clutch operation is left to a robot. In this mode, the operation when the gear ratio of a manual transmission is changed is reproduced by the shift operation of the simulated H-type shifter 24. In addition, in this mode, the shift operation of the simulated paddle shifter 25 and the clutch operation of the simulated clutch pedal 26 are disabled.

[0035] The "Engine Characteristics" option OP220 is used to select the characteristics of the internal combustion engine when operating vehicle 100 as a manual transmission (MT) engine vehicle. Selecting the "Engine Characteristics" option OP220 will display options such as "Engine Characteristics A" OP321 and "Engine Characteristics B" OP322 on the touch panel display. Engine Characteristics A and Engine Characteristics B are different engine characteristics. Engine Characteristics A and B have default settings such as low-to-medium RPM type, high-RPM type, and full-range type.

[0036] The "Engine Sound" option (OP230) is used to select the engine sound to be reproduced in vehicle 100. Selecting the "Engine Sound" option (OP230) will display the "Engine Sound A" option (OP331) and the "Engine Sound B" option (OP332) on the touch panel display. Engine Sound A and Engine Sound B are different engine sounds. Engine Sound A and B have default settings for engine sounds such as a straight-4 turbocharged engine, a flat-6 engine, and a V12 engine.

[0037] The "Drive Mode" option OP240 is used to select the drive mode of vehicle 100. Selecting the "Drive Mode" option OP240 displays the "Four-Wheel Drive" option OP341 and the "Rear-Wheel Drive" option OP342 on the touch panel display. If the "Four-Wheel Drive" option OP341 is selected, the drive mode of vehicle 100 switches to four-wheel drive mode. In four-wheel drive mode, the front wheels 6F are driven by the front electric motor 4F, and the rear wheels 6R are driven by the rear electric motor 4R. The torque distribution between the front wheels 6F and the rear wheels 6R can be fixed or variable by the control of electric motors 4F and 4R by inverters 3F and 3R. If the "Rear-Wheel Drive" option OP342 is selected, the drive mode of vehicle 100 switches to rear-wheel drive mode. In rear-wheel drive mode, only the rear wheels 6R are driven by the rear electric motor 4R. However, in vehicle 100, it is also possible to select a front-wheel drive mode in addition to the rear-wheel drive mode, where only the front wheels 6F are driven by the front electric motor 4F.

[0038] The "Suspension Characteristics" option (OP250) is used to select the suspension characteristics of vehicle 100. Selecting "Suspension Characteristics" (OP250) displays the options "Suspension Characteristics A" (OP351) and "Suspension Characteristics B" (OP352) on the touch panel display. The damping force of suspensions 7F and 7R differs between suspension characteristics A and suspension characteristics B. Suspension characteristics A and B have default settings such as soft, medium, and hard.

[0039] By operating the HMI20's touch panel display according to the control tree described above, the driver can switch the vehicle 100's control mode to their preference. The switchable control modes include modes related to the vehicle 100's driving control and modes related to the vehicle 100's sound control. Specifically, the mode related to the "engine sound" option OP230 is related to sound control, while all others are related to driving control. The following sections will describe the vehicle 100's driving control and sound control by the control device 101.

[0040] 3. Vehicle driving control Figure 3 shows the configuration of a control device 101 related to the driving control of the vehicle 100. More specifically, Figure 3 shows the configuration related to torque control within the driving control. The processor 102 functions as a driving control device when one or more driving control programs 104 stored in memory 103 are executed by the processor 102.

[0041] The control device 101, which functions as a driving control device, receives a control mode signal from the HMI 20. The control mode signal contains information about the control mode selected by the driver. Based on the control mode signal, the control device 101 performs process P110. In process P110, the control mode is switched according to the control mode signal. The switch between automatic mode and manual mode is particularly important for driving control.

[0042] When the control mode is switched to automatic mode, the control device 101 executes process P120 for torque calculation in automatic mode. In process P120, the control device 101 obtains the vehicle speed from the signal of the vehicle speed sensor 11 and the accelerator opening from the signal of the accelerator pedal stroke sensor 12. The control device 101 has a motor torque map with accelerator opening and vehicle speed as parameters. The control device 101 inputs the vehicle speed and accelerator opening into the motor torque map and controls inverters 3F and 3R to generate the torque obtained from the motor torque map in electric motors 4F and 4R.

[0043] When the control mode is switched to manual mode, the control device 101 executes process P130 for torque calculation in manual mode. Process P130 includes process P131 for calculating the torque to be generated by the drive wheels. Process P130 also includes processes P132 and P133. Process P132 is for calculating the torque to be generated by the front electric motor 4F, and process P133 is for calculating the torque to be generated by the rear electric motor 4R. Processes P132 and P133 are executed according to the drive wheel torque calculated in process P130 and the torque distribution between the front wheel 6F and the rear wheel 6R.

[0044] The vehicle model MOD01 is used to calculate the drive wheel torque in process P131. Vehicle model MOD01 includes the engine model MOD11, the clutch model MOD12, and the transmission model MOD13. The engine virtually realized by vehicle model MOD01 is called the virtual engine, the virtually realized clutch is called the virtual clutch, and the virtually realized transmission is called the virtual transmission. The engine model MOD11 models the virtual engine. The clutch model MOD12 models the virtual clutch. The transmission model MOD13 models the virtual transmission.

[0045] Engine model MOD11 calculates virtual engine speed and virtual engine torque. Virtual engine speed is calculated from vehicle speed, overall reduction ratio, and virtual clutch slip ratio. Virtual engine torque is calculated from virtual engine speed and accelerator opening. Vehicle speed is obtained from the signal of vehicle speed sensor 11. Accelerator opening is obtained from the signal of accelerator pedal stroke sensor 12. The overall reduction ratio is a value obtained by multiplying the gear ratio of the virtual transmission by the reduction ratio determined by the mechanical structure from the virtual transmission to the drive wheels. In engine model MOD11, the relationship between virtual engine speed and virtual engine torque is defined for each accelerator opening. The engine characteristics of engine model MOD11 can be selected by the driver by operating the HMI 20.

[0046] The clutch model MOD12 calculates the torque transmission gain. The torque transmission gain is used to calculate the degree of torque transmission of the virtual clutch according to the clutch opening. When the clutch-operated stick shift mode is selected as the shift mode, the clutch opening is obtained from the signal of the clutch pedal stroke sensor 16. The clutch opening is 0% at the starting position of the simulated clutch pedal 26 and 100% at the ending position of the simulated clutch pedal 26. In the clutch model MOD12, a torque transmission gain is assigned to the clutch opening. The torque transmission gain is converted into the clutch torque capacity of the virtual clutch, i.e., the virtual clutch torque capacity. Then, based on a comparison between the virtual clutch torque capacity and the virtual engine torque calculated by the engine model MOD11, the virtual clutch torque input from the virtual clutch to the virtual transmission is calculated. In addition, the clutch model MOD12 calculates the slip ratio as 1 minus the torque transmission gain. The slip ratio is used in the calculation of the virtual engine speed in the engine model MOD11.

[0047] When paddle shift mode is selected as the shift mode, the clutch opening input to clutch model MOD12 is calculated using the clutch operation model. Similarly, when clutchless stick shift mode is selected as the shift mode, the clutch opening input to clutch model MOD12 is calculated using the clutch operation model. The clutch operation model is a model that simulates the clutch operation of a model driver. When paddle shift mode is selected, the clutch operation model receives signals from the vehicle speed, virtual engine speed, and paddle shift switch 15. When clutchless stick shift mode is selected, the clutch operation model receives signals from the vehicle speed, virtual engine speed, and shift position sensor 14.

[0048] Signals from the paddle shift switch 15 and the shift position sensor 14 are used to time the clutch operation. When the driver's shift operation is detected by the signals from the paddle shift switch 15 and the shift position sensor 14, the clutch operation model maximizes the clutch opening to disengage the virtual clutch. Vehicle speed and virtual engine speed are used to calculate the clutch opening. In order to smoothly match the rotational speed of the virtual transmission input shaft, which is calculated from the vehicle speed, with the virtual engine speed, the clutch operation model calculates the clutch opening based on the rotational speed difference between the rotational speed of the virtual transmission input shaft and the virtual engine speed.

[0049] The transmission model MOD13 calculates the virtual gear ratio. The virtual gear ratio is the gear ratio determined by the virtual shift position in the virtual transmission. The virtual gear ratio is set for each shift position. The largest virtual gear ratio is set for 1st gear, and the virtual gear ratio decreases in the order of 2nd, 3rd, 4th, ... In each stick shift mode, the shift position is mapped one-to-one with the signal from the shift position sensor 14. In paddle shift mode, the shift position is moved up one step in response to the upshift signal from the paddle shift switch 15, and the shift position is moved down one step in response to the downshift signal from the paddle shift switch 15. Note that the number of shift positions is physically determined in the pseudo H-type shifter 24, whereas there are no physical constraints on the number of shift positions in the pseudo paddle shifter 25. Therefore, by setting it, the transmission model MOD13 can be different for stick shift mode and paddle shift mode, and the number of shift positions in paddle shift mode can be greater than the number of shift positions in stick shift mode.

[0050] Transmission model MOD13 calculates virtual transmission torque using virtual gear ratios and virtual clutch torque. Virtual transmission torque is a virtual torque output from the virtual transmission. Control device 101 controls inverters 3F and 3R to change the output torque of electric motors 4F and 4R according to the virtual transmission torque. The virtual transmission torque changes discontinuously in accordance with the switching of virtual gear ratios. This discontinuous change in virtual transmission torque generates torque shocks in vehicle 100, creating the impression of a vehicle equipped with a stepped transmission.

[0051] Vehicle model MOD01 calculates drive wheel torque from virtual transmission torque and reduction ratio. When four-wheel drive mode is selected as the drive mode, the drive wheel torque is the sum of the torques acting on the left and right front wheels (6F) and the left and right rear wheels (6R). The torque distribution to the front wheels (6F) and rear wheels (6R) can be fixed, or it can be actively or passively changed. When rear-wheel drive mode is selected as the drive mode, the drive wheel torque is the sum of the torques acting on the left and right rear wheels (6R).

[0052] In process P132, the torque of the front electric motor 4F (front motor torque) in manual mode is calculated by multiplying the drive wheel torque calculated in process P131 by the torque distribution ratio to the front wheel 6F and the reduction ratio from the output shaft of the front electric motor 4F to the front wheel 6F. The control device 101 controls the front inverter 3F to generate the front motor torque calculated in process P132 at the front electric motor 4F.

[0053] In process P133, the torque of the rear electric motor 4R (rear motor torque) in manual mode is calculated by multiplying the drive wheel torque calculated in process P131 by the torque distribution ratio to the rear wheel 6R and the reduction ratio from the output shaft of the rear electric motor 4R to the rear wheel 6R. The control device 101 controls the rear inverter 3R to generate the rear motor torque calculated in process P133 at the rear electric motor 4R.

[0054] In the configuration shown in Figure 3, the battery management system 10 and the brake pedal stroke sensor 13 are not necessarily required for the above-described driving control. However, if switching the control mode affects the State of Charge (SOC) of the battery 2, the signal from the battery management system 10 may be used as information to determine whether or not to switch the control mode. Also, in cases where the operation method of the vehicle 100 changes significantly, such as switching between automatic mode and manual mode, the condition for switching may be that the brake pedal 23 is pressed. In that case, the signal from the brake pedal stroke sensor 13 can be used as information to determine whether the brake pedal 23 is pressed.

[0055] 4. Vehicle sound control Figure 4 shows the configuration of a control device 101 related to sound control of the vehicle 100. One or more sound control programs 104 stored in memory 103 are executed by the processor 102, thereby enabling the processor 102 to function as a sound control device. The processor 102 that functions as a torque control device and the processor 102 that functions as a sound control device may be separate processors or the same processor.

[0056] The control device 101, acting as a sound control device, can generate artificially produced sounds from the in-vehicle speaker 21. One of these artificial sounds is a simulated engine sound that resembles the engine sound of a conventional internal combustion engine vehicle. When a control mode signal indicating that manual mode has been selected is input from the HMI 20, the control device 101, acting as a sound control device, executes process P140. In process P140, a simulated engine sound is generated based on the virtual engine torque and virtual engine speed calculated in process P131.

[0057] In process P140, the engine sound selected by HMI20 is used as the sound source for the simulated engine sound generated by the in-car speaker 21. However, in process P140, the sound source is not used as is. In process P140, for example, the sound pressure of the sound source is changed by an amplifier, and for example, the frequency of the sound source is changed by a frequency modulator.

[0058] Process P140 includes process P141, which calculates engine sound pressure, and process P142, which calculates engine sound frequency. In process P141, the sound pressure of the simulated engine sound is calculated from the virtual engine torque using the sound pressure map M11. The sound pressure map M11 is designed so that the sound pressure increases as the virtual engine torque increases. In process P142, the frequency of the simulated engine sound is calculated from the virtual engine speed using the frequency map M12. The frequency map M12 is designed so that the frequency increases as the virtual engine speed increases. The virtual engine torque and virtual engine speed change according to the driver's accelerator, shift, and clutch operations. By changing the sound pressure and frequency of the simulated engine sound in accordance with these changing virtual engine torque and virtual engine speed, it is possible to give the driver a sense of realism as if they were driving a real manual transmission vehicle.

[0059] 5. Customization of vehicle characteristics 5-1. Overview The driver of vehicle 100 can enjoy operating a manual transmission (MT) engine vehicle in vehicle 100 by operating the HMI 20 to switch the control mode to manual mode. Furthermore, by selecting their preferred options from pre-prepared choices for various modes such as shift mode and engine characteristics, the driver can set the vehicle characteristics of the MT engine vehicle reproduced in vehicle 100 to their liking.

[0060] However, for some users, such as drivers who have thoroughly enjoyed driving in manual mode, setting vehicle characteristics using pre-configured combinations of options may not be satisfactory. For example, there are many MT engine vehicles with various vehicle characteristics, but the pre-configured combinations of options do not necessarily allow for the realization of the vehicle characteristics of all such vehicles. However, there may be users who want to realize vehicle characteristics that cannot be achieved with the pre-configured combinations of options. To meet the demands of such users, vehicle 100 is equipped with a system (hereinafter also referred to as the "customization system") that allows users to freely customize the vehicle characteristics of the MT engine vehicle that vehicle 100 reproduces. The customization system consists of a control device 101 and an HMI 20.

[0061] 5-2. Customization Procedure Figure 5 is a tree diagram showing an example of the operating procedure for the HMI120 for customizing vehicle characteristics. The option "Customize" CM000 is displayed on the screen at the same level as the HMI120 option "Control Mode" OP000 (see Figure 2), or on a lower level screen. By selecting the option "Customize" CM000, the touch panel display shows the options "Paddle Shift Shift Characteristics" CM110, "Stick Shift Shift Characteristics" CM120, "Engine Characteristics" CM130, "Engine Sound" CM140, and "Suspension Characteristics" CM150. The user can select the characteristic they want to customize from these options CM110-CM150.

[0062] When the option "Paddle Shift Shifting Characteristics" CM110 is selected, the options "Default Setting" CM211 and "Customized Setting" C212 become available. If the user selects "Default Setting" CM211, the shifting characteristics in paddle shift mode will be the pre-set default setting. If the user selects "Customized Setting" CM212, the shifting characteristics in paddle shift mode will be the customized setting customized by the user. By switching between these two options, the user can arbitrarily switch the shifting characteristics in paddle shift mode between the default setting and the customized setting.

[0063] Customized settings become available when the user registers them in memory 103. Therefore, the "Customized Settings" option C212 cannot be selected in the initial state. To register customized settings, the "Customize" option CM311 is selected while the "Default Settings" option CM211 is selected. This selection allows the user to customize the shift characteristics in paddle shift mode based on the default settings and register the customized shift characteristics as a customized setting. Customizing the shift characteristics may include, for example, changing the gear ratio for each shift position. It may also include changing the number of shift positions. If a customized setting is already registered in memory 103, the user can also select the "Customize" option CM312 while the "Customized Settings" option CM212 is selected. This selection allows the user to customize the shift characteristics in paddle shift mode based on the currently registered customized setting. The customized shift characteristics are registered in memory 103 as a new customized setting.

[0064] If the option "Stick Shift Gear Shifting Characteristics" CM120 is selected, it becomes possible to customize the gear shifting characteristics in the clutch-operated stick shift mode and the clutchless stick shift mode. The procedure for customizing the gear shifting characteristics in these stick shift modes is the same as the procedure for customizing the gear shifting characteristics in the paddle shift mode. By selecting the option "Default Settings" CM221 and then selecting the option "Customize" CM321, the user can customize the gear shifting characteristics in stick shift mode based on the default settings. Alternatively, by selecting the option "Customized Settings" CM222 and then selecting the option "Customize" CM322, the user can customize the gear shifting characteristics in stick shift mode based on the currently registered customized settings. Customizing the gear shifting characteristics includes, for example, changing the gear ratio for each shift position. However, in stick shift mode, the number of shift positions is physically determined by the structure of the pseudo-H-type shifter 24. Therefore, customizing the gear shifting characteristics in stick shift mode does not include changing the number of shift positions.

[0065] If the option "Engine Characteristics" CM130 is selected, it becomes possible to customize the engine characteristics of the MT engine vehicle to be reproduced in vehicle 100. The procedure for customizing engine characteristics is the same as the procedure for customizing shift characteristics. By selecting the option "Default Settings" CM231 and then selecting the option "Customize" CM331, the user can customize the engine characteristics based on the default settings. As the default settings, either setting A or setting B can be selected. Alternatively, by selecting the option "Customized Settings" CM232 and then selecting the option "Customize" CM332, the user can customize the engine characteristics based on the currently registered customized settings. Customizing engine characteristics may include, for example, changing the engine speed-engine torque map. It may also include changing the throttle opening-engine torque map.

[0066] If the option "Engine Sound" CM140 is selected, it becomes possible to customize the simulated engine sound of the MT engine vehicle to be reproduced in vehicle 100. The procedure for customizing the simulated engine sound is the same as the procedure for customizing the shift characteristics. By selecting the option "Default Setting" CM241 and then selecting the option "Customize" CM341, the user can customize the simulated engine sound based on the default setting. As the default setting, either setting A or setting B can be selected. Furthermore, by selecting the option "Customized Setting" CM242 and then selecting the option "Customize" CM342, the user can customize the simulated engine sound based on the currently registered customized setting. Engine sound customization includes, for example, changes to the sound pressure-engine torque map and changes to the frequency-engine speed map. It may also include changes to the sound source.

[0067] If the option "Suspension Characteristics" CM150 is selected, it becomes possible to customize the suspension characteristics. The procedure for customizing suspension characteristics is the same as the procedure for customizing shift characteristics. By selecting the option "Default Settings" CM251 and then selecting the option "Customize" CM351, the user can customize the suspension characteristics based on the default settings. As the default settings, either suspension characteristic A or suspension characteristic B can be selected. Alternatively, by selecting the option "Customized Settings" CM252 and then selecting the option "Customize" CM352, the user can customize the suspension characteristics based on the currently registered customized settings. Customizing suspension characteristics includes, for example, changing the suspension damping force. The suspension damping force for the front wheels and the suspension damping force for the rear wheels may be changed independently.

[0068] 5-3. Specific Examples of Customization 5-3-1. How to customize shifting characteristics This section will explain in detail, using several examples, how to customize vehicle characteristics when the "Customize" option is selected in HMI120. First, as a specific example, Figures 6-9 will be used to explain how to customize the shift characteristics in paddle shift mode.

[0069] First, when the user selects either the "Customize" option CM311 or the "Customize" option CM312, the HMI120's touch panel display shows screen SCR1 as shown in Figure 6. Screen SCR1 displays characteristic diagrams of the gear ratios for each shift position. These characteristic diagrams correspond to the gear ratio maps for each shift position used in transmission model MOD13. In the example shown in Figure 6, there are shift positions from 1st to 8th gear in paddle shift mode. The gear ratios for each shift position are indicated by black circles in the characteristic diagram. For example, black circle TR3 indicates the gear ratio for 3rd gear, and black circle TR4 indicates the gear ratio for 4th gear. The characteristic diagram also shows the acceptable range of gear ratios for each shift position using high and low lines. Along with the characteristic diagram, the confirmation button BTN11 and the reset button BTN12 are displayed on screen SCR1.

[0070] The user can directly edit the gear ratio characteristic diagram for each shift position on the SCR screen. For example, to lower the gear ratio for 4th gear, drag the black circle TR4 downwards with finger F01 as shown in Figure 7 to lower the position of the black circle TR4 on the characteristic diagram. The gear ratios for other shift positions can be edited individually in the same way. Although not shown in the figure, in paddle shift mode, it is also possible to remove the black circle corresponding to 8th gear from the characteristic diagram to make it a 7-speed transmission, or add the black circle corresponding to 9th gear to make it a 9-speed transmission. Once the overall gear characteristics have been customized to the user's liking, clicking the confirmation button BTN11 with finger F01 will register the customized gear characteristics as a customized setting in memory 103. On the other hand, if the user wants to start the customization process over from the beginning, clicking the reset button BTN12 with finger F01 will return all black circles on the characteristic diagram to their original positions before editing.

[0071] As described above, by operating the HMI120, the user can customize the shift characteristics of the MT engine vehicle reproduced in vehicle 100 to their preferred shift characteristics. However, it is not always possible to register all of the user's customized shift characteristics. For example, comparing the black circles TR3 and TR4 shown in Figure 9, black circle TR4 is set at a higher position than black circle TR3. This means that the shift ratio for 4th gear is set higher than the shift ratio for 3rd gear. However, with such a shift ratio setting, vehicle 100 cannot be driven smoothly and may even cause vehicle 100 to become inoperable. In other words, when evaluating the relationship between shift ratios between shift positions as a whole, the relationship shown in Figure 9 cannot be accepted as a setting for the shift characteristics of vehicle 100 as an MT engine vehicle. Similarly, if the shift ratios between adjacent shift positions are extremely far apart, it cannot be said that these are suitable shift characteristics for vehicle 100.

[0072] In the customization system, the conditions for the transmission characteristics that are suitable for vehicle 100 are predetermined. If the transmission characteristics settings customized by the user, i.e., the customized settings, do not meet these conditions, the customized settings will not be registered in memory 103 even if the confirmation button BTN11 is clicked with finger F01. In this case, an error message ERR is displayed on screen SCR1, and the gear ratios for each shift position are forcibly returned to their original positions as shown by white circles on the characteristic diagram. Alternatively, the system can simply display the error message ERR on screen SCR1 and wait for the user to click the reset button BTN12. In any case, if the customized settings are not suitable for vehicle 100, the registration of the customized settings is canceled, and the vehicle characteristics settings of vehicle 100 as an MT engine vehicle are maintained at the current settings or the default settings.

[0073] 5-3-2. How to customize engine characteristics Next, as another specific example, we will explain how to customize the engine characteristics of an MT engine vehicle to be reproduced in vehicle 100, using Figures 10-11.

[0074] First, when the user selects either the "Customize" option CM331 or the "Customize" option CM332, the HMI120's touch panel display shows screen SCR2, as shown in Figure 10. Screen SCR2 displays a characteristic curve showing the relationship between engine speed and engine torque. This characteristic curve corresponds to the engine speed-engine torque map used in engine model MOD11. The characteristic curve shows the currently set torque curve TC and the upper limit UL and lower limit LL of engine torque relative to engine speed. Along with the characteristic curve, the confirmation button BTN21 and the reset button BTN22 are displayed on screen SCR2.

[0075] The user can directly edit the characteristic curve of engine torque against engine speed on screen SCR2. For example, to increase engine torque in the high-speed range, drag the high-speed end of the torque curve TL upwards with finger F01, as shown in Figure 11. This moves the high-speed region of the torque curve TL upwards as a whole, changing the engine characteristics to a high-speed type. The user can customize the torque curve TL to any shape between the upper limit UL and the lower limit LL. Once the user has customized the engine characteristics to their liking, clicking the confirmation button BTN21 with finger F01 will register the customized engine characteristics as a customized setting in memory 103. On the other hand, if the user wants to start the customization process over from the beginning, clicking the reset button BTN22 with finger F01 will return the torque curve TL on the characteristic curve to its original shape.

[0076] As described above, by operating the HMI120, the user can customize the engine characteristics of the MT engine vehicle to be reproduced in vehicle 100 to their preferred engine characteristics. However, as with the customization of shift characteristics, the customization system has predetermined conditions for setting engine characteristics that are suitable for vehicle 100. For example, settings that cause a rapid increase in engine torque at high RPMs or a rapid decrease in engine torque at mid-range RPMs are deemed to be outside the suitable range for vehicle 100. If the customized engine characteristics setting is outside the suitable range, the registration of that customized setting is canceled, and the vehicle characteristics setting of vehicle 100 as an MT engine vehicle is maintained at the current setting or the default setting.

[0077] 5-4. Processing Flow The processes described above, performed by the customized system, can be represented by the flowchart shown in Figure 12. The control device 101, which constitutes the customized system, executes the routine shown in this flowchart at predetermined intervals.

[0078] In the routine shown in Figure 12, the process in step S101 is performed first. In step S101, it is determined whether the customized settings have been acquired in the HMI 120. Acquiring customized settings means that the settings customized by the user have been input into the HMI 120. For example, in the case of section "5-3-1. Method for customizing shift characteristics", it is determined that the customized settings have been acquired when the confirmation button BTN11 is clicked. Subsequent processing is skipped until the customized settings have been acquired.

[0079] If customized settings are obtained, the process in step S102 is performed. In the process in step S102, it is determined whether the customized settings are suitable for vehicle 100. If it is determined that the customized settings are suitable for vehicle 100, in the process in step S103, the vehicle characteristics settings of vehicle 100 as an MT engine vehicle are changed based on the customized settings. Otherwise, in the process in step S104, the vehicle characteristics settings of vehicle 100 as an MT engine vehicle are maintained at the current settings or the default settings. This allows the user to enjoy customizing the vehicle characteristics without causing a situation in which vehicle 100 becomes inoperable.

[0080] 6. Application to AT engine vehicles 6-1. Vehicle control modes The control modes of vehicle 100, as described in Figure 2, include an automatic mode for operating vehicle 100 as a normal BEV and a manual mode for operating vehicle 100 like a manual transmission engine vehicle. However, as shown in the example configuration of vehicle 100 in Figure 1, it is also possible to operate vehicle 100 like an automatic transmission engine vehicle equipped with a stepped transmission (i.e., an automatic transmission engine vehicle).

[0081] In order to operate vehicle 100 like an AT engine vehicle, it is sufficient that the control mode of the AT engine vehicle as a virtual vehicle is set. Figure 13 is a tree diagram showing another example of the control modes of vehicle 100 that can be selected by the control device 101. In HMI 20, the selection screen is displayed on the touch panel display according to the control tree shown in Figure 13.

[0082] The initial screen of the HMI20 displays the option "Control Mode" OP000. Selecting "Control Mode" OP000 displays the options "Automatic Mode" OP110 and "Manual Mode" OP120 on the touch panel display. This explanation is as described in Figure 2.

[0083] When the option "Automatic Mode" OP110 is selected, the control mode of vehicle 100 switches to automatic mode. By selecting the option "Automatic Mode" OP110, the options "EV Mode" OP260, "AT Shift Mode" OP270, "Engine Characteristics" OP220, "Engine Sound" OP230, "Drive Mode" OP240, and "Suspension Characteristics" OP250 are displayed on the touch panel display. Note that options OP220-OP250 are the same as those displayed on the touch panel display simultaneously with the option "Manual Mode" OP120 as explained in Figure 2.

[0084] The "EV mode" option (OP260) is a control mode for operating vehicle 100 as a normal BEV. The "AT shift mode" option (OP270) is a control mode for operating vehicle 100 like an AT engine vehicle. In EV mode and AT shift mode, the driver can basically operate vehicle 100 using only the accelerator pedal 22, brake pedal 23, and the steering wheel (not shown). In EV mode and AT shift mode, the shift operation of the simulated H-shaped shifter 24, the shift operation of the simulated paddle shifter 25, and the clutch operation of the simulated clutch pedal 26 are disabled.

[0085] 6-2. Vehicle Driving Control Figure 14 shows the configuration of the control device 101 related to the driving control of the vehicle 100. More specifically, Figure 14 shows the configuration related to torque control within the driving control. The control device 101, as a driving control device, receives a control mode signal from the HMI 20. The control mode signal contains information about the control mode selected by the driver. The control device 101 performs processing P110 based on the control mode signal. In processing P110, the control mode is switched according to the control mode signal. The switching between EV mode and AT mode is particularly influential on driving control.

[0086] When the control mode is switched to EV mode, the control device 101 executes process P150 for torque calculation in EV mode. In process P150, the control device 101 obtains the vehicle speed from the signal of the vehicle speed sensor 11 and the accelerator opening from the signal of the accelerator pedal stroke sensor 12. The control device 101 has a motor torque map with accelerator opening and vehicle speed as parameters. The control device 101 inputs the vehicle speed and accelerator opening into the motor torque map and controls the inverters 3F and 3R to generate the torque obtained from the motor torque map in the electric motors 4F and 4R.

[0087] When the control mode is switched to AT mode, the control device 101 executes process P160 for torque calculation in AT mode. Process P160 includes process P161 for calculating the torque to be generated by the drive wheels. Process P160 also includes processes P162 and P163. Process P162 is for calculating the torque to be generated by the front electric motor 4F, and process P163 is for calculating the torque to be generated by the rear electric motor 4R. Processes P162 and P163 are executed according to the drive wheel torque calculated in process P160 and the torque distribution between the front wheel 6F and the rear wheel 6R.

[0088] The vehicle model MOD02 is used to calculate the drive wheel torque in process P161. Vehicle model MOD02 includes engine model MOD14 and transmission model MOD15. Engine model MOD14 models a virtual engine. The configuration of engine model MOD is substantially the same as engine model MOD11, which is described in Figure 3. Transmission model MOD15 models a virtual transmission.

[0089] The transmission model MOD15 calculates the gear ratio for each gear and the conditions for switching between two adjacent virtual gears. The virtual gear ratio is the gear ratio determined by the virtual gear in the virtual transmission. A virtual gear ratio is set for each gear. The largest virtual gear ratio is set for 1st gear, and the virtual gear ratio decreases in the order of 2nd, 3rd, 4th, ... The conditions for switching between two adjacent gears are set in relation to the combination of vehicle speed and accelerator opening, and are represented by a gear shift map. The gear shift map is included in data 105 recorded in memory 103.

[0090] Transmission model MOD15 calculates virtual transmission torque using virtual gear ratios and gear shifting conditions. Virtual transmission torque is a virtual torque output from the virtual transmission. Control device 101 controls inverters 3F and 3R to change the output torque of electric motors 4F and 4R according to the virtual transmission torque. The virtual transmission torque changes according to the switching of the virtual gear ratio. This change in virtual transmission torque generates a torque shock in vehicle 100, creating the impression of a vehicle equipped with a stepped transmission.

[0091] Vehicle model MOD01 calculates drive wheel torque from virtual transmission torque and reduction ratio. When four-wheel drive mode is selected as the drive mode, the drive wheel torque is the sum of the torques acting on the left and right front wheels (6F) and the left and right rear wheels (6R). The torque distribution to the front wheels (6F) and rear wheels (6R) can be fixed, or it can be actively or passively changed. When rear-wheel drive mode is selected as the drive mode, the drive wheel torque is the sum of the torques acting on the left and right rear wheels (6R).

[0092] In process P162, the torque of the front electric motor 4F (front motor torque) in manual mode is calculated by multiplying the drive wheel torque calculated in process P161 by the torque distribution rate to the front wheel 6F and the reduction ratio from the output shaft of the front electric motor 4F to the front wheel 6F. The control device 101 controls the front inverter 3F to generate the front motor torque calculated in process P162 at the front electric motor 4F.

[0093] In process P163, the torque of the rear electric motor 4R (rear motor torque) in manual mode is calculated by multiplying the drive wheel torque calculated in process P161 by the torque distribution rate to the rear wheel 6R and the reduction ratio from the output shaft of the rear electric motor 4R to the rear wheel 6R. The control device 101 controls the rear inverter 3R to generate the rear motor torque calculated in process P163 at the rear electric motor 4R.

[0094] 6-4. Vehicle Sound Control The sound control of vehicle 100 is also applied to the generation of a simulated engine sound that resembles the engine sound in an AT engine vehicle. For example, when a control mode signal indicating that AT mode has been selected is input from HMI 20, the control device 101, acting as a sound control device, outputs the engine sound selected by HMI 20 from the in-vehicle speaker 21. The processing performed in this sound control is basically the same as processes 140 and 141 described in Figure 4.

[0095] 6-5. Customizing the shifting characteristics 6-5-1. Overview The customization system described in Section 5, "Customizing Vehicle Characteristics," was for customizing the vehicle characteristics of MT (manual transmission) engine vehicles. This section considers the customization of vehicle characteristics of AT (automatic transmission) engine vehicles. Customizing the vehicle characteristics of AT engine vehicles is basically the same as that of MT engine vehicles. However, a gear shift line map is used for shifting in typical AT engine vehicles, and the transmission model MOD15 is also built on a gear shift line map. Therefore, in customizing the shift characteristics of AT engine vehicles, in addition to customizing the gear ratio of each gear stage, the gear shift lines shown in the gear shift line map are also customized.

[0096] 6-5-2. Customization Procedures and Examples Figure 15 is a tree diagram showing an example of the operating procedure for the HMI120 for customizing the shift characteristics of an AT engine vehicle. The option "Customize" CM000 is displayed on the HMI120's touch panel display. By selecting the option "Customize" CM000, the options "AT Shift Characteristics" CM160, "Engine Characteristics" CM130, "Engine Sound" CM140, and "Suspension Characteristics" CM150 are displayed on the touch panel display. Note that options CM000, CM130-CM150 are the same as those shown in Figure 5.

[0097] If the option "AT shift characteristics" CM160 is selected, it becomes possible to customize the shift characteristics of the AT engine vehicle. The procedure for customizing the shift characteristics of the AT engine vehicle is the same as the procedure for customizing the shift characteristics explained in Figure 5. That is, by selecting the option "default settings" CM261 and then selecting the option "customize" CM361, the user can customize the shift characteristics of the AT engine vehicle based on the default settings. Alternatively, by selecting the option "customized settings" CM262 and then selecting the option "customize" CM362, the user can customize the shift characteristics of the AT engine vehicle based on the currently registered customized settings.

[0098] When the user selects option "Customize" CM361 or option "Customize" CM362, the HMI120's touch panel display shows screen SCR3, as shown in Figure 16. Screen SCR3, as shown in Figure 16, is for customizing the gear ratio. The specific method for customizing the gear ratio is basically the same as that for the gear ratio explained in Figures 6-9. That is, the characteristic diagram of the gear ratio for each gear is displayed on screen SCR3. This characteristic diagram corresponds to the gear ratio map for each gear used in transmission model MOD15. In the example shown in Figure 16, there are gears from 1st to 6th. The gear ratio for each gear is shown as a black circle on the characteristic diagram. For example, black circle GR3 shows the gear ratio for 3rd gear, and black circle GR4 shows the gear ratio for 4th gear. In addition, the tolerance range of the gear ratio for each gear is shown as high and low lines on the characteristic diagram. Along with the characteristic diagram, the confirmation button BTN31 and the reset button BTN32 are displayed on screen SCR3.

[0099] The user can directly edit the gear ratio characteristic diagram for each gear on screen SCR3. For example, to lower the gear ratio of 4th gear, drag the black circle GR4 downwards with finger F01 as shown in Figure 17 to lower the position of the black circle GR4 on the characteristic diagram. The gear ratios of other gears can be edited individually in the same way. Although not shown in the figure, it is also possible to remove the black circle corresponding to 6th gear from the characteristic diagram to make it a 5-speed system, or add the black circle corresponding to 7th gear to make it a 7-speed system. Once the overall gear characteristics have been customized to the user's liking, clicking the confirmation button BTN31 with finger F01 will register the customized gear characteristics as a customized setting in memory 103. On the other hand, if the user wants to start the customization process over from the beginning, clicking the reset button BTN32 with finger F01 will return all black circles on the characteristic diagram to their original positions before editing.

[0100] After clicking the confirmation button BTN31 on screen SCR3 shown in Figure 16 with finger F01, screen SCR4 shown in Figure 18 is displayed on the HMI120's touch panel display. Screen SCR4 displays a gear shift line showing the switching conditions for two adjacent gears, and a gear shift diagram showing the relationship between vehicle speed and accelerator opening. This gear shift diagram corresponds to the gear shift map used in transmission model MOD15. In the example shown in Figure 18, the gear shift diagram shows the currently set upshift line and downshift line. Along with this gear shift diagram, the confirmation button BTN41 and reset button BTN42 are displayed on screen SCR4.

[0101] The user can directly edit any upshift or downshift line on screen SCR4. For example, to edit the slope of the upshift line indicating the conditions for switching from 4th to 5th gear, as shown in Figure 19, touch the upshift line spanning 4th and 5th gear with finger F01 and drag in the direction you want to slope it. In the example shown in Figure 19, the upshift line spanning 4th and 5th gear is customized so that the switch from 4th to 5th gear occurs at high vehicle speed and low throttle opening. It is also possible to customize only a part of the slope of the upshift line, rather than the entire slope. Once the overall shift line characteristics have been customized to the user's liking, clicking the confirmation button BTN41 with finger F01 registers the customized shift line characteristics as a customized setting in memory 103. On the other hand, if the user wants to start the customization process over from the beginning, clicking the reset button BTN42 with finger F01 returns the upshift line to its original position.

[0102] As described above, by operating the HMI120, the user can customize the shift characteristics of the AT engine vehicle to be reproduced in vehicle 100 to their preferred shift characteristics. However, as with the customization of the shift characteristics of MT engine vehicles, the customization system has predetermined conditions for setting the shift characteristics to be suitable for vehicle 100. For example, if the customized setting has a higher high-speed gear ratio than the low-speed gear ratio, it will not be considered a suitable shift characteristic for vehicle 100. Also, if the gear ratios of adjacent gears are extremely close or far apart in the customized setting, it will not be considered a suitable shift characteristic for vehicle 100. If the customized setting deviates from the suitability conditions, the registration of the customized setting will be canceled, and the shift characteristics of vehicle 100 as an AT engine vehicle will be maintained at the current setting or the default setting.

[0103] 6-5-3. Automatic customization of gear shift lines Incidentally, it is conceivable that only the customized settings for the gear ratios of a stepped transmission may be registered, while those for the shift lines are not. While customizing gear ratios can be done with relatively simple operations, customizing shift lines requires repeated customization along with the gear ratios until the desired switching conditions can be set. Therefore, there is a possibility that the user may register the customized settings for the gear ratios but abandon the customization of the shift lines midway. If this happens, problems may occur during driving control that simulates the driving of an AT engine vehicle after the registration of the customized settings, such as the virtual engine speed increasing or decreasing excessively, resulting in the inability to obtain the desired acceleration or deceleration.

[0104] To avoid such malfunctions, if only the customized settings for the gear ratio are registered and the settings for the shift lines are not, the control device 101 will perform the customization of the shift lines. The customization of the shift lines by the control device 101 can be performed, for example, based on the before and after values ​​of the gear ratio customization for a specific gear stage for which the customized settings have been registered. In this first example, the gear ratio value before registration of the customized settings for a specific gear stage is set to "rb", and the gear ratio value after registration is set to "ra". Then, by multiplying each data (vehicle speed, accelerator opening) that constitutes the upshift and downshift lines for the specific gear stage and adjacent gear stages by the customization rate rb / ra, the shift lines that span the specific gear stage can be customized.

[0105] In the second example of automatic customization, it is performed based on the driving history related to gear changes made by the simulated gear shifting operating members (simulated H-type shifter 24, simulated paddle shifter 25, and simulated clutch pedal 26) in manual mode. Examples of the driving history include the shift position before and after gear changes made by the simulated gear shifting operating members, and the virtual engine speed and virtual engine torque at the gear change timing of the simulated gear shifting operating members. The virtual engine speed and virtual engine torque are calculated using engine model MOD11. The virtual engine speed and virtual engine torque are collected for each shift position. Therefore, by focusing on a certain shift position, the virtual engine speed and virtual engine torque during upshifts or downshifts from that shift position can be associated with that shift position.

[0106] In the second example, the system learns whether the user's shifting characteristics lie in engine speed or engine torque, based on the history of virtual engine speed and virtual engine torque associated with the shift position. If the learning results in an estimation that the shifting characteristics lie in engine speed, the system customizes the data constituting the upshift and downshift lines for the specific gear corresponding to the shift position and adjacent gears, using a customization rate, similar to the first example. On the other hand, if the system estimates that the shifting characteristics lie in engine torque, only the shift line data in the high-virtual-engine-torque region, i.e., the high-throttle-opening range, is customized using the customization rate, while the shift line data for other throttle-opening ranges remains unchanged. This allows for customization of shift lines spanning specific gears while suppressing excessive increases or decreases in virtual engine speed during acceleration or deceleration.

[0107] 6-5-4. Processing Flow The processes described above, performed by the customized system, can be represented by the flowchart shown in Figure 20. The control device 101, which constitutes the customized system, executes the routine shown in this flowchart at predetermined intervals.

[0108] In the routine shown in Figure 20, the process in step S201 is performed first. In step S201, it is determined whether the customized settings for AT mode have been acquired in the HMI120. Acquiring customized settings for AT mode means that the settings customized by the user have been input into the HMI120. For example, in the case of section "6-5-2. Customization Procedure and Specific Examples", it is determined that the customized settings for gear ratio and shift line have been acquired when the confirmation buttons BTN31 and 32 are clicked. Subsequent processing is skipped until the customized settings for the gear ratio have been acquired.

[0109] If a customized setting is obtained, the process in step S202 is performed. In the process in step S202, it is determined whether the obtained customized setting is only the gear ratio or not. If a customized setting for the shift line is obtained in addition to the gear ratio, the process proceeds to step S204. Otherwise, the process in step S203 is performed.

[0110] In step S203, automatic customization of the gear shift lines is performed. The automatic customization of the gear shift lines is performed based on the first or second example described above. The gear ratio customization rate used in the automatic customization is calculated based on the latest gear ratio (ra) registered by the gear ratio customization setting and the gear ratio (rb) prior to this registration.

[0111] In step S204, it is determined whether the customized settings are suitable for vehicle 100. If it is determined that the customized settings are suitable for vehicle 100, in step S205, the shift characteristics settings of vehicle 100 as an AT engine vehicle are changed based on the customized settings. Otherwise, in step S206, the vehicle characteristics settings of vehicle 100 as an AT engine vehicle are maintained at the current settings or the default settings. This allows the user to enjoy customizing the vehicle characteristics without causing a situation where vehicle 100 becomes inoperable.

[0112] 7. Other Embodiments As an alternative configuration of the vehicle 100, it may be equipped only with a pseudo-H-type shifter 24 and a pseudo-clutch pedal 26, without the pseudo-paddle shifter 25. Alternatively, as an alternative configuration of the vehicle 100, it may be equipped only with a pseudo-paddle shifter 25, without the pseudo-H-type shifter 24 and the pseudo-clutch pedal 26. Furthermore, as an alternative configuration of the vehicle 100, it may be equipped only with a pseudo-H-type shifter 24, without the pseudo-paddle shifter 25 and the pseudo-clutch pedal 26. [Explanation of symbols]

[0113] 2...Battery, 3F...Front inverter, 3R...Rear inverter, 4F...Front electric motor, 4R...Rear electric motor, 5F...Front drive shaft, 5R...Rear drive shaft, 6F...Front wheels, 6R...Rear wheels, 7F...Front suspension, 7R...Rear suspension, 10...Battery management system, 11...Vehicle speed sensor, 12...Accelerator pedal stroke sensor, 13...Brake pedal stroke sensor, 14...Shift position sensor, 15...Paddle shift switch, 16...Clutch Pedal stroke sensor, 18...GPS, 20...HMI, 21...In-car speaker, 22...Accelerator pedal, 23...Brake pedal, 24...Simulated H-type shifter, 25...Simulated paddle shifter, 26...Simulated clutch pedal, 100...Electric vehicle, 101...Control unit, 102...Processor, 103...Memory, 104...Program, 105...Data, MOD01, MOD02...Vehicle model, MOD11, MOD14...Engine model, MOD12...Clutch model, MOD13, MOD15...Transmission model

Claims

1. A system for controlling a vehicle equipped with an electric motor as a power source, One or more storage devices that store a vehicle model for reproducing the vehicle characteristics of a virtual vehicle in the said vehicle, and a gear shift line map of a stepped transmission equipped in the said automatic transmission engine vehicle as the virtual vehicle, One or more processing circuits that perform driving control that simulates the driving of the virtual vehicle based on the vehicle model, Equipped with, The vehicle model is a transmission model for reproducing the shift characteristics of the automatic transmission engine vehicle in the vehicle, and includes a transmission model constructed based on the shift line map. When the one or more processing circuits receive customized settings for the shift characteristics from the user interface, they execute a customization process for the shift characteristics according to the customized settings. A vehicle control system characterized by the following features.

2. The system according to claim 1, The one or more processing circuits mentioned above, in the customization process, If the customized settings are suitable for the vehicle, the shift characteristics are changed based on the customized settings. If the customized settings are not suitable for the vehicle, the shift characteristics will be maintained at the current or default shift characteristics. A vehicle control system characterized by the following features.

3. The system according to claim 1 or 2, The customized settings include customized settings for the gear ratio of each gear stage and customized settings for the switching conditions between adjacent gear stages as defined by the shift line map. The one or more processing circuits mentioned above, in the customization process, If the gear ratio of a specific gear is included in the customized setting, and the switching condition from the specific gear to the adjacent gear is not included in the customized setting, the switching condition from the specific gear to the adjacent gear is set based on the gear ratio before and after the registration of the customized setting for the specific gear. The gear shift characteristics are customized based on the gear ratio of the specific gear included in the customized settings and the set switching conditions. A vehicle control system characterized by the following features.

4. The system according to claim 1 or 2, The vehicle further includes a simulated gear shift operating member that resembles the gear shift operating member of the aforementioned virtual vehicle, which is a manually operated engine vehicle. The customized settings include setting the gear ratio for each gear and setting the switching conditions between adjacent gears as defined by the shift line map. The one or more processing circuits mentioned above, in the customization process, If the customized setting includes an instruction to set the gear ratio for a specific gear, and the customized setting does not include an instruction to set the conditions for switching from the specific gear to the adjacent gear, then the conditions for switching from the specific gear to the adjacent gear are set based on the gear ratio before and after registration of the customized setting for the specific gear, and the vehicle's driving history related to gear changes by the simulated gear shift operating member acquired during the execution of driving control simulating the driving of the manual transmission engine vehicle. The gear shift characteristics are customized based on the setting instruction for the gear ratio of the specific gear included in the customized settings and the set switching conditions. A vehicle control system characterized by the following features.

5. The system according to claim 4, The vehicle model includes an engine model for reproducing the engine characteristics of the manual transmission engine vehicle in the vehicle. The aforementioned driving history further includes virtual engine speed and virtual engine torque calculated using the aforementioned engine model, The one or more processing circuits mentioned above, in the customization process, Based on the virtual engine speed and virtual engine torque at the aforementioned gear shift timing, the characteristics of the vehicle driver's gear shift operation are estimated. Based on the characteristics of the gear shift operation, adjust the setting range for the conditions for switching from the specific gear to the adjacent gear. A vehicle control system characterized by the following features.

6. A method for controlling a vehicle equipped with an electric motor as a drive source, The method involves causing a computer to perform driving control that simulates the driving of a virtual vehicle, based on a vehicle model that reproduces the vehicle characteristics of the virtual vehicle in the vehicle. The vehicle model is a transmission model for reproducing the shift characteristics of an automatic transmission engine vehicle as a virtual vehicle in the vehicle, and includes a transmission model constructed based on the shift curve map of a stepped transmission provided in the automatic transmission engine vehicle. The method further includes, when it receives customized settings for the shift characteristics from the user interface, causing the computer to perform a customization process for the shift characteristics according to the customized settings. A vehicle control method characterized by the following features.

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