Motor output control device and electric motor output control method

Abstract

The present invention automatically switches modes for controlling an electric motor in accordance with a usage state of an electric two-wheeled vehicle. This motor output control device is provided to an electric two-wheeled vehicle having a stand that is displaced from a support attitude, in which the stand is contact with the ground, to a separation attitude, in which the stand is separated from the ground. The motor output control device comprises: a motor control unit that has a first mode for controlling the electric motor of the electric two-wheeled vehicle, and a second mode that differs from the first mode in the motor output relative to the throttle aperture; an attitude sensing unit that senses the attitude of the stand; a count unit that counts the number of times of displacement between the support attitude and the separation attitude of the stand during the execution of the first mode on the basis of the sensing results by the attitude sensing unit; and a mode switching unit that switches the mode being executed by the motor control unit to the second mode in the case in which a first condition is satisfied, the first condition including that, as a necessary condition, the number of times of displacement counted by the count unit satisfies the condition of a prescribed number of times.

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a motor output control device and an output control method for an electric motor. [Background technology]

[0002] Conventionally, there have been known output control devices for electric motors provided as drive sources in electric motorcycles. These output control devices control the motor output of the electric motor so that a driving force corresponding to, for example, the amount of accelerator operation is output. Among such electric motorcycles, there are electric motorcycles configured to be able to control the electric motor in a plurality of modes in which the motor output is different in relation to the throttle opening. These electric motorcycles are equipped with a mode selector switch, and the rider manually operates this mode selector switch to switch the motor output control mode. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-48261 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-described conventional electric motorcycle has a problem in that switching between motor output control modes always requires the cumbersome task of manually operating a mode changeover switch.

[0005] This specification discloses a technique that can solve the above-mentioned problems. [Means for solving the problem]

[0006] The technology disclosed in this specification can be realized, for example, in the following forms.

[0007] (1) The motor output control device disclosed in this specification is a motor output control device provided in an electric motorcycle having a stand that can be shifted between a supported position in contact with the ground and a separated position away from the ground, and includes a motor control unit having a first mode that controls the electric motor of the electric motorcycle and a second mode in which the motor output relative to the throttle opening is different from that in the first mode, a position detection unit that detects the position of the stand, a counting unit that counts the number of shifts of the stand between the supported position and the separated position while the first mode is being executed based on the detection result of the position detection unit, and a mode switching unit that switches the mode executed by the motor control unit to the second mode when a first condition is satisfied, the first condition including, as a necessary condition, that the number of shifts counted by the counting unit satisfies a predetermined number condition.

[0008] Depending on the usage state of the electric motorcycle (such as the frequency of repetition of running and stopping), it may be preferable to automatically switch the mode for controlling the electric motor of the electric motorcycle. The present inventors have newly discovered a way to grasp the usage state of an electric motorcycle based on the positional displacement of the stand of the electric motorcycle. That is, when a first condition is met, which includes as a necessary condition that the number of displacements between the stand's separated position and supported position meets a predetermined condition, the usage state of the electric motorcycle is clearly different from when this first condition is not met. Therefore, in this motor output control device, when the first condition is met while the first mode is being executed, the mode executed by the motor control unit is automatically switched to a second mode. This makes it possible to automatically switch the mode for controlling the electric motor depending on the usage state of the electric motorcycle.

[0009] (2) In the above motor output control device, the mode switching unit may be configured to change at least one of the number of displacements, the first condition, and the counting operation of the counting unit so that switching to the second mode is more unlikely than before the standoff distance exceeds the reference distance when the standoff distance, which is the distance from when the stand reaches the separated position until it reaches the supporting position, exceeds a reference distance. According to this motor output control device, when the standoff distance exceeds the reference distance, at least one of the number of displacements, the first condition, and the counting operation of the counting unit is changed, making it less likely to switch from the first mode to the second mode. This makes it possible to prevent forced switching from the first mode to the second mode even when the standoff distance exceeds the reference distance.

[0010] (3) In the motor output control device, the first condition may include that the number of displacements measured by the counting unit satisfies a predetermined number of conditions and the stand is in the supporting posture. This motor output control device can prevent the mode executed by the motor control unit from automatically switching while the electric motorcycle is running.

[0011] (4) The motor output control device may be configured to include a travel acquisition unit that acquires travel information of the electric motorcycle, and a condition change unit that relaxes the first condition for switching to the second mode when the travel state of the electric motorcycle from start to stop meets a predetermined travel condition a reference number of times while the first mode is being executed, based on the travel information acquired by the travel acquisition unit. According to this motor output control device, if the travel state of the electric motorcycle from start to stop meets the predetermined travel condition a reference number of times while the first mode is being executed, it is possible to determine that the usage state of the electric motorcycle is clearly different, and make it easier to switch the mode executed by the motor control unit to the second mode.

[0012] (5) In the above motor output control device, the motor control unit may further include a third mode in which the motor output relative to the throttle opening is higher than both the first mode and the second mode, an operation detection unit may be included that detects a switching operation to the third mode, and the mode switching unit may be configured to switch from the second mode to the third mode when the operation detection unit detects a switching operation to the third mode while the second mode is being executed. According to this motor output control device, the second mode can be canceled by the driver's switching operation to the third mode.

[0013] (6) A method for controlling the output of an electric motor disclosed in this specification is a method for controlling the output of an electric motor provided in an electric motorcycle having a stand that can be shifted between a supported position in contact with the ground and a separated position away from the ground, the method including the steps of: detecting the position of the stand; counting the number of shifts of the stand between the supported position and the separated position while a first mode for controlling an electric motor of the electric motorcycle is being executed based on the detection result of the position of the stand; and switching the mode for controlling the electric motor to a second mode that has a different motor output relative to a throttle opening from the first mode when a first condition is satisfied, the first condition including, as a necessary condition, that the counted number of shifts satisfies a predetermined number condition. This method for controlling the output of an electric motor makes it possible to automatically switch the mode for controlling the electric motor depending on the usage state of the electric motorcycle.

[0014] The technology disclosed in this specification can be realized in various forms, such as a motor output control device, an electric two-wheeled vehicle equipped with the motor output control device, a control method thereof, a computer program that realizes the control method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic external configuration of an electric motorcycle 10 according to an embodiment. [Figure 2] A block diagram illustrating a configuration related to output control of the electric motor 140 of the electric motorcycle 10. [Figure 3] 1 is a control block diagram when the control device 100 determines a torque command value To relative to a throttle opening. [Figure 4] Schematic diagram to explain "stand-off distance" and "continuous driving distance" [Figure 5] Flowchart showing automatic mode switching processing [Figure 6] Flowchart showing threshold value change processing [Figure 7] Schematic diagram illustrating the delivery route of electric motorcycle 10 DETAILED DESCRIPTION OF THE INVENTION

[0016] A. Implementation: A-1. Electric Bike 10 Configuration: Figure 1 is an explanatory diagram showing a schematic external configuration of an electric motorcycle 10 according to this embodiment. Figure 1(A) shows the electric motorcycle 10 in motion, and Figure 1(B) shows the electric motorcycle 10 at a standstill.

[0017] The electric motorcycle 10 is a two-wheeled vehicle that has an electric motor 140 as a drive source that generates drive force for driving the vehicle. As shown in Fig. 1, the electric motorcycle 10 is equipped with a bike stand 12. The electric motorcycle 10 is an example of an electric two-wheeled vehicle as defined in the claims, and the bike stand 12 is an example of a stand as defined in the claims.

[0018] The bike stand 12 is provided on the bike body so that it can be moved between a spaced-apart position (storage position) spaced apart from the ground and a support position (standing position) in contact with the ground. When the rider is riding the electric bike 10 and traveling, the bike stand 12 is in the spaced-apart position so as not to interfere with the riding (see FIG. 1(A)). On the other hand, when the rider stops the electric bike 10 and moves away from the electric bike 10, the bike stand 12 changes from the spaced-apart position to the support position, allowing the electric bike 10 to stand on its own (see FIG. 1(B)). Note that a parked electric bike 10 is not limited to a parked state in which the ignition key of the electric bike 10 is turned off, but also includes a temporary parked state in which the ignition key of the electric bike 10 is turned on and the electric bike 10 is stopped. The bike stand 12 may be a center stand that is positioned below the tire when in the supported position, lifting the tire and supporting the electric bike 10 (see FIG. 1(B)), or it may be a side stand that protrudes to the side of the bike body when in the supported position, supporting the bike body while tilting it.

[0019] Figure 2 is a block diagram illustrating the configuration related to the output control of the electric motor 140 of the electric motorcycle 10. As shown in Figure 2, the electric motorcycle 10 is equipped with a steering handle 14, a control device 100, a motor drive device 130, an electric motor 140, a battery 150, and various sensors 160 to 190. The control device 100 is an example of a motor output control device defined in the claims.

[0020] The steering handle 14 has an accelerator grip 15A, a brake lever 15B, and a mode changeover switch 15C. In this embodiment, the steering handle 14 also has a starter switch (not shown) for starting the electric motorcycle 10.

[0021] The accelerator grip 15A is rotatably mounted on the steering handle 14. The accelerator position sensor 160 outputs a detection signal S1 corresponding to the amount of operation (rotational position) of the accelerator grip 15A. The mode selector switch 15C is a switch for manually selecting various riding modes for controlling the electric motor 140. In this embodiment, the electric motorcycle 10 can control the electric motor 140 in three modes, for example, "power mode," "eco mode," and "delivery mode." The "power mode," "eco mode," and "delivery mode" have different motor outputs relative to the throttle opening. Furthermore, the "power mode" and "eco mode" can be selected by manually operating the mode selector switch 15C. The mode sensor 170 outputs a detection signal S2 corresponding to the riding mode selected by the mode selector switch 15C. The motor rotational position sensor 180 outputs a detection signal S3 corresponding to the rotational position of the electric motor 140. The stand sensor 190 outputs a detection signal S4 corresponding to the position (supported position, separated position) of the bike stand 12.

[0022] The control device 100 includes a processor 110 and a storage device 120. The processor 110 is configured using, for example, a multi-core CPU or a programmable device (such as a field programmable gate array (FPGA) or a programmable logic device (PLD)), and controls the motor output of the electric motor 140. Specifically, the control device 100 determines a torque command value To for a throttle opening (0 to 100%) corresponding to the amount of operation of the accelerator grip 15A, and provides the torque command value To to the motor drive device 130, thereby controlling the electric motor 140.

[0023] Fig. 3 is a control block diagram when the control device 100 determines a torque command value To relative to the throttle opening. As shown in Fig. 3, the control device 100 has a change rate limiting unit 112, a TN characteristic limiting unit 114, and a multiplier 116. In other words, the processor 110 has the functions of the change rate limiting unit 112, the TN characteristic limiting unit 114, and the multiplier 116. The storage device 120 stores TN characteristic map data.

[0024] The change rate limiting unit 112 limits the change rate (rate relative to throttle opening), which is the amount of increase in the throttle command value Th (0 to 100%) relative to the amount of change in the throttle opening per unit time. The change rate limiting unit 112 determines the throttle opening (0 to 100%) corresponding to the amount of operation of the accelerator grip 15A based on the detection signal S1 from the accelerator position sensor 160. FIG. 3 illustrates change rate limiting graphs G1 and G2, whose horizontal axis represents time and whose vertical axis represents the throttle command value Th. The change rate limiting graphs G1 and G2 have different time constants for the rate limit relative to the throttle opening. That is, when the change rate limiting graph G1 is used, the throttle command value Th reaches its upper limit at time point T1. When the change rate limiting graph G2 is used, the throttle command value Th reaches its upper limit at time point T2. That is, when the change rate limiting graph G2 is used, the response of the motor output to the throttle opening is slower than when the change rate limiting graph G1 is used. The change rate limiting unit 112 includes, for example, a low-pass filter. For example, the processor 110 uses the change rate limiting graph G1 in the power mode and the eco mode, and the change rate limiting graph G2 in the delivery mode, thereby making the motor output relative to the throttle opening in the delivery mode smaller than the motor output relative to the throttle opening in the power mode or the eco mode. In this way, by increasing the time constant of the rate limit relative to the throttle opening, the response of the motor output to the throttle opening becomes slower, and therefore fluctuations in the motor output relative to the throttle operation can be made gentler.

[0025] The TN characteristic limiting unit 114 determines the TN upper limit value Tn (0 to 100%) (the upper limit value of the throttle command value Th for the motor rotation speed) for the rotation speed (rpm) of the electric motor 140 according to the mode of the electric motor 140. The TN characteristic limiting unit 114 identifies the currently executed mode based on the detection signal S2 from the mode sensor 170 and the information specified by the processor 110, and identifies the rotation speed of the electric motor 140 based on the detection signal S3 from the motor rotation position sensor 180. Note that the rotation speed of the electric motor 140 may also be identified using a vehicle speed sensor (not shown) mounted on the electric motorcycle 10. Figure 3 shows three TN characteristic graphs (motor characteristics representing the relationship between rotation speed and torque) corresponding to the "power mode," "eco mode," and "delivery mode." Specifically, in this figure, the TN upper limit value for "power mode" is highest across the entire range of the rotation speed of the electric motor 140, and the TN upper limit value for "delivery mode" is lowest. By using the TN characteristic map data corresponding to each mode, processor 110 can make the motor output relative to the throttle opening in delivery mode smaller than the motor output relative to the throttle opening in power mode or eco mode. In this way, by lowering the upper limit of the throttle command relative to the motor rotation speed, the motor output relative to the throttle opening becomes lower, making it possible to smooth out fluctuations in motor output relative to throttle operation.

[0026] Multiplier 116 provides motor drive device 130 with a torque command value To corresponding to the product of throttle command value Th from rate-of-change limiting unit 112 and TN upper limit value Tn from TN characteristic limiting unit 114. Change rate limiting unit 112, TN characteristic limiting unit 114, and multiplier 116 are an example of a motor control unit within the scope of the claims.

[0027] The storage device 120 is configured with, for example, a ROM, a RAM, a hard disk drive (HDD), etc., and is used to store various programs and data, and as a work area and data storage area when executing various processes. For example, the storage device 120 stores a computer program for executing the motor output control process described below. The computer program is provided in a state stored on a computer-readable recording medium (not shown), such as a CD-ROM, a DVD-ROM, or a USB memory, and is stored in the storage device 120 by installing it in the control device 100.

[0028] Motor drive device 130 is connected to electric motor 140. Motor drive device 130 uses power stored in battery 150 to supply electric motor 140 with power according to a torque command value To provided by control device 100. Electric motor 140 is, for example, a three-phase AC motor. Motor drive device 130 includes an inverter, and converts DC current supplied from battery 150 into AC current, which is then supplied to electric motor 140.

[0029] A-2. Motor output control processing: The following describes the motor output control process executed by the control device 100 in the electric motorcycle 10 of this embodiment. The motor output control process includes an automatic mode switching process and a threshold value changing process, which will be described later.

[0030] First, we will explain the "standoff distance" and "continuous traveling distance" used in each process. Figure 4 is a schematic diagram for explaining the "standoff distance" and "continuous traveling distance." The horizontal axis of Figure 4 is the traveling distance (Distance) of the electric motorcycle 10. "Stand off" in Figure 4 refers to the separated position of the bike stand 12, and "Stand on" refers to the supported position of the bike stand 12. As shown in Figure 4, the "standoff distance" (distance stand) is the traveling distance of the electric motorcycle 10 from the point at which the bike stand 12 shifts from the supported position to the separated position until it shifts back to the supported position. The "continuous traveling distance" (distance stop) is the traveling distance from the point at which the electric motorcycle 10 starts to the point at which it stops with the bike stand 12 in the separated position.

[0031] A-2-1.Automatic mode switching process: The automatic mode switching process automatically switches the mode for controlling the motor output of the electric motor 140 based on the position (support position, separated position) of the bike stand 12. Figure 5 is a flowchart showing the automatic mode switching process. When the starter switch of the electric bike 10 is turned on, the electric bike 10 (control device 100) starts up, and the processor 110 of the control device 100 executes the automatic mode switching process.

[0032] 5, the processor 110 determines whether the currently set mode is Eco mode (S110). When the electric motorcycle 10 is first started up, the processor 110 determines whether the mode is Eco mode based on the detection signal S2 from the mode sensor 170. If the "Eco mode" is selected by the mode selector switch 15C, the processor 110 determines that the mode is Eco mode (S110: YES).

[0033] Next, the processor 110 determines whether the bike stand 12 has transitioned from the away position (OFF) to the supporting position (ON) based on the detection signal S4 from the stand sensor 190 (S120). At this time, the processor 110 functions as a position detection unit that detects the position of the bike stand 12. When the bike stand 12 transitions from the away position to the supporting position (S120: YES), the processor 110 adds 1 to the number of transitions (Stand_cnt) (S130). Note that when the electric bike 10 is first started up, the number of transitions is zero. At this time, the processor 110 functions as a counting unit that counts the number of transitions while the eco mode is running.

[0034] Next, the processor 110 determines whether the number of displacements exceeds a first reference number (CNT_X) (S140). The first reference number is, for example, two. However, the first reference number may be a number other than two. If the number of displacements exceeds the first reference number (S140: YES), the processor 110 changes the mode from Eco mode to Delivery mode and provides the TN characteristic limiting unit 114 with designation information for the delivery mode (S150). As a result, the TN characteristic limiting unit 114 switches from controlling the electric motor 140 using TN characteristic map data corresponding to Eco mode (see the TN characteristic map data for "Eco" in FIG. 3) to controlling the electric motor 140 using TN characteristic map data corresponding to Delivery mode (see the TN characteristic map data for "Delivery" in FIG. 3).

[0035] That is, when the eco mode is selected with the mode selector switch 15C, the mode is automatically changed from the eco mode to the delivery mode. In this embodiment, when the bike stand 12 is repeatedly shifted from the separated position to the supported position a first reference number of times or more (an example of a predetermined number of times condition), this means that the rider is repeatedly riding the electric motorcycle 10 and moving away from the electric motorcycle 10, and this is considered to be continuous delivery work to multiple locations using the electric motorcycle 10. Therefore, the mode is automatically changed from the eco mode to the delivery mode suitable for delivery work without the rider having to operate the mode selector switch 15C. At this time, the processor 110 functions as a mode selector. The eco mode is an example of a first mode in the claims, the delivery mode is an example of a second mode in the claims, and the power mode is an example of a third mode in the claims.

[0036] On the other hand, if the number of displacements is less than the first reference number (S140: NO), the process of S150 is not executed and the mode remains in eco mode. Also, if the bike stand 12 remains in the away position in S120 (S120: NO), the processes of S130 to S150 are not executed and the mode remains in eco mode. In other words, automatic switching to delivery mode is not executed while the electric bike 10 is traveling with the bike stand 12 in the away position.

[0037] The processor 110 determines whether the standoff distance (see FIG. 4) exceeds the travel distance determination value (DISTANCE_Y) (S160). The processor 110 measures the standoff distance based on the detection signal S3 from the motor rotational position sensor 180 and the detection signal S4 from the stand sensor 190. If the standoff distance exceeds the travel distance determination value (S160: YES), the processor 110 initializes the number of displacements to zero (S170) and returns to S110. That is, even if the bike stand 12 repeatedly shifts from the separated position to the supported position, if the electric bike 10 continues to travel a long distance (longer than the travel distance determination value) with the bike stand 12 in the separated position, the processor 110 initializes the number of displacements to zero, thereby preventing switching from eco mode to delivery mode. On the other hand, if the standoff distance is equal to or less than the travel distance determination value (S160: NO), the processor 110 does not execute the process of S170, maintains the number of displacements, and returns to S110. The travel distance determination value is an example of a reference distance in the claims.

[0038] For example, if the "power mode" is selected with the mode selector switch 15C (S110: NO), such as when the electric motorcycle 10 is first started up, the power mode is maintained (S180) and the process returns to S110. Also, if the delivery mode is selected by the automatic mode switching process (S110: NO), the delivery mode is maintained, and the number of displacements is initialized to zero (S180), and the process returns to S110. Also, if the eco mode is switched to the delivery mode by the automatic mode switching process and then the rider manually operates the mode selector switch 15C to switch from the eco mode to the power mode (S110: NO), the processor 110 cancels the delivery mode, switches to the power mode, and provides the TN characteristic limiting unit 114 with power mode designation information (S180). As a result, the change rate limiting unit 112 switches from the change rate limiting graph G2 corresponding to the delivery mode to the change rate limiting graph G1 for the power mode, thereby increasing the motor output relative to the throttle opening. The TN characteristic limiting unit 114 switches control of the electric motor 140 from using the TN characteristic map corresponding to the delivery mode to using the TN characteristic map corresponding to the power mode (see the TN characteristic map data for "Power" in Figure 3). In other words, the delivery mode is released by the driver manually operating the mode selector switch 15C. At this time, the processor 110 functions as an operation detection unit.

[0039] A-2-2. Threshold change process: The threshold change process is a process for changing the first reference number of times (CNT_X) and the travel distance determination value (DISTANCE_Y) based on the frequency with which the electric motorcycle 10 repeatedly starts and stops over short distances. Figure 6 is a flowchart showing the threshold change process. When the starter switch of the electric motorcycle 10 is turned on, the electric motorcycle 10 (control device 100) starts up, and the processor 110 of the control device 100 executes the threshold change process in addition to the automatic mode switching process.

[0040] As shown in FIG. 6, when the processor 110 determines that the mode is the eco mode (S110: YES), it determines whether the continuous traveling distance (distance stop, see FIG. 4) is shorter than a lower limit distance (A) (S220). The processor 110 measures the continuous traveling distance based on the detection signal S3 from the motor rotational position sensor 180, etc. At this time, the processor 110 functions as a traveling acquisition unit. If the continuous traveling distance is shorter than the lower limit distance (S220: YES), the processor 110 adds 1 to the number of short-distance traveling times (Distance_cnt) (S230). Note that when the electric motorcycle 10 is first started up, the number of short-distance traveling times is zero.

[0041] Next, the processor 110 determines whether the number of short-distance trips exceeds a second reference number (B) (S240). The second reference number is, for example, four. However, the second reference number may be a number other than four. If the number of short-distance trips exceeds the second reference number (S240: YES), the processor 110 changes the value of the first reference number (CNT_X) to a smaller value (POSTMAN_X) and the value of the trip distance determination value (DISTANCE_Y) to a larger value (POSTMAN_Y) (S250). At this time, the processor 110 functions as a condition change unit in the claims. In other words, if the electric motorcycle 10 frequently starts and stops over short distances, there is a high possibility that the electric motorcycle 10 is being used for delivery work. In this case, as the first reference number (CNT_X) decreases, it becomes easier to determine that the number of displacements has exceeded the first reference number (S140: YES) in the automatic mode switching process, and as a result, it becomes easier to switch from eco mode to delivery mode. Also, as the mileage determination value (DISTANCE_Y) increases, it becomes harder to determine that the standoff distance has exceeded the mileage determination value (S160: YES) in the automatic mode switching process, and as a result, it becomes harder to initialize the number of displacements to zero. In other words, even if the standoff distance is long, it becomes easier to continue in delivery mode.

[0042] On the other hand, if the number of short-distance running times is equal to or less than the second reference number of times (S240: NO), the process of S250 is not executed, and neither the value of the first reference number of times nor the running distance determination value is changed. Also, if the continuous running distance is equal to or greater than the lower limit distance in S220 (S220: NO), the processes of S230 to S250 are not executed, and neither the first reference number of times nor the running distance determination value is changed.

[0043] The processor 110 determines whether the continuous traveling distance (distance_stop) exceeds the upper limit distance (C) (S260). The upper limit distance (C) is longer than the lower limit distance (A). If the continuous traveling distance exceeds the upper limit distance (S260: YES), the processor 110 initializes the number of short-distance travelings to zero (S270) and returns to S110. That is, even if the electric motorcycle 10 frequently starts and stops over short distances, when a long-distance traveling is performed, it is highly likely that the trip is not a delivery job or that the delivery job has been completed. Therefore, the processor 110 initializes the number of short-distance travelings to zero, thereby suppressing changes to the first reference number and the traveling distance determination value. On the other hand, if the continuous traveling distance is equal to or less than the upper limit distance (S260: NO), the processor 110 does not execute the process of S270, the number of short-distance travelings remains unchanged, and the processor 110 returns to S110.

[0044] For example, when the "power mode" is selected with the mode selector switch 15C (S110: NO), such as when the electric motorcycle 10 is first started up, the first reference number of times and the mileage determination value are set to the standard values ​​(NORMAL_X, Y) (S280), the power mode is maintained, and the process returns to S110. Also, if the first reference number of times and the mileage determination value are changed by the threshold change process (S250) and then the rider manually operates the mode selector switch 15C to switch to the power mode or delivery mode (S110: NO), the first reference number of times and the mileage determination value are returned to the standard values ​​(NORMAL_X, Y), the number of short-distance trips is initialized to zero (S280), and the process returns to S110.

[0045] A-3. Effects of the embodiment: Depending on the usage status of the electric motorcycle 10 (such as the frequency of repeated starts and stops), it may be preferable to automatically switch the mode for controlling the electric motor 140 of the electric motorcycle 10. The inventors have newly discovered a way to grasp the usage status of the electric motorcycle 10 based on the positional changes of the bike stand 12 provided on the electric motorcycle 10. That is, if the number of changes of the bike stand 12 between the remote position (see FIG. 1(A)) and the support position (see FIG. 1(B)) exceeds a first reference number (S140: YES), it is highly likely that the electric motorcycle 10 is being used for delivery work. On the other hand, if the number of changes is equal to or less than the first reference number (S140: NO), it is highly likely that the electric motorcycle 10 is being used for continuous travel, such as long-distance travel. Therefore, in this embodiment, if the number of changes exceeds the first reference number (S140: YES) while the eco mode is being executed (S110: YES), the mode for controlling the output of the electric motor 140 is automatically switched to the delivery mode. This makes it possible to automatically switch the mode for controlling the electric motor depending on the state of use of the electric motorcycle.

[0046] In this embodiment, if the standoff distance exceeds the travel distance determination value (S160: YES), the displacement count is initialized to zero (S170). As a result, it becomes more difficult to switch from eco mode to delivery mode. This prevents the vehicle from being forced to switch from eco mode to delivery mode even when the standoff distance is long and the possibility of delivery work is low.

[0047] In this embodiment, if the bike stand 12 transitions from the separated position to the support position (S120: YES) and the number of transitions exceeds a first reference number (S140: YES), the mode is changed from eco mode to delivery mode. This prevents the electric bike 10 from automatically switching modes unintentionally while it is in motion.

[0048] In this embodiment, if the number of short-distance trips exceeds the second reference number (S240: YES), the value of the first reference number and the value of the trip distance determination value are changed (S250), making it easier to switch from eco mode to delivery mode. If short-distance trips are repeated with the bike stand 12 in the separated position, it is likely that delivery work is being performed, and even if the stand-off distance is long, the bike can be quickly switched to delivery mode to stabilize low-speed trips.

[0049] In this embodiment, after the delivery mode has been switched by the automatic mode switching process, if the driver manually operates the mode switch 15C to switch from eco mode to power mode (S110: NO), the delivery mode is cancelled and the vehicle transitions to power mode. This allows the driver to cancel the delivery mode by switching modes.

[0050] Figure 7 is a schematic diagram illustrating a delivery route of the electric motorcycle 10. The thick arrow in Figure 7 indicates the delivery route of the electric motorcycle 10. The rider gets on the electric motorcycle 10 at a starting point A, such as a store, sets the motorcycle stand 12 in the remote position, and starts off in eco mode, making temporary stops and turning left or right at each of points B to D, before arriving at delivery area Z. In this section from point A to point D, even if the rider stops temporarily, the motorcycle stand 12 remains in the remote position, so automatic switching to delivery mode is not performed.

[0051] In the delivery area Z, for example, residential areas are densely populated, and the driver must repeatedly perform the task of parking the electric motorcycle 10, adjusting the motorcycle stand 12 to a support position, and delivering packages. When performing multiple deliveries, the driver repeatedly starts the electric motorcycle 10, travels at low speed, and stops the motorcycle. If the electric motorcycle 10 does not have a delivery mode, starting the electric motorcycle 10 in eco mode may result in unstable low-speed travel due to variations in the amount of rotation of the accelerator grip 15A. In contrast, in this embodiment, the motor output relative to the throttle opening in delivery mode is lower than the motor output relative to the throttle opening in eco mode. In other words, the responsiveness of the motor output of the electric motor 140 to the rotation of the accelerator grip 15A is lower in delivery mode than in eco mode. This means that variations in the amount of rotation of the accelerator grip 15A are less likely to affect the low-speed travel of the electric motorcycle 10. This allows the electric motorcycle 10 to travel more stably at low speeds in delivery mode than in eco mode.

[0052] Furthermore, if switching from eco mode to delivery mode were performed manually by operating the mode selector switch 15C, the driver would need to manually operate the mode selector switch 15C after each delivery, which could reduce the efficiency of delivery work. In contrast, in this embodiment, for example, if deliveries occur at three locations, from point E to point G, and the bike stand 12 shifts from the separated position to the supported position, the number of shifts exceeds the first reference number (S140: YES), and the system automatically switches from eco mode to delivery mode. This improves the efficiency of delivery work.

[0053] When delivery work in delivery area Z is completed and the driver sets mode selector switch 15C to power mode at point L, delivery mode is cancelled and the vehicle can return to point A at high speed in power mode.

[0054] B. Variations: The technology disclosed in this specification is not limited to the above-described embodiments, and can be modified into various forms without departing from the spirit thereof, for example, the following modifications are also possible.

[0055] The configurations of the electric motorcycle 10 and the control device 100 in the above-described embodiment are merely examples and can be modified in various ways. For example, the electric motorcycle may be any two-wheeled vehicle equipped with an electric motor and a stand as a drive source, such as a hybrid two-wheeled vehicle equipped with an engine and an electric motor as a drive source, or an electric bicycle. In the above-described embodiment, the modes for controlling the electric motor 140 were three: "power mode," "eco mode," and "delivery mode." However, there may be only two modes (e.g., "power mode" and "delivery mode"), or four or more modes. Furthermore, the "delivery mode" may also be selectable by manually operating the mode selector switch 15C. Furthermore, in each of the above-described embodiments, at least one of the functional units of the control device 100 may be omitted.

[0056] In the above embodiment, the TN upper limit value for the "Delivery mode" was lower than the TN upper limit values ​​for the "Eco mode" and "Power mode" over the entire range of the rotational speed of the electric motor 140. However, this is not limited to this. The TN upper limit value for the delivery mode may be higher than the TN upper limit value for the Eco mode within a predetermined speed range (for example, a low speed range). This allows the electric motorcycle 10 to smoothly transition from stopped to moving when the weight of the luggage loaded on the electric motorcycle 10 is heavy while in delivery mode. The TN upper limit value for the delivery mode may be lowered depending on the number of times the electric motorcycle 10 stops while in delivery mode. Specifically, if the number of times the electric motorcycle 10 stops while in delivery mode is less than a predetermined number, the TN upper limit value for the delivery mode may be set higher than the TN upper limit value for the Eco mode. If the number of times the electric motorcycle 10 stops while in delivery mode is equal to or greater than the predetermined number, the TN upper limit value for the delivery mode may be set lower than the TN upper limit value for the Eco mode. As the delivery work by the electric motorcycle 10 progresses, the weight of the cargo loaded on the electric motorcycle 10 becomes lighter, so by using this configuration, unnecessary energy consumption can be suppressed and the electric motorcycle 10 can smoothly transition from being stopped to being moving.

[0057] The motor output control process in the above embodiment is merely an example and can be modified in various ways. For example, in the above embodiment, the predetermined number of times condition was that the bike stand 12 had been shifted from the separated position to the supported position a first reference number of times or more (S140: YES in FIG. 5), but it could also be that the bike stand 12 had been shifted from the supported position to the separated position a predetermined number of times or more, or that the number of shifts within a predetermined time or travel distance was a predetermined number or more. Also, the first condition was that the number of shifts met the predetermined number of times condition (S140: YES) and that the bike stand 12 was in the supported position (S120: YES), but it does not have to include, for example, the bike stand 12 being in the supported position.

[0058] In the above embodiment, when the standoff distance exceeds the travel distance determination value (S160: YES), the processor 110 reduces the number of displacements, but the switching to delivery mode may be suppressed by increasing the first reference number or forcibly stopping the counting operation of the number of displacements in S130.

[0059] In the above embodiment, the predetermined riding condition is that the continuous riding distance is shorter than a lower limit distance, but it may also be that the number of times the electric motorcycle 10 starts and stops within a predetermined time or distance is equal to or greater than a predetermined number. Also, in S170 of the automatic mode switching process and S270 of the threshold value change process, the number of displacements (Stand_Cnt) and the number of short-distance riding times (distance_cnt) are initialized to zero, respectively, but initialization is not essential and they may be updated to a smaller value than immediately before. [Explanation of symbols]

[0060] 10: Electric motorcycle 12: Motorcycle stand 14: Steering handle 15A: Accelerator grip 15B: Brake lever 15C: Mode change switch 100: Control device 110: Processor 112: Change rate limiting section 114: TN characteristic limiting section 116: Multiplier 120: Storage device 130: Motor drive device 140: Electric motor 150: Battery 160: Accelerator position sensor 170: Mode sensor 180: Motor rotation position sensor 190: Stand sensor

Claims

1. A motor output control device provided in an electric motorcycle having a stand that can be displaced between a support position in contact with the ground and a spaced position away from the ground, a motor control unit having a first mode for controlling an electric motor of the electric motorcycle and a second mode in which the motor output relative to the throttle opening is lower than in the first mode; a posture detection unit that detects the posture of the stand; a counting unit that counts the number of times the stand transitions from the separated position to the supporting position or the number of times the stand transitions from the supporting position to the separated position while the first mode is being executed, based on a detection result of the position detection unit; a mode switching unit that switches a mode executed by the motor control unit to the second mode when a first condition is satisfied, the first condition including a necessary condition that the number of displacements counted by the counting unit satisfies a predetermined number of times, Motor output control device.

2. 2. The motor output control device according to claim 1, when a standoff distance corresponding to a travel distance from when the stand assumes the separated posture to when the stand assumes the supporting posture exceeds a reference distance, the mode switching unit changes at least one of the number of displacements, the predetermined number of times condition, and the counting operation of the counting unit so that switching to the second mode is suppressed compared to before the standoff distance exceeds the reference distance. Motor output control device.

3. 3. The motor output control device according to claim 1 or 2, The first condition includes that the number of displacements counted by the counting unit satisfies the predetermined number of displacements condition, and the stand is in the supporting posture. Motor output control device.

4. The motor output control device according to any one of claims 1 to 3, a travel acquisition unit that acquires travel information of the electric motorcycle; a condition change unit that relaxes the first condition for switching to the second mode when a predetermined traveling condition is met by a traveling state of the electric motorcycle from start to stop a reference number of times while the first mode is being executed, based on the traveling information acquired by the traveling acquisition unit. Motor output control device.

5. The motor output control device according to any one of claims 1 to 4, the motor control unit further has a third mode in which a motor output relative to a throttle opening is higher than both the first mode and the second mode, an operation detection unit that detects a switching operation to the third mode; the mode switching unit switches from the second mode to the third mode when the operation detection unit detects a switching operation to the third mode while the second mode is being executed. Motor output control device.

6. 1. A method for controlling output of an electric motor provided in an electric motorcycle having a stand that can be displaced between a support position in contact with the ground and a spaced position away from the ground, comprising: a step in which an attitude detection unit detects the attitude of the stand; a counting unit counting the number of times the stand has shifted from the separated position to the supporting position or the number of times the stand has shifted from the supporting position to the separated position while a first mode for controlling an electric motor of the electric motorcycle is being executed based on a detection result of the position of the stand; and a step of switching, by a mode switching unit, a mode for controlling the electric motor to a second mode in which a motor output relative to a throttle opening is lower than that in the first mode when a first condition is satisfied, the first condition including a necessary condition that the counted number of displacements satisfies a predetermined number of times, that is, a plurality of times. A method for controlling the output of an electric motor.

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