To provide an electric-vehicular control method and an electric-vehicular control apparatus, which are capable of realizing desired acceleration while suppressing a pitching vibration.SOLUTION: A control method computes a first front-wheel drive force instruction value Ff1* that determines drive force of a front wheel 14 and a first rear wheel drive force instruction value Fr1* that determines drive force of a rear wheel 16 on the basis of target drive force for an electric vehicle 1, and computes a norm value of a pitch angular velocity λ' or a pitch angle λ on the basis of the first front-wheel drive force instruction value Ff1* and the first rear wheel drive force instruction value Fr1*. Meanwhile, a detection value of the pitch angular velocity λ' or pitch angle λ is acquired. Further, the control method computes, on the basis of a difference between the detection value and the norm value of the pitch angular velocity λ' or the pitch angle λ, a drive force movement amount Td that represents a magnitude of drive force for moving between the front wheel 14 and the rear wheel 16 in order to suppress a pitching vibration, and corrects the first front-wheel drive force instruction value Ff1* and the first rear wheel drive force instruction value Fr1* on the basis of the drive force movement amount Td.SELECTED DRAWING: Figure 6
【課題】ピッチング振動を抑制しつつ所望の加速度が得られる電動車両の制御方法及び制御装置を提供する。【解決手段】電動車両1に対する目標駆動力に基づいて、前輪14の駆動力を定める第1前輪駆動力指令値Ff1*と、後輪16の駆動力を定める第1後輪駆動力指令値Fr1*と、を演算し、第1前輪駆動力指令値Ff1*及び第1後輪駆動力指令値Fr1*に基づいて、ピッチ角速度λ′またはピッチ角λの規範値を演算する。一方、ピッチ角速度λ′またはピッチ角λの検出値が取得される。そして、ピッチ角速度λ′またはピッチ角λの規範値と検出値の差分に基づいて、ピッチング振動を抑制するために前輪14と後輪16の間で移動させるべき駆動力の大きさを表す駆動力移動量Tdが演算され、この駆動力移動量Tdに基づいて第1前輪駆動力指令値Ff1*及び第1後輪駆動力指令値Fr1*が補正される。【選択図】図6
ELECTRIC-VEHICULAR CONTROL METHOD AND ELECTRIC-VEHICULAR CONTROL APPARATUS
電動車両の制御方法及び電動車両の制御装置
2022-12-13
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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