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1. (WO2017033753) ELECTRIC VEHICLE CONTROL METHOD, AND CONTROL DEVICE

Pub. No.:    WO/2017/033753    International Application No.:    PCT/JP2016/073644
Publication Date: Fri Mar 03 00:59:59 CET 2017 International Filing Date: Thu Aug 11 01:59:59 CEST 2016
IPC: B60L 7/24
B60L 7/14
B60L 15/20
Applicants: NISSAN MOTOR CO., LTD.
日産自動車株式会社
Inventors: KOMATSU, Hiroyuki
小松 弘征
ITOU, Ken
伊藤 健
NAKAJIMA, Takashi
中島 孝
KATSUMATA, Yuuji
勝又 雄史
SAWADA, Akira
澤田 彰
Title: ELECTRIC VEHICLE CONTROL METHOD, AND CONTROL DEVICE
Abstract:
In an electric vehicle provided with a motor which functions as a travel drive source and which also imparts a regenerative braking force to the vehicle, and a friction braking unit which imparts a friction braking force to the vehicle, the electric vehicle control device according to the present invention detects a speed parameter proportional to the speed of travel of the electric vehicle, estimates a disturbance torque acting on the motor, and performs control in such a way that the motor torque converges to the estimated value of the disturbance torque as the speed parameter decreases. Furthermore, when the speed parameter has substantially reached zero, the amount of friction braking imparted by the friction braking unit is caused electrically to converge to a value determined on the basis of the estimated value of the disturbance torque, and the motor torque is caused to converge substantially to zero.