JP2014141175A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a beginner driver, in particular, to easily perform driving operations for both entering and leaving a garage.SOLUTION: In a case of vehicle's entering/leaving a garage, a recording switch 30 is turned on at a time of entering the garage, thereby storing change histories of a rotational amount and a torque of a drive motor 4 as well as a change history of a steering angle by operation of a steering wheel after the recording switch 30 is turned on in a storage unit 27c, thus storing the change histories of the rotational amount and the torque of the drive motor as well as the change history of the steering angle from the beginning of entry of a vehicle until completion of the entry. At a time of vehicle's leaving the garage, the drive motor 4 and an EPS motor 17 are controlled so as to retrospect to the past and inversely reproduce the change history of a rotational angle of the drive motor 4 stored in the storage unit 27c, the change history of the torque of the drive motor 4 corrected by a torque correction unit 27b4, and the change history of the steering angle only by turning on an inverse regeneration switch 31.

Description

  The present invention relates to a vehicle control device that assists a driving operation in a so-called garage entry in an electric vehicle or the like.

  Conventionally, as a vehicle control device that assists driving operation when putting in a garage in an electric vehicle, in the memory mode by turning on the memory mode switch, data indicating the driving operation state of the steering wheel, accelerator, brake, etc. is fetched and the driving operation is performed in a memory or the like It is conceivable that the driving trajectory stored in the storage mode is repeated and the garage is automatically repeated by controlling the drive motor driver and the steering motor driver according to the stored driving operation map data. (See Patent Document 1).

  That is, the above-described vehicle control device temporarily stores the driving operation at the time of entering the garage, and repeats the driving operation map data stored at the next time of entering the garage to automatically enter the garage. This assists the garage driving operation for the same garage.

JP-A-3-2000047 (page 6, lower right column, line 6 to page 10, upper left column, line 4, and FIGS. 5 and 8)

  However, as described in Patent Document 1 described above, both the driving operation at the time of warehousing and the driving operation at the time of warehousing are stored, and the next driving operation map is repeated at the next warehousing and subsequent times. If the vehicle position at the start of the next warehousing and at the beginning of the warehousing does not completely match the vehicle position at the start of the stored driving operation map, the stored driving operation map is Even if it repeats, it cannot enter / exit according to the memorized traveling locus, and it is very difficult to match the vehicle position at the start of warehousing and at the start of warehousing with the vehicle position at the start of the stored driving operation map. There is a problem that is not appropriate.

  By the way, it is difficult for beginners to drive when driving into or out of a narrow garage or parking lot, and when entering in reverse operation, it is difficult to drive when entering, but driving when leaving. On the other hand, when the warehouse is moved forward, the driving operation at the time of warehousing is easy, but the driving operation at the time of warehousing is difficult.

  In view of such a situation, it is preferable for beginners to perform both entering and exiting by a simple driving operation. For example, it is desirable that the entry can be easily performed by a forward operation and then exited by automatic operation.

  An object of the present invention is to make it possible to easily perform both the operation of entering and leaving the garage in a garage for a beginner driver.

  In order to achieve the above-described object, a vehicle control device of the present invention includes a drive motor that drives a vehicle, a drive motor control unit that controls a rotation amount and torque of the drive motor based on a driver's drive operation, Steering angle control means for controlling the steering angle of the vehicle based on the driver's steering operation, a history of changes in the amount of rotation and torque of the driving motor due to the driving operation of the driver after a predetermined memory trigger, and the steering wheel of the driver The storage means for storing the change history of the steering angle by the operation, and the change history of the rotation amount of the drive motor and the change history of the steering angle stored in the storage means in response to a predetermined reverse regeneration trigger in time Reverse playback means for controlling the drive motor control means and the steering angle control means so as to perform reverse playback backward, and the actual rotation amount of the drive motor during the reverse playback control by the reverse playback means Correction means for correcting the torque change history of the drive motor stored in the storage means based on the actual rotation amount and the rotation amount of the drive motor stored in the storage means corresponding in time. The reverse regeneration means controls the drive motor control means so as to reversely reproduce the torque change history corrected by the correction means in the time of reverse regeneration control. It is characterized (claim 1).

  In addition, it further comprises estimation means for estimating the presence or absence of a position change of the vehicle after the storage of the storage means, and the estimation means estimates that the position change is present before the reverse regeneration control is started by the reverse regeneration means. When this is done, the reverse playback control by the reverse playback means may be stopped (claim 2).

  According to the first aspect of the invention, taking so-called garage storage as an example, the amount of rotation and torque of the drive motor due to the driver's driving operation after a predetermined memory trigger (for example, turning on the recording switch, etc.) at the time of warehousing. Since the change history and the change history of the steering angle by the driver's steering operation are stored in the storage means, the rotation amount and torque change history of the drive motor from the start of warehousing to the completion of warehousing, and the change history of the steering angle are stored. Is done. At the time of delivery, according to a predetermined reverse regeneration trigger (for example, reverse regeneration switch is turned on, etc.), the change history of the rotation amount of the drive motor stored in the storage means and the change in the torque of the drive motor corrected by the correction means The drive motor control means and the rudder angle control means are controlled by the reverse regeneration means so as to reversely reproduce the history and the change history of the steering angle in time.

  Therefore, when warehousing is performed by a simple forward operation, the operation state at the time of warehousing is automatically reversely played back in time and the warehousing is performed. Since it is not necessary to perform a backward operation that is complicated, it is possible to automatically carry out the backward movement. Therefore, it is possible for a beginner to easily perform both the operation of entering and leaving the car in the garage. In addition, the invention according to claim 1 is effective not only for putting in a garage but also for assisting in the case of performing parallel parking and other reverse driving patterns.

  At this time, the torque of the drive motor decreases as the warehousing situation progresses, and becomes zero when the warehousing is completed.If the torque change history is reversely reproduced, a large drive motor torque is required at the start of warehousing. However, since the torque becomes zero and the driver feels unnatural as a behavior of the vehicle, the actual rotation amount of the drive motor, the actual rotation amount and the time during the reverse regeneration control by the reverse regeneration means Based on the rotational amount of the drive motor stored in the corresponding storage means, the correction history of the torque of the drive motor stored in the storage means is corrected by the correction means, and the corrected torque change history is temporally corrected. By performing reverse playback retroactively, the behavior of the vehicle at the time of leaving the vehicle becomes natural, and it is possible to prevent the driver from feeling uncomfortable.

  According to the second aspect of the present invention, if the vehicle position has changed even a little after the storage in the storage means, the movement trajectory of the vehicle by the reverse regeneration control is different from the movement trajectory based on the stored data. If the vehicle position is presumed to change after the end of storage, the reverse regeneration control by the reverse regeneration means will be canceled and the above unexpected situation will occur. Can be prevented in advance.

It is a schematic structure figure of one embodiment of a vehicle control device concerning the present invention. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is a flowchart for operation | movement description of FIG. It is a flowchart for operation | movement description of FIG. It is a flowchart for operation | movement description of FIG. It is a flowchart for operation | movement description of FIG.

  An embodiment in which the vehicle control device of the present invention is applied to an electric vehicle will be described in detail with reference to the schematic configuration diagram of FIG. 1, the operation explanatory diagrams of FIGS.

  The electric vehicle 1 in this embodiment is configured as shown in FIG. 1, and the high-voltage direct current of the high-voltage battery 2 is converted into alternating current by the inverter 3 and supplied to the drive motor 4 to drive the drive motor 4. The rotational driving force is transmitted to the two rear wheels 7 and 7 through the speed reducer 5 and the rotating shaft 6 so as to be driven.

  At this time, the drive motor 4 is provided with a rotation angle sensor 8 composed of a resolver, and an output corresponding to the motor rotation angle θm of the drive motor 4 from the rotation angle sensor 8 via the inverter 3 has a microcomputer configuration to be described later. It is taken in by a vehicle control ECU (Electric Control Unit). Further, a target torque command value is output from the vehicle control ECU to the inverter 3, and the actual actual torque of the drive motor 4 based on the motor rotational speed of the drive motor 4 and the motor coil current obtained from the rotation angle θm is the target torque command. The current command value to the drive motor 4 by the inverter 3 is feedback controlled so as to match the value.

  On the other hand, the front wheels 10 and 10 include a steering handle 11, a steering shaft 12 having a universal joint, a rack shaft 13, a tie rod 14, a torque sensor 16 that detects a steering torque Ts based on a steering operation, and the torque sensor 16. An electric power steering aligning motor (hereinafter referred to as an EPS motor) 17 that generates an auxiliary torque Ta with respect to the detected steering torque Ts, a worm gear that transmits the generated torque of the EPS motor 17 to the rack shaft 13 in addition to the steering shaft 12; A power steering device 20 including a transmission mechanism 18 including a rack and pinion mechanism is provided.

  In this power steering device 20, the low-voltage direct current of the 12V battery 23 is converted into alternating current by the inverter 22 and supplied to the EPS motor 17 to drive the EPS motor 17, and the torque generated by the EPS motor 17 is used to handle the steering shaft 12. The steering torque assisted by the driver is assisted by the driver, and the steering operation assisted by the transmission mechanism 18 is transmitted to the front wheels 10 and 10.

  At this time, similar to the control of the drive motor 4, the EPS motor 17 is provided with a rotation angle sensor 25 made of a resolver, and an output corresponding to the motor rotation angle θs of the EPS motor 17 is output from the rotation angle sensor 25 to the vehicle control ECU. Is taken in. Further, the target torque command value is output from the vehicle control ECU to the inverter 22, and the actual actual torque of the EPS motor 17 based on the motor rotational speed of the EPS motor 17 and the motor coil current obtained from the rotation angle θs is the target torque command value. So that the current command value to the EPS motor 17 by the inverter 22 is feedback-controlled.

  By the way, the vehicle control ECU 27 includes an input / output unit 27a, a calculation unit 27b, and a storage unit 27c as storage means. Further, the calculation unit 27 b includes a torque command value calculation unit 27 b 1 that calculates a target torque command value, a vehicle speed calculation unit 27 b 2 that calculates the vehicle speed V from the motor rotation speed of the drive motor 4, and the EPS motor 17 by the rotation angle sensor 25. A steering angle calculation unit 27b3 that calculates the steering angle θw of the vehicle 1 based on the driver's steering operation from the motor rotation angle θs, and a torque correction that corrects a target torque command value by the torque command value calculation unit 27b1 during reverse regeneration control to be described later Part 27b4.

  Further, the vehicle control ECU 27 detects an accelerator opening degree Ac by an accelerator pedal operation that is a driver's drive operation detected by an accelerator pedal sensor (not shown) that is a driver's drive operation, and a brake pedal sensor (not shown). The information about the vehicle state such as the brake pedal depression amount Br, which is the driver's driving operation detected by the shift lever Sh, and the shift signal Sh indicating the shift position of the shift lever, is captured.

  Then, the vehicle control ECU 27 calculates a target torque command value according to the accelerator opening degree Ac, the amount of depression of the brake pedal Br, and the shift signal Sh, and controls the inverter 3 based on the target torque command value to control the current command to the drive motor 4. Control the value. Such a control function of the drive motor 4 by the vehicle control ECU 27 corresponds to the drive motor control means in the present invention.

  On the other hand, as described above, the vehicle control ECU 27 takes in the steering torque Ts detected by the torque sensor 16 so that the output of the EPS motor 17 becomes an output that generates a predetermined auxiliary torque Ta corresponding to the steering torque Ts. The target torque command value is calculated, and the inverter 22 is controlled based on the target torque command value to control the current command value to the EPS motor 17. Such a control function of the EPS motor 17 by the vehicle control ECU 27 corresponds to the steering angle control means in the present invention.

  The instrument panel of the vehicle 1 is provided with a recording switch 30 and a reverse regeneration switch 31. When the recording switch 30 is turned on by the driver, the vehicle control ECU 27 enters a recording mode, and the recording switch 30 is turned on. As a memory opportunity, a change history of the rotation amount θm and the rotation amount of the drive motor 4 due to the driver's driving operation after the recording switch 30 is turned on, and a change history of the steering angle θw due to the steering operation of the driver. The torque change history of the EPS motor 17 is stored in the storage unit 27c. The recording mode of the vehicle control ECU 27 is a timer that counts a predetermined time from when the recording switch 30 is turned on, for example, a sufficient time (120 seconds or the like) required for the driving operation when the driver enters the garage. It is set to continue during operation.

  Further, when the reverse regeneration switch 31 is turned on, the vehicle control ECU 27 enters the reverse regeneration mode, and when the reverse regeneration switch 31 is turned on as a reverse regeneration trigger, at least the rotation angle of the rotation amount of the drive motor 4 stored in the storage unit 27c. The change history of θm and the change history of the steering angle θw stored in the storage unit 27c are reversely reproduced. At this time, the actual rotation amount of the drive motor 4 every moment during the reverse reproduction control by the vehicle control ECU 27 A difference between (at least the actual rotation angle of the actual rotation angle and the actual rotation number) and the rotation amount (at least the rotation angle θm) of the drive motor 4 stored in the storage unit 27c corresponding to the actual rotation amount in time. Based on the above, the torque change history of the drive motor 4 stored in the storage unit 27c is corrected, and the change history of the rotation amount (rotation angle θm) of the drive motor 4 stored in the storage unit 27c is stored. The change history and change history stored steering angle θw in the storage unit 27c of the torque after correction so as to reverse playback back in time, the drive motor 4 and the EPS motor 17 is controlled. Note that the reverse playback mode is canceled when the reverse playback switch 31 is continuously turned on twice.

Here, the correction of the torque change history will be described in detail. Now, let θ1 be the actual rotation angle of the drive motor 4 every moment during reverse playback control at a certain time t1 during reverse playback control, and the rotational angle θ2 of the drive motor 4 stored in the storage unit 27c corresponding to that time. Then, a proportional value proportional to the difference value Δθ _t1 between θ2 and θ1 at time t1, that is, a value α _t1 (= K × Δθ _t1 ) obtained by multiplying the difference value Δθ _t1 by a constant K, and a time before time t1 As an integrated value Σ _t0 of a value α _t0 (= K × Δθ _t0 ) obtained by multiplying the difference value Δθ _{t0 up} to _t0 by a constant K, for example, as a torque correction value Σ _{t1 at} time t1, the torque correction unit 27b4
Σ _t1 = α _t1 × 0.1 + Σ _t0 × 0.9 (1)
It is calculated | required by calculation of Formula (1) represented by these. Here, although the first term is a proportional term and the second term is an integral term, the correction value is obtained by assigning the ratio of the proportional term and the integral term to 1: 9 in Equation (1). ) Is an example, and this ratio is not limited to 1: 9.

  Such correction processing by the torque correction unit 27b4 of the vehicle control ECU 27 corresponds to the correction means in the present invention, and the above-described reverse regeneration control function by the vehicle control ECU 27 corresponds to the reverse regeneration means in the present invention.

  When the electric vehicle 1 configured as described above enters the garage (parking lot), the recording switch 30 is turned on when the driver turns on the vehicle 1 when the vehicle 1 moves to the warehousing start position. The vehicle control ECU 27 switches to the recording mode with the turning on of the vehicle as a memory opportunity, and the change history of the rotation angle θm of the drive motor 4 due to the driving operation of the driver shown in FIG. The torque change history of the drive motor 4 shown in (b) is stored in the storage unit 27c, and the change history of the steering angle θw by the driver's steering operation shown in (c) of FIG. The torque change history of the EPS motor 17 is stored in the storage unit 27c.

  At this time, the count of the timer built in the vehicle control ECU 27 starts from the start of the recording mode when the recording switch 30 is turned on as described above, and the timer takes a sufficient time (120 seconds) required for driving operation when entering the garage. Etc.) is counted up, the rotation angle and torque change history of the drive motor 4 and EPS motor 17 until the warehousing is completed are stored in the storage unit 27c.

  Next, when the vehicle 1 in the warehousing state leaves the garage (parking lot), by turning on the reverse regeneration switch 31, the vehicle control ECU 27 switches to the reverse regeneration mode, and when the reverse regeneration switch 31 is turned on, the reverse regeneration trigger is triggered. Accordingly, the change history of the rotation angle θm of the drive motor 4 in FIG. 2A is reversed left and right, and the rotation angle θm shown in FIG. 3A reversed in order to move in the opposite direction to that at the time of warehousing is reproduced. In FIG. 3B, the drive motor 4 is controlled so that the torque of the drive motor 4 in FIG. 2B is reversed left and right, and further inverted in order to move in the opposite direction to the time of warehousing. As described above, the torque change history of the drive motor 4 as indicated by the dotted line is corrected as indicated by the solid line in FIG. 3B by the torque correction unit 27b4, and the corrected torque change history is reproduced. Drive motor 4 Is controlled.

  Furthermore, the steering angle θw shown in FIG. 3C in which the change history of the steering angle θw in FIG. 2C is reversed left and right according to the reverse regeneration trigger when the reverse regeneration switch 31 is turned on, and FIG. The EPS motor 17 is controlled so as to reproduce the torque change history shown in FIG. 3D in which the torque change history of the EPS motor 17 shown in FIG.

  Next, the operation of the vehicle control ECU 27 that controls the electric vehicle 1 will be described with reference to the flowcharts of FIGS. 4 to 7.

  As shown in FIG. 4, which is the main control procedure, the vehicle control ECU 27 is in the process of stopping the vehicle 1 based on the vehicle speed V, the accelerator opening degree Ac, the brake pedal depression amount Br, and the like based on the motor speed of the drive motor 4. It is determined whether or not there is (step S1). If the determination result is NO, the control of the normal travel mode process is executed (step S2), and then the process returns to the start.

  On the other hand, if the determination result in step S1 is YES, it is determined whether or not the recording switch 30 is turned on (step S3). If the determination result is YES, the vehicle is triggered by the recording switch 30 being turned on. The control ECU 27 switches to the recording mode, executes the recording mode process control (step S4), and then returns to the start.

  If the determination result in step S3 is NO, it is determined whether there is stored data in the storage unit 27c (step S5). If the determination result is YES, the handle 11 is operated. If the determination result is YES, it is determined whether or not the reverse regeneration switch 31 is turned on (step S7). If the determination result is YES, the reverse operation is performed. When the regeneration switch 31 is turned on, the vehicle control ECU 27 switches to the reverse regeneration mode in response to the reverse regeneration trigger, executes the control of the reverse regeneration mode processing (step S8), and then returns to the start.

  By the way, when all the determination results of the above-described steps S5, S6, and S7 are NO, the control of the normal traveling mode process of the above-described step S2 is executed.

  Next, the normal travel mode process of step S2 in FIG. 4 will be described with reference to FIG.

  As shown in FIG. 5, in the normal travel mode, the vehicle control ECU 27 takes in the vehicle speed V based on the motor speed of the drive motor 4, the accelerator opening degree Ac, the brake pedal depression amount Br, the shift signal Sh, etc. Is calculated by the torque command value calculation unit 27b1 to transmit the output to the inverter 3 in accordance with the vehicle speed V, the accelerator opening Ac, and the brake pedal depression amount Br (step S31) (step S31). Step S32). The inverter 3 calculates a motor current command value according to the target torque command value, performs torque correction so that the actual torque of the drive motor 4 matches the target torque command value by the feedback control described above, and performs a motor current command. Calculate and control the value.

  Next, the recording mode process in step S4 in FIG. 4 will be described with reference to FIG.

  As shown in FIG. 6, in the recording mode, the vehicle control ECU 27 determines whether or not to start the recording mode process in response to a recording trigger (the recording switch 30 is turned on) (step S41), and should start the recording mode process. If not (NO in step S41), the timer for counting the duration of the recording mode is reset (step S42), and then the process returns to step S41 to start the recording mode process (in step S41). YES), the timer is incremented by 1 second, for example (step S43), and the normal travel mode process shown in FIG. 5 is executed (step S44).

  Then, based on the rotation angles θm and θs taken into the vehicle control ECU 27, the rotation angle and torque of the drive motor 4 per predetermined time are derived, and the steering angle θw is derived from the rotation angle θs of the EPS motor 17. (Step S45), the rotation amount and torque of the derived drive motor 4 and the steering angle θw are stored and stored in the storage unit 27c (Step S46), and after returning to the start and repeating the above operation, the recording mode is set. Is stored in the storage unit 27c while the rotation angle and torque change history of the drive motor 4 and the change history of the steering angle θw are stored. The recording mode process ends when the above-mentioned timer counts up a predetermined time.

  Further, the reverse playback mode processing in step S8 in FIG. 4 will be described with reference to FIG.

  As shown in FIG. 7, in the reverse regeneration mode, the vehicle control ECU 27 determines whether or not the brake pedal is being depressed based on the brake pedal depression amount Br that has been taken in (step S51). If there is, the determination in step S51 is repeated until the determination result is NO. If the determination result is NO, it is determined whether the reverse regeneration mode release condition such as the reverse regeneration switch 31 being turned on again is satisfied. If the determination result is NO, it is determined whether or not the reverse reproduction control of the data stored in the storage unit 27c has ended (step S53). If the determination result is YES When the determination result in step S52 is YES, the process returns to the start.

  On the other hand, if the determination result in step S53 is NO, the rotation angle and torque change history of the drive motor 4 and the steering angle change history are read from the storage unit 27c (step S54), and the torque correction unit 27b4 The difference between the actual rotation angle of the drive motor 4 and the rotation angle of the drive motor 4 stored in the storage unit 27c corresponding thereto is calculated (step S55), and the above formula (1) is calculated from the calculated difference. Thus, the torque correction value of the drive motor 4 is calculated (step S56).

  Subsequently, by correcting the torque of the drive motor 4 read from the storage unit 27c to the torque correction value calculated in step S56, the torque change history of the drive motor to be reversely reproduced is corrected, and the torque is supplied to the inverter 3. A command value is transmitted (step S57). Inverters 3 and 22 calculate motor current command values of drive motor 4 and EPS motor 17 based on the motor torque command value, and control motors 4 and 17. Thereafter, the process returns to the above-described step S51 to repeat the above-described operation. As a result, the driving trajectory of the vehicle 1 stored in the storage unit 27c is reversely reproduced by automatically controlling the drive motor 4 and the EPS motor 17.

  As described above, when the garage is put in, the recording switch 30 is turned on at the time of warehousing, so that the rotation amount and torque change history of the drive motor 4 after turning on, and the steering angle change history by the steering wheel operation are stored in the storage unit 27c. The rotation amount and torque change history of the drive motor from the start of warehousing to the completion of warehousing, and the steering angle change history are stored. At the time of delivery, only the reverse regeneration switch 31 is turned on, the change history of the rotation angle of the drive motor 4 stored in the storage unit 27c, the change history of the torque of the drive motor 4 corrected by the torque correction unit 27b4, and the rudder. In order to reversely reproduce the change history of the angle θw in time, the drive motor 4 and the EPS motor 17 are controlled, and the vehicle 1 is automatically delivered over almost the same time as when it is received.

  Therefore, even when a novice driver enters the garage, the vehicle 1 is entered by a forward operation with a simple driving operation at the time of warehousing, and at that time the recording switch 30 is turned on to rotate the rotation angle of the drive motor 4 at the time of warehousing. When the torque change history and the change history of the steering angle θw are stored in the storage unit 27c, only the reverse regeneration switch 31 is turned on at the time of delivery to automatically follow the traveling locus at the time of entry in the reverse direction. Thus, the vehicle is delivered, and even a beginner can easily enter and exit the garage.

  As described above, according to the above-described embodiment, by performing warehousing by a simple forward operation at the time of warehousing, the operation state at the time of warehousing is automatically reversed retrospectively at the time of warehousing. It is regenerated, and the traveling locus at the time of warehousing is automatically traced in the reverse direction, so that the driver does not have to perform any backward operation that is complicated in driving operation, and can automatically perform the retrieval by going backward. it can. Therefore, it becomes possible for a driving beginner to perform driving operations for both entering and leaving the garage very easily. In addition, even if it is a case where it moves in by reverse operation, it can be automatically discharged by forward operation similarly to the above-mentioned reverse regeneration control.

  Further, the torque of the drive motor 4 decreases as the warehousing situation progresses and becomes zero when the warehousing is completed. Therefore, when such torque change history is reversely reproduced, the torque of the large drive motor 4 is increased at the start of warehousing. Although it is necessary, the torque becomes zero, and the behavior of the vehicle 1 is unnatural and uncomfortable for the driver. Therefore, the actual rotation angle of the drive motor 4 at a certain time during the reverse regeneration control, and the actual rotation angle and time In order to correct the torque change history of the drive motor 4 stored in the storage unit 27c based on the difference between the rotational angle of the drive motor 4 in the corresponding storage unit 27c, the torque change history after correction is reversed. By following at the time of reproduction, the behavior of the vehicle 1 at the time of leaving the vehicle becomes natural, and it is possible to prevent the driver from feeling uncomfortable.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the control in the garage was described as an example. However, the present invention is effective as an auxiliary in the case of performing a parallel parking or other reverse driving operation without being limited to the garage.

  In the above-described embodiment, the vehicle control ECU 27 ends the storage of the storage unit 27c based on whether the accelerator opening degree Ac, the shift signal Sh, the vehicle speed V, the steering wheel position has changed, the position change of the first vehicle position by GPS, or the like. The presence or absence of a change in the position of the vehicle 1 is estimated later, and if it can be estimated that there is a change in the position of the vehicle 1 before the start of the reverse regeneration control by the vehicle control ECU 27, the reverse regeneration control may be stopped. .

  In this way, if the position of the vehicle 1 has changed even a little after the storage in the storage unit 27c, the movement locus of the vehicle 1 by the reverse regeneration control is different from the movement locus based on the stored data. Although it may cause an unexpected situation such as contact with an obstacle, the above-mentioned unexpected situation can be prevented by canceling reverse regeneration control when it can be estimated that the vehicle position has changed after the end of storage. Can do.

  Further, in the above-described embodiment, the vehicle is automatically discharged over almost the same time as when entering, that is, reverse regeneration is executed at the same time as the change history of the rotation angle, torque, and rudder angle stored in the storage unit 27c. However, the reverse playback may be performed in a longer or shorter time than the change history stored in the storage unit 27c. For example, as described above, when warehousing by forward operation and automatically evacuating by reverse operation by reverse regeneration control, reverse regeneration is performed for a long time, while warehousing by reverse operation and automatically by forward operation by reverse regeneration control. In this case, it is possible to reduce the uncomfortable feeling given to the driver by performing reverse reproduction in a short time.

  In the above-described embodiment, the case where the recording mode is canceled by counting up the timer has been described. However, the recording switch 30 may be turned on again to enable the driver to intentionally cancel the recording mode. The switch 30 may be turned on / off and released by turning off the recording switch.

  In the above-described embodiment, the case where the change history of the rotation angle θm of the drive motor 4 is stored in the recording mode has been described. However, in addition to the rotation angle, the change history is stored using the rotation speed as the rotation amount. May be.

DESCRIPTION OF SYMBOLS 1 ... Electric vehicle 4 ... Drive motor 27 ... Vehicle control ECU (a drive motor control means, a steering angle control means, a reverse reproduction means, an estimation means)
27b4 ... Torque correction unit (correction means)
27c: Storage unit (storage means)

Claims (2)

A drive motor for driving the vehicle;
Drive motor control means for controlling the rotation amount and torque of the drive motor based on the driving operation of the driver;
Rudder angle control means for controlling the rudder angle of the vehicle based on the steering operation of the driver;
Storage means for storing a change history of the rotation amount and torque of the drive motor by a driver's drive operation after a predetermined memory opportunity, and a change history of a steering angle by a driver's steering wheel operation;
In accordance with a predetermined reverse regeneration trigger, the drive motor control means and the rudder so that the change history of the rotation amount of the drive motor and the change history of the steering angle stored in the storage means are reversely reproduced in time. Reverse reproduction means for controlling the angle control means;
Based on the actual rotation amount of the drive motor during the reverse regeneration control by the reverse regeneration means, and the rotation amount of the drive motor stored in the storage means corresponding in time to the actual rotation amount, Correction means for correcting the torque change history of the drive motor stored in the storage means,
The reverse regeneration means controls the drive motor control means so as to reversely reproduce the torque change history corrected by the correction means in a temporal manner during the reverse regeneration control. Vehicle control device. Further comprising estimation means for estimating the presence or absence of a change in the position of the vehicle after the storage of the storage means,
The control of the reverse reproduction by the reverse reproduction means is stopped when the estimation means estimates that the position change is present before the reverse reproduction control by the reverse reproduction means is started. The vehicle control device according to 1.

Images