Vehicle control method and control device

1. A vehicle control method for decelerating by the regenerative braking of a motor connected to a drive shaft of a drive wheel, comprising:

a calculation step of calculating a torque command value for suppressing a vibration component of the drive shaft by feeding back a torsional angular velocity of the drive shaft to a desired torque that determines the power of the motor;

an estimation step of estimating a dead zone section, in which the torque of the motor in the vehicle is not transmitted to the drive shaft, on the basis of the desired torque;

a limitation step of limiting the torque command value in the case where the vehicle is estimated to be in the dead zone section; and

a control step of controlling the operation of the motor on the basis of the torque command value.

2. The vehicle control method according to claim 1 , wherein

in the calculation step,

the torque command value is calculated by subtracting a value, which is obtained by multiplying the torsional angular velocity by a feedback gain, from the desired torque, and

in the limitation step, the feedback gain is decreased to increase the responsiveness of the motor in the case where the vehicle is estimated to be in the dead zone section.

3. The vehicle control method according to claim 2 , wherein

in the calculation step,

in the case where the vehicle has been estimated to be not in the dead zone section, the torsional angular velocity is multiplied by a first feedback gain thereby to calculate a first torque command value,

in the case where the vehicle has been estimated to be in the dead zone section, the torsional angular velocity is multiplied by a second feedback gain, which is smaller than the first feedback gain, thereby to calculate a second torque command value, and

in the control step, a value obtained by limiting the second torque command value to a predetermined range in the limitation step or the first torque command value, whichever value is greater, is set as the torque command value.

4. The vehicle control method according to claim 1 , comprising:

a detection step of detecting the rotational angular velocity of the motor;

a processing step of receiving the torque command value and outputting an estimated value of the rotational angular velocity of the motor and an estimated value of the torsional angular velocity used in the calculation step by using a vehicle model simulating a response characteristic of the vehicle; and

a correction step of correcting the torque command value on the basis of the rotational angular velocity of the motor and the estimated value of the rotational angular velocity.

5. The vehicle control method according to claim 4 , wherein

in the estimation step,

an estimated value of the torsional angle of the drive shaft is calculated using the vehicle model, and whether the vehicle is in the dead zone section is determined according to the estimated value.

6. A vehicle control device for decelerating by the regenerative braking of a motor connected to a drive shaft of a drive wheel, comprising:

a calculation unit which calculates a torque command value for suppressing a vibration component of the drive shaft by feeding back a torsional angular velocity of the drive shaft to a desired torque that determines the power of the motor;

a control unit which controls the operation of the motor on the basis of the torque command value;

an estimation unit which estimates a dead zone section, in which the torque of the motor in the vehicle is not transmitted to the drive shaft, on the basis of the desired torque; and

a limiting unit which limits the torque command value in the case where the vehicle is in the dead zone section.