Control apparatus for electric vehicle, control system for electric vehicle, and control method for electric vehicle

1. An apparatus comprising:

a control apparatus for an electric vehicle, the electric vehicle including a wheel and an electric motor configured to provide a regenerative braking force to this wheel, wherein

the control apparatus outputs an instruction to generate a first regenerative braking force corresponding to the regenerative braking force on the electric motor when a signal regarding a return of a pressed accelerator pedal is input from an accelerator pedal sensor, the accelerator pedal sensor being configured to detect a physical amount regarding a stroke of the accelerator pedal of the electric vehicle;

the control apparatus outputs an instruction to generate a brake actuation braking force on the wheel when a signal regarding pressing of a brake pedal is input from a brake pedal sensor, the brake pedal sensor being configured to detect a physical amount regarding a stroke of the brake pedal of the electric vehicle;

the control apparatus outputs, to the electric motor, an instruction to reduce a total value of the first regenerative braking force and the brake actuation braking force to a braking force corresponding to a second regenerative braking force, which is a regenerative braking force smaller than the first regenerative braking force, when an output value lower than a predetermined speed is input from a vehicle body speed detection sensor, the vehicle body speed detection sensor being configured to detect a physical amount regarding a vehicle body speed of the electric vehicle; and

the control apparatus outputs an instruction to reduce the first regenerative braking force according to the physical amount regarding the stroke of the brake pedal to the electric motor and outputs an instruction to add a braking force corresponding to a third regenerative braking force, which is a regenerative braking force corresponding to an amount of the reduction in the first regenerative braking force, to the brake actuation braking force when the signal regarding the pressing of the brake pedal is input after the signal regarding the return of the pressed accelerator pedal is input.

2. The apparatus according to claim 1 , wherein the second regenerative braking force is a regenerative braking force provided due to the return of the pressed accelerator pedal.

3. The apparatus according to claim 1 , wherein the control apparatus increases the third regenerative braking force and also increases the brake actuation braking force as the physical amount regarding the stroke of the brake pedal increases when the signal regarding the pressing of the brake pedal is input.

4. The apparatus according to claim 1 , wherein the control apparatus increases the third regenerative braking force and also increases the brake actuation braking force when the signal regarding the pressing of the brake pedal is input and the physical amount regarding the stroke of the brake pedal exceeds a predetermined value.

5. The apparatus according to claim 1 , wherein the third regenerative braking force is determined based on a preset map of a braking force with respect to an amount of the stroke of the brake pedal.

6. The apparatus according to claim 1 , wherein the brake actuation braking force is a sum of a regenerative braking force and a frictional braking force.

7. The apparatus according to claim 6 , wherein the control apparatus conducts replacement for increasing the frictional braking force according to the reduction in a regenerative braking force with respect to the brake actuation braking force.

8. A control method for an electric vehicle, the electric vehicle including a wheel and an electric motor configured to provide a regenerative braking force to this wheel, the control method for the electric vehicle comprising:

outputting an instruction to generate a first regenerative braking force corresponding to the regenerative braking force on the electric motor when a signal regarding a return of a pressed accelerator pedal is input from an accelerator pedal sensor, the accelerator pedal sensor being configured to detect a physical amount regarding a stroke of the accelerator pedal of the electric vehicle;

outputting an instruction to generate a brake actuation braking force on the wheel when a signal regarding pressing of a brake pedal is input from a brake pedal sensor, the brake pedal sensor being configured to detect a physical amount regarding a stroke of the brake pedal of the electric vehicle;

outputting, to the electric motor, an instruction to reduce a total value of the first regenerative braking force and the brake actuation braking force to a braking force corresponding to a second regenerative braking force, which is a regenerative braking force smaller than the first regenerative braking force, when an output value lower than a predetermined speed is input from a vehicle body speed detection sensor, the vehicle body speed detection sensor being configured to detect a physical amount regarding a vehicle body speed of the electric vehicle; and

outputting an instruction to reduce the first regenerative braking force according to the physical amount regarding the stroke of the brake pedal to the electric motor and outputs an instruction to add a braking force corresponding to a third regenerative braking force, which is a regenerative braking force corresponding to an amount of the reduction in the first regenerative braking force, to the brake actuation braking force when the signal regarding the pressing of the brake pedal is input after the signal regarding the return of the pressed accelerator pedal is input.

9. A control system for an electric vehicle comprising:

an electric motor configured to provide a regenerative braking force to a wheel of the electric vehicle;

an accelerator pedal sensor configured to detect a physical amount regarding a stroke of an accelerator pedal of the electric vehicle;

a brake pedal sensor configured to detect a physical amount regarding a stroke of a brake pedal of the electric vehicle;

a vehicle body speed detection sensor configured to detect a physical amount regarding a vehicle body speed of the electric vehicle; and

a control portion configured to

output an instruction to generate a first regenerative braking force corresponding to the regenerative braking force on the electric motor when a signal regarding a return of the pressed accelerator pedal is input from the accelerator pedal sensor, output an instruction to generate a brake actuation braking force on the wheel when a signal regarding pressing of the brake pedal is input from the brake pedal sensor, output an instruction to reduce a total value of the first regenerative braking force and the brake actuation braking force to a braking force corresponding to a second regenerative braking force, which is a regenerative braking force smaller than the first regenerative braking force, to the electric motor when an output value lower than a predetermined speed is input from the vehicle body speed detection sensor, and

output an instruction to reduce the first regenerative braking force according to the physical amount regarding the stroke of the brake pedal to the electric motor and output an instruction to add a braking force corresponding to a third regenerative braking force, which is a regenerative braking force corresponding to an amount of the reduction in the first regenerative braking force, to the brake actuation braking force when the signal regarding the pressing of the brake pedal is input after the signal regarding the return of the pressed accelerator pedal is input.