Electric vehicle control method and electric vehicle control system
An electric vehicle control method for braking of an electric vehicle applies a front braking torque to a front drive motor that drives a front wheel and applies a rear braking torque to a rear drive motor that drives a rear wheel. The method includes: during the braking, executing a torque limiting process (process B, process C, front braking torque control) that reduces the front braking torque and the rear braking torque when a slip of the front wheel is detected; and executing a distribution torque changing process that increases the front braking torque while maintaining a sum of the front braking torque and the rear braking torque when a slip of the rear wheel is detected.
1. An electric vehicle control method for braking of an electric vehicle by applying a front braking torque to a front drive motor that drives a front wheel and applying a rear braking torque to a rear drive motor that drives a rear wheel, the electric vehicle control method comprising:
during the braking,
executing a distribution torque changing process that increases the front braking torque proportional to a decrease in the rear braking torque when a slip of the rear wheel is detected, wherein a sum of the front braking torque and the rear braking torque is substantially maintained during the distribution torque changing process; and
executing a torque limiting process that reduces the front braking torque and the rear braking torque when the slip of the rear wheel is eliminated by the distribution torque changing process and a slip of the front wheel is detected.
2. The electric vehicle control method according to claim 1 , wherein
when the slip of the front wheel is detected, the rear braking torque is set to be lower than the rear braking torque at a time of the distribution torque changing process.
3. The electric vehicle control method according to claim 1 , wherein
when the slip of the front wheel is detected, front braking torque control for eliminating the slip of the front wheel is executed, and the rear braking torque is controlled such that a ratio of the rear braking torque to the front braking torque does not exceed a specified value.
4. The electric vehicle control method according to claim 3 , wherein
when one-pedal control for controlling the front braking torque based on an accelerator operation amount is selected,
the torque limiting process is executed in preference to the one-pedal control, and
the torque limiting process is canceled when a front braking torque calculated in the front braking torque control reaches a front braking torque of the one-pedal control.
5. The electric vehicle control method according to claim 1 , wherein
when one-pedal control for controlling the front braking torque based on an accelerator operation amount is selected,
the torque limiting process is executed in preference to the one-pedal control, and
the torque limiting process is canceled when a front braking torque of the one-pedal control reaches a predetermined value.
6. The electric vehicle control method according to claim 1 , wherein
the torque limiting process and the distribution torque changing process are canceled when a vehicle speed of the electric vehicle becomes zero.
7. The electric vehicle control method according to claim 1 , wherein
the slip of the rear wheel is detected based on a ratio of a change amount in a rotation speed of the rear drive motor to the rear braking torque.
8. The electric vehicle control method according to claim 1 , wherein
the slip of the rear wheel is detected based on whether a ratio of a change amount in a rotation speed of the rear drive motor to the rear braking torque exceeds a predetermined threshold, and
the predetermined threshold is increased as an operation amount of a friction brake increases.
9. The electric vehicle control method according to claim 1 , wherein
the slip of the rear wheel is eliminated when a rotation speed of a slipping drive wheel converges to a rotation speed of another drive wheel.
10. An electric vehicle control system, comprising:
a front drive motor configured to drive a front wheel;
a rear drive motor configured to drive a rear wheel; and
a control unit configured to drive and control the front drive motor and the rear drive motor, wherein
the control unit causes an electric vehicle to brake by applying a front braking torque to the front drive motor and applying a rear braking torque to the rear drive motor, and
the control unit executes:
during braking of the electric vehicle,
a distribution torque changing process that increases the front braking torque proportional to a decrease in the rear braking torque when a slip of the rear wheel is detected, wherein a sum of the front braking torque and the rear braking torque is substantially maintained during the distribution torque changing process, and
a torque limiting process that reduces the front braking torque and the rear braking torque when the slip of the rear wheel is eliminated by the distribution torque changing process and a slip of the front wheel is detected.
11. The electric vehicle control system according to claim 10 , wherein
the slip of the rear wheel is eliminated when a rotation speed of a slipping drive wheel converges to a rotation speed of another drive wheel.