Electric vehicle
The electric vehicle according to the present disclosure calculates motor torque using an MT vehicle model simulating an MT vehicle having a manual transmission and an internal combustion engine. In the first operation mode, an operation amount of a pseudo-clutch pedal and a shift position of a pseudo-gearshift are input to the MT vehicle model to reflect operation of the pseudo-clutch pedal and operation of the pseudo-gearshift in electric motor control. In the second operation mode where the operation of the pseudo-clutch pedal is not needed, an operation amount of a clutch pedal calculated by a driver model is input to the MT vehicle model instead of the operation amount of the pseudo-clutch pedal.
1. An electric vehicle configured to use an electric motor as a power device for traveling, the electric vehicle comprising:
an accelerator pedal;
a pseudo-clutch pedal;
a pseudo-gearshift;
an operation mode selector configured to switch an operation mode between a first operation mode and a second operation mode, the first operation mode reflecting operation of the pseudo-clutch pedal and operation of the pseudo-gearshift in control of the electric motor, the second operation mode not requiring the operation of the pseudo-clutch pedal for the control of the electric motor; and
a controller configured to control a motor torque output by the electric motor in accordance with the operation mode selected by the operation mode selector,
wherein the controller comprises:
a memory configured to store:
an MT vehicle model simulating a torque characteristic of a driving wheel torque in an MT vehicle having an internal combustion engine whose torque is controlled by operation of a gas pedal and a manual transmission whose gear stage is switched by operation of a clutch pedal and operation of a gearshift; and
a first driver model simulating the operation of the clutch pedal of an exemplary driver driving the MT vehicle; and
a processor configured to execute:
in the first operation mode,
a process of receiving an operation amount of the accelerator pedal as an input of an operation amount of the gas pedal with respect to the MT vehicle model,
a process of receiving an operation amount of the pseudo-clutch pedal as an input of an operation amount of the clutch pedal with respect to the MT vehicle model,
a process of receiving a shift position of the pseudo-gearshift as an input of a shift position of the gearshift with respect to the MT vehicle model,
a process of calculating the driving wheel torque determined from the operation amount of the gas pedal, the operation amount of the clutch pedal and the shift position of the gearshift using the MT vehicle model, and
a process of calculating the motor torque for giving the driving wheel torque to driving wheels of the electric vehicle; and
in the second operation mode,
a process of disabling the operation of the pseudo-clutch pedal,
a process of calculating the operation amount of the clutch pedal using the first driver model,
a process of receiving the operation amount of the accelerator pedal as the input of the operation amount of the gas pedal with respect to the MT vehicle model,
a process of receiving the operation amount of the clutch pedal calculated using the first driver model as the input of the operation amount of the clutch pedal with respect to the MT vehicle model,
a process of receiving the shift position of the pseudo-gearshift as the input of the shift position of the gearshift with respect to the MT vehicle model,
a process of calculating the driving wheel torque determined from the operation amount of the gas pedal, the operation amount of the clutch pedal and the shift position of the gearshift using the MT vehicle model, and
a process of calculating the motor torque for giving the driving wheel torque to driving wheels of the electric vehicle.
2. The electric vehicle according to claim 1 , wherein:
the operation mode selector is configured to comprise as the operation mode a third operation mode not requiring the operation of the pseudo-clutch pedal and the operation of the pseudo-gearshift for the control of the electric motor;
the memory is configured to store a second driver model simulating the operation of the clutch pedal and the operation of the gearshift of the exemplary driver driving the MT vehicle; and
the processor is configured to execute in the third operation mode,
a process of disabling the operation of the pseudo-clutch pedal and the operation of the pseudo-gearshift,
a process of calculating the operation amount of the clutch pedal and the shift position of the gearshift using the second driver model,
a process of receiving the operation amount of the accelerator pedal as the input of the operation amount of the gas pedal with respect to the MT vehicle model,
a process of receiving the operation amount of the clutch pedal calculated using the second driver model as the input of the operation amount of the clutch pedal with respect to the MT vehicle model,
a process of receiving the shift position of the gearshift calculated using the second driver model as the input of the shift position of the gearshift with respect to the MT vehicle model,
a process of calculating the driving wheel torque determined from the operation amount of the gas pedal, the operation amount of the clutch pedal and the shift position of the gearshift using the MT vehicle model, and
a process of calculating the motor torque for giving the driving wheel torque to driving wheels of the electric vehicle.
3. The electric vehicle according to claim 1 , wherein the operation mode selector is configured to switch the operation mode in accordance with a selection by a driver.
4. The electric vehicle according to claim 3 , wherein the operation mode selector is configured to learn a relation between the selection by the driver and a driving scene at a time when the operation mode is switched by the driver, and switch the operation mode automatically according to the driving scene in accordance with the relation that is learned.
5. The electric vehicle according to claim 1 , wherein the operation mode selector is configured to switch the operation mode automatically according to a driving scene in accordance with a predetermined rule.