US 11,718,185 B2
Vehicle control apparatus
Takuya Yano, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Dec. 28, 2021, as Appl. No. 17/563,574.
Claims priority of application No. 2021-000383 (JP), filed on Jan. 5, 2021.
Prior Publication US 2022/0212546 A1, Jul. 7, 2022
Int. Cl. H02P 7/00 (2016.01); B60L 15/20 (2006.01); B60L 3/00 (2019.01); B60L 50/51 (2019.01); B60L 15/00 (2006.01)
CPC B60L 15/20 (2013.01) [B60L 3/003 (2013.01); B60L 3/0061 (2013.01); B60L 3/0084 (2013.01); B60L 15/007 (2013.01); B60L 50/51 (2019.02); B60L 2240/421 (2013.01); B60L 2240/423 (2013.01); B60L 2240/642 (2013.01); B60L 2250/26 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A vehicle control apparatus to be applied to a vehicle, the vehicle control apparatus being configured to perform control of a traveling motor of the vehicle, the traveling motor serving as a power source of a drive system of the vehicle, the apparatus comprising:
an inverter including a plurality of switching elements, the inverter being configured to supply electric power to the traveling motor through the switching elements;
a torque setting unit configured to set a first torque command value of the traveling motor on a basis of an operation amount of an accelerator of the vehicle;
a torque correction unit configured to correct the first torque command value to a second torque command value by performing feedback of a result of the control of the traveling motor to the first torque command value, the second torque command value being to be used to suppress vibration of the drive system,
an inverter control unit configured to generate a drive signal for the switching elements on a basis of the second torque command value and a carrier signal; and
a motor lock determination unit configured to determine whether the traveling motor is in a motor lock state in which the traveling motor operates within a lock range, wherein,
in a case where the traveling motor is determined to be in the motor lock state, the torque correction unit is configured to set a feedback gain to be smaller than a threshold gain at time of correcting the first torque command value to the second torque command value, and
in the case where the traveling motor is determined to be in the motor lock state, the inverter control unit is configured to set a frequency of the carrier signal to be lower than a threshold frequency at time of generating the drive signal.