US 12,227,164 B2
Electrified vehicle
Junichi Murase, Aichi-gun Aichi-ken (JP); Hideki Kubonoya, Toyota Aichi-ken (JP); Masamichi Iwama, Gotenba Shizuoka-ken (JP); and Hiroshi Ienaga, Shibuya-ku Tokyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and SUBARU CORPORATION, Tokyo (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota Aichi-ken (JP); and SUBARU CORPORATION, Shibuya-ku Tokyo (JP)
Filed on Jul. 28, 2022, as Appl. No. 17/876,124.
Claims priority of application No. 2021-153414 (JP), filed on Sep. 21, 2021.
Prior Publication US 2023/0090814 A1, Mar. 23, 2023
Int. Cl. B60W 10/08 (2006.01); B60L 15/20 (2006.01)
CPC B60W 10/08 (2013.01) [B60L 15/20 (2013.01); B60L 2240/421 (2013.01); B60W 2510/081 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An electrified vehicle, comprising:
a motor configured to rotate a drive wheel of the electrified vehicle;
a sensor configured to detect a motor rotation number that is the number of rotations of the motor; and
a control device configured to perform feedback control of the motor rotation number based on a value detected by the sensor, wherein the control device is configured to perform during the feedback control:
a process of extracting a vibration component in a predetermined frequency band from the value detected by the sensor,
a process of calculating an integrated value by integrating the extracted vibration component for a predetermined period, and
a process of determining whether the calculated integrated value falls within a predetermined abnormal range;
wherein the control device is configured to reduce slip of the drive wheel by performing the feedback control when the slip of the drive wheel is detected;
wherein the control device is configured to adjust the extracted vibration component with a predetermined gain when calculating the integrated value;
wherein the drive wheel includes a left drive wheel and a right drive wheel;
wherein the control device is configured to change a gain according to a difference between the number of rotations of the left drive wheel and the number of rotations of the right drive wheel; and
wherein the control device is configured to set the gain to zero when the difference is higher than a predetermined threshold value.