US 12,071,023 B2
Electric vehicle control method and electric vehicle control device
Hiroyuki Komatsu, Kanagawa (JP); Jun Motosugi, Kanagawa (JP); Akira Sawada, Kanagawa (JP); and Yui Ito, Kanagawa (JP)
Assigned to NISSAN MOTOR CO., LTD., Yokohama (JP)
Filed by NISSAN MOTOR CO., LTD., Yokohama (JP)
Filed on Apr. 14, 2023, as Appl. No. 18/134,739.
Application 18/134,739 is a division of application No. 17/625,443, granted, now 11,654,778, previously published as PCT/JP2020/009868, filed on Mar. 6, 2020.
Prior Publication US 2023/0249558 A1, Aug. 10, 2023
Int. Cl. B60L 15/20 (2006.01)
CPC B60L 15/20 (2013.01) [B60L 2240/12 (2013.01); B60L 2240/423 (2013.01); B60L 2240/642 (2013.01)] 2 Claims
OG exemplary drawing
 
1. An electric vehicle control method for controlling a motor based on a torque command value in an electric vehicle equipped with the motor as a travelling drive source, the electric vehicle control method comprising:
a disturbance torque estimation process of calculating a disturbance torque estimation value including an influence of a road surface gradient;
a speed parameter acquisition process of acquiring a speed parameter relating to a vehicle speed; and
a vehicle state control including a stop process of calculating a stopping basis torque target value so as to converge the torque command value to the disturbance torque estimation value in accordance with a decrease in the speed parameter, and a vibration damping process of calculating a stopping correction torque target value by performing filtering on the stopping basis torque target value, wherein
in the vehicle state control,
the torque command value is set based on the stopping basis torque target value when an absolute value of the road surface gradient exceeds a predetermined value, and
the torque command value is set based on the stopping correction torque target value when the absolute value of the road surface gradient is equal to or lower than the predetermined value.