| 摘要 |
A control device for an electric vehicle uses the regenerative braking force of a motor to decelerate the electric vehicle. The control device detects an acceleration operation amount, detects a speed parameter proportional to the running speed of the electric vehicle, and estimates a speed parameter estimation value in accordance with the states of the electric vehicle. The control device also detects or estimates, from a vehicle state, a resistance component that does not depend on a slope and corrects the speed parameter estimation value in accordance with the resistance component. The control device further calculates, on the basis of the speed parameter, an F/B torque for stopping the electric vehicle and calculates, on the basis of the corrected speed parameter estimation value, an F/F torque for compensating the F/B torque. The control device then controls the motor according to a calculated motor torque command value. When the acceleration operation amount is less than or equal to a predetermined value and the electric vehicle nearly stops, the motor torque command value converges to zero according to the F/B torque and the F/F torque as the running speed decreases. |
