JP2014147291A - Control apparatus for electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control apparatus for an electric vehicle capable of suppressing an occurrence of a revolving force by making a difference of drive forces between a right wheel and a left wheel nearly zero even if effective radiuses of the right wheel and the left wheel are different by a variation of a tire air pressure change, etc.SOLUTION: Correction means 14 for correcting command values given from drive command output means 13 to a drive circuit 11 of an electric motor 4 of right and left drive wheels 2, is provided. The correction means 14 corrects the command values so that the command values to the right and left command drive wheels 2 have a relationship with each other in which the revolving force for the vehicle generated due to the difference between the effective radiuses of the right and left drive wheels is suppressed when a steering angle, the number of revolution of each drive wheel 2, and an electric motor current are inputted and the steering angle is used as a reference for a direction of travel. The correction means 14 stores an average of ratios of the effective radiuses of the drive wheels 2 on the basis of multiple correction control, so that the correction means 14 has s regulation content in which a control command value is given as an outline correction on the basis of the average.

Description

  The present invention relates to control of an electric vehicle such as an automobile having left and right independent drive motors.

  Some electric vehicles, such as in-wheel motors, run with separate electric motors on the left and right wheels, and independent control of each wheel is possible, so there is great expectation as a high-performance vehicle. In general, most electric motors of electric vehicles are driven by torque control, that is, a method of controlling a current value flowing through the motor, or a method of controlling the number of revolutions thereof. In such a control system, when the effective radius of the wheel is different on the left and right due to a change in tire air pressure or the like, the driving wheel itself generates a turning force. Patent Document 1 describes correction of a driving force difference due to a tire diameter difference, but this is a control method using a threshold value so as not to exceed the limit, and a certain amount of driving force difference is allowed.

JP 2006-240402 A

  The conventional correction of the driving force difference due to the tire diameter difference disclosed in Patent Document 1 is a control method using a threshold value so as not to exceed the limit, and a certain amount of driving force difference is allowed. Therefore, the improvement in running stability is still insufficient.

  The object of the present invention is to improve the running stability by suppressing the generation of turning force by reducing the driving force difference between the left and right wheels even if the effective radius of the wheels is different on the left and right due to changes in tire pressure etc. It is providing the control apparatus of the electric vehicle which can be made to do.

An electric vehicle control apparatus according to the present invention is an apparatus that controls an electric vehicle having a plurality of drive wheels that perform independent left and right drive and an electric motor that drives each of the drive wheels,
Steering angle detection means for detecting a steering angle that is a steering angle of the steering, rotation speed detection means for detecting the rotation speed per unit time of each drive wheel, and motor current that is a drive current of the motor of each drive wheel Motor current detection means for detecting the current value, and correction means for correcting the current value or the rotational speed command value given to the drive circuit of the motor of each drive wheel from the drive command output means that outputs in response to the operation amount of the accelerator Is provided.
This correction means receives the steering angle detected by each of the detection means, the rotational speed of each drive wheel, and the motor current, and uses the steering angle as a reference for the direction of travel, and gives it to the drive circuits for both the left and right drive wheels. The command value is set according to a rule determined so that the relationship between the command values after correction is a relationship that suppresses the turning force generated in the vehicle due to the difference in the effective radius of the drive wheels, rather than the command value before correction. The correction means stores, as the contents of the rule, an average value of the effective radius ratio of the drive wheels based on a plurality of correction controls, and roughly corrects the control command value from the average value. It has the rule content of giving.

  According to this configuration, the correction means uses the steering angle as a reference for the traveling direction, and the relationship between the corrected command values given to the drive circuits of the left and right drive wheels is more than the command value before correction. The current value or the rotational speed command value is corrected according to a rule determined so as to suppress the turning force generated in the vehicle due to the difference in the effective radius of the wheel. In this way, the steering angle is used as a reference for the direction of travel, and the rotational speed or current value of the left and right wheels is corrected. Can be improved.

The predetermined rule of the correction means differs depending on whether the drive command output means controls the motor or the rotational speed.
When the drive command output means is for controlling the torque of the electric motor, the predetermined rule of the correction means is, as one of the contents, when the steering angle detected by the steering angle detection means is zero. ,
Rules that correct the command values given to the motor drive circuits for the left and right drive wheels so that the left drive wheel speed x left drive wheel drive current = right drive wheel speed x right drive wheel drive current And
In this specification, “the steering angle is zero” means that the steering is within a range where it can be considered that the vehicle is instructing a straight travel.

When the same torque is generated in the left and right motors, the wheel side having a small effective radius transmits a large driving force to the ground contact surface and generates a turning force. Further, since the effective radius is small, the wheel rotation speed is higher than that of normal wheels even when the vehicle is traveling straight.
For this reason, if there is a difference in the number of revolutions between the left and right wheels when the steering is not turned and a straight running state is instructed, the number of revolutions is recognized as a decrease in the effective radius due to tire pressure fluctuations, etc. It corrects in the direction which decreases the motor torque of the higher side. Thereby, generation | occurrence | production of the turning force by the effective radius of a driving wheel changing with right and left can be suppressed.

When the drive command output means is for controlling the torque of the electric motor, when the steering angle detected by the steering angle detection means indicates the turning state as the content of the predetermined rule of the correction means. From the steering angle, find the turning radius of the vehicle, the theoretical rotation speed of the left and right drive wheels and the rotation speed ratio (left rotation speed / right rotation speed)
If the actual rotational speed of the drive wheel is higher than the theoretical rotational speed,
Left drive wheel rotation speed x left drive wheel drive current = rotation speed ratio x right drive wheel rotation speed x right drive wheel drive current The drive current of the high rotation motor is calculated, and the drive circuit of the high rotation motor is calculated. It may have a rule content for correcting a given command value.
When the steering is turned and the turning state is instructed, the turning radius of the vehicle and the theoretical rotational speed of each driving wheel are calculated from the steering angle, and the ratio with the actual driving wheel rotational speed is obtained.
A neutral steering state is maintained by recognizing that the rotation speed ratio is on the high rotation side with respect to the other drive wheels as a decrease in effective radius and correcting in a direction to decrease the torque. Thereby, it can suppress that turning force generate | occur | produces by the difference in the effective radius of a right-and-left wheel by tire pressure fluctuation etc.

When the drive command output means is for controlling the number of revolutions of the electric motor, when the steering angle detected by the steering angle detection means is zero as the content of the predetermined rule of the correction means, When a drive wheel is driven, the torque of the motor of the drive wheel driven to the braking side is released, and the drive is performed based on the rotation speed obtained by the rotation speed detection means by free rotation. It is assumed that there is a rule content for correcting and restarting the command rotational speed that is the command value output from the command output means.
When the left and right motors are rotated at the same number of rotations, the wheel with a small effective radius is dragged by the wheel with a large effective radius and tries to rotate higher, so the control controls the current in a direction that suppresses the number of rotations. As a result, a turning force is generated.
If the drive wheel driven to the braking side occurs when the steering is not turned and the vehicle is in a straight running state, the torque obtained by free rotation by releasing the torque of the motor of the drive wheel Based on the number, the command rotational speed is corrected and restarted. Thereby, generation | occurrence | production of the turning force by the effective radius of a driving wheel changing with right and left can be suppressed.

When the drive command output means is for controlling the rotation speed of the electric motor, when the steering angle detected by the steering angle detection means indicates the turning state as the content of the predetermined rule of the correction means When a driving wheel driven on the braking side is generated, the torque of the motor of the driving wheel driven on the braking side is released and freely rotated, and the rotation obtained by the rotation speed detecting means by free rotation It is also possible to have a rule content for re-driving by giving the number as a command rotational speed to be a command value after correction.
When the steering is turned and the turning state is instructed, the turning radius of the vehicle and the theoretical rotational speed of each driving wheel are calculated from the steering angle, and the rotational speed of the driving wheel is controlled to be the rotational speed. Yes.
If drive wheels are driven on the braking side at this time, the torque of the motors on the driving wheels driven on the braking side is released and freely rotated, and the rotation speed detection means obtains the free rotation. The rotation speed is given as the command rotation speed that becomes the corrected command value, and the drive is restarted. Thereby, a neutral steer state can be maintained and it can suppress that turning force generate | occur | produces in a vehicle by the difference in the effective radius of a driving wheel.

  The correction means stores the average value of the effective radius ratio of the drive wheels based on a plurality of correction controls as the rule content, and has a rule content that roughly gives a control command value from the average value. . By using the average value in this way, more stable control can be performed.

The control method of the electric vehicle of the reference proposal example is a method of controlling an electric vehicle having a plurality of drive wheels that drive left and right independent and an electric motor that drives each of the drive wheels,
By means of correcting the current value or the rotational speed command value given to the drive circuit of the motor of each drive wheel from the drive command output means that outputs in response to the operation amount of the accelerator, the steering angle and each drive wheel Using the number of rotations per unit time and each detected value of the motor current, which is the drive current of the motor of each driving wheel, the correction given to the driving circuit of each left and right driving wheel using the steering angle as the reference direction of travel The command value is corrected in accordance with the rules established so that the relationship between the subsequent command values is such that the turning force generated in the vehicle due to the difference in the effective radius of the drive wheels is less than the command value before correction. It is characterized by doing.
According to this method, as described above with respect to the control device for the electric vehicle of the present invention, the driving force of the driving wheels of the left and right wheels is used to correct the rotational speed or current value of the left and right wheels by using the steering angle as a reference in the traveling direction. The difference can be made almost zero to suppress the generation of turning force and improve running stability.

In the control method of this reference proposal example, when the drive command output means is for controlling the torque of the electric motor, as the predetermined rule, when the detected steering angle is zero,
Even if a rule for correcting the command value given to the motor drive circuit of the left and right drive wheels is used so that left drive wheel rotation speed × left drive wheel drive current = right drive wheel rotation speed × right drive wheel drive current. good.
In the case of this method, as described in the case where the torque control is performed by the control device of the present invention, when there is a rotational speed difference between the left and right wheels, it is recognized that the effective radius is reduced due to tire pressure fluctuations, etc. And generation | occurrence | production of turning force can be suppressed by correct | amending in the direction which reduces the motor torque by the side with high rotation speed.

In the control method of this reference proposed example, when the drive command output means controls the torque of the electric motor, and when the detected steering angle indicates the turning state as the predetermined rule, the steering angle To determine the turning radius of the vehicle, the theoretical rotation speed of the left and right drive wheels and the rotation speed ratio (left rotation speed / right rotation speed)
If the actual rotational speed of the drive wheel is higher than the theoretical rotational speed,
Left drive wheel rotation speed x left drive wheel drive current = rotation speed ratio x right drive wheel rotation speed x right drive wheel drive current The drive current of the high rotation motor is calculated, and the drive circuit of the high rotation motor is calculated. A rule for correcting a given command value may be used.
In this case, as described for the case where the torque control is performed by the control device of the present invention, the rotation speed ratio is recognized as a decrease in the effective radius when the rotation speed ratio is higher than the other drive wheels, By correcting in the direction to decrease the torque, maintain the neutral steer state,
Thereby, generation | occurrence | production of the turning force by the effective radius of a driving wheel changing with right and left can be suppressed.

  An electric vehicle control apparatus according to the present invention is an apparatus for controlling an electric vehicle having a plurality of drive wheels that drive left and right independently and an electric motor that drives each of the drive wheels. Steering angle detection means for detecting; rotation speed detection means for detecting the rotation speed per unit time of each drive wheel; and motor current detection means for detecting a motor current that is a drive current of the motor of each drive wheel; Correction means for correcting the command value of the current value or the rotational speed given from the drive command output means to the drive circuit of the motor of each drive wheel, the correction means, the steering angle detected by each detection means, The rotational speed of each drive wheel and the motor current are input, and the steering angle is used as a reference for the direction of travel, and is supplied to the drive circuit for each left and right drive wheel. The command value is corrected in accordance with the rules established so that the relationship between the subsequent command values is such that the turning force generated in the vehicle due to the difference in the effective radius of the drive wheels is less than the command value before correction. The correction means stores, as the contents of the rule, an average value of the effective radius ratio of the drive wheels based on a plurality of correction control, and roughly corrects and gives a control command value from the average value. Therefore, even if the effective radius of the wheel differs between the left and right due to changes in tire pressure, etc., the difference in driving force between the left and right wheels is reduced to almost zero, reducing the generation of turning force and driving stability. Can be improved.

  The control method of the electric vehicle of the reference proposal example is a method of controlling an electric vehicle having a plurality of drive wheels that drive left and right independently and an electric motor that drives each of the drive wheels. The steering angle, the number of rotations per unit time of each driving wheel, and the driving current of the motor of each driving wheel by means of correcting the current value or the rotational speed command value applied to the driving circuit of the wheel motor Relative to the command value before correction, the relationship between the corrected command value given to the drive circuit of each of the left and right drive wheels is based on the steering angle as a reference in the traveling direction using each detected value of the motor current. In order to correct the command value in accordance with a rule set to suppress the turning force generated in the vehicle due to the difference in the effective radius of the driving wheel, the effective radius of the wheel is changed due to a change in tire air pressure or the like. Even if you've different right, suppress the generation of swirling force to the driving force difference between the drive wheels of the right and left wheels as substantially zero, it is possible to improve the running stability.

It is explanatory drawing of a conceptual structure which shows the control apparatus and control method of the electric vehicle which concern on one Embodiment of this invention. It is explanatory drawing which shows the relationship between the rotation speed of each wheel at the time of vehicle turning, a drive torque, and a turning radius.

  An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a conceptual diagram of an electric vehicle equipped with this control device. The electric vehicle 1 is a four-wheeled vehicle in which left and right rear wheels are drive wheels 2 and left and right front wheels are driven wheels 3 that are steering wheels. The drive wheel 2 and the driven wheel 3 are both wheels having tires (not shown). The left and right drive wheels 2, 2 are driven by independent electric motors 4, 4, respectively. Each drive wheel 2 is supported on the vehicle body of the vehicle 1 via a wheel bearing 5. Each of the electric motors 4 is an in-wheel motor that is partly or wholly contained in the drive wheel 2, and transmits the rotation to the drive wheel 2 via the speed reducer 6. The electric motor 4, the speed reducer 6, and the wheel bearing 5 constitute an in-wheel motor unit. The electric motor 4 may be configured to directly drive the drive wheels 2 without using the speed reducer 6.

  Each electric motor 4 is a synchronous motor, for example, and is controlled by a drive circuit 11 including an inverter device. The drive circuit 11 includes a power circuit unit 11a that outputs a drive current of each phase of the electric motor 4 using a direct current of a battery (not shown) as a power source, and an alternating current of the power circuit unit 11a according to an input command value. The control unit 11b controls the power circuit unit 11a by outputting the voltage waveform of each phase. The command value given to the control unit 11b is a torque value or the number of revolutions (the number of revolutions per unit time).

  The vehicle 1 detects the number of revolutions per unit time of each drive wheel 2 in addition to the steering angle detection means 8 for detecting the angle of the steering wheel 7 and the operation amount detection means 22 for the accelerator 21 as various sensors. And a motor current detecting means 10 for detecting a motor current which is a driving current of the motor 4 of each driving wheel 2. In addition to this, a rotation speed detection means for detecting the rotation speed of each driven wheel 3 and a detection means (not shown) for detecting a load acting on each wheel 2, 3 may be provided.

  The vehicle 1 includes an electric control unit (ECU) 12 that controls the entire vehicle. The electric control unit 12 is provided with drive command output means 13 that outputs a command value to the electric motor 4 of each drive wheel 2 and correction. Means 14 and feedback control means 15 are provided. The drive command output means 13 is a means having a function of outputting a command value corresponding to the accelerator operation amount to the drive circuit 11 of each drive wheel 2 as a basic function. A command value corrected based on the detection value may be output. The drive command output means 13 may perform torque control or may perform rotation speed control. The drive command output means 13 outputs, as the command value, a torque value when torque control is performed, and outputs a rotation speed when performing rotation speed control.

  The feedback control unit 15 is a unit that performs feedback control on the command value corrected by the correction unit 14. When the torque control is performed, the feedback control unit 15 feedback-controls the output rotation speed command value based on the torque value obtained from the motor current value detected by the motor current detection unit 10, and the rotation speed When the control is to be performed, the command value feedback control of the output rotational speed is performed based on the rotational speed detected by the rotational speed detection means 9.

  The correction means 14 is a means for correcting a case where the effective radii of the left and right drive wheels 2 and 2 are different from each other due to a change in tire air pressure among various corrections performed by the electric control unit 12. The command value output from the output means 12 to each drive circuit 11 is corrected in accordance with a predetermined rule R. In addition to the command value, the correction means 14 includes, as information for correction, the steering angle detected by the steering angle detection means 8 and the rotation speed detected by the rotation speed detection means 9 of each drive wheel 2 (per unit time). And the motor current detected by the motor current detecting means 10 of the motor 4 of each drive wheel 2 are input.

  The rule R of the correction means 14 uses the input steering angle as a reference for the traveling direction, and gives the input to the drive circuit 11 of each left and right drive wheel 2 with respect to the input rotation speed and motor current. The command value is corrected so that the relationship between the corrected command value is a relationship that suppresses the turning force generated in the vehicle 1 due to the difference in the effective radius of the drive wheel 2 rather than the command value before the correction. It is a rule.

Specifically, the rule R of the correction unit 14 differs depending on whether the drive command output unit 12 performs torque control or performs rotation speed control, but first performs torque control. Will be explained. In this case, the rule R is a rule content for performing the following processes (1) and (2).
(1) When the input steering angle is zero,
Left drive wheel rotation speed x left drive wheel drive current = right drive wheel rotation speed x right drive wheel drive current.
The command value given to the drive circuit 11 of the electric motor 4 of the left and right drive wheels 2 is corrected.
(2) When the input steering angle indicates the turning state, the turning radius R of the vehicle 1 and the theoretical rotational speed of the left and right drive wheels 2 and 2 and the rotational speed ratio (left rotational speed / right) are determined from the steering angle. Rotation speed)
If the actual rotational speed of the drive wheel 2 is higher than the theoretical rotational speed,
The drive current of the motor 4 on the high rotation side, which is the left drive wheel rotation speed × the left drive wheel drive current = the rotation speed ratio × the right drive wheel rotation speed × the right drive wheel drive current, is calculated to drive the high rotation motor 4. The command value given to the circuit 11 is corrected so as to be the theoretical rotational speed.

Here, with reference to FIG. 2, the relationship between the rotational speed of each wheel, the driving torque of each wheel, and the turning radius of each wheel will be described. In FIG.
R: turning radius of the vehicle,
D: Tread,
H: Wheelbase,
Nfl: Number of left front wheel revolutions
Nfr: Number of rotations of the right front wheel
Nrl: Number of rotations of the left rear wheel
Nrr: the number of rotations of the right rear wheel,
Tfl: Driving torque of left front wheel,
Tfr: Driving torque of the right front wheel,
Trl: Driving torque of left rear wheel,
Trr: Driving torque of the right rear wheel,
Rfl: turning radius of left front wheel,
Rfr: turning radius of the right front wheel
Rrl: left rear wheel turning radius,
Rrr: turning radius of the right rear wheel,
If so, the following two equations hold.
Nfl / Rfl = Nfr / Rfr = Nrl / Rrl = Nrr / Rrr
Tfl = Tfr = Trl = Trr
The rotational speed Nrl of the left rear wheel and the rotational speed Nrr of the right rear wheel, which are in the above relationship, are the theoretical rotational speeds of the left and right drive wheels 2 and 2.

The operation of the above configuration will be described. In the case of the torque control type driving wheel, the following operation is performed.
When the same torque is generated in the left and right motors 2, 2, the wheel side having a small effective radius transmits a large driving force to the ground surface and generates a turning force. Further, since the effective radius is small, the wheel rotation speed is higher than that of normal wheels even when the vehicle is traveling straight.
Therefore, when the steering 7 is not turned and the directing state is instructed and there is a difference in the rotational speed between the left and right drive wheels 2 and 2, the correction means 14 is effective radius due to tire pressure fluctuation or the like. The motor torque on the side with the higher rotational speed is corrected so as to decrease. Thereby, generation | occurrence | production of the turning force by the difference in the effective radius of the right-and-left driving wheels 2 and 2 by a tire air pressure change etc. can be suppressed.

  The correction means 14 calculates the turning radius R of the vehicle 1 and the theoretical rotational speed of each of the drive wheels 2 and 2 from the steering angle when the steering wheel 7 is turned and the turning state is instructed. Find the ratio to the drive wheel speed. When the rotation speed ratio is higher than that of the other drive wheel, the effective radius is recognized as being reduced, and the neutral steer state is maintained by correcting the reduction in the torque. Thereby, generation | occurrence | production of the turning force by the difference in the effective radius of the right-and-left driving wheels 2 and 2 by a tire air pressure change etc. can be suppressed.

The contents of the rule R of the correction means 14 when the drive command output means 12 performs rotation speed control will be described. In this case, the rule R is a rule content for performing the following processes (3) and (4).
(3) When the input steering angle is zero, when the driving wheel 2 driven to the braking side is generated, the torque of the electric motor 4 of the driving wheel 2 driven to the braking side is released, Based on the rotational speed obtained by the rotational speed detection means 9 by free rotation, the command rotational speed that is the command value output from the drive command output means 13 is corrected and re-driven.
(4) When the steering angle detected by the steering angle detection means indicates the turning state, when the driving wheel 2 driven to the braking side is generated, the driving wheel 2 driven to the braking side The torque of the electric motor 4 is released and freely rotated, and the rotational speed obtained by the rotational speed detecting means 9 by the free rotation is given as a command rotational speed that becomes a corrected command value, and re-driven.

In the case of a rotational speed control type driving wheel, the following operation is performed.
When the left and right motors 4 and 4 are rotated at the same rotational speed, the drive wheel 2 having a small effective radius is dragged by the drive wheel 2 having a large effective radius and tends to rotate higher. Controls the current in a direction to suppress the rotation speed, and as a result, a turning force is generated.
When the driving wheel 2 driven to the braking side is generated when the steering 7 is not turned and the straight traveling state is instructed, the torque of the motor 4 of the driving wheel 2 driven to the braking side is generated. Is canceled, the commanded rotational speed is corrected based on the rotational speed obtained by the free rotation, and the drive is restarted. Since the free rotation state is a state in which neither driving force nor braking force is generated, if the vehicle is traveling along the target locus, the rotation speed obtained by the free rotation is set as the corrected command rotation speed. At this rotational speed, no turning force is generated in the vehicle. Thereby, generation | occurrence | production of the turning force by the effective radius of a driving wheel changing with right and left can be suppressed.

When the steering wheel 7 is turned and the turning state is instructed, the turning radius R of the vehicle 1 and the theoretical rotational speed of each driving wheel 2 are calculated from the steering angle, and the driving wheel 2 The number of revolutions is controlled.
If the drive wheel 2 driven to the braking side is generated at this time, the torque of the motor 4 of the drive wheel 2 is released, and the command rotational speed is corrected based on the rotational speed obtained by free rotation. The neutral steering state is maintained by re-driving. Thereby, it can suppress that turning force generate | occur | produces in a vehicle by the difference in the effective radius of the drive wheel 2. FIG.

  In this embodiment, in both the case of the torque control type driving wheel and the case of the rotation speed control type driving wheel, the correction means 14 performs the multiple times performed by the correction means 14 as the contents of the rule R. Based on the correction control, the average value of the effective radius ratio of the drive wheel 2 is stored, that is, the average value of the effective radius ratio when calculated by a plurality of correction controls is stored. It may have a rule content that the command value of the output means 13 is roughly corrected and given. If the average value is used as described above, more stable control can be performed.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Drive wheel 3 ... Driven wheel 4 ... Electric motor 7 ... Steering 8 ... Steering angle detection means 9 ... Rotation speed detection means 10 ... Electric motor current detection means 11 ... Drive circuit 12 ... Electric control unit 13 ... Drive command output means 14 ... Correction means 21 ... Detection means 22 ... Accelerator

Claims (1)

An apparatus for controlling an electric vehicle having a plurality of driving wheels that perform independent left and right driving and an electric motor that drives each of the driving wheels,
Steering angle detection means for detecting a steering angle that is a steering angle of the steering, rotation speed detection means for detecting the rotation speed per unit time of each drive wheel, and motor current that is a drive current of the motor of each drive wheel Motor current detection means for detecting the current value, and correction means for correcting the current value or the rotational speed command value given to the drive circuit of the motor of each drive wheel from the drive command output means that outputs in response to the operation amount of the accelerator The correction means includes the steering angle detected by each of the detection means, the rotational speed of each driving wheel, and the motor current, and uses the steering angle as a reference for the traveling direction to drive the driving circuit for the left and right driving wheels. The relationship between the corrected command value given to the vehicle is less than the command value before correction, and the turning force generated in the vehicle due to the difference in the effective radius of the drive wheels is suppressed. The correction means corrects the command value in accordance with a rule determined to be related, and the correction means calculates, as the content of the rule, an average value of the effective radius ratio of the drive wheels based on a plurality of correction controls. A control apparatus for an electric vehicle characterized by having a rule content of storing and giving a control command value by roughly correcting the average value.

Images