JP6607348B2 - Control device for electric vehicle - Google Patents

Description

  The present invention relates to a control device for an electric vehicle provided with an electric motor connected to wheels via a differential gear, and more particularly to a technique for controlling the output (torque) of the electric motor when the traction control function is off.

  Examples of the electric vehicle include an electric vehicle (EV) including a traveling motor (electric motor) that generates power for rotating wheels, and a hybrid electric vehicle (HEV) including a traveling motor and an engine. In these electric vehicles, the driving motor generates power for running the electric vehicle with the electric power supplied from the battery. In the electric vehicle, by depressing the accelerator, control (powering control) is executed to increase the output of the traveling motor in accordance with the increase in the amount of depression. The travel motor is generally connected to the left and right drive wheels via a differential chia (differential device), and the differential gear absorbs the difference in rotational speed between the left and right wheels.

  By the way, in order to prevent the driving force from being transmitted due to the idling (slip) of each wheel in the electric vehicle, when the slip of the wheel is detected, the output (torque) of the driving motor as a driving source is suppressed, Some have a so-called traction control function that suppresses the slip by applying a braking force to the slipping wheel (see, for example, Patent Document 1).

Japanese Patent No. 4802643

  While the traction control function is turned on, the occurrence of slip can be suppressed. On the other hand, a high output of the driving motor is required, for example, when you want to go up a steep slope or get over a saddle. In such a case, a desired output may not be obtained.

  In order to solve such a problem, for example, there is an electric vehicle in which the traction control function can be turned off by a switch operation. Although the desired output can be obtained according to the situation by turning off the traction control function, the output may increase more than necessary.

  By the way, the driving motor of an electric vehicle has a characteristic that a high torque can be generated from a low rotation. For this reason, when the traction control function is OFF, the driving wheel slips, that is, so-called wheel spin is likely to occur by strongly depressing the accelerator pedal while the vehicle is at a low speed or stopped.

  Furthermore, for example, if the accelerator pedal is stepped on in a state where the μ (friction coefficient) of the road surface where the left and right drive wheels are in contact is different, a wheel spin will occur on only one of the left and right drive wheels and a large rotation will occur on the left and right drive wheels. A number difference will occur. Although this rotational speed difference is absorbed by the differential gear as described above, if the rotational speed difference becomes excessive and continues for a long period of time, the differential gear may be damaged due to this.

  Such a problem occurs in a state where the traction control function is off, but naturally, it can also occur in an electric vehicle that does not include the traction control function.

  The present invention has been made in view of such circumstances, and can start well on a slope and the like, and can prevent damage to the differential gear due to a difference in the rotational speeds of the left and right drive wheels. An object of the present invention is to provide a control device for an electric vehicle.

A first aspect of the present invention that solves the above-described problem is a control device for an electric vehicle including an electric motor connected to wheels via a differential gear, and detects a vehicle speed based on the rotational speed of a drive shaft or drive wheels. Vehicle speed detection means, accelerator opening detection means for detecting the accelerator opening, motor control means for controlling the motor so that the output increases as the accelerator opening increases, and the traction control function is in an off state, When it is detected by the vehicle speed detection means that the vehicle speed is equal to or higher than a predetermined speed threshold, output limit means for limiting an increase in the output of the electric motor, weight detection means for detecting the weight of the electric vehicle, With
The output limiting means limits the increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold, and the opening threshold is increased as the weight of the electric vehicle detected by the weight detecting means is heavier. Is changed to a low value .

A second aspect of the present invention is the control device for an electric vehicle according to the first aspect, wherein the output limiting means lowers the speed threshold as the weight of the electric vehicle detected by the weight detection means decreases. It is in the control apparatus of the electric vehicle characterized by changing into a value.

According to a third aspect of the present invention, there is provided a control device for an electric vehicle according to the first or second aspect, further comprising an inclination state detection unit that detects an inclination state of the electric vehicle, wherein the output restriction unit includes the accelerator opening. Based on the detection result of the inclination state detection means, the electric vehicle is in a forward inclination state on a downhill and the inclination angle is large based on the detection result of the inclination state detection means. In the control apparatus for an electric vehicle, the opening degree threshold value is changed to a lower value.
According to a fourth aspect of the present invention, there is provided a control device for an electric vehicle including an electric motor coupled to a wheel via a differential gear, the vehicle speed detecting means for detecting a vehicle speed based on a rotational speed of a drive shaft or a drive wheel, An accelerator opening detecting means for detecting the accelerator opening; an electric motor control means for controlling the electric motor so that the output increases as the accelerator opening increases; and the vehicle speed detecting means with the traction control function turned off. When it is detected that the vehicle speed is equal to or higher than a predetermined speed threshold, output limiting means for limiting an increase in the output of the electric motor, and an inclination state detecting means for detecting an inclination state of the electric vehicle, The output limiting means limits an increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold, and detects the tilt state. Based on the detection result, the electric vehicle is in a control device for an electric vehicle, characterized in that to change the front are tilted state the position threshold as the inclination angle is greater at a low value in the downhill.

According to a fifth aspect of the present invention, there is provided the control device for the electric vehicle according to the third or fourth aspect, wherein the output limiting means is configured to determine whether the electric vehicle is on a downhill based on a detection result of the inclination state detection means. In the control apparatus for an electric vehicle, the speed threshold value is changed to a lower value as the tilt angle increases and the tilt angle increases.

According to a sixth aspect of the present invention, there is provided the electric vehicle control apparatus according to any one of the first to fifth aspects, further comprising a turning state detecting unit that detects a turning state of the electric vehicle, wherein the output limiting unit is The opening threshold value is limited as the turning radius of the electric vehicle is reduced based on the detection result of the turning state detection means, and the increase in the output of the electric motor is limited when the accelerator opening degree is equal to or greater than a predetermined opening degree threshold value. Is changed to a low value.
According to a seventh aspect of the present invention, there is provided a control device for an electric vehicle including an electric motor coupled to a wheel via a differential gear, and a vehicle speed detection unit that detects a vehicle speed based on a rotational speed of a drive shaft or a drive wheel; An accelerator opening detecting means for detecting the accelerator opening; an electric motor control means for controlling the electric motor so that the output increases as the accelerator opening increases; and the vehicle speed detecting means with the traction control function turned off. When it is detected that the vehicle speed is equal to or higher than a predetermined speed threshold, output limiting means for limiting an increase in the output of the electric motor, and a turning state detecting means for detecting the turning state of the electric vehicle, The output limiting means limits an increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold, and the turning state detecting means Based on the detection result, the control device for an electric vehicle and changes to a low value the angle threshold as the turning radius is small of the electric vehicle.

An eighth aspect of the present invention is the control device for an electric vehicle according to the sixth or seventh aspect, wherein the output limiting means has a turning radius of the electric vehicle based on a detection result of the turning state detection means. In the control device for an electric vehicle, the speed threshold value is changed to a lower value as the value is smaller.

  According to the present invention, it is possible to realize an electric vehicle that can start well even on a slope and suppress the damage of the differential gear due to the difference in rotational speed between the left and right drive wheels.

It is a figure showing a schematic structure of an electric vehicle provided with a control device concerning the present invention. It is a block diagram which shows schematic structure of the control apparatus which concerns on Embodiment 1 of this invention. It is a graph which shows the relationship between a vehicle speed and the upper limit of a motor torque. It is a graph which shows the relationship between the elapsed time from a driving | running | working start, the rotation speed difference of a right-and-left drive wheel, and a vehicle speed. It is a block diagram which shows schematic structure of the control apparatus which concerns on Embodiment 2 of this invention. It is a block diagram which shows schematic structure of the control apparatus which concerns on Embodiment 3 of this invention. It is a block diagram which shows schematic structure of the control apparatus which concerns on Embodiment 4 of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(Embodiment 1)
First, a schematic configuration of an electric vehicle including the control device according to the present invention will be briefly described.
As shown in FIG. 1, the electric vehicle 1 is an electric vehicle (EV), and includes a battery 2 that is a secondary battery, and a traveling motor 3 that is an electric motor that operates by supplying power from the battery 2. ing. The traveling motor 3 is connected to driving wheels (in this embodiment, front wheels) 5 through a differential gear (hereinafter, also simply referred to as “diff”) 4. The operation of the traveling motor 3 is controlled by an ECU (electronic control unit) 10 as a control device.

  The ECU 10 is based on output information from various sensors provided in the electric vehicle 1, such as an accelerator pedal stroke sensor 32 that measures the stroke (APS) of the accelerator pedal 31, a vehicle speed sensor 33 that measures the vehicle speed of the electric vehicle 1, and the like. Then, the traveling motor 3 is appropriately controlled. When the accelerator pedal 31 is depressed, the ECU 10 basically appropriately controls an inverter (not shown) of the traveling motor 3 so that the output (torque) increases as the depression amount of the accelerator pedal 31 increases.

  As shown in FIG. 2, the ECU 10 according to the present embodiment includes vehicle speed detection means 11, accelerator opening detection means 12, motor control means 13, and output restriction means 14.

The vehicle speed of the electric vehicle 1 is detected based on the vehicle speed detection means 11 and the output information of the vehicle speed sensor 33. Here, the vehicle speed sensor 33, for example, to measure the vehicle speed based on the rotational speed of the drive shaft driving wheels (front wheels) are connected. For this reason, even when the drive wheel 5 is spinning, the vehicle speed is calculated based on the rotational speed at that time. The accelerator opening detection means 12 detects the accelerator opening based on the output information of the accelerator pedal stroke sensor 32.

  The motor control unit 13 appropriately controls the traveling motor 3 based on the detection result of the accelerator opening detection unit 12. Specifically, when the accelerator pedal 31 is depressed, the motor control means 13 controls the traveling motor 3 so that the output (torque) increases as the amount of depression of the accelerator pedal 31 increases, that is, as the accelerator opening increases. Control.

  When the vehicle speed measured by the vehicle speed detection means 11 is equal to or higher than a predetermined speed threshold, the output limiting means 14 increases the output (torque) of the traveling motor 3 when the accelerator opening is equal to or higher than the predetermined opening threshold. For example, the output value at the opening threshold value is limited to an upper limit.

  Here, the electric vehicle 1 according to the present embodiment appropriately controls the brakes of the left and right drive wheels 5 and the output of the traveling motor 3 so that the difference in rotational speed between the left and right drive wheels (front wheels) 5 does not increase. In other words, it has a so-called traction control function (also called active stability control function (ASC)). The traction control function can be turned off, for example, by the driver operating a predetermined switch. Since the traction control function is a well-known function, a detailed description thereof is omitted here.

  Then, when the traction control function is in an off state, the output restricting means 14 is configured such that when the vehicle speed is equal to or higher than a predetermined speed threshold as described above, the accelerator opening is equal to or higher than the predetermined opening threshold. The increase in output (torque) is limited, for example, so that the output value at the opening threshold value becomes the upper limit.

Hereinafter, the output restriction control by the output restriction means 14 will be described.
In the electric vehicle 1, the maximum value of the output (motor torque) of the traveling motor 3 corresponding to the vehicle speed is set corresponding to the driving condition of the electric vehicle 1. For example, the ECU 10 stores a plurality of motor torque maps in accordance with the driving conditions of the electric vehicle 1. When the driving conditions of the electric vehicle 1 are changed, the ECU 10 reads the corresponding map and uses the map for driving based on this map. The motor 3 is controlled.

  For example, when the traction control function is turned off, the maximum value of the motor torque corresponding to the operating condition is set as shown by the dotted line in FIG. That is, a map in which the relationship between the vehicle speed and the maximum value of the motor torque suitable for the driving state in which the traction control function is off is read.

  The motor control means 13 controls the traveling motor 3 within a range not exceeding the maximum value of the motor torque. Basically, when the accelerator opening is fully opened (100%), the traveling motor 3 is controlled so that the maximum motor torque is exhibited.

  However, in the present invention, when the traction control function is in the off state, the output limiting means 14 determines that the speed of the electric vehicle 1 detected by the vehicle speed detecting means 11 is a predetermined speed threshold (in this embodiment, 20 km / h). ) When the above is reached, an increase in the output (torque) of the traveling motor 3 when the accelerator opening detected by the accelerator opening detecting means 12 is equal to or greater than a predetermined opening threshold (accelerator opening 80% in this embodiment). Limit. That is, the output limiting means 14 sets the maximum value of the motor torque in the range where the speed of the electric vehicle 1 is equal to or higher than a predetermined speed threshold (20 km / h) as shown by a solid line in FIG. In this case, correction is made to decrease by 20%).

  Therefore, in this embodiment, in the speed range where the vehicle speed is equal to or higher than the speed threshold (20 km / h), the maximum motor torque is exhibited when the accelerator opening is set to the opening threshold (accelerator opening 80%). Control is performed so that the motor torque does not increase even when the accelerator pedal 31 is depressed (even if the accelerator opening is increased). Alternatively, the motor torque gradually increases until the accelerator opening is fully opened, but when the accelerator opening is fully opened (100%), the motor torque corresponding to 80% of the accelerator opening is exhibited. Also good.

  In this way, the maximum value of the motor torque is limited in the range where the vehicle speed is equal to or higher than the speed threshold value. For example, even when a difference in the rotational speed occurs between the left and right drive wheels 5, the rotational speed difference is suppressed early. It is possible to suppress the damage of the differential gear 4 due to the difference in the rotational speed.

  FIG. 4 shows the driving when the accelerator pedal 31 is stepped on with one of the left and right drive wheels in contact with a low μ road (corresponding to an icy road) and the other in contact with a high μ road (corresponding to wet asphalt). It is a figure explaining the change of the rotation speed difference of the wheel.

  As shown in FIG. 4, when the traction control function is on, even if the accelerator pedal 31 is strongly depressed while the electric vehicle 1 is stopped or at a very low speed, the difference in the rotational speed between the left and right drive wheels 5 (difference) The increase in the rotation speed is suppressed (for example, about 500 rpm or less), and the increase in the vehicle speed is relatively fast.

  On the other hand, when the traction control function is off, when the accelerator pedal 31 is strongly depressed (time t1) while the electric vehicle 1 is stopped or at a very low speed, the differential rotational speed of the left and right drive wheels 5 increases rapidly. To do. In the example of FIG. 4, it has increased to about 2000 rpm. Accordingly, the increase in vehicle speed is also slower than when traction control is on. Conventionally, if the state where the accelerator pedal 31 is depressed is maintained as it is, the differential rotational speed of the left and right drive wheels 5 is continued as it is as shown by the dotted line in the drawing, which may cause the differential gear 4 to be damaged. .

  However, in the present embodiment, as described above, since the maximum value of the motor torque is limited in the speed range where the vehicle speed is equal to or higher than the speed threshold (20 km / h), the difference between the rotational speeds of the left and right drive wheels 5 is suppressed early. can do. In the example of FIG. 4, when the vehicle speed exceeds a speed threshold value (for example, 20 km / h) at time t <b> 2, even if the accelerator pedal 31 is strongly depressed, the differential rotation speed of the left and right drive wheels 5 is For example, it decreases to about half (about 1000 rpm).

  Thus, even when the rotational speed difference between the left and right drive wheels 5 becomes large when the traction control function is off, by suppressing the rotational speed difference early, the differential gear 4 caused by the rotational speed difference can be reduced. Damage can be suppressed.

  Further, the output limiting means 14 does not limit the increase in motor torque when the vehicle speed is slower than the speed threshold. For this reason, in the speed range where the vehicle speed is slower than the speed threshold value, when the accelerator pedal 31 is depressed strongly, the maximum motor torque set according to the driving conditions is exhibited. Therefore, a desired motor torque can be obtained at the start, and the electric vehicle 1 can be started well even on a slope.

(Embodiment 2)
The present embodiment is an example in which the output limiting means 14 appropriately changes the opening threshold and the speed threshold according to the weight of the electric vehicle 1.

  As shown in FIG. 5, the ECU 10 according to the present embodiment includes, for example, a vehicle height detection sensor 34 in addition to the vehicle speed detection means 11, the accelerator opening detection means 12, the motor control means 13, and the output restriction means 14 described above. It further includes weight detection means 15 for detecting the weight of the electric vehicle 1 based on the measured vehicle height change information and the like.

  Then, the output limiting unit 14 changes the opening threshold value to a lower value as the weight of the electric vehicle 1 detected by the weight detection unit 15 is heavier. That is, the maximum value of the motor torque is set to a lower value. Furthermore, the output limiting means 14 changes the speed threshold to a higher value as the weight of the electric vehicle detected by the weight detection means 15 is heavier. That is, the speed threshold value is changed so that the range in which the maximum value of the motor torque is limited is narrowed.

  As described above, the opening degree threshold value is appropriately changed according to the weight of the electric vehicle 1, so that damage to the differential can be more reliably suppressed. Further, by appropriately changing the speed threshold value, the electric vehicle 1 can be started more favorably even on a slope. For example, as the weight of the electric vehicle 1 is reduced, the surface pressure of the drive wheels 5 is reduced, the drive wheels 5 are likely to be spun, and the rotational speed difference between the left and right drive wheels 5 is likely to be increased. However, by setting the speed threshold value to a low value, when a rotational speed difference between the left and right drive wheels 5 occurs, this rotational speed difference can be suppressed earlier.

(Embodiment 3)
The present embodiment is an example in which the output limiting means 14 appropriately changes the opening degree threshold and the speed threshold according to the inclination state of the electric vehicle 1.

  As shown in FIG. 6, the ECU 10 according to the present embodiment further includes an inclination state detection unit 16 in addition to the vehicle speed detection unit 11, the accelerator opening detection unit 12, the motor control unit 13, and the output restriction unit 14 described above. . The inclination state detection means 16 detects the inclination direction (forward inclination, backward inclination) and the magnitude of the inclination angle of the electric vehicle 1 based on, for example, information measured by the inclination sensor 35 provided in the electric vehicle 1. .

  The output limiting means 14 changes the opening threshold value to a lower value as the electric vehicle 1 is in the forward inclined state and the inclination angle is larger by the inclination state detecting means 16. That is, the opening threshold value is changed to a lower value as the electric vehicle 1 is located on the downhill and the gradient is larger. Furthermore, the output limiting means 14 changes the speed threshold value to a lower value as the inclination angle in the forward inclination state of the electric vehicle 1 detected by the inclination state detection means 16 is larger. In other words, the speed threshold value is changed to a higher value as the electric vehicle 1 is located on the downhill and the gradient is larger.

  When the electric vehicle 1 is located on the downhill, a very large motor torque is not required when starting. For this reason, by increasing the limit of the maximum value of the motor torque and expanding the speed range for limiting the maximum value of the motor torque, it is possible to start the electric vehicle 1 satisfactorily and damage the differential gear 4. It can suppress more reliably.

(Embodiment 4)
The present embodiment is an example in which the output limiting means 14 appropriately changes the opening threshold and the speed threshold according to the turning state of the electric vehicle 1.

  As shown in FIG. 7, the ECU 10 according to the present embodiment detects the turning state of the electric vehicle 1 in addition to the vehicle speed detection means 11, the accelerator opening detection means 12, the motor control means 13, and the output restriction means 14 described above. Further, a turning state detecting means 17 is provided. The turning state detection means 17 detects the turning state of the electric vehicle 1 based on, for example, output information from the handle angle sensor 36 that detects the steering angle of the steering wheel. The turning state detection means 17 may detect the turning state of the electric vehicle 1 based on, for example, output information of a yaw rate sensor that detects the yaw rate instead of the handle angle sensor 36.

  Then, the output limiting means 14 changes the opening threshold value to a lower value as the turning radius of the electric vehicle 1 is smaller by the turning state detecting means 17. Furthermore, the output limiting means 14 changes the speed threshold value to a lower value as the turning radius of the electric vehicle 1 detected by the turning state detecting means 17 is smaller.

  Thereby, the electric vehicle 1 can be started satisfactorily, the damage of the differential gear 4 can be more reliably suppressed, and the running stability of the electric vehicle 1 can be further improved. In other words, the smaller the turning radius of the electric vehicle 1 is, the stronger the limit of the maximum value of the motor torque is increased, and the speed range for limiting the maximum value of the motor torque is widened, thereby suppressing the rapid acceleration of the electric vehicle 1. It is possible to improve running stability.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment.

  For example, in the above-described embodiment, the present invention has been described by exemplifying an electric vehicle having a traction control function. However, the present invention can also be applied to an electric vehicle not having a traction control function.

1 Electric Vehicle 2 Battery 3 Traveling Motor 4 Differential Gear (Differential)
5 Drive wheels (front wheels)
10 ECU (control device)
11 Vehicle speed detection means 12 Accelerator opening degree detection means 13 Motor control means (motor control means)
DESCRIPTION OF SYMBOLS 14 Output restriction means 15 Weight detection means 16 Inclination state detection means 17 Turning state detection means 31 Accelerator pedal 32 Accelerator pedal stroke sensor 33 Vehicle speed sensor 34 Vehicle height detection sensor 35 Inclination sensor 36 Handle angle sensor

Claims (8)

A control device for an electric vehicle comprising an electric motor connected to wheels via a differential gear,
Vehicle speed detection means for detecting the vehicle speed based on the rotational speed of the drive shaft or drive wheel ;
An accelerator opening detecting means for detecting the accelerator opening;
Electric motor control means for controlling the electric motor so that the output increases as the accelerator opening increases;
An output limiting means for limiting an increase in the output of the electric motor when the vehicle speed detection means detects that the vehicle speed is equal to or higher than a predetermined speed threshold value when the traction control function is off;
Weight detecting means for detecting the weight of the electric vehicle,
The output limiting means limits the increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold, and the opening threshold is increased as the weight of the electric vehicle detected by the weight detecting means is heavier. The control device for an electric vehicle characterized by changing the value to a low value . The control device for an electric vehicle according to claim 1 ,
The control device for an electric vehicle, wherein the output limiting means changes the speed threshold to a lower value as the weight of the electric vehicle detected by the weight detection means is lighter. The control device for an electric vehicle according to claim 1 or 2 ,
Inclination state detection means for detecting the inclination state of the electric vehicle,
The output limiting means limits an increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold value, and the electric vehicle is in front of a downhill on the basis of a detection result of the inclination state detecting means. The control device for an electric vehicle, wherein the opening degree threshold value is changed to a lower value as the inclination angle is larger and the inclination angle is larger. A control device for an electric vehicle comprising an electric motor connected to wheels via a differential gear,
Vehicle speed detection means for detecting the vehicle speed based on the rotational speed of the drive shaft or drive wheel;
An accelerator opening detecting means for detecting the accelerator opening;
Electric motor control means for controlling the electric motor so that the output increases as the accelerator opening increases;
An output limiting means for limiting an increase in the output of the electric motor when the vehicle speed detection means detects that the vehicle speed is equal to or higher than a predetermined speed threshold value when the traction control function is off;
And a tilt state detecting means for detecting an inclination state of the electric vehicle,
The output limiting means limits an increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold value, and the electric vehicle is in front of a downhill on the basis of a detection result of the inclination state detecting means. The control device for an electric vehicle, wherein the opening degree threshold value is changed to a lower value as the inclination angle is larger and the inclination angle is larger. The control device for an electric vehicle according to claim 3 or 4 ,
The output limiting means changes the speed threshold value to a lower value as the electric vehicle is in a forward inclined state on a downhill and the inclination angle is larger based on the detection result of the inclination state detecting means. Control device for electric vehicle. An electric vehicle control device according to any one of claims 1 to 5,
A turning state detecting means for detecting a turning state of the electric vehicle;
The output limiting means limits an increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold, and the turning radius of the electric vehicle is small based on the detection result of the turning state detecting means. The control device for an electric vehicle is characterized in that the opening degree threshold value is changed to a lower value.   A control device for an electric vehicle comprising an electric motor connected to wheels via a differential gear,
  Vehicle speed detection means for detecting the vehicle speed based on the rotational speed of the drive shaft or drive wheel;
  An accelerator opening detecting means for detecting the accelerator opening;
  Electric motor control means for controlling the electric motor so that the output increases as the accelerator opening increases;
  An output limiting means for limiting an increase in the output of the electric motor when the vehicle speed detection means detects that the vehicle speed is equal to or higher than a predetermined speed threshold value when the traction control function is off;
  A turning state detecting means for detecting a turning state of the electric vehicle,
  The output limiting means limits an increase in the output of the electric motor when the accelerator opening is equal to or greater than a predetermined opening threshold, and the turning radius of the electric vehicle is small based on the detection result of the turning state detecting means. Change the opening threshold to a lower value
A control apparatus for an electric vehicle. The control device for an electric vehicle according to claim 6 or 7 ,
The output limiting means changes the speed threshold to a lower value as the turning radius of the electric vehicle is smaller based on the detection result of the turning state detecting means.

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