To provide a behavior control device capable of appropriately distributing driving force.SOLUTION: A behavior control device 18 includes: a required driving torque acquisition unit 34 for acquiring the required driving torque of a vehicle; a vehicle body slip angle estimation unit 46 for estimating the vehicle body slip angle of the vehicle; a target vehicle body slip angle setting unit 42 for setting the target vehicle body slip angle of the vehicle; a torque arbitration unit 50 for setting a distribution between driving torque output by a front wheel driving motor and driving torque output by a rear wheel driving motor according to the required driving torque, the vehicle body slip angle, and the target vehicle body slip angle; and a driving motor control unit 52 for controlling the front wheel driving motor and the rear wheel driving motor on the basis of the distributed driving torque.SELECTED DRAWING: Figure 2
【課題】適切に駆動力配分を行うことができる挙動制御装置を提供する。【解決手段】挙動制御装置18は、車両の要求駆動トルクを取得する要求駆動トルク取得部34と、車両の車体スリップ角を推定する車体スリップ角推定部46と、車両の目標車体スリップ角を設定する目標車体スリップ角設定部42と、要求駆動トルク、車体スリップ角及び目標車体スリップ角に応じて、前輪駆動モータが出力する駆動トルクと後輪駆動モータが出力する駆動トルクの配分を設定するトルク調停部50と、配分された駆動トルクに基づき、前輪駆動モータ及び後輪駆動モータを制御する駆動モータ制御部52と、を有する。【選択図】図2
BEHAVIOR CONTROL DEVICE AND BEHAVIOR CONTROL METHOD
挙動制御装置及び挙動制御方法
2021-09-24
Patent
Elektronische Ressource
Japanisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
VEHICLE BEHAVIOR CONTROL DEVICE AND VEHICLE BEHAVIOR CONTROL METHOD
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