PROBLEM TO BE SOLVED: To provide a vehicle control device at one wheel failure in which an advantage of a four-wheel independent drive vehicle is exhibited, the sudden change of a yaw angular velocity caused by the one wheel failure is prevented, and thereby a vehicle can be stopped safely.SOLUTION: A vehicle 1 of a control target has a wheel individual braking and driving source 4 capable of providing the braking and driving force independently to each wheel 2 serving as left and right front wheels and left and right rear wheels. Failure detection and longitudinal force estimation means 24 is provided which detects the occurrence of failure every wheel 2 and estimates the longitudinal force serving as the braking force occurring in the failure wheel being the detected wheel 2. One wheel failure time control means 34 is provided which controls the braking and driving source 4 of the wheel 2 positioned in the diagonal so as to apply a torque corresponding to the longitudinal force estimated acting on the failure wheel to the wheel 2 positioned in the diagonal with respect to the failure wheel, when the occurrence of the failure is detected by this means 24.SELECTED DRAWING: Figure 1
【課題】 四輪独立駆動車の利点を発揮させ、一輪失陥により生じるヨー角速度の急変を防止して、車両を安全に停止させることができる一輪失陥時車両制御装置を提供する。【解決手段】 制御対象の車両1は、左右の前輪および左右の後輪となる各車輪2に独立して制駆動力を与えることができる車輪個別の制駆動源4を有する。車輪2毎に失陥が生じたことを検出し、その検出された車輪2である失陥輪に発生している制動力となる前後力を推定する失陥検出・前後力推定手段24を設ける。この手段24で失陥が生じたことが検出されると、前記失陥輪に作用していると推定された前後力に相当するトルクを前記失陥輪に対し対角に位置する車輪2に加えるように、前記対角に位置する車輪2の前記制駆動源4を制御する一輪失陥時制御手段34を設ける。【選択図】 図1
VEHICLE CONTROL DEVICE AT ONE WHEEL FAILURE IN FOUR-WHEEL INDEPENDENT DRIVE VEHICLE
四輪独立駆動車における一輪失陥時車両制御装置
2016-07-11
Patent
Electronic Resource
Japanese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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