PROBLEM TO BE SOLVED: To make it possible to suppress tire slip generated when acceleration or deceleration is performed at a place of a low road surface friction coefficient or the like, and to suppress change in a vehicle attitude even if an unnecessary yaw moment is generated in a vehicle.SOLUTION: A braking/driving torque control device comprises: a slip ratio control unit 14 which so suppresses a slip ratio of left and right wheels 2 as to be qual to or less than an upper limit slip ratio and equal to or more than a lower limit slip ratio by controlling a braking/driving torque of the wheels 2; and a vehicle attitude control unit 15. The vehicle attitude control unit 15 comprises: yaw rate deviation calculation means 24 for calculating a deviation between a real yaw rate and a target yaw rate; control wheel setting means 25 for setting the wheel 2 in which the upper limit or lower limit slip ratio is changed as a control wheel; upper limit slip ratio calculation means 26A; and lower limit slip ratio calculation means 26B. The upper limit slip ratio calculation means 26A and the lower limit slip ratio calculation means 26B respectively decrease the upper limit slip ratio or increase the lower limit slip ratio so as to eliminate yaw rate deviation.SELECTED DRAWING: Figure 2

    【課題】 路面摩擦係数が低い場所等で加速や減速をする際に発生するタイヤスリップを抑制するとともに、車両に不要なヨーモーメントが発生した場合にも車両姿勢の変化を抑えられるようにする。【解決手段】 左右の車輪2の制駆動トルクを制御することで車輪2のスリップ率を上限スリップ率以下または下限スリップ率以上に抑制するスリップ率制御装置14と、車両姿勢制御装置15とを備える。車両姿勢制御装置15は、実ヨーレートと目標ヨーレートとの偏差を計算するヨーレート偏差計算手段24と、上限または下限スリップ率を変更する車輪2を制御輪として設定する制御輪設定手段25と、上限スリップ率計算手段26Aと、下限スリップ率計算手段26Bとを備える。上限スリップ率計算手段26Aおよび下限スリップ率計算手段26Bは、それぞれヨーレート偏差を無くすように、上限スリップ率を低下させ、または下限スリップ率を増加させる。【選択図】 図2


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    Title :

    BRAKING/DRIVING TORQUE CONTROL DEVICE FOR VEHICLE


    Additional title:

    車両の制駆動トルク制御装置


    Contributors:

    Publication date :

    2016-08-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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