PROBLEM TO BE SOLVED: To control energy consumption of a drive section when performing travel control of a vehicle through independent control of a plurality of wheels by the drive section in response to a disturbance such as wind.SOLUTION: A control section 22 has a function to output control signals to control a main motor 17 and a sub-motor 18 on the basis of output signals from several types of sensors including a first to a third detection sensors 21A to 21C. The control section 22 also controls yaw motion of a vehicle 10, while the same is traveling, by appropriately controlling distribution of drive force of the sub-motor 18 between left and right rear wheels with reference to a storage section 23. Thus, the control section 22 can control the vehicle 10 in response to a travel state and vehicle body behavior thereof.SELECTED DRAWING: Figure 4
【課題】風等の外乱に応じて複数車輪の各々を駆動部により独立して制御することで車両の走行制御を行う場合に、駆動部の消費エネルギを抑制する。【解決手段】制御部22は、第1〜第3検出センサ21A〜21Cを含む各種センサからの出力信号に基づいて、メインモータ17及びサブモータ18を制御するための制御信号を出力する機能を有する。また、制御部22は、記憶部23を参照してサブモータ18による左右後輪への駆動力の配分を適切に制御することにより、車両10を走行させつつヨー運動を制御する。これにより制御部22は、車両10の走行状態および車体の挙動を把握して制御することができる。【選択図】図4
TRAVEL CONTROL DEVICE, TRAVEL CONTROL METHOD AND TRAVEL CONTROL PROGRAM
走行制御装置、走行制御方法、及び走行制御プログラム
2017-03-23
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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