Vehicle control apparatus

Patent metadata

Field	Value
Publication number	US-11091033-B2
Application number	US-201615574634-A
Country	US
Kind code	B2
Filing date	May 18, 2016
Priority date	May 22, 2015
Publication date	Aug 17, 2021
Grant date	Aug 17, 2021

Abstract

The vehicle control apparatus is provided with a vehicle body speed deriving portion that derives a vehicle body speed of a vehicle, a wheel speed difference deriving portion that derives a wheel speed difference which is a deviation between the maximum wheel speed and the minimum wheel speed of the wheels of the vehicle, a request drive amount deriving portion that derives a request drive amount for the drive source of the vehicle, a torque suppressing device that suppresses torque of a driving wheel, a traction control portion that controls the torque suppressing device and suppresses an acceleration slip of the driving wheel based on the wheel speed difference or a combination of the wheel speed difference and at least one of the vehicle body speed and the request drive amount.

First claim

The invention claimed is:

1. A vehicle control apparatus comprising:
a vehicle body speed deriving portion which derives a vehicle body speed of a vehicle;
a wheel speed difference deriving portion which derives a wheel speed difference that is a deviation between a maximum wheel speed and a minimum wheel speed among each wheel speed of wheels of the vehicle;
a drive amount request deriving portion which derives a drive amount request to a drive source of the vehicle;
a torque suppressing device which suppresses torque of a drive wheel among the wheels of the vehicle;
a traction control portion which controls the torque suppressing device to suppress an acceleration slip of the drive wheel based on a target slip ratio that is a target value of a slip ratio that is an acceleration slip ratio of the drive wheel relative to the vehicle body speed; and
a target slip ratio setting portion which sets the target slip ratio based on the wheel speed difference or a combination of the wheel speed difference and at least one of the vehicle body speed and the request drive amount,
wherein the target slip ratio setting portion (i) lowers the target slip ratio when the wheel speed difference is larger than a first wheel speed difference threshold value by automatic selection of a first slip setting mode from a plurality of slip setting modes, (ii) and raises the target slip ratio when the wheel speed difference is smaller than the first wheel speed difference threshold value by automatic selection of a second slip setting mode from the plurality of slip setting modes,
wherein the first slip setting mode corresponds to a lower target slip ratio than the second slip setting mode, and
wherein shifting between the plurality of slip setting modes is prohibited in response to a determination that a predetermined condition is met, the predetermined condition being based on one of a (i) steering angle of the vehicle and (ii) yaw rate of the vehicle.

2. The vehicle control apparatus according to claim 1 , wherein the target slip ratio setting portion raises the target slip ratio when the request drive amount is larger than a first request drive amount threshold value and lowers the target slip ratio when the request drive amount is smaller than the first request drive amount threshold value.

3. The vehicle control apparatus according to claim 1 , wherein the target slip ratio setting portion raises the target slip ratio when the vehicle body speed is larger than a first vehicle body speed threshold value.

4. The vehicle control apparatus according to claim 1 , wherein the target slip ratio setting portion raises the target slip ratio when the request drive amount is larger than a second request drive amount threshold value, when the vehicle body speed is larger than a second vehicle body speed threshold value, and when the wheel speed difference is smaller than a second wheel speed difference threshold value.

5. The vehicle control apparatus according to claim 1 , wherein the target slip ratio setting portion lowers the target slip ratio when the request drive amount is larger than a third request drive amount threshold value, when the vehicle body speed is smaller than a third vehicle body speed threshold value, and when the wheel speed difference is larger than a third wheel speed difference threshold value.

6. A vehicle control apparatus comprising:
a vehicle body speed deriving portion which derives a vehicle body speed of a vehicle;
a wheel speed difference deriving portion which derives a wheel speed difference that is a deviation between a maximum wheel speed and a minimum wheel speed among each wheel speed of wheels of the vehicle;
a drive amount request deriving portion which derives a drive amount request to a drive source of the vehicle;
a traction control portion which controls a torque suppressing device, which suppresses torque of a drive wheel among the wheels of the vehicle, to suppress an acceleration slip of the drive wheel based on a target slip ratio that is a target value of a slip ratio that is an acceleration slip ratio of the drive wheel relative to the vehicle body speed; and
a target slip ratio setting portion which sets the target slip ratio based on the wheel speed difference or a combination of the wheel speed difference and at least one of the vehicle body speed and the request drive amount,
wherein the target slip ratio setting portion (i) lowers the target slip ratio when the wheel speed difference is larger than a first wheel speed difference threshold value by automatic selection of a first slip setting mode from a plurality of slip setting modes, (ii) and raises the target slip ratio when the wheel speed difference is smaller than the first wheel speed difference threshold value by automatic selection of a second slip setting mode from the plurality of slip setting modes,
wherein the first slip setting mode corresponds to a lower target slip ratio than the second slip setting mode, and
wherein shifting between the plurality of slip setting modes is prohibited in response to a determination that a predetermined condition is met, the predetermined condition being based on one of a (i) steering angle of the vehicle and (ii) yaw rate of the vehicle.

7. The vehicle control apparatus according to claim 6 , wherein the target slip ratio setting portion raises the target slip ratio when the request drive amount is larger than a first request drive amount threshold value and lowers the target slip ratio when the request drive amount is smaller than the first request drive amount threshold value.

8. The vehicle control apparatus according to claim 6 , wherein the target slip ratio setting portion raises the target slip ratio when the vehicle body speed is larger than a first vehicle body speed threshold value.

9. The vehicle control apparatus according to claim 6 , wherein the target slip ratio setting portion raises the target slip ratio when the request drive amount is larger than a second request drive amount threshold value, when the vehicle body speed is larger than a second vehicle body speed threshold value, and when the wheel speed difference is smaller than a second wheel speed difference threshold value.

10. The vehicle control apparatus according to claim 6 , wherein the target slip ratio setting portion lowers the target slip ratio when the request drive amount is larger than a third request drive amount threshold value, when the vehicle body speed is smaller than a third vehicle body speed threshold value, and when the wheel speed difference is larger than a third wheel speed difference threshold value.

11. A vehicle comprising:
the vehicle control apparatus according to claim 6 ; and
the torque suppressing device.

12. The vehicle control apparatus according to claim 1 , wherein the vehicle body speed deriving portion derives the vehicle body speed of the vehicle as the minimum wheel speed of all the wheel speeds of the respective wheels of the vehicle.

13. The vehicle control apparatus according to claim 1 , wherein the vehicle body speed deriving portion derives the vehicle body speed of the vehicle as a second lowest wheel speed of all the wheel speeds of the respective wheels of the vehicle.

14. The vehicle control apparatus of claim 1 , wherein the predetermined condition specifies that the steering angle of the vehicle is larger than a steering threshold indicating that the vehicle is in a state of turning.

15. The vehicle control apparatus of claim 1 , wherein the predetermined condition specifies that the yaw rate of the vehicle is larger than a yaw rate threshold indicating that the

Assignees

• Advics Co Ltd
• Toyota Motor Co Ltd

Inventors

• Nonaka Takashi
• Mizuno Jun
• KOHARA Daisuke
• Yoshii Yuji
• Inoue Gen
• Kobayashi Yasushi
• Omine Hiroshi

Classifications

• B60L2260/26

  Transition between different drive modes · CPC title

• F02D29/02

  peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers · CPC title

• Y02T10/72

  Electric energy management in electromobility · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title

• B60W2540/103

  Accelerator thresholds, e.g. kickdown · CPC title