Driving force control device for a vehicle

• US 10,118,609 B2
• Filed: 09/09/2016
• Issued: 11/06/2018
• Est. Priority Date: 10/13/2015
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Momose, Hirofumi
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/261,338
• Publication Number:
  US 20170101087A1
• Time in Patent Office: 788 Days
• Field of Search: 701 70
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 30/20 Reducing vibrations in the driveline
• CPC Class Codes: B60W 40/11 Pitch movement

Abstract

A sprung vibration estimation unit is configured to calculate a pitch rate of a vehicle body based on the wheel speeds detected by wheel speed sensors. A vibration suppression driving force calculation unit is configured to calculate a vibration suppression driving force for suppressing pitching of the vehicle body based on the pitch rate. An integration unit is configured to calculate a vehicle body speed based on a driver required driving force. A second sprung vibration estimation unit is configured to calculate a pitch rate of the vehicle body (vehicle body speed pitch rate) generated by a change in the vehicle body speed. A determination unit is configured to output a cutoff command for the vibration suppression driving force to an adjustment unit when the vehicle body speed pitch rate is more than a threshold.

Claims

1. A driving force control device for a vehicle, comprising:

wheel speed sensor for detecting a wheel speed; and

at least one processor, the at least one processor configured for;

estimating, based on the wheel speed, a sprung vibration to be generated in a pitch direction of a vehicle body due to an input from a road surface;

calculating a vibration suppression driving force for suppressing the estimated sprung vibration;

calculating a target driving force acquired by adding the vibration suppression driving force to a driver required driving force to be set depending on a driver required acceleration/deceleration;

controlling a driving force to be generated on a wheel in accordance with the target driving force;

calculating, based on the driver required acceleration/deceleration, an error indication value representing a magnitude of an error, which is included in an estimation of the sprung vibration and is generated by a change in a vehicle body speed; and

decreasing, based on the error indication value, the vibration suppression driving force to be added to the driver required driving force in a case where the error indication value is greater than a threshold.

2. A driving force control device for a vehicle according to claim 1, wherein, the at least one processor is further configured to:

calculate a pitch rate of the vehicle body as the sprung vibration, and

calculate, based on the calculated pitch rate, the vibration suppression driving force proportional in a magnitude to the pitch rate.

3. A driving force control device for a vehicle according to claim 2, wherein, the at least one processor is further configured to:

integrate a value representing the driver required acceleration/deceleration, thereby calculating a value corresponding to the vehicle body speed, and to calculate, as the error indication value, a pitch rate of the vehicle body generated by the change in the vehicle body speed, based on a value corresponding to the calculated vehicle body speed.

4. A driving force control device for a vehicle according to claim 2, wherein, the at least one processor is further configured to:

integrate a value representing the driver required acceleration/deceleration, thereby calculating a value corresponding to the vehicle body speed;

extract a change component of a value corresponding to the calculated vehicle body speed; and

multiply a magnitude of the change component by a vehicle speed gain, which is decreased as the vehicle body speed is increased, to thereby calculate the error indication value.

5. A driving force control device for a vehicle according to claim 1, wherein, the at least one processor is further configured to:

calculate a pitch rate of the vehicle body as the sprung vibration;

detect a level of the pitch rate calculated using the sprung vibration;

integrate a value representing the driver required acceleration/deceleration, thereby calculating a value corresponding to the vehicle body speed, calculating, based on a value corresponding to the calculated vehicle body speed, a pitch rate of the vehicle body generated by the change in the vehicle body speed, and detecting a level of the calculated pitch rate; and

calculate an SN ratio acquired by dividing a value, which is acquired by subtracting a second value representing the level of the pitch rate detected from a first value representing the level of the pitch rate, by the second value;

acquire the error indication value, which corresponds to the SN ratio, and

the error can be estimated to become larger as the error indication value becomes smaller.

6. A driving force control device for a vehicle according to claim 1, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold.

7. A driving force control device for a vehicle according to claim 1, wherein the at least one processor is further configured to correct the vibration suppression driving force to be added to the driver required driving force so that the vibration suppression driving force is decreased as the error indication value is increased.

8. A driving force control device for a vehicle according to claim 2, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold.

9. A driving force control device for a vehicle according to claim 3, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold.

10. A driving force control device for a vehicle according to claim 4, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold.

11. A driving force control device for a vehicle according to claim 5, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold.