Driving force control device and driving force control method

• US 10,144,293 B2
• Filed: 09/10/2014
• Issued: 12/04/2018
• Est. Priority Date: 09/12/2013
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Suzuki, Keisuke, Kobayashi, Hitoshi, Yamamoto, Tatsuyuki
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Thomas, Ana D
• Application Number:
  US15/021,197
• Publication Number:
  US 20160221446A1
• Time in Patent Office: 1,546 Days
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2210/10 DC to DC converters
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2250/26 by pedal actuation
• CPC Class Codes: B60L 2260/26 Transition between different drive modes
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: B60L 3/106 for maintaining or recovering the adhesion of the drive wheels
• CPC Class Codes: B60L 3/108 whilst braking, i.e. ABS
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60L 58/20 having different nominal voltages
• CPC Class Codes: B60L 7/14 for vehicles propelled by ac motors
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• CPC Class Codes: B60T 8/17636 Microprocessor-based systems
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/184 : with wheel brakes
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 2552/40 : Coefficient of friction
• CPC Class Codes: B60W 2720/26 : Wheel slip
• CPC Class Codes: B60W 30/18172 : Preventing, or responsive to skidding of wheels
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

Provided is a driving force control device capable of stabilizing a vehicle behavior when a driving torque of a drive wheel is controlled. When slip suppression control is carried out to decrease a driving torque of a drive source that is connected to the drive wheel of a vehicle via a speed reduction mechanism and a drive shaft, and is configured to generate a torque for braking or driving the drive wheel, to thereby suppress a slip state of the drive wheel, the driving torque of the drive source is controlled so that a slip ratio of the drive wheel is in an area of the slip ratio smaller than a slip ratio corresponding to a peak value of a road surface friction coefficient in a characteristic of the road surface friction coefficient with respect to the slip ratio.

Claims

1. A driving force control device for a vehicle including

a drive source that is connected to a drive wheel of the vehicle via a speed reduction mechanism and a drive shaft, and is configured to generate a torque for braking or driving the drive wheel, and

a drive wheel speed sensor configured to detect a rotational speed of the drive wheel, the driving force control device comprising a controller configured to:

calculate a vehicle body speed of the vehicle;

calculate, based on the calculated vehicle body speed and the detected drive wheel speed, a slip ratio of the drive wheel;

reduce, when the calculated slip ratio is a predetermined slip ratio, a driving torque of the drive source to suppress a slip state of the drive wheel, and

control the slip ratio of the drive wheel within an area of the slip ratio smaller than a slip ratio corresponding to a peak value of a road surface friction coefficient in a characteristic of the road surface friction coefficient with respect to the slip ratio of the drive wheel, such that the slip ratio of the drive wheel does not exceed the slip ratio corresponding to the peak value.

2. The driving force control device according to claim 1, wherein the drive source is a motor.

3. The driving force control device according to claim 1, wherein the predetermined slip ratio is calculated based on a travel state of the vehicle.

4. The driving force control device according to claim 3,

wherein the controller is further configured to calculate a steering angle as the travel state of the vehicle, and

wherein the predetermined slip ratio is calculated based on the calculated steering angle.

5. The driving force control device according to claim 4, wherein the predetermined slip ratio when the calculated steering angle is farther from a neutral position is calculated so as to be smaller than the predetermined slip ratio when the calculated steering angle is closer to the neutral position.

6. The driving force control device according to claim 3, wherein the predetermined slip ratio in a steering travel state is set to be smaller than the predetermined slip ratio in a straight travel state.

7. The driving force control device according to claim 3,

wherein the controller is further configured to calculate an acceleration of a vehicle body as the travel state of the vehicle, and

wherein the predetermined slip ratio when the calculated vehicle body acceleration is a first acceleration or less is calculated so as to be smaller than the predetermined slip ratio when the calculated vehicle body acceleration is at least a second acceleration which is higher than the first acceleration.

8. The driving force control device according to claim 7,

wherein the controller is further configured to calculate a steering angle, and

wherein the predetermined slip ratio when the calculated steering angle is farther from a neutral position is calculated so as to be smaller than the predetermined slip ratio when the calculated steering angle is closer to the neutral position.

9. The driving force control device according to claim 1, wherein the controller is configured to calculate the slip ratio based on an average of rotational speeds of drive wheels of the vehicle and the vehicle body speed calculated based on a number of rotations of a driven wheel of the vehicle.

10. A driving force control device for a vehicle including

a drive source that is connected to a drive wheel of the vehicle via a speed reduction mechanism and a drive shaft, and is configured to generate a torque for braking or driving the drive wheel, and

a drive wheel speed sensor configured to detect a rotational speed of the drive wheel, the driving force control device comprising a controller configured to:

calculate a vehicle body speed of the vehicle;

calculate, based on the calculated vehicle body speed and the detected drive wheel speed, a slip ratio of the drive wheel;

reduce, when the calculated slip ratio is a predetermined slip ratio, a driving torque of the drive source to suppress a slip state of the drive wheel, and

control the slip ratio of the drive wheel, in a μ

-s characteristic representing a relationship of a road surface friction coefficient with respect to the slip ratio of the drive wheel, within an area where a change in the slip ratio of the drive wheel is in an increase direction and the road surface friction coefficient is in an increase direction, or within an area where the change in the slip ratio of the drive wheel is in a decrease direction and the road surface friction coefficient is in a decrease direction, such that the slip ratio of the drive wheel does not exceed the slip ratio corresponding to a peak value of the road surface friction coefficient in the μ

-s characteristic.

11. The driving force control device according to claim 10, wherein the drive source is a motor.

12. The driving force control device according to claim 11, wherein the controller is configured to calculate the slip ratio based on an average of rotational speeds of drive wheels of the vehicle, and the vehicle body speed calculated based on a number of rotations of a driven wheel of the vehicle.

13. The driving force control device according to claim 12,

wherein the controller is further configured to calculate a steering angle as a travel state of the vehicle, and

wherein the predetermined slip ratio is calculated based on the calculated steering angle.

14. The driving force control device according to claim 13, wherein the predetermined slip ratio when the calculated steering angle is farther from a neutral position is calculated so as to be smaller than the predetermined slip ratio when the calculated steering angle is closer to the neutral position.

15. The driving force control device according to claim 14, wherein the controller is further configured to calculate an acceleration of a vehicle body as the travel state of the vehicle,

wherein the predetermined slip ratio when the calculated vehicle body acceleration is a first acceleration or less is calculated so as to be smaller than the predetermined slip ratio when the calculated vehicle body acceleration is at least a second acceleration which is higher than the first acceleration.

16. The driving force control device according to claim 12, wherein the predetermined slip ratio in a steering travel state is set to be smaller than the predetermined slip ratio in a straight travel state.

17. A driving force control method of controlling a torque of a motor that is connected to a drive wheel of a vehicle via a speed reduction mechanism and a drive shaft, and is configured to brake or drive the drive wheel, the driving force control method comprising:

controlling the torque of the motor so that a slip ratio of the drive wheel is controlled, in a μ

-s characteristic representing a relationship of a road surface friction coefficient with respect to a slip ratio of the drive wheel, and

controlling the slip ratio of the drive wheel within an area where a change in the slip ratio of the drive wheel is in an increase direction and the road surface friction coefficient is in an increase direction, or within an area where the change in the slip ratio of the drive wheel is in a decrease direction and the road surface friction coefficient is in a decrease direction, such that the slip ratio of the drive wheel does not exceed the slip ratio corresponding to a peak value of the road surface friction coefficient in the μ

-s characteristic.

18. The driving force control method according to claim 17, further comprising controlling the torque of the motor so that the slip ratio in a steering travel state is smaller than the slip ratio in a straight travel state.

19. The driving force control method according to claim 17, further comprising controlling the torque of the motor so that when a steering angle is farther from a neutral position, the slip ratio is smaller than the slip ratio when the steering angle is closer to the neutral position.

20. The driving force control method according to claim 17, further comprising controlling the torque of the motor so that the slip ratio, when a vehicle body acceleration is a first acceleration or less, is smaller than the slip ratio when the vehicle body acceleration is at least a second acceleration which is higher than the first acceleration.