Control apparatus of vehicle

• US 10,639,997 B2
• Filed: 10/18/2017
• Issued: 05/05/2020
• Est. Priority Date: 11/07/2016
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Moriya, Fumiyuki, Ienaga, Hiroshi
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/787,585
• Publication Number:
  US 20180126852A1
• Time in Patent Office: Days
• Field of Search: 701 22, 31840023, 180 65265, 903930
• CPC Class Codes: B60L 15/2054 by controlling transmissions or clutches
• CPC Class Codes: B60L 15/2072 for drive off
• CPC Class Codes: B60L 2220/42 with use of more than one motor
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 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 2240/486 Operating parameters
• CPC Class Codes: B60L 2250/26 by pedal actuation
• CPC Class Codes: B60L 2260/28 Four wheel or all wheel drive
• CPC Class Codes: B60L 2260/42 by adaptive correction
• CPC Class Codes: B60L 3/0023 Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
• CPC Class Codes: B60Y 2200/91 Electric vehicles
• CPC Class Codes: B60Y 2300/192 Power-up or power-down of the driveline, e.g. start up of a cold engine
• CPC Class Codes: B60Y 2300/20 Reducing vibrations in the driveline
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A control apparatus of a vehicle that is provided with a drive wheel, a drive unit configured to generate, on a basis of a torque command, power directed to running, and a power transmitter configured to transmit the power derived from the drive unit to the drive wheel. The control apparatus is mounted on the vehicle and includes a resonance controller and a resonance switcher. The resonance controller is configured to output the torque command, and control resonance of the power transmitter by utilizing the torque command. The resonance switcher is configured to switch a state of the resonance controller between a resonance-restraining state that restrains the resonance and a resonance-generating state that generates the resonance.

Claims

1. A control apparatus of a vehicle, the vehicle being provided with a drive wheel including a first drive wheel and a second drive wheel, a drive unit including a first drive unit configured to generate the power directed to the first drive wheel and a second drive unit configured to generate the power directed to the second drive wheel on a basis of a torque command, and a power transmitter configured to transmit the power derived from the drive unit to the first and second drive wheel, the control apparatus being mounted on the vehicle, the control apparatus comprising:

a resonance controller configured to output the torque command, and control resonance of the power transmitter by utilizing the torque command; and

a resonance switcher configured to switch a state of the resonance controller between a resonance-restraining state that restrains the resonance and a resonance-generating state that generates the resonance,

wherein the resonance switcher is configured to switch, when one of the first drive wheel and the second drive wheel idles and the torque command directed to non-idling one of the first drive wheel and the second drive wheel reaches an upper limit, the state of the resonance controller which is directed to the non-idling one of the first drive wheel and the second drive wheel to the resonance-generating state.

2. The control apparatus of the vehicle according to claim 1,

wherein the resonance switcher is configured to switch the state of the resonance controller to the resonance-generating state, on a condition that the drive wheel involves the rocking and the torque command reaches an upper limit.

3. The control apparatus of the vehicle according to claim 1, wherein

the power transmitter comprises a first power transmitter configured to transmit the power to the first drive wheel and a second power transmitter configured to transmit the power to the second drive wheel,

the resonance controller comprises a first resonance controller configured to control the resonance of the first power transmitter and a second resonance controller configured to control the resonance of the second power transmitter,

the resonance switcher is configured to switch, on a condition that one of the first drive wheel and the second drive wheel idles and the torque command directed to non-idling one of the first drive wheel and the second drive wheel reaches an upper limit, the state of one of the first resonance controller and the second resonance controller which is directed to the non-idling one of the first drive wheel and the second drive wheel to the resonance-generating state.

4. The control apparatus of the vehicle according to claim 1, further comprising an evaluator configured to evaluate an amount of vibration of the resonance, wherein

the resonance controller is configured to control, upon the resonance-generating state, the generation of the resonance to cause an evaluation value derived from the evaluator to be a predetermined value.

5. The control apparatus of the vehicle according to claim 2, further comprising an evaluator configured to evaluate an amount of vibration of the resonance, wherein

the resonance controller is configured to control, upon the resonance-generating state, the generation of the resonance to cause an evaluation value derived from the evaluator to be a predetermined value.

6. The control apparatus of the vehicle according to claim 3, further comprising an evaluator configured to evaluate an amount of vibration of the resonance, wherein

the resonance controller is configured to control, upon the resonance-generating state, the generation of the resonance to cause an evaluation value derived from the evaluator to be a predetermined value.

7. The control apparatus of the vehicle according to claim 4, further comprising a start determiner configured to determine whether the vehicle is started, wherein

the resonance switcher is configured to output a command that restrains the generation of the resonance, on a condition that the vehicle is determined by the start determiner as not being started and predetermined duration elapses from establishment of the resonance-generating state.

8. The control apparatus of the vehicle according to claim 5, further comprising a start determiner configured to determine whether the vehicle is started, wherein

the resonance switcher is configured to output a command that restrains the generation of the resonance, on a condition that the vehicle is determined by the start determiner as not being started and predetermined duration elapses from establishment of the resonance-generating state.

9. The control apparatus of the vehicle according to claim 6, further comprising a start determiner configured to determine whether the vehicle is started, wherein

the resonance switcher is configured to output a command that restrains the generation of the resonance, on a condition that the vehicle is determined by the start determiner as not being started and predetermined duration elapses from establishment of the resonance-generating state.

10. The control apparatus of the vehicle according to claim 1, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

11. The control apparatus of the vehicle according to claim 2, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

12. The control apparatus of the vehicle according to claim 3, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

13. The control apparatus of the vehicle according to claim 4, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

14. The control apparatus of the vehicle according to claim 5, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

15. The control apparatus of the vehicle according to claim 6, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

16. The control apparatus of the vehicle according to claim 7, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

17. The control apparatus of the vehicle according to claim 8, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

18. The control apparatus of the vehicle according to claim 9, further comprising a returning processor configured to perform correction on the torque command upon switching the state of the resonance controller from the resonance-generating state to the resonance-restraining state to attenuate the resonance more promptly than a case where the correction is not performed, the correction being directed to transition from the resonance-generating state to the resonance-restraining state and based on a magnitude of the resonance.

19. A control apparatus of a vehicle, the vehicle being provided with a first drive wheel and a second drive wheel, a drive unit including a first drive unit configured to generate the power directed to the first drive wheel and a second drive unit configured to generate the power directed to the second drive wheel on a basis of a torque command, and a power transmitter configured to transmit the power derived from the drive unit to the first and second drive wheel, the control apparatus being mounted on the vehicle, the control apparatus comprising

circuitry configured to:

output the torque command,

control resonance of the power transmitter by utilizing the torque command, and

switch a state of the control performed on the resonance of the power transmitter between a resonance-restraining state that restrains the resonance and a resonance-generating state that generates the resonance,

wherein the switch of the state of control, when one of the first drive wheel and the second drive wheel idles and the torque command directed to non-idling one of the first drive wheel and the second drive wheel reaches an upper limit, switches the state of the control which is directed to the non-idling one of the first drive wheel and the second drive wheel to the resonance-generating state.

20. A control apparatus of a vehicle, the vehicle being provided with a first drive wheel and a second drive wheel, a drive unit including a first drive unit configured to generate the power directed to the first drive wheel and a second drive unit configured to generate the power directed to the second drive wheel on a basis of a torque command, and a power transmitter configured to transmit the power derived from the drive unit to the first and second drive wheel, the control apparatus being mounted on the vehicle, the control apparatus comprising:

a memory storing a program;

a processor executing the program to;

output the torque command,

control resonance of the power transmitter by utilizing the torque command, and

switch a state of the control performed on the resonance of the power transmitter between a resonance-restraining state that restrains the resonance and a resonance-generating state that generates the resonance,

wherein the switch of the state of control, when one of the first drive wheel and the second drive wheel idles and the torque command directed to non-idling one of the first drive wheel and the second drive wheel reaches an upper limit, includes switching the state of the control which is directed to the non-idling one of the first drive wheel and the second drive wheel to the resonance-generating state.