Vehicle and control method for changing control mode of driving and braking force based on change rate of wheel vertical load
First Claim
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1. A vehicle comprising:
- a controller that performs, when a slip between a wheel and a road surface is increased, a driving and braking force control to reduce the slip;
a change rate calculator that determines a change rate in a wheel vertical load; and
a mode calculator that changes a mode of the driving and braking force control based on the change rate determined by the change rate calculator.
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Abstract
A vehicle is provided in which, when a slip between a wheel and a road surface is increased, a driving and braking control is performed to reduce the slip. A change rate in a wheel vertical load is determined. A mode of the driving and braking control is changed based on the determined change rate. The change of mode may be performed by changing at least one of the start of the driving and braking control, the reduction rate or the lower bound during the temporary reduction of the braking force or driving force, and the increasing rate during increasing the braking or driving force after the temporary reduction, or the like, according to the change rate in the wheel vertical load.
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Citations
24 Claims
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1. A vehicle comprising:
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a controller that performs, when a slip between a wheel and a road surface is increased, a driving and braking force control to reduce the slip;
a change rate calculator that determines a change rate in a wheel vertical load; and
a mode calculator that changes a mode of the driving and braking force control based on the change rate determined by the change rate calculator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for controlling a vehicle, comprising:
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determining a change rate in a wheel vertical load;
changing a mode of a driving and braking force control based on the determined change rate in the wheel vertical load; and
performing the driving and braking force control based on the changed mode to reduce a slip between a wheel and a road surface, when the slip is increased. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification