Vehicle control apparatus for front and rear drive ratio on the basis of operator's desired vehicle drive force and static and dynamic vehicle states

• US 6,549,840 B1
• Filed: 10/10/2000
• Issued: 04/15/2003
• Est. Priority Date: 10/08/1999
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Mikami, Tsuyoshi, Kawabata, Takuji, Kondo, Koichi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US09/685,043
• Time in Patent Office: 917 Days
• Field of Search: 701/22, 701/69, 701/70, 701/73, 701/82, 701/84, 701/89-91, 180/65.1, 180/65.2, 180/65.3, 180/65.6, 180/233, 180/243, 180/245, 180/248
• US Class Current: 701/69
• CPC Class Codes: B60K 17/354 having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 17/36 for driving tandem wheels
• CPC Class Codes: B60K 23/0808 for varying torque distribution between driven axles, e.g. by transfer clutch
• CPC Class Codes: B60K 6/365 with the gears having orbital motion
• CPC Class Codes: B60K 6/445 Differential gearing distribution type
• CPC Class Codes: B60K 6/48 Parallel type
• CPC Class Codes: B60K 6/52 Driving a plurality of drive axles, e.g. four-wheel drive
• CPC Class Codes: B60K 6/543 the transmission being a continuously variable transmission
• CPC Class Codes: B60L 2240/486 Operating parameters
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/11 using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance utilising navigation and traffic information in the control strategy B60W20/12
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2520/263 Slip values between front and rear axle
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/103 : Accelerator thresholds, e.g. kickdown
• CPC Class Codes: B60W 2710/105 : Output torque
• CPC Class Codes: B60W 2720/403 : between front and rear axle
• CPC Class Codes: F16H 61/66 : specially adapted for continuously variable gearings control of exclusively fluid gearing F16H61/38
• CPC Class Codes: F16H 61/662 : with endless flexible members
• CPC Class Codes: Y02T 10/40 : Engine management systems
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y10S 903/91 : Orbital, e.g. planetary gears
• CPC Class Codes: Y10S 903/916 : with plurality of drive axles
• CPC Class Codes: Y10S 903/918 : Continuously variable
• CPC Class Codes: Y10S 903/945 : Characterized by control of gearing, e.g. control of transmission ratio
• CPC Class Codes: Y10S 903/946 : Characterized by control of driveline clutch

Abstract

A vehicle control apparatus for controlling a four-wheel-drive automotive vehicle of a type which comprises a first drive power source for driving one of a pair of front wheels and a pair of rear wheels, and a second drive power source for driving the other of the pairs of front and rear wheels, wherein an operator'"'"'s desired value of a vehicle drive force for driving the automotive vehicle is obtained on the basis of an amount of operation of a manually operated vehicle accelerating member and a running speed of the vehicle, and a front drive force for driving the pair of front wheels and a rear drive force for driving the pair of rear wheels are controlled on the basis of a static and a dynamic state of the vehicle such that a sum of the front drive force and the rear drive force is equal to the obtained operator'"'"'s desired value of the vehicle drive force.

Claims

1. A vehicle control apparatus for controlling a four-wheel-drive automotive vehicle of a type which comprises a first drive power source for driving one of a pair of front wheels and a pair of rear wheels, and a second drive power source for driving the other of said pairs of front and rear wheels, said vehicle control apparatus being operable to control a front drive force for driving said pair of front wheels and a rear drive force for driving said pair of rear wheels, depending upon a static and a dynamic state of the vehicle such that a sum of said front drive force and said rear drive force is equal to an operator'"'"'s desired value of a vehicle drive force for driving said automotive vehicle, which operator'"'"'s desired value is obtained on the basis of an amount of operation of a manually operated vehicle accelerating member and a running speed of the vehicle.

2. A vehicle control apparatus according to claim 1, wherein said first drive power source consists of a plurality of drive power sources.

3. A vehicle control apparatus according to claim 1, wherein said first drive power source consists of a plurality of drive power sources of different types.

4. A vehicle control apparatus according to claim 1, wherein said second drive power source consists of at least one electric motor.

5. A vehicle control apparatus according to claim 4, wherein said second drive power source is provided to drive said pair of rear wheels of said four-wheel-drive automotive vehicle.

6. A vehicle control apparatus according to claim 5, wherein said static state of the vehicle includes a starting state of the vehicle, and said ratio of said front drive force and said rear drive force in said starting state of the vehicle is controlled such said rear drive force for driving said pair of rear wheels driven by said second drive power source is smaller when said operator'"'"'s desired value of said vehicle drive force is smaller than a predetermined threshold than when said operator'"'"'s desired value is not smaller than said predetermined threshold.

7. A vehicle control apparatus according to claim 1, wherein a ratio of said front drive force and said rear drive force with respect to each other is determined on the basis of said operator'"'"'s desired value of the vehicle drive force.

8. A vehicle control apparatus according to claim 7, wherein said static state of the vehicle includes a starting state of the vehicle, and said ratio of said front drive force and said rear drive force in said starting state of the vehicle is controlled on the basis of said operator'"'"'s desired value of the vehicle drive force.

9. A vehicle control apparatus according to claim 1, wherein said static state of the vehicle includes a starting state of the vehicle, and said ratio of said front drive force and said rear drive force in said starting state of the vehicle is controlled such that one of said front and rear drive forces which is used for driving one of said pairs of front and rear wheels which is driven by one of said first and second drive power sources whose performance is more adversely influenced by a rise of its operating temperature is smaller when said operator'"'"'s desired value of the vehicle drive force is smaller than a predetermined threshold than when said operator'"'"'s desired value is not smaller than said predetermined threshold.

10. A vehicle control apparatus according to claim 9, wherein said predetermined threshold of said operator'"'"'s desired value of the vehicle drive force is determined by a maximum value of the vehicle drive force below which said front and rear wheels are not likely to slip on a road surface having a predetermined low value of friction coefficient.

11. A vehicle control apparatus according to claim 1, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus being operable to control said first and second electric motors according to a predetermined relationship between thermal ratings of said first and second electric motors.

12. A vehicle control apparatus according to claim 1, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus including first-motor output increasing means operable when an output of said second electric motor is limited, to increase an output of said first electric motor.

13. A vehicle control apparatus according to claim 1, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus including second-motor output reducing means operable when an output of said first electric motor is limited, to reduce an output of said second electric motor so that a ratio of a front drive force for driving said front wheels and a rear drive force for driving said rear wheels with respect to each other coincides with a desired value.

14. A vehicle control apparatus according to claim 1, which is adapted to apply an assisting drive force to the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for generating said assisting drive force such that said assisting drive force rapidly increases to a desired value for an initial period of the application of said assisting drive force, and slowly decreases from the desired value to zero for a terminal period of the application of said assisting drive force.

15. A vehicle control apparatus according to claim 1, wherein said front drive force for driving said pair of front wheels and said rear drive force for driving said pair of rear wheels are controlled, during starting of the vehicle, on the basis of a gradient of a road surface on which the vehicle is started.

28. A vehicle control apparatus according to claim 1, wherein said automotive vehicle has traction control means for reducing a drive force of said one of said pairs of front and rear wheels, so that a slip ratio of said one pair of wheels driven by said first drive power source is held within a predetermined optimum range, said vehicle control apparatus comprising (a) torque distribution feedback control means for controlling a front-rear torque distribution ratio which is a ratio of a front-wheel drive torque for driving said front wheels and a rear-wheel drive torque for driving said rear wheels with respect to each other, such that an actual state of slipping of said one pair of wheels with respect to that of said other pair of wheels coincides with a desired state of slipping, and (b) feedback control changing means operable when said traction control means is in operation, for commanding said torque distribution feedback control means to change said front-rear torque distribution ratio to a value different from that used when said traction control means is not in operation.

33. A vehicle control apparatus according to claim 1, which is adapted to apply an assisting drive force to the automotive vehicle upon starting of the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for inhibiting the application of said assisting drive force to the automotive vehicle if a brake operating member for applying a brake to the automotive vehicle has been kept in its non-operated position for more than a predetermined time.

16. A vehicle control apparatus for controlling a four-wheel-drive automotive vehicle of a type which comprises a first drive power source for driving one of a pair of front wheels and a pair of rear wheels, and a second drive power source for driving the other of said pair of front and rear wheels, said vehicle control apparatus being operable to drive said automotive vehicle in a four-wheel driving mode in which said pairs of front and rear wheels are driven by said first and second drive power sources, when said automotive vehicle is placed in any one of a starting state in which the vehicle is being started, an accelerating state in which the vehicle is being accelerated, and a low-μ

running state in which the vehicle is running on a road surface whose friction coefficient is lower than a predetermined threshold, said vehicle control apparatus being operable to drive said automotive vehicle in a two-wheel driving state in which one of said pairs of front and rear wheels are driven, when the vehicle is not placed in any one of said starting state, accelerating state and said low-μ

running state.

17. A vehicle control apparatus according to claim 16, which is operable to drive said automotive vehicle in said four-wheel driving mode when a load acting on the vehicle is smaller than a predetermined threshold.

18. A vehicle control apparatus according to claim 16, wherein said first and second drive power sources include at least one electric motor.

19. A vehicle control apparatus according to claim 18, which is operable to drive said automotive vehicle with only at least one of said at least one electric motor which is included in one of said first and second drive power source.

20. A vehicle control apparatus according to claim 18, which is operable to operate at least one of said at least one electric motor as an electric generator so as to provide a regenerative braking torque, when the automotive vehicle is being braked or in a coasting state.

21. A vehicle control apparatus according to claim 18, wherein said first drive power source includes an engine.

22. A vehicle control apparatus according to claim 21, which is operable to drive the automotive vehicle in one of an engine drive mode and an engine-and-motor drive mode, when a load acting on the vehicle is larger than a predetermined threshold, the vehicle being driven with only said engine of said first drive power source in said engine drive mode, and with both said engine and said electric motor of said first drive power source in said engine-and-motor drive mode.

23. A vehicle control apparatus according to claim 16, wherein said first or second drive power source includes a drive power source capable of generating an electric energy.

24. A vehicle control apparatus according to claim 23, which is operable when the automotive vehicle is in said starting state, to drive the automotive vehicle with only an electric motor of said first or second drive power source, which electric motor is operable as an electric generator capable of generating an electric energy.

25. A vehicle control apparatus according to claim 23, which is operable to operate said drive power source capable of generating an electric energy, so as to provide a regenerative braking torque, when the automotive vehicle is being braked or in a coasting state.

26. A vehicle control apparatus according to claim 23, wherein said first drive power source includes an engine.

27. A vehicle control apparatus according to claim 26, which is operable to drive the automotive vehicle with only said engine of said first drive power source, or with both said engine and said drive power source capable of generating an electric energy, when a load acting on the vehicle is larger than a predetermined threshold.

29. A vehicle control apparatus according to claim 16, wherein said automotive vehicle has traction control means for reducing a drive force of said one of said pairs of front and rear wheels, so that a slip ratio of said one pair of wheels driven by said first drive power source is held within a predetermined optimum range, said vehicle control apparatus comprising (a) torque distribution feedback control means for controlling a front-rear torque distribution ratio which is a ratio of a front-wheel drive torque for driving said front wheels and a rear-wheel drive torque for driving said rear wheels with respect to each other, such that an actual state of slipping of said one pair of wheels with respect to that of said other pair of wheels coincides with a desired state of slipping, and (b) feedback control changing means operable when said traction control means is in operation, for commanding said torque distribution feedback control means to change said front-rear torque distribution ratio to a value different from that used when said traction control means is not in operation.

30. A vehicle control apparatus according to claim 16, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus being operable to control said first and second electric motors according to a predetermined relationship between thermal ratings of said first and second electric motors.

31. A vehicle control apparatus according to claim 16, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus including first-motor output increasing means operable when an output of said second electric motor is limited, to increase an output of said first electric motor.

32. A vehicle control apparatus according to claim 16, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus including second-motor output reducing means operable when an output of said first electric motor is limited, to reduce an output of said second electric motor so that a ratio of a front drive force for driving said front wheels and a rear drive force for driving said rear wheels with respect to each other coincides with a desired value.

34. A vehicle control apparatus according to claim 16, which is adapted to apply an assisting drive force to the automotive vehicle upon starting of the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for inhibiting the application of said assisting drive force to the automotive vehicle if a brake operating member for applying a brake to the automotive vehicle has been kept in its non-operated position for more than a predetermined time.

35. A vehicle control apparatus according to claim 16, which is adapted to apply an assisting drive force to the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for generating said assisting drive force such that said assisting drive force rapidly increases to a desired value for an initial period of the application of said assisting drive force, and slowly decreases from the desired value to zero for a terminal period of the application of said assisting drive force.

36. A vehicle control apparatus according to claim 16, wherein said front drive force for driving said pair of front wheels and said rear drive force for driving said pair of rear wheels are controlled, during starting of the vehicle, on the basis of a gradient of a road surface on which the vehicle is started.

37. A vehicle control apparatus for controlling a four-wheel-drive automotive vehicle of a type which comprises a first drive power source for driving one of a pair of front wheels and a pair of rear wheels, and a second drive power source for driving the other of said pairs of front and rear wheels, said vehicle control apparatus comprising:

output-torque-range selecting means for selecting one of a plurality of output torque ranges in which said second drive power source is operated, on the basis of an operating state of the automotive vehicle; and

second-power-source control means for operating said second drive power source such that an output torque of said second drive power source is held within the selected output torque range.

38. A vehicle control apparatus according to claim 37, wherein said plurality of output torque ranges include at least a first range of the output torque and a second range of the output torque whose upper limit is smaller than that of said first range.

39. A vehicle control apparatus according to claim 38, wherein said second-power-source control means reduces said output torque of said second drive power source across a boundary of two adjacent ones of said plurality of output torque ranges, at a rate lower than a rate at which said second-power-source control means increases said output torque across said boundary.

40. A vehicle control apparatus according to claim 38, wherein said output-torque-range selecting means selects said first range when the automotive vehicle is placed in any one of a starting state, a slipping state of its drive wheels and an understeering state, and selects said second range when the automotive vehicle is placed in any other states.

41. A vehicle control apparatus according to claim 38, wherein said output-torque-range selecting means selects said first range when a gradient of a road surface on which the automotive vehicle lies is larger than a predetermined threshold, and selects said second range when said gradient is not larger than said predetermined threshold.

42. A vehicle control apparatus according to claim 41, wherein said second-drive-source control means operates said second drive power source during starting of the automotive vehicle on an uphill road surface, such that the automotive vehicle is kept driven in a four-wheel driving mode with said pairs of front and rear wheels, until the running speed of the vehicle is raised to a higher value when the gradient of said uphill road surface is relatively large, than when said gradient is relatively small.

43. A vehicle control apparatus according to claim 37, wherein said automotive vehicle has traction control means for reducing a drive force of said one of said pairs of front and rear wheels, so that a slip ratio of said one pair of wheels driven by said first drive power source is held within a predetermined optimum range, said vehicle control apparatus comprising (a) torque distribution feedback control means for controlling a front-rear torque distribution ratio which is a ratio of a front-wheel drive torque for driving said front wheels and a rear-wheel drive torque for driving said rear wheels with respect to each other, such that an actual state of slipping of said one pair of wheels with respect to that of said other pair of wheels coincides with a desired state of slipping, and (b) feedback control changing means operable when said traction control means is in operation, for commanding said torque distribution feedback control means to change said front-rear torque distribution ratio to a value different from that used when said traction control means is not in operation.

44. A vehicle control apparatus according to claim 37, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus being operable to control said first and second electric motors according to a predetermined relationship between thermal ratings of said first and second electric motors.

45. A vehicle control apparatus according to claim 37, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus including first-motor output increasing means operable when an output of said second electric motor is limited, to increase an output of said first electric motor.

46. A vehicle control apparatus according to claim 37, wherein said first drive power source includes a first electric motor for driving said pair of front wheels while said second drive power source includes a second electric motor for driving said pair of rear wheels, said vehicle control apparatus including second-motor output reducing means (340) operable when an output of said first electric motor is limited, to reduce an output of said second electric motor so that a ratio of a front drive force for driving said front wheels and a rear drive force for driving said rear wheels with respect to each other coincides with a desired value.

47. A vehicle control apparatus according to claim 37, which is adapted to apply an assisting drive force to the automotive vehicle upon starting of the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for determining the assisting drive force such that a speed or an acceleration value at which the automotive vehicle is moved down in a reverse direction on said uphill road surface is lower than a predetermined threshold.

48. A vehicle control apparatus according to claim 37, which is adapted to apply an assisting drive force to the automotive vehicle upon starting of the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for inhibiting the application of said assisting drive force to the automotive vehicle if a brake operating member for applying a brake to the automotive vehicle has been kept in its non-operated position for more than a predetermined time while the vehicle is stationary.

49. A vehicle control apparatus according to claim 37, which is adapted to apply an assisting drive force to the automotive vehicle on an uphill road surface, such that said assisting drive force corresponds to a gradient of said uphill road surface, said vehicle control apparatus including means for generating said assisting drive force such that said assisting drive force rapidly increases to a desired value for an initial period of the application of said assisting drive force, and slowly decreases from the desired value to zero for a terminal period of the application of said assisting drive force.

50. A vehicle control apparatus according to claim 37, wherein said front drive force for driving said pair of front wheels (66, 68) and said rear drive force for driving said pair of rear wheels (80, 82) are controlled, during starting of the vehicle, on the basis of a gradient of a road surface on which the vehicle is started.