Vehicle driving force control apparatus

• US 7,140,460 B2
• Filed: 08/07/2003
• Issued: 11/28/2006
• Est. Priority Date: 08/26/2002
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Iwata, Yasuaki, Chen, Ping, Shimizu, Kouichi, Kadota, Keiji, Kamata, Tatsuya, Ohya, Hiroyuki
• Primary Examiner(s): VANAMAN, FRANK BENNETT
• Application Number:
  US10/635,557
• Publication Number:
  US 20040038775A1
• Time in Patent Office: 1,209 Days
• Field of Search: 180/65.2, 180/65.3, 180/65.4, 180/197, 180/243, 903/930, 903/942, 903/946, 477/5, 477/70, 477/73
• US Class Current: 180/65.225
• CPC Class Codes: B60K 23/08 for changing number of driven wheels , for switching from driving one axle to driving two or more axles B60K17/3515 takes precedence
• CPC Class Codes: B60K 6/44 Series-parallel type
• CPC Class Codes: B60K 6/52 Driving a plurality of drive axles, e.g. four-wheel drive
• CPC Class Codes: B60K 6/547 the transmission being a stepped gearing
• 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 2240/423 Torque
• CPC Class Codes: B60L 2240/525 Temperature of converter or components thereof
• CPC Class Codes: B60L 2240/80 Time limits
• CPC Class Codes: B60L 2260/26 Transition between different drive modes
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: B60L 3/10 Indicating wheel slip ; Correction of wheel slip
• CPC Class Codes: B60L 50/16 with provision for separate direct mechanical propulsion
• CPC Class Codes: B60L 50/61 by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
• CPC Class Codes: B60L 7/14 for vehicles propelled by ac motors
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 2510/0275 Clutch torque
• CPC Class Codes: B60W 2710/027 Clutch torque
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: F16H 2306/42 Changing the input torque to the transmission
• CPC Class Codes: F16H 2306/44 : Removing torque from current gears
• CPC Class Codes: F16H 61/0437 : by using electrical signals F16H61/0403 and F16H61/061 take precedence
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• 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 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y10S 903/946 : Characterized by control of driveline clutch

Abstract

A driving force control apparatus is provided for a vehicle capable of preventing a shock from being generated by disengaging a clutch disposed between a subordinate drive source and subordinate drive wheels during vehicle travel. When a transition determination is made in which the clutch will be released, e.g., from a four-wheel drive state to a two-wheel drive state, a clutch release section disengage the clutch, upon the drive torque of the drive source substantially reaching a target drive torque in which a difference between an output torque of the clutch and an input torque of the clutch is smaller than a prescribed value in response to the transition determination.

Claims

1. A vehicle driving force control apparatus for a vehicle comprising:

a main drive source configured and arranged to supply a main drive wheel with a drive torque;

a subordinate drive source configured and arranged to supply a subordinate drive wheel with a drive torque;

a clutch disposed in a torque transfer path from the subordinate drive source to the subordinate drive wheel;

a transition determining section configured to output a transition determination upon determining a transition condition indicating cease of the drive torque from the subordinate drive source to the subordinate drive wheel, while the vehicle is traveling; and

a clutch release section configured to disengage the clutch, upon the drive torque of the subordinate drive source substantially reaching a target drive torque in which a difference between an output torque of the clutch and an input torque of the clutch is smaller than a prescribed value in response to the transition determination by the transition determining section.

2. The vehicle driving force control apparatus as recited in claim 1, wherein

the prescribed value is substantially equal to zero.

3. The vehicle driving force control apparatus as recited in claim 1, further comprising

a drive torque control section configured to adjust the target drive torque in response to the transition determination by the transition determining section.

4. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the subordinate drive source substantially at the target drive torque at least during a delay period after issuance of a control command to release the clutch and until the clutch is released.

5. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the subordinate drive source substantially at the target drive torque at issuance of a control command to release the clutch and until the clutch is released.

6. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the subordinate drive source substantially at the target drive torque prior to start of a release operation of the clutch and until the clutch is released.

7. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section starts the clutch disengagement operation, upon the drive torque of the subordinate drive source substantially reaching the target drive torque.

8. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source within a reduction range that the drive torque of the subordinate drive source can be stably controlled when the drive torque of the subordinate drive source is larger than the target drive torque after the transition determination by the transition determining section to cease the drive torque of the subordinate drive source to the subordinate drive wheel until the clutch is released.

9. The vehicle driving force control apparatus as recited in claim 8, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source within the reduction range at a predetermined reduction rate.

10. The vehicle driving force control apparatus as recited in claim 8, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source until the clutch is released by controlling a field current of an electric motor of the subordinate drive source of the vehicle to a predetermined field current value.

11. The vehicle driving force control apparatus as recited in claim 10, wherein

the drive torque control section is further configured to setting an armature current command value of an armature current of the subordinate drive source to substantially equal a predetermined end-time armature current value that the subordinate drive source requires to output the target drive torque when the field current of the subordinate drive source is substantially equal to the predetermined field current value.

12. The vehicle driving force control apparatus as recited in claim 9, wherein

the clutch release section is further configured to set the target drive torque based on a generation capacity of a generator that supplies electricity to an electric motor of the subordinate drive source.

13. The vehicle driving force control apparatus as recited in claim 9, wherein

the drive torque control section is further configured to set the target drive torque based on a generation capacity of a generator that supplies electricity to an electric motor of the subordinate drive source prior to the transition determination by the transition determining section.

14. The vehicle driving force control apparatus as recited in claim 3, further comprising

an output torque control section configured to control a driving torque of a secondary driving source to a target drive torque command value;

a generation capacity reduction detection section configured to detect whether an electrical capacity of a power source to supply power to the subordinate drive source decreases to an insufficient power state in which the power source cannot supply sufficient power to output the driving torque of the secondary driving source to a level substantially equal to the target drive torque command value; and

an output torque command limiting section configured to limit the target drive torque command value, when the transition determining section determines the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel, based on detecting that the drive torque of the subordinate drive source is decreasing, and when the generation capacity reduction detection section detects that the electrical capacity decreases to the insufficient power state, while the vehicle is traveling.

15. The vehicle driving force control apparatus as recited in claim 14, wherein

the output torque control section is further configured to reduce the target drive torque command value at a prescribed reduction rate, when the transition determining section detects that the drive torque of the subordinate drive source is decreasing, and when the generation capacity reduction detection section detects that the generation capacity decreases to the insufficient power state, while the vehicle is traveling;

and

the output torque command limiting section is further configured to control the target drive torque command value by increasing the prescribed reduction rate, when the generation capacity reduction detection section detects that the generation capacity decreases to the insufficient power state.

16. The vehicle driving force control apparatus as recited in claim 14, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, based on detecting an upshift in an automatic transmission of the vehicle provided between the main drive source and the main drive wheel.

17. The vehicle driving force control apparatus as recited in claim 14, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, when a rotational speed of a generator of the power source is detected to be below a prescribed rotational speed.

18. The vehicle driving force control apparatus as recited in claim 14, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, when a rotational speed of the main drive source is detected to be below a prescribed rotational speed.

19. The vehicle driving force control apparatus as recited in claim 8, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source within the reduction range at a first predetermined reduction rate during a first control period and at a second predetermined reduction rate during a second control period before the clutch is released.

20. The vehicle driving force control apparatus as recited in claim 19, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source during the first and second periods after issuance of a control command to release the clutch.

21. The vehicle driving force control apparatus as recited in claim 19, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source such that the second predetermined reduction rate during the second period maintains the drive torque substantially constant before the clutch is released.

22. The vehicle driving force control apparatus as recited in claim 21, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source to the clutch such that the drive torque of the subordinate drive source is controlled to substantially equal the target drive torque by controlling a field current command value of the field current of the subordinate drive source to a predetermined field current value.

23. The vehicle driving force control apparatus as recited in claim 22, wherein

the drive torque control section is further configured to setting an armature current command value of an armature current of the subordinate drive source to substantially equal a predetermined end-time armature current value that the subordinate drive source requires to output the target drive torque when the field current of the subordinate drive source is substantially equal to the predetermined field current value.

24. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source until the clutch is released by controlling a field current of a power source of the subordinate drive source of the vehicle to a predetermined value.

25. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source to the clutch such that the drive torque of the subordinate drive source is an output motor torque of a power source which is controlled to substantially equal the target drive torque by controlling a field current command value of the field current of the power source to a predetermined field current value.

26. The vehicle driving force control apparatus as recited in claim 3, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source until the clutch is released by setting an armature current command value of an armature current of an electric motor substantially equal to an end-time armature current value immediately after the transition determining section outputs the transition determination.

27. The vehicle driving force control apparatus as recited in claim 3, wherein

the clutch release section is further configured to estimate a convergence time for fluctuations in the drive torque of the subordinate drive source to converge within a prescribed allowable range, and output a command value for releasing the clutch such that the clutch is released after the convergence time has elapsed based on the estimate.

28. The vehicle driving force control apparatus as recited in claim 1, further comprising

a clutch-release torque correction section configured to correct the target drive torque in accordance with a vehicle body acceleration of the vehicle.

29. The vehicle driving force control apparatus as recited in claim 1, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on determining that the drive torque of the subordinate drive source is decreasing, while the vehicle is traveling.

30. The vehicle driving force control apparatus as recited in claim 1, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting a field current value of the subordinate drive source that corresponds to the drive torque at which an armature current value of the drive torque become equal to a predetermined end-time armature current value, while the vehicle is traveling.

31. The vehicle driving force control apparatus as recited in claim 1, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting a prescribed motor torque of the subordinate drive source that corresponds to the drive torque at which an armature current value to become equal to a predetermined end-time armature current value, while the vehicle is traveling.

32. The vehicle driving force control apparatus as recited in claim 1, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting an armature current value of the subordinate drive source that corresponds to a predetermined end-time armature current value, while the vehicle is traveling.

33. The vehicle driving force control apparatus as recited in claim 1, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting that the drive torque of the subordinate drive source has substantially reached the target drive torque, while the vehicle is traveling.

34. The vehicle driving force control apparatus as recited in claim 1, further comprising

an electric motor that forms part of the subordinate drive source.

35. The vehicle driving force control apparatus as recited in claim 34, wherein

the prescribed value is substantially equal to zero.

36. The vehicle driving force control apparatus as recited in claim 34, further comprising

a drive torque control section configured to adjust the target drive torque in response to the transition determination by the transition determining section.

37. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the electric motor substantially at the target drive torque at least during a delay period after issuance of a control command to release the clutch and until the clutch is released.

38. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the electric motor substantially at the target drive torque at issuance of a control command to release the clutch and until the clutch is released.

39. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the electric motor substantially at the target drive torque prior to start of a release operation of the clutch and until the clutch is released.

40. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section starts the clutch disengagement operation, upon the drive torque of the electric motor substantially reaching the target drive torque.

41. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to reduce the drive torque of the electric motor within a reduction range that the drive torque of the electric motor can be stably controlled when the drive torque of the electric motor is larger than the target drive torque after the transition determination by the transition determining section to cease the drive torque of the electric motor to the subordinate drive wheel until the clutch is released.

42. The vehicle driving force control apparatus as recited in claim 41, wherein

the drive torque control section is further configured to reduce the drive torque of the electric motor within the reduction range at a predetermined reduction rate.

43. The vehicle driving force control apparatus as recited in claim 41, wherein

the drive torque control section is further configured to reduce the drive torque of the electric motor until the clutch is released by controlling a field current of the electric motor of the vehicle to a predetermined field current value.

44. The vehicle driving force control apparatus as recited in claim 43, wherein

the drive torque control section is further configured to setting an armature current command value of an armature current of the electric motor to substantially equal a predetermined end-time armature current value that the electric motor requires to output the target drive torque when the field current of the electric motor is substantially equal to the predetermined field current value.

45. The vehicle driving force control apparatus as recited in claim 42, wherein

the clutch release section is further configured to set the target drive torque based on a generation capacity of a generator that supplies electricity to the electric motor.

46. The vehicle driving force control apparatus as recited in claim 42, wherein

the drive torque control section is further configured to set the target drive torque based on a generation capacity of a generator that supplies electricity to the electric motor prior to the transition determination by the transition determining section.

47. The vehicle driving force control apparatus as recited in claim 36, further comprising

an output torque control section configured to control a driving torque of a secondary driving source to a target drive torque command value;

a generation capacity reduction detection section configured to detect whether a electrical capacity of a power source to supply power to the electric motor decreases to an insufficient power state in which the power source cannot supply sufficient power to output the driving torque of the secondary driving source to a level substantially equal to the target drive torque command value; and

an output torque command limiting section configured to limit the target drive torque command value, when the transition determining section determines the transition condition indicating cease of the drive torque of the electric motor to the subordinate drive wheel, based on detecting that the drive torque of the electric motor is decreasing, and when the generation capacity reduction detection section detects that the electrical capacity decreases to the insufficient power state, while the vehicle is traveling.

48. The vehicle driving force control apparatus as recited in claim 47, wherein

the output torque control section is further configured to reduce the target drive torque command value at a prescribed reduction rate, when the transition determining section detects that the drive torque of the electric motor is decreasing, and when the generation capacity reduction detection section detects that the generation capacity decreases to the insufficient power state, while the vehicle is traveling;

and

the output torque command limiting section is further configured to control the target drive torque command value by increasing the prescribed reduction rate, when the generation capacity reduction detection section detects that the generation capacity decreases to the insufficient power state.

49. The vehicle driving force control apparatus as recited in claim 47, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, based on detecting an upshift in an automatic transmission of the vehicle provided between the electric motor and the subordinate drive wheel.

50. The vehicle driving force control apparatus as recited in claim 47, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, when a rotational speed of a generator of the power source is detected to be below a prescribed rotational speed.

51. The vehicle driving force control apparatus as recited in claim 47, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, when a rotational speed of the electric motor is detected to be below a prescribed rotational speed.

52. The vehicle driving force control apparatus as recited in claim 41, wherein

the drive torque control section is further configured to control the drive torque of the electric motor within the reduction range at a first predetermined reduction rate during a first control period and at a second predetermined reduction rate during a second control period before the clutch is released.

53. The vehicle driving force control apparatus as recited in claim 52, wherein

the drive torque control section is further configured to control the drive torque of the electric motor during the first and second periods after issuance of a control command to release the clutch.

54. The vehicle driving force control apparatus as recited in claim 52, wherein

the drive torque control section is further configured to control the drive torque of the electric motor such that the second predetermined reduction rate during the second period maintains the drive torque substantially constant before the clutch is released.

55. The vehicle driving force control apparatus as recited in claim 54, wherein

the drive torque control section is further configured to reduce the drive torque of the electric motor to the clutch such that the drive torque of the electric motor is controlled to substantially equal the target drive torque by controlling a field current command value of the field current of the electric motor to the predetermined field current value.

56. The vehicle driving force control apparatus as recited in claim 55, wherein

the drive torque control section is further configured to setting an armature current command value of an armature current of the electric motor to substantially equal a predetermined end-time armature current value that the electric motor requires to output the target drive torque when the field current of the electric motor is substantially equal to the predetermined field current value.

57. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to control the drive torque of the electric motor until the clutch is released by controlling a field current of a power source of the electric motor of the vehicle to a predetermined value.

58. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to reduce the drive torque of the electric motor to the clutch such that the drive torque of the electric motor is an output motor torque of a power source which is controlled to substantially equal the target drive torque by controlling a field current command value of the field current of the power source to a predetermined field current value.

59. The vehicle driving force control apparatus as recited in claim 36, wherein

the drive torque control section is further configured to control the drive torque of the electric motor until the clutch is released by setting an armature current command value of am armature current of an electric motor substantially equal to an end-time armature current value immediately after the transition determining section outputs the transition determination.

60. The vehicle driving force control apparatus as recited in claim 36, wherein

the clutch release section is further configured to estimate a convergence time for fluctuations in the drive torque of the electric motor to converge within a prescribed allowable range, and output a command value of the clutch release such that the clutch is released after the convergence time has elapsed based on the estimate.

61. The vehicle driving force control apparatus as recited in claim 34, further comprising

a clutch-release torque correction section configured to correct the target drive torque in accordance with a vehicle body acceleration of the vehicle.

62. The vehicle driving force control apparatus as recited in claim 34, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the electric motor to the subordinate drive wheel based on determining that the drive torque of the electric motor is decreasing, while the vehicle is traveling.

63. The vehicle driving force control apparatus as recited in claim 34, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the electric motor to the subordinate drive wheel based on detecting a field current value of the electric motor that corresponds to the drive torque at which an armature current value of the drive torque become equal to a predetermined end-time armature current value, while the vehicle is traveling.

64. The vehicle driving force control apparatus as recited in claim 34, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the electric motor to the subordinate drive wheel based on detecting a prescribed motor torque of the electric motor that corresponds to the drive torque at which an armature current value to become equal to a predetermined end-time armature current value, while the vehicle is traveling.

65. The vehicle driving force control apparatus as recited in claim 34, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the electric motor to the subordinate drive wheel based on detecting an armature current value of the electric motor that corresponds to a predetermined end-time armature current value, while the vehicle is traveling.

66. The vehicle driving force control apparatus as recited in claim 34, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the electric motor to the subordinate drive wheel based on detecting that the drive torque of the electric motor has substantially reached the target drive torque, while the vehicle is traveling.

67. The vehicle driving force control apparatus as recited in claim 1, further comprising

a drive mode selection section configured to select between a multi-wheel drive mode and a non-all wheel drive mode, the multi-wheel drive mode driving at least the subordinate drive wheel by the subordinate drive source through engagement of the clutch and the main drive wheel independently of engagement of the clutch, and the non-all wheel drive mode disengaging the subordinate drive wheel from the subordinate drive source through disengagement of the clutch and driving the main drive wheel.

68. The vehicle driving force control apparatus as recited in claim 67, further comprising

an acceleration slippage detection section configured to detect if acceleration slippage is occurring in the main drive wheel that is driven by the main drive source;

and

the drive mode selection section being configured to select between the multi-wheel drive mode and the non-all wheel drive mode based on detection of acceleration slippage by the acceleration slippage detection section.

69. The vehicle driving force control apparatus as recited in claim 67, wherein

the drive mode selection section includes a drive mode switch to manually select one of the multi-wheel drive mode and the non-all wheel drive mode.

70. The vehicle driving force control apparatus according to claim 67, wherein

an electric motor forms part of the subordinate drive source.

71. The vehicle driving force control apparatus according to claim 70, wherein

the electric motor is driven by a generator being driven by an internal combustion engine that forms part of the main drive source.

72. The vehicle driving force control apparatus as recited in claim 67, wherein

the prescribed value is substantially equal to zero.

73. The vehicle driving force control apparatus as recited in claim 67, further comprising

a drive torque control section configured to adjust the target drive torque in response to the transition determination by the transition determining section.

74. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the subordinate drive source substantially at the target drive torque at least during a delay period after issuance of a control command to release the clutch and until the clutch is released.

75. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the subordinate drive source substantially at the target drive torque at issuance of a control command to release the clutch and until the clutch is released.

76. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to substantially maintain the drive torque of the subordinate drive source substantially at the target drive torque prior to start of a release operation of the clutch and until the clutch is released.

77. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section starts the clutch disengagement operation, upon the drive torque of the subordinate drive source substantially reaching the target drive torque.

78. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source within a reduction range that the drive torque of the subordinate drive source can be stably controlled when the drive torque of the subordinate drive source is larger than the target drive torque after the transition determination by the transition determining section to cease the drive torque of the subordinate drive source to the subordinate drive wheel until the clutch is released.

79. The vehicle driving force control apparatus as recited in claim 78, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source within the reduction range at a predetermined reduction rate.

80. The vehicle driving force control apparatus as recited in claim 78, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source until the clutch is released by controlling a field current of an electric motor of the subordinate drive source of the vehicle to a predetermined field current value.

81. The vehicle driving force control apparatus as recited in claim 80, wherein

the drive torque control section is further configured to setting an armature current command value of an armature current of the subordinate drive source to substantially equal a predetermined end-time armature current value that the subordinate drive source requires to output the target drive torque when the field current of the subordinate drive source is substantially equal to the predetermined field current value.

82. The vehicle driving force control apparatus as recited in claim 79, wherein

the clutch release section is further configured to set the target drive torque based on a generation capacity of a generator that supplies electricity to an electric motor of the subordinate drive source.

83. The vehicle driving force control apparatus as recited in claim 79, wherein

the drive torque control section is further configured to set the target drive torque based on a generation capacity of a generator that supplies electricity to an electric motor of the subordinate drive source prior to the transition determination by the transition determining section.

84. The vehicle driving force control apparatus as recited in claim 73, further comprising

an output torque control section configured to control a driving torque of a secondary driving source to a target drive torque command value;

a generation capacity reduction detection section configured to detect whether a electrical capacity of a power source to supply power to the subordinate drive source decreases to an insufficient power state in which the power source cannot supply sufficient power to output the driving torque of the secondary driving source to a level substantially equal to the target drive torque command value; and

an output torque command limiting section configured to limit the target drive torque command value, when the transition determining section determines the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel, based on detecting that the drive torque of the subordinate drive source is decreasing, and when the generation capacity reduction detection section detects that the electrical capacity decreases to the insufficient power state, while the vehicle is traveling.

85. The vehicle driving force control apparatus as recited in claim 84, wherein

the output torque control section is further configured to reduce the target drive torque command value at a prescribed reduction rate, when the transition determining section detects that the drive torque of the subordinate drive source is decreasing, and when the generation capacity reduction detection section detects that the generation capacity decreases to the insufficient power state, while the vehicle is traveling;

and

the output torque command limiting section is further configured to control the target drive torque command value by increasing the prescribed reduction rate, when the generation capacity reduction detection section detects that the generation capacity decreases to the insufficient power state.

86. The vehicle driving force control apparatus as recited in claim 84, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, based on detecting an upshift in an automatic transmission of the vehicle provided between the main drive source and the main drive wheel.

87. The vehicle driving force control apparatus as recited in claim 84, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, when a rotational speed of a generator of the power source is detected to be below a prescribed rotational speed.

88. The vehicle driving force control apparatus as recited in claim 84, wherein

the generation capacity reduction detection section is further configured to determine that the generation capacity decreases, when a rotational speed of the main drive source is detected to be below a prescribed rotational speed.

89. The vehicle driving force control apparatus as recited in claim 78, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source within the reduction range at a first predetermined reduction rate during a first control period and at a second predetermined reduction rate during a second control period before the clutch is released.

90. The vehicle driving force control apparatus as recited in claim 89, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source during the first and second periods after issuance of a control command to release the clutch.

91. The vehicle driving force control apparatus as recited in claim 89, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source such that the second predetermined reduction rate during the second period maintains the drive torque substantially constant before the clutch is released.

92. The vehicle driving force control apparatus as recited in claim 91, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source to the clutch such that the drive torque of the subordinate drive source is controlled to substantially equal the target drive torque by controlling a field current command value of the field current of the subordinate drive source to a predetermined field current value.

93. The vehicle driving force control apparatus as recited in claim 92, wherein

the drive torque control section is further configured to setting an armature current command value of an armature current of the subordinate drive source to substantially equal a predetermined end-time armature current value that the subordinate drive source requires to output the target drive torque when the field current of the subordinate drive source is substantially equal to the predetermined field current value.

94. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source until the clutch is released by controlling a field current of a power source of the subordinate drive source of the vehicle to a predetermined value.

95. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to reduce the drive torque of the subordinate drive source to the clutch such that the drive torque of the drive source is an output motor torque of a power source which is controlled to substantially equal the target drive torque by controlling a field current command value of the field current of the power source to a predetermined field current value.

96. The vehicle driving force control apparatus as recited in claim 73, wherein

the drive torque control section is further configured to control the drive torque of the subordinate drive source until the clutch is released by setting an armature current command value of am armature current of an electric motor substantially equal to an end-time armature current value immediately after the transition determining section outputs the transition determination.

97. The vehicle driving force control apparatus as recited in claim 73, wherein

the clutch release section is further configured to estimate a convergence time for fluctuations in the drive torque of the subordinate drive source to converge within a prescribed allowable range, and output a command value of the clutch release such that the clutch is released after the convergence time has elapsed based on the estimate.

98. The vehicle driving force control apparatus as recited in claim 67, further comprising

a clutch-release torque correction section configured to correct the target drive torque in accordance with a vehicle body acceleration of the vehicle.

99. The vehicle driving force control apparatus as recited in claim 67, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on determining that the drive torque of the subordinate drive source is decreasing, while the vehicle is traveling.

100. The vehicle driving force control apparatus as recited in claim 67, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting a field current value of the subordinate drive source that corresponds to the drive torque at which an armature current value of the drive torque become equal to a predetermined end-time armature current value, while the vehicle is traveling.

101. The vehicle driving force control apparatus as recited in claim 67, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting a prescribed motor torque of the subordinate drive source that corresponds to the drive torque at which an armature current value to become equal to a predetermined end-time armature current value, while the vehicle is traveling.

102. The vehicle driving force control apparatus as recited in claim 67, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting an armature current value of the subordinate drive source that corresponds to a predetermined end-time armature current value, while the vehicle is traveling.

103. The vehicle driving force control apparatus as recited in claim 67, wherein

the transition determining section is further configured to determine the transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel based on detecting that the drive torque of the subordinate drive source has substantially reached the target drive torque, while the vehicle is traveling.

104. A vehicle driving force control apparatus for a vehicle comprising:

main drive means for supplying a main drive wheel with a drive torque;

subordinate drive means for supplying a subordinate drive wheel with a drive torque;

connecting means for selectively connecting and disconnecting a torque transfer path from the subordinate drive means to the subordinate drive wheel;

transition determining means for outputting a transition determination upon determining a transition condition indicating cease of the drive torque of the subordinate drive means to the subordinate drive wheel, while the vehicle is traveling; and

clutch release means for disengaging the connecting means, upon the drive torque of the subordinate drive means substantially reaching a target drive torque in which a difference between an output torque of the connecting means and an input torque of the connecting means is smaller than a prescribed value in response to the transition determination by the transition determining means.

105. A method of controlling a vehicle driving force of a vehicle comprising:

providing a main drive source configured and arranged to supply a main drive wheel with a drive torque;

providing a subordinate drive source configured and arranged to supply a subordinate drive wheel with a drive torque;

providing a clutch disposed in a torque transfer path from the subordinate drive source to the subordinate drive wheel;

determining a transition condition indicating cease of the drive torque of the subordinate drive source to the subordinate drive wheel, while the vehicle is traveling;

outputting a transition determination upon the determining of the issuance of the control command; and

disengaging the clutch, upon the drive torque of the subordinate drive source substantially reaching a target drive torque in which a difference between an output torque of the clutch and an input torque of the clutch is smaller than a prescribed value in response to the transition determination.