Apparatus and method for controlling driving force supplied to wheels on opposite sides of vehicle
First Claim
1. An apparatus for controlling driving forces supplied to a left wheel and a right wheel of a vehicle, comprising:
- a driving force adjusting device for adjusting a driving force to be supplied to the left wheel and that to be supplied to the right wheel;
a first controlling device for controlling said driving force adjusting device such that a difference between a speed of the left wheel and a speed of the right wheel coincides with a target wheel speed difference matching a running state of the vehicle;
a second controlling device for controlling said driving force adjusting device such that a yaw momentum generated on the vehicle coincides with a target yaw momentum matching the running state of the vehicle; and
a control amount adjusting device for changing a gain of a first contribution of said first controlling device to a second contribution of said second controlling device based on a turning state of the vehicle and outputting both the first contribution and the second contribution, in accordance with the changed gain, to said driving force adjusting device.
3 Assignments
0 Petitions
Accused Products
Abstract
An apparatus for controlling driving forces supplied to left and right wheels of a vehicle, for effectively inhibiting oversteer and understeer states, includes driving force adjusting device for adjusting driving forces supplied to the left and the right rear wheels, first controlling device for controlling the driving force adjusting device such that a wheel speed difference between the left and the right rear wheels coincides with a target wheel speed difference, and second controlling device for controlling the driving force adjusting device such that a yaw momentum of the vehicle coincides with a target yaw momentum. If the vehicle is in an understeer state, the contribution of the second controlling device is increased relative to that the first controlling device and if the vehicle is in an oversteer state, the contribution of the first controlling device is increased relative to that of the second controlling device.
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Citations
14 Claims
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1. An apparatus for controlling driving forces supplied to a left wheel and a right wheel of a vehicle, comprising:
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a driving force adjusting device for adjusting a driving force to be supplied to the left wheel and that to be supplied to the right wheel; a first controlling device for controlling said driving force adjusting device such that a difference between a speed of the left wheel and a speed of the right wheel coincides with a target wheel speed difference matching a running state of the vehicle; a second controlling device for controlling said driving force adjusting device such that a yaw momentum generated on the vehicle coincides with a target yaw momentum matching the running state of the vehicle; and a control amount adjusting device for changing a gain of a first contribution of said first controlling device to a second contribution of said second controlling device based on a turning state of the vehicle and outputting both the first contribution and the second contribution, in accordance with the changed gain, to said driving force adjusting device. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling driving forces supplied to a left wheel and a right wheel of a vehicle including driving force adjusting device for adjusting a driving force to be supplied to the left wheel and that to be supplied to the right wheel, comprising:
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calculating a target wheel speed difference between the left wheel and the right wheel based on a running state of the vehicle; setting a first elementary control amount that is to be applied to the driving force adjusting device such that an actual wheel speed difference between a speed of the left wheel and a speed of the right wheel coincides with the target wheel speed difference; setting a target yaw rate of the vehicle based on the running state of the vehicle; setting a second elementary control amount that is to be applied to the driving force adjusting device such that an actual yaw rate of the vehicle coincide with the target yaw rate; judging a turning state of the vehicle based on the running state of the vehicle; and changing a gain of the first elementary control amount to the second elementary control amount based on the turning safe of the vehicle and outputting the first elementary control amount and the second elementary control amount, in accordance with the changed gain, to the driving force adjusting device. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification