Braking and drive force control apparatus for a vehicle
First Claim
1. A braking and drive force control apparatus for a vehicle having four actuators that independently drive four wheels that are suspended on a vehicle body by a suspension apparatus, the control apparatus being capable of independently controlling the braking and drive forces generated by the four actuators and comprising:
- a vehicle body upwards and downwards vibration sensing means which senses upwards and downwards vibration of the vehicle body caused by variation in ground contact load of at least one of the four wheels; and
a braking and drive force control means which, based upon the sensed upwards and downwards vibration of the vehicle body, (i) determines a difference in the braking and drive forces that should be generated by at least one of the four actuators in order to suppress repeated upwards and downwards vibration of the vehicle body, and (ii) drives and controls the four actuators in accordance with the determined difference, so as to thereby apply a force to the vehicle body in a direction for suppressing the repeated upwards and downwards vibration of the vehicle body.
1 Assignment
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Accused Products
Abstract
A braking and drive force control apparatus for a vehicle whose wheels are separately driven by electric motors. A controller calculates a drive force or a braking force to be applied to each wheel in accordance with the average sprung displacement and average sprung velocity of the vehicle body which are calculated based on sensed sprung acceleration. By adding the calculated drive force or braking force to the drive force at the time of running, at the time of bouncing of the vehicle body, a downwards force can be generated in the vehicle body which is rising, and an upwards force can be generated in the vehicle body which is descending. By applying an upwards or downwards force to each wheel so as to permit upwards and downwards vibration of the wheels, variations in the ground contact load can be suppressed.
19 Citations
7 Claims
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1. A braking and drive force control apparatus for a vehicle having four actuators that independently drive four wheels that are suspended on a vehicle body by a suspension apparatus, the control apparatus being capable of independently controlling the braking and drive forces generated by the four actuators and comprising:
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a vehicle body upwards and downwards vibration sensing means which senses upwards and downwards vibration of the vehicle body caused by variation in ground contact load of at least one of the four wheels; and a braking and drive force control means which, based upon the sensed upwards and downwards vibration of the vehicle body, (i) determines a difference in the braking and drive forces that should be generated by at least one of the four actuators in order to suppress repeated upwards and downwards vibration of the vehicle body, and (ii) drives and controls the four actuators in accordance with the determined difference, so as to thereby apply a force to the vehicle body in a direction for suppressing the repeated upwards and downwards vibration of the vehicle body. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification