Vehicle and method of controlling driving force for the vehicle based on detected slip of the drive wheel
First Claim
1. A vehicle, comprising:
- a power source arranged to output driving power to a driveshaft linked with a drive wheel;
a rotation speed detector structured to obtain a rotation speed of the driveshaft as a driveshaft rotation speed;
an angular acceleration computation module configured to compute an angular acceleration of the drive wheel as a computed drive wheel angular acceleration from the obtained driveshaft rotation speed;
a drive wheel rotation speed computation module configured to compute a rotation speed of the drive wheel as a computed drive wheel rotation speed from the obtained driveshaft rotation speed;
an estimated vehicle body speed computation module configured to compute an estimated speed of a vehicle body as an estimated vehicle body speed by integration of an actual driving force actually used for driving the vehicle and the computed drive wheel angular acceleration;
a slip detection module configured to detect occurrence or non-occurrence of a certain slip of the drive wheel, based on a rotation speed of the drive wheel expected from the estimated vehicle body speed and the computed drive wheel rotation speed; and
a control module configured, in response to detection of non-occurrence of the certain slip by the slip detection module, to control the power source to output a driving force corresponding to a driving force demand required for driving and drive the vehicle with the output driving force, and in response to detection of the occurrence of the certain slip by the slip detection module, to control the power source to output a driving force corresponding to the driving force demand with drive restriction of the power source and drive the vehicle with the restricted output driving force.
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Accused Products
Abstract
The occurrence or non-occurrence of a certain slip of a drive wheel is detected based on only a motor torque used for driving a vehicle, a brake torque, and a rotation speed of a motor computed from an output of a rotational position detection sensor. In response to detection of the occurrence of the certain slip, drive restriction of the motor is activated for slip control. The slip control is attainable by a brake system and the drive restriction of the motor. Even in the event of any failure or abnormality arising in the brake system or in the event of prohibiting traction control of the brake system in response to the driver'"'"'s operation of a TRC off switch, the drive restriction of the motor accomplishes the slip control. This arrangement desirably prevents slip-induced unstable driving of the vehicle and damages of devices involved in slip control for the vehicle.
37 Citations
22 Claims
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1. A vehicle, comprising:
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a power source arranged to output driving power to a driveshaft linked with a drive wheel; a rotation speed detector structured to obtain a rotation speed of the driveshaft as a driveshaft rotation speed; an angular acceleration computation module configured to compute an angular acceleration of the drive wheel as a computed drive wheel angular acceleration from the obtained driveshaft rotation speed; a drive wheel rotation speed computation module configured to compute a rotation speed of the drive wheel as a computed drive wheel rotation speed from the obtained driveshaft rotation speed; an estimated vehicle body speed computation module configured to compute an estimated speed of a vehicle body as an estimated vehicle body speed by integration of an actual driving force actually used for driving the vehicle and the computed drive wheel angular acceleration; a slip detection module configured to detect occurrence or non-occurrence of a certain slip of the drive wheel, based on a rotation speed of the drive wheel expected from the estimated vehicle body speed and the computed drive wheel rotation speed; and a control module configured, in response to detection of non-occurrence of the certain slip by the slip detection module, to control the power source to output a driving force corresponding to a driving force demand required for driving and drive the vehicle with the output driving force, and in response to detection of the occurrence of the certain slip by the slip detection module, to control the power source to output a driving force corresponding to the driving force demand with drive restriction of the power source and drive the vehicle with the restricted output driving force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A control method of a vehicle equipped with a power source configured to output driving power to a driveshaft linked with a drive wheel,
the control method comprising: -
computing an estimated speed of a vehicle body as an estimated vehicle body speed by integration of an actual driving force actually used for driving the vehicle and a computed drive wheel angular acceleration computed from a driveshaft rotation speed as a rotation speed of the driveshaft; detecting occurrence or non-occurrence of a certain slip of the drive wheel, based on a rotation speed of the drive wheel expected from the estimated vehicle body speed and a computed drive wheel rotation speed computed from the driveshaft rotation speed; and in response to detection of non-occurrence of the certain slip, controlling the power source to output a driving force corresponding to a driving force demand required for driving and drive the vehicle with the output driving force, and in response to detection of the occurrence of the certain slip, controlling the power source to output a driving force corresponding to the driving force demand with drive restriction of the power source and drive the vehicle with the restricted output driving force.
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Specification