IP Library › Granted Patent US 12691884
Granted Patent B2
US 12691884 · App. 18/702,961 · Granted Jul 28, 2026

Driving force control device and vehicle

Inventors: Hiroaki Takuma (Hitachinaka, JP); Takashi Okamoto (Hitachinaka, JP); Toshiyuki Innami (Hitachinaka, JP)
Assignee: HITACHI ASTEMO, LTD.
B60W30/188B60W40/06B60W2510/083B60W2520/06
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Quick Facts
Patent No.
US 12691884
App. No.
18/702,961
Granted
Jul 28, 2026
Kind
B2
Abstract

A driving force control device for a vehicle having a driving unit capable of individually driving a left wheel and a right wheel, includes: a torque calculation unit for calculating a torque command value which is a torque to be generated in each of the left wheel and the right wheel; a traveling direction calculation unit for calculating a current traveling direction of the vehicle; a target traveling direction calculation unit for calculating a future target traveling direction of the vehicle by using at least one of information on a road surface on which the vehicle travels and external information of the vehicle, and; the torque calculation unit calculates a calculation command value so as to bring the current traveling direction close to the target traveling direction, and outputs the calculation command value to the driving unit as the torque command value.

Claims (41)

1 . A driving force control device for a vehicle having a driving unit capable of individually driving a left wheel and a right wheel, comprising:

a central processing unit (CPU) configured to:

calculate a torque command value which is a torque to be generated in each of the left wheel and the right wheel;

calculate a current traveling direction of the vehicle;

calculate a future target traveling direction of the vehicle by using at least one of information on a road surface on which the vehicle travels and external information of the vehicle, and;

calculate a calculation command value so as to bring the current traveling direction close to the target traveling direction, and outputs the calculation command value to the driving unit as the torque command value; and

acquire operation information that is information relating to an operation input for a user to drive the vehicle and includes at least information relating to a steering angle,

wherein the CPU is further configured to determine whether or not to override the calculation command value with user command value which is the torque command value based on the operation information based on a deviation between the user command value and the calculation command value that is the torque command value based on the target traveling direction,

wherein the CPU is further configured to evaluate a deviation between a ratio between the right wheel torque and the left wheel torque in the user command value and a ratio between the right wheel torque and the left wheel torque in the calculation command value.

2 . The driving force control device according to claim 1 ,

wherein the driving unit includes at least one driving device and a differential device capable of distributing an output of the driving device to the left wheel and the right wheel.

3 . The driving force control device according to claim 1 ,

wherein the driving unit includes a left wheel electric motor that drives the left wheel and a right wheel electric motor that drives the right wheel and is different from the left wheel electric motor.

4 . The driving force control device according to claim 1 , further comprising:

wherein the CPU is further configured to calculate the calculation command value so that the current traveling direction becomes the target traveling direction.

5 . A driving force control device for a vehicle having a driving unit capable of individually driving a left wheel and a right wheel, comprising:

a central processing unit (CPU) configured to:

calculate a torque command value which is a torque to be generated in each of the left wheel and the right wheel;

calculate a current traveling direction of the vehicle;

calculate a future target traveling direction of the vehicle by using at least one of information on a road surface on which the vehicle travels and external information of the vehicle,

calculate a calculation command value so as to bring the current traveling direction close to the target traveling direction, and outputs the calculation command value to the driving unit as the torque command value; and

acquire operation information that is information relating to an operation input for a user to drive the vehicle and includes at least information relating to a steering angle,

wherein the CPU is further configured to determine whether or not to override the calculation command value with user command value which is the torque command value based on the operation information based on a deviation between the user command value and the calculation command value that is the torque command value based on the target traveling direction,

wherein the CPU is further configured to evaluate a deviation between a ratio between the right wheel torque and the left wheel torque in the user command value and a ratio between the right wheel torque and the left wheel torque in the calculation command value, and

wherein the torque calculation unit evaluates a difference between the right wheel torque and the left wheel torque in the user command value and a difference between the right wheel torque and the left wheel torque in the calculation command value.

6 . A vehicle comprising:

a driving unit capable of individually driving a left wheel and a right wheel, and;

a driving force control device for outputting a torque command value to the driving unit, the torque command value indicating a torque to be generated in each of the left wheel and the right wheel,

wherein the driving force control device comprises:

a central processing unit (CPU) configured to:

calculate the torque command value;

calculate a current traveling direction of the vehicle;

calculate a future target traveling direction of the vehicle by using at least one of information on a road surface on which the vehicle travels and external information of the vehicle,

wherein the CPU is further configured to calculate a calculation command value so that the current traveling direction close to the target traveling direction, and outputs the calculation command value to the driving unit as the torque command value

acquire operation information that is information relating to an operation input for a user to drive the vehicle and includes at least information relating to a steering angle,

wherein the CPU is further configured to determine whether or not to override the calculation command value with user command value which is the torque command value based on the operation information based on a deviation between the user command value and the calculation command value that is the torque command value based on the target traveling direction,

wherein the CPU is further configured to evaluate a deviation between a ratio between the right wheel torque and the left wheel torque in the user command value and a ratio between the right wheel torque and the left wheel torque in the calculation command value.

7 . The vehicle according to claim 6 ,

wherein the driving unit includes at least one driving device and a differential device capable of distributing an output of the driving device to the left wheel and the right wheel.

8 . The vehicle according to claim 6 ,

wherein a left wheel electric motor that drives the left wheel; and a right wheel electric motor that drives the right wheel and is different from the left wheel electric motor.