Control device for controlling drive force that acts on vehicle
A control device for controlling a drive force that acts on a vehicle includes a first controller for controlling the drive force, and a second controller for sending to the first control means a limit of the drive force. The second controller has an input unit for inputting the drive force outputted from the first controller, and a calculation unit for calculating a limiting drive force for limiting the drive force. In the case that a first value obtained by subtracting the drive force from the limiting drive force is equal to or greater than a threshold value, the calculation unit outputs a second value that is greater than the limiting drive force.
1. A control device for controlling a drive force that acts on a vehicle, the control device comprising:
a first controller that is configured to control the drive force and to output the drive force; and
a second controller that is configured to send a limit of the drive force to the first controller, wherein
the second controller comprises:
an input unit that is configured to receive the drive force output by the first controller, and
a calculation unit that is configured to compute a first limiting drive force for limiting the drive force; and
when a first value obtained by subtracting the drive force from the first limiting drive force is equal to or greater than a threshold value, the calculation unit outputs a second value as a modified limiting drive force in place of said first limiting drive force, said second value being greater than a value of the first limiting drive force.
2. The control device according to claim 1 , wherein
the calculation unit continues to calculate the first limiting drive force until a count value, which is counted beginning when the first value is equal to or greater than the threshold value, reaches a predetermined value; and the calculation unit outputs the second value after the count value has reached the predetermined value.
3. The control device according to claim 1 , wherein
the second controller begins to send the limiting drive force to the first controller when the vehicle is traveling in an unstable state.
4. The control device according to claim 3 , wherein
the second controller sends the output of the calculation unit to the first controller.
5. The control device according to claim 1 , wherein
the calculation unit calculates the first limiting drive force in a first mode, and when the first value is equal to or greater than the threshold value, the calculation unit stops calculating the first limiting drive force in the first mode and obtains the second value.
6. The control device according to claim 1 , wherein
the calculation unit calculates the first limiting drive force in a first mode, and when the first value is equal to or greater than the threshold value, the calculation unit calculates the second value in a second mode.
7. The control device according to claim 1 , wherein
the first controller is configured to control, as the drive force, a drive force of a main drive wheel and a drive force of an auxiliary drive wheel, wherein the drive force of the main drive wheel is one of a drive force of a front wheel or a drive force of a rear wheel, and the drive force of the auxiliary drive wheel is another of the drive force of the front wheel or the drive force of the rear wheel; and
the controller is configured to send a limit of the drive force of the auxiliary drive wheel as a limit of the drive force, and the calculation unit calculates as the limiting drive force an auxiliary-drive-wheel-limiting drive force for limiting the drive force of the auxiliary drive wheel.
8. The control device according to claim 1 , wherein the first controller is a drive force controller, and the second controller is a vehicle behavior controller.