Vehicle control device and vehicle control method

1. A vehicle control device, comprising:

one or more obstacle sensors for detecting an obstacle in front of a vehicle and detecting a distance of the vehicle to the obstacle; and

one or more controllers that execute:

calculating, in accordance with a steering angle of the vehicle and the distance of the vehicle to the obstacle that is detected using the one or more obstacle sensors, a maximum driving force difference between a left wheel and a right wheel of the vehicle, the left wheel and the right wheel being either one of a pair of left and right front wheels of the vehicle and a pair of left and right rear wheels of the vehicle;

determining that at least one of the left wheel and the right wheel is slipping;

causing, when determining that the at least one of the left wheel and the right wheel is slipping, the left wheel and the right wheel to drive with adjusted torques that are set based on an actual yaw rate and a target yaw rate, wherein

the actual yaw rate is detected using one or more yaw rate sensors of the vehicle,

the target yaw rate is set based on the steering angle of the vehicle, and

the adjusted torques include a first torque of a first motor that drives the left wheel and a second torque of a second motor that drives the right wheel;

determining that an actual driving force difference exceeds the maximum driving force difference, the actual driving force difference indicating a difference between the first torque and the second torque; and

redistributing, responsive to determining at least that the actual driving force difference exceeds the maximum driving force difference, the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference,

wherein, when the actual driving force difference is less than the maximum driving force difference, the one or more controllers cause the left wheel and the right wheel to drive with the adjusted torques, without executing the redistributing of the first torque and the second torque.

2. The vehicle control device according to claim 1 ,

wherein the one or more controllers execute, when determining either one of the left wheel and the right wheel is slipping and another one of the left wheel and the right wheel is not slipping, the redistributing of the first torque and the second torque by limiting a torque of a motor having a larger torque among the first motor and the second motor to a determined value, and

wherein the determined value is calculated by adding the maximum driving force difference to a torque of a motor having a smaller torque among the first motor and the second motor.

3. The vehicle control device according to claim 2 , wherein the one or more controllers set, in the redistributing of the first torque and the second torque, the torque of the motor having the smaller torque among the first motor and the second motor as a driver's requested driving force obtained from an accelerator position and a braking operation amount.

4. The vehicle control device according to claim 1 , wherein, in the determining that at least one of the left wheel and the right wheel is slipping, the one or more controllers:

set a lowest rotation speed among rotation speeds of wheels of the vehicle as a base rotation speed; and

determine that one of the left wheel and the right wheel is slipping based on the base rotation speed and a rotation speed of one of the first motor and the second motor corresponding to the one of the left wheel and the right wheel.

5. The vehicle control device according to claim 4 , wherein the one or more controllers:

calculate target rotation speeds of the wheels of the vehicle based on the base rotation speed; and

calculate, based on a result of the determining that the one of the left wheel and the right wheel is slipping, a request torque of a motor of the one of the left wheel and the right wheel in a manner that a rotation speed of the one of the left wheel and the right wheel becomes equal to a target rotation speed of the one of the left wheel and the right wheel.

6. The vehicle control device according to claim 1 , wherein the one or more controllers generate a warning to a driver of the vehicle in response to the redistributing of the first torque and the second torque.

7. The vehicle control device according to claim 1 ,

wherein an absolute value of the maximum driving force difference is set to be increased, responsive to increasing an absolute value of the distance of the vehicle to the obstacle.

8. The vehicle control device according to claim 1 ,

wherein the redistributing of the first torque and the second torque includes:

setting, when determining at least that (1) the actual driving force difference exceeds the maximum driving force difference, and (2) an absolute value of the distance of the vehicle to the obstacle is less than a predetermined value, a limitation on the actual driving force difference by the redistributing of the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference, an absolute value of the maximum driving force difference being set to be increased responsive to increasing an absolute value of the distance of the vehicle to the obstacle, and

removing the limitation, when determining at least that the absolute value of the distance of the vehicle to the obstacle is the predetermined value or more.

9. The vehicle control device according to claim 1 ,

wherein the redistributing of the first torque and the second torque includes:

setting, when determining at least that (1) the actual driving force difference exceeds the maximum driving force difference, and (2) an absolute value of the distance of the vehicle to the obstacle is less than a predetermined value, a limitation on the actual driving force difference by the redistributing of the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference, an absolute value of the maximum driving force difference being set to be zero or less when an absolute value of the distance of the vehicle to the obstacle is a predetermined value or less, and

removing the limitation, when determining at least that the absolute value of the distance of the vehicle to the obstacle is the predetermined value or more.

10. The vehicle control device according to claim 1 , further comprising one or more cameras including the one or more obstacle sensors.

11. A vehicle control method, comprising:

receiving information of an obstacle in front of a vehicle and a distance of the vehicle to the obstacle, the obstacle and the distance of the vehicle to the obstacle being detected using one or more sensors of the vehicle;

calculating, in accordance with a steering angle of the vehicle and the distance of the vehicle to the obstacle, a maximum driving force difference between a left wheel and a right wheel of the vehicle, the left wheel and the right wheel being either one of a pair of left and right front wheels of the vehicle and a pair of left and right rear wheels of the vehicle;

determining that at least one of the left wheel and the right wheel is slipping;

causing, when determining that the at least one of the left wheel and the right wheel is slipping, the left wheel and the right wheel to drive with adjusted torques that are set based on an actual yaw rate and a target yaw rate, wherein

the actual yaw rate is detected by one or more yaw rate sensors of the vehicle,

the target yaw rate is set based on the steering angle of the vehicle, and

the adjusted torques include a first torque of a first motor that drives the left wheel and a second torque of a second motor that drives the right wheel;

determining that an actual driving force difference exceeds the maximum driving force difference, the actual driving force difference indicating a difference between the first torque and the second torque; and

redistributing, responsive to determining at least that the actual driving force difference exceeds the maximum driving force difference, the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference,

wherein, when the actual driving force difference is less than the maximum driving force difference, one or more controllers of the vehicle cause the left wheel and the right wheel to drive with the adjusted torques, without executing the redistributing of the first torque and the second torque.

12. The vehicle control method according to claim 11 ,

wherein, when determining either one of the left wheel and the right wheel is slipping and another one of the left wheel and the right wheel is not slipping, the redistributing of the first torque and the second torque includes limiting a torque of a motor having a larger torque among the first motor and the second motor to a determined value, and

wherein the determined value is calculated by adding the maximum driving force difference to a torque of a motor having a smaller torque among the first motor and the second motor.

13. The vehicle control method according to claim 12 , wherein, in the redistributing of the first torque and the second torque, the torque of the motor having the smaller torque among the first motor and the second motor is set as a driver's requested driving force obtained from an accelerator position and a braking operation amount.

14. The vehicle control method according to claim 11 , wherein, in the calculating of the maximum driving force difference, the maximum driving force difference is calculated in accordance with the distance of the vehicle to the obstacle and a steering wheel steering angle of the vehicle.

15. The vehicle control method according to claim 11 , further comprising:

generating a warning to a driver of the vehicle in response to the redistributing of the first torque and the second torque.

16. The vehicle control method according to claim 11 ,

wherein, in the calculating of the maximum driving difference, an absolute value of the maximum driving force difference is set to be increased, responsive to increasing an absolute value of the distance of the vehicle to the obstacle.

17. The vehicle control method according to claim 11 ,

wherein, the redistributing of the first torque and the second torque includes:

setting, when determining at least that (1) the actual driving force difference exceeds the maximum driving force difference, and (2) an absolute value of the distance of the vehicle to the obstacle is less than a predetermined value, a limitation on the actual driving force difference by the redistributing of the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference, an absolute value of the maximum driving force difference being set to be increased responsive to increasing an absolute value of the distance of the vehicle to the obstacle, and

removing the limitation, when determining at least that the absolute value of the distance of the vehicle to the obstacle is the predetermined value or more.

18. The vehicle control method according to claim 11 ,

wherein the redistributing of the first torque and the second torque includes:

setting, when determining at least that (1) the actual driving force difference exceeds the maximum driving force difference, and (2) an absolute value of the distance of the vehicle to the obstacle is less than a predetermined value, a limitation on the actual driving force difference by the redistributing of the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference, an absolute vale of the maximum driving force difference being set to be zero or less when an absolute value of the distance of the vehicle to the obstacle is a predetermined value or less, and

removing the limitation, when determining at least that the absolute value of the distance of the vehicle to the obstacle is the predetermined value or more.

19. The vehicle control method according to claim 11 , further comprising capturing an image of an external environment including the obstacle using one or more cameras,

wherein the one or more cameras includes the one or more sensors, and are equipped in the vehicle.

20. A vehicle control device, comprising:

one or more obstacle sensors for detecting an obstacle in front of a vehicle and detecting a distance of the vehicle to the obstacle; and

one or more controllers that execute:

calculating, based on the distance of the vehicle to the obstacle that is detected using the one or more obstacle sensors, a maximum driving force difference between a left wheel and a right wheel of the vehicle, the left wheel and the right wheel being either one of a pair of left and right front wheels of the vehicle and a pair of left and right rear wheels of the vehicle, wherein

an absolute value of the maximum driving force difference is set to be increased, responsive to increasing an absolute value of the distance of the vehicle to the obstacle;

determining that at least one of the left wheel and the right wheel is slipping;

causing, when determining that the at least one of the left wheel and the right wheel is slipping, the left wheel and the right wheel to drive with adjusted torques that are set based on an actual yaw rate and a target yaw rate, wherein

the actual yaw rate is detected using one or more yaw rate sensors of the vehicle,

the target yaw rate is set based on a steering angle of the vehicle, and

the adjusted torques include a first torque of a first motor that drives the left wheel and a second torque of a second motor that drives the right wheel;

determining that an actual driving force difference exceeds the maximum driving force difference, the actual driving force difference indicating a difference between the first torque and the second torque; and

redistributing, responsive to determining at least that the actual driving force difference exceeds the maximum driving force difference, the first torque and the second torque to cause the actual driving force difference to become lower than or equal to the maximum driving force difference,

wherein, when the actual driving force difference is less than the maximum driving force difference, the one or more controllers cause the left wheel and the right wheel to drive with the adjusted torques, without executing the redistributing of the first torque and the second torque.