Control system and control method for driving device, and recording medium
In a control system and control method for a driving device, opposite distribution control is performed (e.g., steps 1, 4 to 7 ), whereby a left driving force and a right driving force are controlled such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle, whereby a left-right driving force difference is generated which is a difference between the left driving force and the right driving force. During performance of the opposite distribution control, when deceleration of the vehicle is obtained, limit control is performed (e.g., step 8 ), whereby the left driving force and the right driving force are controlled such that a change in the left-right driving force difference becomes smaller than a change in a left-right driving force sum, which is the sum of the left driving force and the right driving force.
1. A control system for a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,
the control system comprising:
a processor for performing an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle; and
said processor for obtaining deceleration of the vehicle,
wherein during performance of the opposite distribution control, when the deceleration of the vehicle is obtained, said processor performs a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.
2. The control system for a driving device according to claim 1 , further comprising a sensor for obtaining a traveling speed of the vehicle, and
wherein during performance of the opposite distribution control, in a case where the obtained traveling speed of the vehicle is not lower than a predetermined speed, said processor starts the limit control when the deceleration of the vehicle is obtained.
3. The control system for a driving device according to claim 1 , wherein said processor controls the left driving force and the right driving force, as the limit control, such that the left-right driving force difference is held substantially constant.
4. The control system for a driving device according to claim 1 , wherein said processor further obtains termination of the deceleration of the vehicle or acceleration of the vehicle, and
wherein said processor continues the limit control until the termination of the deceleration of the vehicle or the acceleration of the vehicle is obtained.
5. The control system for a driving device according to claim 1 , further comprising a sensor for obtaining a movement state of the vehicle, and
wherein after termination of the limit control, said processor controls the left driving force and the right driving force such that the left driving force and the right driving force are progressively returned from values to which the left driving force and the right driving force have been controlled at an end of the limit control to values to which the left driving force and the right driving force are controlled by normal control according to the obtained movement state of the vehicle.
6. The control system for a driving device according to claim 1 , wherein the vehicle is a vehicle, and
wherein the left and right driving parts are left and right wheels of the vehicle.
7. The control system for a driving device according to claim 1 , wherein the driving device includes a left rotating electric machine and a right rotating electric machine connected to the left driving part and the right driving part, respectively.
8. A control system for a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,
the control system comprising:
a sensor for obtaining a control parameter indicative of at least one of a movement state of the vehicle and a demand from an operator of the vehicle;
a processor for calculating a left-right difference target value, which is a target value of the left-right driving force difference, and a left-right sum target value, which is a target value of the left-right driving force sum, based on the obtained control parameter; and
said processor for controlling the left driving force and the right driving force according to the calculated left-right difference target value and left-right sum target value,
wherein said processor performs, according to the left-right difference target value, an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle, and
wherein during performance of the opposite distribution control, when both a change in the left-right difference target value and a change in the left-right sum target value are obtained, said processor performs a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.
9. A control method for a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,
the control method comprising:
a step of performing an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle;
a step of obtaining deceleration of the vehicle; and
a step of performing, during performance of the opposite distribution control, when the deceleration of the vehicle is obtained, a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.
10. A non-transitory recording medium in which is recorded a program for causing a computer to perform a control process for controlling a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,
the control process comprising:
a step of performing an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle;
a step of obtaining deceleration of the vehicle; and
a step of performing, during performance of the opposite distribution control, when the deceleration of the vehicle is obtained, a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.