Vehicle control device and vehicle control method
A vehicle control device includes: a slip determination module that determines a slip of each of wheels; a base distribution calculation module that calculates a base distribution torque to be distributed to the front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and changes the base distribution ratio on the basis of a result of slip determination performed by the slip determination module when the slip is detected; a rotation speed control module that decreases the base distribution torque on the basis of the result of slip determination, in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed; and a torque vectoring module that redistributes a torque down amount of the slipping wheel to the base distribution torque of non-slipping wheels that are not slipping.
1. A vehicle control device comprising:
a slip determination module that determines a slip of each of a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel;
a base distribution calculation module that calculates a base distribution torque to be distributed to the front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and changes the base distribution ratio on the basis of a result of slip determination performed by the slip determination module when the slip is detected;
a rotation speed control module that decreases the base distribution torque on the basis of the result of slip determination performed by the slip determination module, in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed; and
a torque vectoring module that redistributes a decreased torque amount of the slipping wheel that is slipping to the base distribution torque of non-slipping wheels that are not slipping,
wherein the base distribution calculation module changes the base distribution ratio of torques based on an actual distribution ratio of torques, between the front and rear wheels, before and after the decrease of the base distribution torque.
2. The vehicle control device according to claim 1 , wherein the base distribution calculation module sets the base distribution ratio to an efficiency-oriented distribution ratio before the slip is detected, and changes the base distribution ratio into a stability-oriented distribution ratio after the slip is detected.
3. The vehicle control device according to claim 2 , wherein the torques are distributed while biased toward the front wheels or the rear wheels in a case of the efficiency-oriented distribution ratio.
4. The vehicle control device according to claim 3 , wherein the torques are distributed on the basis of a weight distribution proportion in a case of the stability-oriented distribution ratio.
5. The vehicle control device according to claim 3 , wherein the base distribution calculation module sets the base distribution ratio to the actual distribution ratio of torques between the front and rear wheels until the actual distribution ratio reaches the stability-oriented distribution ratio after the slip is detected.
6. The vehicle control device according to claim 3 , wherein the base distribution calculation module sets the base distribution ratio to the stability-oriented distribution ratio after the actual distribution ratio of torques between the front and rear wheels reaches the stability-oriented distribution ratio after the slip is detected.
7. The vehicle control device according to claim 3 , wherein the base distribution calculation module changes the base distribution ratio back to the efficiency-oriented distribution ratio after slip end determination.
8. The vehicle control device according to claim 2 , wherein the torques are distributed on the basis of a weight distribution proportion in a case of the stability-oriented distribution ratio.
9. The vehicle control device according to claim 2 , wherein the base distribution calculation module sets the base distribution ratio to the actual distribution ratio of torques between the front and rear wheels until the actual distribution ratio reaches the stability-oriented distribution ratio after the slip is detected.
10. The vehicle control device according to claim 2 , wherein the base distribution calculation module sets the base distribution ratio to the stability-oriented distribution ratio after the actual distribution ratio of torques between the front and rear wheels reaches the stability-oriented distribution ratio after the slip is detected.
11. The vehicle control device according to claim 2 , wherein the base distribution calculation module changes the base distribution ratio back to the efficiency-oriented distribution ratio after slip end determination.
12. The vehicle control device according to claim 1 , wherein the torque vectoring module acquires the base distribution torque of the front and rear wheels, and adds the decreased torque amount to the base distribution torque of the non-slipping wheels.
13. The vehicle control device according to claim 12 , wherein, with regard to the non-slipping wheels, the torque vectoring module evenly redistributes, to the non-slipping wheels, a value obtained by dividing a sum of the decreased torque amount of the slipping wheel by a number of the non-slipping wheels.
14. The vehicle control device according to claim 1 , wherein for each control cycle, the torque vectoring module
calculates a sum of decreased torque amounts in a current control cycle, wherein the decreased torque amounts correspond to at least two slipping wheels in a previous control cycle, and
redistributes, in the current control cycle, the sum of the decreased torque amounts to the base distribution torque of each of the non-slipping wheels that are not slipping in the current control cycle.
15. A vehicle control method comprising:
determining a slip of each of wheels;
calculating a base distribution torque to be distributed to front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and changing the base distribution ratio on the basis of a result of the slip determination when the slip is detected;
decreasing the base distribution torque on the basis of the result of the slip determination in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed;
redistributing a decreased torque amount of the slipping wheel that is slipping to the base distribution torque of non-slipping wheels that are not slipping: and
changing the base distribution ratio of torques based on an actual distribution ratio of torques, between the front and rear wheels, before and after the decrease of the base distribution torque.
16. A vehicle control device comprising
circuitry configured to
determine a slip of each of a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel;
calculate a base distribution torque to be distributed to the front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and change the base distribution ratio on the basis of a result of the slip determination when the slip is detected;
decrease the base distribution torque on the basis of the result of the slip determination in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed;
redistribute a decreased torque amount of the slipping wheel that is slipping to the base distribution torque of non-slipping wheels that are not slipping: and
change the base distribution ratio of torques based on an actual distribution ratio of torques, between the front and rear wheels, before and after the decrease of the base distribution torque.