Vehicle control apparatus
The present invention provides a vehicle control apparatus which allows a vehicle to safely negotiate a bump smoothly without feeling unusual to the driver of the vehicle. This vehicle control apparatus is characterized by comprising: a strain sensor output value acquisition unit that acquires the output value of a strain sensor ( 113 ) mounted to a drive shaft ( 115 ) for driving wheels ( 116 ); and a vehicle behavior detection unit that detects when the wheels ( 116 ) start moving on the basis of when the output value of the strain sensor decreases from the value when the wheels ( 116 ) are in the stopped state.
1. A vehicle control apparatus comprising:
a strain sensor processor configured to acquire an output value of a strain sensor mounted to a drive shaft for driving wheels;
a vehicle behavior detector configured to detect when the wheels start moving on a basis of when the output value of the strain sensor decreases from a value when the wheels are in a stopped state; and
a torque controller configured to control a drive torque to be supplied to the drive shaft, wherein:
the torque controller increases an instruction value of the drive torque in a state where the wheels are stopped,
the vehicle behavior detector detects start of movement of the wheels based on a change of the output value of the strain sensor from increase to decrease,
the torque controller stops an increase in the instruction value of the drive torque when the vehicle behavior detector detects start of movement of the wheels and the output value of the strain sensor changes from increase to decrease, and
the torque controller maintains the instruction value of the drive torque when the vehicle behavior detector detects start of movement of the wheels and the output value of the strain sensor changes from increase to decrease.
2. The vehicle control apparatus according to claim 1 , further comprising a bump detector configured to detect a presence of a bump on the basis of the output value of the strain sensor,
wherein the bump detector compares a necessary torque needed for the wheels to start moving from the state where the wheels are stopped on a horizontal plane with a calculated torque calculated from the output value of the strain sensor, and detects a contact of the wheels with the bump on the basis of a result that the calculated torque exceeds the necessary torque.
3. The vehicle control apparatus according to claim 2 , wherein in a case where the calculated torque exceeds the necessary torque, the torque controller retains the instruction value of the drive torque.
4. The vehicle control apparatus according to claim 2 , further comprising a slip detector configured to detect if the wheels are slipping based on a wheel speed sensor value of a wheel speed sensor configured to measure a wheel speed of the wheels, wherein:
when the slip detector detects the wheels slipping, the torque controller decreases the instruction value of the drive torque to an initial torque below the necessary torque, and
when the slip detector detects the wheels not slipping, the torque controller increases the instruction value of the drive torque above the initial torque.