Control apparatus, control method, and control system for electric vehicle

1. A control apparatus for an electric vehicle including front wheels, a front wheel electric motor configured to output a torque to the front wheels, rear wheels, and a rear wheel electric motor configured to output a torque to the rear wheels, the control apparatus comprising:

a slip detection portion configured to detect a slip of each of the front wheels and the rear wheels;

a target wheel slip control portion configured to perform target wheel slip control of eliminating or reducing the slip of target wheels by controlling the torque to be output to the target wheels when setting one of the front wheels and the rear wheels where a larger slip is detected by the slip detection portion as the target wheels targeted for slip control and setting the other of the front wheels and the rear wheels as non-target wheels;

a non-target wheel torque limit control portion configured to perform non-target wheel torque limit control of limiting the torque to be output to the non-target wheels according to the torque output to the target wheels and a road surface μ estimated value of the non-target wheels after the target wheel slip control is started, and updating a limit value of the torque to be output to the non-target wheels when a fluctuation range of the torque output to the target wheels falls within a predetermined range during the limitation; and

a road surface μ estimated value calculation portion configured to: i) calculate the road surface μ estimated value of the non-target wheels based on the torque output to the target wheels, and ii) recalculate and update the road surface μ estimated value of the non-target wheels when the fluctuation range of the torque output to the target wheels falls within the predetermined range after the calculation, wherein

the non-target wheel torque limit control portion updates the limit value of the torque of the non-target wheels based on the update of the road surface μ estimated value of the non-target wheels calculated by the road surface μ estimated value calculation portion.

2. The control apparatus for the electric vehicle according to claim 1 , further comprising a non-target wheel slip control portion configured to perform non-target wheel slip control of eliminating or reducing the slip of the non-target wheels by controlling the torque to be output to the non-target wheels when the slip of the non-target wheels exceeds the slip of the target wheels after the target wheel slip control is started.

3. The control apparatus for the electric vehicle according to claim 1 , wherein the non-target wheel torque limit control portion conducts peak-hold regarding the limit value.

4. The control apparatus for the electric vehicle according to claim 1 , wherein the target wheels are the front wheels and the non-target wheels are the rear wheels.

5. A control method for an electric vehicle including front wheels, a front wheel electric motor configured to output a torque to the front wheels, rear wheels, and a rear wheel electric motor configured to output a torque to the rear wheels, the control method comprising:

a slip detection step of detecting a slip of each of the front wheels and the rear wheels;

a target wheel slip control step of eliminating or reducing the slip of target wheels by controlling the torque to be output to the target wheels when setting one of the front wheels and the rear wheels where a larger slip is detected by the slip detection step as the target wheels targeted for slip control and setting the other of the front wheels and the rear wheels as non-target wheels;

a non-target wheel torque limit control step of performing non-target wheel torque limit control of limiting the torque to be output to the non-target wheels according to the torque output to the target wheels and a road surface μ estimated value of the non-target wheels after the target wheel slip control step is started, and updating a limit value of the torque to be output to the non-target wheels when a fluctuation range of the torque output to the target wheels falls within a predetermined range during the limitation;

a road surface μ estimated value calculation step of calculating a road surface μ estimated value of the non-target wheels based on the torque output to the target wheels; and

a recalculating and updating step of recalculating and updating the road surface μ estimated value of the non-target wheels when the fluctuation range of the torque output to the target wheels falls within the predetermined range after the calculation, wherein

the non-target wheel torque limit control step includes updating the limit value of the torque of the non-target wheels based on the update of the road surface μ estimated value of the non-target wheels calculated by the road surface μ estimated value calculation.

6. The control method for the electric vehicle according to claim 5 , further comprising a non-target wheel slip control step of eliminating or reducing the slip of the non-target wheels by controlling the torque to be output to the non-target wheels when the slip of the non-target wheels exceeds the slip of the target wheels after the target wheel slip control step is started.

7. The control method for the electric vehicle according to claim 5 , wherein the non-target wheel torque limit control step includes conducting peak-hold regarding the limit value.

8. The control method for the electric vehicle according to claim 5 , wherein the target wheels are the front wheels and the non-target wheels are the rear wheels.

9. A control system for an electric vehicle comprising:

a front wheel electric motor configured to output a torque to front wheels of the electric vehicle;

a rear wheel electric motor configured to output a torque to rear wheels of the electric vehicle; and

a control unit configured to control the front wheel electric motor and the rear wheel electric motor,

wherein the control unit includes

a slip detection portion configured to detect a slip of each of the front wheels and the rear wheels,

a target wheel slip control portion configured to perform target wheel slip control of eliminating or reducing the slip of target wheels by controlling the torque to be output to the target wheels when setting one of the front wheels and the rear wheels where a larger slip is detected by the slip detection portion as the target wheels targeted for slip control and setting the other of the front wheels and the rear wheels as non-target wheels,

a non-target wheel torque limit control portion configured to perform non-target wheel torque limit control of limiting the torque to be output to the non-target wheels according to the torque output to the target wheels and a road surface μ estimated value of the non-target wheels after the target wheel slip control is started, and updating a limit value of the torque to be output to the non-target wheels when a fluctuation range of the torque output to the target wheels falls within a predetermined range during limitation, and

a road surface μ estimated value calculation portion configured to: i) calculate the road surface μ estimated value of the non-target wheels based on the torque output to the target wheels, and ii) recalculate and update the road surface μ estimated value of the non-target wheels when the fluctuation range of the torque output to the target wheels falls within the predetermined range after the calculation, wherein

the non-target wheel torque limit control portion updates the limit value of the torque of the non-target wheels based on the update of the road surface μ estimated value of the non-target wheels calculated by the road surface μ estimated value calculation portion.