Control apparatus
A control apparatus includes a controller. Upon a slip of a front wheel of a vehicle, the controller executes torque adjustment control that reduces a driving torque of the front wheel of the vehicle and adjusts a driving torque of a rear wheel of the vehicle to equal to or less than the driving torque of the front wheel.
1. A control apparatus comprising
a controller configured to execute torque adjustment control that reduces a driving torque of a front wheel of a vehicle and adjusts a driving torque of a rear wheel of the vehicle to equal to or less than the driving torque of the front wheel and greater than zero, upon a slip of the front wheel of the vehicle,
wherein
the controller is configured to
switch a drive mode of the vehicle between a first drive mode in which the front wheel is driven whereas the rear wheel is not driven and a second drive mode in which the front wheel and the rear wheel are driven, and
switch the drive mode to the second drive mode to execute the torque adjustment control if the front wheel slips while the first drive mode is executed.
2. The control apparatus according to claim 1 , wherein
the controller is configured to control the driving torque of the front wheel to cause a slip ratio of the front wheel to become closer to a target slip ratio in the torque adjustment control, the target slip ratio being greater than 0%.
3. The control apparatus according to claim 2 , wherein
the controller is configured to control the driving torque of the rear wheel to cause a slip ratio of the rear wheel to become closer to 0% in the torque adjustment control.
4. The control apparatus according to claim 3 , wherein
the controller is configured to control the driving torque of the rear wheel to satisfy the following Expression 1 in the torque adjustment control:
TR=TF /(1+ ST/ 100) Expression 1
where TF denotes the driving torque [N/m] of the front wheel, TR denotes the driving torque [N/m] of the rear wheel, and ST denotes the target slip ratio [%].
5. The control apparatus according to claim 4 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
6. The control apparatus according to claim 2 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
7. The control apparatus according to claim 2 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
8. The control apparatus according to claim 1 , wherein
the controller is configured to control the driving torque of the front wheel to cause a slip ratio of the front wheel to become closer to a target slip ratio in the torque adjustment control,
wherein the controller includes a motor controller to control the driving torque of the front wheels and the driving torque of the rear wheels in a separate manner.
9. The control apparatus according to claim 8 , wherein
the controller is configured to control the driving torque of the rear wheel to cause a slip ratio of the rear wheel to become closer to 0% in the torque adjustment control.
10. The control apparatus according to claim 9 , wherein
the controller is configured to control the driving torque of the rear wheel to satisfy the following Expression 1 in the torque adjustment control:
TR=TF /(1+ ST/ 100) Expression 1
where TF denotes the driving torque [N/m] of the front wheel, TR denotes the driving torque [N/m] of the rear wheel, and ST denotes the target slip ratio [%].
11. The control apparatus according to claim 10 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
12. The control apparatus according to claim 9 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
13. The control apparatus according to claim 8 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
14. The control apparatus according to claim 1 , wherein
the controller is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient.
15. The control apparatus according to claim 1 , wherein the controller includes a motor controller to control the driving torque of the front wheels and the driving torque of the rear wheels in a separate manner.
16. A control apparatus comprising
circuitry configured to execute torque adjustment control that reduces a driving torque of a front wheel of a vehicle and adjusts a driving torque of a rear wheel of the vehicle to equal to or less than the driving torque of the front wheel and greater than zero, upon a slip of the front wheel of the vehicle,
wherein
the circuitry is configured to
switch a drive mode of the vehicle between a first drive mode in which the front wheel is driven whereas the rear wheel is not driven and a second drive mode in which the front wheel and the rear wheel are driven, and
switch the drive mode to the second drive mode to execute the torque adjustment control if the front wheel slips while the first drive mode is executed.
17. The control apparatus according to claim 16 , wherein the circuitry is configured to control the driving torque of the front wheels and the driving torque of the rear wheels in a separate manner.
18. The control apparatus according to claim 16 , wherein
the circuitry is configured to stop the torque adjustment control in a case where the vehicle enters a high μ road while the torque adjustment control is executed, the high μ road having a high friction coefficient greater than a reference friction coefficient,
the circuitry is configured to control the driving torque of the front wheel to cause a slip ratio of the front wheel to become closer to a target slip ratio in the torque adjustment control, the target slip ratio being greater than 0%.
19. The control apparatus according to claim 18 , wherein
the circuitry is configured to control the driving torque of the rear wheel to cause a slip ratio of the rear wheel to become closer to 0% in the torque adjustment control.
20. A control apparatus comprising
a controller configured to execute torque adjustment control that reduces a driving torque of a front wheel of a vehicle and adjusts a driving torque of a rear wheel of the vehicle to equal to or less than the driving torque of the front wheel upon a slip of the front wheel of the vehicle,
wherein
the controller is configured to
switch a drive mode of the vehicle between a first drive mode in which the front wheel is driven whereas the rear wheel is not driven and a second drive mode in which the front wheel, and the rear wheel are driven, and
switch the drive mode to the second drive mode to execute the torque adjustment control if the front wheel slips while the first drive mode is executed,
wherein the torque adjustment control is executed only in association with the switching to the second mode and upon the slip of the front wheel of the vehicle in the first mode.