Simultaneous regenerative braking and yaw rate control for a four-wheel-drive vehicle
When regeneration control is performed while yaw rate control is being performed, the regeneration control is prohibited, or a regenerative torque of a second rotary machine based on the regeneration control is limited in comparison with a case in which the yaw rate control is not performed. Accordingly, since an influence of the regenerative torque controlled by the regeneration control on the yaw rate control can be suitably curbed, it is possible to curb deterioration in conformability of an actual yaw rate with a target yaw rate in the yaw rate control.
1. A four-wheel-drive vehicle comprising:
a rotary machine that is a drive power source;
a transfer configured to transmit a drive power from the drive power source to front wheels and rear wheels and to adjust a drive power distribution ratio of the drive power which is transmitted from the drive power source to the front wheels and the rear wheels; and
an electric control unit configured to control the drive power source,
wherein each of the front wheels and the rear wheels includes a wheel brake of which a braking force is able to be independently adjusted,
wherein the electric control unit is configured to perform regeneration control for performing regeneration of the rotary machine at the time of deceleration,
wherein the electric control unit is configured to perform yaw rate control for adjusting the drive power distribution ratio by controlling the transfer such that an actual yaw rate of the four-wheel-drive vehicle conforms to a target yaw rate when a yaw rate starting condition is met, the yaw rate starting condition being when a yaw rate difference is equal to or greater than a predetermined oversteering determination value or the yaw rate difference is less than or equal to a predetermined understeering determination value, and
when the yaw rate starting condition is met so as to begin the yaw rate control while the regeneration control is being performed such that the regeneration control and the yaw rate control are performed together, the electric control unit is configured to limit a regenerative torque of the rotary machine based on the regeneration control in comparison with a case in which the yaw rate control is not performed and to control the braking forces of the wheel brakes provided in the wheels to compensate for insufficiency of a braking force of the four-wheel-drive vehicle due to the limiting of the regenerative torque based on the regeneration control.
2. The four-wheel-drive vehicle according to claim 1 , wherein the regeneration control is to control the regenerative torque such that the regenerative torque reaches a required regenerative torque calculated from a brake operation amount of a driver, and
wherein the electric control unit is configured to limit change of the regenerative torque when the yaw rate control is performed and the required regenerative torque increases.
3. The four-wheel-drive vehicle according to claim 2 , wherein the electric control unit is configured to permit change of the regenerative torque when the yaw rate control is performed and the required regenerative torque decreases.
4. The four-wheel-drive vehicle according to claim 2 , wherein the electric control unit is configured to perform ending control for changing the regenerative torque at a preset constant rate of change until the regenerative torque reaches the required regenerative torque when the yaw rate control ends.
5. The four-wheel-drive vehicle according to claim 1 ,
wherein the electric control unit is configured to control the braking forces of the wheel brakes and the drive power distribution ratio such that the actual yaw rate conforms to the target yaw rate.
6. A four-wheel-drive vehicle comprising:
a rotary machine that is a drive power source;
a transfer configured to transmit a drive power from the drive power source to front wheels and rear wheels and to adjust a drive power distribution ratio of the drive power which is transmitted from the drive power source to the front wheels and the rear wheels; and
an electric control unit configured to control the drive power source,
wherein each of the front wheels and the rear wheels includes a wheel brake of which a braking force is able to be independently adjusted,
wherein the electric control unit is configured to perform regeneration control for performing regeneration of the rotary machine at the time of deceleration,
wherein the electric control unit is configured to perform yaw rate control for adjusting the drive power distribution ratio by controlling the transfer such that an actual yaw rate of the four-wheel-drive vehicle conforms to a target yaw rate when a yaw rate starting condition is met, the yaw rate starting condition being when a yaw rate difference is equal to or greater than a predetermined oversteering determination value or the yaw rate difference is less than or equal to a predetermined understeering determination value, and
when the yaw rate starting condition is met so as to begin the yaw rate control while the regeneration control is being performed, the electric control unit is configured to prohibit the regeneration control and to control the braking forces of the wheel brakes provided in the wheels to compensate for insufficiency of a braking force of the four-wheel-drive vehicle due to the prohibiting of the regeneration control.
7. The four-wheel-drive vehicle according to claim 6 , wherein the electronic control unit is configured to control the braking force of the wheel brakes and the drive power distribution ratio such that the actual yaw rate conforms to the target yaw rate.