Vehicle control device
A vehicle control device that calculates a vehicle body velocity of a vehicle is disclosed. Sensors ( 18, 19 ) that obtain respective wheel velocities of left and right wheels ( 5 ) arranged along the vehicle width direction are provided. A calculator ( 11 ) that calculates, when the left and right wheels ( 5 ) are not slipping, an average value (A) of the wheel velocities as the vehicle body, and calculates, when at least one of the left and right wheels ( 5 ) is slipping, the vehicle body velocity on the basis of the average value (A) and a lower velocity value (B) between the wheel velocities is provided. With this configuration, the precision in calculating the vehicle body velocity is enhanced, suppressing a cost rise.
1. A vehicle control device that calculates a vehicle body velocity of a vehicle, comprising
a sensor that obtains information corresponding to respective wheel velocities of left and right wheels arranged along a vehicle width direction; and
a calculator that calculates, when the left and right wheels are not slipping, an average value of the wheel velocities as the vehicle body velocity, and calculates, when at least one of the left and right wheels is slipping, the vehicle body velocity based on the average value and a lower velocity value being a lower one of the wheel velocities.
2. The vehicle control device according to claim 1 , wherein
the calculator judges a degree of slipping of the left and right wheels and calculates, as the vehicle body velocity, a value closer to the average value as the degree of slipping is lower and a value closer to the low velocity value as the degree of slipping is higher.
3. The vehicle control device according to claim 2 , wherein
the calculator judges the degree of slipping based on a first criterion and a second criterion, the first criterion being set on the basis of an absolute value of a difference between the wheel velocities, the second criterion being set on the basis of a time-derivative value of the absolute value.
4. The vehicle control device according to claim 3 , further comprising:
a pair of motors that are coupled to a differential mechanism, the differential mechanism providing a torque difference to the left and right wheels; and
a pair of resolvers that detect motor angular velocities output from the motors, wherein
the calculator calculates the wheel velocities based on the motor angular velocities.
5. The vehicle control device according to claim 4 , further comprising:
a controller that controls, based on the vehicle body velocity calculated by the calculator, a maximum torque difference between the left and right wheels.
6. The vehicle control device according to claim 3 , further comprising:
a controller that controls, based on the vehicle body velocity calculated by the calculator, a maximum torque difference between the left and right wheels.
7. The vehicle control device according to claim 2 , further comprising:
a pair of motors that are coupled to a differential mechanism, the differential mechanism providing a torque difference to the left and right wheels; and
a pair of resolvers that detect motor angular velocities output from the motors, wherein
the calculator calculates the wheel velocities based on the motor angular velocities.
8. The vehicle control device according to claim 7 , further comprising:
a controller that controls, based on the vehicle body velocity calculated by the calculator, a maximum torque difference between the left and right wheels.
9. The vehicle control device according to claim 2 , further comprising:
a controller that controls, based on the vehicle body velocity calculated by the calculator, a maximum torque difference between the left and right wheels.
10. The vehicle control device according to claim 1 , further comprising:
a pair of motors that are coupled to a differential mechanism, the differential mechanism providing a torque difference to the left and right wheels; and
a pair of resolvers that detect motor angular velocities output from the motors, wherein
the calculator calculates the wheel velocities based on the motor angular velocities.
11. The vehicle control device according to claim 10 , further comprising:
a controller that controls, based on the vehicle body velocity calculated by the calculator, a maximum torque difference between the left and right wheels.
12. The vehicle control device according to claim 1 , further comprising:
a controller that controls, based on the vehicle body velocity calculated by the calculator, a maximum torque difference between the left and right wheels.