Control apparatus for vehicle
A control apparatus for a vehicle includes an offset torque calculator configured to perform calculation of offset torque to be applied to at least one wheel of the vehicle. The offset torque is required to stop the vehicle on a sloping road having a predetermined gradient. The control apparatus includes a motor controller configured to, for stopping the vehicle on the sloping road having the predetermined gradient, perform control of causing output torque of the motor-generator to asymptotically approach the offset torque.
1. A control apparatus for causing a motor-generator of a vehicle to apply drive power to at least one wheel of the vehicle, and operate, at a stop of the vehicle, in a regenerative mode to apply braking force to the at least one wheel of the vehicle, the control apparatus comprising:
an offset torque calculator configured to calculate offset torque to be applied to the at least one wheel of the vehicle, the offset torque being required to stop the vehicle on a sloping road having a predetermined gradient; and
a motor controller configured to, in stopping of the vehicle on the sloping road having the predetermined gradient, cause output torque of the motor-generator to gradually approach the offset torque while maintaining a deceleration of the vehicle to be substantially constant.
2. The control apparatus according to claim 1 , further comprising:
a torque measuring unit configured to measure the output torque of the motor-generator; and
an acceleration measuring unit configured to measure acceleration of the vehicle in a traveling direction thereof, wherein:
the offset torque calculator is configured to calculate the offset torque in accordance with the output torque of the motor-generator and the acceleration of the vehicle in the traveling direction.
3. The control apparatus according to claim 2 , wherein:
the acceleration measuring unit is a first acceleration unit configured to measure first acceleration that is the acceleration of the vehicle in the traveling direction, the control apparatus further comprising:
a second acceleration measuring unit configured to measure, as second acceleration of the vehicle, an acceleration component of acceleration gravity in the traveling direction, the offset torque calculator being configured to:
calculate the offset torque in accordance with the output torque of the motor-generator and the first acceleration of the vehicle in the traveling direction upon determination that a speed of the vehicle in the traveling direction is higher than or equal to a predetermined threshold speed; and
calculate the offset torque in accordance with the output torque of the motor-generator and the second acceleration of the vehicle in the traveling direction upon determination that the speed of the vehicle in the traveling direction is lower than the predetermined threshold speed.
4. The control apparatus according to claim 1 , further comprising:
a first acceleration measuring unit configured to measure first acceleration of the vehicle in a traveling direction thereof; and
a second acceleration measuring unit configured to measure, as second acceleration of the vehicle, an acceleration component of acceleration gravity in the traveling direction, wherein:
the offset torque calculator is configured to perform the calculation of the offset torque in accordance with a differential value between the first acceleration and the second acceleration.
5. The control apparatus according to claim 3 , further comprising:
a rotational speed measuring unit configured to measure a rotational speed of the motor-generator, wherein:
the first acceleration unit is configured to calculate the first acceleration in accordance with the rotational speed of the motor-generator.
6. The control apparatus according to claim 4 , further comprising:
a rotational speed measuring unit configured to measure a rotational speed of the motor-generator, wherein:
the first acceleration unit is configured to calculate the first acceleration in accordance with the rotational speed of the motor-generator.
7. The control apparatus according to claim 1 , wherein:
the offset torque calculator is configured to:
calculate, every predetermined cycle, a value of the offset torque; and
pass the value of the offset torque calculated for each cycle through a lowpass filter.
8. The control apparatus according to claim 1 , wherein:
the motor controller comprises:
a first control unit configured to determine a torque command representing a target value of the output torque of the motor-generator; and
a second control unit configured to control energization of the motor-generator in accordance with the torque command to accordingly cause the output torque of the motor-generator to asymptotically approach the offset torque.
9. The control apparatus according to claim 1 , wherein:
the motor controller is configured to start to cause the output torque of the motor-generator to gradually approach the offset torque in response to determination that a speed of the vehicle in a traveling direction thereof becomes lower than a predetermined control start speed.
10. The control apparatus according to claim 1 , further comprising:
a brake controller configured to control a braking device that applies, to the at least one wheel, the braking force in accordance with hydraulic pressure, wherein:
the motor controller is configured to request the brake controller to cause the braking device to apply the braking force to the at least one wheel after the output torque of the motor-generator has reached the offset torque.
11. The control apparatus according to claim 1 , wherein:
the motor controller is configured to, in stopping of the vehicle on the sloping road, cause the output torque of the motor-generator to gradually approach the offset torque while maintaining the deceleration of the vehicle to be substantially zero.
12. The control apparatus according to claim 1 , wherein:
the motor controller is configured to increase a deceleration of the vehicle while maintaining the output torque of the motor-generator substantially at the offset torque.