Wheel control device and control device
The present invention provides a novel method for generating braking force in a wheel. In a vehicle having wheels, a wheel control device for controlling the wheels is provided with an actuator for performing an operation to vary a slip angle of the wheels, and a controller for controlling the actuator to increase the braking force of the wheels by increasing the slip angle absolute value of the wheels such that a lateral force is generated in the wheels relative to a ground contact surface of the wheels.
1. A wheel control device for controlling a wheel in a vehicle having said wheel, comprising:
an actuator that operates to vary a slip angle of said wheel; and
a controller for controlling said actuator to increase a braking force of said wheel by increasing the absolute value of said slip angle of said wheel such that a lateral force is generated in said wheel relative to a ground contact surface of said wheel,
wherein said controller comprises a braking control portion for controlling said actuator to apply braking to said vehicle, and
when braking of said vehicle is required, said braking control portion increases the absolute value of said slip angle by a variable amount based on at least one of a frictional coefficient of a part of a road surface along which said vehicle is traveling that is contacted by said wheel, and a ground contact load of said wheel.
2. The wheel control device according to claim 1 , wherein said vehicle further comprises a power source for driving said wheel, and
said controller comprises a driving control portion for controlling said actuator when said vehicle needs to be driven by said power source to reduce a driving torque of said wheel, generated by said drive source, using said braking force of said wheel.
3. The wheel control device according to claim 1 , wherein said controller comprises an emergency braking control portion for controlling said actuator to apply emergency braking to said vehicle, and
when emergency braking of said vehicle is required, said emergency braking control portion performs at least one of increasing said slip angle absolute value by a fixed amount and increasing said slip angle absolute value by a variable amount corresponding to a required deceleration of said vehicle.
4. The wheel control device according to claim 1 , wherein said vehicle further comprises a power source for driving said wheel, and
said controller comprises a driving control portion for controlling said actuator when said vehicle needs to be driven by said power source to reduce a driving torque of said wheel, generated by said drive source, using said braking force of said wheel.