Control device for controlling drive force that operates on vehicle
A control device for controlling a drive force that operates on a vehicle includes a first controller for controlling the drive force, and a second controller for sending to the first controller a limit of the drive force. The second controller has an input unit for inputting the drive force outputted from the first control means, and a calculation unit for computing in a first mode a limiting drive force for limiting the drive force. In a case that a first difference between the drive force and the limiting drive force is equal to or greater than a threshold value, the calculation unit calculates the limiting drive force in a second mode instead of the first mode so that the first difference is limited from becoming greater.
1. A control device for controlling a drive force that operates on a vehicle, the control device comprising:
a first controller that is configured to control the drive force and to output the drive force; and
a second controller that is configured to send a limit of the drive force to the first controller, wherein
the second controller comprises:
an input unit that is configured to receive the drive force output by the first controller, and
a calculation unit configured to compute a limiting drive force for limiting the drive force in either of a first and second mode, wherein,
when the calculation unit computes the limiting drive force in a first mode and a difference between the drive force and the limiting drive force is equal to or greater than a threshold value, the calculation unit calculates the limiting drive force in a the second mode instead of the first mode, whereby calculating the limiting drive force in the second mode prevents the difference from increasing.
2. The control device according to claim 1 , wherein
the calculation unit continues to calculate the limiting drive force in the first mode until a count value reaches a predetermined value, the count value being counted up when the difference is equal to or greater than the threshold value; and after the count value has reached the predetermined value, the calculation unit calculates the limiting drive force in the second mode.
3. The control device according to claim 1 , wherein
the second controller is configured to send the limiting drive force to the first controller when the vehicle is determined to be traveling in an unstable state.
4. The control device according to claim 1 , wherein
the calculation unit calculates the limiting drive force based upon a difference between an actual yaw rate and a reference yaw rate of the vehicle.
5. The control device according to claim 4 , wherein
the calculation unit calculates the limiting drive force so that the difference between the actual yaw rate and the reference yaw rate is reduced.
6. The control device according to claim 5 , wherein
the first mode is a PID control mode;
the second mode is a PD control mode;
in the first mode, the calculation unit calculates a P term, an I term, and a D term in the PID control mode to calculate the limiting drive force; and
in the second mode, the calculation unit calculates the P term and the D term in the PD control mode to calculate the limiting drive force.
7. The control device according to claim 1 , wherein
the first controller is configured to control, as the drive force, a drive force of a main drive wheel and a drive force of an auxiliary drive wheel, wherein the drive force of the main drive wheel is one of the drive force of a front wheel or the drive force of a rear wheel, and the drive force of the auxiliary wheel is the other of the drive force of the front wheel or the drive force of the rear wheel; and
the second controller is configured to send a limit of the drive force of the auxiliary wheel as a limit of the drive force, and the calculation unit calculates, as the limiting drive force, an auxiliary-drive-wheel-limiting drive force for limiting the drive force of the auxiliary drive wheel.
8. The control device according to claim 1 , wherein the first controller is a drive force controller, and the second controller is a vehicle behavior controller.