Travel controlling apparatus of vehicle
A travel controlling apparatus of a vehicle includes a slip ratio detecting unit that obtains a slip ratio of front wheels and rear wheels depending on a travel state of the vehicle, a friction coefficient detecting unit that obtains a friction coefficient of the front wheels and the rear wheels depending on the travel state of the vehicle, a slip ratio stable region setting unit that sets a slip ratio stable region in which the friction coefficient becomes a predetermined value or more depending on the travel state of the vehicle, a braking/driving force controlling unit that controls a braking/driving force in the slip ratio stable region, and a slip ratio stable region changing unit that changes an upper limit value and a lower limit value in the slip ratio stable region depending on a variation of the friction coefficient when the slip ratio increases and when the slip ratio decreases.
1. A travel controlling apparatus of a vehicle comprising:
a slip ratio detecting unit that obtains a slip ratio of a wheel depending on a travel state of a vehicle;
a friction coefficient detecting unit that obtains a friction coefficient of the wheel depending on the travel state of the vehicle;
a slip ratio stable region setting unit that sets a predetermined slip ratio stable region in which the friction coefficient becomes a predetermined value or more depending on the travel state of the vehicle and which has an upper limit value and a lower limit value composed of a change of slip ratio-friction coefficient characteristics;
a braking/driving force controlling unit that controls a braking/driving force in the slip ratio stable region; and
a slip ratio stable region changing unit that changes at least any one of an upper limit value or a lower limit value in the slip ratio stable region depending on a variation of the friction coefficient when the slip ratio increases and when the slip ratio decreases; wherein
when the friction coefficient at the time the slip ratio decreases exceeds the friction coefficient at the time the slip ratio increases, the slip ratio stable region changing unit changes a lower limit value in the slip ratio stable region on a decreasing side.
2. The travel controlling apparatus of the vehicle according to claim 1 , further comprising:
a wheel input parameter detecting unit that detects an input parameter acting on the wheel, wherein
the upper limit value or the lower limit value in the slip ratio stable region is set depending on an input parameter of the wheel detected by the wheel input parameter detecting unit.
3. The travel controlling apparatus of the vehicle according to claim 2 , wherein the wheel input parameter detecting unit detects a ground contact load, a vehicle speed, and a change rate of a slip ratio as the input parameter acting on the wheel.
4. The travel controlling apparatus of the vehicle according to claim 3 , wherein the slip ratio stable region changing unit determines whether or not an upper limit value and a lower limit value in the slip ratio stable region are changed depending on an input parameter acting on the wheel.
5. The travel controlling apparatus of the vehicle according to claim 2 , wherein the slip ratio stable region changing unit determines whether or not an upper limit value and a lower limit value in the slip ratio stable region are changed depending on an input parameter acting on the wheel.
6. The travel controlling apparatus of the vehicle according to claim 1 , wherein when the friction coefficient at the time the slip ratio decreases exceeds the friction coefficient at the time the slip ratio increases, the slip ratio stable region changing unit changes a lower limit value in the slip ratio stable region to a preset corrected lower limit value.
7. The travel controlling apparatus of the vehicle according to claim 6 , wherein the slip ratio stable region changing unit determines whether or not an upper limit value and a lower limit value in the slip ratio stable region are changed depending on an input parameter acting on the wheel.
8. The travel controlling apparatus of the vehicle according to claim 1 , wherein when the friction coefficient at the time the slip ratio decreases exceeds the friction coefficient at the time the slip ratio increases, the slip ratio stable region changing unit changes a lower limit value in the slip ratio stable region to the slip ratio corresponding to a maximum value of the friction coefficient.
9. The travel controlling apparatus of the vehicle according to claim 8 , wherein the slip ratio stable region changing unit determines whether or not an upper limit value and a lower limit value in the slip ratio stable region are changed depending on an input parameter acting on the wheel.
10. The travel controlling apparatus of the vehicle according to claim 1 , wherein the slip ratio stable region changing unit determines whether or not an upper limit value and a lower limit value in the slip ratio stable region are changed depending on an input parameter acting on the wheel.