Control device for controlling drive force that operates on vehicle
A control device for controlling a front wheel drive force and a rear wheel drive force of a vehicle includes a first controller for controlling a drive force of main drive wheels and the drive force of auxiliary drive wheels wherein the drive force of the main drive wheel is one of a front-wheel drive force and a rear-wheel drive force, and the drive force of the auxiliary drive wheel is another of the front-wheel drive force and the rear-wheel drive force, and a second controller for sending to the first controller an auxiliary-drive-wheels-limiting drive force for limiting the drive force of the auxiliary drive wheels in a case that the vehicle is traveling in an unstable state. The second controller has a calculation unit for calculating the auxiliary-drive-wheel-limiting drive force on the basis of a vehicle instability parameter. The first controller increases the drive force of the main drive wheel by causing the drive force of the auxiliary drive wheel to match the auxiliary-drive-wheel-limiting drive force.
1. A control device for controlling a front wheel drive force and a rear wheel drive force of a vehicle, the control device comprising:
a first control unit that controls a drive force of a main drive wheel and a drive force of an auxiliary drive wheel, the drive force of the main drive wheel being one of a front-wheel drive force and a rear-wheel drive force, and the drive force of the auxiliary drive wheel being the remaining of the front-wheel drive force and the rear-wheel drive force that is not the drive force of the main drive wheel; and
a second control unit that sends to the first control unit an auxiliary-drive-wheel-limiting drive force to limit the drive force of the auxiliary drive wheel when the vehicle is traveling in an unstable state, the second control unit including a calculation unit for calculating the auxiliary-drive-wheel-limiting drive force based on a rate of change of an actual yaw rate of the vehicle; wherein
wherein the second control unit performs control to reduce a yaw rate deviation so as to stabilize a traveling state of the vehicle;
wherein the auxiliary-drive-wheel-limiting drive force is reduced when the rate of change of the actual yaw rate is increased; and,
wherein a down coefficient, which is calculated by the second control unit and used to modify the auxiliary-drive-wheel-limiting drive force that is sent from the second control unit to the first control unit to limit the drive force of the auxiliary drive wheel when the vehicle is traveling in an unstable state, is set based upon a magnitude of the rate of change of the actual yaw rate and prior to control intervention, which occurs when the vehicle is determined to be travelling in the unstable state, whereby when the magnitude of the rate of change of the actual yaw rate is a first value at an initial time point of control, the initial time point of control being prior to control intervention, the second control unit is programmed to increase the down coefficient to thereby reduce the auxiliary-drive-wheel-limiting drive force, whereas when the magnitude of the rate of change of the actual yaw rate is a second value at the initial time point of control, the second control unit is programmed to reduce the down coefficient to thereby increase the auxiliary-drive-wheel-limiting drive force, the first value being greater than the second value.
2. The control device according to claim 1 , wherein
the second control unit further has a detection unit for detecting whether the traveling state is unstable; and
the calculation unit calculates the auxiliary-drive-wheel-limiting drive force on the basis of the instability parameter for an instance when the traveling state has been detected by the detection unit to be unstable.
3. The control device according to claim 1 , wherein
the drive force of the main drive wheel is the front-wheel drive force, and;
the drive force of the auxiliary drive wheel is the rear-wheel drive force.
4. The control device according to claim 1 , wherein the first control unit is a drive force control unit, and the second control unit is a vehicle behavior control unit.