Driving force transmission controller and vehicle control method
A driving force transmission controller includes: a normal turning control unit that computes command values such that driving force transmitted to an outer wheel in a turning direction is larger than that transmitted to an inner wheel during normal turning; a counter-steering control unit that computes the command values such that the driving force transmitted to the outer wheel is larger than that transmitted to the inner wheel during counter-steering; a counter-steering return control unit that corrects the command values such that a rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than a rate of change in a steered angle of front wheels when a steering velocity is equal to or higher than a prescribed value during the counter-steering; and a driving force transmission control unit that controls a driving force transmission device based on the command values.
1. A driving force transmission controller comprising:
a normal turning control unit that computes driving force transmission command values such that driving force transmitted to an outer wheel in a turning direction, out of right and left rear wheels, is larger than driving force transmitted to an inner wheel in the turning direction, out of the right and left rear wheels, during normal turning in which the turning direction of a vehicle is the same as a steered direction of front wheels;
a counter-steering control unit that estimates the turning direction based on a slip angle and computes the driving force transmission command values such that the driving force transmitted to the outer wheel in the estimated turning direction is larger than the driving force transmitted to the inner wheel in the estimated turning direction during counter-steering in which the turning direction of the vehicle is opposite to the steered direction of the front wheels;
a counter-steering return control unit that corrects the driving force transmission command values such that a rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than a rate of change in a steered angle of the front wheels when a steering wheel is operated in a returning direction at a velocity equal to or higher than a prescribed value during the counter-steering; and
a driving force transmission control unit that controls a driving force transmission device to transmit driving force generated by a drive source of the vehicle to the right and left rear wheels such that a ratio between driving force transmitted to the right rear wheel and driving force transmitted to the left rear wheel is variable based on the driving force transmission command values.
2. The driving force transmission controller according to claim 1 , wherein the counter-steering return control unit corrects the driving force transmission command values such that a state in which the driving force transmitted to the outer wheel in the turning direction, out of the right and left rear wheels, is larger than the driving force transmitted to the inner wheel in the turning direction is maintained during transition from a control state achieved by the counter-steering control unit to a control state achieved by the normal turning control unit.
3. The driving force transmission controller according to claim 1 , wherein the counter-steering return control unit continues to execute a process of correcting the driving force transmission command values such that the rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than the rate of change in the steered angle of the front wheels until an actual yaw rate of the vehicle becomes equal to a yaw rate corresponding to the steered angle of the front wheels and a vehicle speed.
4. The driving force transmission controller according to claim 2 , wherein the counter-steering return control unit continues to execute a process of correcting the driving force transmission command values such that the rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than the rate of change in the steered angle of the front wheels until an actual yaw rate of the vehicle becomes equal to a yaw rate corresponding to the steered angle of the front wheels and a vehicle speed.
5. A vehicle control method using a driving force transmission controller that controls a driving force transmission device that transmits driving force generated by a drive source of a vehicle to right and left rear wheels such that a ratio between driving force transmitted to the right rear wheel and driving force transmitted to the left rear wheel is variable, the vehicle control method comprising:
computing driving force transmission command values such that driving force transmitted to an outer wheel in a turning direction, out of the right and left rear wheels, is larger than driving force transmitted to an inner wheel in the turning direction, out of the right and left rear wheels, during normal turning in which the turning direction of the vehicle is the same as a steered direction of front wheels;
estimating the turning direction based on a slip angle and computing the driving force transmission command values such that the driving force transmitted to the outer wheel in the estimated turning direction is larger than the driving force transmitted to the inner wheel in the turning direction during counter-steering in which the turning direction of the vehicle is opposite to the steered direction of the front wheels;
correcting the driving force transmission command values such that a rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than a rate of change in a steered angle of the front wheels when a steering wheel is operated in a returning direction at a velocity equal to or higher than a prescribed value during counter-steering; and
controlling the driving force transmission device based on the driving force transmission command values.