Vehicle
A vehicle includes a front-wheel/rear-wheel motor, a battery and an ECU. The ECU is configured to (i) control the front-wheel/rear-wheel motors, and (ii) control the front-wheel/rear-wheel motors such that a braking torque of a resonance-side motor, when at least one of the rotation speed of the front-wheel/rear-wheel motors is within a resonance range, is smaller than the braking torque of the resonance-side motor, when the rotation speed of the front-wheel/rear-wheel motors are outside the resonance range, and such that the braking torque of a non-resonance-side motor, when at least one of the rotation speed of the front-wheel/rear-wheel motors is within a resonance range, is larger than the braking torque of the non-resonance-side motor, when the rotation speed of the front-wheel/rear-wheel motors are outside the resonance range, during deceleration caused by a braking torque from the front-wheel/rear-wheel motors.
1. A vehicle comprising:
an accelerator pedal;
a brake pedal;
a front wheel;
a rear wheel;
a front-wheel motor configured to receive and output motive power to and from the front wheel;
a rear-wheel motor configured to receive and output motive power to and from the rear wheel;
a battery configured to exchange electric power with the front-wheel motor and the rear-wheel motor; and
an electronic control unit configured to
(i) control the front-wheel motor and the rear-wheel motor such that the vehicle runs with a required torque based on an operation of the accelerator pedal and an operation of the brake pedal,
(ii) set a front basic torque of the front-wheel motor and set a rear basic torque of the rear-wheel motor based on the required torque,
(iii) control the front-wheel motor and rear-wheel motor, during deceleration caused by a braking torque from the front-wheel motor and a braking torque from the rear-wheel motor, such that:
(a) when the front-wheel motor has a rotation speed outside of a front resonance range, and the rear-wheel motor has a rotation speed outside of a rear resonance range, braking torque for the front-wheel motor and rear-wheel motor are respectively set at the front basic torque and the rear basic torque,
(b) when the front-wheel motor is operating with a rotation speed within the front resonance range, the electronic control unit is configured to drive the front-wheel motor with a torque whose absolute value is smaller than the front basic torque, and to drive the rear-wheel motor with a torque whose absolute value is larger than the rear basic torque,
(c) when the front-wheel motor is operating with a rotation speed within the front resonance range and an absolute value of the front basic torque is equal to or smaller than a first threshold during deceleration, the electronic control unit is configured to drive the front-wheel motor with the front basic torque and drive the rear-wheel motor with the rear basic torque,
(d) when the rear-wheel motor is operating with a rotation speed within the rear resonance range, the electronic control unit is configured to drive the rear-wheel motor with a torque whose absolute value is smaller than the rear basic torque, and to drive the front-wheel motor with a torque whose absolute value is larger than the front basic torque, and
(e) when the rear-wheel motor is operating with a rotation speed within the rear resonance range and an absolute value of the rear basic torque is equal to or smaller than a second threshold during deceleration, the electronic control unit is configured to drive the front-wheel motor with the front basic torque and drive the rear-wheel motor with the rear basic torque,
wherein the front resonance range being a rotation speed range at which the front-wheel motor resonates and the rear resonance range being a rotation speed range at which the rear-wheel motor resonates.
2. The vehicle according to claim 1 , wherein
as vehicle speed decreases, an amount of reduction of the front-wheel motor torque and an amount of increase of the rear-wheel motor torque when the front-wheel motor is operating with a rotation speed within the front resonance range are respectively more than an amount of reduction of the front-wheel motor torque and an amount of increase of the rear-wheel motor torque when the front-wheel motor is operating with a rotation speed outside of the front resonance range;
or
as vehicle speed decreases, an amount of increase of the front-wheel motor torque and an amount of reduction of the rear-wheel motor torque when the rear-wheel motor is operating with a rotation speed within the rear resonance range are respectively more than an amount of increase of the front-wheel motor torque and an amount of reduction of the rear-wheel motor torque when the rear-wheel motor is operating with a rotation speed outside of the rear resonance range.
3. The vehicle according to claim 1 , wherein
the electronic control unit is configured to increase a ratio of a torque of the rear-wheel motor to a sum of a torque of the front-wheel motor and the torque of the rear-wheel motor as a brake operation amount increases, during the deceleration.
4. The vehicle according to claim 1 , further comprising:
an engine;
a generator; and
a planetary gear that includes three rotary elements, wherein
the three rotary elements are connected to a front-wheel drive shaft that is coupled to the front wheel, an output shaft of the engine, and a rotary shaft of the generator respectively.