Driving force control system for vehicle
A driving force control system for a vehicle is provided to control an output torque of a prime mover and a torque split ratio to right and left wheels to improve stability of the vehicle. A controller is calculates target torques delivered to the right wheel and the left wheel based on a required drive torque and data relating to an attitude of the vehicle, and corrects the target torques based on slip ratios of the wheels. The drive motor is control based on a first current value calculated based on a total torque of the corrected target torques to be delivered the wheels, and the differential motor is controlled based on a second current value calculated based on a difference between the corrected target torques to be delivered to the wheels.
1. A driving force control system for a vehicle comprising:
a drive motor;
a differential unit having a plurality of rotary elements that distributes torque delivered from the drive motor to a right wheel and a left wheel;
a differential motor that is connected to any one of the rotary elements of the differential unit, and that controls a split ratio of the torque distributed to the right wheel and the left wheel through the differential unit by generating torque;
a controller that controls electric currents supplied to the drive motor and the differential motor; and
a brake device that is connected to any one of the rotary elements of the differential unit to apply a brake torque to the rotary element in accordance with a current applied thereto,
wherein the drive motor includes a motor having a generating function,
wherein the controller is configured to
control a current value supplied to the brake device,
calculate a drive torque that is required by a driver including an accelerating torque or a decelerating torque based on an operation executed by the driver,
calculate target torques to be delivered to the right wheel and the left wheel based on the drive torque and data relating to an attitude of the vehicle,
correct the target torques based on a detected slip ratio of each of the right wheel and the left wheel,
calculate a first current value supplied to the drive motor based on a total torque of the corrected target torque to be delivered to one of the wheels and the corrected target torque to be delivered to the other wheel,
calculate a second current value supplied to the differential motor based on a difference between the corrected target torque to be delivered to one of the wheels and the corrected target torque to be delivered to the other wheel,
control the drive motor based on the first current value and the differential motor based on the second current value,
calculate a third current value supplied to the brake device based on the total torque of the corrected target torques, and
calculate the first current value in such a manner as to generate a limit torque of the drive motor, and to calculate the third current value in such a manner as to generate a difference between the total torque of the corrected target torques and the limit torque of the drive motor by the brake device, in a case that the total torque of the corrected target torques is a brake torque that is greater than the limit torque of the drive motor.
2. The driving force control system for a vehicle as claimed in claim 1 , wherein the controller is further configured to calculate the target torques in such a manner as to increase the torque of one of the wheels while decreasing the torque of the other wheel in the same amount during turning of the vehicle.
3. The driving force control system for a vehicle as claimed in claim 1 , wherein the operation includes an accelerating operation or a braking operation executed by the driver.
4. The driving force control system for a vehicle as claimed in claim 1 , wherein the data relating to an attitude of the vehicle includes a yaw rate of the vehicle.
5. The driving force control system for a vehicle as claimed in claim 1 , wherein the slip ratio includes a ratio between a vehicle speed and a wheel speed of each of the wheels.