Vehicle travel control device

1. A vehicle travel control device comprising:

a driving device driving at least a main drive wheel among the main drive wheel and a subordinate drive wheel of a vehicle;

a first active stabilizer installed on a side of the main drive wheel;

a second active stabilizer installed on a side of the subordinate drive wheel; and

a control device performing load distribution control when a difference in actual driving force between a left side and a right side of the vehicle exceeds a threshold value during acceleration,

wherein a high-μ side is one of the left side and the right side of the vehicle with a greater actual driving force, and a low-μ side is another of the left side and the right side of the vehicle,

wherein the load distribution control includes:

a first mode performed when a speed of the vehicle is equal to or lower than a first reference value; and

a second mode performed when the speed of the vehicle is higher than a second reference value equal to or greater than the first reference value,

wherein in the first mode, the control device actuates the first active stabilizer in a direction to lift up the high-μ side and actuates the second active stabilizer in a direction to lift up the low-μ side, and

wherein in the second mode, the control device actuates the first active stabilizer in a direction to lift up the low-μ side and actuates the second active stabilizer in a direction to lift up the high-μ side.

2. The vehicle travel control device according to claim 1 ,

wherein the control device is configured to:

perform driving control that controls the driving device to generate a driving force and accelerate the vehicle;

perform traction control that applies a braking force to a target wheel exhibiting a slip sign during acceleration by the driving control; and

perform the load distribution control when the traction control is performed during acceleration and the difference in the actual driving force between the left side and the right side of the vehicle exceeds the threshold value.

3. The vehicle travel control device according to claim 1 ,

wherein a period of the acceleration includes a first period and a second period later than the first period,

wherein in the first period, the speed is equal to or lower than the first reference value and the control device performs the load distribution control in the first mode, and

wherein in the second period, the speed is higher than the second reference value and the control device performs the load distribution control in the second mode.

4. The vehicle travel control device according to claim 3 ,

wherein the control device controls the driving device such that a driving force by the driving device becomes smaller in the second period than in the first period.

5. The vehicle travel control device according to claim 1 ,

wherein when a lateral acceleration of the vehicle is equal to or higher than a lateral acceleration threshold value, the control device multiplies a control amount of each of the first active stabilizer and the second active stabilizer for the load distribution control by a correction gain less than 1.

6. The vehicle travel control device according to claim 1 ,

wherein the control device performs the load distribution control such that a roll moment caused by actuation of the first active stabilizer and a roll moment caused by actuation of the second active stabilizer are balanced.

7. A vehicle travel control device comprising:

a driving device driving at least a main drive wheel among the main drive wheel and a subordinate drive wheel of a vehicle;

a first active stabilizer installed on a side of the main drive wheel;

a second active stabilizer installed on a side of the subordinate drive wheel; and

a control device configured to:

perform driving control that controls the driving device to generate a driving force and accelerate the vehicle;

perform traction control that applies a braking force to a target wheel exhibiting a slip sign during acceleration by the driving control; and

perform load distribution control when the traction control is performed during acceleration and a difference in actual driving force between a left side and a right side of the vehicle exceeds a threshold value,

wherein a high-μ side is one of the left side and the right side with a greater actual driving force, and a low-μ side is another of the left side and the right side of the vehicle, and

wherein when a speed of the vehicle is higher than a reference value, the control device actuates the first active stabilizer in a direction to lift up the low-μ side and actuates the second active stabilizer in a direction to lift up the high-μ side.

8. The vehicle travel control device according to claim 7 ,

wherein when a lateral acceleration of the vehicle is equal to or higher than a lateral acceleration threshold value, the control device multiplies a control amount of each of the first active stabilizer and the second active stabilizer for the load distribution control by a correction gain less than 1.

9. The vehicle travel control device according to claim 7 ,

wherein the control device performs the load distribution control such that a roll moment caused by actuation of the first active stabilizer and a roll moment caused by actuation of the second active stabilizer are balanced.

10. A vehicle travel control device comprising:

a driving device driving at least a main drive wheel among the main drive wheel and a subordinate drive wheel of a vehicle;

a first active stabilizer installed on a side of the main drive wheel;

a second active stabilizer installed on a side of the subordinate drive wheel; and

a control device performing load distribution control when a difference in actual driving force between a left side and a right side of the vehicle exceeds a threshold value during acceleration,

wherein a high-μ side is one of the left side and the right side with a greater actual driving force, and a low-μ side is another of the left side and the right side,

wherein a driving force of and a vertical load on the main drive wheel on the high-μ side are a high-μ side driving force and a high-μ side vertical load, respectively,

wherein the load distribution control includes a first mode performed when the high-μ side driving force is equal to or greater than the high-μ side vertical load, and

wherein in the first mode, the control device actuates the first active stabilizer in a direction to lift up the high-μ side and actuates the second active stabilizer in a direction to lift up the low-μ side.

11. The vehicle travel control device according to claim 10 ,

wherein the load distribution control further includes a second mode performed when the high-μ side driving force is smaller than the high-μ side vertical load,

wherein in the second mode, the control device actuates the first active stabilizer in a direction to lift up the low-μ side and actuates the second active stabilizer in a direction to lift up the high-μ side.

12. The vehicle travel control device according to claim 11 ,

wherein a period of the acceleration includes a first period and a second period later than the first period,

wherein the control device controls the driving device such that a driving force by the driving device becomes smaller in the second period than in the first period,

wherein in the first period, the control device performs the load distribution control in the first mode, and

wherein in the second period, the control device performs the load distribution control in the second mode.

13. The vehicle travel control device according to claim 10 ,

wherein when a lateral acceleration of the vehicle is equal to or higher than a lateral acceleration threshold value, the control device multiplies a control amount of each of the first active stabilizer and the second active stabilizer for the load distribution control by a correction gain less than 1.

14. The vehicle travel control device according to claim 10 ,

wherein the control device performs the load distribution control such that a roll moment caused by actuation of the first active stabilizer and a roll moment caused by actuation of the second active stabilizer are balanced.