Driving force control system for vehicle
A driving force control system for a vehicle configured to eliminate slippage of a wheel without changing a driving torque or a braking torque abruptly. The driving force control system comprises a drive unit and a controller. The drive unit includes a differential mechanism connected to a right wheel and a left wheel to distribute torque of a torque generating device, and a differential restricting device that restricts a differential rotation between the right wheel and the left wheel. The controller restricts a differential rotation between the right wheel and the left wheel less than a predetermined value by the differential mechanism. If a slip ratio of one of the wheels smaller than that of the other wheels is greater than an acceptable value, the controller executes a slip-eliminating control.
1. A driving force control system for a vehicle, comprising:
a drive unit including
a torque generating device that generates a driving torque or a braking torque,
a differential mechanism that is connected to a right wheel and a left wheel in such a manner as to allow the right wheel and the left wheel to rotate differentially from each other, and to distribute the torque generated by the torque generating device to the right wheel and the left wheel, and
a differential restricting device that restricts a differential rotation between the right wheel and the left wheel; and
a controller that controls the drive unit,
wherein the controller is configured to
calculate a slip ratio of the right wheel as a ratio of a difference between an actual speed of the right wheel and a theoretical speed of the right wheel calculated based on a speed of the vehicle to the theoretical speed,
calculate a slip ratio of the left wheel as a ratio of a difference between an actual speed of the left wheel and a theoretical speed of the left wheel calculated based on the speed of the vehicle to the theoretical speed,
restrict a differential rotation between the right wheel and the left wheel less than a predetermined value by the differential mechanism, and
execute a slip-eliminating control to restrict the driving torque or the braking torque generated by the torque generating device thereby reducing the slip ratio of one of the wheel whose slip ratio is smaller than the slip ratio of the other one of the wheels, if the slip ratio of one of the wheels that is smaller than the slip ratio of the other one of the wheels is greater than an acceptable value.
2. The driving force control system for the vehicle as claimed in claim 1 ,
wherein the drive unit is connected to a pair of front wheels,
the driving force control system further comprises a brake mechanism that applies a braking torque to a pair of rear wheels,
the controller comprises
a first map that determines a relation between the braking force applied to the pair of front wheels and the braking force applied to the pair of rear wheels when the pair of front wheels and the pair of rear wheels slip simultaneously during decelerating the vehicle, and
a second map that reduces the braking force applied to the pair of rear wheels compared to the braking force determined with reference to the first map,
the controller is further configured to
calculate the braking force applied to the pair of front wheels and the braking force applied to the pair of rear wheels with reference to the first map when the slip-eliminating control is not executed, and
calculate the braking force applied to the pair of rear wheels with reference to the second map when the braking force applied to the pair of front wheels is reduced as a result of executing the slip-eliminating control.
3. The driving force control system for the vehicle as claimed in claim 2 , wherein the controller is further configured to
reduce the driving torque or the braking torque generated by the torque generating device if the difference between the actual speed and the theoretical speed of the one of the wheel whose slip ratio is smaller than the other wheel during execution of the slip-eliminating control is greater than a predetermined value, and
increase the driving torque or the braking torque generated by the torque generating device if the difference between the actual speed and the theoretical speed of the one of the wheel whose slip ratio is smaller than the other wheel during execution of the slip-eliminating control is less than the predetermined value.
4. The driving force control system for the vehicle as claimed in claim 3 , wherein the controller is further configured to terminate the slip-eliminating control when the driving torque or the braking torque generated by the torque generating device is increased to a required torque of the vehicle during execution of the slip-eliminating control.
5. The driving force control system for the vehicle as claimed in claim 1 , wherein the controller is further configured to
reduce the driving torque or the braking torque generated by the torque generating device if the difference between the actual speed and the theoretical speed of the one of the wheel whose slip ratio is smaller than the other wheel during execution of the slip-eliminating control is greater than a predetermined value, and
increase the driving torque or the braking torque generated by the torque generating device if the difference between the actual speed and the theoretical speed of the one of the wheel whose slip ratio is smaller than the other wheel during execution of the slip-eliminating control is less than the predetermined value.
6. The driving force control system for the vehicle as claimed in claim 5 , wherein the controller is further configured to terminate the slip-eliminating control when the driving torque or the braking torque generated by the torque generating device is increased to a required torque of the vehicle during execution of the slip-eliminating control.