Vehicle drive system
A vehicle drive system configured to achieve a required driving force of braking force without changing an orientation of a vehicle in the event of slippage of a wheel. The vehicle drive system comprises: a torque generating device; a differential mechanism that allows a relative rotation between a right wheel and a left wheel; a differential restricting device that restricts a differential rotation between the right wheel and the left wheel; and a steering mechanism that controls a turning angle of pairs of the wheels. A first controller controls the relative rotation between the right wheel and the left wheel to be smaller than a predetermined value and second controller further controls a turning angle of the wheels controlled by the steering mechanism.
1. A vehicle drive system comprising:
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 of any one of pairs of wheels in such a manner as to allow the right wheel and the left wheel to rotate relatively to each other, and to distribute the torque generated by the torque generating device to the right wheel and the left wheel;
a differential restricting device that restricts a relative rotation between the right wheel and the left wheel of said one of pairs of wheels;
a steering mechanism that automatically controls a turning angle of said one of pairs of wheels or other pair of wheels with respect to an operating amount of a steering device;
a first controller that is configured to control a speed of relative rotation between the right wheel and the left wheel of said one of pairs of wheels to be smaller than a predetermined value based on predetermined incident data; and
a second controller that is configured to further control a turning angle of the pair of wheels controlled by the steering mechanism based on another predetermined incident data,
wherein the first controller is further configured to reduce the speed of relative rotation between the right wheel and the left wheel of said one of pairs of wheels to be smaller than a predetermined value, in the event of slippage of any one of the right wheel and the left wheel of said one of pairs of wheels, and
wherein the second controller is further configured to change the turning angle of the pair of wheels controlled by the steering mechanism with respect to the operating amount of the steering device, in such a manner as to prevent a change in an orientation of a vehicle from an intended orientation when reducing the speed of relative rotation between the right wheel and the left wheel of said one of pairs of wheels to be smaller than the predetermined value by the first controller, and
wherein the second controller is further configured to change the turning angle of the pair of wheels controlled by the steering mechanism in such a manner as to establish a yaw rate in accordance with the operating amount of the steering device, in the event of slippage of any one of the right wheel and the left wheel of said one of pairs of wheels.
2. The vehicle drive system as claimed in claim 1 ,
wherein the differential mechanism comprises:
a first planetary gear unit including a first input element to which a torque is delivered from the torque generating device, a first output element connected to the right wheel of said one of pairs of wheels, and a first reaction element;
a second planetary gear unit including a second input element to which the torque is delivered from the torque generating device, a second output element connected to the left wheel of said one of pairs of wheels, and a second reaction element; and
a torque reversing mechanism that delivers the torque of the first reaction element to the second reaction element while reversing the torque,
the differential restricting device includes a differential motor that increases a reaction torque of any one of the first reaction element and the second reaction element, and that reduces a reaction torque of the other one of the first reaction element and the second reaction element, and
the first controller is further configured to control an output torque of the differential motor in such a manner as to reduce the speed of relative rotation between the right wheel and the left wheel of said one of pairs of wheels to be smaller than the predetermined value, in the event of slippage of any one of the right wheel and the left wheel of said one of pairs of wheels.