Controlling driving force distribution ratio in response to prediction of oversteer
A vehicle control apparatus includes a steering device, a steering controller, a steering input member, a front-rear driving force distribution unit, and a behavior controller. The steering device steers front wheels of a vehicle. The steering controller controls and causes the steering device to perform steering automatically. The steering input member receives a steering operation inputted by a driver. The front-rear driving force distribution unit changes a front-rear driving force distribution ratio. The behavior controller predicts, if a steering operation is performed via the steering input member during the automatic steering, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and causes, if an oversteer behavior is predicted to occur, the front-rear driving force distribution unit to change the driving force distribution ratio to a front-wheel biased distribution ratio as compared with a case where the oversteer behavior is not predicted to occur.
1. A vehicle control apparatus comprising:
a steering device including an actuator and configured to steer front wheels of a vehicle;
a steering controller configured to control the steering device and cause the vehicle to perform steering automatically, on a basis of a target travel path of the vehicle;
a steering input member configured to receive a steering operation inputted by a driver;
a front-rear driving force distribution unit configured to change a front-rear driving force distribution ratio that is a distribution ratio between driving force to be transmitted to a road surface from the front wheels of the vehicle and driving force to be transmitted to the road surface from rear wheels of the vehicle; and
a behavior controller configured to predict, in a case where a steering operation is performed via the steering input member while the steering controller is causing the steering to be performed automatically, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and to cause, in a case where an oversteer behavior of a predetermined magnitude or more is predicted to occur, the front-rear driving force distribution unit to change the front-rear driving force distribution ratio to a front-wheel biased distribution ratio as compared with a case where the oversteer behavior is not predicted to occur.
2. The vehicle control apparatus according to claim 1 , further comprising
a left-right driving force distribution unit configured to change a left-right driving force distribution ratio that is a distribution ratio between driving force to be transmitted to the road surface from a left front wheel of the front wheels and driving force to be transmitted to the road surface from a right front wheel of the front wheels or a distribution ratio between driving force to be transmitted to the road surface from a left rear wheel of the rear wheels and driving force to be transmitted to the road surface from a right rear wheel of the rear wheels,
wherein the behavior controller is configured to cause, in the case where the oversteer behavior is predicted to occur, the left-right driving force distribution unit to change the left-right driving force distribution ratio to a turning-inner-wheel biased distribution ratio as compared with the case where the oversteer behavior is not predicted to occur.
3. A vehicle control apparatus comprising:
a steering device including an actuator and configured to steer front wheels of a vehicle;
a steering controller configured to control the steering device and cause the steering device to perform steering automatically, on a basis of a target travel path of the vehicle;
a steering input member configured to receive a steering operation inputted by a driver;
a left-right driving force distribution unit configured to change a left-right driving force distribution ratio that is a distribution ratio between driving force to be transmitted to a road surface from a left front wheel of the front wheels of the vehicle and driving force to be transmitted to the road surface from a right front wheel of the front wheels of the vehicle or a distribution ratio between driving force to be transmitted to the road surface from a left rear wheel of the vehicle and driving force to be transmitted to the road surface from a right rear wheel of the vehicle; and
a behavior controller configured to predict, in a case where a steering operation is performed via the steering input member while the steering controller is causing the steering to be performed automatically, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and to cause, in a case where an oversteer behavior of a predetermined magnitude or more is predicted to occur, the left-right driving force distribution unit to change the left-right driving force distribution ratio to a turning-inner-wheel biased distribution ratio as compared with a case where the oversteer behavior is not predicted to occur.
4. A vehicle control apparatus comprising:
a steering device including an actuator and configured to steer front wheels of a vehicle;
a steering controller configured to control the steering device and cause the steering device to perform steering automatically, on a basis of a target travel path of the vehicle;
a steering input member configured to receive a steering operation inputted by a driver;
a front-rear driving force distribution unit configured to change a front-rear driving force distribution ratio that is a distribution ratio between driving force to be transmitted to a road surface from the front wheels of the vehicle and driving force to be transmitted to the road surface from rear wheels of the vehicle; and
a behavior controller configured to predict, in a case where a steering operation is performed via the steering input member while the steering controller is causing the steering to be performed automatically, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and to cause, in a case where an understeer behavior of a predetermined magnitude or more is predicted to occur, the front-rear driving force distribution unit to change the front-rear driving force distribution ratio to a rear-wheel biased distribution ratio as compared with a case where the understeer behavior is not predicted to occur.
5. The vehicle control apparatus according to claim 4 , further comprising
a left-right driving force distribution unit configured to change a left-right driving force distribution ratio that is a distribution ratio between driving force to be transmitted to the road surface from a left front wheel of the front wheels and driving force to be transmitted to the road surface from a right front wheel of the front wheels or a distribution ratio between driving force to be transmitted to the road surface from a left rear wheel of the rear wheels and driving force to be transmitted to the road surface from a right rear wheel of the rear wheels,
wherein the behavior controller is configured to cause, in the case where the understeer behavior is predicted to occur, the left-right driving force distribution unit to change the left-right driving force distribution ratio to a turning-outer-wheel biased distribution ratio as compared with the case where the understeer behavior is not predicted to occur.
6. A vehicle control apparatus comprising:
a steering device including an actuator and configured to steer front wheels of a vehicle;
a steering controller configured to control the steering device and cause the steering device to perform steering automatically, on a basis of a target travel path of the vehicle;
a steering input member configured to receive a steering operation inputted by a driver;
a left-right driving force distribution unit configured to change a left-right driving force distribution ratio that is a distribution ratio between driving force to be transmitted to a road surface from a left front wheel of the front wheels of the vehicle and driving force to be transmitted to the road surface from a right front wheel of the front wheels of the vehicle or a distribution ratio between driving force to be transmitted to the road surface from a left rear wheel of the vehicle and driving force to be transmitted to the road surface from a right rear wheel of the vehicle; and
a behavior controller configured to predict, in a case where a steering operation is performed via the steering input member while the steering controller is causing the steering to be performed automatically, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and to cause, in a case where an understeer behavior of a predetermined magnitude or more is predicted to occur, the left-right driving force distribution unit to change the left-right driving force distribution ratio to a turning-outer-wheel biased distribution ratio as compared with a case where the understeer behavior is not predicted to occur.