Vehicle control device and control method

1. A vehicle control device configured to control a vehicle configured to rotate each of four or more drive wheels by each of different motors, the vehicle control device comprising:

a motor control unit configured to control torques that are generated by the motors,

wherein when oversteer has occurred during turning of the vehicle, the motor control unit performs a control upon oversteer of causing the motor configured to rotate a front wheel on an outer side with respect to the turning to generate braking torque, increasing drive torque of the motor configured to rotate a rear wheel on an inner side with respect to the turning, and decreasing drive torque of the motor configured to rotate a rear wheel on an outer side with respect to the turning.

2. The vehicle control device according to claim 1 , wherein an occurrence direction of a real yaw rate of the vehicle is determined to be inverted, the motor control unit ends the control upon oversteer.

3. The vehicle control device according to claim 1 , wherein when a counter operation is performed by a driver during the control upon oversteer, the motor control unit performs a control upon counter operation of reducing the braking torque.

4. The vehicle control device according to claim 3 , wherein during the control upon counter operation, the motor control unit causes the drive torque to be generated preferentially by the motors configured to rotate steered wheels of the drive wheels.

5. The vehicle control device according to claim 1 , wherein when the understeer has occurred during turning of the vehicle, the motor control unit performs a control upon understeer of causing the motor configured to rotate a rear wheel on an inner side with respect to the turning to generate braking torque and increasing drive torque of the motor configured to rotate a front wheel on an outer side with respect to the turning.

6. The vehicle control device according to claim 5 , wherein the motor control unit is configured to determine whether to end the control upon oversteer, based on an occurrence direction of a real yaw rate of the vehicle, and to determine whether to end the control upon understeer, based on a deviation between a target yaw rate of the vehicle and a real yaw rate of the vehicle.

7. The vehicle control device according to claim 1 , wherein when a state of the vehicle is a front load state where a load to front wheels is greater than a load to other drive wheels and the vehicle is in a turning state, the motor control unit performs a first control of setting torques of the motors configured to rotate the front wheels greater.

8. The vehicle control device according to claim 7 , wherein the first control that is performed by the motor control unit sets the torques of the motors configured to rotate the front wheels, based on a deviation between a target yaw rate and a real yaw rate of the vehicle.

9. The vehicle control device according to claim 7 , wherein the first control that is performed by the motor control unit sets the torques of the motors configured to rotate the front wheels greater as a load to the front wheels is greater than a load to rear wheels.

10. The vehicle control device according to claim 7 , wherein the first control that is performed by the motor control unit is performed when the vehicle is in a turning start state.

11. The vehicle control device according to claim 7 , wherein the motor control unit is configured to perform a second control of setting the torque of each of the motors so that a vehicle speed is equal to or smaller than an upper limit vehicle speed at which a centrifugal acceleration of the vehicle corresponds to an upper limit centrifugal acceleration.

12. The vehicle control device according to claim 11 , wherein when implementation conditions for the first control and the second control are all satisfied, the motor control unit performs preferentially the first control, and causes the motors configured to rotate rear wheels to generate braking torques in the second control.

13. The vehicle control device according to claim 12 , wherein when performing the second control, in a case where braking torque of limiting the vehicle speed to the upper limit vehicle speed is smaller than lower limit torque, the motor control unit limits the braking torques of the motors configured to rotate the rear wheels to the lower limit torque, and limits drive torques of the front wheels in the first control, based on a limit amount of the braking torques of the motors configured to rotate the rear wheels.

14. A vehicle control device configured to control a vehicle configured to rotate each of four or more drive wheels by each of different motors, the vehicle control device comprising:

a motor control unit configured to control torques that are generated by the motors,

wherein when understeer has occurred during turning of the vehicle, the motor control unit performs a control upon understeer of causing the motor configured to rotate a rear wheel on an inner side with respect to the turning to generate braking torque, increasing drive torque of the motor configured to rotate a front wheel on an outer side with respect to the turning, and decreasing drive torque of the motor configured to rotate a front wheel on an inner side with respect to the turning.

15. The vehicle control device according to claim 14 , wherein when a deviation between a target yaw rate of the vehicle and a real yaw rate of the vehicle is determined to become equal to or smaller than a predetermined threshold value, the motor control unit ends the control upon understeer.

16. The vehicle control device according to claim 1 , wherein when at least one of oversteer and understeer has occurred during turning of the vehicle, the motor control unit reduces drive torques of the motor configured to rotate a front wheel on an inner side with respect to the turning and the motor configured to rotate a rear wheel on an outer side with respect to the turning.

17. The vehicle control device according to claim 1 , wherein, in a case where the motor control unit generates the braking torque when oversteer has occurred during turning of the vehicle, the motor control unit adjusts the drive torque so that a summed value of the braking torque and the drive torque does not exceed a request torque to the vehicle.

18. The vehicle control device according to claim 1 , wherein when at least one of oversteer and understeer has occurred during turning of the vehicle, the motor control unit returns to a usual control in a case where a brake pedal is depressed by a driver.

19. A control method of controlling a vehicle configured to rotate each of four or more drive wheels by each of different motors, the control method comprising:

when oversteer has occurred during turning of the vehicle, causing the motor configured to rotate a front wheel on an outer side with respect to the turning to generate braking torque, increasing drive torque of the motor configured to rotate a rear wheel on an inner side with respect to the turning, and decreasing drive torque of the motor configured to rotate a rear wheel on an outer side with respect to the turning.

20. A control method of controlling a vehicle configured to rotate each of four or more drive wheels by each of different motors, the control method comprising:

when understeer has occurred during turning of the vehicle, causing the motor configured to rotate a rear wheel on an inner side with respect to the turning to generate braking torque, increasing drive torque of the motor configured to rotate a front wheel on an outer side with respect to the turning, and decreasing drive torque of the motor configured to rotate a front wheel on an inner side with respect to the turning.

21. The vehicle control device according to claim 1 , wherein when oversteer has occurred during turning of the vehicle, the motor control unit performs a control of causing the motor configured to rotate a front wheel on an inner side with respect to the turning to generate drive torque.

22. The vehicle control device according to claim 1 , wherein when the oversteer has occurred during turning of the vehicle, the motor control unit performs the control upon oversteer of causing the motor configured to rotate only the front wheel on an outer side with respect to the turning to generate braking torque and increasing drive torque of the motor configured to rotate only the rear wheel on an inner side with respect to the turning.

23. The vehicle control device according to claim 14 , wherein when the understeer has occurred during turning of the vehicle, the motor control unit performs the control upon understeer of causing the motor configured to rotate only the rear wheel on an inner side with respect to the turning to generate braking torque and increasing drive torque of the motor configured to rotate only the front wheel on an outer side with respect to the turning.

24. The vehicle control device according to claim 1 , wherein when the oversteer has occurred during turning of the vehicle, the motor control unit performs the control upon oversteer of causing the motor configured to rotate the front wheel on the outer side with respect to the turning to generate braking torque to a predetermined amount, and when a counter operation is performed by a driver during the control upon oversteer, the motor control unit performs a control upon counter operation of reducing the braking torque below the predetermined amount.

25. The vehicle control device according to claim 14 , wherein when the understeer has occurred during turning of the vehicle, the motor control unit performs the control upon understeer of causing the motor configured to rotate a rear wheel on an inner side with respect to the turning to generate braking torque to a predetermined amount, and when a counter operation is performed by a driver during the control upon oversteer, the motor control unit performs a control upon counter operation of reducing the braking torque below the predetermined amount.