Control apparatus for vehicle and computer-readable recording medium
A control apparatus for a vehicle is provided. The vehicle includes driving motors provided for respective wheels. The driving motors each output driving torque for the vehicle and output regenerative torque. The control apparatus includes: one or more processors; and one or more memories communicably coupled to the one or more processors. The processors predict an output increased state ahead in a direction of travel of the vehicle. The output increased state causes output torque of any of the driving motors to be larger than a rated output. On the condition that the output increased state is predicted, the processors limit the driving torque and the regenerative torque of a relevant one of the driving motors expected to produce an output larger than the rated output in the output increased state, to under the rated output, until the output increased state occurs.
1. A control apparatus for a vehicle, the vehicle including driving motors provided for respective wheels different from one another, the driving motors being each configured to output driving torque for the vehicle and output regenerative torque, the control apparatus comprising:
one or more processors; and one or more memories communicably coupled to the one or more processors,
wherein the one or more processors are configured to:
predict that the vehicle is entering an output increased state ahead in a direction of travel of the vehicle, the output increased state causing output torque of any of the driving motors to be larger than a rated output;
in response to predicting that the vehicle is entering the output increased state, limit the driving torque and the regenerative torque of a relevant one of the driving motors, which is expected to exceed the rated output in the output increased state, to a value below the rated output; and
in response to determining that the vehicle has entered the output increased state after limiting the driving torque and the regenerative torque of the relevant one of the driving motors, control the driving torque and the regenerative torque of the relevant one of the driving motors to exceed the rated output while the vehicle remains in the output increased state.
2. The control apparatus for the vehicle according to claim 1 , wherein
the one or more processors are configured to predict the output increased state, on a condition that an uphill road is present ahead in the direction of travel of the vehicle.
3. The control apparatus for the vehicle according to claim 2 , wherein
the driving motors include a front wheel driving motor and a rear wheel driving motor, the front wheel driving motor being configured to drive one or more front wheels, and the rear wheel driving motor being configured to drive one or more rear wheels, and
the one or more processors are configured to
predict the output increased state, on the condition that the uphill road is present in the direction of travel of the vehicle, and
limit the driving torque and the regenerative torque of the rear wheel driving motor to under the rated output until the output increased state occurs by lowering a ratio of the driving torque and the regenerative torque to be distributed to the rear wheel driving motor.
4. The control apparatus for the vehicle according to claim 3 , wherein
the one or more processors are configured to
acquire data regarding a gradient of the uphill road, and
on a basis of the data regarding the gradient, set an upper limit value in limiting the driving torque and the regenerative torque of the rear wheel driving motor.
5. The control apparatus for the vehicle according to claim 1 , wherein the one or more processors are further configured to:
determine a road shape data of a road ahead in the direction of travel of the vehicle based on a road shape detected by a surrounding environment sensor provided in the vehicle, the road shape data including data regarding a gradient of the road; and
perform prediction that the vehicle is entering the output increased state based on the road shape data.
6. The control apparatus for the vehicle according to claim 5 , wherein the one or more processors are further configured to:
determine whether an uphill road is present ahead in the direction of travel of the vehicle based on the road shape data, the uphill road having a gradient greater than a first threshold and a length equal to or greater than a second threshold; and
in response to determining that the uphill road is present ahead in the direction of travel of the vehicle, perform the prediction that the vehicle is entering the output increased state before the vehicle reaches the uphill road.
7. The control apparatus for the vehicle according to claim 1 , wherein the one or more processors are further configured to:
determine a positional data regarding the vehicle based on information acquired from a GNSS sensor provided in the vehicle;
determine a road shape data of a road ahead in the direction of travel of the vehicle based on the positional data and a map information, the road shape data including data regarding a gradient of the road; and
perform prediction that the vehicle is entering the output increased state based on the road shape data.
8. The control apparatus for the vehicle according to claim 7 , wherein the one or more processors are further configured to:
determine whether an uphill road is present ahead in the direction of travel of the vehicle based on the road shape data, the uphill road having a gradient greater than a first threshold and a length equal to or greater than a second threshold; and
in response to determining that the uphill road is present ahead in the direction of travel of the vehicle, perform the prediction that the vehicle is entering the output increased state before the vehicle reaches the uphill road.
9. The control apparatus for the vehicle according to claim 1 , wherein the one or more processors are further configured to:
determine a road shape data of a road ahead in the direction of travel of the vehicle based on a road shape detected by a surrounding environment sensor provided in the vehicle, the road shape data including data regarding a radius of curvature of the road; and
perform prediction that the vehicle is entering the output increased state based on the road shape data.
10. The control apparatus for the vehicle according to claim 9 , wherein the one or more processors are further configured to:
determine whether a curve is present ahead in the direction of travel of the vehicle based on the road shape data, the curve having a radius of curvature equal to or less than a first threshold and a length equal to or greater than a second threshold; and
in response to determining that the curve is present ahead in the direction of travel of the vehicle, perform the prediction that the vehicle is entering the output increased state before the vehicle reaches the curve.
11. The control apparatus for the vehicle according to claim 1 , wherein the one or more processors are further configured to:
determine a positional data regarding the vehicle based on information acquired from a GNSS sensor provided in the vehicle;
determine a road shape data of a road ahead in the direction of travel of the vehicle based on the positional data and a map information, the road shape data including data regarding a radius of curvature of the road; and
perform prediction that the vehicle is entering the output increased state based on the road shape data.
12. The control apparatus for the vehicle according to claim 11 , wherein the one or more processors are further configured to:
determine whether a curve is present ahead in the direction of travel of the vehicle based on the road shape data, the curve having a radius of curvature equal to or less than a first threshold and a length equal to or greater than a second threshold; and
in response to determining that the curve is present ahead in the direction of travel of the vehicle, perform the prediction that the vehicle is entering the output increased state before the vehicle reaches the curve.
13. A non-transitory computer-readable recording medium containing a program applicable to a control apparatus for a vehicle, the vehicle including driving motors provided for respective wheels different from one another, the driving motors being each configured to output driving torque for the vehicle and output regenerative torque,
the program causing, when executed by one or more processors, the one or more processors to implement processing, the processing comprising:
predicting that the vehicle is entering an output increased state ahead in a direction of travel of the vehicle, the output increased state causing output torque of any of the driving motors to be larger than a rated output;
in response to predicting that the vehicle is entering the output increased state is predicted, limiting the driving torque and the regenerative torque of a relevant one of the driving motors, which is expected to exceed the rated output in the output increased state, to a value below the rated output; and
in response to determining that the vehicle has entered the output increased state after limiting the driving torque and the regenerative torque of the relevant one of the driving motors, controlling the driving torque and the regenerative torque of the relevant one of the driving motors to exceed the rated output while the vehicle remains in the output increased state.