Control device for vehicle
A control device for a vehicle includes an operation controller that controls operations of a rotating electric machine mounted to the vehicle, a first torque detector that detects a traveling torque which is a braking/driving torque to be output from the rotating electric machine when the vehicle is traveling, a second torque detector that detects a standstill torque which is a braking/driving torque to be output from the rotating electric machine upon the vehicle coming to a stop, and a waveform setter that sets a stop waveform which is a waveform indicating a time variation in the braking/driving torque output from the rotating electric machine from the traveling torque to the standstill torque. The operation controller performs a stop process that is a process to bring the vehicle to a stop while changing the braking/driving torque output from the rotating electric machine in accordance with the stop waveform.
1 . A control device for a vehicle, the control device comprising:
an operation controller that controls operations of a rotating electric machine mounted to the vehicle;
a first torque detector that detects a traveling torque which is a braking/driving torque to be output from the rotating electric machine when the vehicle is traveling;
a second torque detector that detects a standstill torque which is a braking/driving torque to be output from the rotating electric machine upon the vehicle coming to a stop; and
a waveform setter that sets a stop waveform based on the traveling torque and the standstill torque, the stop waveform indicating a gradual variation over time of the braking/driving torque output from the rotating electric machine in changing from the traveling torque to the standstill torque, wherein
the operation controller is configured to perform a stop process that is a process to bring the vehicle to a stop while changing the braking/driving torque output from the rotating electric machine in accordance with the stop waveform.
2 . The control device according to claim 1 , wherein
the operation controller initiates the stop process at a predefined target timing such that a point in time when the braking/driving torque output from the rotating electric machine reaches the standstill torque and a point in time when the vehicle comes to a stop coincide with each other.
3 . The control device according to claim 2 , wherein
the predefined target timing is set as a timing at which a number of rotations per unit time of wheels of the vehicle decreases to a predefined target rotational speed.
4 . The control device according to claim 3 , wherein
the operation controller sets the target rotational speed based on a difference between the traveling torque and the standstill torque.
5 . The control device according to claim 1 , wherein
the waveform setter sets the stop waveform as a waveform including a frequency component higher in frequency than a pitch resonance frequency of the vehicle.
6 . The control device according to claim 1 , wherein
the waveform setter sets the stop waveform such that a slope of a time variation of the stop waveform immediately after the stop process is initiated is less than or equal to a predefined value.
7 . The control device according to claim 1 , wherein
the second torque detector detects the standstill torque as a torque required to keep the vehicle in a stationary state after completion of the stop process.
8 . The control device according to claim 7 , wherein
the second torque detector calculates the standstill torque based on a signal from an acceleration sensor installed in the vehicle.