Vehicle motion control device and vehicle motion control method

Abstract

A vehicle motion control apparatus that the travel stability of a vehicle can be maintained by appropriately controlling the regenerative braking force in accordance with the wheel slip state or the road surface friction coefficient, and that the amount of regeneration of regenerative energy by the electric motor 13 can be ensured under various situations which may range from gradual braking to rapid braking is provided. A braking / driving force allocation unit of the vehicle motion control apparatus allocates braking / driving force to a front wheel 7FL, 7FR and a rear wheel 7RL, 7RR on the basis of braking / driving force required for the vehicle 50 and decreases the braking / driving force for one of the front wheel 7FL, 7FR and the rear wheel 7RL, 7RR for which the braking / driving force is generated by the electric motor 13 in response to a decrease in the ratio of braking / driving force to a slip ratio of at least one of the front wheel 7FL, 7FR and the rear wheel 7RL, 7RR.

Description

technical field [0001] The present invention relates to a vehicle motion control device and a vehicle motion control method, for example, to a control device and a control method for controlling the motion of a vehicle in which driving force is generated by an engine and a motor and braking force is generated by a friction brake and a motor. Background technique [0002] Conventionally, vehicles equipped with electric motors have combined friction braking, which converts kinetic energy of the vehicle into thermal energy to decelerate the vehicle through friction members provided on the wheels, and used electric motors to convert the kinetic energy of the vehicle into electrical energy in order to perform efficient braking control of the vehicle. Regenerative braking to slow the vehicle down. [0003] In the above-mentioned vehicle equipped with an electric motor, the amount of regeneration of kinetic energy of the vehicle can be effectively increased by generating more braki...

AI Technical Summary

Problems solved by technology

[0007] However, in the brake control device disclosed in Patent Document 1, the slip ratio is used as an index to determine control intervention. For example, when the friction coefficient between the road surface and the wheels is low, there may be make it less responsive

For example, in order to improve responsiveness when the friction coefficient between the road surface and the wheels is low, it is conceivable to set the control intervention threshold of the slip ratio to be extremely small, but if the control intervention threshold of the slip ratio If it is set to a small value, the slip ratio can be easily adjusted regardless of whether the grip force of the wheel (the degree of adhesion between the road surface and the tire) has a margin when the friction coefficient between the road surface and the wheel is high. If the control intervention threshold is exceeded, there is a problem that the regeneration amount of the regenerative braking unit will be suppressed more than necessary

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