Information processing method and information processing device

Abstract

An information processing device according to an embodiment of the present invention: acquires, for each period, information indicative of the drive torque amount on a driveshaft of a target vehicle; acquires, for each period, information capable of identifying a stroke amount of a suspension of the target vehicle; and determines, in a certain period and from the drive torque amount in the certain period and the stroke amount in the certain period, a torque limit amount that is an amount for limiting the drive torque amount in a period after the certain period.

Description

Information processing method and information processing device

[0001] The present invention relates to an information processing method and an information processing device.

[0002] Various attempts have been made to optimize the driving force (driving torque) on a drive shaft of a vehicle such as an automobile. For example, Patent Document 1 listed below discloses a driving force control device that suppresses the driving force transmitted to the wheels when the drive shaft joint angle is equal to or greater than a predetermined angle and the driver intends to suddenly start or accelerate the vehicle.

[0003] Japanese Patent Application Laid-Open No. 2008-207723

[0004] However, the above-mentioned prior art does not disclose or suggest the technical idea of ​​controlling the amount of drive torque on the drive shaft in order to suppress vibrations (for example, lateral sway) of the vehicle body.

[0005] In one aspect, the present invention has been made in consideration of the above circumstances, and its purpose is to provide an information processing method and an information processing device that can suppress vibration of the vehicle body by appropriately setting a torque limit amount, which is an amount that limits the amount of driving torque on the drive shaft.

[0006] In order to solve the above-mentioned problem, in an information processing method according to one aspect of the present invention, a computer executes the steps of acquiring information indicating the amount of driving torque on the drive shaft of a target vehicle in each period, acquiring information capable of identifying the stroke amount of the suspension of the target vehicle in each period, and determining a torque limit amount, which is an amount that limits the amount of driving torque in periods after the certain period, from the amount of driving torque in the certain period and the stroke amount in the certain period.

[0007] According to the present invention, it is possible to provide an information processing method and an information processing device that can suppress vibrations of a vehicle body by appropriately setting a torque limit amount that limits the amount of drive torque on a drive shaft.

[0008] 1 is a block diagram showing a schematic configuration of a vehicle equipped with an information processing device according to an embodiment; FIG. 2 shows the relationship between the amount of drive torque on a drive shaft and the amount of suspension stroke, and the excitation force, in a vehicle; FIG. 3 is a schematic illustration of an example of a hardware configuration of an information processing device according to an embodiment; FIG. 4 shows an example of a restriction amount map; FIG. 5 is a diagram showing an example of resonance vehicle speed range information; FIG. 6 is a schematic illustration of an example of a software configuration of an information processing device according to an embodiment; FIG. 7 is a diagram showing an example of a processing procedure of an information processing device according to an embodiment;

[0009] An embodiment according to one aspect of the present invention (hereinafter also referred to as "the present embodiment") will be described below with reference to the drawings. However, the present embodiment described below is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiment may be appropriately adopted. Note that, although data appearing in the present embodiment are described in natural language, more specifically, they are specified using pseudo-language, commands, parameters, machine language, etc. that can be recognized by a computer.

[0010] §1 Application Example Fig. 1 is a block diagram showing a schematic configuration of a target vehicle TV equipped with an information processing device (information processing device 1) according to this embodiment. The target vehicle TV is an example of the "target vehicle" of the present invention. As shown in Fig. 1, the target vehicle TV includes, for example, the information processing device 1 and a vehicle control system 2.

[0011] The vehicle control system 2 is a system that controls the driving of the target vehicle TV, for example, controlling the acceleration, steering, and deceleration (braking) of the target vehicle TV. The vehicle control system 2 may be realized by a so-called vehicle control ECU (Electronic Control Unit). The vehicle control system 2 and the information processing device 1 are connected by, for example, a Controller Area Network (CAN) or other in-vehicle LAN, and transmit and receive information to and from each other (communicate).

[0012] For example, the vehicle control system 2 can communicate with the information processing device 1 to control the traveling of the target vehicle TV in accordance with instructions from the information processing device 1 (for example, a control signal CS described below). That is, the information processing device 1 outputs to the vehicle control system 2, for example, periodically (periodically), a signal (control signal CS) that specifies a torque limit amount LT, which is an amount that limits the driving torque amount DT on the drive shaft of the target vehicle TV. The vehicle control system 2 can, for example, periodically control the driving torque amount DT on the drive shaft of the target vehicle TV in accordance with the control signal CS output from the information processing device 1. For example, the vehicle control system 2, in accordance with the control signal CS, determines a value obtained by subtracting the torque limit amount LT from the driving torque amount DT as a corrected driving torque amount DT, and drives the drive shaft of the target vehicle TV with the corrected driving torque amount DT.

[0013] The vehicle control system 2 also outputs drive torque information ID, stroke amount information IS, and vehicle speed information IW to the information processing device 1, and for example, periodically outputs this information. The drive torque information ID is information indicating the drive torque amount DT on the drive shaft of the target vehicle TV (e.g., the drive torque amount DT associated with each of the plurality of wheels of the target vehicle TV), and for example, information indicating the drive torque amount DT in each period. The stroke amount information IS is information that can identify the stroke amount SA of the suspension of the target vehicle TV (e.g., the stroke amount SA of each of the plurality of suspensions corresponding to each of the plurality of wheels of the target vehicle TV), and for example, information that can identify the stroke amount SA in each period. The vehicle speed information IW is information that indicates the vehicle speed WS of the wheels of the target vehicle TV (e.g., the vehicle speed WS of each of the plurality of wheels of the target vehicle TV), and for example, information that can identify the vehicle speed WS in each period.

[0014] The information processing device 1 periodically (at each cycle) acquires drive torque information ID, stroke amount information IS, and vehicle speed information IW from the vehicle control system 2. The information processing device 1 determines a torque limit amount LT, which is an amount by which the drive torque amount DT on the drive shaft of the target vehicle TV is limited, based on the drive torque amount DT indicated by the drive torque information ID and the stroke amount SA specified by the stroke amount information IS. The information processing device 1 then outputs a control signal CS specifying the determined torque limit amount LT to the vehicle control system 2.

[0015] For example, the information processing device 1 acquires, in each cycle, driving torque information ID indicating the driving torque amount DT for that cycle and stroke amount information IS indicating the stroke amount SA for that cycle. The information processing device 1 may determine, in a certain cycle, a torque limit amount LT for a cycle subsequent to that cycle from the driving torque amount DT for that cycle indicated by the driving torque information ID acquired in that cycle and the stroke amount SA for that cycle indicated by the stroke amount information IS acquired in that cycle. For example, the information processing device 1 may determine, in a certain cycle, a torque limit amount LT for a cycle subsequent to that cycle from the driving torque amount DT for that cycle and the stroke amount SA for that cycle. The information processing device 1 may then output, in that certain cycle, a control signal CS specifying the torque limit amount LT for a cycle subsequent to that cycle (e.g., the next cycle) determined in that cycle to the vehicle control system 2.

[0016] The information processing device 1 can suppress vibrations of the target vehicle TV by appropriately setting the torque limit amount LT based on the driving torque amount DT on the drive shaft of the target vehicle TV and the suspension stroke amount SA. The relationship between the "driving torque amount on the drive shaft" and the "suspension stroke amount" and the "vibration" in the vehicle will be described below with reference to FIG. 2.

[0017] (Regarding the Relationship Between Drive Torque and Stroke, and Vehicle Vibration) For example, a tripod constant velocity joint (hereinafter simply referred to as a "tripod joint") is used on the differential gear side of a driveshaft in a front-wheel drive vehicle. A tripod joint has a mechanism for absorbing axial displacement through sliding, but this sliding mechanism generates a thrust force that periodically fluctuates as the driveshaft rotates. In other words, in a tripod joint, the internal rollers slide back and forth within the guide grooves (roller grooves) of the housing for each rotation of the driveshaft. The sliding resistance generated when the rollers slide back and forth creates a vibratory force. Specifically, when the joint rotates at an operating angle θ, the rollers repeatedly rotate at an inclination of the operating angle θ relative to the roller grooves, causing periodically fluctuating slippage between the rollers and the roller grooves. The axial component of the frictional force resulting from this slippage creates an induced thrust force. Because there are three rollers in the tripod joint, a rotational third-order vibration force is generated when the drive shaft rotates. Furthermore, the resultant vibration force changes depending on the phase of the left and right tripod joints. This tripod joint acts as a vibration source, and vibrations are transmitted to the vehicle body, causing it to shake.

[0018] Here, the bend angle (drive shaft joint angle) of the drive shaft joint (tripod joint) increases or decreases in conjunction with the extension or contraction of the suspension. The larger the bend angle, the greater the inclination of the roller relative to the roller groove, which increases the roller's "rolling" and "sliding" elements and the friction coefficient. Therefore, as shown in FIG. 2 , the larger the bend angle of the drive shaft joint in response to the extension or contraction of the suspension, the greater the vibration caused by the tripod joint as a vibration source. In the illustrated example, for example, if the drive torque amount [Nm] of the drive shaft is the same, the larger the bend angle (drive shaft joint angle) [deg] of the drive shaft joint (tripod joint) is, the greater the vibratory force [N (N rms)]. The larger the suspension stroke, the larger the bend angle of the drive shaft joint.

[0019] Furthermore, the greater the rotational torque (driving torque) of the drive shaft, the greater the load between the rollers and roller grooves inside the tripod joint, which increases the frictional force (sliding resistance), i.e., the greater the excitation force, and the greater the vibration caused by the tripod joint as a vibration source. In the example shown in Figure 2, if the bend angle is the same, the greater the driving torque of the drive shaft (1500 Nm, 1200 Nm, 900 Nm, 600 Nm), the greater the excitation force.

[0020] As explained above, in a vehicle, (1) the larger the bend angle of the drive shaft joint (drive shaft joint angle), i.e., the larger the suspension stroke, the larger the vibration caused by the drive shaft joint becomes. Also, (2) the larger the drive torque of the drive shaft, the larger the vibration caused by the drive shaft joint becomes. Then, the vibration caused by the drive shaft joint becomes larger. Then, the vibration caused by the drive shaft joint propagates to the vehicle body (floor) via the suspension, for example, causing the vehicle to vibrate.

[0021] Here, the vibration frequency (resonant frequency) of each of the vehicle body and powertrain is an eigenvalue. Therefore, for example, when the vehicle wheel speed (velocity, rotational speed) corresponds to the resonant frequency of the powertrain, or when the "frequency of vibration (exciting force) generated by the driveshaft joint as a vibration source" is in a range that resonates with the resonant frequency of the vehicle body, vehicle vibration (e.g., lateral sway) becomes particularly noticeable. For example, the rotational third-order vibratory force generated in the tripod joint of the driveshaft is excited by the resonant frequency of the powertrain and propagates to the floor via the suspension, causing the vehicle to vibrate significantly from side to side.

[0022] Specifically, vehicle vibrations tend to increase in the following situations: when starting with the throttle fully open (for example, fully open), accelerating, towing uphill, carrying a heavy load, decelerating, regenerating, etc. Also, for example, when the phases of the left and right tripod joints are aligned, lateral shaking becomes noticeable when starting. Generally, vehicle vibrations increase when the vehicle (car body) tilts (sinks) significantly and the drive torque of the drive shaft is large.

[0023] As explained above, the greater the drive torque of the drive shaft and the greater the stroke of the suspension, the greater the vehicle vibrations. When the vehicle wheel speed is within a predetermined range (for example, a range of vehicle speeds corresponding to the resonant frequency of the powertrain), the vehicle vibrations become particularly large.

[0024] Therefore, the information processing device 1 determines a torque limit amount LT, which is an amount by which the driving torque amount DT is limited, based on the driving torque amount DT on the drive shaft of the target vehicle TV and the suspension stroke amount SA. The information processing device 1 then limits the driving torque amount DT on the drive shaft of the target vehicle TV based on the determined torque limit amount LT. The information processing device 1 can suppress vibrations of the target vehicle TV by appropriately setting the torque limit amount LT based on the driving torque amount DT and the stroke amount SA. Furthermore, when the vehicle speed WS of the wheels of the target vehicle TV is within a predetermined range (specifically, a resonant vehicle speed range SR described below), the information processing device 1 changes (increases) the value of the torque limit amount LT determined from the driving torque amount DT and the stroke amount SA to a larger value. Through this processing, the information processing device 1 can suppress vehicle vibrations even when the vehicle speed WS of the wheels of the target vehicle TV is within a predetermined range (for example, a vehicle speed range corresponding to the resonant frequency of the powertrain). The information processing device 1, the outline of which has been explained above, will now be explained in detail with reference to FIGS.

[0025] §2 Configuration Example [Hardware Configuration] Fig. 3 schematically illustrates an example of the hardware configuration of the information processing device 1 according to this embodiment. As shown in Fig. 3, the information processing device 1 according to this embodiment is a computer to which a control unit 11, a storage unit 12, a communication interface 13, an external interface 14, an input device 15, an output device 16, and a drive 17 are electrically connected. Note that in Fig. 3, the communication interface and the external interface are referred to as a "communication I / F" and an "external I / F."

[0026] The control unit 11 includes a hardware processor such as a central processing unit (CPU), a random access memory (RAM), and a read-only memory (ROM), and is configured to execute information processing based on programs and various data. The CPU is an example of a processor resource. The storage unit 12 is an example of a memory resource, and is configured, for example, with a hard disk drive or a solid-state drive. In this embodiment, the storage unit 12 stores various information such as an information processing program PG, a restriction amount map MP, and resonance vehicle speed range information IR.

[0027] The information processing program PG is a program for causing the information processing device 1 to execute information processing (FIG. 7) described below that determines the torque limit amount LT from the drive torque amount DT on the drive shaft of the target vehicle TV and the suspension stroke amount SA. The information processing program PG includes a series of instructions for the information processing.

[0028] The restriction amount map MP is a two-dimensional map that can determine the torque limit amount LT from the drive torque amount DT and the stroke amount SA. Specifically, as shown in FIG. 4 , the restriction amount map MP is a two-dimensional map that associates the torque limit amount LT with the drive torque amount DT and the stroke amount SA. In the restriction amount map MP shown in FIG. 4 , the horizontal axis represents the drive torque amount DT (drive torque [Nm]), the vertical axis represents the stroke amount SA (stroke amount [mm]), and the map value represents the torque limit amount LT. In the example of the restriction amount map MP shown in FIG. 4 , when the drive torque amount DT and the torque limit amount LT are greater than their respective predetermined values, the torque limit amount LT increases as the drive torque amount DT increases and as the torque limit amount LT increases. The information processing device 1, for example, uses the restriction amount map MP to determine the torque limit amount LT from the drive torque amount DT and the stroke amount SA.

[0029] The resonance vehicle speed range information IR is information indicating a "range of wheel vehicle speeds (velocity, rotational speed) (resonance vehicle speed range SR)" for further adjusting the torque limit amount LT determined from the drive torque amount DT and stroke amount SA. The resonance vehicle speed range SR indicates a range of vehicle speeds WS of the wheels of the target vehicle TV within which the value of the torque limit amount LT determined from the drive torque amount DT and stroke amount SA is increased. The resonance vehicle speed range information IR also indicates "how much the torque limit amount LT determined from the drive torque amount DT and stroke amount SA should be increased" when the vehicle speed WS of the wheels of the target vehicle TV is included in the resonance vehicle speed range SR. In other words, as illustrated in FIG. 5 , the resonance vehicle speed range information IR indicates the resonance vehicle speed range SR and how much the "torque limit amount LT determined from the drive torque amount DT and stroke amount SA" should be increased when the vehicle speed WS is included in the resonance vehicle speed range SR. The resonance vehicle speed range information IR illustrated in Figure 5 indicates that when the vehicle speed WS (vehicle speed [rpm] or [km / h]) is within the resonance vehicle speed range SR, a value greater than "0 (zero)" is added to the value of the torque limit amount LT (torque limit amount [Nm]). When the vehicle speed WS of the wheels of the target vehicle TV is within the resonance vehicle speed range SR, the information processing device 1 changes (increases) the torque limit amount LT determined from the drive torque amount DT and the stroke amount SA to a larger value in accordance with the resonance vehicle speed range information IR. In other words, the information processing device 1 adds a value determined by the resonance vehicle speed range information IR according to the vehicle speed WS to the value of the torque limit amount LT determined from the drive torque amount DT and the stroke amount SA, and adopts the torque limit amount LT after the addition as the (adjusted) torque limit amount LT.

[0030] The resonant vehicle speed range SR may be set, for example, as follows: That is, the vehicle speed WS of the wheels of the target vehicle TV corresponding to the resonant frequency of the powertrain (or the resonant frequency of the vehicle body) of the target vehicle TV is confirmed in advance by experiment, etc. Then, the resonant vehicle speed range SR may be set based on the confirmed vehicle speed WS (for example, around 28 km / h) while taking into consideration its variation (statistical tendency), etc.

[0031] The communication interface 13 is, for example, a wired LAN (Local Area Network) module, a wireless LAN module, or the like, and is an interface for performing wired or wireless communication via a network. As described above, the communication interface 13 may be an interface for performing communication via a CAN or other in-vehicle LAN. The information processing device 1 may use this communication interface 13 to perform data communication via a network with another information processing device (e.g., the vehicle control system 2, etc.). The external interface 14 is, for example, a USB (Universal Serial Bus) port, a dedicated port, or the like, and is an interface for connecting to an external device. The type and number of external interfaces 14 may be selected appropriately depending on the type and number of external devices to be connected.

[0032] For example, the information processing device 1 is connected to another information processing device via at least one of the communication interface 13 and the external interface 14, and communicates with the other information processing device. In this embodiment, the information processing device 1 is connected to a vehicle control system 2, and outputs a control signal CS that specifies a torque limit amount LT to the vehicle control system 2. The information processing device 1 is also connected to the vehicle control system 2, and acquires drive torque information ID, stroke amount information IS, and vehicle speed information IW from the vehicle control system 2.

[0033] The input device 15 is a device for inputting information, such as a mouse or a keyboard. The output device 16 is a device for outputting information, such as a display or a speaker. An operator such as a user can operate the information processing device 1 by using the input device 15 and the output device 16.

[0034] The drive 17 is, for example, a CD drive, a DVD drive, or the like, and is a drive device for reading various information, such as programs, stored in a storage medium 91. The storage medium 91 is a medium that stores information, such as programs, electrically, magnetically, optically, mechanically, or chemically, so that a computer or other device, machine, or the like can read the stored information. At least one of the information processing program PG, the restriction amount map MP, and the resonance vehicle speed range information IR may be stored in the storage medium 91. The information processing device 1 may acquire at least one of the information processing program PG, the restriction amount map MP, and the resonance vehicle speed range information IR from the storage medium 91. Note that FIG. 3 illustrates a disk-type storage medium, such as a CD or a DVD, as an example of the storage medium 91. However, the type of the storage medium 91 is not limited to a disk-type storage medium and may be other types of storage medium. Examples of storage media other than disk-type storage mediums include semiconductor memories, such as flash memories. The type of the drive 17 may be selected arbitrarily depending on the type of the storage medium 91.

[0035] Note that, with regard to the specific hardware configuration of the information processing device 1, components may be omitted, replaced, or added as appropriate depending on the embodiment. For example, the processor resource may include multiple hardware processors. The hardware processor may be configured with a microprocessor, a field-programmable gate array (FPGA), a digital signal processor (DSP), or the like. The storage unit 12 may be configured with RAM and ROM included in the control unit 11. At least one of the communication interface 13, the external interface 14, the input device 15, the output device 16, and the drive 17 may be omitted. The information processing device 1 may be configured with multiple computers. In this case, the hardware configurations of the computers may or may not be identical. Furthermore, the information processing device 1 may be an information processing device designed specifically for the service provided, as well as a general-purpose server device, a PC (Personal Computer), or the like.

[0036] [Software Configuration] FIG. 6 schematically illustrates an example of the software configuration of the information processing device 1 according to this embodiment. The control unit 11 of the information processing device 1 loads the information processing program PG stored in the storage unit 12 onto the RAM. The control unit 11 then uses the CPU to interpret and execute instructions included in the information processing program PG loaded onto the RAM to control each component. As a result, as shown in FIG. 6 , the information processing device 1 according to this embodiment operates as a computer including a torque amount acquisition unit 110, a stroke amount acquisition unit 120, a restriction amount determination unit 130, a vehicle speed acquisition unit 140, a restriction amount adjustment unit 150, an operation acceptance unit 160, and an output unit 170 as software modules. That is, in this embodiment, each software module of the information processing device 1 is realized by the control unit 11 (CPU).

[0037] The torque amount acquisition unit 110 acquires driving torque information ID indicating the driving torque amount DT on the drive shaft of the target vehicle TV. For example, the torque amount acquisition unit 110 periodically (periodically) acquires driving torque information ID indicating the driving torque amount DT associated with each of the plurality of wheels of the target vehicle TV. The torque amount acquisition unit 110 may acquire, at each period, driving torque information ID indicating the driving torque amount DT on the drive shaft of the target vehicle TV (e.g., the driving torque amount DT associated with each wheel).

[0038] The stroke amount acquisition unit 120 acquires stroke amount information IS capable of identifying the stroke amount SA of the suspension of the target vehicle TV. For example, the stroke amount acquisition unit 120 periodically acquires stroke amount information IS capable of identifying the stroke amount SA of each of a plurality of suspensions corresponding to each of a plurality of wheels of the target vehicle TV. The stroke amount acquisition unit 120 may acquire, in each period, stroke amount information IS capable of identifying the stroke amount SA of the suspension of the target vehicle TV in each period (for example, the stroke amount SA of each suspension).

[0039] In this embodiment, the stroke amount acquisition unit 120 may acquire, as the stroke amount information IS, information indicating at least one of the following four: (1) the acceleration of the wheels of the target vehicle TV, (2) the acceleration of the body of the target vehicle TV, (3) the acceleration of the suspension of the target vehicle TV, and (4) the output value of a stroke sensor that detects the stroke amount SA of the suspension of the target vehicle TV.

[0040] The stroke amount information IS is most preferably information indicating the above-mentioned "(4) output value of the stroke sensor detecting the stroke amount SA of the suspension of the target vehicle TV." However, not all vehicles are necessarily equipped with such a stroke sensor. Therefore, if the target vehicle TV does not have a stroke sensor, the stroke amount acquisition unit 120 may estimate (determine) the stroke amount SA using another sensor instead of the stroke sensor. For example, the stroke amount acquisition unit 120 may determine the stroke amount SA using at least one of (1) the acceleration of the wheels of the target vehicle TV, (2) the acceleration of the body of the target vehicle TV, and (3) the acceleration of the suspension of the target vehicle TV. In particular, the stroke amount acquisition unit 120 may accurately estimate the stroke amount SA by selectively using the above-mentioned (1) the acceleration of the wheels, (2) the acceleration of the body, and (3) the acceleration of the suspension depending on the state (driving state) of the target vehicle TV. For example, (1) the wheel acceleration increases in situations where the target vehicle TV suddenly starts, suddenly decelerates, climbs over a bump, etc. Therefore, in such situations, the wheel acceleration may be calculated from the wheel speed detected by the wheel speed sensor, and the calculated wheel acceleration may be used to determine the stroke amount SA. The stroke amount acquisition unit 120 acquires information indicating at least one of the above (1) to (3) as stroke amount information IS, thereby making it possible to determine the stroke amount SA of the suspension of the target vehicle TV even when the target vehicle TV does not have a stroke sensor.

[0041] The stroke amount acquisition unit 120 may also acquire, as the stroke amount information IS, an image of the wheels of the target vehicle TV captured by a camera arranged above the suspension of the target vehicle TV. The stroke amount acquisition unit 120 may identify the center position of the wheel (or wheels) of the target vehicle TV captured in the image, and estimate (may obtain) the stroke amount SA from the identified center position.

[0042] The limit amount determination unit 130 determines a torque limit amount LT, which is an amount by which the driving torque amount DT on the drive shaft of the target vehicle TV is limited, from the driving torque amount DT indicated by the driving torque information ID and the stroke amount SA specified by the stroke amount information IS. For example, the limit amount determination unit 130 may determine a torque limit amount LT for a period subsequent to the certain period (for example, the next period) from the driving torque amount DT for the certain period and the stroke amount SA for the certain period. The limit amount determination unit 130 may determine the torque limit amount LT for each wheel of the target vehicle TV from the driving torque amount DT for each wheel of the target vehicle TV and the stroke amount SA of each suspension of the target vehicle TV.

[0043] For example, the restriction amount determination unit 130 determines the torque restriction amount LT from the drive torque amount DT and the stroke amount SA using a restriction amount map MP shown in Figure 4. For example, the restriction amount determination unit 130 first acquires the restriction amount map MP by referring to the storage unit 12. Then, the restriction amount determination unit 130 may determine the torque restriction amount LT from the drive torque amount DT and the stroke amount SA using the acquired restriction amount map MP.

[0044] As described above, the vibration of the target vehicle TV increases as the driving torque DT and the stroke SA increase. Therefore, the information processing device 1 determines the torque limit amount LT from the driving torque DT and the stroke SA, and limits the driving torque DT using the determined torque limit amount LT, thereby suppressing the vibration of the target vehicle TV. In particular, as illustrated in FIG. 4 , in this embodiment, the torque limit amount LT, which is the amount by which the driving torque DT is limited, is represented as a two-dimensional map, for example, based on the driving torque DT on the drive shaft and the stroke amount SA of the suspension. By using this two-dimensional map (i.e., the limit amount map MP), the limit amount determination unit 130 can easily determine the torque limit amount LT from the driving torque DT and the stroke amount SA.

[0045] The limit amount determination unit 130 may determine the torque limit amount LT by multiplying the torque limit amount LT, which is determined from the drive torque amount DT and the stroke amount SA using a limit amount map MP, by a coefficient (for example, a coefficient depending on the state of the target vehicle TV, etc.).If the limit amount map MP specifies a torque limit amount LT specific to the target vehicle TV (such as the state of the target vehicle TV) as a map value, the limit amount determination unit 130 may use this specific torque limit amount LT as the torque limit amount LT.

[0046] The vehicle speed acquisition unit 140 acquires vehicle speed information IW indicating the vehicle speed WS (speed, rotation speed) of the wheels of the target vehicle TV. For example, the vehicle speed acquisition unit 140 periodically acquires the vehicle speed information IW indicating the vehicle speed WS of each of the multiple wheels of the target vehicle TV. The vehicle speed acquisition unit 140 may acquire the vehicle speed information IW indicating the vehicle speed WS of the wheels of the target vehicle TV in each cycle (for example, the vehicle speed WS of each wheel) in each cycle.

[0047] The restriction amount adjustment unit 150 determines whether the vehicle speed WS indicated by the vehicle speed information IW is within the resonance vehicle speed range SR, and if the vehicle speed WS is within the resonance vehicle speed range SR, increases the torque restriction amount LT determined by the restriction amount determination unit 130. For example, the restriction amount adjustment unit 150 determines whether the vehicle speed WS of each wheel is within the resonance vehicle speed range SR, and increases the "torque restriction amount LT determined from the drive torque amount DT and the stroke amount SA" for the wheel whose vehicle speed WS is within the resonance vehicle speed range SR.

[0048] Here, the restriction amount adjustment unit 150 may perform the above-described adjustment (increase in value) of the "torque restriction amount LT determined from the drive torque amount DT and the stroke amount SA" using the "vehicle body speed" of the target vehicle TV instead of the "vehicle speed WS of each wheel" of the target vehicle TV. That is, the restriction amount adjustment unit 150 may determine whether the vehicle body speed is within the resonance vehicle speed range SR, and if the vehicle body speed is within the resonance vehicle speed range SR, may change the "torque restriction amount LT determined from the drive torque amount DT and the stroke amount SA" to a larger value. However, as described above, the vibration force of the "joint on the differential gear side of the drive shaft (e.g., a tripod joint)" that serves as a vibration source of the target vehicle TV increases as the stroke amount SA of each suspension corresponding to that joint increases. For example, when climbing over a bump, a situation may occur in which the stroke amount SA of the suspension corresponding to only one wheel changes. Considering such a situation, it is preferable to use the "vehicle speed WS of each wheel" rather than the "vehicle body speed" for the target vehicle TV to determine whether or not to make the above-mentioned adjustment to the "torque limit amount LT determined from the driving torque amount DT and stroke amount SA."

[0049] The restriction amount adjustment unit 150 may periodically adjust (increase) the torque restriction amount LT determined from the drive torque amount DT and the stroke amount SA. For example, the restriction amount adjustment unit 150 may determine, for each cycle, whether the vehicle speed WS in that cycle (for example, the vehicle speed WS of each wheel in that cycle) is within the resonance vehicle speed range SR. If the vehicle speed WS in a certain cycle is within the resonance vehicle speed range SR, the restriction amount adjustment unit 150 may then change the torque restriction amount LT for a cycle after that cycle, which is determined from the drive torque amount DT and the stroke amount SA in that cycle, to a larger value in that cycle.

[0050] For example, the restriction amount adjustment unit 150 first references the storage unit 12 to obtain the resonant vehicle speed range information IR. The restriction amount adjustment unit 150 then determines whether the vehicle speed WS indicated by the vehicle speed information IW is within the resonant vehicle speed range SR indicated by the resonant vehicle speed range information IR. If the vehicle speed WS is within the resonant vehicle speed range SR, the restriction amount adjustment unit 150 increases (changes) the torque restriction amount LT determined by the restriction amount determination unit 130 in accordance with the resonant vehicle speed range information IR. For example, the restriction amount adjustment unit 150 determines whether the vehicle speed WS of each of the multiple wheels of the target vehicle TV is within the resonant vehicle speed range SR. The restriction amount adjustment unit 150 may then increase the value of the torque restriction amount LT determined from the drive torque amount DT and the stroke amount SA for the wheels whose vehicle speed WS is within the resonant vehicle speed range SR. That is, the restriction amount adjustment unit 150 may change the "torque restriction amount LT determined from the drive torque amount DT and the stroke amount SA" of a wheel whose vehicle speed WS is within the resonance vehicle speed range SR to a larger value in accordance with the resonance vehicle speed range information IR. In particular, the restriction amount adjustment unit 150 may change the "torque restriction amount LT for a period after a certain period, determined from the drive torque amount DT and the stroke amount SA for that certain period" of a wheel whose vehicle speed WS in that period is within the resonance vehicle speed range SR to a larger value in that certain period in accordance with the resonance vehicle speed range information IR.

[0051] As described above, when the vehicle speed WS (speed, rotation speed) of the wheels of the target vehicle TV is within a predetermined range (for example, a range of vehicle speeds WS corresponding to the resonance frequency of the powertrain (or vehicle body) of the target vehicle TV), the vibration of the target vehicle TV becomes particularly large. Therefore, when the vehicle speed WS of the wheels of the target vehicle TV is within the predetermined range (specifically, the resonance vehicle speed range SR), the information processing device 1 changes the value of the torque limit amount LT determined from the drive torque amount DT and the stroke amount SA to a larger value. Then, the information processing device 1 limits the drive torque amount DT for the wheels whose vehicle speed WS is within the resonance vehicle speed range SR by the torque limit amount LT changed to the larger value. By this processing, the information processing device 1 can suppress the vibration of the target vehicle TV even at the "vehicle speed WS of the wheels of the target vehicle TV" where the vibration of the target vehicle TV becomes particularly large. The information processing device 1 can suppress the vibration of the target vehicle TV by limiting the driving torque amount DT for the wheel, even when the vehicle speed WS of the wheel of the target vehicle TV is within a range of vehicle speeds corresponding to the resonant frequency of the powertrain, thereby suppressing the vibratory force of the joint on the differential gear side of the drive shaft corresponding to the wheel.

[0052] The operation reception unit 160 receives an operation OP from an occupant CP of the target vehicle TV (e.g., the driver of the target vehicle TV) to select whether or not to limit the driving torque amount DT on the drive shaft of the target vehicle TV. The operation reception unit 160 confirms whether or not limiting the driving torque amount DT has been selected in the operation OP, and notifies the output unit 170 of the confirmation result.

[0053] When limiting the drive torque amount DT is selected in the operation OP, the output unit 170 outputs a control signal CS that specifies one of the following to the vehicle control system 2. That is, the output unit 170 outputs a control signal CS that specifies "the torque limit amount LT determined by the limit amount determination unit 130" or "the torque limit amount LT adjusted by the limit amount adjustment unit 150" to the vehicle control system 2. For example, for a wheel whose vehicle speed WS in a certain period is not included in the resonance vehicle speed range SR, the output unit 170 outputs a control signal CS that specifies "the torque limit amount LT in a period after the certain period, determined from the drive torque amount DT and stroke amount SA in the certain period" to the vehicle control system 2 in the certain period. Furthermore, for example, for a wheel whose vehicle speed WS in a certain period is included in the resonant vehicle speed range SR, the output unit 170 outputs a control signal CS that specifies "the torque limit amount LT in a period after the certain period that has been changed to a larger value in accordance with the resonant vehicle speed range information IR" to the vehicle control system 2 in the certain period. The "torque limit amount LT in a period after the certain period that has been changed to a larger value in accordance with the resonant vehicle speed range information IR" is "the torque limit amount LT in a period after the certain period that has been determined from the drive torque amount DT and stroke amount SA in the certain period" after being changed to a larger value in accordance with the resonant vehicle speed range information IR.

[0054] If it is selected in the operation OP not to limit the drive torque amount DT, the output unit 170 does not output the above-mentioned control signal CS to the vehicle control system 2, or outputs a control signal CS in which the torque limit amount LT is set to "0 (zero)" to the vehicle control system 2. In other words, if the occupant CP selects not to limit the drive torque amount DT on the drive shaft of the target vehicle TV, the information processing device 1 does not limit the drive torque amount DT by the torque limit amount LT (the value of the torque limit amount LT is set to zero).

[0055] As described above, the greater the drive torque amount DT of the target vehicle TV and the greater the stroke amount SA, the greater the vibration of the target vehicle TV. For example, the vibration of the target vehicle TV increases during sudden acceleration, sudden deceleration, and climbing over a bump. However, for example, during sudden acceleration, the occupant CP (e.g., the driver) of the target vehicle TV intentionally accelerates at full throttle. Therefore, suppressing the drive torque amount DT would be contrary to the intention and will of the occupant CP. Therefore, the information processing device 1 (particularly, the operation receiving unit 160) receives an operation OP from the occupant CP of the target vehicle TV to select whether to limit the drive torque amount DT on the drive shaft of the target vehicle TV. Then, when receiving an operation OP from the occupant CP selecting not to limit the drive torque amount DT, the information processing device 1 determines the value of the torque limit amount LT to zero, i.e., does not limit the drive torque amount DT.

[0056] Therefore, the occupant CP can select whether or not to limit the drive torque amount DT. For example, the operation OP may be an operation to select a drive mode (operating mode) of the target vehicle TV. For example, if a sport mode or the like that provides effects such as improved acceleration is selected as the drive mode, the information processing device 1 does not limit the drive torque amount DT (or determines the torque limit amount LT to zero). Similarly, if a towing mode, rough road driving mode, or the like is selected, the information processing device 1 does not limit the drive torque amount DT.

[0057] §3 Operation Example Figure 7 is a flowchart showing an example of the processing procedure of the information processing device 1 according to this embodiment. The processing procedure described below is an example of the processing procedure of an information processing method PM that causes a processor (e.g., the CPU of the information processing device 1) to execute the process of "determining the torque limit amount LT from the drive torque amount DT and the stroke amount SA." However, the processing procedure described below is merely an example, and each step may be modified as much as possible. Furthermore, steps may be omitted, replaced, or added to the processing procedure described below as appropriate depending on the embodiment.

[0058] (Step S110) In step S110, the control unit 11 operates as the operation receiving unit 160 and receives an operation OP from an occupant CP (e.g., the driver) of the target vehicle TV to select whether or not to limit the driving torque amount DT on the drive shaft of the target vehicle TV.

[0059] (Step S120) In step S120, the control unit 11 operates as the operation reception unit 160 and determines whether an operation OP for selecting limiting the driving torque amount DT has been received. If an operation OP for selecting not to limit the driving torque amount DT has been received (No in step S120), the control unit 11 ends the processing. For example, the control unit 11 determines the torque limit amount LT, which is the amount by which the driving torque amount DT on the drive shaft of the target vehicle TV is limited, to "0 (zero)" and ends the processing. If an operation OP for selecting limiting the driving torque amount DT has been received (Yes in step S120), the control unit 11 proceeds to step S130.

[0060] (Step S130) In step S130, the control unit 11 operates as the torque amount acquisition unit 110 and acquires driving torque information ID indicating the driving torque amount DT on the drive shaft of the target vehicle TV (for example, the driving torque amount DT related to each of the multiple wheels of the target vehicle TV). The control unit 11 may acquire, for each cycle, the driving torque information ID indicating the driving torque amount DT on the drive shaft of the target vehicle TV for each cycle.

[0061] (Step S140) In step S140, the control unit 11 operates as the stroke amount acquisition unit 120 and acquires stroke amount information IS capable of identifying the stroke amount SA of the suspension of the target vehicle TV (for example, the stroke amount SA of each of the plurality of suspensions of the target vehicle TV). The control unit 11 may acquire, for each period, stroke amount information IS capable of identifying the stroke amount SA of the suspension of the target vehicle TV. The control unit 11 may acquire, as the stroke amount information IS, information indicating at least one of (1) the acceleration of the wheels of the target vehicle TV, (2) the acceleration of the body of the target vehicle TV, (3) the acceleration of the suspension of the target vehicle TV, and (4) the output value of a stroke sensor that detects the stroke amount SA of the suspension of the target vehicle TV.

[0062] (Step S150) In step S150, the control unit 11 operates as the limit amount determiner 130 and determines the torque limit amount LT, which is the amount by which to limit the driving torque amount DT on the drive shaft of the target vehicle TV. That is, the control unit 11 determines the torque limit amount LT from the driving torque amount DT indicated by the driving torque information ID acquired in step S130 and the stroke amount SA specified by the stroke amount information IS acquired in step S140. For example, the control unit 11 determines the torque limit amount LT from the driving torque amount DT and the stroke amount SA by using the limit amount map MP acquired by referring to the memory unit 12.

[0063] In step S150, the control unit 11 may determine, for a certain cycle, the "torque limit amount LT for a cycle after the certain cycle (e.g., the next cycle)" from the "drive torque amount DT for a certain cycle" indicated by the drive torque information ID acquired in step S130 and the "stroke amount SA for a certain cycle" specified by the stroke amount information IS acquired in step S140. In particular, the control unit 11 may determine, for a certain cycle, the "torque limit amount LT for each wheel" for a cycle after the certain cycle from the "drive torque amount DT for each wheel" for the certain cycle and the "stroke amount SA of each suspension" for the certain cycle.

[0064] (Step S160) In step S160, the control unit 11 operates as the vehicle speed acquisition unit 140 and acquires vehicle speed information IW indicating the vehicle speed WS of the wheels of the target vehicle TV (for example, the vehicle speed WS of each of the multiple wheels of the target vehicle TV). The control unit 11 may acquire the vehicle speed information IW indicating the vehicle speed WS of the wheels of the target vehicle TV in each cycle.

[0065] (Step S170) In step S170, the control unit 11 operates as the restriction amount adjustment unit 150 and determines whether the vehicle speed WS indicated by the vehicle speed information IW acquired in step S160 (e.g., the vehicle speeds WS of each of the plurality of wheels of the target vehicle TV) is within a predetermined speed range (resonance vehicle speed range SR). For example, the control unit 11 acquires the resonance vehicle speed range information IR by referring to the memory unit 12, and determines whether the vehicle speed WS indicated by the vehicle speed information IW is within the resonance vehicle speed range SR indicated by the resonance vehicle speed range information IR.

[0066] If the vehicle speed WS is within the resonance vehicle speed range SR (Yes in step S170), the control unit 11 proceeds to step S180. If the vehicle speed WS is not within the resonance vehicle speed range SR (No in step S170), the control unit 11 proceeds to step S190. The control unit 11 may proceed to step S180 only for wheels of the target vehicle TV whose vehicle speed WS is within the resonance vehicle speed range SR, and may proceed to step S190 for wheels whose vehicle speed WS is not within the resonance vehicle speed range SR.

[0067] In step S170, the control unit 11 may determine whether the vehicle speed WS in a certain period (e.g., the vehicle speed WS of each wheel in a certain period) is within the resonant vehicle speed range SR in the certain period. The control unit 11 may proceed to step S180 only for wheels of the target vehicle TV whose vehicle speed WS in a certain period is within the resonant vehicle speed range SR, and may proceed to step S190 for wheels whose vehicle speed WS in a certain period is not within the resonant vehicle speed range SR.

[0068] (Step S180) In step S180, the control unit 11 operates as the restriction amount adjustment unit 150 and adjusts (changes) the torque restriction amount LT determined in step S150. For example, the control unit 11 changes the torque restriction amount LT determined in step S150 to a larger value in accordance with the resonance vehicle speed range information IR. The control unit 11 may change the "torque restriction amount LT for a period after a certain period" determined in step S150 from the "drive torque amount DT for a certain period" and the "stroke amount SA for a certain period" to a larger value in the certain period in accordance with the resonance vehicle speed range information IR.

[0069] In step S180, the control unit 11 may change the torque limit amount LT determined in step S150 to a larger value in accordance with the resonance vehicle speed range information IR only for wheels whose vehicle speeds WS are within the resonance vehicle speed range SR. The control unit 11 does not need to change the torque limit amount LT determined in step S150 for wheels whose vehicle speeds WS are not within the resonance vehicle speed range SR. In particular, the control unit 11 may change the "torque limit amount LT for a wheel in a period after a certain period" to a larger value in accordance with the resonance vehicle speed range information IR only for wheels whose vehicle speeds WS are within the resonance vehicle speed range SR in a certain period.

[0070] (Step S190) In step S190, the control unit 11 operates as the output unit 170 and outputs a control signal CS specifying the torque limit amount LT to the vehicle control system 2. For example, the control unit 11 outputs a control signal CS specifying the torque limit amount LT determined in step S150 or the torque limit amount LT adjusted (changed) in step S180 to the vehicle control system 2. Specifically, for wheels whose vehicle speeds WS fall within the resonance vehicle speed range SR, the control unit 11 outputs a control signal CS specifying the torque limit amount LT adjusted in step S180. Furthermore, for wheels whose vehicle speeds WS do not fall within the resonance vehicle speed range SR, the control unit 11 outputs a control signal CS specifying the torque limit amount LT determined in step S150. For a wheel whose vehicle speed WS falls within the resonance vehicle speed range SR in a certain period, the control unit 11 may output, in a certain period, a control signal CS that specifies "the torque limit amount LT in a period after the certain period" adjusted in step S180. Furthermore, for a wheel whose vehicle speed WS does not fall within the resonance vehicle speed range SR in a certain period, the control unit 11 may output a control signal CS that specifies "the torque limit amount LT in a period after the certain period" determined in step S150. Furthermore, when an operation OP that selects not to limit the drive torque amount DT is accepted (No in step S120), the control unit 11 may output a control signal CS that specifies the torque limit amount LT that has been determined to be zero.

[0071] So far, an example has been described in which "for each of the plurality of wheels of the target vehicle TV, it is determined whether the vehicle speed WS is within the resonance vehicle speed range SR, and the torque limit amount LT is adjusted in accordance with the resonance vehicle speed range information IR only for the wheels whose vehicle speed WS is within the resonance vehicle speed range SR." However, it is not essential for the information processing device 1 to adjust the torque limit amount LT for each of the plurality of wheels using the resonance vehicle speed range information IR. For example, when the vehicle speed WS for all of the plurality of wheels is determined to be within the resonance vehicle speed range SR, the control unit 11 may adjust the torque limit amount LT for all of the plurality of wheels in accordance with the resonance vehicle speed range information IR.

[0072] [Features] As described above, the information processing device 1 according to this embodiment includes a torque amount acquisition unit 110, a stroke amount acquisition unit 120, and a limit amount determination unit 130. The torque amount acquisition unit 110 acquires driving torque information ID indicating the driving torque amount DT on the drive shaft of the target vehicle TV in each cycle. The stroke amount acquisition unit 120 acquires stroke amount information IS capable of identifying the stroke amount SA of the suspension of the target vehicle TV in each cycle. The limit amount determination unit 130 determines, in a certain cycle, a torque limit amount LT by which to limit the driving torque amount DT in cycles subsequent to the certain cycle, based on the driving torque amount DT in a certain cycle indicated by the driving torque information ID and the stroke amount SA in the certain cycle identified by the stroke amount information IS.

[0073] Furthermore, in the information processing method PM according to this embodiment, a computer (e.g., the information processing device 1) executes steps S130, S140, and S150 illustrated in FIG. 7. In step S130, the computer acquires driving torque information ID indicating the driving torque amount DT on the drive shaft of the target vehicle TV in each cycle. In step S140, the computer acquires stroke amount information IS capable of identifying the stroke amount SA of the suspension of the target vehicle TV in each cycle. In step S150, the computer determines, in a certain cycle, a torque limit amount LT that limits the driving torque amount DT in a cycle subsequent to the certain cycle (e.g., the next cycle) from the driving torque amount DT in the certain cycle and the stroke amount SA in the certain cycle. That is, the computer determines the "torque limit amount LT in a period after the certain period" for the certain period from the "driving torque amount DT in a certain period" indicated by the driving torque information ID acquired in step S130 and the "stroke amount SA in a certain period" identified by the stroke amount information IS acquired in step S140.

[0074] As described above, the vibration of the target vehicle TV increases as the driving torque amount DT and the stroke amount SA increase. Therefore, the information processing device 1 (information processing method PM) determines a torque limit amount LT, which is an amount by which the driving torque amount DT is limited, from the driving torque amount DT and the stroke amount SA. The information processing device 1 (information processing method PM) then limits the driving torque amount DT using the determined torque limit amount LT. Therefore, the information processing device 1 (information processing method PM) can suppress vibration of the target vehicle TV by appropriately setting the torque limit amount LT, which is an amount by which the driving torque amount DT on the drive shaft is limited. In particular, as described above, the information processing device 1 (information processing method PM) determines, in a certain cycle, a torque limit amount LT, which is an amount by which the driving torque amount DT is limited in a cycle after the certain cycle, from the driving torque amount DT and the stroke amount SA in the certain cycle. Therefore, the information processing device 1 (information processing method PM) can appropriately suppress the vibration of the target vehicle TV in periods after a certain period by limiting the driving torque amount DT in a period after the certain period from the driving torque amount DT and stroke amount SA in the certain period.

[0075] §4 Modifications Although the embodiments of the present invention have been described above in detail, the above description is merely an example of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. For example, the following modifications are possible. Note that, in the following, the same reference numerals are used for components similar to those in the above embodiment, and descriptions of similar points to those in the above embodiment are omitted where appropriate. The following modifications can be combined as appropriate.

[0076] In the above embodiment, an example has been described in which the information processing device 1 and the vehicle control system 2 are configured by separate computers. However, the configuration of the information processing device according to this embodiment is not limited to this example and may be determined appropriately depending on the embodiment. For example, the information processing device 1 and the vehicle control system 2 may be integrated into one computer. Furthermore, at least one of the information processing device 1 and the vehicle control system 2 may be configured by multiple computers.

[0077] In the above embodiment, an example has been described in which the target vehicle TV has four wheels, for example, left and right front wheels and left and right rear wheels, but the number of wheels (number) provided by the target vehicle TV does not necessarily have to be "4." The number of wheels provided by the target vehicle TV may be "1" or a number other than "4."

[0078] 1...information processing device (computer), 110...torque amount acquisition unit, 120...stroke amount acquisition unit, 130...restriction amount determination unit, CP...occupant, DT...driving torque amount, ID...driving torque information (information indicating driving torque amount), IS...stroke amount information (information capable of identifying stroke amount), IW...vehicle speed information (information indicating vehicle speed), LT...torque restriction amount, OP...operation, PM...information processing method, SA...stroke amount, SR...resonance vehicle speed range (predetermined vehicle speed range), TV...target vehicle, WS...vehicle speed,

Claims

1. An information processing method in which a computer executes the steps of: acquiring information indicating the amount of driving torque on the drive shaft of a target vehicle in each cycle; acquiring information that can identify the stroke amount of the suspension of the target vehicle in each cycle; and determining, from the amount of driving torque in a certain cycle and the stroke amount in the certain cycle, a torque limit amount that is an amount that limits the amount of driving torque in cycles after the certain cycle.

2. The information processing method of claim 1, wherein the computer further executes the steps of: acquiring information indicating the vehicle speed of the wheels of the target vehicle in each cycle; and determining whether the vehicle speed of the wheels in each cycle is within a predetermined vehicle speed range; and in the step of determining the torque limit amount, if the computer determines that the vehicle speed of the wheels in the certain cycle is within the predetermined vehicle speed range, it changes the value of the torque limit amount in a cycle after the certain cycle, which is determined from the driving torque amount and the stroke amount, to a larger value in the certain cycle.

3. The information processing method according to claim 1 or 2, wherein the computer acquires, as information capable of identifying the stroke amount, information indicating at least one of the following: acceleration of the wheels of the target vehicle; acceleration of the body of the target vehicle; acceleration of the suspension of the target vehicle; and an output value of a stroke sensor that detects the stroke amount of the suspension of the target vehicle.

4. The information processing method of claim 1 or 2, wherein the computer further executes a step of receiving an operation from an occupant of the target vehicle to select whether or not to limit the amount of driving torque, and when receiving an operation to select not to limit the amount of driving torque, determines the value of the torque limit amount to zero.

5. An information processing device comprising: a torque amount acquisition unit that acquires information indicating the amount of driving torque on a drive shaft of a target vehicle in each period; a stroke amount acquisition unit that acquires information that can identify the stroke amount of a suspension of the target vehicle in each period; and a limit amount determination unit that determines a torque limit amount, which is an amount that limits the amount of driving torque in a period after the certain period, from the driving torque amount in a certain period indicated by the information acquired by the torque amount acquisition unit and the stroke amount in the certain period identified by the information acquired by the stroke amount acquisition unit.

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