Vehicle control device

摘要

In a vehicle control device, a slip ratio in which front and rear wheels are averaged, and a braking force in which the front and rear wheels are averaged, can be calculated. The vehicle control device is provided with: friction braking devices placed on each wheel; a motor that acts as a regenerative braking mechanism and is placed on the rear wheels; a vehicle slip stiffness calculation unit; a front and rear braking force ratio calculation unit; a vehicle slip stiffness correction unit; and a regenerative braking arithmetic unit. The regenerative braking arithmetic unit operates the friction braking device and the motor so as to make the vehicle slip stiffness reach a vehicle slip stiffness threshold value. Also, the vehicle slip stiffness correction unit corrects the vehicle slip stiffness threshold value in accordance with the ratio of the front wheel braking force and the rear wheel braking force.

主权项

1. A vehicle control device comprising:
friction braking mechanisms which is provided in front and rear wheels of a vehicle; a regenerative braking mechanism which is provided on at least one side of the front wheels and the rear wheels of the vehicle; an average wheel slip ratio calculating unit configured to calculate an average wheel slip ratio of wheel slip ratios of the individual wheels; an average braking/driving force calculating unit configured to calculate average braking/driving force of braking/driving force of the individual wheels; a vehicle slip stiffness calculating unit configured to calculate an inclination of a straight line coupling the coordinates determined by the average wheel slip ratio and the average braking/driving force and an original point, on a two-dimensional orthogonal coordinate system in which a vertical axis shows the average braking/driving force and a horizontal axis shows the average slip ratio, as slip stiffness of the vehicle; a ratio calculating unit configured to calculate a ratio of front wheel braking/driving force and rear wheel braking/driving force; a vehicle slip stiffness correcting unit configured to correct a control threshold value of the vehicle slip stiffness, according to the ratio of the front wheel braking/driving force and the rear wheel braking/driving force; and a braking/driving force commanding unit configured to operate the friction braking mechanisms and the regenerative braking mechanism, such that the vehicle slip stiffness becomes the control threshold value.