ELECTRIC VEHICLE

摘要

An electric vehicle includes electric motors imparting driving forces to the corresponding driving wheels, a brake device imparting braking forces to the driving wheels, a control unit which calculates final target braking-driving forces (Tti) of the driving wheels and controls the electric motors and the brake device so that braking-driving forces of the driving wheels conform to the corresponding final target braking-driving forces. The control unit calculates longitudinal speeds (ΔVi) of the wheels relative to a vehicle body; calculates target correction amounts (Tt2i) of the target braking-driving forces for reducing in magnitude longitudinal speeds of the driving wheels relative to the vehicle body based on the relative longitudinal speeds; and corrects the target braking-driving forces (Tt1i) with the target correction amounts (Tt2i) to calculate final target braking-driving forces (Tti) of the driving wheels.

主权项

1. An electric vehicle comprising:
driving wheels suspended from a vehicle body by suspensions configured to resiliently allow the driving wheels to displace longitudinally relative to the vehicle body, electric motors configured to impart driving forces to the corresponding driving wheels independently from each other, a brake device configured to impart braking forces to the driving wheels independently from each other, a controller configured to calculate, for at least one wheel of the electric vehicle, final target braking-driving forces of the driving wheels, and control, for the at least one wheel, an electric motor of the electric motors or the brake device so that braking-driving forces of the driving wheels conform to the corresponding final target braking-driving forces, wherein:
the controller is configured to, for the at least one wheel, calculate relative longitudinal speeds of the driving wheels which are relative to the vehicle body; calculate target correction amounts of the target braking-driving forces for reducing in magnitude longitudinal accelerations of the driving wheels relative to the vehicle body based on the relative longitudinal speeds; and correct the target braking-driving forces with the target correction amounts to calculate the final target braking-driving forces of the driving wheels.