VEHICLE WITH INDEPENDENTLY DRIVEN MULTIPLE AXES, AND CONTROLLER WHICH INDEPENDENTLY DRIVES MULTIPLE AXLES

摘要

A vehicle with independently driven multiple axles and a controller which independently drives the multiple axles are disclosed. The controller includes a first controller which determines a target control value including at least one of a mechanical steering angle of each of a plurality of wheels of a vehicle, a target yaw moment of the vehicle, a target longitudinal force of the vehicle, and a target wheel speed of each of the plurality of wheels; and a second controller which determines wheel torques of the plurality of wheels, which drive the plurality of wheels independently, based on the target control value, wherein the wheel torques of the plurality of wheels are different from one another.

主权项

1. A vehicle with independently driven multiple axles, the vehicle comprising:
a plurality of wheels; an operation input unit which receives an operation input comprising at least one of a steering input, an acceleration input, and a braking input; a first controller which determines a target control value comprising at least one of a mechanical steering angle of each of the plurality of wheels, a target yaw moment of the vehicle, a target longitudinal force of the vehicle, and a target wheel speed of each of the plurality of wheels, from the operation input, according to a driving condition of the vehicle; and a second controller which determines wheel torques of the plurality of wheels, which drive the plurality of wheels independently, based on the target control value.