| 摘要 |
PROBLEM TO BE SOLVED: To properly satisfy a request of a drive force in a fore-and-aft direction and a request of a drive force in a cornering direction in a vehicle in which at least one of pairs of right and left front wheels and right and left rear wheels generates the drive force of the fore-and-aft direction and the drive force of the cornering direction. SOLUTION: The four wheels of a vehicle 10 are independently driven by four motors 14L, 14R and 18L, 18R. A drive force control device 20 determines the torque of each of the motors based on requested vehicle drive torque Treq0 as a drive force of the fore-and-aft direction of the vehicle 10 and requested cornering torque Nreq0 as a drive force of the cornering direction. The drive force control device 20 selects an operation point from a solution plane 150 as a portion of superposition between a front wheel torque rectangle 31 indicating a torque range of front wheels and a rear wheel reflecting rectangle 30a indicating a torque range of rear wheels. The lateral axis (X-axis) of the original point O' of the rear wheel reflection rectangle 30a is Treq0 and the longitudinal axis (Y-axis) coincides with Nreq0. The torque of each motor can be uniquely obtained from the selected operation point. COPYRIGHT: (C)2009,JPO&INPIT |
