| 摘要 |
PROBLEM TO BE SOLVED: To control the brake power of a wheel accurately by operating the parameters required for controlling the brake power of a wheel, i.e. the slip ratio of wheel or the coefficient of frictional of pavement, accurately. SOLUTION: When a vehicle is in acceleration state (S20), grounding load Wi of a wheel is operated (S30), brake drive torque Twi of the wheel is estimated based on a target drive current Iti for motor generators 12FL-12RR, rotational angular accelerationωdi of the wheel is operated as the differentiation value of the rotational angular speedωi of the wheel, coefficient of frictionμi of pavement is operated based on the brake drive torque Twi and the rotational angular accelerationωdi (S40), slip ratio Si of the wheel is operated based on the brake drive torque Twi (S50), stiffness Sni of the wheel is operated as the average value of the ratio of coefficient of frictionμi of pavement to the slip ratio Si (S60, 70), and the target brake drive torque Twti of the wheel is limited depending on the stiffness Sni such that the target brake drive torque Twti of the wheel does not have a steep slope of increase/decrease. COPYRIGHT: (C)2006,JPO&NCIPI
|
