VEHICLE BRAKING/DRIVING TORQUE CONTROL DEVICE

WIPO Patent Application WO/2016/125686

A1

The present invention prevents tire slip which occurs when accelerating and decelerating in places such as where the road surface friction coefficient is low, and suppresses changes in vehicle attitude even if an unnecessary yaw moment is generated in the vehicle. Provided are the following: a slip rate control device (14) that, by controlling the braking/driving torque of left-and-right wheels (2), controls the slip rate of the wheels (2) so that such rate is no more than an upper limit slip rate or at least a lower limit slip rate; and a vehicle attitude control device (15). The vehicle attitude control device (15) comprises: a yaw rate deviation calculation means (24) for calculating the deviation between a real yaw rate and a target yaw rate; a controlled wheel setting means (25) for setting, as controlled wheels, the wheels (2) for which the upper limit or lower limit slip rate is to be modified; an upper limit slip rate calculation means (26A); and a lower limit slip rate calculation means (26B). The upper limit slip rate calculation means (26A) and the lower limit slip rate calculation means (26B) respectively reduce the upper limit slip rate or increase the lower limit slip rate in order to eliminate yaw rate deviation.

SUZUKI YUTA (JP)
HIRATA JUNICHI (JP)

PCT/JP2016/052551

August 11, 2016

January 28, 2016

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NTN TOYO BEARING CO LTD (JP)

B60L15/20

WO2008133150A1

2008-11-06

JP2014113013A	2014-06-19
JP2009065793A	2009-03-26

SUGIMOTO, Shuji et al. (JP)
Shuji Sugimoto (JP)

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