US 11,745,600 B2
Driving force controller for vehicle
Chihiro Oguro, Tokyo (JP); and Shoto Arai, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Dec. 18, 2020, as Appl. No. 17/126,667.
Claims priority of application No. 2020-016684 (JP), filed on Feb. 4, 2020; and application No. 2020-196775 (JP), filed on Nov. 27, 2020.
Prior Publication US 2021/0237586 A1, Aug. 5, 2021
Int. Cl. B60L 15/20 (2006.01); B60W 30/188 (2012.01); B60L 7/10 (2006.01); B60W 30/20 (2006.01)
CPC B60L 15/2009 (2013.01) [B60L 7/10 (2013.01); B60W 30/188 (2013.01); B60W 30/20 (2013.01); B60L 2240/12 (2013.01); B60L 2240/421 (2013.01); B60L 2240/429 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A driving force controller for a vehicle, the vehicle including a driving wheel and a power source configured to output a driving force to the driving wheel, the driving force controller for vehicle comprising:
a driving force calculator configured to calculate an instructed driving force that varies on a basis of a driving command; and
a driving controller configured to allow the power source to output, as the driving force, the instructed driving force calculated by the driving force calculator, wherein
the driving force calculator includes a first determination unit configured to determine whether or not a predicted driving force satisfies a first condition, the predicted driving force is calculated according to the instructed driving force calculated on a first control cycle of the driving force of the power source being changed at a rate of change in the instructed driving force of the power source calculated on the first control cycle, until a second control cycle of the driving force of the power source following the first control cycle,
the first condition comprises when a range, between the instructed driving force calculated on the first control cycle and the predicted driving force, at least partly cover a first range, the first range including at least a zero driving force at which the driving force is zero,
the driving force calculator being configured to impose a limitation on the rate of change in the instructed driving force to be calculated on the second control cycle, when the first determination unit determines that the first condition is satisfied, and
the driving force calculator is configured to calculate a single value of the instructed driving force on each of control cycles which include the first control cycle and the second control cycle, and output the single value of the instructed driving force to the driving controller.