CPC B60W 20/40 (2013.01) [B60K 6/36 (2013.01); B60K 6/48 (2013.01); B60W 10/06 (2013.01); B60W 10/08 (2013.01); B60W 10/11 (2013.01); B60W 20/30 (2013.01); B60K 6/547 (2013.01); B60W 2710/025 (2013.01); B60W 2710/0666 (2013.01); B60W 2710/083 (2013.01)] | 8 Claims |
1. A vehicle control device for a vehicle equipped with an electric motor as a driving power source and having a fluid transmission device and a gear mechanism installed on a power transmission path between the driving power source and driving wheels, in series from a side of the driving power source,
the vehicle control device having a backlash-elimination control unit that eliminates backlash in the gear mechanism when the vehicle transitions from driven travel in which power is transmitted from a side of the gear mechanism toward the side of the driving power source through the fluid transmission device to driving travel in which power is transmitted from the side of the driving power source toward the side of the gear mechanism through the fluid transmission device, wherein the backlash-elimination control unit has:
a first input limiting part that, in a predetermined driven state phase in which a rotational difference obtained by subtracting an output rotation speed of the fluid transmission device on the side of the gear mechanism from an input rotation speed of the fluid transmission device on the side of the driving power source is negative, limits input torque that is input into the fluid transmission device from the side of the driving power source to a first limit value by controlling torque of the electric motor; and
a second input limiting part that, in a predetermined backlash-elimination state phase that follows the driven state phase and is set in a region near a point at which the rotational difference changes from negative to positive, limits the input torque to a second limit value lower than the first limit value by controlling the torque of the electric motor.
|