| CPC B60W 30/045 (2013.01) [B60W 10/12 (2013.01); B60W 10/14 (2013.01); B60W 40/101 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/14 (2013.01); B60W 2720/20 (2013.01)] | 7 Claims |
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1. A control device for a vehicle comprising:
a sensor that acquires information on a driving direction and a speed of the vehicle;
a first calculator that calculates a slip angle of front wheels and a slip angle of rear wheels of the vehicle based on the information acquired by the sensor;
a second calculator that calculates a saturation index of the front wheels and a saturation index of the rear wheels using a phase plane related to the slip angle of the front wheels and the slip angle of the rear wheels;
a third calculator that calculates residual torque of a front wheel axle and a rear wheel axle; and
a controller that distributes traction torque to the front wheel axle and the rear wheel axle based on the phase plane, the saturation index, and the residual torque of the front wheels and the rear wheels,
wherein the controller determines whether the saturation index of the front wheels and the saturation index of the rear wheels exceed a preset threshold value which is a value lower than the saturation index at which understeer or oversteer of the vehicle occurs,
when the saturation index of the front wheels and the saturation index of the rear wheels exceed the preset threshold value, the controller reduces the traction torque to a preset torque value, and
when the saturation index of the front wheels increases, the controller controls the vehicle to transmit the traction torque from the front wheel axle to the rear wheel axle, and when the saturation index of the rear wheels increases, the controller controls the vehicle to transmit the traction torque from the rear wheel axle to the front wheel axle.
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