US 12,304,320 B2
Vehicle control apparatus
Chihiro Oguro, Tokyo (JP); and Yoshiyuki Kambe, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Appl. No. 17/927,260
Filed by SUBARU CORPORATION, Tokyo (JP)
PCT Filed Jul. 21, 2021, PCT No. PCT/JP2021/027338
§ 371(c)(1), (2) Date Nov. 22, 2022,
PCT Pub. No. WO2023/002607, PCT Pub. Date Jan. 26, 2023.
Prior Publication US 2025/0074207 A1, Mar. 6, 2025
Int. Cl. B60L 15/20 (2006.01); B60L 7/18 (2006.01); B60T 8/1755 (2006.01)
CPC B60L 15/2009 (2013.01) [B60L 7/18 (2013.01); B60T 8/1755 (2013.01); B60L 2240/22 (2013.01); B60L 2240/465 (2013.01); B60L 2240/642 (2013.01); B60L 2260/28 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle control apparatus to be mounted on a vehicle, the vehicle control apparatus comprising:
a front-wheel drive system including one or two front-wheel motors each coupled to a front wheel;
a rear-wheel drive system including two rear-wheel motors each coupled to a rear wheel; and
a control system including a processor and a memory communicably coupled to each other, the control system being configured to control the front-wheel drive system and the rear-wheel drive system, wherein,
in a case where a front-wheel slip rate is greater than a start threshold upon coasting, the control system executes a front-wheel slip suppression control of reducing regenerative torque of each of the one or two front-wheel motors toward an initial front-wheel torque,
in the case where the front-wheel slip rate is greater than the start threshold upon the coasting, the control system executes a rear-wheel slip suppression control of reducing regenerative torque of each of the rear-wheel motors toward an initial rear-wheel torque, and
in a case where a yaw rate of the vehicle is greater than a behavior determination threshold under a situation in which the rear-wheel slip suppression control has been started, the control system executes an attitude stabilization control of controlling the regenerative torque of at least one of the two rear-wheel motors positioned on left and right sides of the vehicle and thereby expanding a difference in the regenerative torque between the two rear-wheel motors.