CPC B60W 30/18127 (2013.01) [B60W 10/06 (2013.01); B60W 10/10 (2013.01); B60W 10/184 (2013.01); B60W 30/14 (2013.01); B60W 30/18072 (2013.01); B60W 30/18136 (2013.01); B60T 8/1766 (2013.01); B60T 2201/04 (2013.01); B60T 2260/08 (2013.01); B60W 30/16 (2013.01); B60W 30/162 (2013.01); B60W 2510/0623 (2013.01); B60W 2510/184 (2013.01); B60W 2510/244 (2013.01); B60W 2510/246 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2556/45 (2020.02); B60W 2556/65 (2020.02); B60W 2710/1005 (2013.01)] | 9 Claims |
1. A control device mounted on a vehicle, the control device comprising a processor programmed to:
acquire a plurality of longitudinal accelerations from a driving assistance system;
calculate a driving/braking request when the vehicle is in a coasting state in which an acceleration operation and a braking operation are not performed during running of the vehicle;
acquire a driving force lower limit set for a powertrain actuator having a set gear ratio;
distribute the driving/braking request to (i) a powertrain system including the powertrain actuator and (ii) a brake system including a brake actuator; and
control the distribution of the driving/braking request to the powertrain system and the brake system based on the acquired driving force lower limit,
wherein a distribution braking force allocated to each actuator is determined such that the distribution braking force is less than or equal to a braking force generable by the respective actuator, a sum of the respective distribution braking forces is equal to a target braking force, and a lower limit of braking force of each actuator is less than or equal to the distribution braking force of the respective actuator.
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