US 12,107,524 B2
Vehicle control apparatus
Shinichirou Nakahira, Tokyo (JP); Naoto Chiba, Tokyo (JP); and Takuya Yano, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Mar. 9, 2022, as Appl. No. 17/690,391.
Claims priority of application No. 2021-051843 (JP), filed on Mar. 25, 2021.
Prior Publication US 2022/0311368 A1, Sep. 29, 2022
Int. Cl. H02P 23/14 (2006.01); B60L 15/20 (2006.01)
CPC H02P 23/14 (2013.01) [B60L 15/20 (2013.01); B60L 2240/421 (2013.01); B60L 2240/423 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A vehicle control apparatus to be mounted on a vehicle, the vehicle including a first driving source and a first wheel to which torque is to be outputted from the first driving source, the first driving source including an electric motor, the vehicle control apparatus comprising:
a storage configured to hold a first resonance map; and
a processor configured to calculate a first torque command value and switch a control method of the first driving source, the first torque command value indicating a value of the torque to be outputted by the first driving source, wherein
the first resonance map includes, as one or more first resonance points, one or more operating points at which resonance occurs in an operating region of the first driving source under a square wave control, and
the processor is configured to switch the control method of the first driving source from the square wave control to a sine wave control on a condition that a predicted route of transition of an operating point of the first driving source meets the one or more first resonance points.