US 12,441,195 B2
Control device for vehicle
Yutaro Okamura, Tokyo (JP); Wataru Tanooka, Tokyo (JP); Ryota Takahashi, Tokyo (JP); and Naoki Takahashi, Tokyo (JP)
Assigned to MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA, Tokyo (JP)
Appl. No. 18/023,854
Filed by MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA, Tokyo (JP)
PCT Filed Sep. 24, 2021, PCT No. PCT/JP2021/035002
§ 371(c)(1), (2) Date Feb. 28, 2023,
PCT Pub. No. WO2022/091659, PCT Pub. Date May 5, 2022.
Claims priority of application No. 2020-181097 (JP), filed on Oct. 29, 2020.
Prior Publication US 2023/0322089 A1, Oct. 12, 2023
Int. Cl. B60L 3/10 (2006.01); B60W 40/10 (2012.01)
CPC B60L 3/102 (2013.01) [B60W 40/10 (2013.01); B60L 2220/42 (2013.01); B60L 2240/423 (2013.01); B60L 2240/465 (2013.01); B60L 2260/44 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A control device for a vehicle equipped with two electric motors for driving left and right wheels of the vehicle, the control device comprising:
a first calculation unit that calculates a required torque value of each of left and right axles of the vehicle;
a second calculation unit that calculates an equivalent moment of inertia of each of the left and right axles;
a third calculation unit that calculates an estimated angular acceleration of each of the left and right wheels based on the two required torque values calculated by the first calculation unit and the two equivalent moments of inertia calculated by the second calculation unit; and
a determination unit that compares actual angular accelerations of the left and right wheels with the estimated angular accelerations calculated by the third calculation unit to perform off-ground determination for each of the left and right wheels.