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发明公开
CN1778597A 车辆以及车辆的控制方法 失效 - 权利终止

车辆以及车辆的控制方法
摘要：
本发明涉及车辆及车辆的控制方法，在打滑发生期间推定路面的状态并对其进行处理。当向与驱动轮相连的驱动轴直接输出转矩的电机的旋转角加速度α超过可检测为因空转而引起的打滑的阈值αslip时，限制从电机输出的转矩。在该转矩的限制期间，当旋转角加速度α小于负的规定值αref时，推定为路面不是μ极低路面的状态，在作为驱动轮的车轮速度Vf与非驱动轮的车轮速度Vr的偏差的车轮速度差ΔV小于规定值Vref的时刻解除对从电机输出的转矩进行的限制。另一方面，当旋转角加速度α并非小于负的规定值αref而经过负的峰值且缓慢上升而经过零时，就推定为路面是μ极低路面的状态，在经过零的时刻解除从电机输出的转矩的限制。
摘要（英）：

A car and its control method are disclosed. When wheel is slipping, the state of road surface is determined and relative measure is taken. When the angle acceleration of motor is higher than the threshold í‹alpha slipíŒ caused by slipping, the output torque of motor is limited. When said angle acceleration is less than negative í‹alpha refíŒ, the road surface is not the one with very low mu value. When the speed difference between drive wheel and driven wheel is less than Vref, said limitation is eliminated. When said angle acceleration is not less than negative í‹alpha refíŒ, passes through negative peak and is slowly raised up to cross through zero, the road surface is the one with very low mu value and the limitation to torque is eliminated when the angle acceleration crosses through zero.

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