Patent ID: 11958492
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 10:
11. A vehicle comprising:
a wheel;
a driving motor coupled to the wheel;
acceleration sensors configured to detect longitudinal acceleration and lateral acceleration; and
a circuitry coupled to the driving motor and the acceleration sensors, and configured to:
calculate a first ratio that is a ratio of a first length of time for which an absolute value of the detected longitudinal acceleration exceeds a first predetermined threshold to a predetermined determination time;
calculate a second ratio that is a ratio of a second length of time for which an absolute value of the detected lateral acceleration exceeds a second predetermined threshold to the predetermined determination time;
determine whether the calculated first ratio exceeds a third predetermined ratio;
determine whether the calculated second ratio exceeds a fourth predetermined ratio;
when the vehicle stops acceleration after (1) determining that the calculated first ratio does not exceed the third predetermined ratio or (2) determining that the calculated second ratio does not exceed the fourth predetermined ratio, control the driving motor so that a regenerative torque generated by the driving motor does not exceed a first limit value; and
when the vehicle stops acceleration after (1) determining that the calculated first ratio exceeds the third predetermined ratio and (2) determining that the calculated second ratio exceeds the fourth predetermined ratio, control the driving motor so that the regenerative torque does not exceed a second limit value, an absolute value of the second limit value being lower than an absolute value of the first limit value.