Patent ID: 11890948
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 6:
7. A control apparatus for an electric vehicle, the electric vehicle including a steering unit, an accelerator operation unit, a left driving motor configured to output power of a left driving wheel, and a right driving motor configured to output power of a right driving wheel, the control apparatus being configured to be installed in the electric vehicle, the control apparatus comprising:
circuitry configured to:
calculate requested torque that is based on an operation performed on the accelerator operation unit;
calculate left command torque and right command torque that follow the requested torque;
adjust respective upper limit change rates of the left command torque and the right command torque; and
control the left driving motor and the right driving motor to cause the left driving motor to output the calculated left command torque and the right driving motor to output the calculated right command torque, and

wherein the circuitry is further configured to, on a basis of a predetermined operation of turning back a steering angle performed on the steering unit wherein a steering direction determined from tracking the steering angle over time switches from a first steering direction to a second steering direction and the second steering direction is opposite from the first steering direction and/or different from the first steering direction by more than a predetermined angle, lower a first upper limit change rate of a first driving wheel among the left driving wheel and the right driving wheel serving as an inner wheel before turning back the steering angle, than a second upper limit change rate of a second driving wheel among the left driving wheel and the right driving wheel serving as an outer wheel before turning back the steering angle, and
wherein before turning back the steering angle comprises at an instant in time where a first absolute value of the steering angle is equal to or greater than a predetermined steering angle threshold value and a second absolute value of the rate of change of the steering angle over a predetermined time period is equal to or greater than a predetermined steering angle change rate threshold value.