Patent ID: 9573473
Date: 2017-02-21
CPC Classifications: B60L,B60T,B60W

Claim:
1. A vehicle control device comprising: friction braking mechanisms which is provided in front and rear wheels of a vehicle; a regenerative braking mechanism which is provided on at least one side of the front wheels and the rear wheels of the vehicle; an average wheel slip ratio calculating unit configured to calculate an average wheel slip ratio of wheel slip ratios of the individual wheels; an average braking/driving force calculating unit configured to calculate average braking/driving force of braking/driving force of the individual wheels; a vehicle slip stiffness calculating unit configured to calculate an inclination of a straight line coupling the coordinates determined by the average wheel slip ratio and the average braking/driving force and an original point, on a two-dimensional orthogonal coordinate system in which a vertical axis shows the average braking/driving force and a horizontal axis shows the average slip ratio, as slip stiffness of the vehicle; a ratio calculating unit configured to calculate a ratio of front wheel braking/driving force and rear wheel braking/driving force; a vehicle slip stiffness correcting unit configured to correct a control threshold value of the vehicle slip stiffness, according to the ratio of the front wheel braking/driving force and the rear wheel braking/driving force; and a braking/driving force commanding unit configured to operate the friction braking mechanisms and the regenerative braking mechanism, such that the vehicle slip stiffness becomes the control threshold value.