Vehicle and steering apparatus

A vehicle has a rear wheel drive device for driving rear wheels independently of a front wheel drive device. A drive mode control unit performs at least one of a first switching operation for switching between a front-wheel-only-drive mode and a rear-wheel-only-drive mode, a second switching operation for switching between a composite drive mode and the rear-wheel-only-drive mode, and a third switching operation for switching between the composite drive mode and the front-wheel-only-drive mode. When the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation, an assistive force controller of the steering apparatus changes a control process for controlling a steering assistive force.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2012-012580 filed on Jan. 25, 2012, the contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a vehicle, which is capable of switching between a front-wheel-drive mode and a rear-wheel-drive mode, as well as to a steering apparatus for use in such a vehicle.

2. Description of the Related Art

There has been proposed in the art an electric power steering apparatus for changing a force that assists the driver of the vehicle in steering the wheel, depending on a state of switching between a four-wheel-drive mode and a two-wheel-drive mode (see Japanese Laid-Open Patent Publication No. 61-207274, hereinafter referred to as “JP61-207274A”, and Japanese Laid-Open Patent Publication No. 63-116982, hereinafter referred to as “JP63-116982A”).

According to JP61-207274A, a ratio of a steering assistive force to a steering force is changed depending on the four-wheel-drive mode or the two-wheel-drive mode (see claims). As disclosed in JP61-207274A, an electrically operated power steering apparatus is premised on a four-wheel-drive vehicle, which is based on a front-engine rear-wheel-drive vehicle (FR vehicle) that drives the rear wheels at all times, and a four-wheel-drive vehicle, which is based on a front-engine front-wheel-drive vehicle (FR vehicle) that drives the front wheels at all times.

According to JP63-116982A, an electrically operated power steering apparatus includes a solenoid-operated valve for controlling a steering force depending on the running state of the vehicle, and a selector for selecting a four-wheel-drive mode or a two-wheel-drive mode, wherein the solenoid-operated valve is controlled based on a signal from the selector (see claims). As disclosed in JP63-116982A, the four-wheel-drive mode or the two-wheel-drive mode is selected by engaging or disengaging a solenoid-operated clutch in order to change paths along which a drive force from an engine 10 is transmitted (see FIG. 2, page 3, lower left column, lines 2 through 4 to page 3, lower left column, lines 15 through 18).

There has also been proposed a four-wheel-drive vehicle, which is capable of independently driving the front wheels and the rear wheels (see U.S. Published Patent Application No. 2012/0015772, hereinafter referred to as “US2012/0015772A1”). According to US2012/0015772A1, a drive unit 6, in which an internal combustion engine 4 and an electric motor 5 are arranged in series, drives the front wheels Wf, whereas electric motors 2A, 2B drive the rear wheels Wr (see FIG. 1, paragraph [0084]).

According to JP61-207274A and JP63-116982A, the front wheels and the rear wheels are driven by a single drive source, with at least the front wheels or the rear wheels being driven at all times. In particular, therefore, according to JP61-207274A and JP63-116982A, nothing is discussed concerning the application of a steering assistive force in a vehicle configuration in which the front wheels and the rear wheels are driven independently of each other. For example, JP61-207274A and JP63-116982A disclose nothing concerning the application of a steering assistive force upon switching between a mode in which only the front wheels are driven and a mode in which only the rear wheels are driven.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a vehicle and a steering apparatus, which are capable of achieving a more appropriate steering performance in a vehicle configuration in which the front wheels and the rear wheels are driven independently of each other.

According to the present invention, there is provided a vehicle comprising a front wheel drive device for driving front wheels, a rear wheel drive device for driving rear wheels independently of the front wheel drive device, a drive mode control unit for controlling the front wheel drive device and the rear wheel drive device to control drive modes of the front wheels and the rear wheels, and a steering apparatus for steering steerable wheels, which are at least the front wheels or the rear wheels. The drive mode control unit performs at least one of a first switching operation for switching between a front-wheel-only-drive mode in which only the front wheels are driven and a rear-wheel-only-drive mode in which only the rear wheels are driven, a second switching operation for switching between a composite drive mode in which both the front wheels and the rear wheels are driven and the rear-wheel-only-drive mode, and a third switching operation for switching between the composite drive mode and the front-wheel-only-drive mode. The steering apparatus further includes manual steering means that manually steers the steerable wheels, assistive force generating means, which generates a steering assistive force acting in a same direction as or in an opposite direction to a steering force applied to the manual steering means, for assisting in steering the steerable wheels with the manual steering means, and assistive force control means that controls the steering assistive force. When the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation, the assistive force control means changes a control process thereof for controlling the steering assistive force.

According to the present invention, when one of the front-wheel-only-drive mode, the rear-wheel-only-drive mode, and the composite drive mode is changed to another mode, the control process for controlling the steering assistive force is changed. The vehicle allows the driver to feel natural about the way in which the vehicle is steered, or alerts the driver concerning the change of the modes, so that the driver can steer the vehicle appropriately.

When the front-wheel-only-drive mode and the rear-wheel-only-drive mode are switched, for example, a self-aligning torque, which is applied to the steerable wheels, changes depending on whether or not a drive force is applied to the steerable wheels when the vehicle corners, which tends to make the driver feel strange or uncomfortable about the way in which the vehicle is steered. With the present invention, the driver can feel natural about the way in which the vehicle is steered, assuming that the control process for controlling the steering assistive force is changed to minimize a change in the self-aligning torque upon switching between the front-wheel-only-drive mode and the rear-wheel-only-drive mode (first switching operation).

When the front-wheel-only-drive mode and the composite drive mode are switched, for example, a change in the self-aligning torque is relatively small. If the control process for controlling the steering assistive force is changed in order to intensify the change in the self-aligning torque, then it is possible to alert the driver concerning switching between the modes.

In addition, according to the present invention, the front wheels and the rear wheels are driven independently of each other. Therefore, it is possible to control the drive force for the front wheels and the drive force for the rear wheels more finely than if only a single drive source (engine or the like) were used for driving the vehicle in the front-wheel-only-drive mode, the rear-wheel-only-drive mode, and the composite drive mode. By controlling the steering assistive force finely, and thereby making the driver feel natural about the way in which the vehicle is steered, or alerting the driver concerning switching between drive modes, it is possible for the driver to steer the vehicle appropriately.

The steering apparatus may include manually steered state acquiring means, which acquires an operated state of the manual steering means, and vehicle speed acquiring means, which acquires a vehicle speed of the vehicle. The assistive force control means may calculate a target steering assistive quantity using a target base steering assistive quantity based on the operated state of the manual steering means and the vehicle speed, and a corrective quantity based on one of the drive modes. Further, when the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation, the assistive force control means may change the corrective quantity, and may calculate the target steering assistive quantity using the target base steering assistive quantity and the changed corrective quantity.

Even if the corrective quantity cannot be calculated, the target base steering quantity can be used by itself to assist the driver in steering the vehicle to a certain extent.

The assistive force control means may calculate a target base current depending on the target base steering assistive quantity and a corrective current depending on the corrective quantity, add the corrective current to the target base current thereby to calculate a target current depending on the target steering assistive quantity, and control the assistive force generating means based on the target current. Since the correction process is performed using current values, the correction process can be incorporated into basic control processes with small control changes.

The assistive force control means may further include an amplifier for amplifying the target base steering assistive quantity with a predetermined coefficient, and the amplifier may use different values for the predetermined coefficient before and after the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation. Therefore, the steering correction, which occurs upon switching between drive modes, can be changed only by changing the predetermined coefficient. The above advantages can thus be achieved by incorporating small changes into the basic control processes.

The assistive force control means may control the assistive force generating means using control maps, which represent control quantities for an operated state of the manual steering means, and use different ones of the maps before and after the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation. Since upon switching between drive modes the steering correction is changed only by switching between the maps, the calculational load for the steering correction can be reduced.

If the front wheels comprise steerable wheels and the rear wheels comprise non-steerable wheels, then when the drive mode control unit performs the first switching operation, the assistive force control means may change the control process for controlling the steering assistive force in order to make the steering assistive force greater in the front-wheel-only-drive mode than in the rear-wheel-only-drive mode, when the drive mode control unit performs the second switching operation, the assistive force control means may change the control process for controlling the steering assistive force in order to make the steering assistive force greater in the composite drive mode than in the rear-wheel-only-drive mode, and when the drive mode control unit performs the third switching operation, the assistive force control means may change the control process for controlling the steering assistive force in order to make the steering assistive force greater in the front-wheel-only-drive mode than in the composite drive mode.

In modes in which the front wheels are driven as steerable wheels, i.e., in the front-wheel-only-drive mode or the composite drive mode, the self-aligning torque applied to the front wheels is greater and the steering resistance is greater than in the rear-wheel-only-drive mode, wherein only the rear wheels are driven as non-steerable wheels. With the above arrangement, since the steering assistive force is corrected so as to be greater in modes in which the front wheels are driven, the driver is prevented from feeling strange or uncomfortable about the way the vehicle is steered during transitioning between the drive modes, and an abrupt change is prevented from occurring in the output torque from the wheels.

If the drive mode control unit performs the first switching operation, then when the drive mode control unit changes from one of the front-wheel-only-drive mode and the rear-wheel-only-drive mode to the other mode, the drive mode control unit may interpose the composite drive mode therebetween. Therefore, when the front-wheel-only-drive mode changes to the rear-wheel-only-drive mode, or when the rear-wheel-only-drive mode changes to the front-wheel-only-drive mode, the output power (drive power) of the wheels is prevented from changing abruptly.

When the drive mode control unit changes from one of the front-wheel-only-drive mode and the rear-wheel-only-drive mode to the other mode, a drive force applied to one of the front wheels and the rear wheels, which are to stop being driven, may be progressively reduced, and a drive force applied to one of the front wheels and the rear wheels, which start being driven, may be progressively increased. Consequently, the wheels to which the progressively reduced drive force is applied and the wheels to which the progressively increased drive force is applied are gradually changed in behavior, whereby the output power (drive power) of the wheels can further be prevented from changing abruptly.

In the composite drive mode, while changing from one of the front-wheel-only-drive mode and the rear-wheel-only-drive mode to the other mode, a total of the drive force applied to one of the front wheels and the rear wheels, which are to stop being driven, and the drive force applied to one of the front wheels (32a,32b) and the rear wheels (36a,36b), which start being driven, may be kept constant. Consequently, it is possible to switch between the front-wheel-only-drive mode and the rear-wheel-only-drive mode without causing a change in the behavior of the vehicle, and hence without making the driver feel strange or uncomfortable due to a change in the behavior of the vehicle, which would otherwise be caused by switching between the modes.

According to the present invention, there is also provided a steering apparatus for use in a vehicle including a front wheel drive device for driving front wheels, a rear wheel drive device for driving rear wheels independently of the front wheel drive device, and a drive mode control unit for controlling the front wheel drive device and the rear wheel drive device to control drive modes of the front wheels and the rear wheels, wherein the drive mode control unit performs at least one of a first switching operation of switching between a front-wheel-only-drive mode in which only the front wheels are driven and a rear-wheel-only-drive mode in which only the rear wheels are driven, a second switching operation of switching between a composite drive mode in which both the front wheels and the rear wheels are driven and the rear-wheel-only-drive mode, and a third switching operation of switching between the composite drive mode and the front-wheel-only-drive mode. The steering apparatus further includes manual steering means that manually steers steerable wheels, which are at least the front wheels or the rear wheels, assistive force generating means, which generates a steering assistive force acting in the same direction as or in an opposite direction to a steering force applied to the manual steering means, for assisting in steering the steerable wheels with the manual steering means, and assistive force control means that controls the steering assistive force. Further, when the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation, the assistive force control means changes a control process thereof for controlling the steering assistive force.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A-1. Drive System of Vehicle10:

FIG. 1is a schematic view of the drive system and nearby components of a vehicle10according to an embodiment of the present invention. As shown inFIG. 1, the vehicle10includes an engine12and a first traction motor14(hereinafter referred to as a “first motor14” or a “front motor14”) disposed in series in a front portion of the vehicle10, second and third traction motors16,18(hereinafter referred to as “second and third motors16,18” or “rear motors16,18”) disposed in a rear portion of the vehicle10, a high-voltage battery20(hereinafter referred to as a “battery20”), first through third inverters22,24,26, and a drive electronic control unit28(hereinafter referred to as a “drive ECU28”).

The engine12and the first motor14transmit a drive force (hereinafter referred to as a “front wheel drive force Ff”) through a transmission30to a front left wheel32aand a front right wheel32b(hereinafter collectively referred to as “front wheels32”). The engine12and the first motor14jointly make up a front wheel drive device34(steerable wheel drive device). When the vehicle10is under a low load, for example, the vehicle10is driven only by the first motor14. When the vehicle10is under a medium load, the vehicle10is driven only by the engine12. When the vehicle10is under a high load, the vehicle10is driven by both the engine12and the first motor14.

The second motor16, which has an output shaft thereof connected to the axle of a rear left wheel36a, transmits a drive force to the rear left wheel36a. The third motor18, which has an output shaft thereof connected to the axle of a rear right wheel36b, transmits a drive force to the rear right wheel36b. The second and third motors16,18jointly make up a rear wheel drive device38(non-steerable wheel drive device). The rear left wheel36aand the rear right wheel36bwill hereinafter be referred to collectively as “rear wheels36”). The drive force, which is transmitted from the rear wheel drive device38to the rear wheels36, will hereinafter be referred to as a “rear wheel drive force Fr”.

The high-voltage battery20supplies electric power through the first through third inverters22,24,26to the first through third motors14,16,18, respectively, and is charged with regenerated electric power Preg from the first through third motors14,16,18.

The drive ECU28, which serves as a drive mode control unit, controls the engine12and the first through third inverters22,24,26based on output signals from various sensors and electronic control units (hereinafter referred to as “ECUs”), for thereby controlling output power of the engine12and the first through third motors14,16,18. The drive ECU28has an input/output section, a processing section, and a storage section, all not shown. The drive ECU28may be a combination of ECUs. The drive ECU28may alternatively comprise a plurality of ECUs associated respectively with the engine12and the first through third motors14,16,18, together with an ECU for managing driven states of the engine12and the first through third motors14,16,18.

The engine12comprises a six-cylinder engine, for example, although the engine12may be any of various other engines, including a two-cylinder engine, a four-cylinder engine, an eight-cylinder engine, etc. The engine12may be a gasoline engine, a diesel engine, a compressed air engine, or the like.

Each of the first through third motors14,16,18comprises a three-phase AC brushless motor, for example, although the first through third motors14,16,18may be any of various other motors, including a three-phase AC brush motor, a single-phase AC motor, a DC motor, etc. The first through third motors14,16,18may have the same or different specifications. The rear left wheel36aand the rear right wheel36bmay also be driven by a single traction motor.

The first through third inverters22,24,26, each of which has a three-phase bridge configuration, convert a direct current into three-phase alternating currents, and supply the three-phase alternating currents to the first through third motors14,16,18. The first through third inverters22,24,26also supply the high-voltage battery20with a direct current, which is converted from three-phase alternating currents supplied from the first through third motors14,16,18when the first through third motors14,16,18operate in a regenerative mode.

The high-voltage battery20, which serves as an energy storage device having a plurality of battery cells, comprises a lithium ion secondary battery, a nickel hydrogen secondary battery, a capacitor, or the like, for example. According to the present embodiment, the high-voltage battery20comprises a lithium ion secondary battery. Respective DC/DC converters, not shown, may be connected between the first through third inverters22,24,26and the high-voltage battery20, for thereby increasing or reducing the output voltage from the high-voltage battery20, or the output voltages from the first through third motors14,16,

A-2. Steering System of Vehicle10:

(2-1. Overall Configuration of Electric Power Steering Apparatus50)

FIG. 2is a schematic view, partially in cross section and block form, of an electric power steering apparatus50(hereinafter referred to as an “EPS apparatus50”), which serves as a steering system (steering apparatus) for the vehicle10. As shown inFIG. 2, the EPS apparatus50includes a steering handle52(steering wheel) as a manual steering means, a steering column54, an intermediate joint56, a steering gearbox58, a motor60for actuating the EPS apparatus50(hereinafter referred to as an “EPS motor60”), an inverter62(hereinafter referred to as an “EPS inverter62”), a vehicle speed sensor64that serves as a vehicle speed acquiring means, a sensor unit66, an electric power steering electronic control unit68(hereinafter referred to as an “EPS ECU68” or “ECU68”), and a low-voltage battery70(hereinafter referred to as a “battery70”).

The steering column54has a housing80, a steering shaft82rotatably supported in the housing80through a plurality of bearings84,86,88, a torque sensor90, and a steering angle sensor92. The torque sensor90and the steering angle sensor92function as a manual steering state acquiring means.

The intermediate joint56includes two universal joints100a,100b, and a shaft102disposed between the two universal joints100a,100b.

The steering gearbox58includes a housing110, a pinion shaft112including a pinion114of a rack and pinion mechanism and which is rotatably supported in the housing110by a pair of bearings116,118, a rack120including rack teeth122of the rack and pinion mechanism, and a pair of tie rods124connected to the respective front wheels32.

The steering shaft82has one end thereof fixed to the steering handle52and the other end thereof connected to the universal joint100a. The universal joint100ainterconnects the other end of the steering shaft82and an end of the shaft102. The universal joint100binterconnects the other end of the shaft102and an end of the pinion shaft112. The pinion114of the pinion shaft112is held in mesh with the rack teeth122of the rack120for driving the same. Opposite ends of the rack120are connected to each of the front wheels32by the respective tie rods124.

When the driver of the vehicle10turns the steering handle52, a steering torque Tr (rotational force) is produced, which is transmitted through the steering shaft82and the intermediate joint56to the pinion shaft112. The pinion114of the pinion shaft112and the rack teeth122of the rack120convert the steering torque Tr into a thrust force, which acts to displace the rack120longitudinally, i.e., in a transverse direction of the vehicle10. When the rack120is displaced, the tie rods124angularly move the front wheels32, thereby changing the direction of travel of the vehicle10.

The steering shaft82, the intermediate joint56, the pinion shaft112, the rack120, and the tie rods124jointly make up a manual steering system for directly transmitting a steering action, which the driver has performed via the steering handle52, to the front wheels32.

The EPS motor60, which serves as an assistive force generating means, is operatively coupled to the steering shaft82by a worm gear130and a worm wheel gear132. More specifically, the EPS motor60has an output shaft thereof connected to the worm gear130. The worm wheel gear132, which is held in mesh with the worm gear130, is integrally or elastically and displaceably combined with the steering shaft82.

The EPS motor60, which comprises a three-phase AC brushless motor, for example, is supplied with electric power from the low-voltage battery70through the EPS inverter62, which is controlled by the EPS ECU68, thereby generating a drive force (hereinafter referred to as a “steering assistive force Fasi”) depending on the supplied electric power. The generated drive force, which assists the driver in steering the front wheels32, is transmitted through the output shaft of the EPS motor60, the worm gear130, the steering shaft82(worm wheel gear132), the intermediate joint56, and the pinion shaft112to the rack120. The EPS motor60, the worm gear130, and the steering shaft82(worm wheel gear132) jointly make up an assistive drive system for generating a force (steering assistive force Fasi) to assist the driver in steering the front wheels32.

The torque sensor90, the vehicle speed sensor64, the EPS inverter62, the sensor unit66, and the EPS ECU68jointly make up an assistive control system for controlling the assistive drive system. The assistive drive system, the assistive control system, and the low-voltage battery70will hereinafter also be referred to as a “steering assistive system”.

According to the present embodiment, the output power of the EPS motor60is controlled by a so-called vector control process involving a d-axis and a q-axis. The vector control process is disclosed in Japanese Laid-Open Patent Publication No. 2006-256542 (hereinafter referred to as “JP2006-256542A”), Japanese Laid-Open Patent Publication No. 2009-090817 (hereinafter referred to as “JP2009-090817A”), Japanese Laid-Open Patent Publication No. 2010-064544 (hereinafter referred to as “JP2010-064544A”), or Japanese Laid-Open Patent Publication No. 2009-214711 (hereinafter referred to as “JP2009-214711A”), for example.

The torque sensor90, which comprises a magnetostrictive torque sensor that is highly resistant to flexure and torsion, includes a first detecting element (magnetostrictive film)140and a second detecting element (magnetostrictive film)142, which are directly plated on the steering shaft82. The first detecting element140generates a voltage (rightward torque voltage VT1) depending on a torque (rightward torque Tsr) that is generated in a clockwise direction as seen from the driver toward the steering handle52, and outputs the generated voltage to the EPS ECU68. The second detecting element142generates a voltage (leftward torque voltage VT2) depending on a torque (leftward torque Tsl) that is generated in a counterclockwise direction as seen from the driver toward the steering handle52, and outputs the generated voltage to the EPS ECU68.

The vehicle speed sensor64detects a vehicle speed Vs [Km/h], and outputs the detected vehicle speed Vs to the EPS ECU68. The steering angle sensor92detects a steering angle θs [degrees], which is indicative of the angle that the steering handle52is turned by the driver, and outputs the detected steering angle θs to the EPS ECU68.

The rightward torque voltage VT1, the leftward torque voltage VT2, the vehicle speed Vs, and the steering angle θs are used in a feed-forward control process, which is carried out by the EPS ECU68.

The EPS inverter62, which is of a three-phase bridge configuration, converts a direct current from the low-voltage battery70into three-phase alternating currents, and supplies the three-phase alternating currents to the EPS motor60.

(c) Feedback Control System Sensors:

The sensor unit66detects a q-axis current Iq, which represents a torque current component in the vector control process referred to above. The sensor unit66includes respective current sensors (not shown) for detecting the currents of at least two of a U-phase, a V-phase, and a W-phase of the windings (not shown) of the EPS motor60, a resolver (not shown) for detecting an electric angle θ representing the rotational angle of the output shaft or the outer rotor (not shown) of the EPS motor60, and a processor for calculating a q-axis current Iq based on the currents of at least two phases and the electric angle θ. The EPS ECU68may perform the function of the aforementioned processor.

As shown inFIG. 2, the EPS ECU68, which serves as an assistive force control means, includes an input/output section150, a processing section152, and a storage section154as hardware components thereof. Based on output signals from various sensors, the EPS ECU68controls the output power of the EPS motor60through the EPS inverter62, as will be described in detail later.

The low-voltage battery70comprises a secondary battery such as a lead storage battery or the like, for example, which serves as an energy storage device for outputting a low voltage (12 V in the present embodiment).

B. Various Control Processes

B-1. Changing Between Drive Modes:

FIG. 3is a diagram showing how the vehicle10changes between different running modes (drive modes), and how a drive source of the vehicle10changes between different modes according to the present embodiment. According to the present embodiment, the drive ECU28controls the vehicle10to change between the different running modes (drive modes), and also controls the drive source to change between the different modes.

InFIG. 3, “RUNNING MODE” implies that the vehicle10is either at rest, driven in a forward direction, driven in a regenerative mode, or is driven in a reverse direction, and “DRIVE MODE” implies that the vehicle10is in a “RWD” (Rear Wheel Drive) mode, an “FWD” (Front Wheel Drive) mode, or an “AWD” (All Wheel Drive) mode. RWD and FWD are a two-wheel-drive (2WD) mode, whereas AWD is a four-wheel-drive (4WD) mode. When the vehicle10is driven in a regenerative mode, as shown inFIG. 3, at least one of the first through third motors14,16,18operates in a regenerative mode.

InFIG. 3, “SHIFT POSITION” implies the position of a gearshift lever, in which “P” represents a parking range, “D” represents a forward range, and “R” represents a reverse range.

InFIG. 3, “DRIVE SOURCE” implies a device for driving the vehicle10. “ENG” represents the engine12. When the vehicle10is in the RWD mode, “MOT” represents the rear motors16,18. When the vehicle10is in the FWD mode, “MOT” represents the front motor14. When the vehicle10is in the AWD mode, “MOT” represents the front and rear motors14,16,18. When the vehicle10is in the AWD mode, “ENG+MOT” represents the engine12and the front and rear motors14,16,18, and “REGENERATIVE” represents at least one of the front and rear motors14,16,18.

As shown inFIG. 3, according to the present embodiment, the vehicle speed Vs is divided into a “LOW SPEED RANGE”, a “MEDIUM SPEED RANGE”, a “HIGH SPEED RANGE”, and a “REVERSE SPEED RANGE”. The drive source is switched depending on such speed ranges.

More specifically, when the vehicle10is driven in a forward or reverse direction with the vehicle speed Vs in the low speed range, the vehicle10is in the RWD mode. When the vehicle10is driven in a forward or reverse direction with the vehicle speed Vs in the medium speed range, the vehicle10is in the FWD or AWD mode. The FWD mode or the AWD mode is selected in the following manner. The opening movement of an accelerator pedal (hereinafter referred to as an “accelerator opening”) coupled to the throttle valve of the engine12is compared with a threshold value (hereinafter referred to as an “accelerator opening threshold”). If the accelerator opening is smaller than the accelerator opening threshold, the FWD mode is selected, whereas if the accelerator opening is greater than the accelerator opening threshold, then the AWD mode is selected. When the vehicle10is driven in a forward direction with the vehicle speed Vs in the high speed range, the vehicle10is in the FWD mode.

The running modes (drive modes) may be switched according to the method shown inFIG. 13and the related description thereof as disclosed in US2012/0015772A.

(1-2. Process for Switching Between Running Modes (Drive Modes):

(1-2-1. Switching from RWD to FWD)

If the drive ECU28decides that the running mode (drive mode) is to be switched from RWD to FWD, then the drive ECU28temporarily uses AWD upon transitioning from RWD to FWD.

More specifically, the drive ECU28gradually reduces the drive force (rear wheel drive force Fr) for the rear wheels36, which serve as non-steerable wheels, and gradually increases the drive force (front wheel drive force Ff) for the front wheels32, which serve as steerable wheels. Therefore, the vehicle10is temporarily (e.g., during a period from 0.1 to 2.0 seconds) placed in the AWD mode, during which both RWD and FWD exist.

The AWD mode at this time (hereinafter referred to as a “transient AWD”) is not used as the AWD mode (shown inFIG. 3), which is selected as a running mode (drive mode) by the drive ECU28, but merely is used upon transitioning from RWD to FWD. Stated otherwise, while the AWD mode shown inFIG. 3is selected based on at least one of the vehicle speed Vs, a temporal derivative thereof (hereinafter referred to as a “vehicle speed change”), the accelerator opening, a temporal derivative thereof (hereinafter referred to as an “opening change”), and a yaw rate, the transient AWD is used when it is decided to switch from RWD to FWD, based on at least one of the vehicle speed Vs, the vehicle speed change, the accelerator opening, the opening change, and the yaw rate.

When the vehicle10is in the transient AWD mode, the total of the front wheel drive force Ff and the rear wheel drive force Fr (hereinafter referred to as a “total drive force Ftotal”) is kept constant. Consequently, it is possible to switch from RWD to FWD without causing a change in the behavior of the vehicle10, and hence without making the driver feel strange or uncomfortable due to a change in the behavior of the vehicle10, which would otherwise be caused by switching from RWD to FWD.

Alternatively, the vehicle10is in a transient AWD mode, in which the total drive force Ftotal may be changed depending on at least one of the accelerator opening, the opening change, and the vehicle speed change, for example. For example, when the accelerator opening is large, when the opening change is of a positive value, or when the vehicle speed change is of a positive value, the total drive force Ftotal may be increased. Further, when the accelerator opening is small, when the opening change is of a negative value, or when the vehicle speed change is of a negative value, the total drive force Ftotal may be reduced.

(1-2-2. Switching from FWD to RWD)

For switching from FWD to RWD, the same process that was used for switching from RWD to FWD may be carried out. In other words, a transient AWD is introduced upon switching from FWD to RWD. When the vehicle10is in the transient AWD mode, the total drive force Ftotal can be controlled.

(1-2-3. Switching from FWD or RWD to AWD)

For switching from FWD to AWD, the total drive force Ftotal is increased by increasing the rear wheel drive force Fr, while the front wheel drive force Ff is kept constant. Alternatively, the total drive force Ftotal may be kept constant or increased by increasing the rear wheel drive force Fr, while the front wheel drive force Ff is reduced. Further, alternatively, the total drive force Ftotal may be increased by increasing the rear wheel drive force Fr while also increasing the front wheel drive force Ff.

Similarly, for switching from RWD to AWD, the total drive force Ftotal is increased by increasing the front wheel drive force Ff, while the rear wheel drive force Fr is kept constant. Alternatively, the total drive force Ftotal may be kept constant or increased by increasing the front wheel drive force Ff, while the rear wheel drive force Fr is reduced. Further, alternatively, the total drive force Ftotal may be increased by increasing the front wheel drive force Ff while also increasing the rear wheel drive force Fr.

(1-2-4. Switching from AWD to FWD or RWD)

For switching from AWD to FWD, the total drive force Ftotal is reduced by reducing the rear wheel drive force Fr, while the front wheel drive force Ff is kept constant. Alternatively, the total drive force Ftotal may be kept constant or reduced by reducing the rear wheel drive force Fr, while the front wheel drive force Ff is increased. Further, alternatively, the total drive force Ftotal may be reduced by reducing the rear wheel drive force Fr while also reducing the front wheel drive force Ff.

Similarly, for switching from AWD to RWD, the total drive force Ftotal is reduced by reducing the front wheel drive force Ff, while the rear wheel drive force Fr is kept constant. Alternatively, the total drive force Ftotal may be kept constant or reduced by reducing the front wheel drive force Ff, while the rear wheel drive force Fr is increased. Further, alternatively, the total drive force Ftotal may be reduced by reducing the front wheel drive force Ff while also reducing the rear wheel drive force Fr.

B-2. Controlling Steering Assistive Force Fasi (Controlling Output Power of EPS Motor60):

FIG. 4is a functional block diagram of the EPS ECU68, which controls the steering assistive force Fasi. As shown inFIG. 4, the EPS ECU68has a torque command value calculator200, a phase compensator202, a three-phase-to-dq converter204, a q-axis current target value calculator206, a first subtractor208, a q-axis PI controller210, a d-axis current target value setting section212, a second subtractor214, a d-axis PI controller216, a dq-to-three-phase converter218, and a PWM controller220. The functional components of the EPS ECU68are used to control the EPS inverter62.

Basically, the EPS inverter62may be controlled by the control system disclosed in JP2006-256542A, JP2009-090817A, JP2010-064544A, or JP2009-214711A, and components thereof that are omitted from illustration in the present embodiment also are applicable thereto.

The torque command value calculator200determines a torque applied to the steering shaft82, i.e., a detected torque Ts, based on the rightward torque voltage VT1from the first detecting element140, and the leftward torque voltage VT2from the second detecting element142.

More specifically, the torque command value calculator200calculates a total torque voltage VT3representing the difference between the rightward torque voltage VT1and the leftward torque voltage VT2. Then, the torque command value calculator200determines a detected torque Ts based on the total torque voltage VT3(seeFIG. 5). Since a detected torque Ts can be calculated once the rightward torque voltage VT1and the leftward torque voltage VT2are known, a map, which represents the relationship between the rightward torque voltages VT1, the leftward torque voltages VT2, and the detected voltages Ts may be stored in the storage section154, whereby the detected torque Ts can be determined using the map.

Then, the torque command value calculator200calculates a first torque command value Tr_c1based on the detected torque Ts and the vehicle speed Vs from the vehicle speed sensor64. The phase compensator202performs a phase compensating process on the first torque command value Tr_c1in order to calculate a second torque command value Tr_c2.

The three-phase-to-dq converter204performs a three-phase-to-dq conversion process based on a U-phase current Iu, a W-phase current Iw, and an electric angle θ from the sensor unit66(resolver), in order to calculate a d-axis current Id as a current component in a d-axis direction (field current component), and a q-axis current Iq as a current component in a q-axis direction (torque current component). The three-phase-to-dq converter204outputs the q-axis current Iq to the first subtractor208, and outputs the d-axis current Id to the second subtractor214.

The three-phase-to-dq conversion process is a process for converting a set of a U-phase current Iu, a W-phase current Iw, and a V-phase current Iw (=−Iu−Iw), which are to be found, into a set made up of the d-axis current and the q-axis current Iq, according to a conversion matrix depending on the electric angle θ.

The q-axis current target value calculator206calculates a q-axis current target value Iq_t (target steering assistive quantity, target current), which is a target value for the q-axis current Iq, based on the second torque command value Tr_c2from the phase compensator202, the vehicle speed Vs from the vehicle speed sensor64, the steering angle θs from the steering angle sensor92, the electric angle θ from the sensor unit66, and a corrective current Ic (corrective quantity) from the drive ECU28. The q-axis current target value Iq_t implies a feed-forward command value for the d-axis current and the q-axis current, for causing the output shaft of the EPS motor60to generate a torque having the second torque command value Tr_c2.

The first subtractor208calculates the difference (=Iq_Iq) (hereinafter referred to as a “q-axis current difference ΔIq”) between the q-axis current target value Iq_t and the q-axis current Iq, and outputs the calculated difference to the q-axis PI controller210. The q-axis PI controller210calculates a q-axis voltage target value Vq_t as a target value for a q-axis voltage according to a PI control process (proportional plus integral control process) as a feedback control process in order to make the q-axis current difference ΔIq approach nil, and outputs the q-axis voltage target value Vq_t to the dq-to-three-phase converter218.

The dq-to-three-phase converter218performs a dq-to-three-phase converting process based on the q-axis voltage target value Vq_t from the q-axis PI controller210, the d-axis voltage target value Vd_t from the d-axis PI controller216, and the electric angle θ from the sensor unit66(resolver), in order to calculate phase voltage target values Vu_t, Vv_t, Vw_t for the U-phase, the V-phase, and the W-phase. The dq-to-three-phase converter218outputs the phase voltage target values Vu_t, Vv_t, Vw_t to the PWM controller220. The dq-to-three-phase conversion process is a process for converting a set of the d-axis voltage target value Vd_t and q-axis voltage target value Vq_t into a set made up of the phase voltage target values Vu_t, Vv_t, Vw_t, according to a conversion matrix depending on the electric angle θ.

The PWM controller220performs a pulse-width modulation (PWM) control process depending on the phase voltage target values Vu_t, Vv_t, Vw_t, and controls the EPS inverter62to energize the phase windings of the EPS motor60. More specifically, the PWM controller220selectively turns on and off the upper switching elements (hereinafter referred to as “upper SW elements”) and the lower switching elements (hereinafter referred to as “lower SW elements”) of the EPS inverter62in order to energize the phase windings of the EPS motor60.

More specifically, the PWM controller220generates drive signals UH, UL, VH, VL, WH, WL for the respective phase arms of the EPS inverter62within each switching period. If the duty ratio DUT in one entire switching period is 100%, then the duty ratio DUT2of the lower SW elements is calculated by subtracting the duty ratio DUT1of the upper SW element from 100%. Further, the duty ratios DUT1, DUT2of the upper and lower SW elements with a dead time dt reflected therein represent the drive signals UH, UL, VH, VL, WH, WL, which actually are output.

(2-2 Calculation of q-axis Current Target Value Iq_t):

The q-axis current target value calculator206calculates the q-axis current target value Iq_t according to a combination of a base assistance control process, an inertia control process, and a damper control process, etc.

FIG. 6is a functional block diagram of the drive ECU28and the EPS ECU68for calculating the q-axis current target value Iq_t.

(2-2-1. Processing in EPS ECU68)

As shown inFIG. 6, the q-axis current target value calculator206of the EPS ECU68includes a target base current calculator230, an adder232, a fault determiner234, and an on-off switch236.

The target base current calculator230calculates a target base current Ibase (target base steering assistive quantity) using the second torque command value Tr_c2, the vehicle speed Vs, and the steering angle θs (seeFIG. 4). As shown inFIG. 6, the target base current calculator230includes a base assistance controller240for carrying out a base assistance control process, an inertia controller242for carrying out an inertia control process, and a damper controller244for carrying out a damper control process.

According to the base assistance control process, the base assistance controller240calculates a base assistance current Iasi_base, which serves as a basis for the steering assistive force Fasi, based on the second torque command value Tr_c2and the vehicle speed Vs. According to the inertia control process, which compensates for inertia in the steering system, the inertia controller242calculates an inertia corrective current line based on a temporal derivative of the second torque command value Tr_c2and the vehicle speed Vs. According to the damper control process, which compensates for damping (viscosity) in the steering system, the damper controller244calculates a damping corrective current Idamp based on a temporal derivative of the steering angle θs (hereinafter referred to as a “steering angle change Δθs”) and the vehicle speed Vs.

The target base current calculator230calculates the target base current Ibase by adding the base assistance current Iasi_base, the inertia corrective current line, and the damping corrective current Idamp.

The base assistance control process, the inertia control process, and the damper control process are disclosed in JP2006-256542A, JP2009-090817A, JP2010-064544A, or JP2009-214711A, for example. Stated otherwise, the target base current calculator230calculates the q-axis target value Iq_, which is calculated by the q-axis current target value calculator206, according to techniques disclosed in the related art, as the target base current Ibase according to the present embodiment.

The adder232calculates the q-axis target value Iq_t (target current) by adding the target base current Ibase from the target base current calculator230and the corrective current Ic from the drive ECU28.

When the process performed by the drive ECU28, which controls the drive modes, suffers from a fault, the fault determiner234turns off the on-off switch236in order to cancel the corrective current Ic from the drive ECU28, i.e., so that the corrective current Ic is not reflected in the q-axis target value Iq_t. The fault determiner234determines such a fault based on a notice from the drive ECU28, or based on a function of the EPS ECU68to diagnose the drive ECU28.

(2-2-2. Processing in Drive ECU28)

Calculation of the corrective current Ic by the drive ECU28will be described below. As shown inFIG. 6, the drive ECU28includes a corrective current calculator250for calculating the corrective current Ic.

The corrective current calculator250includes a steering angle change calculator252, an FWD control map254, an AWD control map256, an RWD control map258, a drive mode controller260, and a map switcher262. The FWD control map254, the AWD control map256, and the RWD control map258will hereinafter be referred to as control maps254,256,258, or simply maps254,256,258.

(2-2-2-2. Processing in Steering Angle Change Calculator252)

The steering angle change calculator252calculates a temporal derivative of the steering angle θs (steering angle change Δθs) based on the steering angle θs from the steering angle sensor92. As described later, a temporal derivative of the electric angle θ (hereinafter referred to as an “electric angular velocity ω”) may be used instead of the steering angle change Δθs.

(2-2-2-3. Processing in Control Maps254,256,258)

The control maps254,256,258store in advance a relationship between the steering angle change Δθs, the vehicle speed Vs, and provisional corrective currents Ic_fwd, Ic_awd, Ic_fwd, which serve as a basis for the corrective current Ic for the respective drive modes FWD, AWD, RWD. The control maps254,256,258output the provisional corrective currents Ic_fwd, Ic_awd, Ic_rwd depending on the steering angle change Δθs and the vehicle speed Vs. Stated otherwise, the control maps254,256,258define characteristic curves for correcting damping characteristics that are used in the damper controller244.

For example, the FWD control map254defines a Δθs vs. Ic_fwd characteristic curve, as shown inFIG. 6, which represents the relationship between the steering angle change Δθs and the provisional corrective current Ic_fwd at a time that the vehicle speed Vs is nil. As the vehicle speed Vs becomes higher, the provisional corrective current Ic_fwd (corrective current Ic, i.e., the torque of the EPS motor60) becomes greater. Consequently, when the vehicle speed Vs becomes higher, it is possible to adjust the steering angle θs of the steering handle52in smaller degrees. Similarly, according to the AWD control map256and the RWD control map258, as the vehicle speed Vs becomes higher, the provisional corrective currents Ic_awd, Ic_rwd (corrective current Ic, i.e., the torque of the EPS motor60) become greater.

According to the present embodiment, as shown inFIG. 6, if the vehicle speed Vs and the steering angle change Δθs remain the same, then the provisional corrective current Ic_awd of the AWD control map256is greater than the provisional corrective current Ic_rwd of the RWD control map258. More specifically, if the vehicle speed Vs and the steering angle change Δθs remain the same, then the provisional corrective current Ic_awd of the AWD control map256is represented by a multiple, by a number greater than 1, of the provisional corrective current Ic_rwd of the RWD control map258. In addition, if the vehicle speed Vs and the steering angle change Δθs remain the same, then the provisional corrective current Ic_fwd of the FWD control map254is greater than the provisional corrective current Ic_awd of the AWD control map256. More specifically, if the vehicle speed Vs and the steering angle change Δθs remain the same, then the provisional corrective current Ic_fwd of the FWD control map254is represented by a multiple, by a number greater than 1, of the provisional corrective current Ic_awd of the AWD control map256.

According to the present embodiment, if the vehicle speed Vs and the steering angle change Δθs remain the same, then the provisional corrective current Ic_awd of the AWD mode becomes greater than the provisional corrective current Ic_rwd of the RWD mode, and the provisional corrective current Ic_fwd of the FWD mode becomes greater than the provisional corrective current Ic_awd of the AWD mode for the following reasons.

When the vehicle10corners, the self-aligning torque applied to the front wheels32, which serve as steerable wheels, becomes greater as the front wheel drive force Ff is greater. Therefore, if the total of the front wheel drive force Ff and the rear wheel drive force Fr, i.e., the total drive force Ftotal, remains the same, then the self-aligning torque applied to the front wheels32is greatest in the FWD mode and smallest in the RWD mode.

For the above reasons, when the drive modes FWD, RWD, AWD are switched, the self-aligning torque applied to the front wheels32changes, even if the total drive force Ftotal remains the same. In particular, when the drive modes FWD and RWD are switched, the self-aligning torque applied to the front wheels32changes significantly. The change in the self-aligning torque applied to the front wheels32is likely to make the driver feel strange or uncomfortable concerning the way in which the vehicle10is steered.

According to the present embodiment, if the vehicle speed Vs and the steering angle change Δθs remain the same, then the provisional corrective current Ic_awd of the AWD mode is greater than the provisional corrective current Ic_rwd of the RWD mode, and the provisional corrective current Ic_fwd of the FWD mode is greater than the provisional corrective current Ic_awd of the AWD mode. Therefore, upon switching between the FWD mode and the RWD mode (first switching operation), upon switching between the AWD mode and the RWD mode (second switching operation), or upon switching between the AWD mode and the FWD mode (third switching operation), the corrective current Ic (the torque of the EPC motor60) is changed in order to minimize any sudden changes in the self-aligning torque. Consequently, the vehicle10enables the driver to feel natural concerning the way in which the vehicle10is steered.

(2-2-2-4. Processing in Drive Mode Controller260)

The drive mode controller260controls the drive modes FWD, RWD, AWD of the vehicle10. For controlling the drive modes FWD, RWD, AWD, the drive mode controller260continuously calculates the front wheel drive force Ff and the rear wheel drive force Fr, and outputs the front wheel drive force Ff and the rear wheel drive force Fr to the map switcher262. The drive mode controller260calculates the front wheel drive force Ff and the rear wheel drive force Fr on the basis of the rotational speed of the engine12, the currents consumed by the traction motors14,16,18, etc.

(2-2-2-5. Processing in Map Switcher262)

The map switcher262determines one of the drive modes FWD, RWD, AWD of the vehicle10, and outputs a corrective current Ic, which corresponds to the determined drive mode, to the adder232of the EPS ECU68, based on an output current (one of the provisional corrective currents Ic_fwd, Ic_awd, Ic_rwd) from one of the maps254,256,258.

FIG. 7is a flowchart of a processing sequence of the map switcher262. In step S1ofFIG. 7, the map switcher262determines one of the drive modes FWD, RWD, AWD of the vehicle10, as will be described in detail later with reference toFIG. 8.

In step S2, the map switcher262judges whether or not the drive mode determined in step S1is the FWD mode. If the drive mode is the FWD mode (step S2: YES), then in step S3, the map switcher262extracts the provisional corrective current Ic_fwd from the FWD control map254, after which control proceeds to step S7. If the drive mode is not the FWD mode (step S2: NO), then control proceeds to step S4.

In step S4, the map switcher262judges whether or not the drive mode determined in step S1is the AWD mode. If the drive mode is the AWD mode (step S4: YES), then in step S5, the map switcher262extracts the provisional corrective current Ic_awd from the AWD control map256, after which control proceeds to step S7. If the drive mode is not the AWD mode (step S4: NO), then in step S6, the map switcher262extracts the provisional corrective current Ic_rwd from the RWD control map258, after which control proceeds to step S7.

In step S7, after any one of steps S3, S5, and S6, the map switcher262carries out a rate limiting process. The rate limiting process is a process for preventing the corrective current Ic from changing abruptly.

According to the rate limiting process, the map switcher262calculates the difference D between a corrective current Ic in the preceding processing cycle (hereinafter referred to as a “corrective current Ic (preceding)”) and any one of the provisional corrective currents Ic_fwd, Ic_awd, and Ic_rwd extracted in the present processing cycle (hereinafter referred to as a “provisional corrective current Ic_temp (present)”). If the absolute value of the difference D is equal to or smaller than a positive threshold value (hereinafter referred to as a “corrective current threshold value THic”), then the map switcher262calculates the provisional corrective current Ic_temp (present) as a corrective current Ic in the present processing cycle (hereinafter referred to as a “corrective current Ic (present)”) (corrective current Ic (present)←provisional corrective current Ic_temp (present)).

If the absolute value of the difference D is not equal to or smaller than the corrective current threshold value THic, and the difference D is of a positive value, then the map switcher262calculates the sum of the corrective current Ic (preceding) and the threshold value THic as the corrective current Ic (present) (corrective current Ic (present)←corrective current Ic (preceding)−threshold value THic).

In step S8, the map switcher262outputs the corrective current Ic (present), which was calculated in step S7, to the adder232of the EPS ECU68.

FIG. 8is a flowchart of an operation sequence (details of step S1ofFIG. 7) of the map switcher262for determining one of the drive modes of the vehicle10. In step S11ofFIG. 8, the map switcher262reads the front wheel drive force Ff and the rear wheel drive force Fr from the drive mode controller260.

In step S12, the map switcher262judges whether or not the absolute value of the rear wheel drive force Fr, which was read in step S11, is greater than 0, thereby determining whether or not the vehicle10is in the RWD mode (including the AWD mode). If the absolute value of the rear wheel drive force Fr is greater than 0 (step S12: YES), then in step S13, the map switcher262judges whether or not the absolute value of the front wheel drive force Ff, which was read in step S11, is greater than 0, thereby determining whether or not the vehicle10is in the FWD mode (including the AWD mode).

If the absolute value of the front wheel drive force Ff is greater than 0 (step S13: YES), then in step S14, the map switcher262decides that the vehicle10is presently in the AWD mode. If the absolute value of the front wheel drive force Ff is not greater than 0 (step S13: NO), then in step S15, the map switcher262decides that the vehicle10is presently in the RWD mode.

If the absolute value of the rear wheel drive force Fr read in step S11is not greater than 0 (step S12: NO), then in step S16, the map switcher262judges whether or not the absolute value of the front wheel drive force Ff, which was read in step S11, is greater than 0, thereby determining whether or not the vehicle10is in the FWD mode.

If the absolute value of the front wheel drive force Ff is greater than 0 (step S16: YES), then in step S17, the map switcher262decides that the vehicle10is presently in the FWD mode. If the absolute value of the front wheel drive force Ff is not greater than 0 (step S16: NO), then in step S18, the map switcher262maintains the decision from the previous processing cycle.

As described above, the drive mode of the vehicle10is determined using detected values of the front wheel drive force Ff and the rear wheel drive force Fr. Accordingly, the corrective current IC can be calculated using the actual drive mode, rather than a command value.

Instead, the map switcher262may determined the drive mode of the vehicle10based on command values (e.g., target values for the front wheel drive force Ff and the rear wheel drive force Fr), which are used by the drive mode controller260.

C. Advantages of the Present Embodiment

According to the present embodiment, as described above, for switching from one of the drive modes FWD, RWD, AWD to another mode, the control process for controlling the steering assistive force Fasi is varied in order to minimize a change in the self-aligning torque applied to the front wheels32, for thereby allowing the driver to feel natural concerning the way in which the vehicle10is steered. Hence, the driver is capable of steering the vehicle10more appropriately.

According to the present embodiment, in addition, the front wheels32(steerable wheels) and the rear wheels36(non-steerable wheels) are driven independently of each other. Thus, it is possible to control the front wheel drive force Ff and the rear wheel drive force Fr more finely than if a single drive source (engine12or the like) were used to drive the vehicle in the 2WD mode (at least one of the FWD mode and the RWD mode) or in the 4WD mode (AWD mode). By controlling the steering assistive force Fasi finely and thereby making the driver feel natural concerning the way in which the vehicle10is steered, it is possible to enable the driver to steer the vehicle10appropriately.

According to the present embodiment, the q-axis current target value calculator206(assistive force control means) calculates the target base current Ibase (target base steering assistive quantity) and the corrective current Ic (corrective quantity), which is based on the drive mode, on the basis of the steering angle θs (steering state) and the detected torque Ts (steering state) of the steering handle52(manual steering means), and the vehicle speed Vs. When the drive mode changes to another drive mode, the q-axis current target value calculator206changes the corrective current Ic in order to calculate the q-axis current target value Iq_t (target steering assistive quantity, target current). Even if the corrective current Ic cannot be calculated, the target base current Ibase can be used by itself to assist the driver in steering the vehicle10to a certain extent. In addition, since the correction process is performed using current values, the correction process can be incorporated with small control changes to the base assistance control process, the inertia control process, and the damper control process, which serve as basic control processes.

According to the present embodiment, the q-axis current target value calculator206(assistive force control means) controls the EPS motor60using the control maps254,256,258(FIG. 6) of the corrective current calculator250. Further, the different maps254,256,258are used before and after the drive ECU28switches between drive modes. Since upon switching between drive modes, the steering correction is changed only by switching between the maps254,256,258, the calculational load required to perform the steering correction can be reduced.

The q-axis current target value calculator206(assistive force control means) varies the control process for controlling the steering assistive force Fasi (seeFIG. 6), in order to make the steering assistive force Fasi greater in the FWD mode or the AWD mode than in the RWD mode, and also to make the steering assistive force Fasi greater in the FWD mode than in the AWD mode. In the FWD mode or the AWD mode, the self-aligning torque applied to the front wheels32is greater and the steering resistance is greater than in the RWD mode. With the above arrangement, the steering assistive force Fasi is corrected so as to be greater in the FWD mode or the AWD mode, for thereby preventing the driver from feeling strange or uncomfortable concerning the way in which the vehicle10is steered, and also for preventing abrupt changes from occurring in the output torque from the wheels during transitions between the drive modes.

According to the present embodiment, when one of the FWD mode and the RWD mode changes to the other mode, the AWD mode is implemented as a transient mode for thereby preventing the output power (drive power) of the wheels from changing abruptly due to a change from the FWD mode to the RWD mode, or due to a change from the RWD mode to the FWD mode.

According to the present embodiment, when one of the FWD mode and the RWD mode changes to the other mode, the drive force applied to those of the front wheels32(steerable wheels) and the rear wheels36(non-steerable wheels), which are to stop being driven is, progressively reduced, whereas the drive force applied to those of the front wheels32and the rear wheels36, which start being driven, is progressively increased. Consequently, the wheels to which the progressively reduced drive force is applied and the wheels to which the progressively increased drive force is applied are gradually changed in behavior, so that the output power (drive power) of the wheels can be prevented from changing abruptly.

According to the present embodiment, the total drive force Ftotal, represented by the sum of the front wheel drive force Ff and the rear wheel drive force Fr, is kept constant in the transient AWD mode. Thus, the FWD mode can be switched to the RWD mode, or the RWD mode can be switched to the FWD mode without causing a change in the driving behavior of the vehicle10, thereby preventing the driver from feeling strange or uncomfortable due to a change in driving behavior caused by such a mode change.

According to the present embodiment, the corrective current Ic is calculated by the drive ECU28and output to the EPS ECU68. Therefore, the corrective current Ic can be calculated without the need for computational logic for calculating the corrective current Ic to be added to the EPS ECU68. Even if, for certain reasons, it becomes difficult for the drive ECU28to calculate the corrective current Ic, it is still possible to perform the control process using only the target base current Ibase.

The present invention is not limited to the above embodiment, but various alternative arrangements can be adopted based on the content of the present disclosure. For example, the present invention can adopt the following arrangements.

A. The Vehicle10(Object to which the Invention is Applicable)

In the above embodiment, the vehicle10(FIG. 1) has been described as a four-wheeled automotive vehicle. However, the present invention is applicable to vehicles in which at least two of the FWD mode, the RWD mode, and the AWD mode can be switched, e.g., any of a two-wheeled automotive vehicle, a three-wheeled automotive vehicle, and a six-wheeled automotive vehicle.

In the above embodiment, the vehicle10includes a single engine12and three traction motors14,16,18as drive sources. However, other combinations of drive sources may be employed. For example, the vehicle10may have one or more traction motors that serve as drive sources for the front wheels32, and one or more traction motors that serve as drive sources for the rear wheels36. Further, for example, the vehicle10may have only one traction motor for the front wheels32or the rear wheels36, with a differential being used to distribute drive forces to the left and right wheels. It is also possible for the vehicle10to incorporate a system having respective individual traction motors (including so-called in-wheel motors) assigned to each of the wheels.

In the above embodiment, the front wheel drive device34(steerable wheel drive device) including the engine12and the first motor14drives the front wheels32, whereas the rear wheel drive device38(non-steerable wheel drive device) including the second and third motors16,18drives the rear wheels36. However, the vehicle10may incorporate other wheel drive devices, insofar as such wheel drive devices include a steerable wheel drive device for driving steerable wheels and a non-steerable wheel drive device for driving non-steerable wheels. However, in any of such cases, the non-steerable wheel drive device preferably drives the non-steerable wheels independently of the steerable wheel drive device.

FIG. 9is a schematic view of the drive system and nearby components of a vehicle10A according to a modification of the present invention. The vehicle10A differs from the vehicle10according to the above embodiment, in that the structural details of the front wheel drive device34and the rear wheel drive device38are switched. More specifically, the vehicle10A has a front wheel drive device34aincluding second and third traction motors16a,18adisposed in a front portion of the vehicle10A, and a rear wheel drive device38aincluding an engine12aand a first traction motor14adisposed in series in a front portion of the vehicle10A.

In the above embodiment and in the modification shown inFIG. 9, the front wheels32are steerable wheels and the rear wheels36are non-steerable wheels. However, both the front wheels32and the rear wheels36may be steerable wheels, or the rear wheels36may be steerable wheels whereas the front wheels32may be non-steerable wheels.

B. First Through Third Traction Motors14,16,18and EPS Motor60

In the above embodiment, each of the first through third traction motors14,16,18and the EPS motor60is a three-phase AC brushless motor. However, each of the first through third traction motors14,16,18and the EPS motor60may be a three-phase AC brush motor, a single-phase AC motor, or a DC motor.

In the above embodiment, the first through third traction motors14,16,18and the EPS motor60are supplied with electric power from the high-voltage battery20. However, the first through third traction motors14,16,18and the EPS motor60may also be supplied with electric power from a fuel cell.

The EPS apparatus50according to the above embodiment comprises a structure in which the EPS motor60transmits the steering assistive force Fasi to the steering shaft82(a so-called column-assisted EPS apparatus). However, the EPS apparatus50is not limited to such a structure, insofar as the EPS apparatus50is capable of generating the steering assistive force Fasi. For example, the EPS apparatus50may be any one of a pinion-assisted EPS apparatus, a dual-pinion-assisted EPS apparatus, a rack-assisted EPS apparatus, and an electro-hydraulic power steering apparatus. In an electro-hydraulic power steering apparatus, an electrically operated pump generates a hydraulic pressure for producing a steering assistive force Fasi. Such an electro-hydraulic power steering apparatus can be incorporated in a large-size vehicle, which includes the low-voltage battery70(e.g., a 12V battery) mounted therein.

In the above embodiment, the steering torque applied by the driver is directly transmitted to the front wheels32(hereinafter referred to as a “direct transmission type”). However, the present invention also may be applied to a steer-by-wire type of electric power steering apparatus (see, for example, Japanese Laid-Open Patent Publication No. 2006-224804).

D. Controlling Drive Modes of Vehicle10

In the above embodiments, the drive modes FWD, RWD, AWD of the vehicle10can be switched. However, the present invention also may be applied to a vehicle that is capable of switching between two of the above drive modes. For example, the present invention is applicable to a vehicle that is capable of switching between the FWD mode and the RWD mode only (first switching operation), switching between the AWD mode and the RWD mode only (second switching operation), or switching between the AWD mode and the FWD mode only (third switching operation).

E. Controlling Steering Assistive Force Fasi

E-1. Determination of Drive Modes

In the above embodiment, drive modes of the vehicle10are determined according to the flowchart ofFIG. 8. However, the drive modes of the vehicle10may be determined according to other operation sequences. In the flowchart ofFIG. 8, the front wheel drive force Ff and the rear wheel drive force Fr, which serve as detected values, are used to determine the drive modes of the vehicle10. However, the drive modes of the vehicle10may be determined using command values (e.g., target values for the front wheel drive force Ff and the rear wheel drive force Fr), which are used by the drive mode controller260of the drive ECU28.

FIG. 10is a flowchart of a processing sequence according to a modification ofFIG. 8. In step S21ofFIG. 10, the map switcher262of the drive ECU28judges whether or not there is an AWD mode request. An AWD mode request is made by the drive ECU28when the vehicle10is judged to be making a turn, slipping, or moving uphill. The AWD mode request is entered as an output signal from the drive mode controller260of the drive ECU28.

If there is an AWD mode request (step S22: YES), then in step S23, the map switcher262decides that the vehicle10is presently in the AWD mode. If there is no AWD mode request (step S22: NO), then the map switcher262determines whether or not the engine12is generating a drive force (hereinafter referred to as an “engine drive force Fe”). Since the engine12applies the drive force to the front wheels32(seeFIG. 1), the vehicle10is judged as being presently in the FWD mode if the engine drive force Fe is generated. The map switcher262determines whether or not the engine12is generating an engine drive force Fe based on an output signal from the drive mode controller260. According to the modification shown inFIG. 9, in which the engine12applies the engine drive force Fe to the rear wheels36, the vehicle10is judged as being presently in the RWD mode if the engine drive force Fe is generated.

If the engine is generating an engine drive force Fe (step S24: YES), then in step S25, the map switcher262decides that the vehicle10is presently in the FWD mode. If the engine is not generating an engine drive force Fe (step S24: NO), then in step S26, the map switcher262decides that the vehicle10is presently in the RWD mode.

In the above embodiment, the damper control process carried out by the damper controller244uses the vehicle speed Vs and the steering angle change Δθs. However, alternatively, the damper control process may use the temporal derivative of the electric angle θ (electric angular velocity ω) instead of the steering angle change Δθs.

(2-2. Target Base Current Ibase and Corrective Current Ic)

In the above embodiment (FIG. 6), the q-axis current target value Iq_t is calculated by adding the corrective current Ic to the target base current Ibase. However, the q-axis current target value Iq_t may be calculated by another arrangement, insofar as the control process for controlling the steering assistive force Fasi is changed upon switching between drive modes.

FIG. 11is a block diagram of an arrangement (functional block) according to a first modification for calculating the q-axis current target value Iq_t. According to the first modification, the corrective current Ic is calculated by an electric power steering electronic control unit68a(hereinafter referred to as an “EPS ECU68a”). Parts of the EPS ECU68a, which are identical to those according to the above embodiment (FIG. 6), are denoted by identical reference characters, and such features will not be described in detail below. The same holds true for the other modifications shown inFIGS. 12 through 14.

The EPS ECU68aincludes a q-axis current target value calculator206a, which includes, in addition to a target base current calculator230, an adder232, a fault determiner234, and an on-off switch236, which are identical to those according to the above embodiment, together with a drive mode determiner270and a corrective current calculator272. The drive mode determiner270determines one of the drive modes of the vehicle10based on an output signal from the drive ECU28. The corrective current calculator272calculates and outputs a corrective current Ic based on the drive mode determined by the drive mode determiner270. The corrective current Ic is either a fixed value or a variable value, which is set such that the corrective current Ic is greater in the FWD mode and smaller in the RWD mode. If the corrective current Ic is a variable value, then the corrective current Ic is variable depending on a numerical value related to a cornering force, e.g., a yaw rate or a lateral acceleration, for example.

FIG. 12is a block diagram of an arrangement (functional block) according to a second modification for calculating the q-axis current target value According to the second modification, an electric power steering electronic control unit68b(hereinafter referred to as an “EPS ECU68b”) includes a damper controller244a, which in a damper control process thereof, compensates for adverse effects caused by switching between drive modes of the vehicle10.

In the above embodiment and in the first modification (FIG. 11), the target base current Ibase and the corrective current Ic are calculated separately and then are added to each other, thereby producing the q-axis current target value Iq_t. However, the EPS ECU68bincludes a q-axis current target value calculator206b, which calculates the q-axis current target value Iq_t in a different way.

As shown inFIG. 12, the q-axis current target value calculator206bincludes a target base current calculator230a, including a base assistance controller240, an inertia controller242, a damper controller244a, and an adder/subtractor280.

The damper controller244aincludes a steering angle change calculator252a, an FWD control map254a, an AWD control map256a, an RWD control map258a, a map switcher262a, and a drive mode determiner270a.

Each of the steering angle change calculator252a, the FWD control map254a, the AWD control map256a, the RWD control map258a, and the map switcher262aare similar, respectively, to the steering angle change calculator252, the FWD control map254, the AWD control map256, the RWD control map258, and the map switcher262according to the above embodiment.

However, the maps254a,256a,258arepresent damping characteristic curves, which reflect damping characteristics of the damper control process carried out by the damper controller244according to the above embodiment. Stated otherwise, while the maps254,256,258according to the above embodiment serve to correct the damping characteristics of the damper controller244, the maps254a,256a,258aaccording to the second modification represent a combination of the damper controller244and the maps254,256,258. Therefore, the output signal from the damper controller244a, i.e., a damping corrective current Idamp, reflects a corrective current Ic.

The drive mode determiner270ais identical to the drive mode determiner270according to the first modification.

FIG. 13is a block diagram of an arrangement (functional block) according to a third modification for calculating the q-axis current target value Iq_t. According to the third modification, an electric power steering electronic control unit68c(hereinafter referred to as an “EPS ECU68c”) includes an amplifier290, which compensates for adverse effects caused by switching between drive modes of the vehicle10.

In the above embodiment and in the first modification, the target base current Ibase and the corrective current Ic are calculated separately and then are added to each other, thereby producing the q-axis current target value Iq_t. However, the EPS ECU68cincludes a q-axis current target value calculator206c, which corrects the target base current Ibase with a gain G1, i.e., multiplies the target base current Ibase by a predetermined coefficient, and then outputs the corrected target base current Ibase as the q-axis current target value Iq_t.

More specifically, similar to the drive mode determiner270according to the first modification, a drive mode determiner270bof the q-axis current target value calculator206cdetermines one of the drive modes of the vehicle10, and then outputs the determined drive mode to the amplifier290. The amplifier290changes the gain G1depending on the determined drive mode of the vehicle10. More specifically, when the vehicle10is in the FWD mode, the amplifier290changes the gain G1so as to be greater than when the vehicle10is in the AWD mode and the RWD mode, thereby relatively increasing the q-axis current target value Iq_t. When the vehicle10is in the RWD mode, the amplifier290changes the gain G1so as to be smaller than when the vehicle10is in the FWD mode and the AWD mode, thereby relatively reducing the q-axis current target value Iq_t.

Stated otherwise, according to the third modification, the amplifier290amplifies the target base current Ibase with a predetermined coefficient (gain G1), and uses different values for the gain G1before and after the drive ECU28(drive mode control unit) switches between drive modes. Therefore, the steering correction upon switching between drive modes can be changed merely by changing the gain G1. Therefore, the above advantages can be achieved by incorporating small changes into the base assistance control process, the inertia control process, and the damper control process, which serve as basic control processes.

FIG. 14is a block diagram of an arrangement (functional block) according to a fourth modification for calculating the q-axis current target value According to the fourth modification, an electric power steering electronic control unit68d(hereinafter referred to as an “EPS ECU68d”) includes a q-axis current target value calculator206dhaving, in addition to a target base current calculator230and an adder232which are identical to those of the above embodiment, a drive mode determiner270c, a yaw rate feedback reaction force corrector300(hereinafter referred to as a “yaw rate FB reaction force corrector300”), and an amplifier302.

The yaw rate FB reaction force corrector300serves to control the EPS motor60in order to stabilize the behavior of the vehicle10during occurrences of understeering and oversteering. The yaw rate FB reaction force corrector300may have structural details similar to those disclosed in Japanese Laid-Open Patent Publication No. 2009-056994 (hereinafter referred to as “JP2009-056994A”).

The yaw rate FB reaction force corrector300outputs a corrective current Icy based on the vehicle speed Vs from the vehicle speed sensor64, and a yaw rate Yr from a yaw rate sensor (not shown).

Similar to the drive mode determiner270baccording to the third modification, the drive mode determiner270cdetermines one of the drive modes of the vehicle10, and then outputs the determined drive mode to the amplifier302.

Similar to the amplifier290according to the third modification, the gain G2of the amplifier320is changed depending on the determined drive mode of the vehicle10. More specifically, when the vehicle10is in the FWD mode, the amplifier320makes the gain G2greater than when the vehicle10is in the AWD mode and the RWD mode, thereby relatively increasing the corrective current Icy and outputting the corrective current Icy as the corrective current Ic. When the vehicle10is in the RWD mode, the amplifier320makes the gain G2smaller than when the vehicle10is in the FWD mode and the AWD mode, thereby relatively reducing the corrective current Icy and outputting the corrective current Icy as the corrective current Ic. Conversely, when the vehicle10is in the RWD mode, the amplifier320makes the gain G2greater than when the vehicle10is in the FWD mode and the AWD mode, thereby relatively increasing the corrective current Icy and outputting the corrective current Icy as the corrective current Ic. In this case, it is easy to stabilize the behavior of the vehicle10under a reaction force generated with feedback of the yaw rate Yr, at a time that the tendency of oversteering is strong in the RWD mode.

The yaw rate FB reaction force corrector300and the amplifier302may be included in an ECU rather than in the EPS ECU68d.

(2-3. Process of Compensating for Adverse Effects Upon Switching Between Drive Modes)

In the above embodiment, the maps254,256,258are switched (FIG. 6). However, other arrangements may be used so long as such arrangements are capable of compensating for adverse effects that occur upon switching between drive modes of the vehicle10, i.e., as long as such arrangements are capable of compensating for a change in the self-aligning torque. For example, the arrangement according to the first modification (FIG. 11) may be used.

In the above embodiment (in the maps254,256,258shown inFIG. 6), the corrective current Ic is established in order to correct the damping characteristics of the damper controller244. However, the corrective current Ic may be used for other corrective purposes. For example, the corrective current Ic may be used to change other characteristics, such as control maps or the like, in other control processes including the base assistance control process, the inertia control process, etc., in order to compensate for adverse effects that occur upon switching between drive modes.

In the above embodiment, when one of the FWD mode, the RWD mode, and the AWD mode changes to another mode, the control process for controlling the steering assistive force Fasi is changed in order to minimize a change in the self-aligning torque applied to the front wheels32. However, the control process for controlling the steering assistive force Fasi may be changed in order to intensify a change in the self-aligning torque.

For example, when the FWD mode and the AWD mode are switched, the change in the self-aligning torque is relatively small. If the control process for controlling the steering assistive force Fasi is changed in order to intensify the change in the self-aligning torque, then it is possible to alert the driver concerning switching between the FWD mode and the AWD mode, to thereby allow the driver to steer the vehicle10more appropriately.

In the above embodiment, the steering assistive force Fasi generated by the EPS motor60acts in the same direction as the force applied to the steering handle52by the driver, i.e., the steering torque. Stated otherwise, the steering assistive force Fasi is a force that increases the steering torque, and the increased steering torque, i.e., a steering assistive force or a power assistive force in a narrow sense, is applied to the front wheels32. However, the steering assistive force Fasi generated by the EPS motor60may be any of other forces, insofar as such forces assist the driver in steering the vehicle10with the steering handle52. For example, the steering assistive force Fasi may be a force that acts in an opposite direction to the steering torque, e.g., a reaction force.

Assisting the driver in steering the vehicle10with the steering handle52implies making it easy for the driver to turn the steering handle52in a desired direction, as with the above embodiment, as well as making it difficult for the driver to turn the steering handle52in a desired direction, provided that the EPS apparatus50is of the direct transmission type, in which the steering torque applied by the driver is directly transmitted to the steerable wheels, i.e., the front wheels32.

The driver finds it difficult to turn the steering handle52in a desired direction when a reaction force is applied against the steering torque, so as to prevent the driver from turning the steering handle52excessively upon the occurrence of oversteering or understeering (see, for example, JP2009-056994A). In this case, when the vehicle10switches between the FWD mode and the RWD mode (first switching operation), between the AWD mode and the RWD mode (second switching operation), or between the AWD mode and the FWD mode (third switching operation), as described above, the reaction force may be increased or reduced in view of a change in the self-aligning torque.

If the EPS apparatus50is of a steer-by-wire type for controlling the reaction force applied from the EPS motor60to the steering handle52in order to impart a steering sensation to the driver, then the reaction force, which is controlled in this manner, corresponds to the steering assistive force Fasi. In this case, assisting the driver in steering the vehicle10with the steering handle52implies assisting in steering the vehicle10by controlling the reaction force when the driver turns the steering handle52in order to steer the vehicle10, i.e., to adjust the direction of the front wheels32.

A steer-by-wire type of EPS apparatus50adjusts a reaction force from the EPS motor60in order to achieve the same steering sensation as with a direct transmission type of EPS apparatus50, for example. The aforementioned reaction force may include a reaction force that is applied against the steering torque in order to prevent the driver from turning the steering handle52excessively upon the occurrence of oversteering or understeering, as described above.

In the case that the present invention is applied to a steer-by-wire type of EPS apparatus50, when the vehicle10switches between the FWD mode and the RWD mode (first switching operation), between the AWD mode and the RWD mode (second switching operation), or between the AWD mode and the FWD mode (third switching operation), as described above, the reaction force may be increased or reduced in view of a change in the self-aligning torque.