Control system and control method for driving device, and recording medium

A control system for a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,

• the control system comprising:
• a sensor for obtaining a control parameter indicative of at least one of a movement state of the vehicle and a demand from an operator of the vehicle;
• a processor for calculating a left-right difference target value, which is a target value of the left-right driving force difference, and a left-right sum target value, which is a target value of the left-right driving force sum, based on the obtained control parameter;
• and
• said processor for controlling the left driving force and the right driving force according to the calculated left-right difference target value and left-right sum target value,
• wherein said processor performs, according to the left-right difference target value, an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle, and
• wherein during performance of the opposite distribution control, when both a change in the left-right difference target value and a change in the left-right sum target value are obtained, said processor performs a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.

A control method for a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,

• the control method comprising:
• a step of performing an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle;
• a step of obtaining deceleration of the vehicle;
• and
• a step of performing, during performance of the opposite distribution control, when the deceleration of the vehicle is obtained, a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.

A non-transitory recording medium in which is recorded a program for causing a computer to perform a control process for controlling a driving device that is capable of adjusting a left driving force, which is a driving force of a left driving part for propelling a vehicle, arranged on a left side of the vehicle with respect to a traveling direction of the vehicle, and a right driving force, which is a driving force of a right driving part for propelling the vehicle, arranged on a right side of the vehicle with respect to the traveling direction of the vehicle, thereby changing a left-right driving force sum, which is a sum of the left driving force and the right driving force, and a left-right driving force difference, which is a difference between the left driving force and the right driving force, independently of each other,

• the control process comprising:
• a step of performing an opposite distribution control for generating the left-right driving force difference by controlling the left driving force and the right driving force via the driving device such that a yaw moment in a direction opposite to a turning direction of the vehicle acts on the vehicle;
• a step of obtaining deceleration of the vehicle;
• and
• a step of performing, during performance of the opposite distribution control, when the deceleration of the vehicle is obtained, a limit control for controlling the left driving force and the right driving force such that a change in the left-right driving force difference becomes smaller than a change in the left-right driving force sum.