# US 10,118,609 B2 · Driving force control device for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,609 B2 - Document ID: US10118609B2 - Status: Granted - Kind: B2 - Application number: 15/261,338 - Filed: 2016-09-09 - Published: 2017-04-13 - Granted: 2018-11-06 - Earliest claimed: 2015-10-13 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hirofumi Momose - Web page: https://patentgrep.com/patent/US10118609B2 ## CPC - B60W 30/02: Control of vehicle driving stability - B60W 30/18: Propelling the vehicle - B60W 40/11: Pitch movement - B60W 30/20: Reducing vibrations in the driveline - B60W 2520/16: Pitch - B60W 2520/28: Wheel speed - B60W 2710/105: Output torque - B60W 2720/106: Longitudinal acceleration - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A sprung vibration estimation unit is configured to calculate a pitch rate of a vehicle body based on the wheel speeds detected by wheel speed sensors. A vibration suppression driving force calculation unit is configured to calculate a vibration suppression driving force for suppressing pitching of the vehicle body based on the pitch rate. An integration unit is configured to calculate a vehicle body speed based on a driver required driving force. A second sprung vibration estimation unit is configured to calculate a pitch rate of the vehicle body (vehicle body speed pitch rate) generated by a change in the vehicle body speed. A determination unit is configured to output a cutoff command for the vibration suppression driving force to an adjustment unit when the vehicle body speed pitch rate is more than a threshold. ## Claims ### Claim 1 A driving force control device for a vehicle, comprising: wheel speed sensor for detecting a wheel speed; and at least one processor, the at least one processor configured for: estimating, based on the wheel speed, a sprung vibration to be generated in a pitch direction of a vehicle body due to an input from a road surface; calculating a vibration suppression driving force for suppressing the estimated sprung vibration; calculating a target driving force acquired by adding the vibration suppression driving force to a driver required driving force to be set depending on a driver required acceleration/deceleration; controlling a driving force to be generated on a wheel in accordance with the target driving force; calculating, based on the driver required acceleration/deceleration, an error indication value representing a magnitude of an error, which is included in an estimation of the sprung vibration and is generated by a change in a vehicle body speed; and decreasing, based on the error indication value, the vibration suppression driving force to be added to the driver required driving force in a case where the error indication value is greater than a threshold. ### Claim 2 (depends on 1) A driving force control device for a vehicle according to claim 1, wherein, the at least one processor is further configured to: calculate a pitch rate of the vehicle body as the sprung vibration, and calculate, based on the calculated pitch rate, the vibration suppression driving force proportional in a magnitude to the pitch rate. ### Claim 3 (depends on 2) A driving force control device for a vehicle according to claim 2, wherein, the at least one processor is further configured to: integrate a value representing the driver required acceleration/deceleration, thereby calculating a value corresponding to the vehicle body speed, and to calculate, as the error indication value, a pitch rate of the vehicle body generated by the change in the vehicle body speed, based on a value corresponding to the calculated vehicle body speed. ### Claim 4 (depends on 2) A driving force control device for a vehicle according to claim 2, wherein, the at least one processor is further configured to: integrate a value representing the driver required acceleration/deceleration, thereby calculating a value corresponding to the vehicle body speed; extract a change component of a value corresponding to the calculated vehicle body speed; and multiply a magnitude of the change component by a vehicle speed gain, which is decreased as the vehicle body speed is increased, to thereby calculate the error indication value. ### Claim 5 (depends on 1) A driving force control device for a vehicle according to claim 1, wherein, the at least one processor is further configured to: calculate a pitch rate of the vehicle body as the sprung vibration; detect a level of the pitch rate calculated using the sprung vibration; integrate a value representing the driver required acceleration/deceleration, thereby calculating a value corresponding to the vehicle body speed, calculating, based on a value corresponding to the calculated vehicle body speed, a pitch rate of the vehicle body generated by the change in the vehicle body speed, and detecting a level of the calculated pitch rate; and calculate an SN ratio acquired by dividing a value, which is acquired by subtracting a second value representing the level of the pitch rate detected from a first value representing the level of the pitch rate, by the second value; acquire the error indication value, which corresponds to the SN ratio, and the error can be estimated to become larger as the error indication value becomes smaller. ### Claim 6 (depends on 1) A driving force control device for a vehicle according to claim 1, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold. ### Claim 7 (depends on 1) A driving force control device for a vehicle according to claim 1, wherein the at least one processor is further configured to correct the vibration suppression driving force to be added to the driver required driving force so that the vibration suppression driving force is decreased as the error indication value is increased. ### Claim 8 (depends on 2) A driving force control device for a vehicle according to claim 2, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold. ### Claim 9 (depends on 3) A driving force control device for a vehicle according to claim 3, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold. ### Claim 10 (depends on 4) A driving force control device for a vehicle according to claim 4, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold. ### Claim 11 (depends on 5) A driving force control device for a vehicle according to claim 5, wherein the at least one processor is further configured to prevent the vibration suppression driving force from being added to the target driving force when the error indication value is more than a threshold.