# US 10,119,485 B2 · Vehicle control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,119,485 B2 - Document ID: US10119485B2 - Status: Granted - Kind: B2 - Application number: 15/699,407 - Filed: 2017-09-08 - Published: 2018-03-15 - Granted: 2018-11-06 - Earliest claimed: 2016-09-09 - Assignees: Mazda Motor Corporation - Applicants: Mazda Motor Corporation - Inventors: Kanta Kono; Atsushi Yamasaki; Kyohei Ike - Web page: https://patentgrep.com/patent/US10119485B2 ## CPC - F02D 41/0225: {in relation with the gear ratio or shift lever position} - F02D 11/105: {characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque} - F02D 11/106: {Detection of demand or actuation} - F02D 41/0002: {Controlling intake air} - F02D 41/10: for acceleration - F16H 63/50: Signals to an engine or motor - F02D 2041/1416: {Observer} - F02D 2041/1422: {Variable gain or coefficients} - F02D 2200/1004: Estimation of the output torque - F02D 2250/18: Control of the engine output torque - F02D 2250/28: Control for reducing torsional vibrations, e.g. at acceleration - Y02T 10/40: Engine management systems - F02D: CONTROLLING COMBUSTION ENGINES (vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed B60K31/00; conjoint control of vehicle sub-units of different type or different function, road vehicle drive control systems for purposes other than the control of a single sub-unit B60W) - F16H: GEARING - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A control device of a vehicle is provided. The vehicle includes a drive source, wheels, a driving force transmission shaft provided in a driving force transmission path extending from the drive source to the wheels, and an accelerator position sensor for detecting a depression amount of an accelerator pedal. The control device estimates or detects a torsion angle of a drive source side end portion of the shaft with respect to a wheel side end portion, an instruction to the drive source to generate a first torque corresponding to the depression amount of the pedal when the depression is determined to have started, and instructs the drive source to generate a second torque when a change rate of the torsion angle is determined to have inverted from a positive rate to a negative rate for the first time after the depression is determined to have started. ## Claims ### Claim 1 A control device of a vehicle, the vehicle including: a drive source for generating torque as a driving force; wheels; a driving force transmission shaft provided in a driving force transmission path extending from the drive source to the wheels; and an accelerator position sensor for detecting a depression amount of an accelerator pedal, the control device performing: one of estimation and detection of a torsion angle of a first end portion of the driving force transmission shaft at a drive source side with respect to a second end portion at the wheel side; an instruction to the drive source to generate a first torque corresponding to the depression amount of the accelerator pedal when the depression of the accelerator pedal is determined to have started based on a detection result of the accelerator position sensor; and an instruction to the drive source to generate a second torque when a change rate of the torsion angle is determined to have inverted from a positive rate to a negative rate for the first time after the depression of the accelerator pedal is determined to have started, the change rate of the torsion angle determined based on the acquisition result of the torsion angle, the second torque being lower than the first torque. ### Claim 2 (depends on 1) The control device of claim 1, wherein the second torque is set based on at least one of a change amount and the change rate of the torsion angle from a first time point when the depression of the accelerator pedal is determined to have started until a second time point when the change rate of the torsion angle is determined to have inverted from a positive rate to a negative rate for the first time. ### Claim 3 (depends on 2) The control device of claim 2, wherein the drive source is instructed to generate the second torque for a given period of time from the second time point. ### Claim 4 (depends on 3) The control device of claim 3, wherein the vehicle also includes a transmission provided in the driving force transmission path, and the given time period is set according to a gear ratio of the transmission. ### Claim 5 (depends on 4) The control device of claim 4, wherein after the given time period, the drive source is instructed to generate a third torque that is lower than the first torque and higher than the second torque. ### Claim 6 (depends on 5) The control device of claim 5, wherein the drive source is an internal combustion engine, the vehicle also includes a throttle valve, a variable valve mechanism, an ignition plug, and a fuel injector that are attached to the drive source, and the drive source generates the first torque and the second torque by controlling at least one of the throttle valve, the variable valve mechanism, the ignition plug, and the fuel injector. ### Claim 7 (depends on 6) The control device of claim 6, wherein the torsion angle of the driving force transmission shaft is estimated by using an observer model describing behavior of a control target model that is a model of a driving force transmission system of the vehicle including the driving force transmission shaft. ### Claim 8 (depends on 7) The control device of claim 7, wherein a torque correction amount that is a correction amount of the first torque according to the depression amount of the accelerator pedal is calculated based on the estimated torsion angle of the driving force transmission shaft, and the second torque is a value obtained by correcting the first torque according to the torque correction amount. ### Claim 9 (depends on 8) The control device of claim 8, wherein the torque correction amount is set to gradually decrease according to a given cycle regarding the torsion angle of the driving force transmission shaft. ### Claim 10 (depends on 9) The control device of claim 9, wherein a feedback control is executed to control the torque. ### Claim 11 (depends on 1) The control device of claim 1, wherein the drive source is instructed to generate the second torque for a given period of time from the second time point. ### Claim 12 (depends on 1) The control device of claim 1, wherein the drive source is instructed to generate the second torque from the second time point until the change rate of the torsion angle is determined to have inverted from a positive rate to a negative rate a given number of times. ### Claim 13 (depends on 12) The control device of claim 12, wherein, after the change rate of the torsion angle is determined to have inverted from a positive rate to a negative rate the given number of times, the drive source is instructed to generate a third torque that is lower than the first torque and higher than the second torque. ### Claim 14 (depends on 13) The control device of claim 13, wherein the drive source is an internal combustion engine, the vehicle also includes a throttle valve, a variable valve mechanism, an ignition plug, and a fuel injector that are attached to the drive source, and the drive source generates the first torque and the second torque by controlling at least one of the throttle valve, the variable valve mechanism, the ignition plug, and the fuel injector. ### Claim 15 (depends on 14) The control device of claim 14, wherein the torsion angle of the driving force transmission shaft is estimated by using an observer model describing behavior of a control target model that is a model of a driving force transmission system of the vehicle including the driving force transmission shaft. ### Claim 16 (depends on 15) The control device of claim 15, wherein a torque correction amount that is a correction amount of the first torque according to the depression amount of the accelerator pedal is calculated based on the estimated torsion angle of the driving force transmission shaft, and the second torque is a value obtained by correcting the first torque according to the torque correction amount. ### Claim 17 (depends on 1) The control device of claim 1, wherein the drive source is an internal combustion engine, the vehicle also includes a throttle valve, a variable valve mechanism, an ignition plug, and a fuel injector that are attached to the drive source, and the drive source generates the first torque and the second torque by controlling at least one of the throttle valve, the variable valve mechanism, the ignition plug, and the fuel injector. ### Claim 18 (depends on 1) The control device of claim 1, wherein the torsion angle of the driving force transmission shaft is estimated by using an observer model describing behavior of a control target model that is a model of a driving force transmission system of the vehicle including the driving force transmission shaft. ### Claim 19 (depends on 1) The control device of claim 1, wherein a feedback control is executed to control the torque. ### Claim 20 A control device of a vehicle, the vehicle including: a drive source for generating torque as a driving force; wheels; a driving force transmission shaft provided in a driving force transmission path extending from the drive source to the wheels; and an acceleration request accepting member for accepting an acceleration request having an acceleration request amount from a driver of the vehicle, the control device performing: one of estimation and detection of a torsion angle of a first end portion of the driving force transmission shaft at a drive source side with respect to a second end portion at a wheel side; an instruction to the drive source to generate a first torque corresponding to the acceleration request amount when the acceleration request accepting member accepts the acceleration request to the vehicle; and an instruction to the drive source to generate a second torque when a change rate of the torsion angle is determined to have inverted from a positive rate to a negative rate for the first time after the acceleration request is accepted, the change rate of the torsion angle determined based on the acquisition result of the torsion angle, the second torque being lower than the first torque.