Vehicle control device

A vehicle control device to be applied to for a vehicle, the vehicle comprising a wheel, a driving motor which is coupled to the wheel and acceleration sensors, the vehicle control device comprising:

• circuitry, coupled to the driving motor and the acceleration sensors, configured to:
• determine whether (1) longitudinal acceleration and (2) lateral acceleration being experienced by the vehicle exceed first and second threshold values, respectively;
• determine whether the vehicle is experiencing both (1) the longitudinal acceleration exceeding the first threshold value and (2) the lateral acceleration exceeding the second threshold value, either at a first frequency or at a second frequency lower than the first frequency;
• and
• when the vehicle stops acceleration after determining that the vehicle is experiencing both (1) the longitudinal acceleration exceeding the first threshold value and (2) the lateral acceleration exceeding the second threshold value at the first frequency, control a regenerative torque of the driving motor to become smaller than when the vehicle stops accelerating after determining that the vehicle is experiencing both (1) the longitudinal acceleration exceeding the first threshold value and (2) the lateral acceleration exceeding the second threshold value at the second frequency.

A vehicle comprising:

• a wheel;
• a driving motor coupled to the wheel;
• acceleration sensors configured to detect longitudinal acceleration and lateral acceleration;
• and
• a circuitry coupled to the driving motor and the acceleration sensors, and configured to:
• calculate a first ratio that is a ratio of a first length of time for which an absolute value of the detected longitudinal acceleration exceeds a first predetermined threshold to a predetermined determination time;
• calculate a second ratio that is a ratio of a second length of time for which an absolute value of the detected lateral acceleration exceeds a second predetermined threshold to the predetermined determination time;
• determine whether the calculated first ratio exceeds a third predetermined ratio;
• determine whether the calculated second ratio exceeds a fourth predetermined ratio;
• when the vehicle stops acceleration after (1) determining that the calculated first ratio does not exceed the third predetermined ratio or (2) determining that the calculated second ratio does not exceed the fourth predetermined ratio, control the driving motor so that a regenerative torque generated by the driving motor does not exceed a first limit value;
• and
• when the vehicle stops acceleration after (1) determining that the calculated first ratio exceeds the third predetermined ratio and (2) determining that the calculated second ratio exceeds the fourth predetermined ratio, control the driving motor so that the regenerative torque does not exceed a second limit value, an absolute value of the second limit value being lower than an absolute value of the first limit value.