# US 11,993,265 B2 · Control apparatus

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- Number: US 11,993,265 B2
- Document ID: US11993265B2
- Status: Granted
- Kind: B2
- Application number: 17/443,829
- Filed: 2021-07-28
- Published: 2022-02-24
- Granted: 2024-05-28
- Earliest claimed: 2020-08-20
- Assignees: Subaru Corporation
- Applicants: Subaru Corporation
- Inventors: Chihiro Oguro
- Web page: https://patentgrep.com/patent/US11993265B2

## CPC

- B60L 50/51: characterised by AC-motors
- B60W 30/18172: {Preventing, or responsive to skidding of wheels}
- B60L 3/104: {by indirect measurement of vehicle speed}
- B60L 3/106: {for maintaining or recovering the adhesion of the drive wheels}
- B60W 40/105: Speed
- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 2220/42: with use of more than one motor
- B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel
- B60L 2240/12: Speed
- B60L 2240/20: angular
- B60L 2240/24: Steering angle
- B60L 2240/461: Speed
- B60L 2240/465: Slip
- B60L 2260/28: Four wheel or all wheel drive
- B60W 2520/10: Longitudinal speed
- B60W 2520/12: Lateral speed
- B60W 2520/28: Wheel speed
- B60W 2530/00: Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W 2540/18: Steering angle
- B60W 2720/26: Wheel slip
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A control apparatus to be applied to a vehicle includes an acquiring unit and an estimator. The acquiring unit is configured to acquire wheel speeds of respective wheels of the vehicle and a steering angle of the vehicle. The estimator is configured to estimate vehicle speeds at respective positions of the respective wheels, on the basis of a minimum wheel speed among the wheel speeds of the respective wheels and the steering angle.

## Claims

### Claim 1

A control apparatus to be applied to a vehicle, the control apparatus comprising:
an acquiring unit including a sensor, the acquiring unit configured to acquire a first wheel speed of a first wheel of the vehicle, a second wheel speed of a second wheel of the vehicle, and a steering angle of the vehicle; and
a processor communicably connected with at least the sensor, the processor configured to
estimate a first vehicle speed at a first respective position of the first wheel and a second vehicle speed at a second respective position of the second wheel, and
control torques of the respective first and second wheels based on at least the estimated first vehicle speed and the estimated second vehicle speed in a predetermined traveling state of the vehicle, wherein
the processor is configured to estimate the first vehicle speed at the first respective position and the second vehicle speed at the second respective position based on (i) a minimum wheel speed among the first wheel speed of the first wheel and the second wheel speed of the second wheel, and (ii) the steering angle,
the processor is further configured to control a slip rate of each of the respective first and second wheels, on a basis of the estimated first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, and
the processor is configured to refrain from performing a control of the slip rate that is based on the estimated first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, in a case where both of the respective first and second wheels of the vehicle involve a slip.

### Claim 2 (depends on 1)

The control apparatus according to claim 1, wherein the processor is configured to estimate the first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, on a basis of a relationship between the steering angle and a turning radius of the vehicle, and on a basis of a relationship between the turning radius and distances from a turning center of the vehicle to the respective first and second wheels.

### Claim 3

A control apparatus to be applied to a vehicle, the control apparatus comprising
circuitry configured to
acquire a first wheel speed of a first wheel of the vehicle, a second wheel speed of a second wheel of the vehicle, and a steering angle of the vehicle, and
estimate a first vehicle speed at a first respective position of the first wheel and a second vehicle speed at a second respective position of the second wheel, and
control torques of the respective first and second wheels based on at least the estimated first vehicle speed and the estimated second vehicle speed, wherein
the circuitry is configured to estimate the first vehicle speed at the first respective position and the second vehicle speed at the second respective position based on (i) a minimum wheel speed among the first wheel speed of the first wheel and the second wheel speed of the second wheel, and (ii) the steering angle,
the circuitry is further configured to control a slip rate of each of the respective first and second wheels, on a basis of the estimated first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, and
the circuitry is configured to refrain from performing a control of the slip rate that is based on the estimated first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, in a case where both of the respective first and second wheels of the vehicle involve a slip.