# US 12,179,765 B2 · Vehicle control apparatus for reducing noise during square wave motor control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,765 B2 - Document ID: US12179765B2 - Status: Granted - Kind: B2 - Application number: 17/690,378 - Filed: 2022-03-09 - Published: 2022-09-29 - Granted: 2024-12-31 - Earliest claimed: 2021-03-25 - Assignees: Subaru Corporation - Applicants: Subaru Corporation - Inventors: Shinichirou Nakahira; Naoto Chiba; Takuya Yano - Web page: https://patentgrep.com/patent/US12179765B2 ## CPC - B60K 6/48: Parallel type - B60W 30/20: Reducing vibrations in the driveline - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 20/17: for noise reduction - B60W 2030/206: {related or induced by the engine} - B60W 2510/083: Torque - B60W 2510/087: Temperature - B60W 2510/246: Temperature - B60W 2710/083: Torque - Y02T 10/72: Electric energy management in electromobility - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN 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 vehicle control apparatus includes a storage and a processor. The storage holds a first resonance map. The processor calculates a first torque command value that indicates a value of torque to be outputted by a first driving source. The first resonance map includes, as one or more first resonance points, one or more operating points at which resonance occurs in an operating region of the first driving source under a square wave control. The processor decreases or increases the first torque command value to avoid the one or more first resonance points on the condition that a predicted route of transition of an operating point of the first driving source meets the one or more first resonance points. ## Claims ### Claim 1 A vehicle control apparatus to be mounted on a vehicle, the vehicle including a first driving source and a first wheel to which torque is to be outputted from the first driving source, the first driving source including an electric motor, the vehicle control apparatus comprising: a storage configured to hold a first resonance map; and a processor configured to calculate a first torque command value that indicates a value of the torque to be outputted by the first driving source, wherein the first resonance map includes, as one or more first resonance points, one or more operating points at which resonance occurs in an operating region of the first driving source under a square wave control, the processor is configured to decrease or increase the first torque command value to avoid the one or more first resonance points on a condition that a predicted route of transition of an operating point of the first driving source meets the one or more first resonance points, the vehicle further includes a second driving source, the second driving source being configured to output torque to the first wheel or a second wheel different from the first wheel, the processor is configured to calculate a second torque command value that indicates a value of the torque to be outputted by the second driving source, the processor is configured to: increase the second torque command value in decreasing the first torque command value to avoid the one or more first resonance points; and decrease the second torque command value in increasing the first torque command value to avoid the one or more first resonance points, the second driving source includes an electric motor, the storage is configured to hold a second resonance map that includes, as one or more second resonance points, one or more operating points at which resonance occurs in an operating region of the second driving source under a square wave control, components of the first resonance map include a rotation speed of the first driving source and the torque of the first driving source, components of the second resonance map include a rotation speed of the second driving source and the torque of the second driving source, the rotation speed of the first driving source takes a value obtained by multiplying the rotation speed of the second driving source by a first ratio, and a range of the rotation speed of the first driving source in the first resonance map in which the one or more first resonance points are located avoids overlap with a range obtained by multiplying, by the first ratio, a range of the rotation speed of the second driving source in the second resonance map in which the one or more second resonance points are located. ### Claim 2 (depends on 1) The vehicle control apparatus according to claim 1, wherein the processor is configured to: decrease or increase the second torque command value to avoid the one or more second resonance points on a condition that a predicted route of transition of an operating point of the second driving source meets the one or more second resonance points; and increase the first torque command value in decreasing the second torque command value to avoid the one or more second resonance points, and decrease the first torque command value in increasing the second torque command value to avoid the one or more second resonance points. ### Claim 3 (depends on 1) The vehicle control apparatus according to claim 1, wherein the storage is configured to hold a plurality of the first resonance maps and a plurality of the second resonance maps that correspond to respective ones of a plurality of environmental conditions, and the processor is configured to use one of the plurality of the first resonance maps and one of the plurality of the second resonance maps that correspond to one of the plurality of the environmental conditions. ### Claim 4 (depends on 2) The vehicle control apparatus according to claim 2, wherein the storage is configured to hold a plurality of the first resonance maps and a plurality of the second resonance maps that correspond to respective ones of a plurality of environmental conditions, and the processor is configured to use one of the plurality of the first resonance maps and one of the plurality of the second resonance maps that correspond to one of the plurality of the environmental conditions.