Vehicle control apparatus

A vehicle control device to be applied to a vehicle, the vehicle comprising a first wheel, a second wheel, a first traveling motor coupled to the first wheel, and a second traveling motor coupled to the second wheel, the first wheel being disposed at a position in a first direction along a longitudinal axis of the vehicle relative to the second wheel, the vehicle control device comprising a control system (1) including a processor and a memory that are coupled to each other to allow for a communication between the processor and the memory and (2) being configured to:

• determine whether a distance from the vehicle to a contact predicted spot or an object is less than a first threshold while the vehicle is traveling toward the first direction;
• determine whether the distance is less than a second threshold while the vehicle is traveling toward the first direction, the second threshold being less than the first threshold;
• in response to determining that the distance is not less than the first threshold, perform a first control, wherein, in the first control, the control system is configured to cause the vehicle to travel toward the first direction at a target speed by (1) controlling the first traveling motor to generate a first torque greater than zero and (2) controlling the second traveling motor to generate a second torque greater than zero, the first torque generating a first driving force at the first wheel to travel the vehicle toward the first direction, wherein the second torque generates a second driving force at the second wheel to travel the vehicle toward the first direction;
• in response to determining that the distance is less than the first threshold and is not less than the second threshold, perform a second control, wherein, in the second control, the control system is configured to cause the vehicle to travel toward the first direction at the target speed by (1) controlling the first traveling motor to generate zero torque or a third torque less than zero and (2) controlling the second traveling motor to generate a fourth torque greater than the second torque, wherein the third torque generates a third driving force at the first wheel in an opposite direction of the first driving force, while the fourth torque generates a fourth driving force at the second wheel, and the fourth driving force includes both the second driving force and a compensating driving force to offset loss of the first driving force;
• and
• in response to determining that the distance is less than the second threshold, perform a third control, wherein, in the third control, the control system is configured to cause the vehicle to decelerate by (1) controlling the first traveling motor to generate a fifth torque less than the third torque, and (2) controlling the second traveling motor to generate a sixth torque less than zero, wherein the fifth torque generates a fifth driving force at the first wheel in the opposite direction of the first driving force, while the sixth torque generates a driving force at the second wheel in the opposite direction of the second driving force.