Electric vehicle
AssigneeNissan Motor Co., Ltd.
InventorsYoshitaka Deguchi, Ichiro Yamaguchi
Life of this patent
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Abstract
An electric vehicle includes a vehicle body, a front wheel supported on the vehicle body for steering motion in accordance with motion of the vehicle body, a pair of rear wheels supported on the vehicle body for steering motion, a steering unit configured to regulate a steer angle of each of the rear wheels, a motor unit configured to independently apply a wheel torque to each of the rear wheels, and a control unit. The control unit is configured to control the total of the wheel torques in accordance with an associated setpoint, and to control the steer angles and the difference between the wheel torques so that the attitude and the yaw rate vary in accordance with associated setpoints.
Claims20
An electric vehicle comprising:
- a vehicle body;
- a front wheel supported on the vehicle body for steering motion in accordance with motion of the vehicle body;
- a pair of rear wheels supported on the vehicle body for steering motion;
- a steering unit configured to regulate a steer angle of each of the rear wheels;
- a motor unit configured to independently apply a wheel torque to each of the rear wheels;
- a first setpoint determination section configured to determine a setpoint of a total of the wheel torques;
- a second setpoint determination section configured to determine a setpoint of an attitude of the vehicle body;
- a third setpoint determination section configured to determine a setpoint of a yaw rate of the vehicle body;
- and
- a control unit connected for signal communication to the steering unit, the motor unit, the first setpoint determination section, the second setpoint determination section, and the third setpoint determination section, the control unit being configured to perform the following:
- controlling the total of the wheel torques in accordance with the associated setpoint;
- and
- controlling the steer angles and the difference between the wheel torques so that the attitude and the yaw rate vary in accordance with the associated setpoints.
A vehicle comprising:
- a vehicle body;
- a non-drive wheel supported on the vehicle body;
- a pair of drive wheels supported on the vehicle body for steering motion;
- a steering unit configured to regulate a steer angle of each of the drive wheels;
- and
- a motor unit configured to independently apply a wheel torque to each of the drive wheels.
An electric vehicle comprising:
- a vehicle body;
- a front wheel supported on the vehicle body, and adapted to be free from a force along a lateral direction of the vehicle body;
- a pair of rear wheels supported on the vehicle body for steering motion;
- first setpoint determination means for determining a setpoint of a total of a wheel torque to each of the rear wheels;
- second setpoint determination means for determining a setpoint of an attitude of the vehicle body;
- third setpoint determination means for determining a setpoint of a yaw rate of the vehicle body;
- steering control means for controlling a steer angle of each of the rear wheels so that the attitude and the yaw rate vary in accordance with the associated setpoints;
- motor control means for controlling the total of the wheel torques in accordance with the associated setpoint, and for controlling the difference between the wheel torques at least in accordance with the setpoint of the yaw rate.
Dependencies are inferred from the claim text.