# US 2023/0057597 A1 · Electric vehicle

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- Number: US 2023/0057597 A1
- Document ID: US20230057597A1
- Status: Published application
- Kind: A1
- Application number: 17/882,714
- Filed: 2022-08-08
- Published: 2023-02-23
- Earliest claimed: 2021-08-20
- Assignees: Subaru Corporation
- Applicants: Subaru Corporation
- Inventors: Chihiro OGURO
- Web page: https://patentgrep.com/patent/US20230057597A1

## CPC

- B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles}
- B60L 2220/42: with use of more than one motor
- B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel
- B60L 2240/20: angular
- B60L 2240/24: Steering angle
- B60L 2240/423: Torque
- B60L 2240/461: Speed
- B60L 2240/465: Slip
- Y02T 10/72: Electric energy management in electromobility
- 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
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

An electric vehicle includes a yaw rate sensor and a processor. The yaw rate sensor is configured to measure a yaw rate of a vehicle body in a vehicle. The processor is configured to control respective torques of right and left rear wheels coupled to respective motors of the electric vehicle. In a case where a mode that allows the right and the left rear wheels to slip is selected as a traveling mode of the vehicle, the processor is configured to perform a control to suppress one of the torques of the right and the left rear wheels on a basis of the yaw rate measured by the yaw rate sensor.

## Claims

### Claim 1

An electric vehicle comprising:
a yaw rate sensor configured to measure a yaw rate of a vehicle body of the electric vehicle; and
a processor configured to control respective torques of right and left rear wheels coupled to respective motors of the electric vehicle, wherein
in a case where a mode that allows the right and the left rear wheels to slip is selected as a traveling mode of the electric vehicle, the processor is configured to perform a control to suppress one of the respective torques of the right and the left rear wheels on a basis of the yaw rate measured by the yaw rate sensor.

### Claim 2 (depends on 1)

The electric vehicle according to claim 1, further comprising a steering angle sensor configured to measure a steering angle of a steering wheel of the electric vehicle, wherein
in a case where a difference between a first yaw rate and a second yaw rate is equal to or greater than a threshold, the processor is configured to perform the control allow the difference between the first yaw rate and the second yaw rate to be less than the threshold, the first yaw rate being the yaw rate measured by the yaw rate sensor, the second yaw rate being calculated on a basis of the steering angle measured by the steering angle sensor.

### Claim 3 (depends on 1)

The electric vehicle according to claim 1, further comprising:
a receiver configured to receive data on a position of the vehicle body; and
a wheel speed sensor configured to measure at least respective wheel speeds of the right and the left rear wheels, wherein
the processor is configured to perform a control to suppress one of the respective torques of the right and the left rear wheels to allow a slip ratio to be 10%, the slip ratio being calculated on a basis of the respective wheel speeds of the right and the left rear wheels and on a basis of a vehicle body speed calculated using the data on the position of the vehicle body received by the receiver.

### Claim 4 (depends on 2)

The electric vehicle according to claim 2, further comprising:
a receiver configured to receive data on a position of the vehicle body; and
a wheel speed sensor configured to measure at least respective wheel speeds of the right and the left rear wheels, wherein
the processor is configured to perform a control to suppress one of the respective torques of the right and the left rear wheels to allow a slip ratio to be 10%, the slip ratio being calculated on a basis of the respective wheel speeds of the right and the left rear wheels and on a basis of a vehicle body speed calculated using the data on the position of the vehicle body received by the receiver.