Control system for vehicle

A control system for a vehicle, comprising:

• a drive shaft in which one end thereof is joined to a wheel;
• a motor that applies a torque to the drive shaft;
• and
• a parking lock mechanism that stops a rotation of a predetermined rotary member arranged between the motor and the drive shaft by locking the rotary member, and that allows the rotary member to rotate by releasing the rotary member;
• the control system comprising:
• a wheel speed detector that detects a rotational speed of the wheel;
• and
• a controller that controls the motor,
• wherein the controller comprises:
• a parking determiner that determines whether the rotation of the rotary member is stopped by the parking lock mechanism;
• an inclination angle determiner that determines whether an inclination angle of the vehicle in a pitching direction is equal to or greater than a predetermined angle;
• a rotational speed determiner that determines whether a rotational speed of the wheel is equal to or higher than a predetermined speed;
• a torsion determiner that determines a torsion of the drive shaft in a case that the rotation of the rotary member is stopped by the parking lock mechanism, that the inclination angle of the vehicle in the pitching direction is equal to or greater than the predetermined angle, and that the rotational speed of the wheel after stopping the rotation of the rotary member by the parking lock mechanism is equal to or higher than the predetermined speed;
• and
• a motor controller that controls the motor to generate an assist torque in a direction to counteract a torsional torque acting on the drive shaft when allowing the rotary member to rotate by the parking lock mechanism, in a case that the torsion of the drive shaft is determined.

A control system for a vehicle, comprising:

• a drive shaft in which one end thereof is joined to a wheel;
• a motor that applies a torque to the drive shaft;
• and
• a parking lock mechanism that stops a rotation of a predetermined rotary member arranged between the motor and the drive shaft by locking the rotary member, and that allows the rotary member to rotate by releasing the rotary member;
• the control system comprising:
• an acceleration detector that detects a longitudinal acceleration of the vehicle;
• and
• a controller that controls the motor,
• wherein the controller comprises:
• a parking determiner that determines whether the rotation of the rotary member is stopped by the parking lock mechanism;
• an inclination angle determiner that determines whether an inclination angle of the vehicle in a pitching direction is equal to or greater than a predetermined angle;
• a torsion determiner that determines a torsion of the drive shaft in a case that the rotation of the rotary member is stopped by the parking lock mechanism, that the inclination angle of the vehicle in the pitching direction is equal to or greater than the predetermined angle, and that a difference between a maximum value and a minimum value of the acceleration of the vehicle after stopping the rotation of the rotary member by the parking lock mechanism is equal to or greater than a predetermined value;
• and
• a motor controller that controls the motor to generate an assist torque in a direction to counteract a torsional torque acting on the drive shaft when allowing the rotary member to rotate by the parking lock mechanism, in a case that the torsion of the drive shaft is determined.