Turning motion assistance device for electric vehicle

A turning motion assistance device for an electric vehicle including one pair of driving wheels, one pair of motors each for driving or braking one of the paired driving wheels independently, and one pair of steered wheels, the assistance device comprising:

• steering input means through which a particular amount of steering is input by a driver;
• turning yaw moment calculating means for calculating a yawing moment with which each of the steered wheels is to be burdened on the assumption that the vehicle body turns at an input steering angle determined from the input amount of steering, and then calculating an amount of a turning yaw moment to be generated by imparting a differential torque to the paired driving wheels in order to assist in creation of a part of the calculated yawing moment;
• means for calculating an actual steering angle by calculation of a steering angle appropriate for the turning yaw moment, followed by subtraction of the calculated steering angle from the input steering angle;
• means for controlling each of the steered wheels to the actual steering angle;
• means for calculating, from the actual steering angle, a target wheel slip angle required for the vehicle to travel along a target turning path determined from the input steering angle;
• means for detecting state quantities of the vehicle, inclusive of an acceleration and speed thereof;
• means for calculating an actual vehicle-body slip angle based upon the vehicle state quantities;
• means for calculating an actual wheel slip angle based upon the actual vehicle-body slip angle and the actual steering angle;
• means for calculating a yawing moment required for the vehicle to travel along the target turning path, from a difference between the target wheel slip angle and the actual wheel slip angle;
• means for calculating an amount of torque correction that is to be assigned to each of the paired driving wheels independently to generate a yawing moment equivalent to a sum of the yawing moment requirement and the turning yaw moment by imparting a differential torque to the paired driving wheels;
• means for estimating tire wear levels of the steered wheels and the driving wheels from a wheel slip angle of the steered wheels and the driving wheels, as well as from a braking and driving force acting upon the steered wheels and the driving wheels;
• and
• wherein the paired motors assign to the respective driving wheels independently a torque that has been corrected in accordance with the calculated amount of torque correction;
• wherein, in order that the tire wear levels of the steered wheels and driving wheels, estimated by the tire wear estimating means, equally approach, the turning yaw moment calculating means calculates the amount of the turning yaw moment in order to assist in creation of a part of the yawing moment calculated from the input steering angle.