Vehicle vibration damping control device

A vibration damping control device of a vehicle suppressing pitching or bouncing vibration of the vehicle by controlling a drive output of the vehicle, the device comprising a wheel torque estimated value acquisition portion which acquires an estimated value of a wheel torque generated on a ground contact site of a wheel of the vehicle and a road surface and acting on the wheel;

• the wheel torque estimated value being estimated based on a wheel speed detected by a wheel speed sensor of the wheel;
• and a driving torque control portion which controls a driving torque of the vehicle to suppress pitching or bouncing vibrational amplitudes based on the wheel torque estimated value;
• wherein the device controls the driving torque of the vehicle while assuming that wheel torque estimated value is a negative value when the vehicle is reverse-traveling.

A vibration damping control device of a vehicle suppressing pitching or bouncing vibration of the vehicle by controlling a drive output of the vehicle, the device comprising a wheel torque estimated value acquisition portion which acquires an estimated value of a wheel torque generated on a ground contact site of a wheel of the vehicle and a road surface and acting on the wheel;

• and a driving torque control portion which controls a driving torque of the vehicle to suppress pitching or bouncing vibrational amplitudes based on the wheel torque estimated value;
• wherein the control of the driving torque based on the wheel torque estimated value is stopped when a degree of slipping expressed by a wheel slip state quantity indicating a slip condition of the wheel is greater than a predetermined degree or when the vehicle is reverse-traveling.

A vibration damping control device of a vehicle suppressing pitching or bouncing vibration of the vehicle by controlling a drive output of the vehicles, the device comprising a wheel torque estimated value acquisition portion which acquires an estimated value of a wheel torque generated on a ground contact site of a wheel of the vehicle and a road surface and acting on the wheel;

• a driving torque control portion which controls a driving torque of the vehicle to suppress pitching or bouncing vibrational amplitudes based on the wheel torque estimated value;
• and a slip state quantity acquisition portion which acquires a wheel slip state quantity indicating a slip condition of the wheel from a braking control device of the vehicle for reducing a slip of the wheel;
• and the device correcting a controlled variable of the driving torque based on the degree of a slip expressed by the wheel slip state quantity, wherein the controlled variable of the driving torque is reduced when the braking control device is inoperable as compared with when the braking control device is operable.

A device for estimating a wheel torque acting between a wheel of a vehicle and a road surface, the device comprising:

• a torque estimating portion which estimates an estimated value of a wheel torque generated on a ground contact site of the wheel and the road surface and acting on the wheel;
• a slip state quantity computation portion which computes a wheel slip state quantity indicating a slip condition of the wheel;
• a wheel torque correction portion which corrects the wheel torque estimated value so that an absolute value of the wheel torque estimated value becomes smaller as a degree of a slip expressed by the wheel slip state quantity is larger.

A device for estimating a wheel torque acting between a wheel of a vehicle and a road surface, the device comprising a torque estimating portion which, based on a wheel speed detected by a wheel speed sensor of the wheel, estimates an estimated value of a wheel torque generated on a ground contact site of the wheel and the road surface and acting on the wheel;

• and a wheel torque correction portion which corrects the wheel torque estimated value to a negative value while the vehicle is reverse-traveling.