JPS6291637A - Driving force control device for vehicle - Google Patents

Abstract

PURPOSE:To secure not only the running stability for a great slip but also the excellent ride feeling for a small slip by increasing or decreasing the closing speed of a throttle valve, that is, a decreasing rate of driving force is accordance with the magnitude of a slip ratio. CONSTITUTION:The revolving speed of both a driving and a not-driven wheel is detected by each of detecting means 1 and 2, and a slip ratio between a tire and a road surface is operated by a means 3 based on the detected revolving speed. Then the slip ratio is compared with a set value by a means 4 to see which is greater. And if the slip ratio is found to be identical to the set value, the throttle opening at a time of slip starting is memoried by a means 5, besides, a target reduction value for the throttle opening is determined by a means 6. And then a target opening of the throttle valve is determined by a means 7 based on both of the above said target reduction value and the opening of the valve when the slip starts, and the closing motion of the throttle valve is controlled by a means 8 so as to allow the deviation between the target opening and the opening of the valve when the slip starts, to be zero.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a vehicle driving force control device.

[Conventional technology]

As a conventional vehicle driving force control device, for example, Japanese Patent Application Laid-open No. 6
There is one described in Japanese Patent No. 0-43133. .

In an automobile engine output control device that controls the engine output by changing the amount of fuel supplied to the engine according to the position of the accelerator pedal, the drive wheel rotation speed detection means, the non-drive wheel rotation speed detection means, and the re-detection means are used. A calculation means for calculating the slip ratio between the tires and the road surface from the output; a comparison means for comparing the calculated slip ratio with a set slip ratio; and a comparison means for comparing the calculated slip ratio with a set slip ratio; The system is characterized by being equipped with a slip rate control means that outputs a signal that forcibly reduces the fuel supply to the engine. By controlling the engine so that the slip ratio is below a certain value, starting performance and running stability on road surfaces with a low coefficient of friction are improved.

[Problem that the invention seeks to solve]

However, in such conventional vehicle driving force control devices, the throttle valve opening target value at the time of slip is set to a predetermined slip rate where the slip rate (slip rate) between the tire and the road surface is set in advance. Since the opening was configured to switch between two stages, normal opening and low opening, depending on whether the opening was larger or not, the target opening of the throttle valve was set to a lower value in order to increase the degree of reduction in driving force in the event of excessive slip. When there is a small slip, the driving force is suddenly reduced, resulting in an excessive drop in speed, and the vehicle experiences jerky vibrations, which impairs the ride comfort. Contrary to the above, if the throttle valve opening target value is set to match the reduction in driving force at the time of small slip, the degree of reduction in driving force will be low at the time of excessive slip, making it difficult to control the slip.
There was a problem that running stability was impaired.

[Means for solving problems]

The present invention has been made by focusing on these conventional problems, and as shown in the basic configuration diagram of FIG. A driving wheel rotation speed detection means, a non-drive wheel rotation speed detection means that detects the rotation speed of the non-driving wheels and outputs a detection signal, and a drive wheel rotation speed detection means and a non-drive wheel rotation speed detection means. Slip ratio calculation means for calculating the slip ratio between the tire and the road surface based on the detection signal, and slip ratio determination means for determining whether the slip ratio is larger than a set value based on the calculation result of the slip ratio calculation means. a throttle valve opening storage means for storing the slip start opening of the throttle valve when the slip ratio is equal to the set value; and an opening of the throttle valve based on the slip ratio calculated by the slip ratio calculation means. subtraction amount determining means for determining a target value subtraction amount of the throttle valve; target opening determining means for determining a target opening degree of the throttle valve based on the slip start opening degree and the target value range calculation; and a throttle valve control means for controlling the opening and closing of the throttle valve in a direction in which the deviation between the target opening and the slip starting opening is zero based on the slip starting opening. , is characterized by solving the above problems.

[Effect]

In this invention, the driving wheel rotational speed detection means detects the rotational speed of the driving wheels, and the non-driving wheel rotational speed detection means detects the rotational speed of the non-driving wheels. The slip ratio calculation means calculates the slip ratio between the tire and the road surface based on the rotational speed of When it is equal to the set value, the throttle valve opening at the start of slip is stored in the throttle valve opening storage means, and the target value subtraction amount of the throttle valve opening is determined by the subtraction amount determining means, and this target value subtraction amount and The target opening degree determining means determines the target opening degree of the throttle valve based on the slip start opening degree, and the throttle valve control means operates the throttle valve in a direction in which the deviation between the target opening degree and the slip start opening degree becomes zero. By controlling the opening and closing, the degree of reduction in driving force is changed according to the slip ratio, thereby improving both ride comfort and running stability of the vehicle.

〔Example〕

The present invention will be explained below based on illustrated embodiments.

2 to 7 show an embodiment of the present invention, which is applied to a rear wheel drive vehicle.

First, to explain the configuration, 1 shown in FIG. 2 is an accelerator potentiometer, which is configured to be linked to the depression of the accelerator pedal 2, and outputs an accelerator signal DA with a voltage corresponding to the amount of depression of the accelerator pedal 2. Output to the throttle valve control device 3.

Throttle valve 'HI? II The device 3 includes a microcomputer 4, an A/D converter 5, an F/V converter 6,
The A/D converter 5 connected to the F/V converter 6 and the motor drive circuit 7 are connected to the microcomputer 4. The microcomputer 4 includes an interface circuit 4a, an arithmetic processing unit (
CP[J)4 b, RAM.

It has a storage device 4C such as a ROM, and the voltage output from the accelerator potentiometer 1 and the F/V converter 6 is A.
The signal is supplied to the arithmetic processing unit 4b via the /D converter 5 and the interface circuit 4a, and the arithmetic processing unit 4b is operated according to a program stored in advance in the storage device 4c.

The graphs shown in FIGS. 5 to 7 are stored in the storage device 4C.
Each is stored in its corresponding storage area in the form of a storage table. The memory table corresponding to the graph shown in FIG. 5 is the slip rate-target value range calculation table 4.
d, which converts the slip ratio S shown on the horizontal axis into the target value subtraction amount Δθ of the throttle valve opening shown on the vertical axis, and the increase rate of the target value subtraction amount Δθ is higher than the increase rate of the slip ratio S. is set to be thick ((curved upward).

The memory table corresponding to the graph shown in FIG. 6 is a stroke amount-target opening conversion table 4e, which converts the stroke iL of the accelerator pedal 2 shown on the horizontal axis to the target opening θ0 of the throttle valve shown on the vertical axis. The rate of increase in the target opening θ0 is set to be greater than the rate of increase in the stroke iL (so that it curves upward). Also,
The memory table corresponding to the graph shown in FIG.
This is a motor speed conversion table 4f, which converts the throttle valve opening deviation Dir shown on the horizontal axis (not shown on the vertical axis) into motor speed, so that the motor speed increases in proportion to the increase in deviation Dir. It is set.

Furthermore, the storage device 4c includes a reference slip ratio storage area 4g that stores a preset reference slip ratio SO, and a slip judgment memory where a flag -1 is set when the slip ratio S becomes equal to or higher than the reference slip ratio SO. A region 4h, a slip opening degree tq region 41 in which the throttle valve opening θ at the time of slip start is stored, a target opening storage region 4j in which the target opening θ0 of the throttle valve 17 is stored, and a The OC is stored in the motor state designation storage area 4 where a designated value designating forward rotation, reverse rotation, or holding is recorded.
Activation cycle storage area 4m in which the activation cycle of T interrupt is stored
, a motor rotation direction storage area 4n in which a flag specifying the rotation direction of the step motor 16 is stored, and an amplifier down counter 4p in which a value corresponding to the actual opening of the throttle valve 17 is stored. The OCI interrupt is executed based on the periodic time stored in the periodic storage area 4m.

The up/down counter 4p is capable of turning 1 to 7 by the number of steps required for the step motor 16 to drive the throttle valve 17 from the fully closed state to the fully open state. , for example, is set to O when the throttle valve 17 is fully open.

The F/V converter 6 also includes a rear wheel rotation speed detector 10 which is a driving wheel rotation speed detection means for detecting the rotation speed of the rear right wheel 8 and the rear left wheel 9 which are driving wheels. Rotation speed signal D
Vr and a right front wheel rotation speed detector 13 and a front left wheel rotation speed detector 14 which are non-driving wheel rotation speed detection means that individually detect the rotation speeds of the front right wheel 11 and the left front wheel 12, which are non-driving wheels.
Right front wheel and left front wheel rotation speed signals DVfr, DVfl from
are supplied respectively. The rear wheel rotation speed detector 10 detects the rotation speed of the drive wheels by detecting the rotation speed of the differential gear 15 that transmits driving force to the rear left and right wheels 8 and 9, and detects a frequency according to the rotation speed. A rear wheel rotation speed signal DVr made of a pulse signal is output. Further, the right front wheel rotation speed detector 13 and the left front wheel rotation speed detector 14 are connected to the front left and right wheels 11.
, 12 rotation speeds are directly detected, and the right front wheel and left front wheel rotation speed signals DV are made of pulse signals with a frequency corresponding to the rotation speeds.
outputs fr and DVfl, respectively.

The F/V converter 6 to which the front wheel and rear wheel rotational speed signals DVr, DVfr, and DVfl are supplied converts these input signals into voltages corresponding to their respective frequencies, and converts the rotational speed signals DV into A/V converters 6. The signal is sent to the D converter 5. A to which these rotational speed signals DV and the accelerator signal DA are supplied.
/D converter 5 converts them into digital signals and outputs them to microcomputer 4.

As a result, the microcomputer 4 receives the input rotation speed signals DV from the three rotation speed detectors 10, 13, and 14.
and accelerator signal D from accelerator potentiometer l
A control process to be described later is executed based on A, and the slip rate S
A control signal C8 is output to the motor drive circuit 7 in accordance with the above.

As a result, the motor drive circuit 7 drives the step motor 16 based on the control signal supplied from the microcomputer 4.
The step motor 16 is outputted with a drive current to rotate the step motor 16 in the forward or reverse direction, or to maintain the non-rotating state. The rotation shaft 16a of the step motor 16 is constructed integrally with the rotation shaft of the throttle valve 17, and, for example, when the step motor 16 rotates in the normal direction, the throttle valve 17 is opened, and when the step motor 16 rotates in the reverse direction, the throttle valve 17 is closed.

The arithmetic processing unit 4b of the microcomputer 4 is R
For example, 1 shown in FIG.
Arithmetic processing is performed according to a timer interrupt processing program that is executed every 00m5ec, and based on the processing results, an overflow counter interwoven interrupt processing (OCI interrupt) shown in FIG. 4, for example, is executed every activation cycle.

That is, in -step (2), the rear wheel rotation speed signal DVr of the rear wheel rotation speed detector 10 is read, the rotation speed of the rear wheel 8.9 which is the driving wheel is calculated based on it, and this is set as the driving wheel rotation speed Vr. It is temporarily stored in a predetermined storage area of the storage device 4c.

Next, proceed to step ■, and detect the right front wheel rotation speed detector 13.
The right front wheel rotational speed signal DVfr is read, the rotational speed of the right front wheel 11, which is a non-driving wheel, is calculated based on the rotational speed signal DVfr, and this is temporarily stored in a predetermined storage area of the storage device 4C as the right non-driving rotational speed Vfr.

Next, move to step ■ and check left front wheel rotation speed detector 1.
4 reads the left front wheel rotational speed signal DVfl, calculates the rotational speed of the left front wheel 12 which is a non-driving wheel based on it, and records this as the left non-driving wheel rotational speed Vfl and temporarily stores it in a predetermined storage area of the tα device 4C. do.

Next, the process moves to step (2), and the rotational speed Vfr of the joint drive wheel in step (2) and the rotational speed Vf of the left non-driving wheel in step (2) are determined.
Read out the left and right non-driving wheel rotation speed Vfr,
The rotational speed of the entire non-driving wheels is calculated based on Vfl, and this is temporarily stored in a predetermined storage area of the storage device 4C as the non-driving wheel rotational speed vr. In this embodiment, the non-driven wheel rotation speed Vf is the average value of the rotation speeds of the front left and right wheels 11 and 12.

Next, the process moves to step (2), where the driving wheel rotational speed Vr in step (2) and the non-driving wheel rotational speed (V) in step (2) are read out. The slip rate S between the tires and the road surface of the entire vehicle that occurs between the tires No. 8 and 9 and the road surface is calculated.

Next, the process moves to slip (2), and the setting value So stored in advance in the reference slip ratio storage area 4g of the tα device 4C is
(for example, 0.2) and the slip rate S in step (3), and the slip rate S is the set value S.

Determine whether the value is greater than or not. As a result of the determination, if the slip ratio S is larger than the set value So, control is performed to reduce the driving force in steps ■ to step ■, while when the slip ratio S is smaller than the set value So, the normal drive of steps O to step @ is performed. Perform force control.

In the driving force reduction control, first, in step (2), tα
It is determined whether flag=1 is set in the slip determination storage area 4h of the device 4C. In this case, the judgment is
This is to check whether the slip condition has just started, and the slip condition has been 41! &'t (state of flag = 1), directly step [phase]
However, if the slip state has just started, the process moves to step (3).

In this step (2), a value corresponding to the actual throttle valve opening at the slip start time (slip start opening θF) is temporarily stored in the slip opening storage area 41 provided in the memory bag fi4c. This slip start opening degree θF is then maintained until it is determined in step (2) that S≦So and the slip state is eliminated.

Next, the process moves to step (2), and a flag -1 is set in the slip determination storage area 4h.

Next, proceed to step [phase], read out the slip rate S of step (2), refer to the slip rate-target value range calculation conversion table 4d stored in the storage device 4C, and adjust the throttle from the slip rate S. The target value subtraction amount Δθ of the opening degree of the valve 17 is searched.

Next, proceed to step ■, read out the slip start opening θF of step ■ and the target value subtraction amount Δθ of step [phase], and calculate the target value subtraction amount Δθ from the slip start opening θF.
The target opening degree θ0 is calculated by subtracting .

Next, the process moves to step @, and the current opening degree θ, which is the content of the up/down counter 4p (O when fully closed) in the storage device 4C, and the target opening degree θ0 of step 0 or step [phase] to be described later are read out. , the current opening degree θ is subtracted from the target opening degree θ0 to calculate the deviation Dir of the current opening degree θ with respect to the target opening degree θ0, and this is temporarily stored in a predetermined storage area zl of the storage device.

In the next step 0, the deviation Dir of step 0 is read out, and the motor speed is searched from the deviation Dir with reference to the deviation-motor speed conversion table 4f stored in the storage device 4c.

Next, move to step [phase], similarly read the deviation Dir of step 0, and based on this, step motor 1
6 is rotated forward or reverse, or whether the current state is maintained, and a predetermined value representing the determination result is temporarily stored in the motor state designation storage area 4k of the storage device 4C. The decision in this case is made by looking at the contents of the deviation Dir; when the deviation Dir is positive, the rotation is forward, when the deviation Dir is negative, the rotation is reversed, and when the deviation Dir is O, the current state is maintained. It is determined that

Next, the process proceeds to step (2), where the activation cycle of the 001 interrupt, which will be described later, is determined based on the motor speed calculated in step (◎), and the determined time is set in the activation cycle storage area 4j of the storage device 4C.

This starting cycle is set to a time corresponding to the motor speed determined based on the deviation Dir, regardless of whether the slip ratio S is large or small with respect to the set value So.

In the next step [phase], the deviation Di of step @ is similarly
Motor rotation direction storage area 4 of storage device 4C based on r
A flag specifying the rotation direction of the step motor 16 is set in n (for example, 1 for the forward rotation direction and 0 for the reverse rotation direction).

This ends the timer interrupt processing and returns to the main program, and then shifts to the OCI interrupt processing shown in FIG.

Further, in the driving force normal control, first, in step O,
After clearing the contents of the slip opening degree storage area 41, the process moves to step [phase].

In this step [phase], the accelerator potentiometer 1
The accelerator signal DA is read in, the amount of depression of the accelerator pedal 2 is calculated based on it, and this is temporarily stored in a predetermined storage area of the storage device as the pedal stroke -FJjL.

Next, proceed to step 0, read the stroke amount of step [phase], and refer to the stroke amount-target opening degree conversion table 4e stored in the storage device 4C.
From the stroke IL, the target opening degree θ of the throttle valve 17
Search for 0. Then, proceed to the step @, and
Execute the processes from step (1) to step [phase] described above.

Next, the oct interrupt process shown in FIG. 4 will be explained. This OCI interrupt processing is executed according to the activation cycle of the time set in step@, as described above.

That is, first, in step O, it is determined whether or not the current rotational position of the step motor 16 is to be maintained and not rotated.

The determination in this case is executed by looking at the contents of the motor state designation storage area 4 in step (2). As a result of this determination, if it is determined that the current rotational position of the step motor 16 is to be maintained, the current OCI interrupt processing is finished, and the OCI interrupt processing is restarted according to the activation cycle of the OCT interrupt processing.
(2) Execute the interrupt process, or return to the main program and execute the timer interrupt process shown in FIG. 3 after a predetermined time.

On the other hand, if it is determined in step [phase] that the current rotational position of the step motor 16 is not to be maintained, the process moves to step (2) and it is determined whether or not to rotate the step motor 16 in the normal direction. In this case, the determination is also made in step [
Similar to step [phase], this is done by looking at the contents of the motor state specification storage area 4 of step [phase]. As a result of that judgment,
When the step motor 16 is rotated forward (in the direction of opening the throttle valve 17), the step motor 16 moves to step [phase], adds 1 to the current value θ of the up/down counter 4p, and then moves to step 0. Reverse 16 (
When moving the throttle valve 17 (in the closing direction), the process moves to step @, where 1 is subtracted from the current value θ of the up/down counter 4p, and then the process moves to step [phase].

In this step [phase], the drive signal C3 for forward rotation of the step motor 16 by one step or the drive signal C8 for reverse rotation of the step motor 16 by one step is output, and this causes the current OCR interrupt. Finish the process.

The processing of steps ① to ③ constitutes a slip ratio calculation means, the processing of step ③ constitutes a slip/knob ratio determination means, the processing of steps ① to ③ constitutes a throttle valve opening degree storage means, The process of step [phase] constitutes a subtraction amount determining means, the process of step (■) constitutes a target opening degree determining means, and furthermore, the process of step @ to step [phase] and step [phase] to step [phase] and the step motor 16 constitute a throttle valve control means.

Next, the effect will be explained.

Assuming that the vehicle is currently running, when the timer interrupt process shown in FIG. 3 is executed at predetermined intervals in this state, first, in step Calculate the wheel rotation speed Vr, read the right front wheel rotation speed signal DVfr in step 2, calculate the right non-driving wheel rotation speed Vfr based on this, and read the left front wheel rotation speed signal DVfl in step Based on this, the left non-driving wheel rotation speed Vfl is calculated.

Next, proceed to step ■, and set the right non-driving wheel rotation speed Vfr of step ■ and the left non-driving wheel rotation speed Vfr of the steering knob ■.
fl is read out, and based on these, the non-driving wheel rotation speed Vf is determined.
is calculated, and in the next step ■, based on the driving wheel rotation speed Vr in step ■ and the non-driving wheel rotation speed Vf in step ■, the slip rate S between the tire and the road surface at the driving wheels ■ and ■ is calculated.
Calculate.

Then, the process proceeds to step (3), where the set value S of the reference slip ratio storage area 4g provided in the storage device 4C is determined.

is read out, and the slip ratio S calculated in step (2) is compared with the set value So to determine its magnitude.

At this time, the drive wheels 8 and 9 are in a slip state 1 (S
= 0.2 or more) and its slip rate S is the set value S
If it is extremely larger than o, S> with Ste knob■
Since it is determined as So, the process moves to the driving force reduction control in step (2) and below, and first, in step (2), it is determined whether or not flag=1 is set in the slip determination storage area 4h provided in the storage device 4c. do. In this case, assuming that the slip condition started a while ago, the slip judgment storage area 4 is
Since h has been cleared, the process moves to step (2), and the opening degree θF of the throttle valve 16 at the time of the start of slip is recorded in the slip opening degree record 4. q area 41, and in the next step (2), a flag -1 is set in the slip judgment storage area 4h.

In the next step [phase], the target value subtraction amount Δ of the throttle valve opening is calculated based on the slip ratio S calculated in step ■.
θ is searched, but the target value subtraction amount Δθ is the slip rate S
Since the value corresponds to the magnitude of , in this case, a relatively large target value subtraction amount Δθ is searched for. In the following step ■, the target opening degree θ0 is calculated by subtracting the target value subtraction amount Δθ of step [phase] from the slip start opening degree θF of step ■, but since the target value subtraction amount Δθ is a large value. A small value can be obtained as the target opening degree θ0.

In the next step @, the deviation Di is calculated based on the target opening degree θ0 of step ■ and the current opening degree θ of the up/down counter 4p.
Calculate r.

At this time, assuming that the current opening degree θ of the throttle valve 17 is wide open and the engine is generating a large driving force,
Since the target opening degree θQ is a small value, the deviation D of step @
ir is a relatively large negative value. Therefore, in the next step 0, a relatively high motor speed corresponding to the deviation Dir of step @ is searched. Then, in step (2), it is determined that the motor should be reversed, and in the next step (2), a short startup period corresponding to the motor speed is set, and furthermore, in step [phase], a flag regarding reversal is set.

As a result, following this timer interrupt processing, the OCI of FIG.
When the interrupt process is executed, first, it is determined in step [phase] that the motor is not held, and then, in step ■, it is determined that the motor is to be reversed, so the current value of the up/down counter 4p is determined in step [phase]. Subtract 1 from θ, move to step [share], output a control signal C8 for rotating the step motor 16 in the reverse direction by one step to the motor drive circuit 7, and this motor drive circuit 7 drives the motor. A signal is output to the step motor 16. This results in
The step motor 16 rotates one step, and the throttle valve 17 is closed by the rotation angle.

Subsequently, when the next OCI interrupt is started due to the short startup cycle set in step ■, the up/down counter 4 is activated by the step knob @ through step 0 and step ■.
Subtract 1 from the current value θ of p, and in the next step [stock],
Furthermore, a motor drive signal for rotating the step motor 16 by one step in the reverse direction is outputted to the step motor 16 via the motor drive circuit 7. As a result, the step motor 16 rotates one step, and the throttle valve 17 is further closed by the rotation angle.

This OCI interrupt continues until the predetermined time required for one cycle of the timer interrupt processing shown in FIG. 3 has elapsed.

After that, due to changes in the road surface, the slip rate S changes to the set value S.
When the temperature drops to around o, the process proceeds directly to step [phase] through the processing of step ■ and step ■, and this step [
The target value range calculation 80 is searched in the same manner as described above based on the current slip rate S in [phase], but since the current slip rate S is smaller than the previous slip rate S, it is correspondingly relatively small. The target value subtraction amount Δθ is searched. Therefore, in this case, since a relatively long activation cycle is set in step (2), the step motor 16 is rotationally driven at a relatively low speed in step (2) in the OCI interrupt processing in FIG. Valve 17 is closed relatively late.

Note that when the slip rate S is less than the set value So, the driving force normal control is performed, and the flag in the slip judgment storage area 4h is first reset in step 0, and then the flag in the slip judgment storage area 4h is reset in the next step [
In step [Phase], the stroke ff1L of the accelerator pedal 2 is read, and in the next step [Phase], the target opening degree θ0 corresponding to the stroke amount is searched by referring to the stroke amount-target opening conversion table 4e. Thereafter, the current timer interrupt is terminated through the processes of steps 0 to [phase] described above.

Therefore, in this driving force normal control, the deviation D based on the target opening degree θ0 corresponding to the stroke IL of the accelerator pedal 2
Step motor 1 depending on the motor speed according to ir.
6 is rotated in the forward or reverse direction or held at the current position.

In this embodiment, when the slip state of the vehicle (driving wheels) is equal to or higher than the set slip rate, the target value subtraction amount Δ of the throttle valve opening degree is reduced according to the calculated slip rate S.
θ is changed, and the target opening θ0 is determined by subtracting the target value subtraction amount Δθ from the current opening θ of the throttle valve.
When turning the knob, the throttle valve 17 is closed early to reduce the driving force.When the slip is small, the target value range calculation Δθ is made smaller, and the throttle valve 17 is closed relatively late to reduce the driving force. By making it slower, it is possible to secure stable running pressure in the event of excessive slip, and
It is possible to suppress sudden vehicle deceleration during low slip conditions,
Thereby, the ride comfort of the vehicle can be improved.

It should be noted that the throttle valve control device 3 is not limited to the above-mentioned configuration, and can be configured with electronic circuits such as a subtraction circuit, a comparison circuit, and a logic circuit. Further, in the above embodiment, the step motor 1 is used as the throttle valve control means.
6 is used, but the present invention is not limited to this. For example, the motor may be constructed of a digital servo motor and a row encoder attached to its rotating shaft.

Further, in the above embodiments, an example of a rear wheel drive vehicle has been described, but it goes without saying that the present invention can be applied to a front wheel drive vehicle.

〔Effect of the invention〕

As described above, according to the present invention, the slip ratio between the tire and the road surface is calculated based on the drive wheel rotation speed detection means, the non-drive wheel rotation speed detection means, and the drive wheel and non-drive wheel rotation speeds. Slip ratio calculation means, slip ratio determination means for determining whether the slip ratio is greater than a set value, and throttle valve opening storage means for storing the throttle valve opening when the slip ratio is equal to the set value. , a subtraction amount determining means for determining a target value subtraction amount of the throttle valve opening from the slip ratio, a target opening determining means for determining a target opening from the current opening and a target value subtraction amount, and a target opening Since the vehicle driving force control device is equipped with a throttle valve control means that controls the opening and closing of the throttle valve in a direction in which the deviation of the current opening is zero, when the vehicle is in a slip state exceeding a predetermined value, the slip rate is When the slip ratio is large, the closing speed of the throttle valve can be increased, while when the slip ratio is relatively small, the closing speed of the throttle valve can be slowed down.

゛As a result, the degree of reduction in driving force can be accelerated during large slips, and the degree of reduction in driving force can be slowed down during small slips.Therefore, it is possible to ensure the running stability of the vehicle during large slips, and also to reduce the degree of reduction in small slips. This makes it possible to suppress the occurrence of unnatural windows and jerky vibrations due to excessive vehicle deceleration at times, thereby improving the ride comfort of the vehicle.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the basic configuration of the present invention, FIG. 2 is a schematic explanatory diagram showing an embodiment of the invention, and FIGS. 3 and 4 show the processing procedure of the throttle valve control device according to the invention. FIG. 5 is a graph showing the relationship between target value subtraction amount Δθ and slip ratio S; FIG. 6 is a graph showing the relationship between throttle valve target opening θ0 and accelerator pedal stroke-IL; FIG. 7
The figure is a graph showing the relationship between motor speed and opening deviation Dir. Engineering: Accelerator potentiometer, 2...
...Accelerator pedal, 3...Throttle valve control device, 4...Microcomputer, 4a...
...Interface circuit, 4b...? A calculation processing device, 4C... Coordination device, 5...
A/D converter, 6... F/V converter, 7...
... Motor drive circuit, 8, 9 ... Rear wheel (drive wheel), 10 ... Rear wheel rotation speed detector (drive wheel rotation speed detection means), 11.12 ... ...Front wheel (non-driving wheel), 13.14...Front wheel rotation speed detector (non-driving wheel rotation speed detection means), 16...Step motor, 17...・・Throttle valve

Claims (2)

[Claims] (1) Drive wheel rotation speed detection means that detects the rotation speed of the drive wheels of the vehicle and outputs the detection signal, and non-drive wheel rotation speed detection means that detects the rotation speed of the non-drive wheels and outputs the detection signal. means, a slip ratio calculation means for calculating a slip ratio between the tire and the road surface based on the detection signals from the driving wheel rotation speed detection means and the non-driving wheel rotation speed detection means, and a calculation result of the slip ratio calculation means. a slip ratio determining means for determining whether the slip ratio is greater than a set value based on the set value; and a throttle valve opening storage means for storing a slip start opening of the throttle valve when the slip ratio is equal to the set value. , a subtraction amount determining means for determining a target value subtraction amount of the opening of the throttle valve based on the slip ratio calculated by the slip ratio calculation means, and a subtraction amount determining means for determining a target value subtraction amount of the opening of the throttle valve based on the slip start opening and the target value subtraction amount a target opening determining means for determining a target opening of the throttle valve, and controlling the opening and closing of the throttle valve in a direction in which a deviation between the target opening and the slip starting opening becomes zero based on the target opening and the slip starting opening. A vehicle driving force control device comprising: a throttle valve control means. (2) The vehicle driving force control device according to claim 1, wherein the subtraction amount determining means increases the target value subtraction amount of the throttle valve as the slip ratio increases.