English to French Tech/Engineering Patents (in a patent) VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

Therefore, a pitch control device is provided for an electric vehicle which can prevent discontinuous négative accélération from occurring at a moment of the vehicle stopping by appropriately controlling a braking force of the vehicle, thereby effectively controlling the pitch motion of the vehicle, and can enhance steering stability while ensuring riding comfort for passengers, even when traveling résistance significantly changes according to road surface gradient and when the vehicle weight significantly changes with increases/decreases in the number of drivers and in the quantity of goods loaded.

Hère, while an air résistance, a modeling error caused by a variation of the vehicle weight due to the number of passengers and load capacity, a rolling résistance of the tires, a gradient résistance of the road surface, and a similar résistance are thought as the disturbances, a disturbance factor dominant just before the stop of the vehicle is the gradient résistance.

This allows switching without discontinuity when the friction braking amount is switched from the value on the basis of the first torque target value Tm 1 * to the value on the basis of the second torque target value Tm2* just before the stop of the vehicle. Since the friction braking amount is decided on the basis of the larger value among the first torque target value Tml* and the second torque target value Tm2*, torque discontinuity does not occur in any gradient, thereby achieving the smooth décélération.

the control device comprising:
- a speed parameter detecting means (2) configured to detect a speed parameter proportionate to a traveling speed of the vehicle;
- an accelerator opération amount detecting means (2) configured to detect an accelerator opération amount;
- a disturbance torque estimating means (2) configured to estimate a disturbance torque acting on the vehicle due to disturbance factors including a road surface gradient résistance;