An electric vehicle includes a second rotating electric machine; a first transmission path configured to transmit force generated by the second rotating electric machine to a wheel; a first clutch that is arranged in the first transmission path and configured to switch between a connected state and a disconnected state between the second rotating electric machine and the wheel; and an ECU configured to control the second rotating electric machine and the first clutch. In the electric vehicle, a torque sensor is arranged between the first clutch and the wheel in the first transmission path.

A control apparatus for an electric vehicle includes a requested torque calculator, a command torque calculator, and a driving controller. The requested torque calculator is configured to calculate requested torque. The command torque calculator includes a change rate adjuster configured to adjust respective upper limit change rates of left command torque and right command torque that follow the requested torque. The change rate adjuster is configured to, on the basis of a predetermined operation of turning back a steering angle performed on a steering unit of the electric vehicle, lower the upper limit change rate of a driving wheel, serving as an inner wheel among left and right driving wheels of the electric vehicle before turning back the steering angle, than the upper limit change rate of the driving wheel, serving as an outer wheel among the left and the right driving wheels before turning back the steering angle.

A control system for a hybrid vehicle configured to prevent an excessive drop in an engine speed and while reducing vibrations when decelerating the vehicle abruptly. When an abrupt decelerating operation is detected in the fixed mode, a controller shifts an operating mode from the fixed mode to the high mode or the low mode by disengaging one of engagement devices in which a torque applied thereto in the fixed mode is reduced smaller by an inertia torque of the motor resulting from the decelerating operation.

In an electric vehicle including a motor for traveling, when an accelerator is switched from an on-state to an off-state, the motor is controlled such that a vehicle torque is varied more gradually toward a requested torque on a brake side (requested torque in the off-state) in turning than in traveling straight. Thereby, when the accelerator is switched from the on-state to the off-state in turning, drivability of the driver can be restrained from deteriorating.

A controller (100, 100A) for easily evaluating validity of inertia is provided. A controller (100, 100A) includes: an electric motor (300); an actual operation acquisition unit (301) that acquires an actual operation of the electric motor (300); a model unit (108) that estimates an operation of the electric motor (300) from a current value applied to the electric motor (300) using a model including inertia of the electric motor (300) and a driven body (400) connected to the electric motor (300); an operation signal input unit (106) that applies an operation signal to a control loop of the electric motor (300) for a prescribed period; and an evaluation value calculation unit (111) that calculates an evaluation value for evaluating the inertia on the basis of a difference between an actual operation and an estimated operation in the application period of the operation signal.

A method and a system for a vehicle comprising: one or more power sources including at least one electrical machine; and a drivetrain for transferring torque between the one or more power sources and at least one drive wheel of the vehicle. The method comprises: controlling, when no positive drive torque (T.sub.drive) is transferred from the drivetrain to the at least one drive wheel, the at least one electrical machine to provide a backlash torque (T.sub.backlash) to the drivetrain, the backlash torque (T.sub.backlash) having a controlled value for turning the drivetrain if there is a backlash present in the drivetrain.

A drive system for at least one axle of a motor vehicle can be controlled, wherein the drive system has at least one electrical machine as drive unit, a drive shaft which is driven by the drive unit, a first output shaft and optionally a second output shaft and also a first clutch which connects the drive shaft to the first output shaft and optionally a second clutch which connects the drive shaft to the second output shaft, and furthermore a control unit for controlling the drive unit and the clutches, wherein the first output shaft and the optional second output shaft are arranged on a common axle.

A control system for a hybrid vehicle configured to prevent an excessive drop in an engine speed and while reducing vibrations when decelerating the vehicle abruptly. When an abrupt decelerating operation is detected in the fixed mode, a controller shifts an operating mode from the fixed mode to the high mode or the low mode by disengaging one of engagement devices in which a torque applied thereto in the fixed mode is reduced smaller by an inertia torque of the motor resulting from the decelerating operation.

In an electric vehicle including a motor for traveling, when an accelerator is switched from an on-state to an off-state, the motor is controlled such that a vehicle torque is varied more gradually toward a requested torque on a brake side (requested torque in the off-state) in turning than in traveling straight. Thereby, when the accelerator is switched from the on-state to the off-state in turning, drivability of the driver can be restrained from deteriorating.

A drive force control system for a vehicle having a motor and a battery that allows a driver to sense a satisfactory acceleration even if an output torque of a motor is restricted. The drive force control system comprises a controller that calculates an upper limit acceleration of the vehicle based on an upper limit power to be supplied from the battery to the motor. The controller sets a reference jerk as the required jerk when the upper limit acceleration is equal to or greater than the target acceleration, and sets a corrected jerk that is greater than the reference jerk as the required jerk when the upper limit acceleration is less than the target acceleration.