“Tough Gear”and “High Quality” for New X-TRAIL - 4. Application of e-4ORCE to Full-Scale SUVsFig. 3 Gripping ability and driving force distribution of the tire during turningFig. 4 Pitching control by front and rear driving forcesFig. 5 Differences in car body posture attributed to pitching 3. Values provided by e-4ORCEcontrolFig. 6 Values provided by e-4ORCEFig. 7 Deep snow startAnother feature of the “e-4ORCE” control concept is vehicle pitching control, which considers the difference in the front and rear driving forces. Fig. 4 shows that the movement around the center of gravity of the vehicle shown in Equation (1) is generated according to the driving forces Ff and Fr of the front and rear tires, respectively, and the squat and dive angles (θf and θr) of the front and rear suspensions, respectively. Pitching control is based on the suspension strokes generated at the front and rear tires.The e-4ORCE controls the difference in the regenerative braking force between the front and rear motors for suppressing changes in the vehicle attitude during regenerative deceleration (Fig. 5). Thus, the pitch behavior of the vehicle body can be optimally suppressed, and a smooth and comfortable ride can be provided not only for the driver, but also for the front and rear seat passengers. (Adopted from Note: e-Power 4WD)The values provided by e-4ORCE are shown in Fig. 6 and listed below:1) Easy to follow the path as per the driverʼs expectation 2) Comfortable ride for all passengers3) Confidence to drive anywhereDescriptions for 1) “Easy to follow the path as per the driverʼs expectation” and 2) “Comfortable ride for all passengers” have already been described in section 2. This chapter describes the key value in applying e-4ORCE to the new X-TRAIL, designed as a full-fledged SUV, that is, 3) “Confidence to drive anywhere,” and it is explained from the perspective of the driver's driving operation and how the car moves in response to the driving operation using the following two characteristic driving scenes as examples.Scene 1: Deep snow startAs shown in Fig. 7, a routine problem encountered in parking lots in snowy areas is to start a car in deep snow after a snowfall. The characteristics of this scene are that the tires are buried in the snow and create a large amount 22
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