“Tough Gear”and “High Quality” for New X-TRAIL - 4. Application of e-4ORCE to Full-Scale SUVsScene 2: Driving on mogul roads (rough surface, uneven Although it is unusual for a vehicle to encounter uneven terrain (bumpy roads) as shown in Fig. 9, a vehicle may encounter it at campsites, leisure facilities, off-road after bad weather, and in the event of a disaster. The characteristics of this scenario are that a large driving force is required to overcome the unevenness of the road surface, and that the running resistance of each tire changes because the vertical load condition of each tire varies depending on the unevenness of the road surface. Further, tires that have lost contact with the ground spin idly. Conventional vehicles require complicated pedal operations, such as stepping on the accelerator to apply traction each time to overcome a bump, and stepping on the brake to stop rushing after passing it. The e-4ORCE control makes use of the individual regenerative braking functions of the front and rear motor, which makes it possible to smoothly overcome the ups and downs during driving, while maintaining a constant speed simply by operating the accelerator pedal. Moreover, it allows for further reduction in the need to switch pedals because of the coordination with the brake control system that instantly suppresses the tires that have lost contact with the ground from spinning.Fig. 10 shows a comparison of the bumpy road driving performance of the previous X-TRAIL (with ICE and mechanical AWD) and the new X-TRAIL (with e-POWER and e-4ORCE).roads)Fig. 8 Comparison of the performance when starting in deep snowFig. 9 Driving on a bumpy roadof resistance against the direction in which the car is moving; therefore, a large driving force (torque) is required to overcome this resistance. The frictional resistance between the snow ground surface and tire is approximately 30% less than that of a typical dry asphalt road surface, which makes the tires slip easily. Under such conditions, precise motor torque control is required to prevent the tires from slipping while providing a driving force that overcomes the running resistance. e-4ORCE can ensure a stable start with a simple accelerator operation through the coordination of optimum front and rear motor torque control and brake control based on the vertical load on the tires.Fig. 8 compares the deep-snow starting data between the previous X-TRAIL (with ICE and mechanical AWD) and the new X-TRAIL (with e-POWER and e-4ORCE).The top-row graphs show the accelerator pedal stroke, and the middle-row graphs present the correlated tire slip. In the previous model, excessive tire slip occurred as soon as the vehicle started to move and the accelerator was released. In the new e-4ORCE, which controls the amount of slip to the optimum level proportional to the increase in vehicle speed, the driver can step on the accelerator without worrying about complicated accelerator operations. For the front and rear torque comparison shown in the bottom graph, the e-4ORCE of the new model allows the front and rear torques to increase smoothly through a high torque response and through the precise control of the motor although the FF-based mechanism. The AWD of the previous model causes torque hunting because the front wheels slip.23
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