CN104417564B - 车辆行为控制装置 - Google Patents

车辆行为控制装置 Download PDF

Info

Publication number
CN104417564B
CN104417564B CN201410432920.0A CN201410432920A CN104417564B CN 104417564 B CN104417564 B CN 104417564B CN 201410432920 A CN201410432920 A CN 201410432920A CN 104417564 B CN104417564 B CN 104417564B
Authority
CN
China
Prior art keywords
tire
load
wheel
loading
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201410432920.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN104417564A (zh
Inventor
平尾隆介
一丸修之
青木康浩
山门诚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astemo Ltd
Original Assignee
Hitachi Automotive Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Publication of CN104417564A publication Critical patent/CN104417564A/zh
Application granted granted Critical
Publication of CN104417564B publication Critical patent/CN104417564B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B60W2710/223—Stiffness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B60W2710/226—Damping

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201410432920.0A 2013-08-30 2014-08-28 车辆行为控制装置 Active CN104417564B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-180402 2013-08-30
JP2013180402A JP6275416B2 (ja) 2013-08-30 2013-08-30 車両挙動制御装置

Publications (2)

Publication Number Publication Date
CN104417564A CN104417564A (zh) 2015-03-18
CN104417564B true CN104417564B (zh) 2019-09-06

Family

ID=52470764

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410432920.0A Active CN104417564B (zh) 2013-08-30 2014-08-28 车辆行为控制装置

Country Status (5)

Country Link
US (1) US10059344B2 (enExample)
JP (1) JP6275416B2 (enExample)
KR (1) KR102172306B1 (enExample)
CN (1) CN104417564B (enExample)
DE (1) DE102014217307A1 (enExample)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9573591B2 (en) * 2015-03-18 2017-02-21 Continental Automotive Systems, Inc. System and method utilizing detected load for vehicle handling
DE102016209929B4 (de) * 2016-06-06 2020-06-04 Volkswagen Aktiengesellschaft Verfahren und Steuervorrichtung zum Steuern zumindest eines Schwingungsdämpfers eines Kraftfahrzeugs
US10065636B2 (en) * 2016-06-23 2018-09-04 Ford Global Technologies, Llc Vehicle tire saturation estimator
DE112017005121B4 (de) * 2016-12-09 2023-03-23 Hitachi Astemo, Ltd. Vorrichtung mit Kraftfahrzeug-Bewegungszustand-Bewertungsvorrichtung
JP6286091B1 (ja) 2017-05-30 2018-02-28 株式会社ショーワ 車両状態推定装置、制御装置、サスペンション制御装置、及びサスペンション装置。
JP6286092B1 (ja) * 2017-05-30 2018-02-28 株式会社ショーワ サスペンション制御装置、及びサスペンション装置。
JP7059791B2 (ja) * 2018-05-16 2022-04-26 トヨタ自動車株式会社 減衰力制御装置
JP6748765B1 (ja) * 2019-06-25 2020-09-02 株式会社ショーワ 接地荷重推定装置、制御装置および接地荷重推定方法
JP6695481B1 (ja) * 2019-06-25 2020-05-20 株式会社ショーワ 接地荷重推定装置、制御装置および接地荷重推定方法
JP6810779B1 (ja) * 2019-09-26 2021-01-06 株式会社ショーワ 状態量算出装置、制御装置および車両
DE102020205702B3 (de) * 2020-05-06 2021-09-02 Volkswagen Aktiengesellschaft Fahrdynamikregelung eines Fahrzeugs mittels Dämpfern
KR102923146B1 (ko) * 2020-09-11 2026-02-09 현대자동차주식회사 차량 모터 제어 장치 및 그 방법
WO2022079973A1 (ja) * 2020-10-13 2022-04-21 株式会社豊田自動織機 輪荷重推定装置及びプログラム
CN112660110B (zh) * 2020-12-25 2023-04-14 浙江极氪智能科技有限公司 一种扭矩限制值确定方法及装置
JP7291742B2 (ja) * 2021-03-31 2023-06-15 本田技研工業株式会社 運転評価装置、運転評価方法、プログラム、及び媒体
JP7756532B2 (ja) * 2021-10-01 2025-10-20 三菱重工業株式会社 走行制御装置、車両、走行制御方法及びプログラム
CN115092146B (zh) * 2022-06-30 2025-04-18 中国第一汽车股份有限公司 主动脱困功能的控制方法、控制装置、存储介质及处理器
CN117656741B (zh) * 2023-02-28 2024-09-10 比亚迪股份有限公司 一种车辆稳定控制方法、车辆稳定控制系统和车辆
CN117841589B (zh) * 2024-01-08 2026-05-26 东风越野车有限公司 一种车架升降刚度调整方法及装置

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008247064A (ja) * 2007-03-29 2008-10-16 Mazda Motor Corp 車両の運動制御装置

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3007712A (en) * 1958-05-23 1961-11-07 Moulton Development Ltd Vehicle suspensions having hydraulically effected differential interaction between front and rear wheels
US4834418A (en) * 1987-04-20 1989-05-30 Toyota Jidosha Kabushiki Kaisha Electronic controlled gas suspension system
JPH04100724A (ja) * 1990-08-17 1992-04-02 Nissan Motor Co Ltd 車両用能動型スタビライザ
JPH04285343A (ja) 1991-03-13 1992-10-09 Tochigi Fuji Ind Co Ltd デファレンシャル装置
US5322321A (en) * 1992-12-28 1994-06-21 Ford Motor Company Vehicle active suspension system
US5374077A (en) * 1993-01-11 1994-12-20 Paccar Inc. Pneumatically damped vehicle suspension system
JPH08207542A (ja) * 1995-02-02 1996-08-13 Honda Motor Co Ltd 車両の旋回運動制御装置
JPH1148736A (ja) * 1997-08-06 1999-02-23 Honda Motor Co Ltd 接地荷重制御装置
GB9821064D0 (en) * 1998-09-29 1998-11-18 Rover Group Vehicle roll control
JP4459561B2 (ja) * 2002-09-04 2010-04-28 富士重工業株式会社 コーナリングパワー制御装置およびコーナリングパワー制御方法
DE102004007549B4 (de) * 2004-02-17 2016-09-08 Daimler Ag Verfahren zum Betrieb eines aktiven Fahrwerksystems
US20060071441A1 (en) * 2004-10-06 2006-04-06 William Mathis Lower control arm kit for vehicle with four link rear suspension
JP3809845B2 (ja) * 2005-08-19 2006-08-16 トヨタ自動車株式会社 車両用接地荷重制御装置
JP2009051310A (ja) * 2007-08-24 2009-03-12 Advics:Kk 車両走行制御装置
JP2009078759A (ja) * 2007-09-27 2009-04-16 Mazda Motor Corp 車両用サスペンション制御装置
EP2065688B1 (en) * 2007-11-27 2012-04-18 Elektrobit Automotive GmbH Technique for detecting shifted cargo
EP2433824A4 (en) * 2009-05-21 2014-02-19 Aisin Seiki FLOOR CONTACT LOAD CONTROL FOR A VEHICLE
KR101836490B1 (ko) 2010-07-29 2018-03-08 히다치 오토모티브 시스템즈 가부시키가이샤 차체 자세 제어 장치
JP5572485B2 (ja) * 2010-08-31 2014-08-13 日立オートモティブシステムズ株式会社 サスペンション制御装置
JP5571519B2 (ja) 2010-09-27 2014-08-13 日立オートモティブシステムズ株式会社 車体姿勢制御装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008247064A (ja) * 2007-03-29 2008-10-16 Mazda Motor Corp 車両の運動制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Driving/Braking Force Distribution of Four Wheel Vehicle by Quadratic Programming with Constraints;Ryo Suzuki et al;《IEEE》;20101215;第4884页公式24

Also Published As

Publication number Publication date
DE102014217307A1 (de) 2015-03-05
JP2015047950A (ja) 2015-03-16
CN104417564A (zh) 2015-03-18
US20150066243A1 (en) 2015-03-05
KR20150026934A (ko) 2015-03-11
US10059344B2 (en) 2018-08-28
KR102172306B1 (ko) 2020-10-30
JP6275416B2 (ja) 2018-02-07

Similar Documents

Publication Publication Date Title
KR102172306B1 (ko) 차량 거동 제어 장치
US8718872B2 (en) Vehicle attitude controller
JP4285343B2 (ja) 車輌のロール剛性制御装置
CN102343778B (zh) 车体姿态控制装置
CN102307739B (zh) 车辆的稳定器控制装置
US7571039B2 (en) Vehicle yaw/roll stability control with semi-active suspension
JP4333660B2 (ja) ロール角制御とロール剛性前後配分比制御を組み合わせた車輌
US20080269974A1 (en) Method for Controlling the Driving Dynamics of a Vehicle, Device for Implementing the Method and Use Thereof
WO2020003550A1 (ja) ステアリング制御装置及びステアリング装置
US11325599B2 (en) Vehicle control system for adjusting longtitudinal motion to reduce deviation of lateral motion
WO2018173302A1 (ja) 制御装置、および、ステアリング装置
KR102463701B1 (ko) 차량의 거동 산출 시스템 및 방법
JP6553256B1 (ja) ステアリング制御装置及びステアリング装置
JP2006062505A (ja) 車両用サスペンション装置
JP2008143259A (ja) 制駆動力制御装置、自動車及び制駆動力制御方法
JP6264047B2 (ja) 車体制振制御装置
Wang et al. Lateral stability study of a vehicle fitted with hydraulically interconnected suspension in slalom maneuver
CN110281911B (zh) 车辆稳定控制装置
JP7764953B2 (ja) 車両の制御装置
JP4251166B2 (ja) 車輌制御装置
US20250065682A1 (en) Vehicle behavior control apparatus
JP6775069B2 (ja) ラック軸力推定装置
WO2023210535A1 (ja) 車両の制御装置
JP2025087943A (ja) 車両の制御装置

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20210715

Address after: Ibaraki

Patentee after: Hitachi astemo Co.,Ltd.

Address before: Ibaraki

Patentee before: HITACHI AUTOMOTIVE SYSTEMS, Ltd.

TR01 Transfer of patent right