CN110154778A - The control device of the control method of vehicle, Vehicular system and vehicle - Google Patents
The control device of the control method of vehicle, Vehicular system and vehicle Download PDFInfo
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- CN110154778A CN110154778A CN201910078371.4A CN201910078371A CN110154778A CN 110154778 A CN110154778 A CN 110154778A CN 201910078371 A CN201910078371 A CN 201910078371A CN 110154778 A CN110154778 A CN 110154778A
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-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
Beat in the control method for carrying out the vehicle for controlling the vehicle attitude of vehicle additional deceleration degree when wheel operation in transfer, has suitably ensured the improvement of the vehicle turning performance under the control when driving in downhill path.The control method of vehicle has following process: based on the steering angle detected by steering angle sensor (8), determining whether the transfer comprising steering wheel (6) etc. beat wheel operation；When being determined as that transfer beat wheel operation, the driving force of reduction motor generator (4) is to vehicle (1) additional deceleration degree to control vehicle attitude；When the road gradient detected by Slope Transducer (12), which is, indicates 1 value of the gradient of descending side, it is when indicating 2 value of the gradient of planar side compared with the 1st value, to increase to vehicle (1) additional deceleration compared to the road gradient detected by Slope Transducer (12).
Description
Technical field
The present invention relates to the control of the control method of the vehicle controlled vehicle attitude, Vehicular system and vehicle dresses
It sets.
Background technique
In the past, it is known that in the case where the movement of vehicle becomes unstable due tos sliding etc., by the movement of vehicle to safety
The technology (such as the anti-locking apparatus of sideslip) of direction controlling.Specifically, when the vehicle is turning etc., whether detection vehicle, which produces, turns
To insufficient or ovdersteering movement, and deceleration appropriate is added to wheel, to inhibit understeer or ovdersteering.
On the other hand, it is known that following vehicle motion control device: the unstable traveling with vehicle movement as described above
The control for improving safety under state is different, and the adjustment deceleration when turning to is so that the vehicle usually under driving status exists
A series of operation (braking, beat wheel, accelerate and return wheel etc.) nature and stable by the driver when steering.
In turn, it proposes there is following vehicle movement control device, takes turns the corresponding sideway of operation according to beating for driver
Angular speed correlative (such as yaw acceleration) reduces the generation torque of engine, motor, to start to beat wheel behaviour in driver
So that vehicle is generated deceleration when making rapidly (referring for example to patent document 1).According to the device, the vehicle into curved initial stage is improved
Later property improves the responsiveness (in other words driving stability) for playing wheel operation.It can be realized and meet driver intention
Vehicle attitude control.In addition, such control is properly called " vehicle attitude control " below.
Patent document 1: No. 6112304 bulletins of Japanese Patent No.
In above-mentioned vehicle attitude control, by beating and wheel operates to vehicle additional deceleration degree in response to steering wheel,
It is capable of forming the vehicle attitude for making the front part of vehicle in automobile body (than suspension by top) sink, thus improves vehicle turning
Energy.However, in vehicle driving at downhill path (descending), vehicle appearance cannot be improved by existing in previous vehicle attitude control
State control under vehicle turning performance the case where.About above situation, 0 specifically it is illustrated referring to Fig.1.
(a) of Figure 10 shows schematically that the vehicle attitude when driving on flat road, (b) of Figure 10 show schematically downhill path
Vehicle attitude when driving.According to (a) of Figure 10 and (b) it is found that downhill path when driving, traveling phase with flat road
Than becoming the state that the front part of vehicle in automobile body sinks, (vehicle front side is larger relative to the deflection of vehicle rear side
State).In this state, the flexible rigidity of the spring of the rigidity, in other words, suspension of the suspension of vehicle front side is got higher.
Therefore, downhill path when driving, since the spring of the suspension of vehicle front side is in compressed state, if in the shape
Vehicle attitude control is carried out under state, then the sinking of vehicle front side when spending by the control additional deceleration is insufficient, and existing cannot
The case where sufficiently improving vehicle turning performance.
Summary of the invention
The present invention puts in order to solve the above problems in the prior art and makes, it is intended that in transfer quilt
Beat the control method that the vehicle of the vehicle attitude control to vehicle additional deceleration degree is carried out when wheel operation, Vehicular system with
The improvement effect that can suitably ensure the vehicle turning performance under the control when driving and in the control device of vehicle, in downhill path
Fruit.
In order to achieve the above purpose, the present invention is with wheel, generates driving for driving the driving force of the wheel
Source, the suspension for having elastomeric element, the steering angle sensor of the steering angle of detection transfer, output are relevant to road gradient
The control method of the vehicle of the gradient correlation follower of road gradient correlation is comprising: based on by steering angle
The steering angle that sensor detects determines the process whether transfer beat wheel operation；It is being determined as transfer
When beat wheel operation, the driving force of driving source is reduced, the process to vehicle additional deceleration degree to control vehicle attitude；With
And when the road gradient correlation exported by gradient correlation follower, which is, indicates 1 value of the gradient of descending side, compared to
When road gradient correlation by the output of gradient correlation follower is 2 value of the gradient of expression planar side compared with the 1st value,
Increase the process to the additional deceleration of vehicle.
In the present invention constituted in this way, transfer beat wheel operation when, to vehicle additional deceleration degree with
Vehicle attitude is controlled, vehicle attitude control is in other words carried out.Also, in the present application, exported by gradient correlation
Device output road gradient correlation be indicate descending side the gradient 1 value when, compared to road gradient correlation for and the 1st
When value compares 2 value for indicating the gradient of planar side, increase in vehicle attitude control to the additional deceleration of vehicle.As a result,
Downhill path when driving, can eliminate controlled by vehicle attitude vehicle front side when additional deceleration is spent sinking it is insufficient,
When playing wheel operation beginning, vehicle can be made to generate yaw velocity rapidly in transfer.Therefore, according to the present invention, under
Slope road when driving, can suitably ensure the improvement of the vehicle turning performance under vehicle attitude control.
In other viewpoints, to achieve the goals above, the present invention is to regenerate with wheel, by wheel driving
The generator of power generation, the suspension for having elastomeric element, detect transfer steering angle steering angle sensor, output and road surface
The control method of the vehicle of the gradient correlation follower of the relevant road gradient correlation of the gradient is comprising: base
In the steering angle detected by steering angle sensor, the process whether transfer beat wheel operation is determined；Determining
When beat wheel operation for transfer, generator is set to carry out regenerative electric power, to vehicle additional deceleration degree to control vehicle
The process of posture；And the road gradient correlation exported by gradient correlation follower be indicate descending side the gradient the
It is the slope that planar side is indicated compared with the 1st value compared to the road gradient correlation exported by gradient correlation follower when 1 value
When 2 value of degree, increase the process to the additional deceleration of vehicle.
According to the present invention constituted in this way, also can downhill path when driving, suitably ensure vehicle attitude control under
Vehicle turning performance.
In other viewpoints, to achieve the goals above, the present invention is with wheel, to the wheel additional brake power
Brake apparatus, the suspension for having elastomeric element, detect transfer steering angle steering angle sensor, output and road gradient
The control method of the vehicle of the gradient correlation follower of relevant road gradient correlation comprising: based on by
The steering angle that steering angle sensor detects determines the process whether transfer beat wheel operation；It is being judged to turning
When beat wheel operation to device, by brake apparatus additional brake power, to vehicle additional deceleration degree to control vehicle attitude
Process；And the 1st value in the gradient that the road gradient correlation exported by gradient correlation follower is expression descending side
When, it is the gradient that planar side is indicated compared with the 1st value compared to the road gradient correlation exported by gradient correlation follower
2 value when, increase to the process of the additional deceleration of vehicle.
According to the present invention constituted in this way, also can downhill path when driving, suitably ensure vehicle attitude control under
Vehicle turning performance.
In the present invention, it is preferred that the 2nd value is the value for the gradient that road gradient correlation indicates uphill side.
According to the present invention constituted in this way, in the case where travelling road and being downhill path (road gradient correlation is the 1st value),
Compared with travelling the case where road is upward trend (road gradient correlation is the 2nd value), can reliably it increase in vehicle attitude control
To the additional deceleration of vehicle in system, it can effectively ensure vehicle turning performance.
In the present invention, it is preferred that the 2nd value is that road gradient correlation indicates flat value.
According to the present invention constituted in this way, in the case where travelling road and being downhill path (road gradient correlation is the 1st value),
It, can be reliably compared with travelling the case where road is flat road (road gradient correlation is the 2nd value (typically substantially 0))
Increase in vehicle attitude control to the additional deceleration of vehicle, can effectively ensure vehicle turning performance.
In other viewpoints, to achieve the goals above, the present invention is with wheel, generates for driving the wheel
The driving source of driving force, the suspension for having elastomeric element, detect transfer steering angle steering angle sensor, output and road
The gradient correlation follower of the relevant road gradient correlation of the face gradient and the Vehicular system of processor, which is characterized in that
Processor is constituted are as follows: based on the steering angle detected by steering angle sensor, determines whether transfer beat wheel behaviour
Make；When being determined as that transfer beat wheel operation, the driving force of driving source is reduced, to vehicle additional deceleration degree to control
Vehicle attitude processed；It is the 1st value for indicating the gradient of descending side in the road gradient correlation exported by gradient correlation follower
When, it is the gradient that planar side is indicated compared with the 1st value compared to the road gradient correlation exported by gradient correlation follower
2 value when, increase to the additional deceleration of vehicle.
In other viewpoints, to achieve the goals above, the present invention is to regenerate with wheel, by wheel driving
The generator of power generation, the suspension for having elastomeric element, detect transfer steering angle steering angle sensor, output and road surface
The gradient correlation follower of the relevant road gradient correlation of the gradient and the Vehicular system of processor, which is characterized in that place
It manages device to constitute are as follows: based on the steering angle detected by steering angle sensor, determine whether transfer beat wheel operation；
When being determined as that transfer beat wheel operation, generator is set to carry out regenerative electric power, to vehicle additional deceleration degree to control
Vehicle attitude processed；It is the 1st value for indicating the gradient of descending side in the road gradient correlation exported by gradient correlation follower
When, it is the gradient that planar side is indicated compared with the 1st value compared to the road gradient correlation exported by gradient correlation follower
2 value when, increase to the additional deceleration of vehicle.
In other viewpoints, to achieve the goals above, the present invention is with wheel, to the wheel additional brake power
Brake apparatus, the suspension for having elastomeric element, detect transfer steering angle steering angle sensor, output and road gradient
The gradient correlation follower and processor of relevant road gradient correlation, which is characterized in that processor is constituted are as follows: base
In the steering angle detected by steering angle sensor, determine whether transfer beat wheel operation；It is being judged to turning to
When device beat wheel operation, by brake apparatus additional brake power, to vehicle additional deceleration degree to control vehicle attitude；?
It is when indicating 1 value of the gradient of descending side, compared to by slope by the road gradient correlation that gradient correlation follower exports
The road gradient correlation for spending the output of correlation follower is when indicating 2 value of the gradient of planar side compared with the 1st value, to increase
To the additional deceleration of vehicle.
In other viewpoints, to achieve the goals above, the present invention is the vehicle with the suspension for having elastomeric element
Control device, which is characterized in that have vehicle attitude control mechanism, transfer beat wheel operation when, pass through
Vehicle attitude is controlled to vehicle additional deceleration degree, the vehicle attitude control mechanism vehicle track be descending when, with
It is non-downhill constantly to compare, increase to the additional deceleration of vehicle.
It, also can be in the traveling in downhill path according to the control device of the Vehicular system and vehicle of the invention constituted in this way
When, suitably ensure the vehicle turning performance under vehicle attitude control.
The effect of invention:
According to the present invention, the vehicle attitude carried out when wheel operation to vehicle additional deceleration degree beat in transfer
In the control device of the control method of the vehicle of control, Vehicular system and vehicle, downhill path when driving, can suitably really
Protect the improvement of the vehicle turning performance under the control.
Detailed description of the invention
Fig. 1 is the integrally-built frame for indicating to be equipped with the vehicle of the control device of the vehicle of embodiments of the present invention
Figure.
Fig. 2 is the block diagram for indicating the electric structure of the control device of vehicle of embodiments of the present invention.
Fig. 3 is the flow chart of the vehicle attitude control processing of the 1st embodiment of the invention.
Fig. 4 is the flow chart of the additional deceleration degree setting processing of the 1st embodiment of the invention.
Fig. 5 is the mapping graph for indicating the relationship of additional deceleration degree and turning velocity of the 1st embodiment of the invention.
Fig. 6 is gain (the additional deceleration degree increasing for defining the additional deceleration degree for correcting the 1st embodiment of the invention
Benefit) mapping graph.
Fig. 7 be indicate it is when the vehicle of control device for being equipped with the vehicle of the 1st embodiment of the invention is turned,
The timing diagram of the time change of relevant parameter is controlled to vehicle attitude.
Fig. 8 is the flow chart of the vehicle attitude control processing of the 2nd embodiment of the invention.
Fig. 9 be indicate it is when the vehicle of control device for being equipped with the vehicle of the 2nd embodiment of the invention is turned,
The timing diagram of the time change of relevant parameter is controlled to vehicle attitude.
Figure 10 is the schematic diagram for indicating the vehicle attitude when driving on flat road and downhill path.
Description of symbols:
1 vehicle；2 front-wheels；3 inverters；4 motor generators；6 steering wheels；8 steering angle sensors；10 accelerator open degrees sensing
Device；Quantity sensor is stepped in 11 brakings；12 Slope Transducers；13 vehicle front and rear acceleration sensors；14 controllers；16 braking dresses
It sets；18 braking control systems；25 batteries；30 suspensions
Specific embodiment
Hereinafter, being illustrated referring to control device of the attached drawing to the vehicle of embodiments of the present invention.
< system structure >
Firstly, according to Fig. 1 to the system structure of the vehicle of the control device for the vehicle for being equipped with embodiments of the present invention
It is illustrated.Fig. 1 is the integrally-built frame for indicating to be equipped with the vehicle of the control device of the vehicle of embodiments of the present invention
Figure.
In Fig. 1, appended drawing reference 1 indicates the vehicle for being equipped with the control device of the vehicle of present embodiment.In vehicle 1
Equipped with motor generator 4, the motor generator 4 have the function of drive front-wheel 2 (in other words as the function of motor),
And the function of carrying out regenerative electric power is driven by front-wheel 2 (in other words as the function of generator).Motor generator 4 is via subtracting
Fast machine 5 transmission force between front-wheel 2, in addition, being controlled via inverter 3 by controller 14.In turn, motor generator 4 and electricity
Pond 25 connects, and receives power supply from battery 25 when generating driving force, supplies electric power battery 25 to battery in regeneration
25 charge.
In addition, vehicle 1 has for making the transfer (steering wheel 6 etc.) of the vehicle 1 steering, detection in the transfer
In with steering wheel 6 link steering column (not shown) rotation angle steering angle sensor 8, detect be equivalent to gas pedal
Quantity sensor is stepped in the braking of the accelerator open degree sensor 10 of the gas pedal depression amount of aperture, the depression amount for detecting brake pedal
11, before the Slope Transducer 12 and the detection vehicle 1 that detect the road gradient (inclination on road surface) on the road surface that vehicle 1 travels
The vehicle front and rear acceleration sensor 13 of the acceleration (fore-aft acceleration) of rear direction.These each sensors are by respective detected value
It is exported to controller 14.The controller 14 PCM (Power-train Control Module) such as comprising constituting.And
And each wheel of vehicle 1 hangs on car body via the suspension 30 comprising elastomeric element (typically spring), suspension link etc..
In addition, vehicle 1 has the braking control to the caliper supply brake fluid pressure for the brake apparatus 16 for being set to each wheel
System 18 processed.Braking control system 18 has: hydraulic pump 20, generates and generates braking in the brake apparatus 16 for being set to each wheel
Brake fluid pressure needed for power；Valve cell 22 (specifically solenoid valve), be arranged in supplied to the brake apparatus 16 of each wheel it is hydraulic
Hydraulic pressure supply line, for control brake apparatus 16 from from hydraulic pump 20 to each wheel supply it is hydraulic；And hydrostatic sensor
24, detect the hydraulic of the supply of brake apparatus 16 from hydraulic pump 20 to each wheel.Hydrostatic sensor 24 is for example configured in each valve list
Member 22 and the interconnecting piece of the hydraulic pressure supply line of side downstream, detect the hydraulic of the downstream side of each valve cell 22, and will test value to
Controller 14 exports.
Next, illustrating the electric structure of the control device of the vehicle of embodiments of the present invention based on Fig. 2.Fig. 2 is to indicate
The block diagram of the electric structure of the control device of the vehicle of embodiments of the present invention.
The detection of controller 14 (control device of vehicle) based on the sensor 8,10,11,12,13 of present embodiment
Signal, and the detection signal of the various sensors output of the operating condition of vehicle 1 is detected, motor generator 4 and braking are controlled
System 18 processed is controlled.Specifically, when driving vehicle 1, find out should be to the additional target torque of vehicle 1 for controller 14
(driving torque) exports control signal to inverter 3 to generate the target torque from motor generator 4.On the other hand, controller
14 when braking vehicle 1, find out should to the additional object regeneration torque of vehicle 1, to inverter 3 export control signal with from
Motor generator 4 generates the object regeneration torque.In addition, controller 14 when braking vehicle 1, can also not use such
Regenerative torque, or other than using regenerative torque, the additional target braking force of vehicle 1 should be controlled to braking by also finding out
The output of system 18 control signal processed is to realize the target braking force.In this case, controller 14 passes through control control for brake
The hydraulic pump 20 and valve cell 22 of system 18, to generate desired brake force by brake apparatus 16.
Controller 14 (braking control system 18 is also the same) is by having more than one processor, compiling on the processor
The various programs (primary control program (PCP) including OS etc., the application program for starting on OS and realizing specific function) that execute, with
And the computer of the internal storage of ROM, RAM for storing program, various data etc. is constituted.
Details remains aftermentioned, and controller 14 is equivalent to the control device of the vehicle in the present invention.In addition, controller 14
It is functioned as the vehicle attitude control mechanism in the present invention.In turn, include at least controller 14, wheel (front-wheel 2 and after
Wheel), motor generator 4, steering angle sensor 8, Slope Transducer 12, vehicle front and rear acceleration sensor 13 and suspension 30
System, the Vehicular system being equivalent in the present invention.
In addition, in fig. 1 it is shown that by the rotation angle of the steering column linked with steering wheel 6 (by steering angle sensor 8
The angle of detection) it is used as the example of steering angle, but the rotation angle of steering column or the rotation angle with steering column can also be substituted
Degree is together by the various quantity of states (rack gear in the rotation angle of the motor of additional auxiliary torque, rack pinion in steering system
Displacement etc.) be used as steering angle.
The 1st embodiment > of <
Next, the vehicle attitude control to the 1st embodiment of the invention is illustrated.Firstly, according to Fig. 3 to this hair
The overall flow for the vehicle attitude control processing that the control device of vehicle carries out in the 1st bright embodiment is illustrated.Fig. 3 is
The flow chart of the vehicle attitude control processing of 1st embodiment of the invention.
The vehicle attitude control processing of Fig. 3 is in the case where vehicle 1 is ignited and accesses power supply to the control device of vehicle
Starting, and executed repeatedly with specified period (such as 50ms).
After vehicle attitude control processing starts, as shown in figure 3, in step sl, controller 14 obtains the fortune with vehicle 1
Turn the relevant various sensor informations of state.Specifically, it includes turn detected by steering angle sensor 8 that controller 14, which obtains,
It is sensed to angle, the gas pedal depression amount detected by accelerator open degree sensor 10 (gas pedal aperture), by braking depression amount
Brake pedal depression amount that device 11 detects, the road gradient detected by Slope Transducer 12 are passed by vehicle fore-aft acceleration
Fore-aft acceleration that sensor 13 detects, detected by hydrostatic sensor 24 it is hydraulic etc. by above-mentioned various sensors outputs
Signal is detected, as information relevant to operating condition.
Next, in step s 2, operating condition of the controller 14 based on the vehicle 1 obtained in step sl, setting is answered
When to the additional aimed acceleration of vehicle 1 or desired deceleration.Specifically, controller 14 be based on gas pedal depression amount with
And brake pedal depression amount etc., set aimed acceleration or desired deceleration.Substantially, gas pedal depression amount is bigger, then
Controller 14 more increases aimed acceleration, in addition, brake pedal depression amount is bigger, then controller 14 more increases desired deceleration.
Other than such pedal depression amount, also speed, step on speed, release speed etc. of pedal can be accounted for, to set
Set the goal acceleration or desired deceleration.
Then, in step s3, in the case where setting aimed acceleration in step s 2, the setting of controller 14 is for real
On the other hand the now elementary object torque of the motor generator 4 of the aimed acceleration sets desired deceleration in step s 2
In the case where, controller 14 sets the elementary object regenerative torque of the motor generator 4 for realizing the desired deceleration.
In addition, concurrently with the processing of step S2 and S3, in step s 4, controller 14 executes the setting of additional deceleration degree
Processing, the turning velocity based on transfer, decision make vehicle 1 generate deceleration to reduce with torque needed for controlling vehicle attitude
Amount.The detailed content of the additional deceleration degree setting processing is described later.
Next, in step s 5, controller 14 determines whether vehicle 1 is just driven, in other words vehicle 1 whether not by
Braking.In one example, controller 14 sets the case where elementary object torque in step s3 and (in other words sets in step s 2
The case where having determined aimed acceleration) under, it is determined as that vehicle 1 is just driven, on the other hand, sets elementary object in step s3
Under the case where regenerative torque (the case where in other words setting desired deceleration in step s 2), it is determined as that vehicle 1 is not driven
It is dynamic.In other examples, controller 14 steps on the detection signal of quantity sensor 11 based on accelerator open degree sensor 10 and braking
Carry out the judgement.In this embodiment, controller 14 is greater than 0 in the gas pedal depression amount detected by accelerator open degree sensor 10
In the case of, in the case where in other words detecting that gas pedal is operated by accelerator open degree sensor 10, it is determined as the just quilt of vehicle 1
Driving.In addition, controller 14 is in the case where stepping on brake pedal depression amount that quantity sensor 11 detects by braking and being greater than 0,
In other words it is stepped in the case that quantity sensor 11 detects that brake pedal is operated by braking, is determined as that vehicle 1 is not driven.
Be determined as in the just driven situation of vehicle 1 (step S5: yes) in step s 5, controller 14 in step s 6,
Based on the elementary object torque set in step s3, in step s 4 the torque reduction set determines final goal torque.
Specifically, controller 14 will subtract value obtained by torque reduction from elementary object torque is set as final goal torque.It changes
Sentence is talked about, and controller 14 is reduced to the additional driving torque of vehicle 1.In addition, not setting the feelings of torque reduction in step s 4
Under condition (in the case that in other words torque reduction is 0), elementary object torque is directly used as final goal and turned round by controller 14
Square.
Then, in the step s 7, the setting of controller 14 is for realizing the inverse of the final goal torque determined in step s 6
Become the instruction value (inverter instruction value) of device 3.In other words, the setting of controller 14 is for generating final mesh from motor generator 4
Mark the inverter instruction value (control signal) of torque.Then, in step slo, controller 14 is exported to inverter 3 in step S7
The inverter instruction value of middle setting.After step S10, controller 14 terminates vehicle attitude control processing.
On the other hand, it is determined as in step s 5 (step S5: no) in the case that vehicle 1 is not driven, in other words exists
In the case that vehicle 1 is braked, controller 14 in step s 8 based on the elementary object regenerative torque determined in step s3, with
And the torque reduction determined in step s 4, determine final goal regenerative torque.Specifically, controller 14 is by elementary object
Regenerative torque add torque reduction obtained by value be set as final goal regenerative torque (in principle, elementary object regenerative torque with
And torque reduction is indicated with positive value).In other words, controller 14 increases to 1 additional regenerative torque (braking torque) of vehicle.
In addition, in step s 4 determined torque reduction the case where (in other words torque reduction be 0 the case where) under, controller 14
Elementary object regenerative torque is directly used as final goal regenerative torque.
Then, in step s 9, the setting of controller 14 is for realizing the final goal regenerative torque determined in step s 8
Inverter 3 instruction value (inverter instruction value).In other words, the setting of controller 14 from motor generator 4 for generating most
The inverter instruction value (control signal) of whole object regeneration torque.Then, in step slo, controller 14 is exported to inverter 3
The inverter instruction value set in step s 9.After step S10, controller 14 terminates vehicle attitude control processing.
Next, being said referring to fig. 4 to fig. 6 to the additional deceleration degree setting processing in the 1st embodiment of the invention
It is bright.
Fig. 4 is the flow chart of the additional deceleration degree setting processing of the 1st embodiment of the invention, and Fig. 5 is to indicate the present invention
The 1st embodiment additional deceleration degree and turning velocity relationship mapping graph.Fig. 6 is to define the of the invention the 1st in fact
It applies in mode, gain (the additional deceleration degree increasing of the additional deceleration degree for being obtained according to road gradient amendment by the mapping graph of Fig. 5
Benefit) mapping graph.
After the additional deceleration degree setting processing of Fig. 4 starts, in the step s 21, controller 14 determines whether in steering wheel 6
Beat in wheel operation (i.e. steering angle (absolute value) increase in).
As a result, advancing to step S12 in the case where beating in wheel operation (step S21: yes), controller 14 is based on
The steering angle obtained in the step S1 of the vehicle attitude control processing of Fig. 3 from steering angle sensor 8 calculates turning velocity.
Next, controller 14 determines whether turning velocity is defined threshold value S in step S231More than.As a result,
It is threshold value S in turning velocity1In the case where above (step S23: yes), step S24 is advanced to, controller 14 is based on turning velocity
Set additional deceleration degree.The additional deceleration degree is to answer to control vehicle attitude in accordance with the intention of driver according to wheel operation is played
When to the additional deceleration of vehicle 1.
Specifically, the relationship of additional deceleration degree and turning velocity shown in 14 mapping graph based on Fig. 5 of controller, setting
Additional deceleration degree corresponding with turning velocity calculated in step S22.Horizontal axis in Fig. 5 indicates turning velocity, longitudinal axis table
Show additional deceleration degree.As shown in figure 5, being less than threshold value S in turning velocity1In the case where, corresponding additional deceleration degree 0.That is, turning
It is less than threshold value S to speed1In the case where, controller 14 is without based on playing control of the wheel operation to 1 additional deceleration degree of vehicle.
It on the other hand, is threshold value S in turning velocity1In the case where above, as turning velocity increases, with the turning velocity
Corresponding additional deceleration degree moves closer to defined upper limit value Dmax.That is, turning velocity is more increasing, additional deceleration degree more, increases,
And the increase ratio of its increase becomes smaller.Upper limit value DmaxIt is set as even from playing wheel operation to 1 additional deceleration degree of vehicle,
Driver will not feel deceleration (such as the 0.5m/s of the degree of control intervention2≈0.05G).Also, it is in turning velocity
Greater than threshold value S1Threshold value S2In the case where above, additional deceleration degree is maintained upper limit value Dmax。
Next, in step s 25, controller 14 is using additional deceleration degree gain corresponding with road gradient in step
The additional deceleration degree set in S24 is modified.Specifically, controller 14 is based on mapping graph shown in fig. 6, determine and by slope
The corresponding additional deceleration degree gain of current road gradient that degree sensor 12 detects, and utilize the additional deceleration degree gain pair
Additional deceleration degree is modified.For example, controller 14, which will pass through, corresponding with additional deceleration degree gain to be worth multiplied by additional deceleration degree,
To correct the additional deceleration degree.
In Fig. 6, horizontal axis indicates that road gradient, the longitudinal axis indicate the gain of additional deceleration degree.The road surface shown in the horizontal axis of Fig. 6
In the gradient, " 0 " indicates that flat road, the right side of " 0 " indicate the road gradient (upward slope) in upward trend (upward slope), the left side table of " 0 "
Show the road gradient (descending) in downhill path (descending).Specifically, in upward trend, closer to the right side of figure, road gradient
(absolute value) more becomes larger, and the degree in other words gone up a slope more becomes larger.On the other hand, in downhill path, closer to the left side of figure, road
The face gradient (absolute value) more becomes larger, and in other words the degree of descending more becomes larger.In addition, road gradient is opposite with road surface in principle
It is indicated in the angle (°) of horizontal plane, or the ratio (%) with vertical range relative to defined horizontal distance indicates.
Mapping graph shown in fig. 6 is substantially defined as, additional to subtract compared with flat road and upward trend in downhill path
Speed gain becomes larger.As a result, in downhill path, compared with flat road and upward trend, become larger with additional deceleration degree (absolute value)
Mode be modified.More specifically, mapping graph shown in fig. 6 is defined as, and the road gradient (absolute value) in downhill path is more
Become larger, additional deceleration degree gain more becomes larger, as a result, with the degree of descending more become larger, additional deceleration degree (absolute value) more become larger
Mode be modified.In addition, the mapping graph is defined as, the road gradient (absolute value) in upward trend more becomes larger, additional deceleration
Degree gain more become smaller, as a result, by the degree of upward slope more become larger, additional deceleration degree (absolute value) more become smaller in a manner of repaired
Just.
Next, controller 14 is based on revised additional deceleration degree in step s 25 in step S26, torque is determined
Reduction amount.Specifically, controller 14 determines following torque capacities, i.e., using come the reduction of the driving torque of automotor-generator 4
Or come automotor-generator 4 regenerative torque increase come torque capacity needed for realizing additional deceleration degree.After step S26,
Controller 14 terminates the setting processing of additional deceleration degree, returns to main program.
In addition, in the step s 21, in non-steering wheel 6 in the case where beating in wheel operation (step S21: no), or in step
In rapid S23, turning velocity is less than threshold value S1In the case where (step S23: no), controller 14 do not set additional deceleration degree but ties
Beam additional deceleration degree setting processing returns to main program.In this case, torque reduction 0.
In addition, in above-mentioned step S25, using additional deceleration degree gain corresponding with road gradient to fast based on turning to
The additional deceleration degree of degree setting is corrected, but in other examples, can also be without having used additional deceleration degree gain
Amendment, but additional deceleration degree is set based on turning velocity and road gradient.For example, preparing to define for turning in advance
The mapping graph for the additional deceleration degree that speed and road gradient should be set, and the mapping graph is used, setting and current steering
Speed and the corresponding additional deceleration degree of road gradient.
Next, illustrating the effect of the control device of the vehicle of the 1st embodiment of the invention referring to Fig. 7.Fig. 7 is to make to take
It is when having carried 1 turning driving of vehicle of the control device of the vehicle of the 1st embodiment of the invention, related to vehicle attitude control
Various parameters time change timing diagram.
In Fig. 7, chart (a) indicates that road gradient, chart (b) indicate that steering angle, chart (c) indicate turning velocity, figure
Table (d) indicates that additional deceleration degree, chart (e) indicate that final goal torque, chart (f) indicate practical yaw velocity.
As shown in (a) of Fig. 7, it is set as vehicle 1 and is travelled at downhill path (descending).At this point, as shown in (b) of Fig. 7, the moment
The wheel of beating that t11 plays progress steering wheel 6 operates.In this case, moment t11 is to during moment t12, as shown in (c) of Fig. 7,
Turning velocity is threshold value S1More than, as shown in (d) of Fig. 7, additional deceleration degree is set based on the turning velocity.Specifically,
In (d) of Fig. 7, solid line indicates the additional deceleration degree set according to the present embodiment, and dotted line expression sets attached according to comparative example
Acceleration-deceleration ((e) of Fig. 7 and (f) also the same).In the present embodiment, additional deceleration degree is corrected according to road gradient.Tool
For body, additional deceleration degree (referring to Fig. 5) corresponding with turning velocity utilizes additional deceleration degree gain corresponding with road gradient
(referring to Fig. 6) is modified.On the other hand, in a comparative example, additional deceleration degree is not modified according to road gradient, changes sentence
Additional deceleration degree (referring to Fig. 5) corresponding with turning velocity is talked about to be used directly.As a result, as shown in (d) of Fig. 7, this reality
Mode is applied compared with comparative example, additional deceleration degree (absolute value) becomes larger.This is because, according to the present embodiment, vehicle 1 is in descending
Road traveling is made attached so setting has the additional deceleration degree gain (referring to Fig. 6) of biggish value using the additional deceleration degree gain
Acceleration-deceleration (absolute value) is corrected in a manner of becoming larger.
According to such additional deceleration degree, as shown in (e) of Fig. 7, set respectively for present embodiment and comparative example
Final goal torque.Specifically, present embodiment, compared with comparative example, final goal torque becomes smaller.Then, pass through control electricity
Dynamic generator 4 is to generate such final goal torque, to generate such practical yaw angle shown in (f) of Fig. 7 in vehicle 1
Speed.As shown in (f) of Fig. 7, in the present embodiment, reality is generated in vehicle 1 rapidly in beating when wheel operation starts for steering wheel 6
Border yaw velocity (referring to solid line), in contrast, in a comparative example, steering wheel 6 is beaten after wheel operation starts lingeringly in vehicle
1 generates practical yaw velocity (reference dotted line).Like this, in present embodiment and comparative example, by vehicle attitude control
It is as follows to make the reasons why difference is generated in the practical yaw velocity generated.
In the part of " problems to be solved by the invention ", such as 0 (a) referring to Fig.1 and (b) explanation, in descending
Road when driving, with flat road when driving compared with, become the state (vehicle front side that front part of vehicle in automobile body sinks
The biggish state of deflection relative to vehicle rear side).In this state, the rigidity of the suspension 30 of vehicle front side, change sentence
The flexible rigidity for talking about the spring of suspension 30 improves.Therefore, downhill path when driving, due to the suspension 30 of vehicle front side
Spring be in compressed state, if therefore carry out vehicle attitude control in this state, have additional by the control
The insufficient trend of the sinking of vehicle front side when deceleration.That is, downhill path when driving, due to the suspension of vehicle front side
30 spring is in the state in compression, therefore compared with the un-compressed state of spring (flat road, upward trend are when driving),
Since compressed spring needs biggish power, therefore, it is desirable to increase the additional deceleration degree in vehicle attitude control.
Therefore, in the present embodiment, in the additional deceleration of the increase when driving degree (absolute value) in downhill path.In particular,
In present embodiment, the controller 14 the big with the road gradient (absolute value) in downhill path, additional deceleration degree (absolute value) more becomes
Big mode carries out the amendment (referring to Fig. 6) for having used additional deceleration degree gain, thus the more big then additional deceleration of the degree of descending
Degree (absolute value) more becomes larger.As a result, as Fig. 7 (f) it is shown in solid, downhill path when driving, can eliminate and pass through vehicle
The sinking of vehicle front side when gesture stability additional deceleration is spent is insufficient, in steering wheel 6 can be rapid when playing wheel operation beginning
Vehicle 1 is set to generate practical yaw velocity.Therefore, according to the present embodiment, downhill path when driving, can suitably ensure vehicle
The improvement of vehicle turning performance under gesture stability.
In addition, being shown in FIG. 7, in the case where vehicle attitude control is carried out in the driving of vehicle 1, in other words exist
In the vehicle attitude control processing of Fig. 3, in the case that the judgement of step S5 has carried out the processing of step S6~S7 for "Yes"
Timing diagram.However, in the case where having carried out vehicle attitude control in the braking of vehicle 1, in other words in the vehicle attitude of Fig. 3
In control processing, in the case that the judgement of step S5 has carried out the processing of step S8~S9 for "No", also become identical as Fig. 7
Result.Specifically, being applicable in final goal torque in the case where having carried out vehicle attitude control in the driving of vehicle 1
(referring to (e) of Fig. 7), but in the case where carried out in the braking of vehicle 1 vehicle attitude control, substitute final goal torque and
It is applicable in final goal regenerative torque.In this case, final goal torque reduces during moment t11~t12, but final mesh
Mark regenerative torque increases during moment t11~t12.
In addition, in the above-described embodiment, in the entire area of road gradient, making additional deceleration degree according to road gradient
Gain is not limited to regulation additional deceleration degree gain like this in linear variation (referring to Fig. 6).It in other examples can also be with
It is in downhill path, as road gradient (descending) becomes larger and to increase additional deceleration degree gain, on the other hand, in upward trend
(also including flat road), is independently set as steady state value (at least below downhill path for additional deceleration degree gain with road gradient
Value).It is also possible to subtract independently in downhill path with upward trend both sides by additional with road gradient in other other examples
Speed gain is set as steady state value, but compared with upward trend, increases the gain of additional deceleration degree in downhill path.In other words,
Additional deceleration degree gain can be set as the 1st specified value in downhill path, will be added in upward trend (also including flat road)
Deceleration gain is set as the 2nd specified value less than the 1st specified value.
In addition, in the above-described embodiment, showing the vehicle 1 for being suitable for being driven by motor generator 4 by the present invention
Example in (being equivalent to EV vehicle), but in other examples, the present invention can be also suitable for driven by the engine logical
In normal vehicle.In this embodiment, by reducing the generation torque of engine, vehicle attitude is controlled to 1 additional deceleration degree of vehicle
?.In the case where engine is petrol engine, by the ignition timing of delay (Retard) spark plug, to reduce hair
The generation torque of motivation.In the case where engine is diesel engine, by reducing fuel injection amount, to reduce hair
The generation torque of motivation.In other other examples, the present invention can be also suitable for by engine and dynamoelectric and power generation
In the vehicle (HV vehicle) of machine driving.
In addition, in the above-described embodiment, judging road gradient using Slope Transducer 12, but in other examples
In, Slope Transducer 12 can also be substituted and judge road gradient using vehicle front and rear acceleration sensor 13.In such case
Under, it can be based on according to the calculated aimed acceleration such as gas pedal depression amount, speed (the step S2 of Fig. 3) and by vehicle
The difference for the fore-aft acceleration (actual acceleration) that front and rear acceleration sensor 13 detects, judges road gradient.Specifically,
Actual acceleration can be judged as upward slope in the case where being less than aimed acceleration, in addition, accelerating in actual acceleration greater than target
Can be judged as descending in the case where degree, further, it is possible to the difference based on actual acceleration and aimed acceleration find out go up a slope or
The value of the road gradient of descending.
In addition, to be equivalent to the gradient correlation in the present invention defeated for Slope Transducer 12, vehicle front and rear acceleration sensor 13
An example of device out.Also, the road gradient that detected by Slope Transducer 12 and by vehicle front and rear acceleration sensor 13
The fore-aft acceleration of detection is equivalent to an example of the gradient correlation in the present invention.
The 2nd embodiment > of <
Next, being illustrated to the 2nd embodiment of the invention.In the above-described first embodiment, in vehicle 1
When carrying out vehicle attitude control in braking, motor generator 4 is made to carry out regenerative electric power to generate the additional deceleration of setting in vehicle 1
Degree (referring to Fig. 3), in the 2nd embodiment, when carrying out vehicle attitude control in the braking of vehicle 1, by from brake apparatus
16 additional brake power, to generate the additional deceleration degree of setting in vehicle 1.
Fig. 8 is the flow chart of the vehicle attitude control processing of the 2nd embodiment of the invention.Vehicle attitude shown in Fig. 8
Control processing, (the vehicle appearance carried out in the driving of vehicle 1 related to the vehicle attitude control carried out in the braking of vehicle 1
State control is identical as Fig. 3).In addition, hereinafter, suitably omitting it for handling identical processing with the control of the vehicle attitude of Fig. 3
Explanation.In other words, not specified processing here, control, it is identical as above-mentioned embodiment.
Firstly, controller 14 obtains various sensor informations relevant to the operating condition of vehicle 1 in step S31.It is special
It is not that controller 14 obtains the steering angle detected by steering angle sensor 8, the throttle detected by accelerator open degree sensor 10
Pedal depression amount is stepped on brake pedal depression amount and detected by Slope Transducer 12 that quantity sensor 11 detects by braking
The road gradient etc. arrived.
Then, in step s 32, operating condition of the controller 14 based on the vehicle 1 obtained in step S31, setting are answered
When to the additional desired deceleration of vehicle 1.Specifically, controller 14 is based primarily upon brake pedal depression amount, setting target subtracts
Speed.
Then, in step S33, controller 14 set for realizing the desired deceleration set in step s 32 system
The elementary object brake force of dynamic device 16.
Concurrently, in step S34, controller 14 is executed at the setting of additional deceleration degree for processing with step S32 and S33
Reason (referring to Fig. 4), the turning velocity based on transfer determine to control vehicle attitude institute by making vehicle 1 generate deceleration
The torque reduction needed.The additional deceleration degree setting processing is identical as the 1st embodiment, therefore the description thereof will be omitted herein.
Then, in step s 35, controller 14 based on the elementary object brake force determined in step S33, in step
The torque reduction determined in S34 determines final goal brake force.Specifically, controller 14 will be from elementary object brake force
Value obtained by torque reduction (positive value) is subtracted in (negative value) is set as final goal brake force (negative value).In other words, controller
14 increase to the additional brake force of vehicle 1.In addition, (in other words torque the case where determined torque reduction in step S34
The case where reduction amount is 0) under, elementary object brake force is directly used as final goal brake force by controller 14.
Then, in step S36, controller 14 sets the hydraulic pump 20 of braking control system 18 and the finger of valve cell 22
Value is enabled, to realize the final goal brake force determined in step s 35.In other words, the setting of controller 14 from braking for filling
Set the hydraulic pump 20 of 16 generation final goal brake force and the instruction value (control signal) of valve cell 22.Then, in step S37
In, controller 14 exports the instruction value set in step S36 to hydraulic pump 20 and valve cell 22.After step S37,
Controller 14 terminates vehicle attitude control processing.
Next, illustrating the function and effect of the control device of the vehicle of the 2nd embodiment of the invention referring to Fig. 9.Fig. 9 is
When indicating to make to be equipped with 1 turning driving of vehicle of the control device of the vehicle of the 2nd embodiment of the invention and vehicle attitude
Control the timing diagram of the time change of relevant various parameters.
In Fig. 9, chart (a) indicates that road gradient, chart (b) indicate that steering angle, chart (c) indicate turning velocity, figure
Table (d) indicates that additional deceleration degree, chart (e) indicate final goal brake force, and chart (f) indicates practical yaw velocity.Fig. 9's
Chart (a)~(d), (f) are identical as Fig. 7, and only chart (e) is different from Fig. 7.Specifically, the chart (e) of Fig. 9 is indicated with Fig. 9's
The final goal brake force of the corresponding setting of the additional deceleration degree of chart (d).
In the chart (e) of Fig. 7, final goal torque is positive value, but in the chart (e) of Fig. 9, final goal brake force
For negative value.The chart (e) of Fig. 9, which is equivalent to, forms the chart (e) of Fig. 7 to negative side movement.The final goal of the chart (e) of Fig. 9
Brake force is same as the final goal torque of the chart (e) of Fig. 7, reduces during moment t11~t12.In this case,
Compared with comparative example, final goal brake force also becomes smaller 2 embodiments.In addition, from the point of view of final goal brake force is with absolute value,
Value becomes larger during moment t11~t12.
According to the 2nd embodiment described above, as Fig. 9 (f) it is shown in solid, downhill path when driving, energy
It is enough to eliminate the sinking deficiency that vehicle front side when additional deceleration is spent is controlled by vehicle attitude, wheel operation is played in steering wheel 6
Vehicle 1 can be made to generate practical yaw velocity rapidly when beginning.Therefore, downhill path when driving, can suitably ensure vehicle
The improvement of vehicle turning performance under gesture stability.
Claims (9)
1. a kind of control method of vehicle, which has wheel, generation for driving driving source, the tool of the driving force of the wheel
The suspension of standby elastomeric element, the steering angle sensor of the steering angle of detection transfer and output are associated with road gradient
Road gradient correlation gradient correlation follower, the control method of the vehicle is characterised by comprising following work
Sequence:
Based on the steering angle detected by the steering angle sensor, determine whether the transfer beat wheel behaviour
Make；
Be determined as the transfer beat wheel operation when, reduce the driving force of the driving source and to the vehicle
Additional deceleration degree, to control vehicle attitude；And
When the road gradient correlation exported by the gradient correlation follower, which is, indicates 1 value of the gradient of descending side,
It is the gradient for indicating more to lean on planar side than the 1st value with the road gradient correlation exported by the gradient correlation follower
2 value when compare, increase additional to the vehicle deceleration.
2. a kind of control method of vehicle, generator, the tool which has wheel, driven by the wheel and carry out regenerative electric power
The suspension of standby elastomeric element, the steering angle sensor of the steering angle of detection transfer and output are associated with road gradient
Road gradient correlation gradient correlation follower, the control method of the vehicle is characterised by comprising following work
Sequence:
Based on the steering angle detected by the steering angle sensor, determine whether the transfer beat wheel behaviour
Make；
When being determined as that the transfer beat wheel operation, so that the generator is carried out regenerative electric power and to the vehicle
Additional deceleration degree, to control vehicle attitude；And
When the road gradient correlation exported by the gradient correlation follower, which is, indicates 1 value of the gradient of descending side,
It is the gradient for indicating more to lean on planar side than the 1st value with the road gradient correlation exported by the gradient correlation follower
2 value when compare, increase additional to the vehicle deceleration.
3. a kind of control method of vehicle, the vehicle have wheel, to the brake apparatus of the wheel additional brake power, have elasticity
The suspension of component, the steering angle sensor of the steering angle of detection transfer and output road surface associated with road gradient
The gradient correlation follower of gradient correlation, the control method of the vehicle are characterised by comprising following process:
Based on the steering angle detected by the steering angle sensor, determine whether the transfer beat wheel behaviour
Make；
When being determined as that the transfer beat wheel operation, by the brake apparatus additional brake power to the vehicle
Additional deceleration degree, to control vehicle attitude；And
When the road gradient correlation exported by the gradient correlation follower, which is, indicates 1 value of the gradient of descending side,
It is the gradient for indicating more to lean on planar side than the 1st value with the road gradient correlation exported by the gradient correlation follower
2 value when compare, increase additional to the vehicle deceleration.
4. the control method of the vehicle as described in any one of claims 1 to 3,
2nd value is the value for the gradient that the road gradient correlation indicates uphill side.
5. the control method of the vehicle as described in any one of claims 1 to 3,
2nd value is that the road gradient correlation indicates flat value.
6. a kind of Vehicular system has wheel, generates for driving the driving source of the driving force of the wheel, having elastomeric element
Suspension, detect transfer steering angle steering angle sensor, output road gradient correlation associated with road gradient
Gradient correlation follower and processor, which is characterized in that,
The processor is constituted are as follows:
Based on the steering angle detected by the steering angle sensor, determine whether the transfer beat wheel behaviour
Make；
Be determined as the transfer beat wheel operation when, reduce the driving force of the driving source and to the vehicle
Additional deceleration degree, to control vehicle attitude；And
When the road gradient correlation exported by the gradient correlation follower, which is, indicates 1 value of the gradient of descending side,
It is the gradient for indicating more to lean on planar side than the 1st value with the road gradient correlation exported by the gradient correlation follower
2 value when compare, increase additional to the vehicle deceleration.
7. a kind of Vehicular system has wheel, is driven by the wheel and carry out the generator of regenerative electric power, has elastomeric element
Suspension, detect transfer steering angle steering angle sensor, output road gradient correlation associated with road gradient
Gradient correlation follower and processor, which is characterized in that,
The processor is constituted are as follows:
Based on the steering angle detected by the steering angle sensor, determine whether the transfer beat wheel behaviour
Make；
When being determined as that the transfer beat wheel operation, so that the generator is carried out regenerative electric power and to the vehicle
Additional deceleration degree, to control vehicle attitude；And
When the road gradient correlation exported by the gradient correlation follower, which is, indicates 1 value of the gradient of descending side,
It is the gradient for indicating more to lean on planar side than the 1st value with the road gradient correlation exported by the gradient correlation follower
2 value when compare, increase additional to the vehicle deceleration.
8. a kind of Vehicular system, with wheel, to the brake apparatus of the wheel additional brake power, the suspension for having elastomeric element,
Detect the steering angle sensor of the steering angle of transfer, the gradient of output road gradient correlation associated with road gradient
Correlation follower and processor, the Vehicular system be characterized in that,
The processor is constituted are as follows:
Based on the steering angle detected by the steering angle sensor, determine whether the transfer beat wheel behaviour
Make；
When being determined as that the transfer beat wheel operation, by the brake apparatus additional brake power to the vehicle
Additional deceleration degree, to control vehicle attitude；And
When the road gradient correlation exported by the gradient correlation follower, which is, indicates 1 value of the gradient of descending side,
It is the gradient for indicating more to lean on planar side than the 1st value with the road gradient correlation exported by the gradient correlation follower
2 value when compare, increase additional to the vehicle deceleration.
9. a kind of control device of vehicle, which has the suspension of elastomeric element, the spy of the control device of the vehicle
Sign is,
With vehicle attitude control mechanism, when transfer beat wheel operation, which passes through
Vehicle attitude is controlled to the vehicle additional deceleration degree,
The vehicle attitude control mechanism is when the track of the vehicle is descending, compared with when non-downhill, increases to described
The additional deceleration of vehicle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018025656A JP2019146291A (en) | 2018-02-16 | 2018-02-16 | Control method of vehicle, vehicle system and controller of vehicle |
| JP2018-025656 | 2018-02-16 |
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| CN110154778A true CN110154778A (en) | 2019-08-23 |
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| CN201910078371.4A Pending CN110154778A (en) | 2018-02-16 | 2019-01-28 | The control device of the control method of vehicle, Vehicular system and vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP2019146291A (en) |
| CN (1) | CN110154778A (en) |
| WO (1) | WO2019160009A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111439129A (en) * | 2020-04-14 | 2020-07-24 | 江西精骏电控技术有限公司 | Sliding energy recovery control method for electric automobile |
| CN112660092A (en) * | 2021-01-05 | 2021-04-16 | 奇瑞新能源汽车股份有限公司 | Downhill braking method and device for electric automobile and electric automobile |
| CN115092106A (en) * | 2022-06-21 | 2022-09-23 | 合众新能源汽车有限公司 | Control method and control system for redundant braking of vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7377433B2 (en) | 2019-12-25 | 2023-11-10 | マツダ株式会社 | vehicle control system |
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| CN115092106B (en) * | 2022-06-21 | 2023-04-25 | 合众新能源汽车股份有限公司 | Control method and control system for redundant braking of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019146291A (en) | 2019-08-29 |
| WO2019160009A1 (en) | 2019-08-22 |
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