DE602006012727D1 - Fahrzeugsteuervorrichtung - Google Patents

Fahrzeugsteuervorrichtung

Info

Publication number
DE602006012727D1
DE602006012727D1 DE602006012727T DE602006012727T DE602006012727D1 DE 602006012727 D1 DE602006012727 D1 DE 602006012727D1 DE 602006012727 T DE602006012727 T DE 602006012727T DE 602006012727 T DE602006012727 T DE 602006012727T DE 602006012727 D1 DE602006012727 D1 DE 602006012727D1
Authority
DE
Germany
Prior art keywords
control device
vehicle control
vehicle
control
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
DE602006012727T
Other languages
English (en)
Inventor
Toru Takenaka
Takayuki Toyoshima
Hiroyuki Urabe
Hiroshi Kono
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co 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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE602006012727D1 publication Critical patent/DE602006012727D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
    • 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
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • 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
    • 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
    • B60W40/101—Side slip angle of tyre
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • 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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
    • 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
    • B60W2520/20—Sideslip angle
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
DE602006012727T 2005-12-27 2006-12-21 Fahrzeugsteuervorrichtung Active DE602006012727D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005376541 2005-12-27
PCT/JP2006/325534 WO2007074715A1 (ja) 2005-12-27 2006-12-21 車両の制御装置

Publications (1)

Publication Number Publication Date
DE602006012727D1 true DE602006012727D1 (de) 2010-04-15

Family

ID=38217936

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602006012727T Active DE602006012727D1 (de) 2005-12-27 2006-12-21 Fahrzeugsteuervorrichtung

Country Status (8)

Country Link
US (1) US8027775B2 (de)
EP (2) EP1958839B1 (de)
JP (2) JP4226059B2 (de)
KR (2) KR101008321B1 (de)
CN (1) CN101341057B (de)
CA (1) CA2633315C (de)
DE (1) DE602006012727D1 (de)
WO (1) WO2007074715A1 (de)

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JP5154397B2 (ja) * 2008-12-25 2013-02-27 富士重工業株式会社 車両運動制御装置
JP5143103B2 (ja) * 2009-09-30 2013-02-13 日立オートモティブシステムズ株式会社 車両の運動制御装置
DE102010004113B4 (de) * 2010-01-07 2014-11-20 Continental Automotive Gmbh Verfahren und Vorrichtung zur Ermittlung eines maximalen Reibungsbeiwerts μmax zwischen einem Reifen und einem Untergrund
WO2011089264A1 (en) 2010-01-25 2011-07-28 Haldex Traction Ab A method for controlling the yaw moment of a vehicle
US9233674B2 (en) 2010-03-04 2016-01-12 Honda Motor Co., Ltd. Turning control device for vehicle
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JP5542014B2 (ja) * 2010-09-10 2014-07-09 富士重工業株式会社 車両挙動制御装置
GB2486177A (en) * 2010-12-02 2012-06-13 Land Rover Uk Ltd Traction control method that allows for processing time delays
US8505942B2 (en) * 2011-01-31 2013-08-13 Toyota Motor Engineering & Manufacturing North America, Inc. Adjustable spring assembly
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JP5919889B2 (ja) * 2012-03-01 2016-05-18 株式会社ジェイテクト 車両姿勢制御装置
ES2699245T3 (es) 2012-11-07 2019-02-08 Polaris Inc Vehículo con suspensión con control continuo de amortiguación
US9205717B2 (en) 2012-11-07 2015-12-08 Polaris Industries Inc. Vehicle having suspension with continuous damping control
JP5644836B2 (ja) * 2012-11-12 2014-12-24 トヨタ自動車株式会社 操舵装置
JP2014148182A (ja) * 2013-01-31 2014-08-21 Hitachi Automotive Systems Ltd 車両の走行制御装置
WO2014136189A1 (ja) * 2013-03-04 2014-09-12 トヨタ自動車株式会社 車両の走行運動制御装置
JP6416574B2 (ja) * 2014-09-29 2018-10-31 日立オートモティブシステムズ株式会社 車両の制御方法、車両制御システム、車両制御装置、および制御プログラム
EP3212484A2 (de) 2014-10-31 2017-09-06 Polaris Industries Inc. System und verfahren zur steuerung eines fahrzeugs
JP6292161B2 (ja) * 2015-04-20 2018-03-14 トヨタ自動車株式会社 制動力制御装置
CA2985632A1 (en) 2015-05-15 2016-11-24 Polaris Industries Inc. Utility vehicle
US9371073B1 (en) * 2015-06-19 2016-06-21 GM Global Technology Operations LLC Real-time determination of tire normal forces
US10029729B2 (en) * 2016-03-15 2018-07-24 GM Global Technology Operations LLC Systems and methods for corner based reference command adjustment for chassis and active safety systems
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US10406884B2 (en) 2017-06-09 2019-09-10 Polaris Industries Inc. Adjustable vehicle suspension system
US10207559B2 (en) 2017-06-15 2019-02-19 GM Global Technology Operations LLC Systems and methods for the real-time determination of tire normal forces
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JP7108916B2 (ja) * 2018-03-13 2022-07-29 パナソニックＩｐマネジメント株式会社 車両制御装置
US10946736B2 (en) 2018-06-05 2021-03-16 Polaris Industries Inc. All-terrain vehicle
US10987987B2 (en) 2018-11-21 2021-04-27 Polaris Industries Inc. Vehicle having adjustable compression and rebound damping
US11119482B2 (en) * 2019-02-07 2021-09-14 GM Global Technology Operations LLC System and method for control of an autonomous vehicle
JP7109406B2 (ja) 2019-07-01 2022-07-29 本田技研工業株式会社 車両制御装置
TWI712525B (zh) * 2019-07-04 2020-12-11 品睿綠能科技股份有限公司 電動機車之可變式連動煞車系統
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Also Published As

Publication number Publication date
EP2135787B1 (de) 2011-08-31
KR101008321B1 (ko) 2011-01-13
JP4226059B2 (ja) 2009-02-18
JP4672761B2 (ja) 2011-04-20
CN101341057B (zh) 2011-07-13
EP1958839A1 (de) 2008-08-20
KR20080066080A (ko) 2008-07-15
EP1958839A4 (de) 2008-11-19
EP1958839B1 (de) 2010-03-03
US8027775B2 (en) 2011-09-27
WO2007074715A1 (ja) 2007-07-05
EP2135787A1 (de) 2009-12-23
KR101051053B1 (ko) 2011-07-22
CN101341057A (zh) 2009-01-07
JP2008290720A (ja) 2008-12-04
CA2633315A1 (en) 2007-07-05
CA2633315C (en) 2011-09-13
KR20100093586A (ko) 2010-08-25
JPWO2007074715A1 (ja) 2009-06-04
US20090171526A1 (en) 2009-07-02

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