JP2007185070A - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims description 35
- 238000012545 processing Methods 0.000 abstract description 5
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- 238000001514 detection method Methods 0.000 description 18
- 238000004364 calculation method Methods 0.000 description 14
- 230000007423 decrease Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 229910052987 metal hydride Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- PXHVJJICTQNCMI-UHFFFAOYSA-N nickel Substances [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 1
- -1 nickel metal hydride Chemical class 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000009789 rate limiting process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- 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
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
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- 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
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- B60W30/18063—Creeping
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- 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
- B60W40/072—Curvature of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- 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
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- 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
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- 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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- 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
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
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- 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
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- 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
- B60W2520/10—Longitudinal speed
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- 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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/28—Wheel speed
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- 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
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- 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
- Y02T10/62—Hybrid vehicles
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- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
【解決手段】HV_ECUは、推定勾配を算出するステップ(S100)と、坂路であって(S102にてYES)、車速の絶対値がV(0)以下であると(S104にてYES)、推定勾配の変化をレートリミット処理するステップ(S106)と、ヒステリシス処理を実施するステップ(S110)と、クリープアップ係数を算出するステップ(S112)と、クリープアップトルクを算出するステップ(S114)とを含む、プログラムを実行する。
【選択図】図3
Description
図1を参照して、本発明の実施の形態に係るハイブリッド車両の制御ブロック図を説明する。なお、本発明は図1に示すハイブリッド車両に限定されない。本実施の形態において、駆動源となるモータジェネレータが駆動輪と連結されていればよく、二次電池を搭載した他の態様を有するハイブリッド車両であってもよい。また、二次電池ではなくキャパシタ等の蓄電機構であってもよい。また、二次電池である場合には、ニッケル水素電池やリチウムイオン電池などであって、その種類は特に限定されるものではない。
以下、本発明の第2の実施の形態に係る車両の制御装置について説明する。本実施の形態に係る車両の制御装置を搭載する車両は、上述の第1の実施の形態に係る車両の制御装置を搭載する車両の構成と比較して、HV_ECU320で実行されるプログラムの制御構造が異なる。それ以外の構成は、上述の第1の実施の形態に係る車両の制御装置を搭載する車両の構成と同じ構成である。それらについては同じ参照符号が付してある。それらの機能も同じである。したがって、それらについての詳細な説明はここでは繰り返さない。
Claims (4)
- 路面勾配に応じて駆動力を制御する車両の制御装置であって、
前記車両の加速度を検知するための加速度検知手段と、
車輪の回転速度を検知するための回転速度検知手段と、
前記加速度と前記回転速度とに基づいて路面勾配を推定するための推定手段とを含み、
前記推定手段は、前記速度検知手段により検知可能な車速の絶対値の下限値以下において、推定される路面勾配の変化量を制限するための手段を含む、車両の制御装置。 - 前記推定手段は、前記変化量が予め定められた変化量以下になるように制限するための手段を含む、請求項1に記載の車両の制御装置。
- 路面勾配に応じて駆動力を制御する車両の制御装置であって、
前記車両の加速度を検知するための加速度検知手段と、
車輪の回転速度を検知するための回転速度検知手段と、
前記加速度と前記回転速度とに基づいて路面勾配を推定するための推定手段とを含み、
前記推定手段は、前記検知された加速度が推定された路面勾配に対応する予め定められた範囲内でないと、前記検知された加速度に基づいて前記路面勾配を補正して前記路面勾配を推定するための手段を含む、車両の制御装置。 - 前記車両には、駆動源として回転電機が搭載され、
前記制御装置は、前記推定された路面勾配に応じて、前記回転電機を制御するための制御手段をさらに含む、請求項1〜3のいずれかに記載の車両の制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006002566A JP4696918B2 (ja) | 2006-01-10 | 2006-01-10 | 車両の制御装置 |
PCT/IB2007/000005 WO2007080464A1 (en) | 2006-01-10 | 2007-01-03 | Control apparatus and control method of a vehicle |
CN2007800022263A CN101370697B (zh) | 2006-01-10 | 2007-01-03 | 车辆的控制设备和控制方法 |
US12/087,486 US8160797B2 (en) | 2006-01-10 | 2007-01-03 | Control apparatus and control method of a vehicle |
EP07700003A EP1971512B1 (en) | 2006-01-10 | 2007-01-03 | Control apparatus and control method of a vehicle |
DE602007005772T DE602007005772D1 (de) | 2006-01-10 | 2007-01-03 | Steuervorrichtung und steuerverfahren für ein fahrzeug |
KR1020087016687A KR100993301B1 (ko) | 2006-01-10 | 2007-01-03 | 차량의 제어 장치 및 제어 방법 |
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JP2006002566A JP4696918B2 (ja) | 2006-01-10 | 2006-01-10 | 車両の制御装置 |
Related Child Applications (1)
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JP2010237522A Division JP5152295B2 (ja) | 2010-10-22 | 2010-10-22 | 車両の制御装置 |
Publications (2)
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JP2007185070A true JP2007185070A (ja) | 2007-07-19 |
JP4696918B2 JP4696918B2 (ja) | 2011-06-08 |
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JP2006002566A Active JP4696918B2 (ja) | 2006-01-10 | 2006-01-10 | 車両の制御装置 |
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---|---|
US (1) | US8160797B2 (ja) |
EP (1) | EP1971512B1 (ja) |
JP (1) | JP4696918B2 (ja) |
KR (1) | KR100993301B1 (ja) |
CN (1) | CN101370697B (ja) |
DE (1) | DE602007005772D1 (ja) |
WO (1) | WO2007080464A1 (ja) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010100256A (ja) * | 2008-10-27 | 2010-05-06 | Toyota Motor Corp | ハイブリッド車両およびその制御方法 |
CN102223119A (zh) * | 2010-04-14 | 2011-10-19 | 士林电机厂股份有限公司 | 马达多段式坡度感知限电流控制装置及其方法 |
JP2011229348A (ja) * | 2010-04-23 | 2011-11-10 | Nissan Motor Co Ltd | ヒルスタートアシスト制御装置及びその制御方法 |
JP2012090442A (ja) * | 2010-10-20 | 2012-05-10 | Nissan Motor Co Ltd | 電動車両の制御装置 |
JP2012105486A (ja) * | 2010-11-11 | 2012-05-31 | Mitsubishi Motors Corp | 電動車両 |
KR101230903B1 (ko) * | 2010-12-08 | 2013-02-07 | 현대자동차주식회사 | 전기자동차의 등판밀림방지를 위한 크립토크 제어 방법 |
JP2014166053A (ja) * | 2013-02-26 | 2014-09-08 | Suzuki Motor Corp | 車両用制御装置 |
JP2015020733A (ja) * | 2013-07-24 | 2015-02-02 | トヨタ自動車株式会社 | 車両の制御装置 |
JP2015211527A (ja) * | 2014-04-25 | 2015-11-24 | 株式会社豊田自動織機 | 産業車両 |
JP2017226260A (ja) * | 2016-06-21 | 2017-12-28 | いすゞ自動車株式会社 | 路面勾配推定装置及び路面勾配推定方法 |
JP2018029435A (ja) * | 2016-08-17 | 2018-02-22 | 東洋電機製造株式会社 | 電気車制御装置 |
CN113276684A (zh) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | 一种电动汽车滑行能量回收控制方法 |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4556945B2 (ja) * | 2006-12-07 | 2010-10-06 | 日産自動車株式会社 | 加速度検出装置および加速度センサのドリフト誤差補正方法ならびにそれを用いたニュートラル制御装置 |
JP4458300B2 (ja) * | 2007-10-25 | 2010-04-28 | 本田技研工業株式会社 | 電動車両、および電動車両の回生制御方法 |
JP2010075036A (ja) * | 2008-08-22 | 2010-04-02 | Fuji Heavy Ind Ltd | 電気自動車の制御装置 |
JP5600415B2 (ja) | 2009-07-30 | 2014-10-01 | 現代自動車株式会社 | 電気自動車のモータ位置及びクリープ制御装置とその制御方法 |
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US8160797B2 (en) | 2012-04-17 |
CN101370697B (zh) | 2012-03-21 |
KR20080077270A (ko) | 2008-08-21 |
JP4696918B2 (ja) | 2011-06-08 |
WO2007080464A1 (en) | 2007-07-19 |
KR100993301B1 (ko) | 2010-11-09 |
US20090240411A1 (en) | 2009-09-24 |
CN101370697A (zh) | 2009-02-18 |
DE602007005772D1 (de) | 2010-05-20 |
EP1971512A1 (en) | 2008-09-24 |
EP1971512B1 (en) | 2010-04-07 |
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