JP2007302120A - 車両およびその制御方法 - Google Patents
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- 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
- B60K6/48—Parallel type
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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
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
-
- 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
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/613—ESP features related thereto
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
【解決手段】ハイブリッド自動車20では、運転者によりブレーキペダル85が踏み込まれたときにマスタシリンダ圧Pmcとポンプ115,125による加圧圧力(増圧分)との双方を用いて運転者により要求されている要求制動力BF*を発生させるときには、ハイブリッド自動車20の制動時における挙動に基づいて設定されたポンプ指令用補正値dcを用いた基本ポンプ指令値dpBの補正(ステップS190)を伴って要求制動力BF*が得られるようにHBS100のブレーキアクチュエータ102が制御される(ステップS170〜S200)。
【選択図】図3
Description
複数の車輪を有する車両において、
それぞれ作動流体を加圧可能な加圧手段を含むと共に前記複数の車輪のうちの所定の車輪にそれぞれ対応づけられた複数の制動系統を有し、運転者による制動要求操作に応じて発生された作動流体の圧力である操作圧力と前記加圧手段の加圧により発生される作動流体の圧力である加圧圧力とを用いて前記複数の制動系統から制動力を発生可能な流体圧式制動手段と、
前記車両の制動時における挙動を取得する挙動取得手段と、
前記制動要求操作がなされたときに運転者により要求されている要求制動力を前記操作圧力と前記加圧圧力とを用いて発生させるときに、前記取得された挙動に基づく前記加圧手段による加圧の補正を伴って前記要求制動力が得られるように前記流体圧式制動手段を制御する制動制御手段と、
を備えるものである。
前記制動要求操作がなされたときに運転者により要求されている要求制動力を前記操作圧力と前記加圧圧力とを用いて発生させるときに、前記車両の制動時に取得された該車両の挙動に基づく前記加圧手段による加圧の補正を伴って前記要求制動力が得られるように前記流体圧式制動手段を制御するものである。
Claims (8)
- 複数の車輪を有する車両において、
それぞれ作動流体を加圧可能な加圧手段を含むと共に前記複数の車輪のうちの所定の車輪にそれぞれ対応づけられた複数の制動系統を有し、運転者による制動要求操作に応じて発生された作動流体の圧力である操作圧力と前記加圧手段の加圧により発生される作動流体の圧力である加圧圧力とを用いて前記複数の制動系統から制動力を発生可能な流体圧式制動手段と、
前記車両の制動時における挙動を取得する挙動取得手段と、
前記制動要求操作がなされたときに運転者により要求されている要求制動力を前記操作圧力と前記加圧圧力とを用いて発生させるときに、前記取得された挙動に基づく前記加圧手段による加圧の補正を伴って前記要求制動力が得られるように前記流体圧式制動手段を制御する制動制御手段と、
を備える車両。 - 請求項1に記載の車両において、
前記制動要求操作がなされたときに運転者により要求されている要求制動力を設定する要求制動力設定手段と、
前記設定された要求制動力に基づいて前記各加圧手段への加圧指令値を設定する加圧指令値設定手段と、
前記加圧手段が何れも駆動されていない非加圧制動時に取得された前記車両の挙動と、前記各加圧手段がそれぞれ駆動されている加圧制動時に取得された前記車両の挙動とに基づいて前記加圧指令値に対する補正値を設定する補正手段とを更に備え、
前記制動制御手段は、前記制動要求操作がなされたときに、前記設定された加圧指令値および前記設定された補正値に基づく前記加圧手段の駆動を伴って前記要求制動力が得られるように前記流体圧式制動手段を制御する車両。 - 前記挙動検出手段として前記車両の実ヨーレートを検出する実ヨーレート検出手段を備える請求項2に記載の車両。
- 請求項3に記載の車両において、
前記車両の目標ヨーレートを設定する目標ヨーレート設定手段と、
前記設定された目標ヨーレートと前記検出された実ヨーレートとの偏差であるヨーレート偏差を取得するヨーレート偏差取得手段とを更に備え、
前記補正手段は、前記加圧制動時に取得されたヨーレート偏差と前記非加圧制動時におけるヨーレート偏差との偏差に基づいて前記加圧指令値に対する補正値を設定する車両。 - 前記流体圧式制動手段は、前記複数の制動系統を用いて少なくとも何れか一対の左右の車輪に対して制動力を独立に付与可能である請求項1から4の何れかに記載の車両。
- 請求項1から5の何れかに記載の車両において、
少なくとも回生制動力を出力可能な電動機と、
前記電動機と電力をやり取り可能な蓄電手段とを更に備え、
前記加圧指令値設定手段は、前記設定された要求制動力と前記電動機による回生制動力と前記操作圧力に基づく操作制動力とに基づいて前記各加圧手段への加圧指令値を設定する車両。 - 請求項6に記載の車両において、
左右一対の第1車輪に動力を出力可能である内燃機関を更に備え、
前記電動機は前記第1車輪とは異なる左右一対の第2車輪に動力を入出力可能であり、 前記流体圧式制動手段は、前記複数の制動系統としてクロス配管を構成する2つの制動系統を有する車両。 - 複数の車輪と、それぞれ作動流体を加圧可能な加圧手段を含むと共に前記複数の車輪のうちの所定の車輪にそれぞれ対応づけられた複数の制動系統を有し、運転者による制動要求操作に応じて発生された作動流体の圧力である操作圧力と前記加圧手段の加圧により発生される作動流体の圧力である加圧圧力とを用いて前記複数の制動系統から制動力を発生可能な流体圧式制動手段とを備えた車両の制御方法であって、
前記制動要求操作がなされたときに運転者により要求されている要求制動力を前記操作圧力と前記加圧圧力とを用いて発生させるときに、前記車両の制動時に取得された該車両の挙動に基づく前記加圧手段による加圧の補正を伴って前記要求制動力が得られるように前記流体圧式制動手段を制御する車両の制御方法。
Priority Applications (3)
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JP2006132863A JP5095955B2 (ja) | 2006-05-11 | 2006-05-11 | 車両およびその制御方法 |
DE102007000264A DE102007000264B4 (de) | 2006-05-11 | 2007-05-09 | Fahrzeug und Steuerverfahren eines Fahrzeugs |
US11/798,116 US20070273204A1 (en) | 2006-05-11 | 2007-05-10 | Vehicle and control method of vehicle |
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JP2006132863A JP5095955B2 (ja) | 2006-05-11 | 2006-05-11 | 車両およびその制御方法 |
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JP5095955B2 JP5095955B2 (ja) | 2012-12-12 |
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Cited By (3)
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JP2009220603A (ja) * | 2008-03-13 | 2009-10-01 | Hitachi Ltd | 車両のブレーキ制御装置 |
WO2010113356A1 (ja) * | 2009-04-03 | 2010-10-07 | 三菱電機株式会社 | エレベータ装置 |
WO2010119889A1 (ja) * | 2009-04-14 | 2010-10-21 | 本田技研工業株式会社 | Bbw式ブレーキ装置 |
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DE102006024239A1 (de) * | 2006-05-23 | 2007-11-29 | Siemens Ag | Verfahren zur Bremsung von elektrisch angetriebenen Fahrzeugen |
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DE102010001941A1 (de) * | 2010-02-15 | 2011-08-18 | Robert Bosch GmbH, 70469 | Verfahren zum Betreiben eines bremskraftverstärkten hydraulischen Bremssystems eines Fahrzeugs und Steuervorrichtung für ein bremskraftverstärktes hydraulisches Bremssystem eines Fahrzeugs |
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JP5549690B2 (ja) * | 2012-01-30 | 2014-07-16 | 株式会社アドヴィックス | 車両用制動制御装置 |
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Also Published As
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US20070273204A1 (en) | 2007-11-29 |
JP5095955B2 (ja) | 2012-12-12 |
DE102007000264A1 (de) | 2007-11-22 |
DE102007000264B4 (de) | 2012-06-06 |
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