JP2008178216A - 自動車及び自動車の制御装置 - Google Patents
自動車及び自動車の制御装置 Download PDFInfo
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- JP2008178216A JP2008178216A JP2007009231A JP2007009231A JP2008178216A JP 2008178216 A JP2008178216 A JP 2008178216A JP 2007009231 A JP2007009231 A JP 2007009231A JP 2007009231 A JP2007009231 A JP 2007009231A JP 2008178216 A JP2008178216 A JP 2008178216A
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- Prior art keywords
- torque
- wheel
- acceleration
- vehicle
- braking
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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
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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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60K6/442—Series-parallel switching type
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- 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
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- B60W40/10—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
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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
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- Y02T10/64—Electric machine technologies in electromobility
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
【解決手段】自動車の車輪の駆動トルク及び/又は制動トルクを制御する自動車の制御装置であって、車輪のスリップ率が、前記車輪と路面との摩擦力が最大となる値よりも小さい範囲にあり、且つ前記制御装置に対して前記駆動トルク又は制動トルクを増加させる指令が入力されている場合には、前記駆動トルク又は制動トルクを漸増させる第1の制御モードと、前記駆動トルク又は制動トルクを漸減させる第2の制御モードとを、スリップ状態に応じて選択して用いて前記駆動トルク又は制動トルクを制御する。
【選択図】図10
Description
SR = (VG −VW )/VG …(2)
ここで、VG は車体速度、VW は車輪の外周速度である。
すなわち,トルク制限器123は,トルク目標値算出手段により算出された前記第1のトルク目標値より所定値を差し引いた第2のトルク目標値を算出する。
2 変速機
3 発電機
4a、4b 前輪軸
4c、4d 後輪軸
5a、5b 前輪
5c、5d後輪
6 電力線
7 電動モータ
8 リアディファレンシャル装置
9a、9b、9c、9d 車輪速センサ
100 4WDコントローラ
101 モータトルク目標値算出部
102 モータトルク推定値算出部
103 トラクションコントロール部
104 界磁電流制御部
110 後輪スリップ判定器
111 前後輪速差スリップ判定器
112 リア左右輪速差スリップ判定器
113 後輪加速度スリップ判定器
114 車速スリップ判定器
120 トルク制御器
121 TCSモード判定器
122 車体加速度オブザーバ
123 トルク制限器
124 加速度フィードバック制御器
125 トルク切替器
138、139 加合点
141 空転トルク算出部
142 車軸駆動トルク算出部
143 有効駆動力算出部
144 車体加速度推定値算出部
145 車体速推定値算出部
146 疑似車体速生成器
147 外力算出部
148 後輪加速度算出部
151 制限器
152 後輪加速度目標値算出部
153 ゲイン設定器
154 制限器
155、156 加合点
157 後輪加速度算出部
Claims (8)
- 自動車の車輪の駆動トルク及び/又は制動トルクを制御する自動車の制御装置であって、
前記車輪のスリップ率が、前記車輪と路面との摩擦力が最大となる値よりも小さい範囲にあり、且つ前記制御装置に対して前記駆動トルク又は制動トルクを増加させる指令が入力されている場合には、前記駆動トルク又は制動トルクを漸増させる第1の制御モードと、前記駆動トルク又は制動トルクを漸減させる第2の制御モードとを、スリップ状態に応じて選択して用いて前記駆動トルク又は制動トルクを制御することを特徴とする自動車の制御装置。 - 自動車の車輪の駆動トルク及び/又は制動トルクを制御する自動車の制御装置であって、
前記車輪のスリップ率が増大したことを判定するスリップ判定手段と、
前記駆動トルク又は制動トルクを増加させる指令が入力されている場合には、前記駆動トルク又は制動トルクを漸増させる第1のトルク目標値を算出するトルク目標値算出手段と、
前記トルク目標値算出手段により算出された前記第1のトルク目標値より所定値を差し引いた第2のトルク目標値を算出するトルク制限手段と、
車輪加速度を計測又は推定する車輪加速度情報取得手段と、
車体加速度を計測又は推定する車体加速度情報取得手段と、
前記車輪加速度情報取得手段によって計測又は推定された車輪加速度が、前記車体加速度情報取得手段によって計測又は推定された車体加速度に所定の係数をかけて得られる車輪加速度目標値に一致するようにトルク制御を行う第3のトルク目標値を算出する加速度フィードバック制御手段とを有し、
前記スリップ判定手段による判定結果と、前記第1のトルク目標値と前記第3のトルク目標値との大小関係に応じて前記第1のトルク目標値と前記第2のトルク目標値と前記第3のトルク目標値の何れか一つを選択して前記駆動トルク又は制動トルクを制御することを特徴とする自動車の制御装置。 - 自動車の車輪の駆動トルク及び/又は制動トルクを制御する自動車の制御装置であって、
車輪加速度を計測又は推定する車輪加速度情報取得手段と、
車体加速度を計測又は推定する車体加速度情報取得手段と、
前記車輪加速度情報取得手段によって計測又は推定された車輪加速度が、前記車体加速度情報取得手段によって計測又は推定された車体加速度に所定の係数をかけて得られる車輪加速度目標値に、一致するように、前記駆動トルク又は制動トルクを制御する加速度フィードバック制御手段と、
を有することを特徴とする自動車の制御装置。 - アクセル開度、ブレーキペダル踏み込み量、舵角の少なくともいずれか一つに応じて前記車体加速度にかける前記係数を設定することを特徴とする請求項3に記載の自動車の制御装置。
- 少なくとも一つの前記車輪の速度を計測する車輪速センサと、少なくとも一つの前記車輪の駆動トルク又は制動トルクを計測又は推定する車輪トルク情報取得手段とを備え、
前記車体加速度情報取得手段は、前記車輪速センサによって計測された車輪速と前記車輪トルク情報取得手段によって計測又は推定された駆動トルク又は制動トルクを用いて前記車体加速度を推定することを特徴とする請求項2から4の何れか一項に記載の自動車の制御装置。 - 前記車体加速度情報取得手段は、前記車輪速を微分して予め設定した定数をかけた値を空転トルクとし、前記駆動トルク又は制動トルクと前記空転トルクの差を車輪半径で割って路面に伝わっている有効駆動力又は有効制動力を算出する有効制駆動力算出手段と、少なくとも一つの車輪速を基に疑似車体速を算出する疑似車体速算出手段と、車体加速度推定値算出手段によって算出される車体加速度を積分して車体速を算出する車体速算出手段と、前記車体速算出手段によって算出された車体速と前記疑似車体速算出手段によって算出された疑似車体速の差に応じて外力を算出する外力算出手段と、前記有効制駆動力算出手段によって算出された有効駆動力又は有効制動力と前記外力算出手段によって算出された外力との和を車両重量で割った値を車体加速度として算出する前記車体加速度推定値算出手段と、を有することを特徴とする請求項2から5の何れか一項に記載の自動車の制御装置。
- 前記疑似車体速算出手段は、前記車輪速センサで計測した少なくとも一つの車輪速に遅延処理と平滑化処理の少なくともいずれか一方を行うことで疑似車体速を算出することを特徴とする請求項6に記載の自動車の制御装置。
- 自動車の車輪の駆動トルク及び/又は制動トルクを制御装置により制御する自動車であって、
前記車輪のスリップ率が、前記車輪と路面との摩擦力が最大となる値よりも小さい範囲にあり、且つ前記制御装置に対して前記駆動トルク又は制動トルクを増加させる指令が入力されている場合には、前記駆動トルク又は制動トルクを漸増させる第1の制御モードと、前記駆動トルク又は制動トルクを漸減させる第2の制御モードとをスリップ状態に応じて選択して用いて前記駆動トルク及び/又は制動トルクを制御することを特徴とする自動車。
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US12/516,304 US20100114447A1 (en) | 2007-01-18 | 2008-01-15 | Automobile and control device for automobile |
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2008
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Also Published As
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WO2008087925A1 (ja) | 2008-07-24 |
EP2106955A4 (en) | 2013-09-18 |
US20100114447A1 (en) | 2010-05-06 |
JP4413931B2 (ja) | 2010-02-10 |
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