JP2009143432A - 車両用挙動制御装置 - Google Patents
車両用挙動制御装置 Download PDFInfo
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- B60L7/18—Controlling the braking effect
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- 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
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- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
- B60T8/267—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means for hybrid systems with different kind of brakes on different axles
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- 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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- 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
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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, 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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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
- 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
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- 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
- B60T2270/30—ESP control system
- B60T2270/303—Stability control with active acceleration
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- 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
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- 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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- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/44—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open 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
- 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
- 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
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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
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
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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
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/28—Fuel cells
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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
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- B60W2710/083—Torque
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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
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Abstract
【解決手段】車両挙動に基づいて、各車輪それぞれに発生させるべき要求トルクを演算し、その演算される各車輪の要求トルクに対して、摩擦制動手段により車輪に発生させる摩擦制動トルクとして各車輪均一のトルク値を、かつ、各車輪の電気モータごとに車輪に発生させる駆動トルク又は回生制動トルクとしてそれぞれ独立したトルク値を、それぞれ設定する。この際、車載バッテリの電池残量を測定し、その測定される電池残量に応じて、設定される摩擦制動手段による摩擦制動トルクと電気モータによる駆動トルク又は回生制動トルクとの配分を変更する。
【選択図】図2
Description
+2π∫TRR・ωRRdt+2π∫TRL・ωRLdt ・・・(1)
但し、Wは電力回生量であり、電力回生側が+であり、電力消費側が−である。また、Tは制動トルクであり、制動トルク側が+であり、駆動トルク側が−である。更に、ωは各車輪FR,FL,RR,RLそれぞれの回転数である。
12 電気モータ
14 車載バッテリ
16 電子制御ユニット(ECU)
17 バッテリ状態センサ
18 摩擦制動機構
20 ブレーキペダル
24 マスタシリンダ
26 ホイルシリンダ
42 増圧用リニアバルブ
44 ポンプ
46 アキュムレータ
50 減圧用リニアバルブ
Claims (7)
- 電力を充放電可能な車載バッテリと、複数の車輪それぞれに設けられ、前記車載バッテリから電力が供給されることにより対応の車輪に駆動トルクを付与し、また、対応の車輪に回生制動トルクを発生させることにより前記車載バッテリに回生電力を供給する電気モータと、車輪に摩擦制動トルクを発生させる摩擦制動手段と、を備える車両の挙動を制御する装置であって、
車両挙動に基づいて、各車輪それぞれに発生させるべき要求トルクを演算する要求トルク演算手段と、
前記要求トルク演算手段により演算される各車輪の要求トルクに対して、前記摩擦制動手段により車輪に発生させる摩擦制動トルクとして各車輪均一のトルク値を、かつ、各車輪の前記電気モータごとに車輪に発生させる駆動トルク又は回生制動トルクとしてそれぞれ独立したトルク値を、それぞれ設定するトルク値設定手段と、
を備えることを特徴とする車両用挙動制御装置。 - 前記トルク値設定手段は、
前記車載バッテリの電池残量を測定する電池残量測定手段と、
前記電池残量測定手段により測定される前記電池残量に応じて、前記要求トルク演算手段により演算される各車輪の要求トルクに対して設定される前記摩擦制動手段による摩擦制動トルクと前記電気モータによる駆動トルク又は回生制動トルクとの配分を変更するトルク配分変更手段と、
を有することを特徴とする請求項1記載の車両用挙動制御装置。 - 前記トルク配分変更手段は、前記電池残量測定手段により測定される前記電池残量が多いほど、設定される前記摩擦制動手段による摩擦制動トルクの配分を増やし、かつ、設定される前記電気モータによる駆動トルクの配分を増やし或いは回生制動トルクの配分を減らすことを特徴とする請求項2記載の車両用挙動制御装置。
- 前記トルク配分変更手段は、前記電池残量測定手段により測定される前記電池残量が少なくとも満充電状態にあるときは、各車輪の前記電気モータに対して設定されるトルク値を合算した総トルク値が駆動トルク側となるように、前記摩擦制動手段による摩擦制動トルクと前記電気モータによる駆動トルク又は回生制動トルクとの配分を変更することを特徴とする請求項2又は3記載の車両用挙動制御装置。
- 前記摩擦制動手段は、少なくとも2つの車輪に同時に均一の摩擦制動トルクを付与する摩擦制動機構であることを特徴とする請求項1乃至4の何れか一項記載の車両用挙動制御装置。
- 前記摩擦制動機構は、ブレーキ操作手段に接続するマスタシリンダと、各車輪ごとに設けられ、前記マスタシリンダに連通路を介して連通して車輪に摩擦制動トルクを付与するホイルシリンダと、高圧のブレーキフルードを吐出可能なポンプと、前記ポンプの吐出側から供給されかつリザーバタンクへ排出される前記ホイルシリンダのブレーキフルード圧を調整するリニアバルブと、を有することを特徴とする請求項5記載の車両用挙動制御装置。
- 前記要求トルク演算手段は、車両の目標ヨーレートと実ヨーレートとの差に基づいて、車両の旋回挙動を安定化すべく各車輪それぞれに発生させるべき要求トルクを演算することを特徴とする請求項1記載の車両用挙動制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007323543A JP4412400B2 (ja) | 2007-12-14 | 2007-12-14 | 車両用挙動制御装置 |
US12/808,057 US20100292882A1 (en) | 2007-12-14 | 2008-12-11 | Vehicle behavior control device, and vehicle behavior control method |
RU2010123893/11A RU2448006C2 (ru) | 2007-12-14 | 2008-12-11 | Устройство и способ для управления поведением транспортного средства |
PCT/IB2008/003434 WO2009077835A1 (en) | 2007-12-14 | 2008-12-11 | Vehicle behavior control device, and vehicle behavior control method |
BRPI0820880-8A BRPI0820880A2 (pt) | 2007-12-14 | 2008-12-11 | Dispositivo de controle de comportamento de veículo e método de controle de comportamento de veículo |
EP08861579A EP2231449B1 (en) | 2007-12-14 | 2008-12-11 | Vehicle behavior control device, and vehicle behavior control method |
CN2008801212359A CN101903223B (zh) | 2007-12-14 | 2008-12-11 | 车辆行为控制设备以及车辆行为控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2007323543A JP4412400B2 (ja) | 2007-12-14 | 2007-12-14 | 車両用挙動制御装置 |
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US (1) | US20100292882A1 (ja) |
EP (1) | EP2231449B1 (ja) |
JP (1) | JP4412400B2 (ja) |
CN (1) | CN101903223B (ja) |
BR (1) | BRPI0820880A2 (ja) |
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WO (1) | WO2009077835A1 (ja) |
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-
2007
- 2007-12-14 JP JP2007323543A patent/JP4412400B2/ja not_active Expired - Fee Related
-
2008
- 2008-12-11 CN CN2008801212359A patent/CN101903223B/zh not_active Expired - Fee Related
- 2008-12-11 RU RU2010123893/11A patent/RU2448006C2/ru not_active IP Right Cessation
- 2008-12-11 EP EP08861579A patent/EP2231449B1/en not_active Not-in-force
- 2008-12-11 BR BRPI0820880-8A patent/BRPI0820880A2/pt not_active IP Right Cessation
- 2008-12-11 WO PCT/IB2008/003434 patent/WO2009077835A1/en active Application Filing
- 2008-12-11 US US12/808,057 patent/US20100292882A1/en not_active Abandoned
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102085811A (zh) * | 2009-12-04 | 2011-06-08 | 爱信艾达株式会社 | 驾驶辅助装置、方法以及程序 |
CN102085811B (zh) * | 2009-12-04 | 2014-10-15 | 爱信艾达株式会社 | 驾驶辅助装置以及方法 |
JP2011125164A (ja) * | 2009-12-11 | 2011-06-23 | Honda Motor Co Ltd | 移動装置 |
JP2011126480A (ja) * | 2009-12-21 | 2011-06-30 | Mitsubishi Motors Corp | 車両用左右駆動力調整装置の制御装置 |
JP2012040964A (ja) * | 2010-08-20 | 2012-03-01 | Toyota Motor Corp | 車両の制動制御装置 |
JP2014500174A (ja) * | 2010-10-19 | 2014-01-09 | ルノー エス.ア.エス. | 電気動力自動車またはハイブリッド自動車のための制動方法およびシステム |
JP2014534802A (ja) * | 2011-11-08 | 2014-12-18 | ルノー エス.ア.エス. | 模擬エンジンブレーキの指示の調節 |
JP2013163422A (ja) * | 2012-02-09 | 2013-08-22 | Hitachi Automotive Systems Ltd | 車両運動制御装置及び車両運動制御方法 |
JP2013173527A (ja) * | 2013-03-27 | 2013-09-05 | Mitsubishi Motors Corp | 車両用左右駆動力調整装置の制御装置 |
JP2017077750A (ja) * | 2015-10-19 | 2017-04-27 | トヨタ自動車株式会社 | 車両制御装置 |
Also Published As
Publication number | Publication date |
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RU2448006C2 (ru) | 2012-04-20 |
JP4412400B2 (ja) | 2010-02-10 |
CN101903223A (zh) | 2010-12-01 |
CN101903223B (zh) | 2013-07-24 |
US20100292882A1 (en) | 2010-11-18 |
BRPI0820880A2 (pt) | 2015-06-16 |
RU2010123893A (ru) | 2012-01-20 |
EP2231449A1 (en) | 2010-09-29 |
WO2009077835A1 (en) | 2009-06-25 |
EP2231449B1 (en) | 2013-04-03 |
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