JP2012061945A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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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
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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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
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
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- B60—VEHICLES IN GENERAL
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- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
- B60W2050/0088—Adaptive recalibration
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- 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
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- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0095—Automatic control mode change
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- 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
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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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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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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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
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- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
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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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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
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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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/945—Characterized by control of gearing, e.g. control of transmission ratio
Abstract
【解決手段】車両の走行状態に基づく指標を求め、前記指標に応じて車両の走行特性を変化させる車両制御装置において、前記車両を機敏に走行させる方向への前記指標の前記走行状態の変化に対する変化を、前記車両の走行の機敏さを低下させる方向への前記指標の前記走行状態の変化に対する変化より遅くする指標設定手段(ステップS2)を有し、前記車両の駆動力源の出力を制御することに伴って、予め定めた範囲内で駆動力源の燃費エネルギ効率を変化させるように、前記指標に基づいて走行特性を補正設定するように構成された制御器(ステップS8)を備えている。
【選択図】図1
Description
瞬時スポーツ度(瞬時SPI)Iin=(Gx2+Gy2)1/2
で算出される。ここで、加速度はセンサで検出された加速度に限らず、アクセル開度や操舵角、ブレーキ踏力もしくはブレーキペダルの踏み込み量などの運転者による操作に基づいて演算もしくは推定されたものであってもよい。また、「瞬時スポーツ度Iin」とは、車両の走行中における各瞬間毎に、各方向の加速度が求められ、その加速度に基づいて算出される指標という意味であり、いわゆる物理量である。なお、「各瞬間毎」とは、加速度の検出およびそれに基づく瞬時スポーツ度Iinの算出が所定のサイクルタイムで繰り返し実行される場合には、その繰り返しの都度を意味する。
ジャーク={(dGx/dt)2+(dGy/dt)2}1/2
である。こうして演算されたジャーク(すなわち瞬時スポーツ度(合成加速度)Iinの時間微分値)が予め定めた禁止判断閾値αより大きいか否かが判断される(ステップS4)。この禁止判断閾値αは、加速度の変化と走行特性の変更に伴う挙動の変化とが重畳することが好ましくないと考えられるジャークの下限値であり、走行実験やシミュレーションなどによって予め定めたものである。そして、この禁止判断閾値αは、走行特性の全体について一つの値を設定することができるが、これとは異なり、走行特性を規定する(走行特性に含まれる)駆動力特性や変速特性、操舵特性、懸架特性(ダンパ特性もしくはサスペンション特性)などの各特性毎に設定することができる。その場合、変化が車両の搭乗者に体感されやすい特性についての禁止判断閾値αほど小さい値とする。こうすることにより、加速度が変化している際の、変化が体感されやすい特性の変化が、より強く制限される。さらにまた、上記の禁止判断閾値αは、一定値であってもよく、あるいは車速などの他の要因に応じて変化する変数であってもよい。
Claims (8)
- 車両の走行状態に基づく指標を求め、前記指標に応じて車両の走行特性を変化させる車両制御装置において、
前記車両を機敏に走行させる方向への前記指標の前記走行状態の変化に対する変化を、前記車両の走行の機敏さを低下させる方向への前記指標の前記走行状態の変化に対する変化より遅くする指標設定手段を有し、
前記車両の駆動力源の出力を制御することに伴って、予め定めた範囲内で駆動力源の燃費エネルギ効率を変化させるように、前記指標に基づいて走行特性を補正設定するように構成された制御器を備えている
ことを特徴とする車両制御装置。 - 前記走行状態は、前記車両の前後加速度成分と横加速度成分とを含む合成加速度を含み、
前記指標設定手段は、前記指標を、前記合成加速度が大きいほど大きい値とする手段を含み、
前記制御器は、前記指標が小さい合成加速度に基づいて求められたものであるときには、前記指標が大きい合成加速度に基づいて求められたものであるときよりも、前記駆動力源の燃費エネルギ効率が良好になる走行特性を設定するように構成されている
ことを特徴とする請求項1に記載の車両制御装置。 - 前記車両は、前記制御器によって回転数が制御される内燃機関を備え、
前記制御器の制御特性は、前記内燃機関の燃費が予め定め範囲内の燃費効率側となる特性に設定されることを特徴とする請求項1まは2に記載の車両制御装置。 - 前記車両は、変速比を変化させることにより前記内燃機関の回転数が変化する変速機を更に備え、
前記制御器は、前記変速機の変速比を変化させる制御器を含み、
前記制御器の制御特性は、前記変速機の変速比に応じた前記内燃機関の回転数が前記予め定め範囲内の燃費効率が得られる回転数となるように前記変速比を制御する特性に設定されることを特徴とする請求項3に記載の車両制御装置。 - 前記内燃機関が出力した動力を分割する差動作用を行う動力分割機構と、その動力分割機構に連結されるとともに発電量に応じて前記内燃機関の回転数を変化させることのできる発電機とを更に備え、
前記制御器は、前記発電機の回転数を制御して前記内燃機関の回転数を制御する制御器を含み、
前記制御器の制御特性は、前記発電機の回転数に応じた前記内燃機関の回転数が前記予め定めた範囲内の燃費効率側の回転数となるように前記発電機の回転数を制御する特性に設定されることを特徴とする請求項3に記載の車両制御装置。 - 前記車両は、前記発電機で発電した電力を蓄える蓄電装置を更に備え、
その蓄電装置に既に蓄えられている電力量が多い場合には、既に蓄えられている電力量が少ない場合に比較して、前記予め定めた範囲内の燃費効率側となる前記回転数が相対的に低回転数とされている
ことを特徴とする請求項5に記載の車両制御装置。 - 前記加速度は、前記車両の前後加速度成分と横加速度成分とを含むことを特徴とする請求項1ないし6のいずれかに記載の車両制御装置。
- 前記車両が走行する路面を含む前記車両の外部の環境である走行環境に関する情報を取得するとともに、前記制御器は、前記指標に加えて前記走行環境情報に応じて前記制御器の制御特性を変更するように構成されている
ことを特徴とする請求項1ないし7のいずれかに記載の車両制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010207210A JP5497598B2 (ja) | 2010-09-15 | 2010-09-15 | 車両制御装置 |
US13/704,858 US8972087B2 (en) | 2010-09-15 | 2011-09-14 | Vehicle control system |
CN201180044681.6A CN103108763B (zh) | 2010-09-15 | 2011-09-14 | 车辆控制系统 |
DE112011103085T DE112011103085T5 (de) | 2010-09-15 | 2011-09-14 | Fahrzeugsteuersystem |
PCT/IB2011/002128 WO2012035405A2 (en) | 2010-09-15 | 2011-09-14 | Vehicle control system |
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- 2011-09-14 US US13/704,858 patent/US8972087B2/en not_active Expired - Fee Related
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
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CN104047745A (zh) * | 2013-03-15 | 2014-09-17 | 福特全球技术公司 | 对混合动力电动车辆中的目标发动机转速的海拔补偿 |
CN104047745B (zh) * | 2013-03-15 | 2018-07-17 | 福特全球技术公司 | 对混合动力电动车辆中的目标发动机转速的海拔补偿 |
JP2014201100A (ja) * | 2013-04-02 | 2014-10-27 | 株式会社デンソー | ハイブリッド車の制御装置 |
JP2015017571A (ja) * | 2013-07-12 | 2015-01-29 | マツダ株式会社 | 車両の制御装置 |
JP2015048941A (ja) * | 2013-08-30 | 2015-03-16 | 現代自動車株式会社 | 車両用自動変速機の変速制御方法 |
JP2017206110A (ja) * | 2016-05-18 | 2017-11-24 | トヨタ自動車株式会社 | ハイブリッド自動車 |
KR20200102345A (ko) * | 2019-02-20 | 2020-08-31 | 도요타지도샤가부시키가이샤 | 제동력 제어 장치 및 차량 |
KR102285061B1 (ko) | 2019-02-20 | 2021-08-05 | 도요타지도샤가부시키가이샤 | 제동력 제어 장치 및 차량 |
CN113006951A (zh) * | 2019-12-20 | 2021-06-22 | 丰田自动车株式会社 | 车辆用控制数据的生成方法、车辆用控制装置、车辆用控制系统以及车辆用学习装置 |
CN113006951B (zh) * | 2019-12-20 | 2023-04-28 | 丰田自动车株式会社 | 车辆用控制数据的生成方法、车辆用控制装置、车辆用控制系统以及车辆用学习装置 |
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JP5497598B2 (ja) | 2014-05-21 |
DE112011103085T5 (de) | 2013-08-01 |
WO2012035405A2 (en) | 2012-03-22 |
CN103108763B (zh) | 2016-01-20 |
CN103108763A (zh) | 2013-05-15 |
US8972087B2 (en) | 2015-03-03 |
WO2012035405A3 (en) | 2012-05-10 |
WO2012035405A8 (en) | 2012-09-13 |
US20130166121A1 (en) | 2013-06-27 |
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