JP2013163422A - 車両運動制御装置及び車両運動制御方法 - Google Patents
車両運動制御装置及び車両運動制御方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
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- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
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- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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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
- B60T8/17—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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- 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
- B60T8/26—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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- 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
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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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
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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
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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
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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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- Y10S903/00—Hybrid electric vehicles, HEVS
- 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
- Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking
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Abstract
【解決手段】車両50に要求される制駆動力に基づいて、前輪と後輪とに制駆動力を配分すると共に、前輪と後輪の少なくとも一方におけるスリップ率に対する制動力の割合が減少した際には、前輪と後輪のうち電気モータ13によって制駆動力が発生される車輪の制駆動力を減少させる。
【選択図】図2
Description
1b ブレーキペダル
2a アクセルペダル操作量検出器
2b ブレーキペダル操作量検出器
3 マスタシリンダ
4 エンジン(駆動源)
6FL、6FR、6RL、6RR 摩擦ブレーキ(ブレーキ装置)
7FL、7FR 前輪
7RL、7RR 後輪
8FL、8FR、8RL、8RR 車輪速センサ
10 車両運動制御装置
11 コントローラ
12 摩擦ブレーキ制御装置
13 電気モータ
14 車両状態検出器
15 外界情報検出器
16 インバータ
17 バッテリ
18 バッテリコントローラ
19 小型モータ
21 車輪速算出部
22 車両速度算出部
23 スリップ率算出部
24 加速度算出部
25 制駆動力算出部
26 ブレーキングスティフネス算出部
27 路面μ算出部
31 要求総制動力算出部
32 要求総制動力時間変化率算出部
33 外界情報検出部
34 不安定リスク算出部
35 回生能力算出部
41 前後制動力配分部
42 摩擦回生配分部
43 摩擦制動力配分部
45 補正演算部
50 車両
Claims (14)
- 前輪と後輪の少なくとも一方に制動力を発生させるブレーキ装置と、前輪と後輪の少なくとも一方に駆動力を発生させる駆動源と、前輪もしくは後輪に回生制動力と電気駆動力を発生させる電気モータと、を備えた車両の運動を制御する車両運動制御装置であって、
前記車両運動制御装置は、前記車両に要求される制駆動力に基づいて、前記前輪と前記後輪とに制駆動力を配分する制駆動力配分部を備え、
前記制駆動力配分部は、前記前輪と前記後輪の少なくとも一方におけるスリップ率に対する制駆動力の割合が減少した際に、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする車両運動制御装置。 - 前記制駆動力配分部は、運転者及び/又は別途の制御装置から前記車両に要求される前記制駆動力の時間変化率が増加した際に、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする請求項1に記載の車両運動制御装置。
- 前記制駆動力配分部は、運転者によって操作されるブレーキペダルもしくはアクセルペダルの操作量の時間変化率が増加した際に、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする請求項2に記載の車両運動制御装置。
- 前記電気モータは前記後輪に接続されており、
前記制駆動力配分部は、前記前輪と前記後輪の少なくとも一方におけるスリップ率に対する制動力の割合が減少した際に、前記後輪の制動力を減少させることを特徴とする請求項1に記載の車両運動制御装置。 - 前記制駆動力配分部は、前記車両の加速度もしくは前記車両の加速度の予測値が増加した際に、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする請求項1に記載の車両運動制御装置。
- 前記制駆動力配分部は、現在及び/又は将来の車両の不安定リスクが高い及び/又は高くなると判断した際に、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする請求項1に記載の車両運動制御装置。
- 前記制駆動力配分部は、自車両周辺の外界情報に基づいて前記車両の不安定リスクが高い及び/又は高くなると判断することを特徴とする請求項6に記載の車両運動制御装置。
- 前記車両運動制御装置は、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させる際に、前記電気モータによって発生される回生制動力を前記ブレーキ装置によって発生される制動力よりも大きくすることを特徴とする請求項1に記載の車両運動制御装置。
- 前記車両運動制御装置は、前記車両の旋回時に前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させる際に、旋回外側の車輪の制動力を旋回内側の車輪の制動力よりも大きくすることを特徴とする請求項1に記載の車両運動制御装置。
- 前記制駆動力配分部は、前記前輪と前記後輪の少なくとも一方におけるスリップ率に対する前記車両の加速度の割合が所定値よりも減少した際に、前記電気モータによって発生される制駆動力を減少させることを特徴とする請求項1に記載の車両運動制御装置。
- 前記スリップ率は、前記車両の各車輪の車輪速と前記車両の速度とに基づいて算出されることを特徴とする請求項1に記載の車両運動制御装置。
- 前輪と後輪の少なくとも一方に制動力を発生させるブレーキ装置と、前輪と後輪の少なくとも一方に駆動力を発生させる駆動源と、前輪もしくは後輪に回生制動力と電気駆動力を発生させる電気モータと、を備えた車両の運動を制御する車両運動制御方法であって、
前記車両に要求される制駆動力に基づいて、前記前輪と前記後輪とに制駆動力を配分すると共に、前記前輪と前記後輪の少なくとも一方におけるスリップ率に対する制動力の割合が減少した際には、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする車両運動制御方法。 - 運転者及び/又は別途の制御装置から前記車両に要求される前記制駆動力の時間変化率が増加した際に、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする請求項12に記載の車両運動制御方法。
- 運転者によって操作されるブレーキペダルもしくはアクセルペダルの操作量の時間変化率が増加した際には、前記前輪と前記後輪のうち前記電気モータによって制駆動力が発生される車輪の該制駆動力を減少させることを特徴とする請求項12に記載の車両運動制御方法。
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