JP2015215064A - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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- JP2015215064A JP2015215064A JP2014098973A JP2014098973A JP2015215064A JP 2015215064 A JP2015215064 A JP 2015215064A JP 2014098973 A JP2014098973 A JP 2014098973A JP 2014098973 A JP2014098973 A JP 2014098973A JP 2015215064 A JP2015215064 A JP 2015215064A
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- 238000009826 distribution Methods 0.000 claims abstract description 148
- 230000005856 abnormality Effects 0.000 claims abstract description 93
- 238000000034 method Methods 0.000 claims abstract description 76
- 230000008569 process Effects 0.000 claims abstract description 72
- 230000008859 change Effects 0.000 claims abstract description 45
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 10
- 230000002159 abnormal effect Effects 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 8
- 230000004044 response Effects 0.000 description 7
- 238000003745 diagnosis Methods 0.000 description 3
- 230000004043 responsiveness Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- 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
- B60W30/18172—Preventing, or responsive to skidding of wheels
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- 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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/36—Differential gearings characterised by intentionally generating speed difference between outputs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
-
- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
- B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
-
- 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
- B60W2510/12—Differentials
- B60W2510/125—Locking status
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- 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
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/36—Differential gearings characterised by intentionally generating speed difference between outputs
- F16H2048/368—Differential gearings characterised by intentionally generating speed difference between outputs using additional orbital gears in combination with clutches or brakes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1232—Bringing the control into a predefined state, e.g. giving priority to particular actuators or gear ratios
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Retarders (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
【解決手段】異常が発生したときの路面μ値が高い場合は低い場合よりもフェールセーフ処理過程での制御指令値の単位時間当たりの変化量が小さくされるので、高μ路走行中に左右駆動力配分制御を速やかに停止させた場合に運転者が意図するよりも車両10の戻りが早くなってしまうということが抑制されて、高μ路走行中において車両10の戻りが緩やかとなる。よって、左右駆動力配分装置12による左右駆動力配分制御に関わる異常が発生したときに、その左右駆動力配分制御を停止するときのドライバビリティを向上させることができる。
【選択図】図11
Description
11:駆動力源
12:左右駆動力配分装置
20(20L,20R):左右の後輪(左右の駆動輪)
80:電子制御装置(制御装置)
Claims (3)
- 駆動力源からの動力を左右の駆動輪へ配分する左右駆動力配分装置を備えた車両において、前記左右駆動力配分装置による前記駆動輪への前記駆動力の配分を制御する左右駆動力配分制御を実行する、車両の制御装置であって、
前記左右駆動力配分制御に関わる異常が発生したときの走行路面の摩擦係数の値が高い場合は低い場合よりも前記左右駆動力配分制御を停止する過程での制御指令値の単位時間当たりの変化量を小さくすることを特徴とする車両の制御装置。 - 前記左右駆動力配分制御の停止を開始する時点での制御指令値が所定値よりも高いときに、前記異常が発生したときの前記摩擦係数の値が高い場合は低い場合よりも前記左右駆動力配分制御を停止する過程での制御指令値の単位時間当たりの変化量を小さくすることを特徴とする請求項1に記載の車両の制御装置。
- 前記左右駆動力配分制御を停止する過程での制御指令値の単位時間当たりの変化量は、前記左右駆動力配分制御を停止するまでの時間に基づいて設定されることを特徴とする請求項1又は2に記載の車両の制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014098973A JP6142842B2 (ja) | 2014-05-12 | 2014-05-12 | 車両の制御装置 |
EP15766231.3A EP3143308B1 (en) | 2014-05-12 | 2015-05-12 | Control device for vehicle |
PCT/IB2015/000938 WO2015173638A1 (en) | 2014-05-12 | 2015-05-12 | Control device for vehicle |
US15/309,860 US9834091B2 (en) | 2014-05-12 | 2015-05-12 | Control device for vehicle |
CN201580024374.XA CN106458211B (zh) | 2014-05-12 | 2015-05-12 | 用于车辆的控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014098973A JP6142842B2 (ja) | 2014-05-12 | 2014-05-12 | 車両の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015215064A true JP2015215064A (ja) | 2015-12-03 |
JP6142842B2 JP6142842B2 (ja) | 2017-06-07 |
Family
ID=54147232
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2014098973A Active JP6142842B2 (ja) | 2014-05-12 | 2014-05-12 | 車両の制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9834091B2 (ja) |
EP (1) | EP3143308B1 (ja) |
JP (1) | JP6142842B2 (ja) |
CN (1) | CN106458211B (ja) |
WO (1) | WO2015173638A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB201608745D0 (en) | 2016-05-18 | 2016-06-29 | Qinetiq Ltd | Drive configuration for a skid steered vehicle |
CN110035939B (zh) * | 2016-12-13 | 2022-05-13 | 日立安斯泰莫株式会社 | 车辆控制装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0747857A (ja) * | 1993-08-03 | 1995-02-21 | Nissan Motor Co Ltd | 差動制限トルク制御装置 |
JP2010164082A (ja) * | 2009-01-13 | 2010-07-29 | Honda Motor Co Ltd | 駆動力配分装置 |
JP2010208387A (ja) * | 2009-03-09 | 2010-09-24 | Honda Motor Co Ltd | 車両挙動制御装置 |
JP2011005903A (ja) * | 2009-06-24 | 2011-01-13 | Honda Motor Co Ltd | 車両挙動制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001336619A (ja) * | 2000-05-26 | 2001-12-07 | Honda Motor Co Ltd | 路面勾配検出装置 |
JP4237378B2 (ja) * | 2000-06-29 | 2009-03-11 | 富士重工業株式会社 | 車両の駆動力伝達制御装置 |
DE102004043487B4 (de) * | 2003-09-09 | 2010-06-10 | Mitsubishi Jidosha Kogyo K.K. | Antriebskraftverteilungs- und Steuervorrichtung für ein Fahrzeug |
JP2009299779A (ja) | 2008-06-12 | 2009-12-24 | Toyota Motor Corp | 車両用駆動力配分装置の制御装置 |
JP5144805B2 (ja) * | 2009-04-10 | 2013-02-13 | トヨタ自動車株式会社 | 車両用駆動装置の制御装置 |
DE102009026813A1 (de) * | 2009-06-08 | 2010-12-09 | Robert Bosch Gmbh | Verfahren zur Erzeugung eines auf die Fahrzeugräder eines Fahrzeugs wirkenden Differenzmoments |
DE102010015423A1 (de) * | 2010-04-19 | 2011-10-20 | Audi Ag | Antriebsvorrichtung für ein allradgetriebenes Fahrzeug |
US20130231837A1 (en) * | 2012-03-02 | 2013-09-05 | GM Global Technology Operations LLC | Electronic control of a limited slip differential |
-
2014
- 2014-05-12 JP JP2014098973A patent/JP6142842B2/ja active Active
-
2015
- 2015-05-12 US US15/309,860 patent/US9834091B2/en active Active
- 2015-05-12 CN CN201580024374.XA patent/CN106458211B/zh active Active
- 2015-05-12 WO PCT/IB2015/000938 patent/WO2015173638A1/en active Application Filing
- 2015-05-12 EP EP15766231.3A patent/EP3143308B1/en not_active Not-in-force
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0747857A (ja) * | 1993-08-03 | 1995-02-21 | Nissan Motor Co Ltd | 差動制限トルク制御装置 |
JP2010164082A (ja) * | 2009-01-13 | 2010-07-29 | Honda Motor Co Ltd | 駆動力配分装置 |
JP2010208387A (ja) * | 2009-03-09 | 2010-09-24 | Honda Motor Co Ltd | 車両挙動制御装置 |
JP2011005903A (ja) * | 2009-06-24 | 2011-01-13 | Honda Motor Co Ltd | 車両挙動制御装置 |
Also Published As
Publication number | Publication date |
---|---|
US20170144543A1 (en) | 2017-05-25 |
WO2015173638A1 (en) | 2015-11-19 |
EP3143308B1 (en) | 2017-10-11 |
CN106458211B (zh) | 2019-01-08 |
JP6142842B2 (ja) | 2017-06-07 |
CN106458211A (zh) | 2017-02-22 |
US9834091B2 (en) | 2017-12-05 |
EP3143308A1 (en) | 2017-03-22 |
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