JP2016020215A - 車両制御システムおよび車両制御方法 - Google Patents
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Abstract
Description
(a)エンジンの回転数、
(b)電動モータ手段の回転数、
(c)車両の速度、
(d)車両の縦方向加速度、
(e)車両の横方向加速度、
(f)加速ペダル位置、
(g)加速ペダルキックダウン検出器の状態、
(h)ブレーキペダル位置
(i)ドライバが要求したブレーキトルクにおける回生ブレーキトルクの大きさの割合、
(j)車両のドライブラインの少なくとも一部の速度、
(k)正のドライブトルクの大きさ、
(l)正のドライブトルクリクエストの変化率、
(m)操舵車輪角度、および
(n)操舵車輪角度の変化率。
(1)各タイプの制御モードに対して、その制御モードが車両走行中の地形に対して適当であるという確度(確からしさ)を地形指標に基づいて計算する。
(2)現在の制御モードと他の制御モードの確度の「正の差」を積分する。
(3)積分確度値が所定の閾値を超えた場合、または現在の地形制御モードの確度がゼロである場合、サブシステム制御モジュール14に対するリクエストをプログラムする。
32…HMIモジュール、32a…選択スイッチ、32b…メッセージモジュール、32c…高レベル表示機能(HLDF)モジュール、34…制御モジュール、52…エアサスペンション設定信号、54…動力分配設定信号、
100…ドライバ評価インデックス、102…ブレーキ操作パターン評価ブロック、104…回生ブレーキトルク・リクエスト信号、106…全体ブレーキトルク・リクエスト信号、110…縦方向加速度信号、112…ドライブライン速度信号、114…加速ペダル位置信号、108…縦方向加速度評価ブロック、118…ドライバ評価カウンタ機能ブロック、112…ドライブライン速度信号、114…加速ペダル位置信号、120…横方向加速度評価ブロック、122…横方向加速度信号、124…キックダウンスイッチ評価ブロック、126…キックダウンスイッチ起動信号、128…車両速度信号、130…ギア位置選択信号。
Claims (18)
- 車両の少なくとも1つの車両サブシステムのための車両制御システムであって、
車両の1つまたはそれ以上の異なる地形タイプに対応する複数のサブシステム制御モードのうちから選択された1つのサブシステム制御モードで、当該車両サブシステムまたは各車両サブシステムの制御を開始するためのサブシステム制御部と、
車両走行中の地形を表す複数の地形指標信号を受信し、評価して、各サブシステム制御モードが車両走行中の地形に適当である程度を決定するとともに、最も適したサブシステム制御モードを示す出力を提供するように構成された評価手段とを備え、
複数の地形指標信号は、少なくとも車輪速度および正のドライブトルクを含み、
車輪スリップが生じた場合、評価手段は、車輪スリップが生じた時のトルクを決定することを特徴とする車両制御システム。 - 前記出力に応じて複数のサブシステム制御モードのうちの最も適したものを選択するように自動応答モードで作動可能な自動制御手段をさらに有することを特徴とする請求項1に記載の車両制御システム。
- 評価手段は、各サブシステム制御モードが適当である確度を決定するように構成され、
評価手段が提供する前記出力は、最も高い確度を有するサブシステム制御モードであることを特徴とする請求項1または2に記載の車両制御システム。 - サブシステム制御部は、複数のサブシステム制御モードのうちから選択された1つのサブシステム制御モードで、当該車両サブシステムまたは各車両サブシステムを制御するように構成されたことを特徴とする請求項1〜3のいずれか1に記載の車両制御システム。
- 運転状態指標を評価して、前記確度を決定する評価手段を有することを特徴とする請求項1〜4のいずれか1に記載の車両制御システム。
- 評価手段は、1つまたはそれ以上の運転状態指標に対応する1つまたはそれ以上の入力信号を受信し、当該入力信号または各入力信号に基づいて、さらなる運転状態指標を推定するように構成された推定手段を有することを特徴とする請求項1〜5のいずれか1に記載の車両制御システム。
- 評価手段は、各サブシステム制御モードに対し、複数の運転状態指標のうち対応する1つの運転状態指標から得られた個々の確度値に基づいて複合確度値を計算する手段を有し、
評価手段からの制御出力信号は、最も高い複合確度値を有するサブシステム制御モードを示すことを特徴とする請求項1〜6のいずれか1に記載の車両制御システム。 - 各サブシステム制御モードに対して、現在のサブシステム制御モードと別の各サブシステム制御モードの間の確度差分値を計算する手段と、
確度の差分値を時間で積分して、他の各サブシステム制御モードに対して積分した確度差分値を計算する手段と、
積分した確度差分値のそれぞれを変更閾値と比較する比較手段と、
複数のサブシステム制御モードのうちの1つのサブシステム制御モードの積分した確度差分値が変更閾値を超えたとき、選択されたサブシステム制御モードにおいて変更を開始する手段とをさらに有することを特徴とする請求項1〜8のいずれか1に記載の車両制御システム。 - 比較手段は、積分した確度差分値のそれぞれを複数の変更閾値と比較し、
選択されたサブシステム制御モードにおいて変更を開始する手段は、最初の変更閾値に達したとき、変更を開始するように作動可能であり、
各変更閾値は、異なる運転状態指標に応じて可変的であることを特徴とする請求項9に記載の車両制御システム。 - 1つまたはそれ以上の変更閾値は、車両走行中の地形の表面凹凸に依存するか、または車両走行中の地形の転がり抵抗に依存することを特徴とする請求項10に記載の車両制御システム。
- 1つまたはそれ以上の運転状態指標は、車両に搭載されたセンサからのセンサ出力信号から得られることを特徴とする請求項1〜11のいずれか1に記載の車両制御システム。
- 自動制御手段が出力に応じて車両サブシステムを自動的に制御する自動応答モードと、車両サブシステムがドライバの手動により選択された手動応答モードとの間を切り換えることを可能にするスイッチ手段をさらに有することを特徴とする請求項2に記載の車両制御システム。
- 少なくとも1つの車両サブシステムは、エンジン制御システム、操舵コントローラ、ブレーキコントローラ、およびサスペンションコントローラのうちの1つまたはそれ以上を含むことを特徴とする請求項1〜13のいずれか1に記載の車両制御システム。
- 車両の少なくとも1つの車両サブシステムを制御する方法であって、
車両の1つまたはそれ以上の異なる地形タイプに対応する複数の異なるサブシステム制御モードのうちから選択された1つのサブシステム制御モードで、当該車両サブシステムまたは各車両サブシステムの制御を開始するステップと、
各サブシステム制御モードが車両走行中の地形に適当である程度を決定するために、車両走行中の地形を表す複数の地形指標を評価するステップと、
最も適したサブシステム制御モードを示す出力を提供するステップとを有し、
複数の地形指標は、少なくとも車輪速度および正のドライブトルクを含み、
地形指標を評価する前記ステップは、車輪スリップが生じた場合、車輪スリップが生じた時のトルクを決定するステップを含むことを特徴とする方法。 - 前記出力に応じて複数のサブシステム制御モードのうちの最も適したものを自動的に選択するステップをさらに有することを特徴とする請求項15に記載の方法。
- 評価ステップは、各サブシステム制御モードが適当である確度を決定するステップと、最も高い確度を有するサブシステム制御モードを表す出力を提供するステップとを有することを特徴とする請求項15または16に記載の方法。
- 請求項1〜14のいずれか1に記載の車両制御システムを有する車両。
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JP2009149243A (ja) * | 2007-12-21 | 2009-07-09 | Denso Corp | 車両制御装置およびそれを用いた車両制御システム |
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US20140350789A1 (en) | 2014-11-27 |
GB2492655A (en) | 2013-01-09 |
GB2492655B (en) | 2014-05-07 |
WO2013004764A1 (en) | 2013-01-10 |
US20180141560A1 (en) | 2018-05-24 |
GB201211910D0 (en) | 2012-08-15 |
EP2729340A1 (en) | 2014-05-14 |
US9873436B2 (en) | 2018-01-23 |
CN103648880A (zh) | 2014-03-19 |
GB2492748B (en) | 2014-05-07 |
RU2014103581A (ru) | 2015-08-10 |
ZA201400807B (en) | 2015-06-24 |
CN103648880B (zh) | 2017-09-12 |
JP6034378B2 (ja) | 2016-11-30 |
US10414404B2 (en) | 2019-09-17 |
GB201111288D0 (en) | 2011-08-17 |
GB2492748A (en) | 2013-01-16 |
EP2729340B1 (en) | 2021-03-10 |
JP2014520699A (ja) | 2014-08-25 |
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