JP2018052477A - 回生制動の協調制御時における制動力の制御方法 - Google Patents
回生制動の協調制御時における制動力の制御方法 Download PDFInfo
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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
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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
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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
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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
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Abstract
Description
図1に示した「1」、「2」、「3」区間は、惰行走行中に運転者がブレーキペダルを踏む制動状況で制動力の配分が行われる区間であって、「1」区間が始まる時点は、運転者がアクセルペダルを解除し、走行中にブレーキペダルを踏んで制動を始める時点であり、「1」区間が終わる時点まで後輪の制動力(正確には後輪の回生制動力)が運転者の要求制動力(Td)を満たすように増加する。
「1」区間が終わる時点で「2」区間が始まり、「2」区間で後輪の制動力は「1」区間が終わる時点での後輪の回生制動力(T2−T1)により維持され、前輪の制動力は運転者の要求制動力(Td)を満足するように増加するようになる。
「3」区間では前輪の制動力だけでなく後輪の制動力が同時に増加して実際の制動配分線及び配分線2の制動力の配分比による前輪と後輪の制動力が配分される。
前輪の制動力=Td*CF/(CF+CR)+T1*CF/(CF+CR) (1)
後輪の制動力=Td*CR/(CF+CR)−T1*CF/(CF+CR) (2)
後輪の摩擦制動力=[Td−(T4−T1)]*CR/(CF+CR)
前輪の摩擦制動力=T4−T1+[Td−(T4−T1)]*CF/(CF+CR)
前輪の制動力=Td*CF/(CF+CR)+T1*CF/(CF+CR)
後輪の制動力=Td*CR/(CF+CR)−T1*CF/(CF+CR)
Claims (16)
- 惰行走行中に制動するとき、基準減速度まで前輪と後輪のうち1つ以上に対する回生制動力が発生するように前輪と後輪の制動力を配分し、後輪の制動力を後輪の制限制動力まで配分する第1段階と、
前記基準減速度以上では所定の制動力の配分比により前輪と後輪の制動力を配分する第2段階と、
を含むことを特徴とする回生制動の協調制御時における制動力の制御方法。 - 前記第1段階では、制動初期に後輪の回生制動力だけ増加するように制御され、前記後輪の回生制動力と惰行回生制動力で構成された後輪の制動力が後輪の制限制動力まで増加するように制御されることを特徴とする請求項1に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1段階では、後輪の制動力が後輪の制限制動力に到達すると、後輪の制動力は後輪の制限制動力により維持されるように制御されると共に、前記基準減速度まで前輪の制動力が増加するように制御されることを特徴とする請求項2に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1段階では、前輪に配分される制動力は、先ず前輪の回生制動力だけ前輪の最大回生制動力まで増加するように制御された後、前記基準減速度まで前輪の摩擦制動力が増加するように制御されることを特徴とする請求項3に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1段階では、後輪の制動力は惰行回生制動力により維持されるように制御され、前記基準減速度まで前輪の制動力だけ増加するように制御されることを特徴とする請求項1に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1段階では、前輪に配分される制動力は、先ず前輪の回生制動力だけ増加するように制御された後、前輪の摩擦制動力を増加するように制御されることを特徴とする請求項5に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1段階の後輪の制限制動力は、惰行回生制動力と同じ値を有することを特徴とする請求項5に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1段階で、制動初期の後輪の制動力は惰行回生制動力により維持されるように制御され、前記基準減速度よりも小さい値を有する第1減速度まで前輪の回生制動力だけ増加するように制御されることを特徴とする請求項1に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1減速度から第2減速度までは後輪の制動力だけ増加するように制御され、前記第2減速度は前記第1減速度よりも大きく、かつ前記基準減速度よりも小さい値を持つことを特徴とする請求項8に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1減速度から前記第2減速度まで前輪に配分される制動力は、前輪の回生制動力だけ配分されて前輪の最大回生制動力により維持されることを特徴とする請求項9に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第2減速度から前記基準減速度まで、前輪の回生制動力は前輪の最大回生制動力により維持され、前輪の摩擦制動力だけ増加するように制御されることを特徴とする請求項10に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第1減速度から前記第2減速度まで後輪に配分される制動力は、後輪の回生制動力だけ増加するように制御され、前記後輪の回生制動力と惰行回生制動力で構成された後輪の制動力が後輪の制限制動力まで増加するように制御されることを特徴とする請求項9に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第2減速度で後輪の制動力が後輪の制限制動力に到達すると、前記基準減速度まで後輪の制動力は後輪の制限制動力により維持されることを特徴とする請求項12に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第2段階では、後輪に配分される制動力は、後輪の回生制動力を後輪の最大回生制動力まで増加させた後、後輪の回生制動力は、後輪の最大回生制動力により維持され、後輪の摩擦制動力だけ増加するように制御されることを特徴とする請求項1に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第2段階では、前輪に配分される制動力は、前輪の回生制動力が前輪の最大回生制動力により維持され、前輪の摩擦制動力だけ増加するように制御されることを特徴とする請求項1に記載の回生制動の協調制御時における制動力の制御方法。
- 前記第2段階では、前輪の制動力が「Td*CF/(CF+CR)+T1*CF/(CF+CR)」の値で配分され、後輪の制動力が「Td*CR/(CF+CR)−T1*CF/(CF+CR)+T1」の値で配分されることを特徴とする(式中、Tdは運転者の要求制動力、T1は惰行回生制動力、CF/(CF+CR)は配分線2の制動力の配分比による前輪の制動力の比率、CR/(CF+CR)は配分線2の制動力の配分比による後輪の制動力の比率である)請求項1に記載の回生制動の協調制御時における制動力の制御方法。
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JP6879467B2 (ja) * | 2017-10-05 | 2021-06-02 | トヨタ自動車株式会社 | 車両用制動力制御装置 |
DE102018215134A1 (de) * | 2018-09-06 | 2020-03-12 | Audi Ag | Bremsverfahren und -system für ein Elektrofahrzeug |
US11897366B2 (en) * | 2018-09-21 | 2024-02-13 | Accelerated Systems Inc. | Methods and apparatuses for controlling an electric vehicle |
DE102018217224A1 (de) * | 2018-10-09 | 2020-04-09 | Audi Ag | Verfahren zur Verteilung eines von einem Fahrer angeforderten Bremsmoments auf die Achsen eines Kraftfahrzeugs |
KR20200129448A (ko) | 2019-05-08 | 2020-11-18 | 현대자동차주식회사 | 후륜 구동 환경차용 단계별 회생 협조 제어 방법 |
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US10131232B2 (en) | 2018-11-20 |
KR20180033640A (ko) | 2018-04-04 |
US20180086209A1 (en) | 2018-03-29 |
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DE102016225030A1 (de) | 2018-03-29 |
CN107867185B (zh) | 2022-05-31 |
JP6815854B2 (ja) | 2021-01-20 |
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