JP2018134983A - 駆動力制御装置 - Google Patents
駆動力制御装置 Download PDFInfo
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Abstract
【解決手段】ステアリングホイールの操舵角に基づいた第1目標ヨーレートを算出し(ステップS2)、ステアリングホイールの操舵トルクに基づいて第2目標ヨーレートを算出し(ステップS3)、第1目標ヨーレートと、車両の実際のヨーレートとの第1偏差に基づいて第1駆動輪の第1目標トルクと、第2駆動輪の第2目標トルクとを求め(ステップS5)、第2目標ヨーレートと、車両の実際のヨーレートとに基づいて第1目標トルクを補正した第3目標トルク、および第2目標トルクを補正した第4目標トルクを求め(ステップS9)、第3目標トルクに基づいたトルクの信号を出力し、第4目標トルクに基づいたトルクを第2駆動輪に出力するように構成されている。
【選択図】図5
Description
γtgt=((1/(1+A×Vb 2))×(Vb/l))×(δ/n)
なお、上式におけるAは目標スタビリティファクタを示し、lはホイールベースを示し、nはステアリングシャフト29の回転角と前輪11R,11Lの転舵角との比で求められるステアリングギヤ比を示している。
Tr di=−Kγ×Δγ
Tl di=Kγ×Δγ
なお、Kγは、ヨーレートをトルクに換算するための係数であって、第1ECU50に予め記憶されている。上記の各トルクTr di,Tl diが、この発明の実施形態における「第1目標トルク」および「第2目標トルク」に相当する。
Tr t=Tr di−Kγtrq×Δγtrq×(γk−γ%)
Tl t=Tl di+Kγtrq×Δγtrq×(γk−γ%)
なお、上記Kγtrqは、ヨーレートをトルクに換算するための係数である。つまり、ステップS9では、ヨーレートが大きくなるように、ステップS5で算出された一方のトルクTl di(Tr di)を増大させるとともに、他方のトルクTr di(Tl di)を減少させる。このステップS9を実行した場合には、操舵トルクTδが予め定められた所定値よりも小さくなるまで、すなわち運転者による旋回要求がなくなるまでは、各駆動輪の目標トルクは、ステップS9で求められるトルクに定めるようにする。これは、ステップS9を実行したことにより実ヨーレートγrealが増大することにより、運転者が継続して旋回要求していても、ステップS7で否定的に判断されて、要求に応じたヨーレートを発生させることができなくなる可能性があるためである。なお、ステップS9で算出された各目標トルクTr t,Tl tが、この発明の実施形態における「第3目標トルク」および「第4目標トルク」に相当する。
Tr di=−Kγtrq×Δγtrq
Tl di=Kγtrq×Δγtrq
なお、Kγtrqは、ヨーレートをトルクに換算するための係数であって、第1ECU50に予め記憶されている。このステップS11を実行した場合には、操舵トルクTδが予め定められた所定値よりも小さくなるまで、すなわち運転者による旋回要求がなくなるまでは、各駆動輪の目標トルクは、ステップS11で求められるトルクに定めるようにする。これは、ステップS11を実行したことにより実ヨーレートγrealが増大することにより、運転者が継続して旋回要求していても、ステップS7’で否定的に判断されて、要求に応じたヨーレートを発生させることができなくなる可能性があるためである。ステップS11で求められた各トルクTr di,Tl diが、この発明の実施形態における「第5目標トルク」および「第6目標トルク」に相当する。
Claims (5)
- 車両の右側の第1駆動輪と、前記車両の左側の第2駆動輪とにトルクを伝達できる駆動装置と、ステアリングホイールと、前記ステアリングホイールの操作量に応じて操舵輪の転舵角を変更するステアリング装置と、前記ステアリングホイールと前記ステアリング装置との間のトルクの伝達経路内に設けられかつ前記ステアリングホイールの操舵トルクに応じたトルクを出力するアクチュエータとを備えた駆動力制御装置において、
前記第1駆動輪と前記第2駆動輪とに伝達するトルクを制御するコントローラを備え、
前記コントローラは、
前記ステアリングホイールの操舵角に基づいた第1目標ヨーレートを算出し、
前記ステアリングホイールの操舵トルクに基づいて第2目標ヨーレートを算出し、
前記第1目標ヨーレートと、前記車両の実際のヨーレートとの第1偏差に基づいて前記第1駆動輪の第1目標トルクと、前記第2駆動輪の第2目標トルクとを求め、
前記第2目標ヨーレートと、前記車両の実際のヨーレートとに基づいて前記第1目標トルクを補正した第3目標トルク、および前記第2目標トルクを補正した第4目標トルクを求め、
前記第3目標トルクに基づいたトルクの信号を出力し、前記第4目標トルクに基づいたトルクの信号を出力する
ように構成されている
ことを特徴とする駆動力制御装置。
- 請求項1に記載の駆動力制御装置において、
前記コントローラは、
前記第2目標ヨーレートと前記車両の実際のヨーレートとの第2偏差が予め定められた第1所定値以上の場合に、前記第3目標トルクに基づいたトルクの信号を出力し、前記第4目標トルクに基づいたトルクの信号を出力し、
前記第2偏差が前記第1所定値未満の場合に、前記第1目標トルクに基づいたトルクの信号を出力し、前記第2目標トルクに基づいたトルクの信号を出力する
ように構成されている
ことを特徴とする駆動力制御装置。
- 請求項2に記載の駆動力制御装置において、
前記コントローラは、
前記第2目標ヨーレートと、前記車両の実際のヨーレートとの割合を求め、
前記割合が、予め定められた第2所定値以下の場合に、前記第3目標トルクに基づいたトルクの信号を出力し、前記第4目標トルクに基づいたトルクの信号を出力し、
前記割合が、前記第2所定値よりも大きい場合に、前記第1目標トルクに基づいたトルクの信号を出力し、前記第2目標トルクに基づいたトルクの信号を出力する
ように構成されている
ことを特徴とする駆動力制御装置。
- 車両の右側の第1駆動輪と、前記車両の左側の第2駆動輪とにトルクを伝達できる駆動装置と、ステアリングホイールと、前記ステアリングホイールの操作量に応じて操舵輪の転舵角を変更するステアリング装置と、前記ステアリングホイールと前記ステアリング装置との間のトルクの伝達経路内に設けられかつ前記ステアリングホイールの操舵トルクに応じたトルクを出力するアクチュエータとを備えた駆動力制御装置において、
前記第1駆動輪と前記第2駆動輪とに伝達するトルクを制御するコントローラを備え、
前記コントローラは、
前記ステアリングホイールの操舵角に基づいた第1目標ヨーレートを算出し、
前記ステアリングホイールの操舵トルクに基づいて第2目標ヨーレートを算出し、
前記第1目標ヨーレートと、前記車両の実際のヨーレートとの第1偏差に基づいて前記第1駆動輪の第1目標トルクと、前記第2駆動輪の第2目標トルクとを求め、
前記第2目標ヨーレートと、前記車両の実際のヨーレートとの第2偏差に基づいて前記第1駆動輪の第5目標トルクと、前記第2駆動輪の第6目標トルクとを求め、
前記第2偏差が予め定められた第1所定値以上の場合に、前記第5目標トルクに基づいたトルクの信号を出力し、前記第6目標トルクに基づいたトルクの信号を出力し、
前記第2偏差が、前記第1所定値未満の場合に、前記第1目標トルクに基づいたトルクの信号を出力し、前記第2目標トルクに基づいたトルクの信号を出力する
ように構成されている
ことを特徴とする駆動力制御装置。
- 請求項4に記載の駆動力制御装置において、
前記コントローラは、
前記第2目標ヨーレートと前記車両の実際のヨーレートとの割合を求め、
前記割合が、予め定められた第2所定値以下の場合に、前記第5目標トルクに基づいたトルクの信号を出力し、前記第6目標トルクに基づいたトルクの信号を出力し、
前記割合が、前記第2所定値よりも大きい場合に、前記第1目標トルクに基づいたトルクの信号を出力し、前記第2目標トルクに基づいたトルクの信号を出力する
ように構成されている
ことを特徴とする駆動力制御装置。
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