JP2021093874A - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/142—Emission reduction of noise acoustic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- 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
- B60W2510/08—Electric propulsion units
- B60W2510/083—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- Y02T10/64—Electric machine technologies in electromobility
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T10/72—Electric energy management in electromobility
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- Transportation (AREA)
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- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
図1および図2を参照して、本発明の実施形態に係る制御装置100が搭載される車両1の構成について説明する。
続いて、図3および図4を参照して、本発明の実施形態に係る制御装置100の動作について説明する。
続いて、本発明の実施形態に係る制御装置100の効果について説明する。
11a,11b 前輪
11c,11d 後輪
13f フロントディファレンシャル装置
13r リヤディファレンシャル装置
15f 前輪駆動用モータ(駆動用モータ)
15r 後輪駆動用モータ(駆動用モータ)
17f インバータ
17r インバータ
19 バッテリ
100 制御装置
110 特定部
120 制御部
121 予測部
122 モータ制御部
201 アクセル開度センサ
203 ブレーキセンサ
205f 前輪モータ回転数センサ
205r 後輪モータ回転数センサ
Claims (9)
- 駆動用モータを駆動源として備える車両の動力伝達軸の回転数に基づいて前記車両の車速を特定する特定部と、
前記駆動用モータの動作を制御する制御部と、
を備え、
前記制御部は、
ドライバによる加減速操作に応じて前記車両の加減速度を制御する通常モードと、前記ドライバによる加減速操作によらずに前記駆動用モータのトルクを制御することによって前記車両の車速を目標車速に維持するクルーズコントロールモードとを切り替えて実行可能であり、
前記クルーズコントロールモードの実行中に、
前記車速と前記目標車速との偏差に基づく比例制御を用いて前記駆動用モータのトルク指令値を算出し、
前記動力伝達軸の捩れが解放されると予測された場合、前記動力伝達軸の捩れが解放されると予測されない場合と比べて、前記トルク指令値のうちの前記比例制御の成分のトルクの絶対値が小さくなるように前記トルク指令値を調整するトルク調整処理を実行する、
車両の制御装置。 - 前記制御部は、前記駆動用モータのトルクの絶対値に基づいて、前記動力伝達軸の捩れが解放されるか否かを予測する、
請求項1に記載の車両の制御装置。 - 前記制御部は、前記駆動用モータのトルクの絶対値がトルク閾値を下回った場合に、前記動力伝達軸の捩れが解放されると予測する、
請求項2に記載の車両の制御装置。 - 前記制御部は、前記トルク閾値を前記車速に応じて変化させる、
請求項3に記載の車両の制御装置。 - 前記制御部は、前記駆動用モータのトルクの時間変化率に基づいて、前記動力伝達軸の捩れが解放されるか否かを予測する、
請求項1〜4のいずれか一項に記載の車両の制御装置。 - 前記制御部は、前記駆動用モータのトルクの方向が反転すると予測された場合に、前記動力伝達軸の捩れが解放されると予測する、
請求項1〜5のいずれか一項に記載の車両の制御装置。 - 前記制御部は、前記クルーズコントロールモードの実行中に、前記動力伝達軸の捩れが解放されると予測された場合であっても、前記比例制御の成分のトルクの絶対値が比例成分閾値より大きい場合には、前記トルク調整処理を実行しない、
請求項1〜6のいずれか一項に記載の車両の制御装置。 - 前記トルク指令値は、前記比例制御の成分のトルクと、前記車速と前記目標車速との偏差に基づく積分制御の成分のトルクとを含み、
前記制御部は、前記トルク調整処理において、前記トルク指令値から前記比例制御の成分のトルクを除去する、
請求項1〜7のいずれか一項に記載の車両の制御装置。 - 前記制御部は、
前記クルーズコントロールモードとして、高速クルーズコントロールモードと、前記高速クルーズコントロールモードの目標車速よりも低い目標車速が用いられる低速クルーズコントロールモードとを切り替えて実行可能であり、
前記低速クルーズコントロールモードの実行中に、前記動力伝達軸の捩れが解放されると予測された場合、前記トルク調整処理を実行する、
請求項1〜8のいずれか一項に記載の車両の制御装置。
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JP2019224148A JP7377090B2 (ja) | 2019-12-12 | 2019-12-12 | 車両の制御装置 |
US17/060,609 US11242053B2 (en) | 2019-12-12 | 2020-10-01 | Vehicle control device |
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Citations (2)
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JP2009006841A (ja) * | 2007-06-28 | 2009-01-15 | Toyota Motor Corp | ハイブリッド車両の制御装置 |
JP2018074871A (ja) * | 2016-11-04 | 2018-05-10 | カルソニックカンセイ株式会社 | 電動車両の駆動制御装置 |
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KR100325203B1 (ko) * | 1999-07-08 | 2002-02-25 | 이계안 | 차량의 오토 크루즈 제어 방법 |
JP2008221935A (ja) | 2007-03-09 | 2008-09-25 | Toyota Motor Corp | 車両およびその制御方法 |
DE102014204763A1 (de) * | 2014-03-14 | 2015-09-17 | Bayerische Motoren Werke Aktiengesellschaft | Geschwindigkeitsregelsystem zur Regelung der Geschwindigkeit eines Fahrzeugs |
CN107487324B (zh) * | 2017-06-22 | 2020-02-14 | 宝沃汽车(中国)有限公司 | 控制电动汽车转矩的方法和装置 |
CN109484405A (zh) * | 2018-11-15 | 2019-03-19 | 北汽福田汽车股份有限公司 | 车辆及其巡航控制方法、装置 |
JP7449109B2 (ja) * | 2020-02-12 | 2024-03-13 | 株式会社Subaru | 車両の制御装置 |
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2009006841A (ja) * | 2007-06-28 | 2009-01-15 | Toyota Motor Corp | ハイブリッド車両の制御装置 |
JP2018074871A (ja) * | 2016-11-04 | 2018-05-10 | カルソニックカンセイ株式会社 | 電動車両の駆動制御装置 |
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