JP2022125595A - 産業車両の制動制御装置 - Google Patents
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- B60L7/18—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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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
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60L2260/30—Engine braking emulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
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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
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Abstract
Description
産業車両1は、車体の前部に配置されたFLタイヤ2及びFRタイヤ3と、車体の後部に配置されたRLタイヤ4及びRRタイヤ5と、を備えている。産業車両1は、走行モータとして、RLタイヤ4を駆動する左走行モータ6と、RRタイヤ5を駆動する右走行モータ7とを備えている。走行モータは、回生制動力を生じる制動部8としても機能する。
図2は、図1の産業車両の制動制御装置の機能構成を示すブロック図である。産業車両の制動制御装置100は、産業車両1の制動制御と自動運転制御とを統括するコントローラ10を有している。コントローラ10は、CPU、ROM、RAM等を有する電子制御ユニットである。コントローラ10では、例えば、ROMに記録されているプログラムをRAMにロードし、RAMにロードされたプログラムをCPUで実行することにより各種の機能を実現する。コントローラ10は、バッテリBの電圧を検出してもよい。なお、コントローラ10は、複数の電子ユニットから構成されていてもよい。
次に、コントローラ10による演算処理の一例について説明する。図4は、降坂中の自動運転処理の一例を示すフローチャートである。図4に示される処理は、例えば回生電流の抑制をしないとバッテリBが過充電となり得るような長い及び/又は急な下り坂を、自動運転中の産業車両1が走行する場合に実行される。コントローラ10は、位置情報取得部12により、GNSS受信機21の受信結果(産業車両1の位置情報)と周辺状況センサ22の検出結果と地図データベース24の地図情報とに基づいて、このような下り坂を自動運転中の産業車両1が走行しているか否かを判定してもよい。
以上、本実施形態に係る産業車両の制動制御装置100では、自動運転制御部15によって、車速情報に基づいて、降坂中の産業車両1の車速が目標車速となるように自動運転が実行される。降坂中の産業車両1は、回生制動力を含む必要制動力で制動される。制動力制御部16によって、取得された回生電流が、最大回生電流よりも小さい第1電流値以下となるように、必要制動力のうちの機械制動力の配分が調整される。これにより、最大回生電流での回生制動を行う場合と比べて回生電流が小さくなるため、回生によるバッテリの充電速度が遅くなり、バッテリBが満充電状態に近づきにくくなる。したがって、この産業車両の制動制御装置100によれば、回生制動を用いる自動運転で降坂中の産業車両1において回生制動の中断が生じることを、ブレーキペダル操作に基づくことなく抑制することができる。
以上、本発明に係る実施形態について説明したが、本発明は、上述した実施形態に限られるものではない。
Claims (4)
- 回生制動力を生じる走行モータと機械制動力を生じる機械ブレーキとを制動部として備え、前記回生制動力でバッテリが充電される産業車両の制動制御装置であって、
前記産業車両の車速情報を取得する車速情報取得部と、
前記走行モータの回生電流を取得する回生電流取得部と、
前記車速情報に基づいて、降坂中の前記産業車両の車速を目標車速とするための前記回生制動力を含む必要制動力にて自動運転を実行する自動運転制御部と、
取得された前記回生電流が、最大回生電流よりも小さい第1電流値以下となるように、前記必要制動力のうちの前記機械制動力の配分を調整する制動力制御部と、を備える、産業車両の制動制御装置。 - 前記制動力制御部は、
取得された前記回生電流が前記第1電流値以上となった場合に、所定の増加量で前記機械制動力を増加させ、
取得された前記回生電流が前記第1電流値よりも小さい第2電流値以下となった場合に、所定の減少量で前記機械制動力を減少させる、請求項1に記載の産業車両の制動制御装置。 - 前記増加量及び前記減少量での前記機械制動力の減速度変化は、前記第1電流値と前記第2電流値との差分に相当する前記回生制動力の減速度変化よりも小さい、請求項2に記載の産業車両の制動制御装置。
- 前記増加量及び前記減少量の各絶対値は互いに等しい、請求項2又は3に記載の産業車両の制動制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
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JP2021023269A JP7494754B2 (ja) | 2021-02-17 | 2021-02-17 | 産業車両の制動制御装置 |
CA3146143A CA3146143A1 (en) | 2021-02-17 | 2022-01-19 | Braking control device of industrial vehicle |
EP22154733.4A EP4046853A1 (en) | 2021-02-17 | 2022-02-02 | Braking control device of industrial vehicle |
AU2022200822A AU2022200822B2 (en) | 2021-02-17 | 2022-02-08 | Braking control device of industrial vehicle |
TW111104661A TWI800250B (zh) | 2021-02-17 | 2022-02-09 | 產業車輛之制動控制裝置 |
US17/671,094 US20220258614A1 (en) | 2021-02-17 | 2022-02-14 | Braking control device of industrial vehicle |
CN202210151182.7A CN114940150B (zh) | 2021-02-17 | 2022-02-15 | 工业车辆的制动控制装置 |
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JP2021023269A JP7494754B2 (ja) | 2021-02-17 | 2021-02-17 | 産業車両の制動制御装置 |
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US (1) | US20220258614A1 (ja) |
EP (1) | EP4046853A1 (ja) |
JP (1) | JP7494754B2 (ja) |
CN (1) | CN114940150B (ja) |
AU (1) | AU2022200822B2 (ja) |
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US20220073062A1 (en) * | 2020-09-10 | 2022-03-10 | Clearpath Robotics Inc. | Systems and methods for operating one or more self-driving vehicles |
CN115416631A (zh) * | 2022-09-19 | 2022-12-02 | 江苏鑫贝通科技有限公司 | 一种电动叉车再生制动力分配系统 |
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JP3802356B2 (ja) * | 2001-02-28 | 2006-07-26 | 松下電工株式会社 | 電動車の走行制御装置 |
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JP6693400B2 (ja) * | 2016-12-06 | 2020-05-13 | 株式会社デンソー | 車両用制御システム |
CN108995538A (zh) * | 2018-08-09 | 2018-12-14 | 金龙联合汽车工业(苏州)有限公司 | 一种电动汽车的无人驾驶系统 |
JP7283889B2 (ja) * | 2018-11-28 | 2023-05-30 | 株式会社Subaru | 車両制御装置 |
CN111674265B (zh) * | 2020-05-21 | 2023-05-23 | 中国汽车技术研究中心有限公司 | 一种电动自动驾驶汽车制动能量监控装置及方法 |
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