JP2023505897A - 自動車の被駆動軸を自動制御する方法、及び、自動車 - Google Patents
自動車の被駆動軸を自動制御する方法、及び、自動車 Download PDFInfo
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- 230000002596 correlated effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
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- B60—VEHICLES IN GENERAL
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B60—VEHICLES IN GENERAL
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2510/0661—Torque change rate
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- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/266—Slip values between left and right wheel
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B60W2530/201—Dimensions of vehicle
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- 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
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/0666—Engine torque
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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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
- B60W2710/0672—Torque change rate
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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
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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
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- B60W2710/085—Torque change rate
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/28—Wheel 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
Abstract
Description
a)自動車の第1実速度を判定するステップ
b)少なくとも1つのホイールの第2実速度を判定するステップ
c)判定された第1実速度に対する少なくとも1つのホイールの望ましい速度を、パラメータを考慮して計算するステップ
d)少なくとも1つのホイールの、自動車が移動している地面に対する実スリップを判定定するステップ
e)定められた第1限界スリップを実スリップが超えた場合、制御装置が限界トルクを生じさせ、この限界トルクによって、駆動ユニットが生成する駆動トルクを制限等調整するステップ
少なくとも1つのホイールを有する車軸と、
車軸及び少なくとも1つのホイールに、駆動トルクを提供する駆動ユニットと、
駆動ユニットを制御する制御装置と
を少なくとも備える自動車を更に提案する。
2 自動車
3 ホイール
4 駆動ユニット
5 駆動トルク
6 制御装置
7 第1実速度
8 第2実速度
9 望ましい速度
10 実スリップ
11 第1限界スリップ
12 限界トルク
13 第1加速度
14 変化率
15 第2加速度
16 操舵角
17 第1スリップ
18 第2スリップ
19 第2限界スリップ
20 時間
21 必要な駆動トルク
22 スタート
23 第1ボックス
24 第2ボックス
25 第3ボックス
26 第4ボックス
27 第5ボックス
28 第1決定
29 第2決定
30 第1領域
31 第2領域
32 第3領域
33 第4領域
34 第5領域
35 第6領域
36 第7領域
37 第1スリップ領域
38 第2スリップ領域
39 第3スリップ領域
40 第4スリップ領域
Claims (10)
- 自動車(2)の少なくとも1つの被駆動軸(1)を制御する方法であって、
前記自動車(2)は、
少なくとも1つのホイール(3)を有する少なくとも1つの車軸(1)と、
前記少なくとも1つの車軸(1)及び前記少なくとも1つのホイール(3)に、駆動トルク(5)を提供する少なくとも1つの駆動ユニット(4)と、
前記駆動ユニット(4)を制御する制御装置(6)と
を有し、
前記方法は、前記自動車(2)の動作中に実行されるものであり、
前記方法は、以下のステップ
a)前記自動車(2)の第1実速度(7)を判定するステップと、
b)前記少なくとも1つのホイール(3)の第2実速度(8)を判定するステップと、
c)前記判定された第1実速度(7)に対する前記少なくとも1つのホイール(3)の望ましい速度(9)を、パラメータを考慮して計算するステップと、
d)前記少なくとも1つのホイール(3)の、前記自動車(2)が移動している地面に対する実スリップ(10)を判定するステップと、
e)定められた第1限界スリップ(11)を前記実スリップ(10)が超えた場合、前記制御装置(6)が限界トルク(11)を生じさせ、該限界トルクによって、前記駆動ユニット(4)が生成する前記駆動トルク(5)を調整するステップと
を少なくとも含む方法。 - 請求項1に記載の方法であって、
前記第1限界スリップ(11)は、前記第1実速度(7)に応じて定められる
方法。 - 請求項1、2のいずれか1項に記載の方法であって、
定められた第2限界スリップ(19)を下回ると、限界トルク(12)の発生が終了する
方法。 - 請求項1~3のいずれか1項に記載の方法であって、
前記少なくとも1つのホイール(3)の第1加速度(13)を決定し、
前記限界トルク(12)は、前記第1加速度(13)及び前記駆動トルク(5)を考慮して、ある変化率(14)で変化する
方法。 - 請求項4に記載の方法であって、
前記変化率(14)は、前記実スリップ(10)と、前記第1加速度(13)の符号とに応じて決定される
方法。 - 請求項1~5のいずれか1項に記載の方法であって、
前記駆動ユニット(4)は、少なくとも1つの電気機械を備える
方法。 - 請求項1~6のいずれか1項に記載の方法であって、
前記車軸(1)が少なくとも2つのホイール(3)を有し、
前記自動車(2)がコーナリングする際に、前記自動車(2)の第2加速度(15)が正である場合、
カーブの外側にある前記ホイール(3)の実速度は、前記第2実速度(8)として定められる
方法。 - 請求項1~7のいずれか1項に記載の方法であって、
前記車軸(1)が少なくとも2つのホイール(3)を有し、
前記自動車(2)がコーナリングする際に、前記自動車(2)の第2加速度(15)が負である場合、
少なくとも、カーブの内側にある前記ホイール(3)の実速度は、前記第2実速度(8)として定められる
方法。 - 請求項1~8のいずれか1項に記載の方法であって、
パラメータとして、前記自動車(2)の幾何学形状と、前記ホイール(3)の操舵角(16)とが少なくとも考慮に入れられる
方法。 - 自動車(2)であって、
少なくとも1つのホイール(3)を有する車軸(1)と、
前記車軸(1)及び前記少なくとも1つのホイール(3)に、駆動トルク(5)を提供する駆動ユニット(4)と、
前記駆動ユニット(4)を制御する制御装置(6)と
を少なくとも備え、
前記制御装置(6)は、前記方法を実行するのに適するように構成されている
自動車。
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PCT/EP2019/084569 WO2021115580A1 (de) | 2019-12-11 | 2019-12-11 | Verfahren zur regelung einer angetriebenen achse eines kraftfahrzeugs und kraftfahrzeug |
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EP (1) | EP4072889A1 (ja) |
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US11846085B2 (en) | 2020-02-17 | 2023-12-19 | Deere & Company | Energy management system for a hybrid vehicle with an electrically powered hydraulic system |
DE102021202223A1 (de) * | 2021-03-08 | 2022-09-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verbesserung der Kraftübertragung zwischen Rad und Straße |
US11820361B2 (en) | 2021-11-30 | 2023-11-21 | Deere & Company | Transmission assembly with electrical machine unit for improved shift quality |
US20230235535A1 (en) | 2022-01-27 | 2023-07-27 | Deere & Company | System and method for traction control in a work vehicle with an electric infinitely variable transmission |
US11913528B1 (en) | 2022-10-28 | 2024-02-27 | Deere & Company | Multi-mode continuously variable transmission assembly with drop set arrangement |
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- 2019-12-11 EP EP19831600.2A patent/EP4072889A1/de active Pending
- 2019-12-11 US US17/783,067 patent/US20230021794A1/en active Pending
- 2019-12-11 CN CN201980102901.2A patent/CN115151438A/zh active Pending
- 2019-12-11 WO PCT/EP2019/084569 patent/WO2021115580A1/de unknown
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CN115151438A (zh) | 2022-10-04 |
US20230021794A1 (en) | 2023-01-26 |
EP4072889A1 (de) | 2022-10-19 |
WO2021115580A1 (de) | 2021-06-17 |
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