JP2023517445A - 大型車両を動作させる方法 - Google Patents
大型車両を動作させる方法 Download PDFInfo
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- JP2023517445A JP2023517445A JP2022542741A JP2022542741A JP2023517445A JP 2023517445 A JP2023517445 A JP 2023517445A JP 2022542741 A JP2022542741 A JP 2022542741A JP 2022542741 A JP2022542741 A JP 2022542741A JP 2023517445 A JP2023517445 A JP 2023517445A
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Abstract
Description
米国特許出願公開第2019/0248370号明細書は、上述した問題を完全には解決しない、発進中の車両を制御する方法を開示している。
Claims (19)
- 大型車両(100)を動作させる方法であって、
前記大型車両(100)を動作させる動作命令を取得するステップ(S1)と、
前記動作命令を実行するのに適した車輪スリップに応じた目標車輪スリップ値(λtarget)を決定するステップ(S2)と、
車輪速度(ω)を制御して前記大型車両(100)の車輪スリップを前記目標車輪スリップ値(λtarget)に維持するステップ(S3)と、
を含む方法。 - 前記動作命令(S11)は、前記大型車両(100)によって要求された加速度(areq)を含み、
前記目標車輪スリップ値(λtarget)は、前記要求された加速度に到達するのに必要な縦力(Fx’)に応じて決定される(S21)、
請求項1又は2に記載の方法。 - 縦力(Fy)と縦方向の車輪スリップ率との予め決定された相関関係(400)に基づいて、前記要求された加速度に到達するのに必要な前記縦力(Fx’)から前記目標車輪スリップ値(λtarget)を決定するステップ(S212)を含む、
請求項3に記載の方法。 - mを前記大型車両(100)の質量、areqを前記大型車量(100)によって要求された加速度とすると、Fx’=m×areqという相関関係に基づいて、前記要求された加速度に到達するのに必要な前記縦力(Fx’)を決定するステップ(S211)を含む、
請求項4に記載の方法。 - 縦力(Fy)と縦方向の車輪スリップ率との予め決定された相関関係(400)は、推定された道路状態に応じて予め設定された(S213)、
請求項4又は5に記載の方法。 - 前記動作命令(S12)は、前記大型車量(100)によって要求された終速度(vreq)を含み、
前記目標車輪スリップ値(λtarget)は、予め設定された車輪スリップ値(S22)である、
請求項1又は2に記載の方法。 - 車輪速度(ω)を制御して車両加速度を予め設定された最大加速度値未満に維持するステップ(S32)を含む、
請求項1~8のいずれか1つに記載の方法。 - 車輪速度(ω)を制御して車輪速度を予め設定された最大車輪速度値未満に維持するステップ(S33)を含む、
請求項1~9のいずれか1つに記載の方法。 - 前記車両速度(vx)が設定された閾値速度(vlim)未満であれば、固定の車輪スリップ制限を持つトルク要求に基づいて車両速度(vx)を制御するステップ(S34)を含む、
請求項1~10のいずれか1つに記載の方法。 - 前記動作命令は、限られた期間だけ印加され得るピークトルクの要求に対応する、
請求項1~12のいずれか1つに記載の方法。 - オープン差動装置を介して駆動車輪に連結された電気機械に車輪速度要求を送信するステップ(S5)を含み、
前記方法は、前記電気機械によって車輪速度(ω)を制御して前記大型車量(100)の車輪スリップを前記目標車輪スリップ値(λtarget)に維持するステップを含む、
請求項1~13のいずれか1つに記載の方法。 - 設定された期間に亘って、前記目標車輪スリップ値(λtarget)を初期値から予め決定された終了値まで増加させるステップを含む、
請求項1~14のいずれか1つに記載の方法。 - プログラムが制御ユニット(110)のコンピュータ又は処理回路(910)で実行されるとき、請求項1~15のいずれか1つのステップを実行するためのプログラムコード手段を含んだコンピュータプログラム(1020)。
- プログラム製品が制御ユニット(110)のコンピュータ又は処理回路(910)で実行されるとき、請求項1~15のいずれか1つのステップを実行するためのプログラムコード手段を含んだコンピュータプログラム(1020)を保持するコンピュータ可読媒体(1010)。
- 大型車量(100)を動作させる動作命令を取得し、前記動作命令を実行するのに適した車輪スリップに応じた目標車輪スリップ値(λtatget)を決定し、車輪速度(ω)を制御して前記大型車量(100)の車輪スリップを前記目標車輪スリップ値(λtarget)に維持するように構成された処理回路(910)を含む、
大型車両の制御ユニット(110)。 - 請求項18に記載の制御ユニット(110)を備えた車両(100)。
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