JP4059194B2 - 車両の統合制御システム - Google Patents
車両の統合制御システム Download PDFInfo
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- JP4059194B2 JP4059194B2 JP2003430233A JP2003430233A JP4059194B2 JP 4059194 B2 JP4059194 B2 JP 4059194B2 JP 2003430233 A JP2003430233 A JP 2003430233A JP 2003430233 A JP2003430233 A JP 2003430233A JP 4059194 B2 JP4059194 B2 JP 4059194B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- 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
- 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
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
-
- 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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- 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
- 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
- B60W50/04—Monitoring the functioning of the control system
-
- 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
- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/14—Yaw
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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
-
- 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
- B60W2540/18—Steering angle
-
- 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
- B60W2710/18—Braking system
-
- 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
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
図1を参照して、本発明の実施の形態に係る車両の統合制御システムのブロック図を説明する。この車両の統合制御システムは、内燃機関(エンジン)を駆動源とする車両に搭載されている。なお、駆動源は、エンジンなどの内燃機関に限定されず、電気モータのみやエンジンと電気モータとの組合せであってもよく、電気モータの動力源は、二次電池や燃料電池であってよい。
(1)エンジン140を電気的に制御するためのアクチュエータ
(2)トランスミッション240を電気的に制御するためのアクチュエータ
(3)操舵反力付与装置480を電気的に制御するためのアクチュエータ
(4)フロントステアリング装置500を電気的に制御するためのアクチュエータ
(5)リヤステアリング装置520を電気的に制御するためのアクチュエータ
(6)各ブレーキ560に個別に関連して設けられ、各ブレーキ560により各車輪100に加えられる制動トルクを個別に電気的に制御するための複数のアクチュエータ
(7)各サスペンション620に個別に関連して設けられ、各サスペンション620の懸架特性を個別に電気的に制御するための複数のアクチュエータ
図1に示すように、車両の統合制御システムは、以上のように説明した複数のアクチュエータに接続された状態で車両に搭載されている。この運動制御装置は、図示しないバッテリ(車両電源の一例である)から供給される電力により作動させられる。
以下、本発明の第2の実施の形態に係る車両の統合制御システムについて説明する。図13に本実施の形態に係る車両の統合制御システムの制御構造を示す。この図13は、図2に対応する図である。
Claims (7)
- 車両を制御する統合制御システムであって、
階層化された上位システムを必要とすることなく、各々が自律的および並列的に動作する少なくとも3つのサブシステムと、
車両状態に関連する情報を検知するとともに記憶するための検知手段とを備え、
前記少なくとも3つのサブシステムは、
基本制御機能を実現するための第1のサブシステムと、
付加的な制御機能を実現するための第2および第3のサブシステムとを含み、
前記第1、前記第2および前記第3のサブシステムは、第1、第2および第3の調停手段をそれぞれ有し、
前記第1のサブシステムは、
前記検知手段によって検知された情報の少なくとも一部に基づいて、第1の制御量を算出するための第1の要求手段と、
前記車両のアクチュエータを制御するための出力手段とをさらに有し、
前記第1の調停手段は、前記第1の要求手段からの前記第1の制御量と、少なくとも前記第2の調停手段からの第2の制御量とを調停し、
前記出力手段は、前記第1の調停手段による調停結果に基づいて前記アクチュエータを制御し、
前記第2のサブシステムは、
前記検知手段によって検知された情報の少なくとも一部に基づいて、第3の制御量を算出するための第2の要求手段をさらに有し、
前記第2の調停手段は、前記第3の制御量と、少なくとも前記第3の調停手段からの第4の制御量とを調停することによって、前記第1の調停手段での調停に用いられる前記第2の制御量を生成して前記第1の調停手段へ出力し、
前記第3のサブシステムは、
前記検知手段によって検知された情報の少なくとも一部に基づいて、第5の制御量を算出するための第3の要求手段をさらに有し、
前記第3の調停手段は、少なくとも前記第3の要求手段からの前記第5の制御量に基づいて、前記第2の調停手段での調停に用いられる前記第4の制御量を生成して前記第2の調停手段へ出力する、車両の統合制御システム。 - 前記第1、前記第2および前記第3の調停手段の各々は、情報の優先度を決定するための手段を含む、請求項1に記載の車両の統合制御システム。
- 前記第1、前記第2および前記第3の調停手段の各々は、情報を補正するための手段を含む、請求項1に記載の車両の統合制御システム。
- 前記第1、前記第2および前記第3の調停手段の各々は、情報を加工するための手段を含む、請求項1に記載の車両の統合制御システム。
- 前記第1のサブシステムは、駆動系制御サブシステム、制動系制御サブシステム、および旋回系制御サブシステムを含み、
前記駆動系制御サブシステム、制動系制御サブシステム、および旋回系制御サブシステムの各々は、独立に、前記第1の要求手段、前記第1の調停手段および前記出力手段を有する、請求項1〜4のいずれかに記載の車両の統合制御システム。 - 前記第3のサブシステムは、前記車両を自動運転または擬似自動運転するために、前記車両を制御する自動運転サブシステムを含む、請求項1〜5のいずれかに記載の車両の統合制御システム。
- 前記第2のサブシステムは、前記車両の挙動状態を安定化させるために、前記車両を制御する動的安定化サブシステムを含む、請求項1〜6のいずれか1項に記載の車両の統合制御システム。
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003430233A JP4059194B2 (ja) | 2003-12-25 | 2003-12-25 | 車両の統合制御システム |
DE602004019349T DE602004019349D1 (de) | 2003-12-25 | 2004-12-13 | Fahrzeugintegriertes steuersystem |
CA002551048A CA2551048C (en) | 2003-12-25 | 2004-12-13 | Vehicle integrated control system |
EP04807325A EP1711386B1 (en) | 2003-12-25 | 2004-12-13 | Vehicle integrated control system |
BRPI0418172-7A BRPI0418172A (pt) | 2003-12-25 | 2004-12-13 | sistema de controle integrado de veìculo |
ES04807325T ES2320003T3 (es) | 2003-12-25 | 2004-12-13 | Sistema de control integrado de vehiculo. |
US10/583,661 US7522983B2 (en) | 2003-12-25 | 2004-12-13 | Vehicle integrated control system |
KR1020067014847A KR100860859B1 (ko) | 2003-12-25 | 2004-12-13 | 차량통합제어시스템 |
RU2006126981/11A RU2329170C2 (ru) | 2003-12-25 | 2004-12-13 | Интегрированная система управления транспортным средством |
PCT/JP2004/018968 WO2005063524A1 (en) | 2003-12-25 | 2004-12-13 | Vehicle integrated control system |
CN2004800389029A CN1898117B (zh) | 2003-12-25 | 2004-12-13 | 车辆集成控制系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2003430233A JP4059194B2 (ja) | 2003-12-25 | 2003-12-25 | 車両の統合制御システム |
Publications (2)
Publication Number | Publication Date |
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JP2005186762A JP2005186762A (ja) | 2005-07-14 |
JP4059194B2 true JP4059194B2 (ja) | 2008-03-12 |
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JP2003430233A Expired - Fee Related JP4059194B2 (ja) | 2003-12-25 | 2003-12-25 | 車両の統合制御システム |
Country Status (11)
Country | Link |
---|---|
US (1) | US7522983B2 (ja) |
EP (1) | EP1711386B1 (ja) |
JP (1) | JP4059194B2 (ja) |
KR (1) | KR100860859B1 (ja) |
CN (1) | CN1898117B (ja) |
BR (1) | BRPI0418172A (ja) |
CA (1) | CA2551048C (ja) |
DE (1) | DE602004019349D1 (ja) |
ES (1) | ES2320003T3 (ja) |
RU (1) | RU2329170C2 (ja) |
WO (1) | WO2005063524A1 (ja) |
Cited By (1)
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US9085216B2 (en) | 2010-12-27 | 2015-07-21 | Denso Corporation | On-vehicle control system equipped with actuator driven based on target value |
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JP4969833B2 (ja) * | 2005-11-08 | 2012-07-04 | 富士重工業株式会社 | 車両挙動制御装置 |
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JP5229265B2 (ja) | 2010-04-13 | 2013-07-03 | 日産自動車株式会社 | 内燃機関の出力制御装置 |
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US9085216B2 (en) | 2010-12-27 | 2015-07-21 | Denso Corporation | On-vehicle control system equipped with actuator driven based on target value |
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EP1711386B1 (en) | 2009-02-04 |
WO2005063524A1 (en) | 2005-07-14 |
KR100860859B1 (ko) | 2008-09-29 |
RU2006126981A (ru) | 2008-02-10 |
EP1711386A1 (en) | 2006-10-18 |
CN1898117B (zh) | 2013-07-17 |
US7522983B2 (en) | 2009-04-21 |
DE602004019349D1 (de) | 2009-03-19 |
CA2551048A1 (en) | 2005-07-14 |
BRPI0418172A (pt) | 2008-02-06 |
US20070169007A1 (en) | 2007-07-19 |
JP2005186762A (ja) | 2005-07-14 |
KR20060127077A (ko) | 2006-12-11 |
RU2329170C2 (ru) | 2008-07-20 |
CA2551048C (en) | 2008-11-25 |
CN1898117A (zh) | 2007-01-17 |
ES2320003T3 (es) | 2009-05-18 |
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