JP4215026B2 - 車輌の走行制御装置 - Google Patents
車輌の走行制御装置 Download PDFInfo
- Publication number
- JP4215026B2 JP4215026B2 JP2005144959A JP2005144959A JP4215026B2 JP 4215026 B2 JP4215026 B2 JP 4215026B2 JP 2005144959 A JP2005144959 A JP 2005144959A JP 2005144959 A JP2005144959 A JP 2005144959A JP 4215026 B2 JP4215026 B2 JP 4215026B2
- Authority
- JP
- Japan
- Prior art keywords
- control
- vehicle
- yaw moment
- turning
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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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
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- 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
- B60W40/114—Yaw movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
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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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
- B60T2210/24—Curve radius
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- 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
- B60W2540/106—Rate of change
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
-
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
Description
γe=V・δf/(1+KhV2)H ……(1)
γt=γe/(1+Ts) ……(2)
Mts=ωs1・Ka・Mt ……(3)
Mtb=ωb・Ka・Mt ……(4)
図3は車輌の走行制御装置の参考例1に於ける走行制御ルーチンを示すフローチャートである。尚図3に於いて図2に示されたステップと同一のステップには図2に於いて付されたステップ番号と同一のステップ番号が付されており、このことは後述の他の実施例及び参考例についても同様である。
Mts=ωs2・Kb・Mt ……(5)
Mtb=ωb・Kb・Mt ……(6)
図4は車輌の走行制御装置の参考例2に於ける走行制御ルーチンを示すフローチャートである。
増減係数Kc 配分率ωs3
運転者A 1.0 0.2
運転者B 0.8 0.5
運転者C 0.2 1.0
Mts=ωs3・Kc・Mt ……(7)
Mtb=ωb・Kc・Mt ……(8)
Mts=ωs・Ka・Kb・Mt ……(9)
Mtb=ωb・Ka・Kb・Mt ……(10)
Mts=ωs4・Kd・Mt ……(11)
Mtb=ωb・Kd・Mt ……(12)
Mts=ωs5・Ke・Mt ……(13)
Mtb=ωb・Ke・Mt ……(14)
増減係数Kr
市街地 1.0
高速道路 0.8〜1.0
山岳路 0.8
サーキット 0〜0.2
14 ステアリングホイール
24 転舵角可変装置
34 電子制御装置
36 制動装置
44 マスタシリンダ
50 操舵角センサ
52 回転角センサ
54 車速センサ
56 ヨーレートセンサ
58FL〜58RR 圧力センサ
60 圧力センサ
62 アクセル開度センサ
64 切り替えスイッチ
66 CCDカメラ
Claims (5)
- 運転者の操舵操作とは独立に操舵輪を転舵可能な転舵手段と、各車輪の制駆動力を制御する制駆動力制御手段と、車輌の運動を安定化させるための車輌の目標旋回制御量を演算する手段と、前記目標旋回制御量を所定の比率にて操舵輪の転舵角制御による目標旋回制御量と制駆動力の制御による目標旋回制御量とに配分する配分手段と、前記操舵輪の転舵角制御による目標旋回制御量に基づき前記転舵手段を制御し、前記制駆動力の制御による目標旋回制御量に基づき前記制駆動力制御手段を制御する制御手段とを有する車輌の走行制御装置に於いて、運転者の加速操作量を検出する手段を有し、前記配分手段は前記加速操作量の増加変化率が大きいときには前記増加変化率が小さいときに比して前記操舵輪の転舵角制御による目標旋回制御量の配分比率を大きくすることを特徴とする車輌の走行制御装置。
- 前記目標旋回制御量を演算する手段は前記増加変化率が大きいときには前記増加変化率が小さいときに比して前記目標旋回制御量の大きさを小さくすることを特徴とする請求項1に記載の車輌の走行制御装置。
- 前記配分手段は前記加速操作量が増加変化していないときには前記操舵輪の転舵角制御による目標旋回制御量の配分比率を0にすることを特徴とする請求項1又は2に記載の車輌の走行制御装置。
- 前記配分手段は前記操舵輪の転舵角制御による目標旋回制御量及び前記制駆動力の制御による目標旋回制御量の配分比率を制御するに当り走行路の状況を考慮することを特徴とする請求項1乃至3の何れか一つに記載の車輌の走行制御装置。
- 前記目標旋回制御量を演算する手段は車輌の目標旋回状態量を演算する手段と、車輌の実際の旋回状態量を検出する手段とを有し、目標旋回状態量と実際の旋回状態量との偏差に基づき目標旋回制御量として車輌の目標ヨーモーメントを演算することを特徴とする請求項1乃至4の何れか一つに記載の車輌の走行制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005144959A JP4215026B2 (ja) | 2005-05-18 | 2005-05-18 | 車輌の走行制御装置 |
DE602006017821T DE602006017821D1 (de) | 2005-05-18 | 2006-05-15 | Betriebssteuervorrichtung für ein fahrzeug |
EP06779698A EP1881921B1 (en) | 2005-05-18 | 2006-05-15 | Running control apparatus for vehicle |
US11/794,123 US8200391B2 (en) | 2005-05-18 | 2006-05-15 | Running control apparatus for vehicle |
PCT/IB2006/001258 WO2006123215A2 (en) | 2005-05-18 | 2006-05-15 | Running control apparatus for vehicle |
KR1020077018630A KR100933325B1 (ko) | 2005-05-18 | 2006-05-15 | 차량용 주행제어장치 |
CN2006800033155A CN101111417B (zh) | 2005-05-18 | 2006-05-15 | 车辆的行驶控制设备 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005144959A JP4215026B2 (ja) | 2005-05-18 | 2005-05-18 | 車輌の走行制御装置 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008205517A Division JP4623162B2 (ja) | 2008-08-08 | 2008-08-08 | 車輌の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006321308A JP2006321308A (ja) | 2006-11-30 |
JP4215026B2 true JP4215026B2 (ja) | 2009-01-28 |
Family
ID=36999798
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005144959A Expired - Fee Related JP4215026B2 (ja) | 2005-05-18 | 2005-05-18 | 車輌の走行制御装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8200391B2 (ja) |
EP (1) | EP1881921B1 (ja) |
JP (1) | JP4215026B2 (ja) |
KR (1) | KR100933325B1 (ja) |
CN (1) | CN101111417B (ja) |
DE (1) | DE602006017821D1 (ja) |
WO (1) | WO2006123215A2 (ja) |
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JP5187479B2 (ja) * | 2007-02-22 | 2013-04-24 | 株式会社アドヴィックス | 車両挙動制御装置 |
KR100845902B1 (ko) * | 2007-07-27 | 2008-07-14 | 주식회사 만도 | 차량 안정성 시스템의 보상 요 모멘트의 제동압력 분배방법 |
JP5115276B2 (ja) * | 2008-03-31 | 2013-01-09 | 株式会社アドヴィックス | 車両の操舵制御装置 |
JP5237146B2 (ja) * | 2009-02-13 | 2013-07-17 | マツダ株式会社 | 車両の運動制御装置 |
JP5542014B2 (ja) * | 2010-09-10 | 2014-07-09 | 富士重工業株式会社 | 車両挙動制御装置 |
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JP6743736B2 (ja) * | 2017-03-23 | 2020-08-19 | トヨタ自動車株式会社 | 車両のブレーキ装置 |
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JP2019127095A (ja) * | 2018-01-23 | 2019-08-01 | マツダ株式会社 | 車両の制御装置 |
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JP2004075013A (ja) | 2002-08-22 | 2004-03-11 | Denso Corp | 車両制御装置 |
JP4305054B2 (ja) | 2003-05-22 | 2009-07-29 | マツダ株式会社 | 自動車の操舵特性設定システム |
DE10328685A1 (de) * | 2003-06-26 | 2005-01-13 | Daimlerchrysler Ag | Vorrichtung und Verfahren zur Stabilisierung eines Fahrzeugs bei Kurvenfahrten |
JP4678121B2 (ja) | 2003-09-26 | 2011-04-27 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP4049070B2 (ja) | 2003-09-24 | 2008-02-20 | トヨタ自動車株式会社 | 車両の制御装置 |
JP2005112007A (ja) * | 2003-10-02 | 2005-04-28 | Toyoda Mach Works Ltd | 車両の統合制御装置 |
JP2005271824A (ja) * | 2004-03-25 | 2005-10-06 | Mitsubishi Fuso Truck & Bus Corp | 車両の挙動制御装置 |
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2005
- 2005-05-18 JP JP2005144959A patent/JP4215026B2/ja not_active Expired - Fee Related
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2006
- 2006-05-15 WO PCT/IB2006/001258 patent/WO2006123215A2/en not_active Application Discontinuation
- 2006-05-15 CN CN2006800033155A patent/CN101111417B/zh not_active Expired - Fee Related
- 2006-05-15 KR KR1020077018630A patent/KR100933325B1/ko not_active IP Right Cessation
- 2006-05-15 US US11/794,123 patent/US8200391B2/en not_active Expired - Fee Related
- 2006-05-15 EP EP06779698A patent/EP1881921B1/en not_active Expired - Fee Related
- 2006-05-15 DE DE602006017821T patent/DE602006017821D1/de active Active
Also Published As
Publication number | Publication date |
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CN101111417A (zh) | 2008-01-23 |
KR100933325B1 (ko) | 2009-12-22 |
CN101111417B (zh) | 2011-05-18 |
US8200391B2 (en) | 2012-06-12 |
EP1881921A2 (en) | 2008-01-30 |
WO2006123215A8 (en) | 2007-02-15 |
KR20070095413A (ko) | 2007-09-28 |
DE602006017821D1 (de) | 2010-12-09 |
US20080114511A1 (en) | 2008-05-15 |
EP1881921B1 (en) | 2010-10-27 |
WO2006123215A2 (en) | 2006-11-23 |
JP2006321308A (ja) | 2006-11-30 |
WO2006123215A3 (en) | 2007-01-25 |
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