JP4459247B2 - Wheel independent drive vehicle control device - Google Patents

Description

  The present invention relates to a control device for a wheel-independent drive vehicle having a fail-safe function.

  As a fail-safe function of a conventional wheel independent drive vehicle, when an abnormality of a wheel rotation motor is detected, the wheel rotation motor in which the abnormality is detected and a wheel positioned on the opposite side to the wheel of the wheel rotation motor It is known that the driving force of the rotating motor is zero. (For example, refer to Patent Document 1).

  In addition, as another fail-safe function of the wheel independent drive vehicle, when the abnormality of the wheel rotation motor is detected, the driving force of the other normal wheel rotation motor is corrected so that the behavior of the vehicle does not become unstable. It is known to do so. (For example, refer to Patent Document 2).

  Furthermore, as a fail-safe function in a vehicle in which each wheel is independently driven by a wheel rotation motor, when an abnormality is detected in a control device that controls the wheel rotation motor, the wheel rotation motor of another wheel is controlled. It is known that a wheel rotation motor controlled by a control device in which an abnormality is detected by the control device is controlled instead. (For example, refer to Patent Document 3).

  In addition, as a fail-safe function in an electric vehicle that drives each wheel with a wheel rotation motor independently, when an abnormality is detected in the network between the motor control unit and the vehicle control unit, it passes through another node on the network. It is known that the bypass transmission path is constructed and the vehicle control unit and the motor control unit communicate with each other via the bypass transmission path. (For example, refer to Patent Document 4).

Japanese Patent No. 3280392 JP 2005-119647 A JP 2004-175313 A Japanese Patent No. 3476770

  A conventional wheel independent drive vehicle control device is configured as described above, and Patent Document 1 discloses a fail-safe function when a wheel rotation motor or a control device that controls the wheel rotation motor is abnormal. It is not intended for the failure in the network connecting them. For this reason, there is a problem that the vehicle cannot be driven by the fail-safe function when there is an abnormality in the network that connects the wheels rotating motor and the control device that controls the wheel rotating motor.

  Moreover, what was shown by patent document 2 is intended for the fail-safe function at the time of abnormality of the control apparatus which controls the motor for wheel rotation, and the motor for wheel rotation, and is concerned about the failure in the network which connects them. It is not. Therefore, if the wheel rotation motor or the control device that controls the wheel rotation motor is normal, but there is an abnormality in the network that connects them, the other normal wheel rotation motors are provided by the fail-safe function. There is a problem that the result of increasing the load of a normal wheel rotation motor is brought about, such as increasing the output of the motor.

  Furthermore, in order to implement the fail-safe function, there is a problem that complicated processing such as correcting the driving force of another normal wheel rotation motor is required.

  In addition, what is disclosed in Patent Document 3 is intended for fail-safe functions in the event of an abnormality of a wheel rotation motor or a control device that controls the wheel rotation motor, and is subject to failure in a network connecting them. It is not. For this reason, if it is detected that there is an abnormality in the network that connects the wheel rotation motor and the control device that controls the wheel rotation motor, the wheel rotation of another wheel is detected by the fail-safe function. There is a problem of controlling the wheel rotation motor controlled by the control device in which the abnormality is detected by the control device for controlling the motor for use.

  Furthermore, in order to realize the fail-safe function, there is a problem that a complicated process and mechanism for controlling the wheel rotation motor by another control device is required.

  In addition, what is disclosed in Patent Document 4 is a target of a fail-safe function with respect to a fail in a network. In order to realize the fail-safe function, a detour transmission path in which various nodes are connected redundantly is provided. There was a problem that a complicated configuration such as preparation was required.

  Furthermore, when a failure occurs in the network, there is a problem that complicated processing for selecting which detour transmission path is used for communication is required.

  The present invention has been made to solve the above-described problems. When the control device for controlling the prime mover is normal, the vehicle can run even if an abnormality is detected in the network connected to the control device. It is a first object of the present invention to provide a control device for a wheel-independent drive vehicle capable of realizing a fail-safe function.

  In addition, when the control device that controls the prime mover is normal, even if an abnormality is detected in the network connected to them, the fail-safe function that can run without increasing the load, such as increasing the output of another normal prime mover A second object of the present invention is to provide a control device for a wheel independent drive vehicle capable of realizing the above.

  Furthermore, even when a control device that controls the prime mover is normal and an abnormality is detected in the network connected thereto, the control device that has detected the abnormality is controlled by the control device that controls the prime mover of another wheel. To provide a control device for a wheel-independent drive vehicle that can realize a fail-safe function with an existing configuration without requiring complicated processing and mechanisms for realizing a fail-safe function such as controlling a prime mover Is the third purpose.

  In addition, when the control device for controlling the prime mover is normal, even if an abnormality is detected in the network connected to them, the existing configuration does not require complicated processing and network configuration for realizing the fail-safe function. A fourth object is to provide a control device for a wheel-independent drive vehicle capable of realizing a fail-safe function.

A wheel independent drive vehicle control device according to the present invention is provided on each of two or more wheels arranged on the left and right of the vehicle, respectively, and a wheel rotating prime mover capable of generating drive torque individually,
A vehicle control device that calculates a required required output required for the wheel rotating prime mover from a required driving force to the vehicle, and a prime mover control device that controls each wheel rotating prime mover so as to obtain the required required output. , Connecting the vehicle control device and each prime mover control device, detecting a communication path for notifying the required output to each prime mover control device, and a wheel speed of a wheel driven by the wheel rotation prime mover, In a wheel independent drive vehicle having a wheel speed detection device that notifies the motor control device that controls the motor for rotating the wheel, the calculation required from the wheel speed detected by the wheel speed detection device to the motor control device. Output self-calculating means for calculating the required output, non-reception detecting means for detecting that the required required output is not notified from the vehicle control device, and the non-reception detecting means When it is detected that the required required output is not notified, use output switching means for switching the required output used for controlling the wheel rotating prime mover to the calculated required output is provided, and the vehicle control device is configured to control each prime mover. Communication state detection means capable of individually grasping whether the required required output is notified to the device, and a use output switching notification for notifying that the required output used by the motor control device is switched to the required required output or the calculated required output And when the communication failure occurs on the communication path between the vehicle control device and the predetermined prime mover control device, the vehicle control device detects that the required output is not notified. And a wheel rotation prime mover that is arranged symmetrically with respect to the wheel rotation prime mover that is detected by the predetermined prime mover control device Notifying the controlling prime mover control device that the required output is switched to the calculated required output by the use output switching notification means, and the predetermined prime mover control device is notified of the required required output by the non-reception detecting means. After detecting that this is not done, the use output switching means switches to the calculation required output to control the motor for rotating the wheel.

  Since the control device for a wheel independent drive vehicle according to the present invention is configured as described above, when the control device for controlling the prime mover is normal, the vehicle can run even if an abnormality is detected in the network connected thereto. Fail-safe can be realized.

  In addition, when the control device that controls the prime mover is normal, even if an abnormality is detected in the network connected to the prime mover, a fail safe that can travel without increasing the load, such as increasing the output of another normal prime mover, is provided. Can be realized.

  Furthermore, even when an abnormality is detected in the network connected to the control device that controls the prime mover, the control device in which the abnormality is detected by the control device that controls the prime mover of another wheel is controlled. Therefore, it is possible to realize the fail-safe function with the existing configuration without requiring complicated processing and mechanism for the fail-safe function such as controlling the prime mover.

  In addition, when the control device that controls the prime mover is normal, even if an abnormality is detected in the network connected to them, the existing configuration does not require complicated processing and network configuration for the fail-safe function. A fail-safe function can be realized.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 shows the configuration of the first embodiment, and is an overall configuration diagram showing an example of a four-wheel independent drive vehicle in which each wheel is individually driven by a motor. In this figure, S indicates a four-wheel drive vehicle, the upper side of the figure indicates the front side of the vehicle, and the lower side of the figure indicates the rear side of the vehicle.

  The vehicle control device 1 realizes the vehicle motion required by the driver, stabilizes the vehicle based on the vehicle behavior information or improves the motion performance of the vehicle, or safety of the vehicle based on the vehicle periphery information. In order to improve the motor, the required output required for the wheel rotation motors 31-34 provided on each wheel is calculated, and the motor control for controlling the wheel rotation motors 31-34 via the communication path 6 is calculated. Notification is made to the devices 21-24.

The request from the driver includes operation information performed on the vehicle for driving by the driver, such as an accelerator operation, a brake operation, and a shift operation. Further, the vehicle behavior information includes information on the motion generated in the vehicle, such as the longitudinal and lateral accelerations and speeds generated in the vehicle, the yaw angle, the roll angle, the acceleration in the pitch angle direction, the speed, and angle information.
Further, the vehicle surrounding information includes surrounding environment information from which the vehicle is obtained, such as vehicle position information and surrounding obstacle information such as distances from pedestrians and front vehicles.

The prime mover control device 21 controls the wheel rotation prime mover 31 that drives the left front wheel 41 so that the required output from the vehicle control device 1 can be obtained.
The prime mover control device 22 is configured to control the wheel rotation prime mover 32 that drives the right front wheel 42 so that the required output from the vehicle control device 1 can be obtained.
The prime mover control device 23 controls the wheel rotation prime mover 33 that drives the left rear wheel 43 so that the required output from the vehicle control device 1 can be obtained.
The prime mover control device 24 controls the wheel rotation prime mover 34 that drives the right rear wheel 44 so that the required output from the vehicle control device 1 can be obtained.

The wheel rotating prime mover 31 is a motor that rotates the left front wheel 41 and is driven by electricity.
The wheel rotating prime mover 32 is a motor that rotates the front right wheel 42 and is similarly driven by electricity.
The wheel rotating prime mover 33 is a motor that rotates the left rear wheel 43 and is similarly driven by electricity.
The wheel rotating prime mover 34 is a motor that rotates the right rear wheel 44 and is similarly driven by electricity.

  Here, the motors 31, 32, 33, and 34 for rotating the wheel may have an in-wheel motor structure built in the wheel of the wheel, or may be a structure coupled to each wheel via a transmission. Good.

The wheel speed detection device 51 detects the wheel speed of the left front wheel 41 and notifies the prime mover control device 21.
The wheel speed detection device 52 detects the wheel speed of the right front wheel 42 and notifies the prime mover control device 22.
The wheel speed detection device 53 detects the wheel speed of the left rear wheel 43 and notifies the prime mover control device 23.
The wheel speed detection device 54 detects the wheel speed of the right rear wheel 44 and notifies the prime mover control device 24.

  The vehicle control device 1 and the prime mover control devices 21, 22, 23, 24 are connected by a communication path 6 so as to notify each of the prime mover control devices of required output and the like. As shown in FIG. 1, the communication path 6 is a bus type and all the prime mover control devices 21, 22, 23, 24 may be connected to one communication line, or the vehicle control device 1 and each prime mover control device 21. , 22, 23, and 24 may be connected by separate communication lines.

  Each prime mover control device 21, 22, 23, 24 includes an output self-calculating means 8, a non-reception detecting means 9, and a use output switching means 10. The output self-calculating means 8 holds the relationship between the wheel speed V and the calculation required output Tcal, which has been obtained in advance to maintain the wheel speed, and the wheel notified to the prime mover control device using this relationship. The required output for calculation is derived corresponding to the speed.

The non-reception detecting means 9 is configured to detect a state in which a required output from the vehicle control device 1 is not notified due to a failure or the like.
The use output switching means 10 uses the required output used for controlling the motor for rotating the wheels controlled by the prime mover control device as the required required output from the vehicle control device 1 or the calculated required output Tcal_fl calculated by the output self-calculation means 8 (In the case of the motor control device 21), Tcal_fr (in the case of the motor control device 22), Tcal_rl (in the case of the motor control device 23), and Tcal_rr (in the case of the motor control device 24) are switched.

  Although the output self-calculating means 8, the non-reception detecting means 9 and the use output switching means 10 have been shown as being incorporated in the prime mover control device, they may not be incorporated in the prime mover control device. Needless to say, the same function may be realized outside the apparatus.

  In addition, the vehicle control device 1 includes a communication state detection unit 11 and a use output switching notification unit 12. The communication state detection means 11 monitors the communication state between the vehicle control device 1 and the prime mover control device, and indicates a state where the required output from the vehicle control device 1 cannot be notified due to some communication failure for each prime mover control device. It is supposed to detect.

  The use output switching notifying means 12 determines whether the required output used for controlling the wheel rotating prime mover through the communication path is a required required output from the vehicle control apparatus 1 through the communication path, or by the output self-calculating means 8. A signal for switching whether to calculate the calculated required output Tcal_fl (for the motor control device 21), Tcal_fr (for the motor control device 22), Tcal_rl (for the motor control device 23), or Tcal_rr (for the motor control device 24). Has been to notify you.

  Although the communication state detection unit 11 and the use output switching notification unit 12 have been illustrated as being built in the vehicle control device 1, they may not be built in the vehicle control device 1. Needless to say, the same function may be realized externally.

  In addition to these devices, there are devices necessary for a wheel independent drive vehicle using a motor as a prime mover. However, since they are not directly related to the present invention, the illustration and description in FIG. 1 are omitted.

  Next, control during normal traveling in the wheel independent drive vehicle shown in FIG. 1 will be described.

  In order to realize the vehicle motion required from the driver to the vehicle, the vehicle control device 1 calculates the required required output for each of the wheel rotation motors 31, 32, 33, 34, and for each wheel rotation through the communication path 6. Notify the prime mover control devices 21, 22, 23, and 24 that control the prime mover.

  The prime mover control devices 21, 22, 23, and 24 that have received the notifications apply their respective applied currents so as to output the required output to the wheel rotation prime movers 31, 32, 33, and 34 constituted by motors. Control voltage, etc. And the motors 31, 32, 33, 34 for wheel rotation controlled by the respective motor control devices 21, 22, 23, 24 rotate according to the applied current, voltage, etc., and perform the vehicle motion requested by the driver to the vehicle. make it happen.

  At this time, from the behavior information generated in the vehicle, the vehicle surrounding information, the vehicle motion information requested by the driver, etc., each prime mover control device 21, 22, 23, so as to further improve the running stability, mobility and safety of the vehicle. In some cases, the required output to be notified to 24 is corrected.

  Next, processing based on the fail-safe function when a communication failure occurs in the configuration shown in FIG. 1 will be described with reference to FIG.

  In FIG. 2, an X mark 13 indicates a state in which a communication failure has occurred between the vehicle control device 1 and the prime mover control device 23. A communication failure refers to a general state where communication is impossible due to disconnection of the communication path 6 or the like. As a result, the prime mover control device 23 cannot receive the required output from the vehicle control device 1, but the other prime mover control devices 21, 22, and 24 are not affected by the communication malfunction 13 and the vehicle control device 1. The required output from can be received.

  Processing of the vehicle control device 1 and each prime mover control device in this state will be described with reference to the flowchart of FIG.

  As shown in the flowchart of FIG. 3, the communication state detection means 11 of the vehicle control device 1 first checks in step S101 whether or not it is in a state where the required output cannot be notified to the prime mover control device 21 of the prime mover 31 for rotating the left front wheel. To do. If it is not possible to notify, the use output switching notification means 12 issues a switching notification to the prime mover control device 22 of the right front wheel rotation prime mover 32 which is the opposite wheel in step S105.

  If it is not in a state that cannot be notified in step S101, the process proceeds to step S102, where it is confirmed whether or not it is in a state in which a required output cannot be notified to the motor control device 22 of the motor 32 for rotating the right front wheel. If the notification is not possible, the use output switching notification means 12 issues a switching notification to the prime mover control device 21 of the prime mover 31 for rotating the left front wheel, which is the opposite wheel, in step S106.

  If it is not in a state that cannot be notified in step S102, the process proceeds to step S103, where it is confirmed whether or not it is in a state in which a required output cannot be notified to the motor control device 23 of the motor 33 for rotating the left rear wheel. Since the signal 11A disappears to indicate that the notification cannot be made in the example of FIG. 2, the use output switching notification means to the prime mover control device 24 of the right rear wheel rotation prime mover 34 which is the opposite wheel in step S107. 12 issues a switching notification 12A.

  If it is not in the state that cannot be notified even in step S103, the process further proceeds to step S104, where it is confirmed whether or not the required output cannot be notified to the motor control device 24 of the motor for rotating the right rear wheel 34. If the notification is not possible, the use output switching notification means 12 issues a switching notification to the prime mover controller 23 of the left rear wheel rotation prime mover 33 which is the opposite wheel in step S108.

4 to 7 are flowcharts showing processing procedures of the prime mover control devices 21, 22, 23, and 24 based on whether or not the required required output is received from the vehicle control device 1.
FIG. 4 shows a processing procedure of the prime mover control device 21. First, in step S121, it is confirmed whether or not the required output from the vehicle control device 1 is not received by the non-reception detecting means 9.

  If not received, the process proceeds from Yes to step S123, where the use output switching means 10 switches the necessary output used for controlling the wheel rotation motor 31 to the calculation necessary output Tcal_fl by the output self-calculating means 8. When the required output is received in step S121, the process proceeds from No to step S122, and it is confirmed whether there is a use output switching notification from the vehicle control device 1. If there is a notification, the process proceeds to step S123; otherwise, the process proceeds to step S124. In this step, the wheel rotating prime mover 31 is controlled so as to obtain a necessary output.

FIG. 5 shows the processing procedure of the prime mover control device 22, and the same processing as in FIG. 4 is performed.
Steps corresponding to FIG. 4 are denoted by the same step numbers, and description thereof is omitted.
FIG. 6 shows the processing procedure of the prime mover control device 23, and FIG. 7 shows the processing procedure of the prime mover control device 24. Since the processing similar to that in FIG. 4 is performed, it corresponds to FIG. Steps are given the same step numbers as in FIG.

  As shown in FIG. 2, when a communication failure occurs at the X mark 13, the prime mover control devices 21 and 22 are all No in steps S 121 and 122 in the flowcharts of FIGS. The required output used for controlling the wheel rotation prime movers 31 and 32 is not switched to the calculation required output Tcal_fl and Tcal_fr, and the wheel rotation prime mover 31 is obtained so that the required required output from the vehicle control device 1 can be obtained as usual. , 32 is executed.

  However, in the prime mover control device 23, in step S 121 in FIG. 6, in order to detect that the required output cannot be received by the non-reception detection means 9, the process proceeds to step S 123, and the use output switching means 10 causes the wheel rotation prime mover 33. The required output used for the control is switched to the calculation required output Tcal_rl by the output self-calculating means 8. Accordingly, in step S124, the wheel rotation prime mover 33 is controlled so that the required calculation output Tcal_rl is obtained.

  The calculation required output by the output self-calculating means 8 is calculated according to the flowchart shown in FIG. That is, in FIG. 8, the wheel speed V1 is notified from the wheel speed detecting device 53 in step S131. In response to this, in step S132, the necessary calculation output Tcal_rl = T1 is derived from the relationship between the wheel speed V and the necessary calculation output Tcal_rl as shown in FIG.

  The prime mover control device 24 performs processing based on the flowchart shown in FIG.

  The prime mover control device 24 proceeds to step S122 because step S121 of FIG. 7 is No, but in order to detect that the use output switching notification 12A is issued from the vehicle control device 1 in this case, in step S123, the use output The required output used for controlling the wheel rotating prime mover 34 is switched to the calculation required output Tcal_rr by the output self-calculating means 8 by the switching means 10. Therefore, the wheel rotating prime mover 34 is controlled so that the calculation required output Tcal_rr is obtained in step S124.

The output self-calculating means 8 of the prime mover control device 24 uses the wheel speed V2 detected by the wheel speed detecting device 54 from the relationship between the wheel speed V and the calculation required output Tcal as shown in FIG. Thus, the required calculation output Tcal_rr = T2 is derived.
The process for deriving Tcal_rr is the same as the process shown in the flowchart of FIG.

  Here, if the relationship between the wheel speed V held in advance and the required calculation output Tcal_rl and the relationship between the wheel speed V and the required calculation output Tcal_rr are the same for the rear left and right wheels, Becomes the same calculation required output Tcal_r, and the vehicle can run almost the same as normal driving without disturbing the vehicle behavior.

  Also, when driving on a curve, it is easier to travel on the curve than when the left and right wheels have the same required output by applying a large amount of drive torque to the wheels with a high rotational speed outside the curve. I can do it.

  Furthermore, when the required output for the wheel speed is larger than the relationship between the wheel speed V that the required output holds in advance and the calculated required output Tcal_rl, such as when the uphill or the load weight is large, the rear left and right wheels Although the outputs of the wheel rotation prime movers 33 and 34 are insufficient, the output from the rear left and right wheels is not zero, so that a certain degree of load reduction effect on the wheel rotation prime movers 31 and 32 of the front left and right wheels can be obtained.

On the other hand, if the implementation of the fail-safe function is limited to the left and right wheels of either the front wheels or the rear wheels, the number of changes from the conventional processing is reduced as much as possible, and a sufficient effect can be obtained.
It is also effective as a fail-safe function in a hybrid vehicle or the like in which one of the front and rear is driven by an internal combustion engine and the other left and right wheels are motor-driven.

  Furthermore, the wheel speed V1 from which the calculation required output Tcal_rl is derived is preliminarily subjected to a low-pass filter or the like between steps S131 and 132 in the flowchart of FIG. 8 to obtain V1_LF. If used, a rapid change in wheel speed can be suppressed, and a rapid change in the calculated required output Tcal_rl can be suppressed. This is the same even when a low-pass filter is applied to the calculated required output Tcal_rl after derivation.

  On the other hand, in step S132 of FIG. 8 for deriving the calculation required output Tcal_rl, the relationship between the wheel speed V and the calculation required output Tcal_rl is limited to the upper limit value T3lim as shown in FIG. If so, the safety when the fail-safe function is realized can be further increased.

  Further, when the communication failure 13 is resolved and communication between the vehicle control device 1 and the prime mover control device 23 is restored, the processing before the occurrence of the communication failure 13 is restored by the following method or the like.

  First, the vehicle control device 1 detects in the communication state detection means 11 that communication failure 13 has been resolved since communication with the prime mover control device 23 is possible.

  Next, the use output switching notification means 12 is used to notify the prime mover control device 24 that the use output is switched from the calculation required output to the required request output. Upon receiving the notification, the prime mover control device 24 switches the use output from the calculation required output Tcal_rr to the required request output in the use output switching means 10 and controls the wheel rotation prime mover 34.

  The prime mover control device 23 detects the elimination of the communication failure 13 in the non-reception detection means 9 and switches the use output from the calculated required output Tcal_rl to the required required output in the use output switching means 10 to control the wheel rotation prime mover 33. To do.

  Since the first embodiment is configured as described above, when a communication failure state occurs with the prime mover control device without newly adding a backup communication path, the wheel rotation prime mover itself is detected. It is possible to realize a fail-safe function capable of traveling using the wheel speed.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described.

  Since the overall configuration of the second embodiment is a four-wheel independent drive vehicle having a motor as an individual wheel rotation motor for each wheel, as in FIG. 1 of the first embodiment, FIG. Description is omitted.

  Next, in the second embodiment, processing based on the fail-safe function when a communication failure occurs will be described with reference to FIG.

  In FIG. 2, an X mark 13 indicates a state in which a communication failure has occurred between the vehicle control device 1 and the prime mover control device 23. As a result, the prime mover control device 23 cannot receive the required output from the vehicle control device 1.

  As a fail-safe function, when communication failure 13 occurs as in the first embodiment, the prime mover control device 23 switches the required output to the calculated required output Tcal_rl and rotates the left rear wheel of the motor 33 for rotating the wheel. Take control. Similarly, the prime mover control device 24 switches to the calculation required output Tcal_rr and controls the wheel rotation prime mover 34 to rotate the right rear wheel.

  At this time, in order to derive the respective calculation required outputs Tcal_rf and Tcal_rr, processing based on the flowchart shown in FIG. 12 is performed instead of FIG. Here, since the left and right rear wheels are processed in the same manner, only the processing explanation by the motor control device 23 for the left rear wheel is performed, and the processing explanation by the motor control device 24 for the right rear wheel is omitted.

  First, in step S201 in the flowchart of FIG. 12, the wheel speed detection device 53 notifies the motor control device 23 of the wheel speed V5. Next, in step S202, it is determined whether or not the vehicle is decelerating from the amount of change of the wheel speed V5 per time. As an example of the determination method, determination is made based on whether or not the amount of change in wheel speed V5 per time exceeds a certain value in the decreasing direction.

  In step S202, when the amount of change of the wheel speed V5 per time does not exceed a certain value, the normal wheel speed V as shown in FIG. 13 held in advance by the output self-calculating means 8 in step S203. The calculation required output Tcal_rl = T5nor is derived from the relationship A between the calculation required output Tcal_rl and the wheel rotation motor 33 is controlled so that the calculation required output Tcal_rl is obtained.

  On the other hand, when the amount of change in the wheel speed V5 per time exceeds a certain value in the decreasing direction in step S202, it is determined that the vehicle is decelerating in step S204, and is stored in advance by the output self-calculating means 8 in FIG. The calculation required output Tcal_rl = T5brk is derived from the relationship B between the wheel speed V at the time of deceleration determination and the calculation required output Tcal_rl as shown in FIG. 6 and the wheel rotation motor 33 is controlled so as to obtain the calculation required output Tcal_rl.

  The relationship B between the wheel speed V at the time of deceleration determination and the required calculation output Tcal_rl is set so that the required calculation output Tcal_rl is smaller than usual.

  Further, as shown in FIG. 14, it is determined whether or not the amount of change per hour of the wheel speed V5 exceeds a certain value in the decreasing direction. This may be performed in comparison with the time relationship, and the calculation required output may be set for each threshold value.

  Next, in step S205 in FIG. 12, in order to suppress a sudden change in the calculation required output Tcal_rl due to the change in the relationship between the wheel speed V and the calculation required output Tcal_rl from the normal time during deceleration, a low-pass filter or the like is applied. The calculation required output Tcal_rl_LF in which the amount of change per time is limited may be derived.

  Thus, even when the fail-safe function shown in the first embodiment is working, it is possible to prevent the wheel-independent drive vehicle from decelerating by limiting the drive torque during deceleration. .

  Since the second embodiment is configured as described above, when a communication failure occurs with the prime mover control device without newly adding a backup communication path, the wheel rotation prime mover itself is detected. It is possible to realize a fail-safe function that can change the required output in accordance with the vehicle speed and the vehicle deceleration state using the wheel speed to be changed per hour.

Embodiment 3 FIG.
Next, a third embodiment of the present invention will be described.

FIG. 15 is a diagram showing an overall configuration of the third embodiment. As in FIG. 1 of the first embodiment, each wheel is a four-wheel independent drive vehicle having a motor as an individual wheel rotating prime mover.
The same or corresponding parts as in FIG. 1 are denoted by the same reference numerals and description thereof is omitted, but is different from FIG. 1 in that a switching execution notification unit 301 is provided in the vehicle control device 1.

  The switching execution notifying means 301 notifies each prime mover control device that control is performed by switching the required output to the calculated required output in one or more prime mover control devices in the wheel independent drive vehicle.

  An X mark 302 indicates a state in which a communication failure has occurred between the vehicle control device 1 and the prime mover control device 23. Thereby, the prime mover control device 23 cannot receive the required output from the vehicle control device 1.

  As a fail-safe function when a communication failure 302 occurs, as in the first embodiment, the prime mover control device 23 detects the communication failure 302 by the non-reception detector 9 and switches the required output to the calculated required output Tcal_rl. The wheel rotation motor 33 is controlled. Similarly, the prime mover control device 24 controls the wheel rotation prime mover 34 by switching the required output to the calculated required output Tcal_rr according to an instruction from the use output switching means 12 of the vehicle control device 1. The prime mover control devices 21 and 22 control the wheel rotation prime movers 31 and 32, respectively, so that the required output from the vehicle control device 1 is obtained in the same manner as in the normal state.

  At this time, the switching execution notification unit 301 of the vehicle control device 1 issues a switching execution notification 301A to the prime mover control devices 21 and 22, and the prime mover control device 23 switches the required output from the required required output to the calculated required output. Notify that

  Next, as shown in FIG. 16, a new communication failure location indicated by an X mark 303 occurs between the prime mover control device 23 in which the communication failure 302 has already occurred and the prime mover control device 21 in a position that is not symmetrical. If so, the prime mover control device 21 cannot receive the required output from the vehicle control device 1 as well.

  At this time, the prime mover control device 21 performs processing based on the flowchart shown in FIG.

  That is, in step S311, it is confirmed whether or not the communication failure 303 is detected by the non-reception detecting means 9 of the prime mover control device 21. That is, it is confirmed whether or not the required output from the vehicle control device 1 has not been received. When a communication failure is detected, the process proceeds to step S313, and notification that the control is switched to the calculation-necessary output from the switching execution notification unit 301 of the vehicle control device 1 in the prime mover control device 23 other than the left and right symmetric wheels. Check if it has been. If notified, in step S315, the required output is switched to a limited value such as zero. In step S316, the wheel rotating prime mover 31 is controlled so that the necessary output is obtained.

  If the notification is not made in step S313, the necessary output used for controlling the motor 31 for rotating the wheel by the use output switching means 10 of the prime mover control device 21 in step S314 is used as the calculation required output Tcal_fl by the output self-calculation means 8. Switch to step S316.

  The prime mover control device 22 performs the same processing as the prime mover control device 21 and restricts the required output to 0 in stages when an instruction is given from the use output switching notification means 12 of the vehicle control device 1. The wheel rotation prime mover 32 is controlled by switching to the set value.

  By setting the required output of the front left and right wheels to zero in this way, the wheel independent drive vehicle decelerates, and accordingly, the required output of the rear left and right wheels also decreases. As a result, the wheel independent drive vehicle can be safely stopped.

  On the other hand, when a new communication failure occurs between the motor control device 24 and the vehicle control device 1 that are arranged symmetrically with respect to the motor control device 23 in which the communication failure 302 has occurred, the motor control of the front wheels is performed. The devices 21 and 22 continue normal control, and the prime mover control device 24 continues control while switching to the calculation required output Tcal_rr.

  By doing in this way, even when a communication failure occurs in a plurality of places, the fail-safe function shown in the first embodiment can be obtained according to the place where the communication failure occurs, and the wheel independent drive vehicle can be stopped safely. A new fail-safe function can be obtained.

  In addition, when a motor is employed as a prime mover for each wheel as in each of the above-described embodiments, the time variation of the rotor position inherent to the motor is used to detect the wheel speed in the wheel speed detection device. Also good. When the wheel rotation motors 31, 32, 33, and 34 are so-called brushless motors, the rotor position detection device is always mounted, so a measuring device such as a new sensor is not required, and the cost can be reduced. Can do.

  Furthermore, in each of the embodiments described above, the case of a four-wheeled vehicle has been described. However, the same applies to a vehicle having four or more wheels such as six wheels and eight wheels in which the wheels are installed on the left and right sides. The effect can be expected.

  In each of the above-described embodiments, the prime mover of each wheel has been described as a motor. However, it goes without saying that the prime mover may be an internal combustion engine.

  Since the third embodiment is configured as described above, it is possible to newly notify the normal motor control device that a communication failure state has occurred without newly adding a backup communication path. When a communication failure state occurs, a fail-safe function can be obtained that can continue traveling or can be stopped safely according to the location where the communication failure occurs.

It is a block diagram which shows the whole structure of the wheel independent drive vehicle by Embodiment 1 of this invention. FIG. 3 is an overall configuration diagram illustrating a state when a communication failure occurs in the first embodiment. 3 is a flowchart illustrating a processing procedure when a communication failure occurs in the first embodiment. It is a flowchart which shows the process sequence of the motor | power_engine control apparatus based on the presence or absence of the request | requirement required output from a vehicle control apparatus. It is a flowchart which shows the process sequence of the motor | power_engine control apparatus based on the presence or absence of the request | requirement required output from a vehicle control apparatus. It is a flowchart which shows the process sequence of the motor | power_engine control apparatus based on the presence or absence of the request | requirement required output from a vehicle control apparatus. It is a flowchart which shows the process sequence of the motor | power_engine control apparatus based on the presence or absence of the request | requirement required output from a vehicle control apparatus. 4 is a flowchart showing a processing procedure for obtaining a required calculation output Tcal in the prime mover control device in the first embodiment. It is a figure which shows the relationship between the wheel speed V which the motor | power_engine control apparatus has in Embodiment 1, and calculation required output Tcal_rl. It is a figure which shows the relationship between the wheel speed V which a motor | power_engine control apparatus has in Embodiment 1, and calculation required output Tcal_rr. It is a figure which shows the relationship between the wheel speed V which considered the restriction | limiting which a motor | power_engine control apparatus has in Embodiment 1, and calculation required output Tcal_rl. It is a flowchart which shows the process sequence of the motor | power_engine control apparatus in Embodiment 2 of this invention. It is a figure which shows the relationship between the wheel speed V which considered the switching which a motor | power_engine control apparatus has in Embodiment 2, and calculation required output Tcal_rl. It is a figure which shows the relationship between the wheel speed V which considered the some switching which a motor | power_engine control apparatus has in Embodiment 2, and calculation required output Tcal_rl. It is a block diagram which shows the whole structure of the wheel independent drive vehicle by Embodiment 3 of this invention. FIG. 10 is a situation explanatory diagram when a plurality of communication failures occur in the third embodiment. 10 is a flowchart showing a processing procedure of the prime mover control device in the third embodiment.

Explanation of symbols

1 vehicle control device, 6 communication path, 8 output self-calculating means,
9 Non-reception detecting means, 10 Used output switching means, 11 Communication state detecting means, 12 Used output switching notifying means, 21, 22, 23, 24 Motor control device, 31, 32, 33, 34 Wheel rotating motor, 41, 42, 43, 44 Wheel, 51, 52, 53, 54 Wheel speed detection device.

Claims (8)

A wheel rotating prime mover that is provided on each of two or more wheels arranged on the left and right of the vehicle and capable of generating driving torque individually;
A vehicle control device for calculating a required required output required for the wheel rotating prime mover from a required driving force to the vehicle;
A prime mover control device for controlling the prime movers for rotating the wheels such that the required output is obtained;
A communication path for connecting the vehicle control device and each prime mover control device, and notifying each of the prime mover control devices of the required output;
In a wheel independent drive vehicle having a wheel speed detection device that detects a wheel speed of a wheel driven by the wheel rotation motor and notifies the motor control device that controls the wheel rotation motor.
Output self-calculating means for calculating a required calculation output from the wheel speed detected by the wheel speed detecting device in the prime mover control device;
Non-reception detecting means for detecting that the required output is not notified from the vehicle control device;
When the non-reception detecting means detects that the required required output is not notified, a necessary output used for controlling the motor for rotating the wheel is used and a use output switching means for switching to a required calculation output, and
A communication state detection means capable of individually grasping whether the required output is notified to each motor control device to the vehicle control device;
Use output switching notification means for notifying that the required output used by the prime mover control device is switched to the required required output or the calculated required output; and
When a communication failure occurs in the communication path between the vehicle control device and the predetermined prime mover control device,
The vehicle control device detects that the required output is not notified by the communication state detection means,
In the motor control device that controls the wheel rotating prime mover that is arranged symmetrically with the wheel rotating prime mover controlled by the predetermined prime mover control device,
Notifying the use output switching notification means to switch the required required output to the calculation required output,
The predetermined prime mover control device is:
After detecting that the required output is not notified by the non-reception detecting means,
A wheel independent drive vehicle control apparatus, wherein the use output switching means switches to the calculation required output to control a wheel rotating prime mover. The output self-calculating means is
2. The wheel independent function according to claim 1, wherein a relationship between the wheel speed and the calculation required output is held in advance, and the calculation required output is derived from the wheel speed detected by the wheel speed detection device and the relationship. Driving vehicle control device. The amount of change per hour of the wheel speed used by the output self-calculating means is
The wheel independent drive vehicle control device according to claim 1 or 2, wherein the output required for calculation is different depending on whether or not a certain value is exceeded in a decreasing direction. A switching execution notification means is provided in the vehicle control device,
When a communication failure occurs in the communication path with any of the prime mover control devices,
Notify the switching of the used output by the used output switching notification means to the prime mover control apparatus arranged symmetrically with the prime mover control apparatus in which the malfunction occurred,
A prime mover control device other than the prime mover control device arranged symmetrically notifies the fact that the use output is being switched by the switching execution notification means,
The prime mover control device that is notified that the switching has been performed restricts the required output when a new communication failure occurs in a communication path with the vehicle control device. The control apparatus of the wheel independent drive vehicle of any one of -3. 4. The wheel independent drive vehicle control device according to claim 1, wherein switching of the required output by the use output switching unit is limited to left and right wheels of either the front wheels or the rear wheels. 5. .   6. The wheel independent drive vehicle control device according to claim 1, wherein a change amount per hour of the calculation required output switched by the use output switching unit is limited.   The wheel independent drive vehicle according to any one of claims 1 to 6, wherein when the wheel speed used by the output self-calculating means exceeds a certain value, the output required for calculation is limited. Control device. The vehicle control device that has detected that the communication failure state has been resolved notifies the prime mover control device by the use output switching notification means that the use output is returned to the required output from the vehicle control device, and
8. The motor control device that detects that the communication failure state has been resolved, returns the use output to the required output from the vehicle control device by the use output switching means. The control apparatus of the wheel independent drive vehicle of Claim 1.

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