JP4586962B2 - 車両の姿勢制御装置 - Google Patents
車両の姿勢制御装置 Download PDFInfo
- Publication number
- JP4586962B2 JP4586962B2 JP2004124185A JP2004124185A JP4586962B2 JP 4586962 B2 JP4586962 B2 JP 4586962B2 JP 2004124185 A JP2004124185 A JP 2004124185A JP 2004124185 A JP2004124185 A JP 2004124185A JP 4586962 B2 JP4586962 B2 JP 4586962B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- vehicle body
- roll
- drive torque
- wheels
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- 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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
Claims (1)
- サスペンション装置によって車体に懸架された4輪の駆動トルクを個別に制御して車両の走行姿勢を制御可能な車両の姿勢制御装置であって、
車両のロールを検出するロール検出手段と、
前記検出された車両のロールに応じて、車体のロールによって車体が上昇した側の前後輪に車両の前後方向に互いに逆方向の力を発生させて、上昇した側の車体に下方向の力を発生させるように前記上昇した側の前後輪の駆動トルクに差をつけ、または車両のロールによって車体が下降した側の前後輪に車両の前後方向に互いに逆方向の力を発生させて、下降した側の車体に上方向の力を発生させるように前記下降した側の前後輪の駆動トルクに差をつけ、車体に対してロールと反対方向に力を作用させる駆動トルク制御手段とを設けたことを特徴とする車両の姿勢制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004124185A JP4586962B2 (ja) | 2004-04-20 | 2004-04-20 | 車両の姿勢制御装置 |
US11/578,609 US7762562B2 (en) | 2004-04-20 | 2005-03-24 | Vehicle attitude control apparatus |
CNB2005800125773A CN100513224C (zh) | 2004-04-20 | 2005-03-24 | 车辆姿态控制设备 |
PCT/JP2005/006212 WO2005102762A1 (ja) | 2004-04-20 | 2005-03-24 | 車両の姿勢制御装置 |
DE602005012497T DE602005012497D1 (de) | 2004-04-20 | 2005-03-24 | Lagesteuervorrichtung für fahrzeuge |
EP05727476A EP1745974B1 (en) | 2004-04-20 | 2005-03-24 | Attitude control device for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004124185A JP4586962B2 (ja) | 2004-04-20 | 2004-04-20 | 車両の姿勢制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005306152A JP2005306152A (ja) | 2005-11-04 |
JP4586962B2 true JP4586962B2 (ja) | 2010-11-24 |
Family
ID=35196841
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004124185A Expired - Fee Related JP4586962B2 (ja) | 2004-04-20 | 2004-04-20 | 車両の姿勢制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7762562B2 (ja) |
EP (1) | EP1745974B1 (ja) |
JP (1) | JP4586962B2 (ja) |
CN (1) | CN100513224C (ja) |
DE (1) | DE602005012497D1 (ja) |
WO (1) | WO2005102762A1 (ja) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4887719B2 (ja) * | 2005-10-13 | 2012-02-29 | トヨタ自動車株式会社 | 車両の制御装置 |
KR100811943B1 (ko) * | 2006-06-20 | 2008-03-10 | 현대자동차주식회사 | 전기 자동차의 독립구동 주행 시스템과 그 제어 방법 |
JP4179348B2 (ja) | 2006-06-22 | 2008-11-12 | トヨタ自動車株式会社 | 走行装置 |
GB0613941D0 (en) | 2006-07-13 | 2006-08-23 | Pml Flightlink Ltd | Electronically controlled motors |
KR20090001721A (ko) | 2007-05-14 | 2009-01-09 | 팅크웨어(주) | 맵 매칭 보정 방법 및 상기 방법을 수행하는 내비게이션시스템 |
JP4636062B2 (ja) * | 2007-08-27 | 2011-02-23 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
GB2456352B (en) * | 2008-01-14 | 2012-06-20 | Protean Electric Ltd | Three wheel electric vehicle |
GB0804709D0 (en) * | 2008-03-13 | 2008-04-16 | Qed Group Ltd | Torque distribution wheel motors according to normal forces |
JP2009225646A (ja) * | 2008-03-19 | 2009-10-01 | Autech Japan Inc | 駆動力制御装置 |
WO2010082336A1 (ja) | 2009-01-15 | 2010-07-22 | トヨタ自動車株式会社 | 車両安定化制御装置 |
CN102083663B (zh) * | 2009-07-17 | 2014-05-14 | 丰田自动车株式会社 | 车辆行为控制装置 |
WO2011061768A1 (en) * | 2009-11-18 | 2011-05-26 | Three Tilting Wheels S.R.L. | Tilting vehicle and control system thereof |
DE102010015425A1 (de) * | 2010-04-19 | 2011-10-20 | Audi Ag | Vorrichtung zum Betreiben einer Antriebseinheit eines Kraftfahrzeugs |
DE102011003490A1 (de) * | 2011-02-02 | 2012-08-02 | Robert Bosch Gmbh | Verfahren zur Verteilung der Antriebskraft auf die Räder eines Kraftfahrzeugs |
US9260096B2 (en) * | 2011-02-22 | 2016-02-16 | Nissin Kogyo Co., Ltd. | Brake fluid pressure control apparatus for vehicle |
JP5919889B2 (ja) * | 2012-03-01 | 2016-05-18 | 株式会社ジェイテクト | 車両姿勢制御装置 |
WO2013137189A1 (ja) * | 2012-03-12 | 2013-09-19 | 日産自動車株式会社 | 電動車両の駆動力制御装置および電動車両の駆動力制御方法 |
WO2014054148A1 (ja) * | 2012-10-04 | 2014-04-10 | トヨタ自動車株式会社 | 車輪制御装置、車両、車輪制御方法 |
KR101484245B1 (ko) * | 2013-12-05 | 2015-01-16 | 현대자동차 주식회사 | 전동식 사륜 구동 시스템 |
US9956874B2 (en) * | 2014-03-03 | 2018-05-01 | Deere & Company | Traction control method and apparatus for a work vehicle with independent drives |
JP5757511B1 (ja) | 2014-03-18 | 2015-07-29 | サーチウェア株式会社 | 車両 |
JP6379866B2 (ja) * | 2014-08-28 | 2018-08-29 | トヨタ自動車株式会社 | 電源装置 |
JP5945572B2 (ja) * | 2014-09-03 | 2016-07-05 | ヤマハ発動機株式会社 | 駆動力制御システムおよび鞍乗り型車両 |
CN104325884A (zh) * | 2014-11-22 | 2015-02-04 | 安徽省库仑动力自动化科技有限公司 | 一种四轮独立电机控制的四驱系统 |
JP6542017B2 (ja) * | 2015-04-14 | 2019-07-10 | Ntn株式会社 | 車両姿勢制御装置 |
CN106427957B (zh) | 2015-08-11 | 2019-03-29 | 比亚迪股份有限公司 | 基于四轮驱动的电动汽车稳定控制系统及方法及电动汽车 |
CN105818806B (zh) * | 2016-05-24 | 2018-08-24 | 安徽机电职业技术学院 | 一种智能辅助驾驶汽车 |
JP2018114819A (ja) * | 2017-01-18 | 2018-07-26 | Ntn株式会社 | 車両用サスペンション装置 |
JP6443829B2 (ja) * | 2017-03-17 | 2018-12-26 | マツダ株式会社 | 車両の制御装置 |
JP6607229B2 (ja) * | 2017-05-11 | 2019-11-20 | トヨタ自動車株式会社 | 車両姿勢制御装置 |
CN109466343B (zh) * | 2018-12-04 | 2024-01-05 | 江汉大学 | 一种四驱车速度控制电路 |
CN113085837A (zh) * | 2021-04-30 | 2021-07-09 | 中国农业大学 | 车辆主动侧倾控制方法 |
CN113562090B (zh) * | 2021-08-09 | 2022-11-25 | 徐工集团工程机械股份有限公司 | 移动式工程机械 |
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2004
- 2004-04-20 JP JP2004124185A patent/JP4586962B2/ja not_active Expired - Fee Related
-
2005
- 2005-03-24 CN CNB2005800125773A patent/CN100513224C/zh not_active Expired - Fee Related
- 2005-03-24 WO PCT/JP2005/006212 patent/WO2005102762A1/ja active Application Filing
- 2005-03-24 DE DE602005012497T patent/DE602005012497D1/de active Active
- 2005-03-24 EP EP05727476A patent/EP1745974B1/en not_active Expired - Fee Related
- 2005-03-24 US US11/578,609 patent/US7762562B2/en not_active Expired - Fee Related
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JPH10119743A (ja) * | 1996-10-23 | 1998-05-12 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JPH10310042A (ja) * | 1997-05-13 | 1998-11-24 | Denso Corp | 車両制御装置 |
JP2001030728A (ja) * | 1999-07-15 | 2001-02-06 | Toyota Motor Corp | 車輌の減衰係数制御装置 |
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JP2005306152A (ja) | 2005-11-04 |
EP1745974A4 (en) | 2008-03-05 |
US20080029987A1 (en) | 2008-02-07 |
WO2005102762A1 (ja) | 2005-11-03 |
CN1946586A (zh) | 2007-04-11 |
CN100513224C (zh) | 2009-07-15 |
EP1745974A1 (en) | 2007-01-24 |
US7762562B2 (en) | 2010-07-27 |
DE602005012497D1 (de) | 2009-03-12 |
EP1745974B1 (en) | 2009-01-21 |
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