JP4742504B2 - Drive control device - Google Patents

Drive control device Download PDF

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JP4742504B2
JP4742504B2 JP2004069553A JP2004069553A JP4742504B2 JP 4742504 B2 JP4742504 B2 JP 4742504B2 JP 2004069553 A JP2004069553 A JP 2004069553A JP 2004069553 A JP2004069553 A JP 2004069553A JP 4742504 B2 JP4742504 B2 JP 4742504B2
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driving
output
drive
wheel
vehicle
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JP2005254994A (en
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悦生 勝山
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Toyota Motor Corp
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    • 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
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Description

本発明は、車両の駆動力を制御する駆動制御装置に関するものである。   The present invention relates to a drive control device that controls a driving force of a vehicle.

従来、車両の駆動力を制御する駆動制御装置としては、例えば特開平５−３２８５４２号公報に記載されるように、車両に要求される駆動力と車両の走行状態に応じて各車輪に対する駆動力の配分値を決定し、電動機で各車輪を独立に駆動するものが知られている。この装置は、車両の走行状態又はホイールの駆動状態が予め設定された所定の範囲を越えた場合に車輪の駆動力の配分値を修正して車両の挙動変化を抑制しようとするものである。
特開平５−３２８５４２号公報 Conventionally, as a drive control device for controlling the driving force of a vehicle, for example, as described in JP-A-5-328542, the driving force for each wheel according to the driving force required for the vehicle and the running state of the vehicle. It is known that each wheel is independently driven by an electric motor. This device attempts to suppress changes in the behavior of the vehicle by correcting the distribution value of the driving force of the wheels when the running state of the vehicle or the driving state of the wheel exceeds a predetermined range.
JP-A-5-328542

上述した装置にあっては、車両の走行状態又はホイールの駆動状態に応じて車輪の駆動力の配分値を修正して車両の挙動変化を抑制しようとしているが、駆動輪の一部が作動異常などによって駆動輪の出力が低下した場合、車輪の駆動力の配分を通常通りに行えず、車輪の駆動制御を適切に行うことが困難となる。   In the above-described apparatus, the distribution value of the driving force of the wheel is corrected in accordance with the traveling state of the vehicle or the driving state of the wheel to suppress the behavior change of the vehicle, but some of the driving wheels are abnormally operated. When the output of the driving wheel is reduced due to the above, it is difficult to distribute the driving force of the wheel as usual, and it is difficult to appropriately control the driving of the wheel.

そこで本発明は、駆動輪の出力低下時に適切な駆動制御が行える駆動制御装置を提供することを目的とする。   Accordingly, an object of the present invention is to provide a drive control device that can perform appropriate drive control when the output of a drive wheel is reduced.

すなわち、本発明に係る駆動制御装置は、左右の駆動輪の駆動力を少なくとも独立して制御可能とした駆動力制御手段と、前記駆動輪の出力低下を検出する出力低下検出手段とを備えて構成され、前記駆動力制御手段は、前記駆動輪の出力低下が検出された場合に、その出力低下した駆動輪の左右対称にある駆動輪の駆動を停止させることを特徴とする。 That is, the drive control device according to the present invention includes drive force control means that can control drive force of the left and right drive wheels at least independently, and output reduction detection means that detects output reduction of the drive wheels. The driving force control means is configured to stop driving of the driving wheels symmetrically with respect to the driving wheel whose output has been reduced when a reduction in the output of the driving wheel is detected.

また本発明に係る駆動制御装置は、前記駆動力制御手段が、前記駆動輪の出力低下が検出され前記車両が直進走行している場合に、その出力低下した駆動輪の左右対称にある駆動輪の駆動を停止させることを特徴とする。 Further, in the drive control device according to the present invention, when the driving force control means detects a decrease in the output of the driving wheel and the vehicle is traveling straight, the driving wheel is symmetrical with respect to the driving wheel whose output has decreased. Is stopped .

これらの発明によれば、駆動輪に出力低下が検出された場合にその出力低下した駆動輪
の左右対称にある駆動輪の駆動を停止させることにより、旋回程度の小さい走行時にはヨーレイト変化を小さくして走行安定性の低下を防止でき、適切な駆動制御が行える。また、旋回程度の大きい走行時には、駆動輪の駆動によりヨーレイトが生じても旋回によるヨーレイトと重畳するため、車両の乗員に対し駆動輪の出力低下による違和感を生じさせずに適切な駆動制御が行える。 According to these inventions, when a decrease in output is detected in the drive wheel , driving of the drive wheel that is symmetrical with respect to the drive wheel in which the output has decreased is stopped, so that the change in yaw rate is reduced during traveling with a small turning degree. Therefore, it is possible to prevent a decrease in running stability and perform appropriate drive control. In addition, when driving at a large turning degree, even if yaw rate is generated by driving the driving wheel, it is superimposed on the yaw rate by turning, so that appropriate driving control can be performed without causing the vehicle occupant to feel uncomfortable due to a decrease in output of the driving wheel. .

また、駆動輪に出力低下が検出され車両が直進走行している場合に出力低下した駆動輪の左右対称輪の駆動を停止させることにより、車両に生ずるヨーレイトを低減でき、駆動輪の出力低下によって車両の走行安定性が損なわれることを防止できる。 In addition, when the output decrease is detected in the drive wheel and the vehicle is running straight, the drive of the left and right symmetrical wheels of the drive wheel whose output has decreased is stopped, so that the yaw rate generated in the vehicle can be reduced. It is possible to prevent the running stability of the vehicle from being impaired.

また本発明に係る駆動制御装置は、前記駆動力制御手段が、前記駆動輪の出力低下が検出され前記車両が旋回走行している場合には、出力低下した駆動輪の左右対称にある駆動輪について、駆動を停止させることなく駆動制御を行うことを特徴とする。   In the drive control device according to the present invention, when the driving force control means detects a decrease in the output of the driving wheel and the vehicle is turning, the driving wheel is symmetrical to the driving wheel whose output has decreased. Is characterized in that drive control is performed without stopping the drive.

この発明によれば、駆動輪に出力低下が検出され車両が旋回走行している場合に出力低下した駆動輪の左右対称にある駆動輪について駆動を停止させることなく駆動制御を行うことにより、駆動輪の出力低下により車両の乗員に生ずる違和感を軽減しつつ、車両のトラクション低下を防止することができる。   According to the present invention, when a decrease in output is detected in the drive wheels and the vehicle is turning, the drive wheels that are symmetrical with respect to the drive wheels that have decreased in output are controlled by driving without stopping driving. It is possible to prevent a decrease in traction of the vehicle while reducing a sense of incongruity caused to a vehicle occupant due to a decrease in wheel output.

また本発明に係る駆動制御装置は、前記駆動力制御手段が、前記駆動輪の出力低下が検出され前記車両が減速して旋回走行している場合であって出力低下した駆動輪が旋回外輪である場合には、その出力低下した駆動輪の左右対称にある駆動輪の駆動を停止させることを特徴とする。   Further, in the drive control device according to the present invention, the drive force control means is a case where a decrease in the output of the drive wheel is detected and the vehicle is decelerating and traveling, and the drive wheel whose output has decreased is a turning outer wheel. In some cases, the driving of the driving wheel that is symmetrical with respect to the driving wheel whose output is reduced is stopped.

この発明によれば、駆動輪に出力低下が検出され車両が減速して旋回走行している場合であって出力低下した駆動輪が旋回外輪である場合には左右対称輪の駆動を停止させることにより、減速時のタックイン現象の影響を低減できる。   According to the present invention, when a decrease in output is detected in the drive wheels and the vehicle is decelerating and the vehicle is turning, the drive of the left and right symmetric wheels is stopped when the drive wheel whose output has decreased is a turning outer wheel. Thus, the influence of the tack-in phenomenon at the time of deceleration can be reduced.

本発明によれば、駆動輪の出力低下時に適切な駆動制御が行える駆動制御装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the drive control apparatus which can perform appropriate drive control at the time of the output fall of a drive wheel can be provided.

以下、添付図面を参照して本発明の実施の形態を詳細に説明する。なお、図面の説明において同一の要素には同一の符号を付し、重複する説明を省略する。   Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

図１は本発明の実施形態に係る駆動制御装置の構成概要図である。   FIG. 1 is a schematic configuration diagram of a drive control apparatus according to an embodiment of the present invention.

図１に示すように、本実施形態に係る駆動制御装置１は、車両の駆動輪２の駆動力を制御する装置である。駆動制御装置１は、例えば前後左右の四輪駆動車に適用され、右前の駆動輪２ＦＲ、右後の駆動輪２ＲＲ、左前の駆動輪２ＦＬ、左後の駆動輪２ＲＬの各駆動輪２を独立して駆動制御を行う。   As shown in FIG. 1, the drive control device 1 according to the present embodiment is a device that controls the driving force of the drive wheels 2 of the vehicle. The drive control device 1 is applied to, for example, front, rear, left, and right four-wheel drive vehicles, and independently drives each of the right front drive wheel 2FR, the right rear drive wheel 2RR, the left front drive wheel 2FL, and the left rear drive wheel 2RL. Then, drive control is performed.

駆動制御装置１には、各駆動輪２について一つずつモータ３が設けられている。モータ３は、少なくとも独立して駆動制御可能とされ、モータ３の独立した駆動制御により各駆動輪２の独立な駆動が可能となっている。このモータ３としては、例えばホイールインモータが用いられる。   The drive control device 1 is provided with one motor 3 for each drive wheel 2. The motor 3 can be driven and controlled at least independently, and each drive wheel 2 can be independently driven by the independent drive control of the motor 3. As this motor 3, for example, a wheel-in motor is used.

駆動制御装置１には、ＥＣＵ（Electronic Control Unit）１０が設けられている。ＥＣＵ１０は、駆動制御装置１の装置全体の制御を行う制御手段であり、例えばＣＰＵ、ＲＯＭ、ＲＡＭ、入力信号回路、出力信号回路、電源回路などにより構成されている。ＥＣＵ１０には、モータ３を駆動させるドライバ４が接続されている。ドライバ４は、モータ３の駆動回路などによって構成される。ＥＣＵ１０は、ドライバ４に駆動制御信号を出力し、その駆動制御信号に応じてモータ３を駆動させる駆動力制御手段として機能する。   The drive control device 1 is provided with an ECU (Electronic Control Unit) 10. The ECU 10 is a control unit that controls the entire apparatus of the drive control device 1 and includes, for example, a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. A driver 4 that drives the motor 3 is connected to the ECU 10. The driver 4 is configured by a drive circuit of the motor 3 and the like. The ECU 10 functions as a driving force control unit that outputs a drive control signal to the driver 4 and drives the motor 3 in accordance with the drive control signal.

また、ＥＣＵ１０は、ドライバ４又はモータ３に流れる駆動電流を検出することにより、モータ３の作動異常による出力低下を検出することができる。その際、ＥＣＵ１０は、駆動輪２の出力低下を検出する出力低下検出手段として機能する。なお、この出力低下検出手段としては、ＥＣＵ１０のほか、別個に設置した電流センサを用いてもよい。この電流センサによってモータ３に流れる電流を検出し、電流値の状態に基づいて駆動輪２の出力低下を検出することができる。   Further, the ECU 10 can detect a decrease in output due to abnormal operation of the motor 3 by detecting a drive current flowing through the driver 4 or the motor 3. At that time, the ECU 10 functions as an output decrease detection unit that detects an output decrease of the drive wheel 2. In addition, as this output fall detection means, you may use the current sensor installed separately besides ECU10. The current flowing through the motor 3 can be detected by this current sensor, and a decrease in the output of the drive wheels 2 can be detected based on the state of the current value.

ＥＣＵ１０には、アクセルセンサ１１、ブレーキセンサ１２、シフトポジションセンサ１３、加速度センサ１４、ヨーレイトセンサ１５、ステアリングセンサ１６がそれぞれ接続されている。アクセルセンサ１１は、アクセルの踏み込み量を検出するセンサである。このアクセルセンサ１１として、スロットルバルブのスロットル開度を検出するスロットル開度センサなどを用いてもよい。   An accelerator sensor 11, a brake sensor 12, a shift position sensor 13, an acceleration sensor 14, a yaw rate sensor 15, and a steering sensor 16 are connected to the ECU 10, respectively. The accelerator sensor 11 is a sensor that detects the amount of accelerator depression. As the accelerator sensor 11, a throttle opening sensor for detecting the throttle opening of the throttle valve may be used.

ブレーキセンサ１２は、ブレーキの踏み込み量を検出するセンサである。シフトポジションセンサ１３は、変速機のシフトポジションを検出するセンサである。加速度センサ１４は、車両の前後方向の加速度を検出するセンサである。ヨーレイトセンサ１５は、車両に生ずるヨーレイトを検出するセンサである。ステアリングセンサ１６は、車両のハンドルの操舵状態を検出するセンサである。   The brake sensor 12 is a sensor that detects the amount of depression of the brake. The shift position sensor 13 is a sensor that detects the shift position of the transmission. The acceleration sensor 14 is a sensor that detects acceleration in the longitudinal direction of the vehicle. The yaw rate sensor 15 is a sensor that detects the yaw rate generated in the vehicle. The steering sensor 16 is a sensor that detects the steering state of the steering wheel of the vehicle.

次に本実施形態に係る駆動制御装置の動作について説明する。   Next, the operation of the drive control apparatus according to the present embodiment will be described.

図２に本実施形態に係る駆動制御装置の動作についてのフローチャートを示す。図２における制御処理は例えばＥＣＵ１０により実行される。   FIG. 2 is a flowchart showing the operation of the drive control apparatus according to this embodiment. The control process in FIG. 2 is executed by the ECU 10, for example.

まず、図２のＳ１０に示すように、駆動輪２において作動異常による駆動出力低下があるか否かが判断される。この判断処理は、四つの駆動輪２のうちの一つに駆動出力低下があるか否かを判断する処理である。   First, as shown in S10 of FIG. 2, it is determined whether or not there is a decrease in drive output due to abnormal operation in the drive wheels 2. This determination process is a process for determining whether one of the four drive wheels 2 has a decrease in drive output.

例えば、各駆動輪２の駆動状態が各モータ３に流れる駆動電流に基づいて検出され、その駆動状態がアクセルセンサ１１、ブレーキセンサ１２などの出力信号に基づいて演算される駆動輪２の要求駆動状態に対して出力低下している場合には、駆動出力が低下していると判断される。一方、各モータ３に流れる駆動電流に基づいて検出された駆動輪２の駆動状態が要求駆動状態に対して出力低下していない場合には、駆動出力が低下していないと判断される。また、ここで言う出力低下は、出力が低下する場合のほか出力停止した場合も含むものである。   For example, the driving state of each driving wheel 2 is detected based on the driving current flowing through each motor 3, and the driving state is calculated based on output signals from the accelerator sensor 11, the brake sensor 12, and the like. When the output has decreased with respect to the state, it is determined that the drive output has decreased. On the other hand, when the drive state of the drive wheel 2 detected based on the drive current flowing through each motor 3 has not decreased in output relative to the required drive state, it is determined that the drive output has not decreased. In addition, the output reduction mentioned here includes not only the case where the output decreases but also the case where the output is stopped.

Ｓ１０にて駆動輪２の駆動出力低下がないと判断されたときには、制御処理を終了する。一方、駆動輪２の駆動出力低下があると判断されたときには、車両が直進中であるか否かが判断される（Ｓ１２）。この判断処理は、例えばステアリングセンサ１６の出力信号に基づいて行われる。   When it is determined in S10 that there is no decrease in the drive output of the drive wheels 2, the control process is terminated. On the other hand, when it is determined that there is a decrease in the drive output of the drive wheels 2, it is determined whether or not the vehicle is traveling straight (S12). This determination process is performed based on an output signal of the steering sensor 16, for example.

Ｓ１２にて車両が直進中であると判断されたときには、Ｓ１８に移行する。一方、Ｓ１２にて車両が直進中でなく旋回中であると判断されたときには、車両が減速中であるか否かが判断される（Ｓ１４）。この判断処理は、例えばブレーキセンサ１２の出力信号に基づいて行われる。   When it is determined in S12 that the vehicle is traveling straight, the process proceeds to S18. On the other hand, when it is determined in S12 that the vehicle is not traveling straight but is turning, it is determined whether or not the vehicle is decelerating (S14). This determination process is performed based on the output signal of the brake sensor 12, for example.

Ｓ１４にて車両が減速中でないと判断されたときには、Ｓ２０に移行する。一方、Ｓ１４にて車両が減速中であると判断されたときには、旋回の外輪が駆動出力低下したか否かが判断される（Ｓ１６）。例えば、車両が右旋回していて左側の駆動輪２が出力低下しているときには、旋回の外輪が駆動出力低下したと判断される。一方、車両が右旋回していて右側の駆動輪２が出力低下しているときには、旋回の外輪が駆動出力低下していないと判断される。   When it is determined in S14 that the vehicle is not decelerating, the process proceeds to S20. On the other hand, when it is determined in S14 that the vehicle is decelerating, it is determined whether or not the driving power of the turning outer wheel has decreased (S16). For example, when the vehicle is turning right and the output of the left driving wheel 2 is reduced, it is determined that the driving output of the turning outer wheel is reduced. On the other hand, when the vehicle is turning right and the output of the right driving wheel 2 is reduced, it is determined that the driving output of the turning outer wheel is not reduced.

Ｓ１６にて旋回の外輪が駆動出力低下していると判断されたときには、Ｓ１８に移行する。一方、旋回の外輪が駆動出力低下していないと判断されたときには、Ｓ２０に移行する。   When it is determined in S16 that the driving output of the turning outer wheel has decreased, the process proceeds to S18. On the other hand, when it is determined that the driving output of the turning outer wheel has not decreased, the process proceeds to S20.

Ｓ１８では、左右対称輪の駆動停止処理が行われる。この駆動停止処理は、出力低下した駆動輪２に対し左右対称にある駆動輪２の駆動を停止する処理である。ＥＣＵ１０からドライバ４に停止信号を出力しモータ４の駆動を停止させ、左右対称の駆動輪２の駆動を停止させる。   In S18, a driving stop process for the right and left symmetric wheels is performed. This drive stop process is a process of stopping the drive of the drive wheels 2 that are symmetrical with respect to the drive wheels 2 whose output has been reduced. The ECU 10 outputs a stop signal to the driver 4 to stop the driving of the motor 4 and stop the driving of the symmetrical driving wheels 2.

Ｓ２０では、左右対称輪の通常駆動制御処理が行われる。この通常駆動制御処理は、出力低下した駆動輪２に対し左右対称にある駆動輪２の駆動を通常の駆動制御を行う処理であり、左右対称にある駆動輪２について駆動輪２に出力低下が生じていない場合と同様に駆動制御が実行される。そして、Ｓ１８、Ｓ２０の処理実行後、制御処理を終了する。   In S20, a normal drive control process for the right and left symmetric wheels is performed. This normal drive control process is a process for performing normal drive control for driving the drive wheels 2 that are symmetrical with respect to the drive wheels 2 whose output has been reduced. The drive control is executed in the same way as when it does not occur. Then, after executing the processes of S18 and S20, the control process is terminated.

以上のように、本実施形態に係る駆動制御装置１によれば、駆動輪２の作動異常により駆動出力の低下が検出された場合にその出力低下した駆動輪２の左右対称にある駆動輪２について車両の旋回程度が小さいときに旋回程度の大きいときに比べて出力低下によるヨーレイトの変化が小さくなるように駆動力を制御する。これにより、旋回程度の小さい直進走行時には出力低下によるヨーレイトの変化を小さくして走行安定性の低下を防止でき、適切な駆動制御が行える。一方、旋回程度の大きい旋回走行時には、駆動輪２の駆動によりヨーレイトが生じても旋回によるヨーレイトと重畳するため、車両の乗員に対し駆動輪の出力低下による違和感を生じさせずに適切な駆動制御が行える。   As described above, according to the drive control device 1 according to the present embodiment, when a decrease in drive output is detected due to an abnormal operation of the drive wheel 2, the drive wheel 2 that is symmetrical to the drive wheel 2 whose output has decreased. When the turning degree of the vehicle is small, the driving force is controlled so that the change in the yaw rate due to the decrease in output is smaller than when the turning degree is large. As a result, during straight traveling with a small turning degree, the change in yaw rate due to a decrease in output can be reduced to prevent a decrease in traveling stability, and appropriate drive control can be performed. On the other hand, when turning with a large turning degree, even if yaw rate is generated by driving the driving wheel 2, it is superimposed on the yaw rate due to turning, so that appropriate driving control can be performed without causing the vehicle occupant to feel uncomfortable due to reduced output of the driving wheel. Can be done.

また、本実施形態に係る駆動制御装置１によれば、駆動輪２の作動異常による駆動出力低下が検出された場合に車両が直進走行しているときには、出力低下した駆動輪２の左右対称にある駆動輪２の駆動を停止させる。これにより、車両に生ずるヨーレイトを低減でき、駆動輪２の出力低下によって車両の走行安定性が損なわれることを防止できる。   In addition, according to the drive control device 1 according to the present embodiment, when a decrease in drive output due to an abnormal operation of the drive wheels 2 is detected, when the vehicle is traveling straight ahead, the drive wheels 2 whose outputs have decreased are symmetrical. The drive of a certain drive wheel 2 is stopped. Thereby, the yaw rate generated in the vehicle can be reduced, and it is possible to prevent the running stability of the vehicle from being impaired due to the decrease in the output of the drive wheels 2.

例えば、図３に示すように、右前の駆動輪２ＦＲが作動異常により駆動出力ゼロとなった場合に車両が直進走行しているときには、出力停止した駆動輪２ＦＲの左右対称輪である駆動輪２ＦＬの駆動を停止させる。これによって、車両に生ずるヨーレイトを低減でき、駆動輪２ＦＲの出力停止により車両の走行安定性が損なわれることを防止できる。   For example, as shown in FIG. 3, when the vehicle is traveling straight when the driving wheel 2FR on the right front side has zero driving output due to abnormal operation, the driving wheel 2FL that is a symmetric wheel of the driving wheel 2FR whose output has stopped. Stop driving. Thereby, the yaw rate generated in the vehicle can be reduced, and the traveling stability of the vehicle can be prevented from being impaired due to the stop of the output of the drive wheels 2FR.

また、本実施形態に係る駆動制御装置１によれば、駆動輪２の作動異常による駆動出力低下が検出された場合に車両が旋回走行しているときには、出力低下した駆動輪２の左右対称にある駆動輪２について駆動を停止させることなく駆動させる。これにより、駆動輪２の出力低下により車両の乗員に生ずる違和感を軽減しつつ、旋回時のトラクション低下を防止することができる。   In addition, according to the drive control device 1 according to the present embodiment, when a decrease in drive output due to an abnormal operation of the drive wheels 2 is detected, when the vehicle is turning, the drive wheels 2 whose outputs have decreased are symmetrical. A certain driving wheel 2 is driven without stopping driving. As a result, it is possible to prevent a reduction in traction during turning while reducing a sense of incongruity caused to the vehicle occupant due to a decrease in the output of the drive wheels 2.

例えば、図４に示すように、右前の駆動輪２ＦＲが作動異常により駆動出力ゼロとなった場合に車両が旋回走行しているときに、車両が減速しておらず又は出力停止した駆動輪２ＦＲが旋回外輪でない場合、出力停止した駆動輪２ＦＲの左右対称輪である駆動輪２ＦＬを駆動停止させることなく駆動させる。これによって、駆動輪２ＦＲの出力停止により車両の乗員に生ずる違和感を軽減しつつ、旋回時のトラクション低下を防止することができる。   For example, as shown in FIG. 4, when the right front drive wheel 2FR becomes zero drive output due to abnormal operation, when the vehicle is turning, the vehicle is not decelerating or the output is stopped. Is not a turning outer wheel, the driving wheel 2FL which is a left-right symmetric wheel of the driving wheel 2FR whose output is stopped is driven without stopping driving. As a result, it is possible to prevent a reduction in traction during a turn while reducing the uncomfortable feeling that occurs to the vehicle occupant due to the output stop of the drive wheels 2FR.

また、本実施形態に係る駆動制御装置１によれば、駆動輪２の作動異常による駆動出力低下が検出され車両が減速して旋回走行している場合に、その出力低下した駆動輪２が旋回外輪であるときには、出力低下した駆動輪２の左右対称にある駆動輪２の駆動を停止させる。これにより、減速時のタックイン現象の影響を低減できる。   Further, according to the drive control device 1 according to the present embodiment, when a decrease in drive output due to an abnormal operation of the drive wheel 2 is detected and the vehicle decelerates, the drive wheel 2 whose output has decreased turns. When it is an outer wheel, the driving of the driving wheel 2 that is symmetrical with respect to the driving wheel 2 whose output is reduced is stopped. Thereby, the influence of the tack-in phenomenon at the time of deceleration can be reduced.

例えば、図５に示すように、右前の駆動輪２ＦＲが作動異常により駆動出力ゼロとなった場合に車両が旋回走行しているときに、車両が減速しており、かつ、出力停止した駆動輪２ＦＲが旋回外輪である場合、出力低下した駆動輪２ＦＲの左右対称輪である駆動輪２ＦＬの駆動を停止させる。これにより、減速時において、タックイン現象の影響を低減でき、車両のスピンを防止できる。   For example, as shown in FIG. 5, when the right front driving wheel 2FR becomes zero in driving output due to an abnormal operation, when the vehicle is turning, the driving wheel is decelerated and the output is stopped. When 2FR is a turning outer wheel, the driving of the driving wheel 2FL which is a left-right symmetric wheel of the driving wheel 2FR whose output is reduced is stopped. Thereby, at the time of deceleration, the influence of the tack-in phenomenon can be reduced and the vehicle can be prevented from spinning.

本発明の実施形態に係る駆動制御装置の構成概略図である。1 is a schematic configuration diagram of a drive control device according to an embodiment of the present invention. 図１の駆動制御装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the drive control apparatus of FIG. 図１の駆動制御装置の動作説明図である。It is operation | movement explanatory drawing of the drive control apparatus of FIG. 図１の駆動制御装置の動作説明図である。It is operation | movement explanatory drawing of the drive control apparatus of FIG. 図１の駆動制御装置の動作説明図である。It is operation | movement explanatory drawing of the drive control apparatus of FIG.

符号の説明Explanation of symbols

１…駆動制御装置、２（２ＦＬ、２ＲＬ、２ＦＲ、２ＲＲ）…駆動輪、３…モータ、４…ドライバ、１０…ＥＣＵ、１１…アクセルセンサ、１２…ブレーキセンサ、１３…シフトポジションセンサ、１４…加速度センサ、１５…ヨーレイトセンサ、１６…ステアリングセンサ。   DESCRIPTION OF SYMBOLS 1 ... Drive control apparatus, 2 (2FL, 2RL, 2FR, 2RR) ... Drive wheel, 3 ... Motor, 4 ... Driver, 10 ... ECU, 11 ... Accelerator sensor, 12 ... Brake sensor, 13 ... Shift position sensor, 14 ... Acceleration sensor, 15 ... yaw rate sensor, 16 ... steering sensor.

Claims (4)

左右の駆動輪の駆動力を少なくとも独立して制御可能とした駆動力制御手段と、
前記駆動輪の出力低下を検出する出力低下検出手段と、
を備えて構成され、
前記駆動力制御手段は、前記駆動輪の出力低下が検出された場合に、その出力低下した駆動輪の左右対称にある駆動輪の駆動を停止させること、
を特徴とする駆動制御装置。 Driving force control means capable of controlling at least independently the driving force of the left and right drive wheels;
An output decrease detecting means for detecting an output decrease of the drive wheel;
Configured with
The driving force control means, when a decrease in the output of the driving wheel is detected, to stop driving of the driving wheel that is symmetrical to the driving wheel whose output has decreased ;
A drive control device characterized by the above. 前記駆動力制御手段は、前記駆動輪の出力低下が検出され前記車両が直進走行している場合に、その出力低下した駆動輪の左右対称にある駆動輪の駆動を停止させること、
を特徴とする請求項１に記載の駆動制御装置。 The driving force control means, when a decrease in the output of the driving wheel is detected and the vehicle is traveling straight, stopping driving of the driving wheel that is symmetrical to the driving wheel whose output has decreased;
The drive control apparatus according to claim 1. 前記駆動力制御手段は、前記駆動輪の出力低下が検出され前記車両が旋回走行している場合には、出力低下した駆動輪の左右対称にある駆動輪について、駆動を停止させることなく駆動制御を行うこと、
を特徴とする請求項２に記載の駆動制御装置。 The driving force control means controls driving without stopping driving for driving wheels that are symmetrical with respect to the driving wheel whose output has been reduced when the output reduction of the driving wheel is detected and the vehicle is turning. To do the
The drive control apparatus according to claim 2. 前記駆動力制御手段は、前記駆動輪の出力低下が検出され前記車両が減速して旋回走行している場合であって、出力低下した駆動輪が旋回外輪である場合には、その出力低下した駆動輪の左右対称にある駆動輪の駆動を停止させること、
を特徴とする請求項３に記載の駆動制御装置。 The driving force control means detects a decrease in the output of the driving wheel, and when the vehicle decelerates and travels while the driving wheel with the decreased output is a turning outer wheel, the output decreases. Stopping driving of the driving wheels that are symmetrical to the driving wheels;
The drive control device according to claim 3.
JP2004069553A 2004-03-11 2004-03-11 Drive control device Expired - Lifetime JP4742504B2 (en)

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