JP5416689B2 - Control system for vehicle state quantity measurement - Google Patents

Description

  The present invention relates to a vehicle state quantity measurement control system used in a bench test.

  Conventionally, a bench test has been performed in order to measure a state quantity of a vehicle (see Patent Document 1). In a bench test for a vehicle equipped with a drive wheel and a driven wheel, the running state is realized indoors by driving the vehicle with the drive wheel placed on a roller installed on the stand, and the state quantity of the vehicle is measured. To do.

JP 7-52815 A

  In the bench test, because the driven wheel is not rotating, the ECU (Electrical Control Unit) of the vehicle erroneously detects a failure, the CAS (Creep Aid System) control does not operate, or the TCS (Traction Control System). In order to prevent the malfunction of the control or the regenerative cooperative control from being deactivated, a jig such as a cable for inputting the detection result of the wheel speed sensor of the driving wheel to the ECU as the wheel speed of the driven wheel ( The wheel speed sensor and the ECU are connected using a wheel speed generation module). The CAS control is a control that facilitates starting on a slope by holding the brake fluid pressure for a while after the brake pedal is depressed. In addition, the TCS control is a control for preventing idling of the driving wheel at the time of start, acceleration, and the like. The regenerative cooperative control is control for adjusting the brake fluid pressure during regenerative braking.

  A control that stabilizes the behavior of the vehicle by using the braking force, that is, a VSA-ECU that performs VSA (registered trademark) control, and an AHB (Active Hydro Booster) -ECU that performs regenerative cooperative control are provided. In the conventional vehicle, as shown in FIG. 3A, the wheel speed sensors 131a to 131d of the driving wheel and the driven wheel are connected to the VSA-ECU 133b. The VSA-ECU 133b acquires the detection results of the wheel speed sensors 131a to 131d, and outputs them to the ENG-ECU 133a and the AHB-ECU 133c that control the engine via a CAN (Controller Area Network).

  When performing the bench test in such a vehicle, as shown in FIG. 3 (b), the connection between the wheel speed sensors 131a to 131d and the connector on the power source 137 side and the connector on the VSA-ECU 133b side is released, The connector on the input side of the wheel speed generation module 200 as a jig is newly connected to the wheel speed sensors 131a to 131d and the connector on the power source 137 side, and the output side of the wheel speed generation module 200 is connected to CAN. When the bench test is performed in such a connection state, power is not supplied to the VSA-ECU 133b. Therefore, the wheel speed of the driving wheel and the simulated wheel speed of the driven wheel output from the wheel speed generation module 200 are not supplied to the AHB-ECU 133c. Although it is transmitted, it is not transmitted to VSA-ECU 133b.

  In such a vehicle, regenerative cooperative control and CAS control are performed by an AHB-ECU 133c different from the VSA-ECU 133b, so there was no problem in fuel consumption measurement in the bench test even when the VSA-ECU 133b was not activated. . By the way, when it is going to apply only CAS control to a vehicle, without applying regenerative cooperative control, since AHB-ECU133c is needed in order to perform CAS control, and it becomes a factor of cost increase, it is not AHB-ECU133c but VSA-. It is conceivable to cause the ECU 133b to perform CAS control.

  However, in a vehicle in which the VSA-ECU 133b performs CAS control, if a bench test is performed using the wheel speed generation module 200 described above, the VSA-ECU 133b is not activated, so CAS control cannot be performed, and fuel consumption is reduced. Measurement may be affected. In this bench test, even if power is supplied to the VSA-ECU 133b, since the wheel speed sensors 131a to 131d are not connected to the VSA-ECU 133b, the VSA-ECU 133b erroneously detects the failure.

  Therefore, the present invention has been made in view of such circumstances, and in a bench test performed by rotating only the driving wheel, the state quantity of the vehicle including the driven wheel is simply measured without using a jig. It is an object of the present invention to provide a control system for measuring a state quantity of a vehicle.

  In order to solve the above-described problems, the present invention is a control system for measuring a state quantity of a vehicle including a driving wheel and a driven wheel, and includes a wheel speed sensor that detects wheel speeds of the driving wheel and the driven wheel, respectively. Based on the detected wheel speed of the driving wheel and the wheel speed of the driven wheel, a control unit for controlling the vehicle is provided, and the control unit is set to be in a bench test. A pseudo wheel speed of the driven wheel is generated based on the wheel speed of the driving wheel detected by a wheel speed sensor of the driving wheel, and the generated wheel speed of the driven wheel is substituted for the detected wheel speed. The pseudo wheel speed of the driven wheel is the wheel speed of the driven wheel.

  The vehicle includes a left front wheel and a right front wheel as the drive wheels, and a left rear wheel and a right rear wheel as the driven wheels, and the control unit sets the detected wheel speed of the left front wheel to the left The pseudo wheel speed of the rear wheel may be used, and the detected wheel speed of the right front wheel may be the pseudo wheel speed of the right rear wheel.

The vehicle state quantity measurement control system is connected to the wheel speed sensor as the control unit, and maintains braking force based on wheel speed of the driving wheel and wheel speed of the driven wheel. A braking force holding control unit that performs control and the braking force holding control unit are connected to each other, and is connected to a power source control unit that controls a power source of the vehicle and the braking force holding control unit. A regenerative cooperative control unit that performs a regenerative cooperative control that controls a braking force based on a wheel speed of the driving wheel and a wheel speed of the driven wheel, and that the power source control unit is in a bench test. When the setting is made, a signal notifying the setting is output to the braking force holding control unit, and when the braking force holding control unit acquires the signal, the wheel speed sensor of the driving wheel detects the setting. Wheel of the driving wheel A pseudo wheel speed of the driven wheel is generated based on the degree, and braking force holding control is performed based on the wheel speed of the driving wheel and the pseudo wheel speed of the driven wheel, and the wheel speed of the driving wheel and the slave wheel are controlled. The pseudo wheel speed of the driving wheel is output to the regenerative cooperative control unit, and the regenerative cooperative control unit acquires the wheel speed of the driving wheel and the pseudo wheel speed of the driven wheel, and the obtained wheel speed of the driving wheel and A configuration in which regenerative cooperative control is performed based on the pseudo wheel speed of the driven wheel may be employed.

Further, the vehicle state quantity measurement control system is connected to the wheel speed sensor as the control unit, and controls braking force based on the wheel speed of the driving wheel and the wheel speed of the driven wheel. A braking force holding control unit that performs power holding control and the braking force holding control unit are connected. The power source control unit that controls the power source of the vehicle and the braking force holding control unit are connected. A regenerative cooperative control unit that performs regenerative cooperative control that controls braking force based on the wheel speed of the driving wheel and the wheel speed of the driven wheel during braking, and the power source control unit is in a bench test When the setting is made, a signal notifying the setting is output to the braking force holding control unit and the regeneration cooperative control unit, and the braking force holding control unit acquires the signal, Wheel speed sensor The braking force holding control is performed based on the detected wheel speed of the driving wheel and the wheel speed of the driven wheel detected by the wheel speed sensor of the driven wheel, and the wheel speed of the driving wheel is set to the regenerative cooperative control unit. The regenerative cooperative control unit acquires the signal and the wheel speed of the driving wheel, generates a pseudo wheel speed of the driven wheel based on the acquired wheel speed of the driving wheel, and drives the driving A configuration in which regenerative cooperative control is performed based on the wheel speed of the wheel and the pseudo wheel speed of the driven wheel may be employed.

  According to the present invention, it is possible to easily measure a state quantity of a vehicle including a driven wheel without using a jig in a bench test.

It is a figure showing typically a vehicle and a bench test device concerning an embodiment of the present invention. 1 is a block diagram schematically showing a vehicle state quantity measurement control system according to an embodiment of the present invention. It is a figure for demonstrating the conventional bench test.

<Vehicle and bench test device>
As shown in FIG. 1, a vehicle 10 according to an embodiment of the present invention includes a left and right drive wheel 11 (only the left front wheel is shown) as front wheels and a left and right driven wheel 12 (only the left rear wheel) as rear wheels. And a front-wheel drive hybrid vehicle.

  The table test apparatus 20 includes a table 21 on which the vehicle 10 is placed, two sets of rollers 22 and 22 provided on the left and right so as to be exposed from the table 21 (only one set on the left is shown), a roller A power measurement unit 23 that is a sensor that measures the power (torque, horsepower) of the vehicle using the rotation of the motor 22, 22, an emission measurement unit 24 that measures and analyzes the emission (emission) of the vehicle 10, and power measurement The control unit 25 that acquires the measurement result by the unit 23 and the measurement result by the measurement unit 24, and the control by the control unit 25 for notifying the tester of the measurement result by the power measurement unit 23 and the measurement result by the emission measurement unit 24 And an output unit 26 including a display, a speaker, and the like.

  When performing the bench test, the left and right drive wheels 11 of the vehicle 10 are respectively placed on a pair of rollers 22 and 22, and the left and right driven wheels 12 are placed on the stand 21. When the tester drives the vehicle 10 with the ignition switch turned on, the left and right drive wheels 11 of the vehicle 10 are rotated to realize a virtual running state. Are displayed by various instruments provided in the vehicle, and the power as the state quantity of the vehicle 10 is measured by the power measurement unit 23, and the emission (exhaust) as the state quantity of the vehicle 10 is measured and analyzed by the emission measurement unit 24. Then, the control unit 25 causes the output unit 26 to output the measurement results obtained by the measurement units 23 and 24 and notifies the tester.

<Control system for vehicle state quantity measurement>
As shown in FIG. 2, the vehicle state quantity measurement control system 30 according to the embodiment of the present invention is a system mounted on the vehicle 10 described above, and includes a left front wheel speed sensor 31a and a right wheel speed sensor 31a. Front wheel speed sensor 31b, left rear wheel speed sensor 31c and right rear wheel speed sensor 31d as driven wheel speed sensors, ultrasonic sensor 32, ENG-ECU (ENGine-Electrical Control Unit) 33a as a control unit, VSA -ECU (Vehicle Stability Assist-Electrical Control Unit) 33b and AHB-ECU (Active Hydro Booster-Electrical Control Unit) 33c, engine 34a1, electric motor 34a2, VSA device 34b, left front wheel brake device 35b1, right Front wheel brake device 35b2, left rear wheel brake device 35b3, right rear wheel brake device 35b4, AHB It comprises a location 34c and the regenerative brake device 35c, the warning lamp 36b, and 36c, a. The ENG-ECU 33a, the VSA-ECU 33b, and the AHB-ECU 33c are connected so as to be communicable with each other by, for example, an in-vehicle LAN (CAN: Controller Area Network).

≪Drive wheel speed sensor and driven wheel speed sensor≫
The wheel speed sensors 31a to 31d are connected to the VSA-ECU 33b via a connector. The left front wheel speed sensor 31a detects the wheel speed of the left front wheel as the drive wheel 11 (left front wheel speed) and outputs it to the VSA-ECU 33b. The right front wheel speed sensor 31b detects the wheel speed of the right front wheel as the drive wheel 11 (right front wheel speed) and outputs it to the VSA-ECU 33b. The left rear wheel speed sensor 31c detects the wheel speed (left rear wheel speed) of the left rear wheel as the driven wheel 12 and outputs the detected wheel speed to the VSA-ECU 33b. The right rear wheel speed sensor 31d detects the wheel speed (right rear wheel speed) of the right rear wheel as the driven wheel 12 and outputs it to the VSA-ECU 33b.

≪ENG-ECU≫
The ENG-ECU 33a is a power source control unit that performs hybrid control of driving of the engine 34a1 and the electric motor 34a2 that are power sources of the vehicle 10. The ENG-ECU 33a receives a signal indicating that the bench test is being performed from the external terminal device 40. The ENG-ECU 33a transfers the input signal to the VSA-ECU 33b and the AHB-ECU 33c.

≪VSA-ECU≫
The VSA-ECU 33b adjusts the brake fluid pressure applied to each brake device 35b1 to 35b4 provided on each wheel by controlling the drive of the VSA device 34b, and each wheel 11, 35b1 to 35b4 controls each wheel 11, 12 is a braking force control unit that applies a desired braking force to 12. When performing VSA control (vehicle behavior stabilization control) that is braking force control, the VSA-ECU 33b lights or blinks a warning light 36b provided in the passenger compartment and notifies the occupant of warning light information. Is output to the ENG-ECU 33a and the AHB-ECU 33c. The VSA-ECU 33b can execute TCS (Traction Control System) control, ABS (Antilock Brake System) control, and CAS (Creep Aid System) control as VSA control. The TCS control is a control for preventing idling of the drive wheels at the time of start, acceleration, and the like. The VSA-ECU 33b controls the driving of the VSA device 34b based on the wheel speeds detected by the wheel speed sensors 31a to 31d, and is applied to the brake devices 35b1 to 35b4 provided on the wheels 11 and 12, respectively. By adjusting the brake fluid pressure, the wheels 11 and 12 are prevented from idling.

  The CAS control holds the braking force when the vehicle 10 starts based on the operation state of the brake pedal detected by the pedal sensor 32 and the wheel speeds detected by the wheel speed sensors 31a to 31d. This is braking force holding control. That is, the VSA-ECU 33b holds the braking force when the vehicle 10 is stopped, that is, when the vehicle body speed calculated based on the wheel speeds detected by the wheel speed sensors 31a to 31d is zero. This is a braking force holding control unit that performs a braking force holding control for controlling the VSA device 34b so that the braking force is released after a predetermined time elapses after the brake pedal is released.

  Further, the VSA-ECU 33b self-diagnose the failure of the VSA-ECU 33b and outputs the self-diagnosis result to the ENG-ECU 33a and the AHB-ECU 33c.

  Further, the VSA-ECU 33b acquires the wheel speed of the driving wheel 11 and the wheel speed of the driven wheel 12 detected by the wheel speed sensors 31a to 31d, and outputs them to the other ECUs 33a and 33b.

≪AHB-ECU≫
The AHB-ECU 33c controls the driving of the AHB device 34c, thereby operating the regenerative brake device 35c to collect regenerative energy and performing regenerative control for storing in a battery (not shown) for the electric motor 34a2. This is a regenerative cooperative control unit that performs regenerative cooperative control for adjusting the brake fluid pressure by controlling the driving of the VSA device 34b during such regenerative braking. When the regenerative cooperative control is performed, the AHB-ECU 33c turns on or blinks a warning light 36c provided in the passenger compartment to notify the occupant and outputs warning light information to the ENG-ECU 33a and the VSA-ECU 33b. .

  Further, the AHB-ECU 33c self-diagnose the failure of the AHB-ECU 33c and outputs the self-diagnosis result to the ENG-ECU 33a and the VSA-ECU 33b.

<First operation example>
A first operation example of the vehicle state quantity measurement control system 30 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. The first operation example is an operation example in which the VSA-ECU 33b generates a pseudo left rear wheel speed and a pseudo right rear wheel speed.

  When the bench test of the vehicle 10 is performed, the external terminal device 40 outputs a signal indicating that the bench test is being performed to the ENG-ECU 33a according to the operation of the tester. When obtaining the signal, the ENG-ECU 33a transfers the signal to the VSA-ECU 33b. The ENG-ECU 33a and the VSA-ECU 33b are set to indicate that the bench test is being performed according to the signal, and shift from the normal mode to the bench test mode. When acquiring the signal, the VSA-ECU 33b generates a pseudo left rear wheel speed and a pseudo right rear wheel speed based on the left front wheel speed and the right front wheel speed, and generates the detected left front wheel speed and right front wheel speed. CAS control is performed based on the pseudo left rear wheel speed, the pseudo right rear wheel speed, the brake signal, and the like. That is, the VSA-ECU 33b performs CAS control by regarding the pseudo left rear wheel speed as the left rear wheel speed and the pseudo right rear wheel speed as the right rear wheel speed. Here, the VSA-ECU 33b prohibits TCS control.

  Further, the VSA-ECU 33b turns on or blinks the warning lamp 36b in accordance with the signal and outputs warning lamp information to the ENG-ECU 33a. Further, the VSA-ECU 33b prohibits the TCS control according to the signal. Further, the VSA-ECU 33b always outputs the result of self-diagnosis as normal to the ENG-ECU 33a and the AHB-ECU 33c. Further, the VSA-ECU 33b outputs the detected left front wheel speed and right front wheel speed and the generated pseudo left rear wheel speed and pseudo right rear wheel speed to the AHB-ECU 33c.

  The AHB-ECU 33c acquires the left front wheel speed, the right front wheel speed, the pseudo left rear wheel speed, and the pseudo right rear wheel speed, and performs regenerative cooperative control based on these speeds and the pseudo speed. That is, the AHB-ECU 33c performs regenerative cooperative control by regarding the pseudo left rear wheel speed as the left rear wheel speed and the pseudo right rear wheel speed as the right rear wheel speed.

  The ENG-ECU 33a performs hybrid control ignoring the warning light information output from the VSA-ECU 33b.

  When the bench test of the vehicle 10 is terminated, the external terminal device 40 outputs a signal indicating that the bench test is terminated to the ENG-ECU 33a in response to the tester's operation. When the ENG-ECU 33a acquires the signal, it outputs the signal to the VSA-ECU 33b, and the ENG-ECU 33a and the VSA-ECU 33b return from the bench test mode to the normal mode according to the signal.

<Second operation example>
A second operation example of the vehicle state quantity measurement control system 30 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. The second operation example is an operation example in which the AHB-ECU 33c generates a pseudo left rear wheel speed and a pseudo right rear wheel speed.

  When the bench test of the vehicle 10 is performed, the external terminal device 40 outputs a signal indicating that the bench test is being performed to the ENG-ECU 33a according to the operation of the tester. When obtaining the signal, the ENG-ECU 33a transfers the signal to the VSA-ECU 33b and the AHB-ECU 33c. The ENG-ECU 33a, the VSA-ECU 33b, and the AHB-ECU 33c are set to indicate that the bench test is being performed according to the signal, and shift from the normal mode to the bench test mode. When acquiring the signal, the VSA-ECU 33b performs CAS control based on the detected left front wheel speed, right front wheel speed, left rear wheel speed, and right rear wheel speed. Here, the VSA-ECU 33b prohibits TCS control. Here, since the rear wheel does not rotate in the bench test of the present invention, the VSA-ECU 33b uses zero as the value of the detected left rear wheel speed and right rear wheel speed.

  Further, the VSA-ECU 33b turns on or blinks the warning lamp 36b in accordance with the signal and outputs warning lamp information to the ENG-ECU 33a. Further, the VSA-ECU 33b prohibits the TCS control according to the signal. Further, the VSA-ECU 33b outputs the result of the self-diagnosis to the ENG-ECU 33a and the AHB-ECU 33c. Further, the VSA-ECU 33b outputs the detected left front wheel speed, right front wheel speed, left rear wheel speed, and right rear wheel speed to the AHB-ECU 33c. Here, since the rear wheel does not rotate in the bench test of the present invention, zero is output to the AHB-ECU 33c as the values of the detected left rear wheel speed and right rear wheel speed.

  When the AHB-ECU 33c acquires the signal, the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed, the pseudo left rear wheel speed and the pseudo right wheel speed are obtained based on the left front wheel speed and the right front wheel speed. A rear wheel speed is generated, and regenerative cooperative control is performed based on the detected left front wheel speed and right front wheel speed, and the generated pseudo left rear wheel speed and pseudo right rear wheel speed. That is, the AHB-ECU 33c performs regenerative cooperative control by regarding the pseudo left rear wheel speed as the left rear wheel speed and the pseudo right rear wheel speed as the right rear wheel speed.

  Further, the AHB-ECU 33c turns on or blinks the warning lamp 36c in accordance with the signal and outputs warning lamp information to the ENG-ECU 33a. Further, when the result of the self-diagnosis output from the VSA-ECU 33b indicates a failure, the AHB-ECU 33c ignores it.

  The ENG-ECU 33a performs hybrid control ignoring the warning light information output from the VSA-ECU 33b.

  When the bench test of the vehicle 10 is terminated, the external terminal device 40 outputs a signal indicating that the bench test is terminated to the ENG-ECU 33a in response to the tester's operation. When the ENG-ECU 33a acquires the signal, the ENG-ECU 33a outputs the signal to the VSA-ECU 33b and the AHB-ECU 33c. Return to.

≪Pseudo wheel speed generation method≫
In the first operation example and the second operation example described above, the VSA-ECU 33b and the AHB-ECU 33c use the detected left front wheel speed as the pseudo left rear wheel speed, and the detected right front wheel speed as the pseudo right rear wheel speed. It can be.

  The vehicle state quantity measurement control system 30 according to the embodiment of the present invention can simplify the state quantity of the vehicle 10 including the driven wheels 12 without using a jig in a bench test performed by rotating only the drive wheels 11. Can be measured. That is, since a jig is not necessary, work such as replacement of the connector can be omitted.

  Further, the vehicle state quantity measurement control system 30 according to the embodiment of the present invention can reduce a DTC (Diagnostic Trouble Code) erasing operation after the bench test and before the shipment.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the summary of this invention. For example, a vehicle to which the present invention is applied may be a vehicle in which the front wheel is a driven wheel and the rear wheel is a rear wheel drive vehicle of driving wheels, or the regeneration cooperative control is not performed. In the vehicle state quantity measurement control system 30 according to the present invention, not the signal from the external terminal device 40 but the setting that the bench test is being performed is made by operating a dip switch or the like provided in the ENG-ECU 33a. It may be a configuration.

10 Vehicle 11 Driving wheel (front left wheel and front right wheel)
12 driven wheel (left rear wheel and right rear wheel)
30 Vehicle State Quantity Control System 31a Front Left Wheel Speed Sensor (Drive Wheel Speed Sensor)
31b Right front wheel speed sensor (driven wheel speed sensor)
31c Left rear wheel speed sensor (driven wheel speed sensor)
31d Right rear wheel speed sensor (driven wheel speed sensor)
33a ENG-ECU (control unit, power source control unit)
33b VSA-ECU (control unit, braking force holding control unit)
33c AHB-ECU (control unit, regenerative cooperative control unit)

Claims (4)

A control system for measuring a state quantity of a vehicle including a driving wheel and a driven wheel,
A controller for controlling the vehicle based on the wheel speed of the driving wheel and the wheel speed of the driven wheel detected by a wheel speed sensor that detects the wheel speed of the driving wheel and the driven wheel,
When the control unit is set to indicate that a bench test is being performed, the control unit calculates the pseudo wheel speed of the driven wheel based on the wheel speed of the drive wheel detected by the wheel speed sensor of the drive wheel. A vehicle state quantity measurement control system, wherein the generated pseudo wheel speed of the driven wheel is used as the wheel speed of the driven wheel instead of the generated wheel speed of the driven wheel. The vehicle includes a left front wheel and a right front wheel as the driving wheels, and a left rear wheel and a right rear wheel as the driven wheels,
The control unit uses the detected wheel speed of the left front wheel as a pseudo wheel speed of the left rear wheel, and detects the detected wheel speed of the right front wheel as a pseudo wheel speed of the right rear wheel. The vehicle state quantity measurement control system according to claim 1. As the control unit,
A braking force holding control unit that is connected to the wheel speed sensor and performs a braking force holding control for holding a braking force based on a wheel speed of the driving wheel and a wheel speed of the driven wheel;
A power source control unit that is connected to the braking force holding control unit and controls a power source of the vehicle;
A regenerative cooperative control unit that is connected to the braking force holding control unit and performs regenerative cooperative control for controlling the braking force based on the wheel speed of the driving wheel and the wheel speed of the driven wheel during regenerative braking;
With
When the power source control unit is set to be in the bench test, the power source control unit outputs a signal notifying the setting to the braking force holding control unit,
The braking force holding control unit, upon acquiring the signal, generates a pseudo wheel speed of the driven wheel based on a wheel speed of the driving wheel detected by a wheel speed sensor of the driving wheel, While performing braking force holding control based on the wheel speed and the pseudo wheel speed of the driven wheel, the wheel speed of the driving wheel and the pseudo wheel speed of the driven wheel are output to the regenerative cooperative control unit,
The regenerative cooperative control unit acquires the wheel speed of the driving wheel and the pseudo wheel speed of the driven wheel, and performs regenerative cooperative control based on the acquired wheel speed of the driving wheel and the pseudo wheel speed of the driven wheel. The control system for measuring a state quantity of a vehicle according to claim 1 or 2. As the control unit,
A braking force holding control unit that is connected to the wheel speed sensor and performs a braking force holding control for holding a braking force based on a wheel speed of the driving wheel and a wheel speed of the driven wheel;
A power source control unit that is connected to the braking force holding control unit and controls a power source of the vehicle;
A regenerative cooperative control unit that is connected to the braking force holding control unit and performs regenerative cooperative control for controlling the braking force based on the wheel speed of the driving wheel and the wheel speed of the driven wheel during regenerative braking;
With
When the power source control unit is set to indicate that a bench test is being performed, the power source control unit outputs a signal notifying the setting to the braking force holding control unit and the regeneration cooperative control unit,
When the braking force holding control unit acquires the signal, the braking force holding control unit determines the wheel speed of the driving wheel detected by the wheel speed sensor of the driving wheel and the wheel speed of the driven wheel detected by the wheel speed sensor of the driven wheel. Based on the braking force holding control based on, and outputs the wheel speed of the drive wheel to the regenerative cooperative control unit,
The regenerative cooperative control unit acquires the signal, the wheel speed of the driving wheel, generates the pseudo wheel speed of the driven wheel based on the acquired wheel speed of the driving wheel, and the wheel speed of the driving wheel. 3. The vehicle state quantity measurement control system according to claim 1, wherein regenerative cooperative control is performed based on the pseudo wheel speed of the driven wheel.

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