JP5671887B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP5671887B2 JP5671887B2 JP2010192524A JP2010192524A JP5671887B2 JP 5671887 B2 JP5671887 B2 JP 5671887B2 JP 2010192524 A JP2010192524 A JP 2010192524A JP 2010192524 A JP2010192524 A JP 2010192524A JP 5671887 B2 JP5671887 B2 JP 5671887B2
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- vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/30—Propulsion unit conditions
- B60G2400/33—Throttle position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/30—Propulsion unit conditions
- B60G2400/38—Speed of engine rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/822—Road friction coefficient determination affecting wheel traction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
Description
瞬時スポーツ度Iin=(Gx2+Gy2)1/2
で算出される。ここで、加速度はセンサで検出された加速度に限らず、アクセル開度や操舵角、ブレーキ踏力もしくはブレーキペダルの踏み込み量などの運転者による操作に基づいて演算もしくは推定されたものであってもよい。また、「瞬時スポーツ度Iin」とは、車両の走行中における各瞬間毎に、各方向の加速度が求められ、その加速度に基づいて算出される指標という意味であり、いわゆる物理量である。なお、「各瞬間毎」とは、加速度の検出およびそれに基づく瞬時スポーツ度Iinの算出が所定のサイクルタイムで繰り返し実行される場合には、その繰り返しの都度を意味する。
Claims (4)
- 車両の走行状態に基づいて指標を求め、その指標に応じて駆動力の制御特性とサスペンション機構による車体の支持特性との少なくともいずれか一方の特性を変更するように構成された車両制御装置において、
前記指標は、繰り返し求められる前記車両の瞬時加速度に応じた値に設定されて保持されるとともに前記瞬時加速度が保持されている前記指標の値を超えた場合に前記瞬時加速度に応じた値に増大させられて保持され、かつ前記瞬時加速度が前記保持されている前記指標の値より小さくなった場合には予め定めた条件が成立することにより低下させられ、
予め定めた条件が成立するまで前記指標の値は保持されたままになるように構成され、
前記車両が走行する路面の摩擦係数に関する情報を取得するとともに、前記指標に応じて変更された前記少なくともいずれか一方の特性を、前記路面の摩擦係数に関する情報に基づいて補正するように構成されている
ことを特徴とする車両制御装置。
- 車両の走行状態に基づいて指標を求め、その指標に応じて駆動力の制御特性とサスペンション機構による車体の支持特性との少なくともいずれか一方の特性を変更するように構成された車両制御装置において、
前記車両が走行する路面の摩擦係数に関する情報を取得するとともに、
前記駆動力の制御特性と前記車体の支持特性との両方を、前記路面の摩擦係数に関する情報に基づいて補正し、かつ
その補正は、前記駆動力の制御特性を前記指標に基づく変更と反対の方向に変更させる場合には、前記車体の支持特性を前記指標に基づく変更と同様の方向に変更させる補正を含む
ことを特徴とする車両制御装置。 - 前記路面の摩擦係数に関する情報は、検出された前記摩擦係数が変化したことを示す情報と、路面の摩擦係数が小さい走行路を走行するために予め用意されている走行モードを選択するスイッチが操作されたことを示す情報と、予め記憶している摩擦係数が読み出されたことを示す情報との少なくともいずれか一つを含むことを特徴とする請求項1または2に記載の車両制御装置。
- 車両の走行状態に基づいて指標を求め、その指標に応じて駆動力の制御特性とサスペンション機構による車体の支持特性との少なくともいずれか一方の特性を変更するように構成された車両制御装置において、
前記指標は、前記車両の加速度の絶対値がそれ以前の値より大きくなることにより増大させられるとともに前記車両の加速度の絶対値がそれより以前の加速度の絶対値を超えない状態が継続して予め定めた所定の条件が成立した場合に低下させられる指標を含み、
前記車両が走行する路面の摩擦係数に関する情報を取得するとともに、
前記指標に応じて変更された前記少なくともいずれか一方の特性を、前記路面の摩擦係数に関する情報に基づいて補正し、
前記路面の摩擦係数に関する情報で補正された前記いずれか一方の特性は、前記指標が補正された値より低下させられるまで保持するように構成されている
ことを特徴とする車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010192524A JP5671887B2 (ja) | 2010-08-30 | 2010-08-30 | 車両制御装置 |
CN201110261468.2A CN102398599B (zh) | 2010-08-30 | 2011-08-30 | 车辆控制系统和车辆控制方法 |
US13/221,257 US8473154B2 (en) | 2010-08-30 | 2011-08-30 | Vehicle control system and vehicle control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010192524A JP5671887B2 (ja) | 2010-08-30 | 2010-08-30 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012046147A JP2012046147A (ja) | 2012-03-08 |
JP5671887B2 true JP5671887B2 (ja) | 2015-02-18 |
Family
ID=45698273
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2010192524A Active JP5671887B2 (ja) | 2010-08-30 | 2010-08-30 | 車両制御装置 |
Country Status (3)
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---|---|
US (1) | US8473154B2 (ja) |
JP (1) | JP5671887B2 (ja) |
CN (1) | CN102398599B (ja) |
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US8775040B2 (en) * | 2009-08-18 | 2014-07-08 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
JP5556523B2 (ja) | 2010-09-13 | 2014-07-23 | トヨタ自動車株式会社 | 車両の制御装置 |
JP5510227B2 (ja) * | 2010-09-15 | 2014-06-04 | トヨタ自動車株式会社 | 車両制御装置 |
DE102013000944A1 (de) * | 2013-01-19 | 2014-07-24 | Daimler Ag | Lenkrad mit verbesserter Schnittstelle zu einem Fingernavigationsmodul |
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DE102013113431A1 (de) * | 2013-12-04 | 2015-06-11 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Bestimmen einer Aquaplaning-Gefahr |
DE102014208323A1 (de) * | 2014-05-05 | 2015-11-05 | Bayerische Motoren Werke Aktiengesellschaft | Dämpfungssteuerungsanordnung und Aktuatoranordnung zur Ansteuerung eines adaptiven Fahrwerksdämpfers |
CN104554271B (zh) * | 2014-12-08 | 2017-09-12 | 昆明理工大学 | 一种基于参数估计误差的路面坡度和汽车状态参数联合估计方法 |
US10300760B1 (en) | 2015-03-18 | 2019-05-28 | Apple Inc. | Fully-actuated suspension system |
US9879621B2 (en) * | 2015-12-08 | 2018-01-30 | Ford Global Technologies, Llc | Fuel vapor flow based on road conditions |
US9889716B2 (en) * | 2016-02-03 | 2018-02-13 | Ford Global Technologies, Llc | Roadway-crossing-anomaly detection system and method |
US10071686B2 (en) * | 2016-06-30 | 2018-09-11 | GM Global Technology Operations LLC | Electric vehicle sound enhancement systems and methods |
CN106896814B (zh) * | 2017-02-28 | 2020-08-25 | 联想(北京)有限公司 | 一种控制方法及移动电子设备 |
JP6863011B2 (ja) * | 2017-03-31 | 2021-04-21 | トヨタ自動車株式会社 | 操舵制御装置 |
WO2019003296A1 (ja) * | 2017-06-27 | 2019-01-03 | 川崎重工業株式会社 | 疑似感情生成方法並びに走行評価方法および走行評価システム |
CN109606365A (zh) * | 2018-12-29 | 2019-04-12 | 百度在线网络技术(北京)有限公司 | 用于控制车辆的方法和装置 |
AT522741A1 (de) * | 2019-07-05 | 2021-01-15 | Avl List Gmbh | Verfahren zur beurteilung der fahrbarkeit von fahrzeugen |
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JP7178440B2 (ja) * | 2021-03-22 | 2022-11-25 | 本田技研工業株式会社 | 車両 |
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CN102770322B (zh) | 2009-08-18 | 2015-07-22 | 丰田自动车株式会社 | 车辆控制系统 |
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-
2010
- 2010-08-30 JP JP2010192524A patent/JP5671887B2/ja active Active
-
2011
- 2011-08-30 CN CN201110261468.2A patent/CN102398599B/zh not_active Expired - Fee Related
- 2011-08-30 US US13/221,257 patent/US8473154B2/en active Active
Also Published As
Publication number | Publication date |
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CN102398599A (zh) | 2012-04-04 |
US20120053789A1 (en) | 2012-03-01 |
US8473154B2 (en) | 2013-06-25 |
CN102398599B (zh) | 2015-04-01 |
JP2012046147A (ja) | 2012-03-08 |
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