JP5868919B2 - 4輪駆動車の制御装置 - Google Patents
4輪駆動車の制御装置 Download PDFInfo
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- JP5868919B2 JP5868919B2 JP2013187549A JP2013187549A JP5868919B2 JP 5868919 B2 JP5868919 B2 JP 5868919B2 JP 2013187549 A JP2013187549 A JP 2013187549A JP 2013187549 A JP2013187549 A JP 2013187549A JP 5868919 B2 JP5868919 B2 JP 5868919B2
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- 230000005540 biological transmission Effects 0.000 claims description 23
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- 230000001360 synchronised effect Effects 0.000 description 2
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- 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
-
- 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
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
- B60K17/35—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches
-
- 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
- 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
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- 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
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/021—Clutch engagement state
Description
図1において、符号1は車両前部に配置されたエンジンを示し、このエンジン1による駆動力は、エンジン1後方の自動変速装置(トルクコンバータ等も含んで図示)2からトランスミッション出力軸2aを経てトランスファ3に伝達される。
制御ユニット30には、前方認識装置21、各車輪14fl,14fr,14rl,14rrの車輪速度センサ(左前輪車輪速度センサ22fl,右前輪車輪速度センサ22fr,左後輪車輪速度センサ22rl,右後輪車輪速度センサ22rr)、プロペラシャフト回転速度センサ23、その他、図示しない、操舵角センサ、ヨーレートセンサ、アクセルペダルセンサ、ブレーキペダルセンサ、エンジン制御ユニット(ECU)、トランスミッション制御ユニット(TCU)等が接続され、自車両前方の立体物データや白線データ等の前方情報、各車輪14fl,14fr,14rl,14rrの車輪速度(左前輪車輪速度ωfl,右前輪車輪速度ωfr,左後輪車輪速度ωrl,右後輪車輪速度ωrr)、プロペラシャフト回転速度ωd、操舵角、ヨーレート、アクセルペダル踏み込み量、ブレーキペダル踏み込み量、エンジン回転数、吸入空気量、トランスミッションギヤ比等が入力される。尚、本実施の形態では、主駆動軸の回転速度ωmとして左前輪車輪速度ωflと右前輪車輪速度ωfrの平均回転速度を採用し、副駆動軸の回転速度ωsとして左後輪車輪速度ωrlと右後輪車輪速度ωrrの平均回転速度を採用する。
ΔGω=(Tsm・Gf/Rt)・(1/m) …(1)
ここで、Rtはタイヤ径、mは車両質量である。
G=G−ΔGω …(2)
Pb=Cb・G …(3)
ここで、Cbはブレーキ諸元で決まる定数である。
まず、ステップ(以下、「S」と略称)S101で、4輪駆動制御部30aで、4WD作動中か否か判定し、4WD作動中の場合は、そのままルーチンを抜け、4WD作動中ではない場合は、S102に進む。
まず、S201で、4輪駆動制御部30aで、4WD作動中か否か判定し、4WD作動中の場合は、そのままルーチンを抜け、4WD作動中ではない場合は、S202に進む。
2 自動変速装置
3 トランスファ
4 リヤドライブ軸
5 プロペラシャフト(動力伝達軸)
6 ドライブピニオン軸部
7 後輪終減速装置
8 リダクションドライブギヤ
9 リダクションドリブンギヤ
10 フロントドライブ軸
11 前輪終減速装置
13fl、13fr 前輪ドライブ軸(主駆動軸)
13rl、13rr 後輪ドライブ軸(副駆動軸)
14fl、14fr 前輪
14rl、14rr 後輪
15 トランスファクラッチ(第1のクラッチ手段)
17l、17r ホイールクラッチ(第2のクラッチ手段)
18fl、18fr、18rl、18rr ホイールシリンダ
21 前方認識装置(前方情報認識手段)
21a ステレオカメラ(前方情報認識手段)
22fl、22fr、22rl、22rr 車輪速度センサ
23 プロペラシャフト回転速度センサ
30 制御ユニット
30a 4輪駆動制御部(駆動力制御手段)
30b 自動ブレーキ制御部(自動ブレーキ制御手段)
30c 減速度指示値補正、ブレーキ液圧算出・出力部(減速度補正手段)
30d クラッチ開放判定部(駆動力制御手段)
31trc トランスファクラッチ駆動部
31wcl、31wcr ホイールクラッチ駆動部
32 ブレーキ駆動部
Claims (4)
- 前軸と後軸のどちらか一方の主駆動軸から他方の副駆動軸へ動力伝達軸を介して駆動力を伝達すると共に、上記主駆動軸と上記動力伝達軸との間に第1のクラッチ手段を設け、上記動力伝達軸と上記副駆動軸との間に第2のクラッチ手段を設けて上記動力伝達軸を停止自在にした4輪駆動車において、
前方の道路情報を認識する前方情報認識手段と、
上記前方情報認識手段からの前方情報に基づき減速度指示値を設定して自動ブレーキを作動させる自動ブレーキ制御手段と、
上記第1のクラッチ手段と上記第2のクラッチ手段の締結と開放を制御する駆動力制御手段とを有し、
上記駆動力制御手段は、4輪駆動状態としていない場合に、上記自動ブレーキ制御手段が上記前方情報に基づき上記自動ブレーキを作動させる際は、上記第1のクラッチ手段を締結すると共に、
上記主駆動軸と上記動力伝達軸との回転同期で生じる減速度を算出し、該減速度で上記自動ブレーキ制御手段の上記減速度指示値を補正する減速度補正手段と、
を備えたことを特徴とする4輪駆動車の制御装置。 - 上記駆動力制御手段は、4輪駆動状態としていない場合で、且つ、上記自動ブレーキ制御手段が上記自動ブレーキを作動させる対象を通過後、所定時間経過した場合は、上記第1のクラッチ手段と上記第2のクラッチ手段とを開放状態とすることを特徴とする請求項1記載の4輪駆動車の制御装置。
- 上記減速度補正手段は、上記主駆動軸と上記動力伝達軸との回転同期の状態と、上記第1のクラッチ手段の締結トルクに応じて上記主駆動軸と上記動力伝達軸との回転同期で生じる減速度を算出することを特徴とする請求項1又は請求項2記載の4輪駆動車の制御装置。
- 上記自動ブレーキ制御手段は、前方障害物と前方カーブの少なくとも一方に応じて自動ブレーキを作動させることを特徴とする請求項1乃至請求項3の何れか一つに記載の4輪駆動車の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2013187549A JP5868919B2 (ja) | 2013-09-10 | 2013-09-10 | 4輪駆動車の制御装置 |
US14/462,297 US9026324B2 (en) | 2013-09-10 | 2014-08-18 | Control system for four-wheel drive vehicle |
CN201410440380.0A CN104417361B (zh) | 2013-09-10 | 2014-09-01 | 四轮驱动车的控制装置 |
DE102014112637.8A DE102014112637B4 (de) | 2013-09-10 | 2014-09-02 | Steuerungssystem für ein vierradangetriebenes Fahrzeug |
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JP2013187549A JP5868919B2 (ja) | 2013-09-10 | 2013-09-10 | 4輪駆動車の制御装置 |
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JP2015054552A JP2015054552A (ja) | 2015-03-23 |
JP5868919B2 true JP5868919B2 (ja) | 2016-02-24 |
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US (1) | US9026324B2 (ja) |
JP (1) | JP5868919B2 (ja) |
CN (1) | CN104417361B (ja) |
DE (1) | DE102014112637B4 (ja) |
Families Citing this family (12)
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JP6380055B2 (ja) * | 2014-11-28 | 2018-08-29 | 株式会社ジェイテクト | 四輪駆動車の制御装置 |
GB2545261A (en) * | 2015-12-11 | 2017-06-14 | Jaguar Land Rover Ltd | Control system and method of controlling a driveline |
JP6859732B2 (ja) * | 2016-05-17 | 2021-04-14 | 株式会社ジェイテクト | 駆動力伝達装置の制御装置 |
KR101766147B1 (ko) * | 2016-06-16 | 2017-08-07 | 현대자동차주식회사 | 능수동 안전 장치를 통합하여 작동하는 방법 |
DE102016213031A1 (de) * | 2016-07-18 | 2018-01-18 | Ford Global Technologies, Llc | Verfahren zum ruckfreien Stoppen eines Kraftfahrzeugs |
JP6729441B2 (ja) * | 2017-02-20 | 2020-07-22 | トヨタ自動車株式会社 | 四輪駆動車両の制御装置 |
JP6836196B2 (ja) * | 2017-11-16 | 2021-02-24 | トヨタ自動車株式会社 | 四輪駆動車両の制御装置 |
CN108177652A (zh) * | 2017-12-27 | 2018-06-19 | 广州大学 | 一种四轮转向运载工具的车道保持方法和系统 |
CN108556844B (zh) * | 2018-06-15 | 2020-06-30 | 北京新能源汽车股份有限公司 | 一种车辆的控制方法、装置、设备及车辆 |
JP7213038B2 (ja) * | 2018-08-28 | 2023-01-26 | ジーケーエヌ オートモーティブ リミテッド | 全輪駆動車における制御システム |
EP3626553A1 (en) | 2018-09-18 | 2020-03-25 | Ningbo Geely Automobile Research & Development Co. Ltd. | Brake performance optimizer |
JP2020048296A (ja) * | 2018-09-18 | 2020-03-26 | 本田技研工業株式会社 | 4輪駆動車両の制御システム及び4輪駆動車両の制御方法 |
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JPS5983128U (ja) * | 1982-11-28 | 1984-06-05 | 日野自動車株式会社 | クラツチブレ−キ装置 |
US6357068B1 (en) | 1996-01-11 | 2002-03-19 | Buck Knives, Inc. | Combination tool with oppositely deploying handles |
JPH09317864A (ja) * | 1996-05-27 | 1997-12-12 | Toyota Motor Corp | 自動変速機の制御装置 |
JP2002293173A (ja) * | 2001-03-29 | 2002-10-09 | Fuji Heavy Ind Ltd | 車両運動制御装置 |
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JP2006007984A (ja) * | 2004-06-25 | 2006-01-12 | Fuji Heavy Ind Ltd | 4輪駆動車の制御装置 |
JP4515201B2 (ja) * | 2004-09-06 | 2010-07-28 | 株式会社デンソー | 車両安定化制御システム |
JP2007118791A (ja) * | 2005-10-28 | 2007-05-17 | Advics:Kk | 車両用自動制動装置 |
EP2106952A1 (en) * | 2008-04-02 | 2009-10-07 | GM Global Technology Operations, Inc. | Motor vehicle having a switchable four wheel drive |
JP5054602B2 (ja) | 2008-04-23 | 2012-10-24 | 富士重工業株式会社 | 自動制動制御装置 |
DE102009005378C5 (de) | 2008-10-13 | 2018-06-21 | Magna powertrain gmbh & co kg | Antriebsstrang für ein Kraftfahrzeug |
JP5154397B2 (ja) * | 2008-12-25 | 2013-02-27 | 富士重工業株式会社 | 車両運動制御装置 |
US20110218715A1 (en) * | 2010-03-02 | 2011-09-08 | Shivkumar Duraiswamy | Drive train control arrangement |
JP5663356B2 (ja) * | 2011-03-14 | 2015-02-04 | 富士重工業株式会社 | 車両の統合制御装置 |
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2013
- 2013-09-10 JP JP2013187549A patent/JP5868919B2/ja active Active
-
2014
- 2014-08-18 US US14/462,297 patent/US9026324B2/en active Active
- 2014-09-01 CN CN201410440380.0A patent/CN104417361B/zh active Active
- 2014-09-02 DE DE102014112637.8A patent/DE102014112637B4/de active Active
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Publication number | Publication date |
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CN104417361A (zh) | 2015-03-18 |
CN104417361B (zh) | 2017-06-23 |
US9026324B2 (en) | 2015-05-05 |
US20150073670A1 (en) | 2015-03-12 |
DE102014112637B4 (de) | 2018-12-13 |
DE102014112637A1 (de) | 2015-03-12 |
JP2015054552A (ja) | 2015-03-23 |
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