JP5880533B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- B60—VEHICLES IN GENERAL
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- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- 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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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- 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
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- 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
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- 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
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B60W20/19—Control strategies specially adapted for achieving a particular effect for achieving enhanced acceleration
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
- B60W2030/18081—With torque flow from driveshaft to engine, i.e. engine being driven by vehicle
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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
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- B60W2510/242—Energy storage means for electrical energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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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
- B60W2540/00—Input parameters relating to occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/083—Torque
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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- B60W2720/106—Longitudinal acceleration
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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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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- 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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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Eletrric Generators (AREA)
Description
D=(Ta×NE)/(W×V)…式(1)
Taはオルタネータ40による負トルク(Nm)、NEはエンジン回転数(r/s)、Wは車重(kg)、Vは車速(m/s)を示す。よって、オルタネータ40による負トルクは、次の式(2)によって表される。
Ta=(D×W×V)/NE…式(2)
減速制御処理は、目標に収束した後も、続行してもよい。例えば、惰性走行が終了するまで続行してもよい。
回生装置としては、オルタネータでなくても、例えば、アシストモータでもよい。アシストモータとは、駆動輪や補機類(コンプレッサ等)などに供給するトルクの発生が可能なモータである。
目標減速度の決定を、ペダル操作に基づき実行してもよい。例えば、アクセルオフの場合とブレーキオフとの場合とで、異なるテーブルを参照してもよい。これらのテーブルは、許容減速度と車速との関係について異なる特性を有していてもよい。
以上に説明した減速制御を、自動車以外の輸送用機器、例えば、二輪車や電車などに適用してもよい。
40…オルタネータ
45…ベルト
50…バッテリ
60…エンジン
70…トランスミッション
75…ドライブシャフト
80…駆動輪
90…センサ群
91…アクセルストロークセンサ
92…ブレーキストロークセンサ
93…スロットルセンサ
94…車輪速センサ
95…車速センサ
96…バッテリセンサ
Claims (9)
- 車両の走行に伴うエネルギーを電力として回生する回生装置と、
前記車両が惰性走行している場合の減速度の目標値を、前記車両の速度である車速に応じて決定する目標減速度決定部と、
前記車両が惰性走行している際、前記回生装置を制御することによって、前記減速度を前記決定された目標値に近づける減速度制御を実行する減速度制御部と
を備え、
前記目標減速度決定部は、前記車速の少なくとも一部の範囲において、前記車速の増大に対して単調増加するように前記目標値を決定し、
前記減速度制御部は、前記車速の少なくとも一部の範囲において、前記減速度を減少させる場合には、前記減速度を増大させる場合に比べて、時間に対して前記減速度が変化する割合の絶対値が大きくなるように前記減速度制御を実行する
車両制御装置。 - 前記車両に設けられたアクセルペダルとブレーキペダルとの両方共が踏み込まれていない場合に、前記車両が惰性走行していると判断する
請求項1に記載の車両制御装置。 - 前記目標減速度決定部は、許容減速度と前記車速とについて予め定められた関係を参照することによって前記車速に応じた前記許容減速度を取得し、前記取得した許容減速度を前記目標減速度として決定する
請求項1又は請求項2に記載の車両制御装置。 - 前記回生装置は、オルタネータであり、前記車両に搭載されたエンジンの回転軸に連結される
請求項1から請求項3までの何れか一項に記載の車両制御装置。 - 請求項4に記載の車両制御装置であって、
前記減速度制御部は、
前記オルタネータの回生によって発生する負トルクの目標値を、前記車両に搭載されたエンジンの回転数と、前記車両の車重と、前記車速との少なくとも何れか1つを考慮して決定する目標負トルク決定部と、
前記回生装置の制御として、前記負トルクを前記決定された目標値に近づけるオルタネータ制御部とを備える
車両制御装置。 - 前記オルタネータ制御部は、前記オルタネータに流れる励磁電流を、前記負トルクの目標値に基づき制御することによって、前記負トルクを前記決定された目標値に近づける
請求項5に記載の車両制御装置。 - 前記オルタネータ制御部は、前記励磁電流の制御として、前記励磁電流の上限値を設定する
請求項6に記載の車両制御装置。 - 前記目標減速度決定部は、前記車速の少なくとも一部の範囲において、前記車速に対する前記減速度の変化率が、前記車速の増大に対して単調減少するように前記目標値を決定する
請求項1から請求項7までの何れか一項に記載の車両制御装置。 - 前記減速度制御部は、前記減速度の時間に対する変化率を前記車速に応じて決定し、前記決定した変化率に基づき前記減速度制御を実行する
請求項1から請求項8までの何れか一項に記載の車両制御装置。
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JP2013258098A JP5880533B2 (ja) | 2013-12-13 | 2013-12-13 | 車両制御装置 |
PCT/JP2014/006048 WO2015087516A2 (en) | 2013-12-13 | 2014-12-03 | Vehicle control apparatus |
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JP2013258098A JP5880533B2 (ja) | 2013-12-13 | 2013-12-13 | 車両制御装置 |
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Cited By (1)
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KR20190079134A (ko) * | 2017-12-27 | 2019-07-05 | 현대자동차주식회사 | 관성주행 안내장치 및 제어방법 |
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US9896105B2 (en) * | 2015-07-08 | 2018-02-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for controlling a vehicle's deceleration level by controlling the alternator output |
CN108058615B (zh) | 2016-11-09 | 2022-02-25 | 华为技术有限公司 | 车辆制动能量的回收方法和装置 |
JP6626519B2 (ja) | 2018-01-26 | 2019-12-25 | 株式会社Subaru | 車両用制御装置 |
JP7120137B2 (ja) * | 2019-04-15 | 2022-08-17 | トヨタ自動車株式会社 | 制動力制御装置 |
JP7251298B2 (ja) * | 2019-04-26 | 2023-04-04 | トヨタ自動車株式会社 | 制動力制御装置 |
CN111661056A (zh) * | 2019-12-11 | 2020-09-15 | 摩登汽车有限公司 | 滑行回收能量扭矩的计算方法和系统 |
KR102455915B1 (ko) * | 2021-04-12 | 2022-10-19 | 주식회사 현대케피코 | 마일드 하이브리드 시스템의 SSC 및 Coast Regeneration 제어 방법 및 장치 |
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JP3058003B2 (ja) * | 1994-04-11 | 2000-07-04 | 日産自動車株式会社 | 無段変速機の制御装置 |
JP5247000B2 (ja) * | 2005-12-21 | 2013-07-24 | 日産自動車株式会社 | 車両のコースト減速制御装置 |
JP2010288343A (ja) | 2009-06-10 | 2010-12-24 | Fuji Heavy Ind Ltd | 回生制動制御装置 |
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JP2011240850A (ja) * | 2010-05-19 | 2011-12-01 | Toyota Motor Corp | 制動制御システム |
US8998352B2 (en) * | 2010-11-08 | 2015-04-07 | Nissan Motor Co., Ltd. | Vehicle brake control device for an electrically driven vehicle |
CN103282625B (zh) * | 2010-12-28 | 2016-01-13 | 日产自动车株式会社 | 车辆再生控制装置 |
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JP2012154386A (ja) * | 2011-01-25 | 2012-08-16 | Daihatsu Motor Co Ltd | 車両の制御装置 |
JP5708468B2 (ja) * | 2011-12-16 | 2015-04-30 | トヨタ自動車株式会社 | 制御装置、制御方法 |
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