JP5884237B2 - 車両挙動制御装置 - Google Patents
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- 238000000034 method Methods 0.000 description 13
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- 101100511175 Caenorhabditis elegans lim-4 gene Proteins 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/406—Test-mode; Self-diagnosis
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
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- Data Mining & Analysis (AREA)
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- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Regulating Braking Force (AREA)
Description
図1に示すように、車両挙動制御装置100は、車両CRの各車輪Wに付与する制動力(ブレーキ液圧)を適宜制御するためのものであり、油路(液圧路)や各種部品が設けられた液圧ユニット10と、液圧ユニット10内の各種部品を適宜制御するための制御部20とを主に備えている。
なお、ポンプ4のブレーキ液の吐出量は、モータ9の回転数に依存しており、例えば、モータ9の回転数が大きくなると、ポンプ4によるブレーキ液の吐出量も大きくなる。
図3に示すように、制御部20は、各センサ91〜94および圧力センサ8から入力された信号に基づいて液圧ユニット10内の制御弁手段V、切換弁6(調圧弁R)および吸入弁7の開閉動作ならびにモータ9の動作を制御して、各車輪ブレーキFL,RR,RL,FRの動作を制御するものである。制御部20は、目標液圧設定部21、ブレーキ液圧計算部22、弁駆動部23、モータ駆動部24、異常検出部25、正常検出部26および記憶部29を備えている。
なお、目標液圧PTを計算する際には、過度に高いブレーキ圧とならないように、上限液圧が設定されることがある。ここでのヨーレートセンサ94の異常時に適用される「所定の上限液圧PTLIM」は、正常時よりも控えめにブレーキ圧を与えることを意図しているので、ヨーレートセンサ94が正常であるときの上限液圧よりも小さな値に設定されている。
設定された各適用液圧PTnは、弁駆動部23およびモータ駆動部24に出力される。
計算されたブレーキ液圧は、弁駆動部23およびモータ駆動部24に出力される。
このような弁駆動部23は、制御弁手段Vを駆動する制御弁手段駆動部23aと、調圧弁Rを駆動する調圧弁駆動部23bと、吸入弁7を駆動する吸入弁駆動部23cとを備えている。
図6においては、車両CRが高摩擦係数路において、左旋回した後、右旋回する場合を想定している。図6(a)に示すように、車両CRが左旋回中にヨーレートセンサ94で検出された実ヨーレートYが、時刻t11においてなんらかの異常によりある値に固着したとする。このとき、異常検出部25は、公知の判定方法により、時刻t12に異常を判定する((g)を参照)。その後、左旋回中の時刻t13において、ヨーレートセンサ94の値の固着が解消され、正常な値を出力し始めたとする。
図7に示すように、制御部20は、加圧条件を満たすかどうかを判定し(S11)、加圧条件を満たさない場合には(S11,No)、第2タイマTM2をリセットして(S31)処理を終了する。このときに、上限液圧PTLIMを初期値にリセットするとよい。一方、加圧条件を満たす場合には(S11,Yes)、目標液圧設定部21は、目標液圧PTを計算する(S12)。そして、目標液圧設定部21は、フラグFが0か否か判定し(S13)、Fが1の場合、つまり、ヨーレートセンサ94が正常と判定されている場合には、今回の適用液圧PTnを計算した目標液圧PTにし(S14)、第2タイマTM2をリセットする(S15)。
図8に示すように、ヨーレートセンサ94が正常にあった状態で((a)参照)、時刻t21に加圧条件が満たされると((e)参照)、目標液圧PTが(b)のように立ち上がり、適用液圧PTnも、目標液圧PTに倣って立ち上がる。
20 制御部
21 目標液圧設定部
22 ブレーキ液圧計算部
25 異常検出部
26 正常検出部
26A 舵角ヨーレート算出部
26B 第1偏差算出部
26C 横Gヨーレート算出部
26D 第2偏差算出部
26E 正常判定部
91 車輪速センサ
92 操舵角センサ
93 横加速度センサ
94 ヨーレートセンサ
100 車両挙動制御装置
Claims (4)
- 車両の操舵角を検出する操舵角検出手段と、
前記車両の横加速度を検出する横加速度検出手段と、
前記車両の実ヨーレートを検出するヨーレート検出手段と、
少なくとも前記操舵角検出手段と前記ヨーレート検出手段からの出力値に基づいて前記車両の挙動を制御する制御部とを備える車両挙動制御装置であって、
前記制御部は、
前記ヨーレート検出手段の異常を検出したときに前記ヨーレート検出手段の正常または異常を示すフラグを異常を示す状態とする異常検出部と、
前記ヨーレート検出手段の正常を検出する正常検出部とを備え、
前記正常検出部は、
前記操舵角検出手段の出力値に基づいて舵角ヨーレートを算出する舵角ヨーレート算出部と、
前記舵角ヨーレートと前記実ヨーレートとの偏差である第1偏差を算出する第1偏差算出部と、
前記横加速度検出手段の出力値に基づいて横Gヨーレートを算出する横Gヨーレート算出部と、
前記横Gヨーレートと前記実ヨーレートとの偏差である第2偏差を算出する第2偏差算出部と、
前記異常検出部によって前記ヨーレート検出手段が異常であると検出され前記フラグが異常を示す状態とされた後、前記第1偏差が第1所定値以内で、かつ、前記第2偏差が第2所定値以内であるときに、前記ヨーレート検出手段が正常であると判定し前記フラグを正常を示す状態とする正常判定部とを備えることを特徴とする車両挙動制御装置。 - 前記正常判定部は、前記第1偏差が前記第1所定値以内で、かつ、前記第2偏差が前記第2所定値以内である時間が所定時間以上となった場合に前記ヨーレート検出手段が正常であると判定することを特徴とする請求項1に記載の車両挙動制御装置。
- 前記制御部は、前記車両のブレーキの液圧を少なくとも加圧することで前記車両の挙動を制御し、前記異常検出部が前記ヨーレート検出手段の異常を検出してから前記正常検出部が前記ヨーレート検出手段の正常を検出するまでの間は、所定の上限液圧以下の低い値にブレーキ液圧を制限しながら前記加圧の制御を行うことを特徴とする請求項1または請求項2に記載の車両挙動制御装置。
- 前記制御部は、前記異常検出部が前記ヨーレート検出手段の異常を検出してから前記正常検出部が前記ヨーレート検出手段の正常を検出するまでの間において、前記加圧の制御を行う場合には、前記ブレーキの液圧を徐々に低下させることを特徴とする請求項3に記載の車両挙動制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2012035246A JP5884237B2 (ja) | 2012-02-21 | 2012-02-21 | 車両挙動制御装置 |
US13/771,744 US8868309B2 (en) | 2012-02-21 | 2013-02-20 | Vehicle behavior control apparatus |
CN2013101589517A CN103253252A (zh) | 2012-02-21 | 2013-02-21 | 车辆动作控制装置 |
EP13156133.4A EP2631129B1 (en) | 2012-02-21 | 2013-02-21 | Vehicle behavior control apparatus |
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JP2012035246A JP5884237B2 (ja) | 2012-02-21 | 2012-02-21 | 車両挙動制御装置 |
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JP2013169893A JP2013169893A (ja) | 2013-09-02 |
JP5884237B2 true JP5884237B2 (ja) | 2016-03-15 |
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US (1) | US8868309B2 (ja) |
EP (1) | EP2631129B1 (ja) |
JP (1) | JP5884237B2 (ja) |
CN (1) | CN103253252A (ja) |
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US9260096B2 (en) * | 2011-02-22 | 2016-02-16 | Nissin Kogyo Co., Ltd. | Brake fluid pressure control apparatus for vehicle |
JP6025670B2 (ja) * | 2013-07-17 | 2016-11-16 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
KR102596595B1 (ko) * | 2016-10-10 | 2023-11-01 | 에이치엘만도 주식회사 | 전자식 브레이크 시스템 및 그 제어 방법 |
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JP4882848B2 (ja) * | 2007-04-23 | 2012-02-22 | アイシン精機株式会社 | 統合車体挙動制御装置 |
JP4452300B2 (ja) | 2007-09-11 | 2010-04-21 | 日信工業株式会社 | 車両挙動制御装置 |
US8195357B2 (en) * | 2008-04-16 | 2012-06-05 | GM Global Technology Operations LLC | In-vehicle sensor-based calibration algorithm for yaw rate sensor calibration |
JP2010132253A (ja) * | 2008-11-10 | 2010-06-17 | Jtekt Corp | 電動パワーステアリング装置 |
US8401730B2 (en) | 2009-08-24 | 2013-03-19 | Robert Bosch Llc | Good checking for vehicle lateral acceleration sensor |
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2012
- 2012-02-21 JP JP2012035246A patent/JP5884237B2/ja active Active
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2013
- 2013-02-20 US US13/771,744 patent/US8868309B2/en active Active
- 2013-02-21 EP EP13156133.4A patent/EP2631129B1/en active Active
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US20130218434A1 (en) | 2013-08-22 |
JP2013169893A (ja) | 2013-09-02 |
CN103253252A (zh) | 2013-08-21 |
EP2631129A1 (en) | 2013-08-28 |
EP2631129B1 (en) | 2017-09-20 |
US8868309B2 (en) | 2014-10-21 |
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