JP5962559B2 - 車両挙動制御装置 - Google Patents
車両挙動制御装置 Download PDFInfo
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- JP5962559B2 JP5962559B2 JP2013059246A JP2013059246A JP5962559B2 JP 5962559 B2 JP5962559 B2 JP 5962559B2 JP 2013059246 A JP2013059246 A JP 2013059246A JP 2013059246 A JP2013059246 A JP 2013059246A JP 5962559 B2 JP5962559 B2 JP 5962559B2
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- 230000006399 behavior Effects 0.000 claims description 144
- 230000007246 mechanism Effects 0.000 claims description 84
- 239000000725 suspension Substances 0.000 claims description 63
- 238000010248 power generation Methods 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 description 25
- 238000006243 chemical reaction Methods 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 7
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- 230000005484 gravity Effects 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 1
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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
- 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
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W10/22—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/16—Pitch
-
- 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
- B60W2720/30—Wheel torque
-
- 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
- B60W2720/40—Torque distribution
-
- 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
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Description
Claims (4)
- 車両の前輪及び後輪に独立して駆動力又は制動力を発生させる動力発生機構と、車両のバネ下に配置された前記前輪及び前記後輪をそれぞれ車両のバネ上に配置された車体に連結するサスペンション機構と、前記車体に発生した挙動に応じて前記動力発生機構によって前記前輪及び前記後輪に発生させる駆動力又は制動力を制御する制御手段とを備え、
前記動力発生機構は、更に、前記前輪及び前記後輪とは別に設けられた車輪であって前記車両のバネ下に配置された車輪にも独立して駆動力又は制動力を発生させるものであり、
前記サスペンション機構は、更に、前記前輪及び前記後輪とは別に設けられた前記車輪を前記車両のバネ上に配置された前記車体に連結するものであり、
前記制御手段は、
車両走行時における前記車体に発生した運動状態を取得し、
前記取得した前記運動状態に基づいて、前記車体の互いに連成する挙動を制御するための複数の目標運動状態量を演算し、
前記演算した前記複数の目標運動状態量を実現するように、前記動力発生機構が前記前輪及び前記後輪に発生させる駆動力又は制動力、及び、前記前輪及び前記後輪とは別に設けられた前記車輪に発生させる駆動力又は制動力を、前記前輪、前記後輪及び前記前輪及び前記後輪とは別に設けられた前記車輪のそれぞれに対する前記サスペンション機構の幾何学的な配置を用いて演算し、
前記演算した前記前輪及び前記後輪に発生させる前記駆動力又は制動力を表す信号、及び、前記前輪及び前記後輪とは別に設けられた前記車輪に発生させる前記駆動力又は制動力を表す信号を用いて前記動力発生機構の作動を制御する、
車両挙動制御装置において、
前記互いに連成する挙動は、
前記車体の前部側と前記車体の後部側とが同位相的に上下振動するヒーブ挙動、及び、前記車体の前部側と前記車体の後部側とが逆位相的に上下振動するピッチ挙動であり、
前記制御手段は、
前記複数の目標運動状態量として、前記ヒーブ挙動を抑制する目標ヒーブ力及び前記ピッチ挙動を抑制する目標ピッチモーメントを演算し、
前記演算した前記目標ヒーブ力及び前記目標ピッチモーメントを実現するために前記前輪及び前記後輪が発生する駆動力又は制動力に起因して車両に生じる前後運動を抑制するように、前記前輪及び前記後輪とは別に設けられた前記車輪に発生させる駆動力又は制動力を演算することを特徴とする車両挙動制御装置。 - 請求項1に記載した車両挙動制御装置において、
前記制御手段は、
前記車体の挙動変化に伴う前記サスペンション機構の作動状態が前記互いに連成する挙動を独立に制御できなくなることを示す予め設定された条件を満たすとき、前記演算した前記複数の目標運動状態量を実現するように前記動力発生機構が前記前輪及び前記後輪に発生させる駆動力又は制動力、及び、前記前輪及び前記後輪とは別に設けられた前記車輪に発生させる駆動力又は制動力をゼロに決定することを特徴とする車両挙動制御装置。 - 請求項1又は2に記載した車両挙動制御装置において、
前記前輪及び前記後輪とは別に設けられた前記車輪は、
前記車体に対して、前記前輪と前記後輪との中間に配置されることを特徴とする車両挙動制御装置。 - 請求項1ないし請求項3のうちのいずれか一つに記載した車両挙動制御装置において、
前記動力発生機構は、車両の車輪にそれぞれ組み付けられる電動機であることを特徴とする車両挙動制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013059246A JP5962559B2 (ja) | 2013-03-22 | 2013-03-22 | 車両挙動制御装置 |
US14/222,998 US8948951B2 (en) | 2013-03-22 | 2014-03-24 | Vehicle behavior control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013059246A JP5962559B2 (ja) | 2013-03-22 | 2013-03-22 | 車両挙動制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014184758A JP2014184758A (ja) | 2014-10-02 |
JP5962559B2 true JP5962559B2 (ja) | 2016-08-03 |
Family
ID=51569720
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013059246A Expired - Fee Related JP5962559B2 (ja) | 2013-03-22 | 2013-03-22 | 車両挙動制御装置 |
Country Status (2)
Country | Link |
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US (1) | US8948951B2 (ja) |
JP (1) | JP5962559B2 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6187513B2 (ja) * | 2015-03-19 | 2017-08-30 | 株式会社豊田中央研究所 | 車両 |
JP6505842B2 (ja) | 2015-07-30 | 2019-04-24 | 本田技研工業株式会社 | 車両 |
JP6202479B1 (ja) * | 2016-04-22 | 2017-09-27 | マツダ株式会社 | 車両用挙動制御装置 |
CN109808511B (zh) * | 2019-03-15 | 2020-12-11 | 北京航空航天大学 | 六轮驱动力分配方法、装置、设备及介质 |
KR20210037785A (ko) * | 2019-09-27 | 2021-04-07 | 한국기술교육대학교 산학협력단 | 차량의 승차감 개선 장치 및 방법 |
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GB8723269D0 (en) * | 1987-10-03 | 1987-11-04 | Lucas Ind Plc | Hydraulic anti-lock braking systems |
GB8802091D0 (en) * | 1988-01-30 | 1988-02-24 | Lucas Ind Plc | Improvements in hydraulic anti-lock braking systems for vehicles |
GB8811013D0 (en) * | 1988-05-10 | 1988-06-15 | Lucas Ind Plc | Improvements in hydraulic anti-lock braking systems for vehicles |
US5066077A (en) * | 1989-04-10 | 1991-11-19 | Lucas Industries Public Limited Company | Hydraulic systems for vehicles |
DE4232311C1 (de) * | 1992-09-26 | 1994-02-24 | Bosch Gmbh Robert | Hydraulische Fahrzeugbremsanlage mit Blockierschutzeinrichtung |
JP3409439B2 (ja) * | 1994-06-17 | 2003-05-26 | 日産自動車株式会社 | 左右輪と前後輪の駆動力配分総合制御装置 |
JP3370983B2 (ja) * | 2000-12-18 | 2003-01-27 | 科学技術振興事業団 | 電気自動車の駆動制御装置 |
AU2003900894A0 (en) * | 2003-02-27 | 2003-03-13 | Kinetic Pty Limited | Hydraulic system for a vehicle suspension |
US7983835B2 (en) * | 2004-11-03 | 2011-07-19 | Lagassey Paul J | Modular intelligent transportation system |
US7348895B2 (en) * | 2004-11-03 | 2008-03-25 | Lagassey Paul J | Advanced automobile accident detection, data recordation and reporting system |
DE102004058791A1 (de) * | 2004-12-07 | 2006-06-08 | Daimlerchrysler Ag | Vorrichtung und Verfahren zur Bestimmung der Schwerpunkthöhe eines Fahrzeugs |
JP4887771B2 (ja) | 2005-12-12 | 2012-02-29 | トヨタ自動車株式会社 | 走行装置 |
WO2008018880A1 (en) * | 2006-08-11 | 2008-02-14 | Superdrive, Inc. | Continuous variable control methods for hydraulic powertrain systems of a vehicle |
JP4849238B2 (ja) * | 2006-10-18 | 2012-01-11 | トヨタ自動車株式会社 | 車両の走行制御装置 |
JP2008184123A (ja) * | 2007-01-31 | 2008-08-14 | Komatsu Ltd | 車両のヨーモーメント制御装置 |
GB2449694B (en) * | 2007-05-31 | 2010-05-26 | Sony Comp Entertainment Europe | Entertainment system and method |
JP2010259291A (ja) * | 2009-04-28 | 2010-11-11 | Bridgestone Corp | 電気自動車の車両制御装置 |
JP5212663B2 (ja) | 2010-10-21 | 2013-06-19 | トヨタ自動車株式会社 | 車両の制駆動力制御装置 |
JP5675281B2 (ja) * | 2010-11-08 | 2015-02-25 | 三菱重工業株式会社 | 車両 |
-
2013
- 2013-03-22 JP JP2013059246A patent/JP5962559B2/ja not_active Expired - Fee Related
-
2014
- 2014-03-24 US US14/222,998 patent/US8948951B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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JP2014184758A (ja) | 2014-10-02 |
US20140288745A1 (en) | 2014-09-25 |
US8948951B2 (en) | 2015-02-03 |
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