JP6162762B2 - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60W2050/0022—Gains, weighting coefficients or weighting functions
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
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Description
スリップ率=(車両速度−車輪速度)/車両速度 ・・・(1)
γ_tgt:目標ヨーレート
θh:ステアリング操舵角
V:車両速度
T:車両の時定数
S:ラプラス演算子
N:ステアリングギヤ比
l:車両ホイールベース
lf:車両重心点から前輪中心までの距離
lr:車両重心点から後輪中心までの距離
m:車両重量
Kftgt:目標コーナリングパワー(前方輪)
Krtgt:目標コーナリングパワー(後方輪)
γ_F/B=a×γ_clc+(1−a)×γ_sens ・・・・(7)
a=−20×γ_diff+2
a=+20×γ_diff+2
Δγ=γ_Tgt−γ_F/B ・・・・(8)
差分Δγは、ヨーレート補正量として車体付加モーメント算出部232へ入力される。また、差分Δγは、低μ判定出力ゲイン算出部234へ入力される。
Slip_ang_real=d(Ay/V−γ_sens)/dt ・・・(10)
ΔSlip_ang=|Slip_ang_real|−|Slip_ang_clc|
・・・(11)
Slip_ang_rate=|ΔSlip_ang|/|Slip_ang_real| ・・・(12)
βG=1−Slip_ang_rate ・・・(13)
ΔNew=ΔNew_clc−ΔNew_real ・・・(14)
μG=μG’+βG ・・・(15)
reqTq=reqF*TireR*Gratio ・・・(18)
式(18)において、reqFはアクセルペダルの開度から定まる要求駆動力である。アクセルペダルの開度は、アクセル開度センサ146により検出される。
TqmotFl(左前輪のモータトルク指示値)=reqTq/4 ・・・(19)
TqmotFr(右前輪のモータトルク指示値)=reqTq/4 ・・・(20)
TqmotRl(左後輪のモータトルク指示値)
=reqTq/4−(±Tvmot) ・・・(21)
TqmotRr(右後輪のモータトルク指示値)
=reqTq/4+(±Tvmot) ・・・(22)
なお、付加トルクTvmotの符号は、旋回方向に応じて設定される。
200 制御装置
204 目標ヨーレート算出部
206 車両ヨーレート算出部
208 ヨーレートF/B算出部
222 理論車体すべり角算出部
224 実車体すべり角算出部
226 車体すべり角率算出部
230 理論左右差回転算出部
232 車体付加モーメント算出部
234 低μ判定出力ゲイン算出部
1000 車両
Claims (10)
- 車両のヨーレートに基づいてハンドル操舵系とは独立して車体に付加する車体付加モーメントを算出する車体付加モーメント算出部と、
前記車両のスリップ状態を判定するスリップ状態判定部と、
前記車両が前記スリップ状態にあると判定される場合に、前記車体付加モーメントが低減されるように前記車体付加モーメントを調整する調整ゲインを算出し、前記車両が前記スリップ状態から復帰すると判定される場合に、前記車両のスリップの程度に応じて前記調整ゲインを増加させる調整ゲイン算出部と、
車両モデルに基づいて理論車体すべり角を算出する理論車体すべり角算出部と、
センサ値に基づいて車体の実車体すべり角を算出する実車体すべり角算出部と、
を備え、
前記調整ゲイン算出部は、前記理論車体すべり角と前記実車体すべり角との差に基づいて前記調整ゲインを増加させることを特徴とする、車両の制御装置。 - 前記調整ゲイン算出部は、前記理論車体すべり角と前記実車体すべり角との差が大きいほど、前記調整ゲインを増加させる速度を低下させることを特徴とする、請求項1に記載の車両の制御装置。
- 前記調整ゲイン算出部は、制御周期毎に行われる前記調整ゲインの算出処理の度に、前記調整ゲインの前回値に前記理論車体すべり角と前記実車体すべり角との差に応じて定められる復帰ゲインを加算して前記調整ゲインを増加させることを特徴とする、請求項2に記載の車両の制御装置。
- 前記理論車体すべり角と前記実車体すべり角との差を前記実車体すべり角で除算して車体すべり角率を算出する車体すべり角率算出部を備え、
前記復帰ゲインは、前記車体すべり角率に応じて定められることを特徴とする、請求項3に記載の車両の制御装置。 - 前記スリップ状態判定部は、左右輪の回転数の差に基づいて、前記スリップ状態を判定することを特徴とする、請求項1に記載の車両の制御装置。
- 前記スリップ状態判定部は、車両モデルから算出される理論的な左右輪の回転数の差とセンサから検出される実際の左右輪の回転数の差との差分に基づいて、前記スリップ状態を判定することを特徴とする、請求項5に記載の車両の制御装置。
- 前記スリップ状態判定部は、前記左右輪の回転数の差に加えて、車両の目標ヨーレートに対するフィードバックヨーレートの差分に基づいて、前記スリップ状態を判定することを特徴とする、請求項5又は6に記載の車両の制御装置。
- ステアリング操舵角と車両速度に基づいて目標ヨーレートを算出する目標ヨーレート算出部と、
車両モデルからヨーレートモデル値を算出する車両ヨーレート算出部と、
車両の実ヨーレートを検出するヨーレートセンサと、
前記ヨーレートモデル値と前記実ヨーレートとの差分に基づいて前記ヨーレートモデル値と前記実ヨーレートを配分して、前記ヨーレートモデル値及び前記実ヨーレートからフィードバックヨーレートを算出するフィードバックヨーレート算出部と、
を備え、
前記車体付加モーメント算出部は、
前記目標ヨーレートと前記フィードバックヨーレートとの差分に基づいて、前記車体付加モーメントを算出することを特徴とする、請求項1〜7のいずれかに記載の車両の制御装置。 - 前記車体付加モーメントに基づいて前記車両の後方左右輪の各々を駆動するモータを個別に制御するためのモータ要求トルクを算出するモータ要求トルク算出部を備えることを特徴とする、請求項1〜8のいずれかに記載の車両の制御装置。
- 車両のヨーレートに基づいてハンドル操舵系とは独立して車体に付加する車体付加モーメントを算出するステップと、
前記車両のスリップ状態を判定するステップと、
前記車両が前記スリップ状態にあると判定される場合に、前記車体付加モーメントが低減されるように前記車体付加モーメントを調整する調整ゲインを算出するステップと、
前記車両が前記スリップ状態から復帰すると判定される場合に、前記車両のスリップの程度に応じて前記調整ゲインを増加させるステップと、
車両モデルに基づいて理論車体すべり角を算出するステップと、
センサ値に基づいて車体の実車体すべり角を算出するステップと、
を備え、
前記調整ゲインを増加させるステップにおいて、前記理論車体すべり角と前記実車体すべり角との差に基づいて前記調整ゲインを増加させることを特徴とする、車両の制御方法。
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