JP6236884B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP6236884B2 JP6236884B2 JP2013118255A JP2013118255A JP6236884B2 JP 6236884 B2 JP6236884 B2 JP 6236884B2 JP 2013118255 A JP2013118255 A JP 2013118255A JP 2013118255 A JP2013118255 A JP 2013118255A JP 6236884 B2 JP6236884 B2 JP 6236884B2
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- 238000013016 damping Methods 0.000 claims description 100
- 239000000725 suspension Substances 0.000 claims description 69
- 238000005096 rolling process Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 description 41
- 230000035939 shock Effects 0.000 description 41
- 238000000034 method Methods 0.000 description 30
- 230000001133 acceleration Effects 0.000 description 16
- 230000000994 depressogenic effect Effects 0.000 description 14
- 230000000881 depressing effect Effects 0.000 description 12
- 230000004048 modification Effects 0.000 description 11
- 238000012986 modification Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
-
- 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
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- B60W10/22—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
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/30—Propulsion unit conditions
- B60G2400/39—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/041—Control of vehicle driving stability related to roll-over prevention about the pitch axis
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
本実施形態では、車両1は、例えば、内燃機関(エンジン、図示されず)を駆動源とする自動車(内燃機関自動車)であってもよいし、電動機(モータ、図示されず)を駆動源とする自動車(電気自動車、燃料電池自動車等)であってもよいし、それらの双方を駆動源とする自動車(ハイブリッド自動車)であってもよい。また、車両1は、種々の変速装置を搭載することができるし、内燃機関や電動機を駆動するのに必要な種々の装置(システム、部品等)を搭載することができる。また、車両1における車輪3の駆動に関わる装置の方式や、数、レイアウト等は、種々に設定することができる。
実施形態1では、ドライバーによるブレーキペダル6の踏み込みや踏み離しを、マスターシリンダ圧の変化量により判断していたが、さらに、マスターシリンダ圧の大きさにより判断するように構成してもよい。
31 サスペンション
32 ショックアブソーバ
141 判断部
142 制御部
143 踏み込み保持タイマ
144 踏み離し保持タイマ
Claims (4)
- ブレーキペダルの踏み力を油圧に変換するマスターシリンダによる油圧の圧力であるマスターシリンダ圧を検知する検知部と、
前記マスターシリンダ圧の変化量に基づいて、前記ブレーキペダルの踏み込みによる車両の前傾姿勢を抑制するようにサスペンションを制御し、前記マスターシリンダ圧の変化量に基づいて、踏み込んだ状態の前記ブレーキペダルの踏み離しによる前記車両の前傾姿勢からの戻りを抑制するように前記サスペンションを制御する制御部と、
前記車両の車輪速度が所定の揺り返し車輪速閾値より大きいか否か、前記マスターシリンダ圧の変化量が所定の第1閾値以上であるか否か、および前記マスターシリンダ圧の変化量が前記第1閾値より小さい第1調整閾値以上であるか否かを判断する判断部と、を備え、
前記制御部は、前記車両の車輪速度が前記揺り返し車輪速閾値より大きく、かつ前記マスターシリンダ圧の変化量が前記第1閾値以上である場合に、前記サスペンションに、通常走行時における基準減衰力よりも大きく、かつ前記マスターシリンダ圧の変化量に基づいた第1減衰力を作用させることにより、前記車両の前記前傾姿勢を抑制する制御を行い、さらに、前記車両の車輪速度が前記揺り返し車輪速閾値より大きく、かつ前記マスターシリンダ圧の変化量が前記第1調整閾値以上で前記第1閾値未満である場合に、前記サスペンションに、前記基準減衰力よりも大きく、かつ前記第1減衰力より小さく、かつ前記マスターシリンダ圧の変化量に基づいた減衰力を作用させることにより、前記車両の前記前傾姿勢を抑制する制御を行う、
車両制御装置。 - 前記制御部は、前記サスペンションに前記第1減衰力を作用させた時点から、所定時間経過後に、前記サスペンションに、前記基準減衰力よりも小さい減衰力を作用させる、
請求項1に記載の車両制御装置。 - 前記判断部は、さらに、前記マスターシリンダ圧の変化量が所定の第2閾値以下であるか否か、および前記マスターシリンダ圧の変化量が前記第2閾値より大きい第2調整閾値以下であるか否かを判断し、
前記制御部は、さらに、前記車両の車輪速度が前記揺り返し車輪速閾値より大きく、かつ前記マスターシリンダ圧の変化量が前記第2閾値以下である場合に、前記サスペンションに、通常走行時における基準減衰力よりも大きく、かつ前記マスターシリンダ圧の変化量に基づいた第2減衰力を作用させることにより、前記車両の前記前傾姿勢の戻りを抑制する制御を行い、さらに、前記マスターシリンダ圧の変化量が前記第2調整閾値以下で前記第2閾値より大きい場合に、前記基準減衰力よりも大きく、かつ前記第2減衰力より小さく、かつ前記マスターシリンダ圧の変化量に基づいた減衰力を作用させることにより、前記車両の前記前傾姿勢の戻りを抑制する制御を行う、
請求項1に記載の車両制御装置。 - 前記制御部は、前記サスペンションに前記第2減衰力を作用させた時点から、所定時間経過後に、前記サスペンションに、前記基準減衰力よりも小さい減衰力を作用させる、
請求項3に記載の車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013118255A JP6236884B2 (ja) | 2013-06-04 | 2013-06-04 | 車両制御装置 |
US14/294,907 US9139062B2 (en) | 2013-06-04 | 2014-06-03 | Vehicle control device |
EP14171017.8A EP2810835B1 (en) | 2013-06-04 | 2014-06-03 | Vehicle control device |
CN201410244529.8A CN104210323B (zh) | 2013-06-04 | 2014-06-04 | 车辆控制装置 |
Applications Claiming Priority (1)
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JP2013118255A JP6236884B2 (ja) | 2013-06-04 | 2013-06-04 | 車両制御装置 |
Publications (2)
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JP2014234120A JP2014234120A (ja) | 2014-12-15 |
JP6236884B2 true JP6236884B2 (ja) | 2017-11-29 |
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JP2013118255A Active JP6236884B2 (ja) | 2013-06-04 | 2013-06-04 | 車両制御装置 |
Country Status (4)
Country | Link |
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US (1) | US9139062B2 (ja) |
EP (1) | EP2810835B1 (ja) |
JP (1) | JP6236884B2 (ja) |
CN (1) | CN104210323B (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US9598074B2 (en) * | 2014-10-06 | 2017-03-21 | Honda Motor Co., Ltd. | Vehicle stabilization device |
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JPS5830814A (ja) * | 1981-08-13 | 1983-02-23 | Tokico Ltd | 車両用懸架機構 |
JPS6064011A (ja) * | 1983-09-17 | 1985-04-12 | Nissan Motor Co Ltd | 車両におけるサスペンション制御装置 |
JPS60154905A (ja) * | 1984-01-23 | 1985-08-14 | Kayaba Ind Co Ltd | 車両ノ−ズダイブ制御方法 |
JPS6167607A (ja) * | 1984-09-10 | 1986-04-07 | Nissan Motor Co Ltd | 車両のサスペンシヨン制御装置 |
JPS6331809A (ja) * | 1986-07-26 | 1988-02-10 | Toyota Motor Corp | サスペンシヨン制御方法 |
DE3939292A1 (de) * | 1989-11-28 | 1991-05-29 | Teves Gmbh Alfred | Verbundregelsystem fuer kraftfahrzeuge |
US6263261B1 (en) * | 1999-12-21 | 2001-07-17 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
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JP4471103B2 (ja) * | 2004-10-07 | 2010-06-02 | トヨタ自動車株式会社 | 車両の制駆動力制御装置 |
JP4631549B2 (ja) * | 2005-06-01 | 2011-02-16 | 株式会社アドヴィックス | 車両運動安定化制御装置 |
CN101288081B (zh) * | 2005-10-11 | 2010-11-10 | 福特全球技术公司 | 车辆横摆稳定系统 |
KR100747287B1 (ko) * | 2005-12-08 | 2007-08-07 | 현대자동차주식회사 | 현가장치의 캐스터 제어 장치 |
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JP2008024143A (ja) | 2006-07-20 | 2008-02-07 | Toyota Motor Corp | サスペンション制御装置 |
JP2008055921A (ja) * | 2006-08-29 | 2008-03-13 | Honda Motor Co Ltd | 車両の後輪トー角可変制御装置 |
JP5262811B2 (ja) * | 2008-10-31 | 2013-08-14 | トヨタ自動車株式会社 | 車両のバネ上制振制御装置 |
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2013
- 2013-06-04 JP JP2013118255A patent/JP6236884B2/ja active Active
-
2014
- 2014-06-03 EP EP14171017.8A patent/EP2810835B1/en active Active
- 2014-06-03 US US14/294,907 patent/US9139062B2/en active Active
- 2014-06-04 CN CN201410244529.8A patent/CN104210323B/zh active Active
Also Published As
Publication number | Publication date |
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JP2014234120A (ja) | 2014-12-15 |
EP2810835B1 (en) | 2018-04-18 |
CN104210323B (zh) | 2017-09-05 |
CN104210323A (zh) | 2014-12-17 |
EP2810835A1 (en) | 2014-12-10 |
US9139062B2 (en) | 2015-09-22 |
US20140358372A1 (en) | 2014-12-04 |
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