JP6275416B2 - 車両挙動制御装置 - Google Patents

車両挙動制御装置 Download PDF

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Publication number
JP6275416B2
JP6275416B2 JP2013180402A JP2013180402A JP6275416B2 JP 6275416 B2 JP6275416 B2 JP 6275416B2 JP 2013180402 A JP2013180402 A JP 2013180402A JP 2013180402 A JP2013180402 A JP 2013180402A JP 6275416 B2 JP6275416 B2 JP 6275416B2
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Japan
Prior art keywords
load
tire
wheel
vehicle
vehicle behavior
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JP2013180402A
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English (en)
Japanese (ja)
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JP2015047950A (ja
JP2015047950A5 (enExample
Inventor
隆介 平尾
隆介 平尾
修之 一丸
修之 一丸
康浩 青木
康浩 青木
山門　誠
山門　　誠
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Hitachi Astemo Ltd
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Hitachi Automotive Systems Ltd
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Publication date
Application filed by Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Priority to JP2013180402A priority Critical patent/JP6275416B2/ja
Priority to US14/469,048 priority patent/US10059344B2/en
Priority to CN201410432920.0A priority patent/CN104417564B/zh
Priority to KR1020140112978A priority patent/KR102172306B1/ko
Priority to DE102014217307.8A priority patent/DE102014217307A1/de
Publication of JP2015047950A publication Critical patent/JP2015047950A/ja
Publication of JP2015047950A5 publication Critical patent/JP2015047950A5/ja
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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60W30/18145—Cornering
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • 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
    • 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
    • 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
    • B60W30/045—Improving turning performance
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • 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
    • B60W2520/26—Wheel slip
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2710/22—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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B60W2710/223—Stiffness
    • 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
    • B60W2710/22—Suspension systems
    • B60W2710/226—Damping

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2013180402A 2013-08-30 2013-08-30 車両挙動制御装置 Active JP6275416B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2013180402A JP6275416B2 (ja) 2013-08-30 2013-08-30 車両挙動制御装置
US14/469,048 US10059344B2 (en) 2013-08-30 2014-08-26 Vehicle behavior control apparatus
CN201410432920.0A CN104417564B (zh) 2013-08-30 2014-08-28 车辆行为控制装置
KR1020140112978A KR102172306B1 (ko) 2013-08-30 2014-08-28 차량 거동 제어 장치
DE102014217307.8A DE102014217307A1 (de) 2013-08-30 2014-08-29 Fahrzeugverhalten-Steuervorrichtung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013180402A JP6275416B2 (ja) 2013-08-30 2013-08-30 車両挙動制御装置

Publications (3)

Publication Number Publication Date
JP2015047950A JP2015047950A (ja) 2015-03-16
JP2015047950A5 JP2015047950A5 (enExample) 2016-06-09
JP6275416B2 true JP6275416B2 (ja) 2018-02-07

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JP2013180402A Active JP6275416B2 (ja) 2013-08-30 2013-08-30 車両挙動制御装置

Country Status (5)

Country Link
US (1) US10059344B2 (enExample)
JP (1) JP6275416B2 (enExample)
KR (1) KR102172306B1 (enExample)
CN (1) CN104417564B (enExample)
DE (1) DE102014217307A1 (enExample)

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US9573591B2 (en) * 2015-03-18 2017-02-21 Continental Automotive Systems, Inc. System and method utilizing detected load for vehicle handling
DE102016209929B4 (de) * 2016-06-06 2020-06-04 Volkswagen Aktiengesellschaft Verfahren und Steuervorrichtung zum Steuern zumindest eines Schwingungsdämpfers eines Kraftfahrzeugs
US10065636B2 (en) * 2016-06-23 2018-09-04 Ford Global Technologies, Llc Vehicle tire saturation estimator
US11292308B2 (en) * 2016-12-09 2022-04-05 Hitachi Astemo, Ltd. Vehicle motion state estimation apparatus
JP6286092B1 (ja) * 2017-05-30 2018-02-28 株式会社ショーワ サスペンション制御装置、及びサスペンション装置。
JP6286091B1 (ja) 2017-05-30 2018-02-28 株式会社ショーワ 車両状態推定装置、制御装置、サスペンション制御装置、及びサスペンション装置。
JP7059791B2 (ja) * 2018-05-16 2022-04-26 トヨタ自動車株式会社 減衰力制御装置
JP6695481B1 (ja) * 2019-06-25 2020-05-20 株式会社ショーワ 接地荷重推定装置、制御装置および接地荷重推定方法
JP6748765B1 (ja) * 2019-06-25 2020-09-02 株式会社ショーワ 接地荷重推定装置、制御装置および接地荷重推定方法
JP6810779B1 (ja) * 2019-09-26 2021-01-06 株式会社ショーワ 状態量算出装置、制御装置および車両
DE102020205702B3 (de) * 2020-05-06 2021-09-02 Volkswagen Aktiengesellschaft Fahrdynamikregelung eines Fahrzeugs mittels Dämpfern
KR20220034976A (ko) * 2020-09-11 2022-03-21 현대자동차주식회사 차량 모터 제어 장치 및 그 방법
CN112660110B (zh) * 2020-12-25 2023-04-14 浙江极氪智能科技有限公司 一种扭矩限制值确定方法及装置
JP7291742B2 (ja) * 2021-03-31 2023-06-15 本田技研工業株式会社 運転評価装置、運転評価方法、プログラム、及び媒体
JP7756532B2 (ja) * 2021-10-01 2025-10-20 三菱重工業株式会社 走行制御装置、車両、走行制御方法及びプログラム
CN115092146B (zh) * 2022-06-30 2025-04-18 中国第一汽车股份有限公司 主动脱困功能的控制方法、控制装置、存储介质及处理器
CN117656741B (zh) * 2023-02-28 2024-09-10 比亚迪股份有限公司 一种车辆稳定控制方法、车辆稳定控制系统和车辆

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Also Published As

Publication number Publication date
CN104417564A (zh) 2015-03-18
US20150066243A1 (en) 2015-03-05
KR102172306B1 (ko) 2020-10-30
US10059344B2 (en) 2018-08-28
DE102014217307A1 (de) 2015-03-05
CN104417564B (zh) 2019-09-06
JP2015047950A (ja) 2015-03-16
KR20150026934A (ko) 2015-03-11

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