JP6352956B2 - 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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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- 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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- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B60K17/00—Arrangement or mounting of transmissions in vehicles
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- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
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- B60—VEHICLES IN GENERAL
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/18—Acceleration lateral
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- 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
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2720/406—Torque distribution between left and right wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
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- 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
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- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Description
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)
α=2×sin−1(ε/2L) ・・・・(4)
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演算部214へ入力される。
tgtδ:目標ステアリング操舵角
tgtβ:目標車体すべり角
tgtγ:目標ヨーレート
clcδTq:旋回ステアリング操舵トルク
TSAfl:セルフアライニングトルク左前
TSAfr:セルフアライニングトルク右前
ltp:タイヤ転舵中心−タイロッドエンド間距離
Itb:タイヤ転舵軸回転廻りの慣性
St_Gboxratio:ステアリングギヤ比
Iz:車両ヨー慣性
D:旋回左右駆動力差
Dmax:最大旋回左右駆動力差
TireR:タイヤ半径
Gboxratio:モータギヤボックスギヤ比
γδ:ステアリング操舵角で得られるヨーレート
γMg:左右駆動力配分で得られるヨーレート
A:スタビリティファクター
TqmotFl(左前輪のモータトルク指示値)=reqTq/4 ・・・(28)
TqmotFr(右前輪のモータトルク指示値)=reqTq/4 ・・・(29)
TqmotRl(左後輪のモータトルク指示値)
=reqTq/4−(±Tvmot) ・・・(30)
TqmotRr(右後輪のモータトルク指示値)
=reqTq/4+(±Tvmot) ・・・(31)
ここで、付加トルクTvmotが、旋回駆動力MgmotTqに相当する。付加トルクTvmotの符号は、旋回方向に応じて設定される。なお、ここでは、左後輪と右後輪に付加トルクTvmotを付加することで左右駆動力制御を行うこととしたが、左前輪と右前輪に付加トルクTvmotを付加しても良いし、4輪に付加トルクTvmotを付加しても良い。
dst1=tCosT1−Cam1 ・・・(33)
dst2=tCosT2−Cam2 ・・・(34)
前回値:tanφ1=dst1/L ・・・(35)
現在値:tanφ2=dst2/L ・・・(36)
φ1=atan(dst1/L) ・・・(37)
φ2=atan(dst2/L) ・・・(38)
addφ=φ2−φ1 ・・・(39)
tgt_Yaw_angle=addφ ・・・(40)
tgt_add_γ=d/dt(tgt_Yaw_angle) ・・・(41)
200 制御装置
214 車体付加モーメント演算部
218,230 予測すべり角演算部
220,232 すべり角変化率演算部
238 旋回可能すべり角演算部
242 旋回手段判定演算部
244 駆動力演算部
246 操舵トルク指示部
240 すべり角変化率判定部
245 スリップ判定部
1000 車両
Claims (10)
- 車両のヨーレートに基づいて車体に付加する車体付加モーメントを演算する車体付加モーメント演算部と、
ハンドル操舵系による操舵のアシストトルクを指示する操舵トルク指示部と、
ハンドル操舵系とは独立して車体にモーメントを付加するために左右輪を独立駆動する左右輪駆動トルクを指示する左右駆動力トルク指示部と、
前記左右輪駆動トルクを付加するための駆動源となる電力を蓄えるバッテリの充電状態を取得する充電状態取得部と、
前記充電状態に基づいて、前記車体付加モーメントを付加するために前記アシストトルクと前記左右輪駆動トルクを調整する調整部と、
を備え、
前記調整部は、前記バッテリの充電量が低下するほど、前記左右輪駆動トルクを減少させ、前記アシストトルクを増加させることを特徴とする、車両の制御装置。 - 前記調整部は、前記バッテリの充電量が所定値以下である場合は、前記左右輪駆動トルクを0と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。
- 車両の予測すべり角を演算する予測すべり角演算部と、
前記車体付加モーメントを付加するための車輪の駆動力から求まる最大旋回半径に基づいて、旋回可能すべり角を演算する旋回可能すべり角演算部と、
前記旋回可能すべり角に対する前記予測すべり角の比であるすべり角変化率を演算するすべり角変化率演算部と、を備え、
前記調整部は、前記充電状態と前記すべり角変化率とに基づいて、前記アシストトルクと前記左右輪駆動トルクを調整することを特徴とする、請求項1又は2に記載の車両の制御装置。 - 前記調整部は、前記すべり角変化率が増加するほど、前記左右輪駆動トルクを減少させ、前記アシストトルクを増加させることを特徴とする、請求項3に記載の車両の制御装置。
- 前記調整部は、前記すべり角変化率が所定値以上であり、前記バッテリの充電量が所定値以上の場合は、前記車体付加モーメントを付加するためのトルクのうち前記左右輪駆動トルクを出力可能な最大トルクとし、残りを前記アシストトルクとすることを特徴とする、請求項4に記載の車両の制御装置。
- 前記予測すべり角演算部は、カメラで検出した車線に基づいて演算された第1の予測旋回半径に基づいて第1の予測すべり角を演算する第1の予測すべり角演算部と、ステアリング操舵角に基づいて演算された第2の予測旋回半径に基づいて第2の予測すべり角を演算する第2の予測すべり角演算部と、を含み、
前記すべり角変化率演算部は、前記旋回可能すべり角に対する前記第1の予測すべり角の比である第1のすべり角変化率を演算する第1のすべり角変化率演算部と、前記旋回可能すべり角に対する前記第2の予測すべり角の比である第2のすべり角変化率を演算する第2のすべり角変化率演算部と、を含み、
前記第1のすべり角変化率と前記第2のすべり角変化率を比較し、大きい方をすべり角変化率として判定するすべり角変化率判定部を備え、
前記調整部は、前記充電状態と前記すべり角変化率判定部によって判定された前記すべり角変化率とに基づいて、前記アシストトルクと前記左右輪駆動トルクを調整することを特徴とする、請求項3〜5のいずれかに記載の車両の制御装置。 - 車両のスリップを判定するスリップ判定部を備え、
前記調整部は、車両がスリップしたことが判定された場合は、前記左右輪駆動トルクを減少させ、前記アシストトルクを増加させることを特徴とする、請求項1〜6のいずれかに記載の車両の制御装置。 - 車両の目標ヨーレートを演算する目標ヨーレート演算部と、
車両モデルからヨーレートモデル値を演算する車両ヨーレート演算部と、
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演算するフィードバックヨーレート演算部と、
を備え、
前記車体付加モーメント演算部は、
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演算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。 - 前記目標ヨーレート演算部は、カメラの画像から第1の目標ヨーレートを演算する第1の目標ヨーレート演算部と、ステアリング操舵角と車両速度に基づいて第2の目標ヨーレートを演算する第2の目標ヨーレート演算部と、を含み、前記第1の目標ヨーレートと前記第2の目標ヨーレートに基づいて前記目標ヨーレートを演算することを特徴とする、請求項8に記載の車両の制御装置。
- 車両のヨーレートに基づいて車体に付加する車体付加モーメントを演算するステップと、
ハンドル操舵系による操舵のアシストトルクを指示するステップと、
ハンドル操舵系とは独立して車体にモーメントを付加するために左右輪を独立駆動する左右輪駆動トルクを指示するステップと、
前記左右輪駆動トルクを付加するための駆動源となる電力を蓄えるバッテリの充電状態を取得するステップと、
前記充電状態に基づいて、前記車体付加モーメントを付加するために前記アシストトルクと前記左右輪駆動トルクを調整するステップと、
を備え、
前記調整するステップにおいて、前記バッテリの充電量が低下するほど、前記左右輪駆動トルクを減少させ、前記アシストトルク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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