JP6457939B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP6457939B2 JP6457939B2 JP2015529584A JP2015529584A JP6457939B2 JP 6457939 B2 JP6457939 B2 JP 6457939B2 JP 2015529584 A JP2015529584 A JP 2015529584A JP 2015529584 A JP2015529584 A JP 2015529584A JP 6457939 B2 JP6457939 B2 JP 6457939B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- wheel
- torque
- power
- turning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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Images
Classifications
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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
- 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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
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- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
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- 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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/448—Electrical distribution type
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- 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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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- 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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
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- 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
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- 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
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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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
- 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
- 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
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H48/22—Arrangements for suppressing or influencing the differential action, e.g. locking devices using friction clutches or brakes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- 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
- B60K5/00—Arrangement or mounting of internal-combustion or jet-propulsion units
- B60K2005/003—Arrangement or mounting of internal-combustion or jet-propulsion units the internal combustion or jet propulsion unit is arranged between the front and the rear axle
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- 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
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
- B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
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- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
- B60K2023/0816—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential
- B60K2023/0833—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential for adding torque to the rear wheels
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- 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
- B60K5/00—Arrangement or mounting of internal-combustion or jet-propulsion units
- B60K5/04—Arrangement or mounting of internal-combustion or jet-propulsion units with the engine main axis, e.g. crankshaft axis, transversely to the longitudinal centre line of the vehicle
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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
- B60L2210/00—Converter types
- B60L2210/40—DC to AC converters
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Description
また、上記によれば、旋回制御装置は、左右駆動輪に接続される第1原動機及び第2原動機によって左右駆動輪の動力差を調整する。一般に、電動機は、動力の制御を高応答及び高精細に行うことができるものが多い。このため、上記構成により、左右駆動輪の動力差を高応答且つ高精細に発生させることが可能となる。
A.構成
A−1.車両10の駆動系
図1は、本発明の一実施形態に係る車両10の駆動系及びその周辺の概略構成図である。図1に示すように、車両10は、車両10の前側に直列配置されたエンジン12及び第1走行モータ14と、車両10の後ろ側に配置された第2走行モータ16及び第3走行モータ18と、高圧バッテリ20(以下「バッテリ20」ともいう。)と、第1〜第3インバータ22、24、26と、駆動電子制御装置28(以下「駆動ECU28」という。)とを有する。
[2−1.概要]
図2は、各種センサと駆動ECU28の機能ブロックとを示すブロック図である。図3は、左右後輪36a、36bのうち外輪についてのフィードフォワード制御用トルクの一例を示す図である。駆動ECU28では、図2に示す各ブロックの機能をプログラム処理する。但し、必要に応じて、駆動ECU28の一部をアナログ回路又はデジタル回路に置換してもよい。
車速センサ50は、車両10の車速V[km/h]を検出してFF制御部70、72及びFB制御部80に出力する。舵角センサ52は、ハンドル62の舵角θst[度]を検出してFF制御部70、72及びFB制御部80に出力する。横Gセンサ54は、車両10(車体)に掛かる横加速度Glat[m/s2]を検出してFF制御部70及びFB制御部80に出力する。
(2−3−1.舵角比例FF制御部70)
舵角比例FF制御部70は、舵角比例フィードフォワード制御(以下「舵角比例FF制御」という。)を実行する。舵角比例FF制御では、舵角θst及びこれに伴う横加速度Glatに対応して駆動輪(ここでは、後輪36a、36b)のトルク(駆動力)を制御する。
AP微分FF制御部72は、アクセルペダル微分フィードフォワード制御(以下「AP微分FF制御」という。)を実行する。AP微分FF制御では、アクセルペダル開度θapの時間微分値である変化速度Vap[度/sec]に対応して駆動輪(ここでは、後輪36a、36b)のトルク(駆動力)を制御する。
第1加算器74は、FF制御部70からのトルクTff1lとFF制御部72からのトルクTff2lとの和(以下「フィードフォワード合計トルクTff_total_l」又は「FF合計トルクTff_total_l」という。)を算出する。
ローパスフィルタ78は、左後輪36a用のFF合計トルクTff_total_lのうち低周波数成分のみを通過させて第1減算器82に出力する。また、ローパスフィルタ78は、右後輪36b用のFF合計トルクTff_total_rのうち低周波数成分のみを通過させて第2減算器84に出力する。これにより、FF合計トルクTff_totalの急激な変化を避けることが可能となる。その結果、AP微分トルクTff2の急激な増加に対する運転者の違和感を避けることが可能となる。
FB制御部80は、フィードバック制御(以下「FB制御」という。)を実行する。FB制御では、車両10の旋回時における駆動輪(ここでは、後輪36a、36b)のスリップを避けるように駆動輪のトルク(駆動力)を制御する。
第1減算器82は、ローパスフィルタ78からのFF合計トルクTff_total_lとFB制御部80からのFBトルクTfblとの差(以下「合計トルクTtotal_l」又は「トルクTtotal_l」という。)を算出する。第2減算器84は、ローパスフィルタ78からのFF合計トルクTff_total_rとFB制御部80からのFBトルクTfbrとの差(以下「合計トルクTtotal_r」又は「トルクTtotal_r」という。)を算出する。以下では、合計トルクTtotal_l、Ttotal_rを「合計トルクTtotal」又は「トルクTtotal」と総称する。
図3には、左右後輪36a、36bのうち外輪についての舵角比例トルクTff1、AP微分トルクTff2及びFF合計トルクTff_totalの一例が示されている。図3からわかるように、アクセルペダル64が踏み込まれると、舵角比例トルクTff1及びAP微分トルクTff2が増加する。この際、舵角比例トルクTff1は、比較的立ち上がりが遅い。このため、舵角比例トルクTff1よりも立ち上がりが速いAP微分トルクTff2を加えることで、FF合計トルクTff_total全体としての立ち上がりを速めることが可能となる。
B−1.AP微分FF制御の流れ
図4は、AP微分FF制御のフローチャートである。図5は、図4のAP微分FF制御を用いた場合の各種データの一例を示す図である。図5において、破線は、所定の車速V及び舵角θstである場合のデータを示し、実線は、破線と同じ車速V且つ破線よりも大きい舵角θstである場合のデータを示す。また、図5は、定速走行をしている状態において、時点t1でアクセルペダル64を強く踏み込んだ場合のデータを示している。
図6は、AP微分FF制御を用いる場合と用いない場合の出力の一例を示す図である。図6では、本実施形態(すなわち、舵角比例FF制御及びAP微分FF制御の両方を行う場合)のトルク差ΔTと、比較例のトルク差ΔTを示している。比較例では、舵角比例FF制御を行うが、AP微分FF制御を行わない。
以上のように、本実施形態によれば、舵角θst(要求旋回量)とAP開度θapの変化速度Vap(要求駆動動力量の時間微分値)とに基づいて左右後輪36a、36b(左右駆動輪)のトルク差ΔT(動力差)を調整する(図2、図4)。このため、同じ舵角θstでも、変化速度Vapによって左右後輪36a、36bのトルク差ΔTが変わる。従って、変化速度Vapが高いほど左右後輪36a、36bのトルク差ΔTを大きくする場合、車両10(車体)を安定して旋回させ易くなる。このことは、特に、操舵に対する車両10の挙動の応答性が低い低速領域で顕著である。従って、上記制御により、車両10の姿勢がより安定し又は運転者の意思(高速旋回)に対する応答性を高めることが可能となる。
なお、本発明は、上記実施形態に限らず、本明細書の記載内容に基づき、種々の構成を採り得ることはもちろんである。例えば、以下の構成を採用することができる。
上記実施形態では、自動四輪車である車両10について説明した(図1)。しかしながら、例えば、舵角θstに加えて、AP開度θapの変化速度Vapに基づいて左後輪36a(左駆動輪)及び右後輪36b(右駆動輪)のトルク差ΔT(動力差)を調整する観点からすれば、これに限らない。例えば、自動三輪車及び自動六輪車のいずれであってもよい。
図7は、本発明の第1変形例に係る車両10Aの駆動系及びその周辺の概略構成図である。車両10Aでは、上記実施形態に係る車両10の前輪駆動装置34及び後輪駆動装置38の構成が反対になっている。すなわち、車両10Aの前輪駆動装置34aは、車両10Aの前側に配置された第2及び第3走行モータ16a、18aを備える。また、車両10Aの後輪駆動装置38aは、車両10Aの後ろ側に直列配置されたエンジン12a及び第1走行モータ14aを備える。
図8は、本発明の第2変形例に係る車両10Bの駆動系及びその周辺の概略構成図である。車両10Bでは、エンジン12からの駆動力(以下「駆動力Feng」という。)を前輪32a、32b及び後輪36a、36bに伝達する。これにより、前輪32a、32b(主駆動輪)に加え、後輪36a、36b(副駆動輪)を駆動輪とする。なお、前記実施形態(図1)と同様、エンジン12にモータ14が接続されてもよい。
図9は、本発明の第3変形例に係る車両10Cの駆動系及びその周辺の概略構成図である。第2変形例に係る車両10Bと同様、車両10Cでは、エンジン12からの駆動力(駆動力Feng)を前輪32a、32b及び後輪36a、36bに伝達する。これにより、前輪32a、32b(主駆動輪)に加え、後輪36a、36b(副駆動輪)を駆動輪とする。車両10Bと同一の構成要素については、同一の参照符号を付して説明を省略する。なお、前記実施形態(図1)と同様、エンジン12にモータ14が接続されてもよい。
上記実施形態では、第1〜第3走行モータ14、16、18を3相交流ブラシレス式としたが、これに限らない。例えば、第1〜第3走行モータ14、16、18を3相交流ブラシ式、単相交流式又は直流式としてもよい。
C−1.全体
上記実施形態では、舵角比例FF制御、AP微分FF制御及びFB制御のそれぞれを行った(図2参照)。しかしながら、例えば、AP微分FF制御に着目すれば、舵角比例FF制御及びFB制御の一方又は両方を省略することも可能である。
上記実施形態では、舵角θst及び車輪速Vwに基づくマップをAP微分トルクTff2の算出(選択)に用いた(図4のS4、S5)。しかしながら、例えば、AP微分トルクTff2の利用に着目すれば、これに限らない。例えば、AP開度θapの変化速度VapとトルクTff2との関係を規定した単一のマップを設けておき、当該単一のマップを用いてトルクTff2を選択又は算出してもよい。
上記実施形態では、AP微分FF制御において、AP開度θapの変化速度Vapに応じて左右後輪36a、36bのトルク差ΔTを変化させた(図4のS5)。しかしながら、例えば、AP開度θapの変化速度Vapに応じて左右後輪36a、36bのトルクを変化させる観点からすれば、これに限らない。例えば、トルク差ΔTの調整に加えて又はこれに代えて、変化速度Vapに応じてFF合計トルクTff_total(例えば、トルクTff2)を増加又は減少させることも可能である。例えば、変化速度Vapが増加した場合、FF合計トルクTff_totalを増加させることができる。当該制御によっても、車両10の姿勢がより安定し又は運転者の意思(高速旋回)に対する応答性を高めることが可能となる。
Claims (8)
- 原動機(12、12a、14、14a、16、16a、18、18a)に接続された左駆動輪(36a)及び右駆動輪(36b)と、
要求駆動動力量を入力する要求駆動動力量入力装置(64)と、
要求旋回量を入力する要求旋回量入力装置(62)と
を備える車両(10、10A)であって、
前記原動機は、
前記左駆動輪(36a)と接続され、前記車両(10、10A)の前進方向及び後進方向の駆動力を発生可能な電動機(16、16a)である第1原動機(16、16a)と、
前記右駆動輪(36b)と接続され、前記車両(10、10A)の前進方向及び後進方向の駆動力を発生可能な電動機(18、18a)である第2原動機(18、18a)と、
を含み、
前記要求旋回量に基づいて、前記左駆動輪(36a)及び前記右駆動輪(36b)のそれぞれの第1の駆動力を算出する第1の制御部(70)と、
少なくとも前記要求駆動動力量の時間微分値に基づいて前記左駆動輪(36a)及び前記右駆動輪(36b)のうち前記車両(10、10A)の旋回方向における外輪に対応するものに前記前進方向の駆動力を発生させ、内輪に対応するものに前記後進方向の駆動力を発生させるように、前記左駆動輪(36a)及び前記右駆動輪(36b)のそれぞれの第2の駆動力を算出する第2の制御部(72)と、
を有する旋回制御装置(28)をさらに備え、
前記旋回制御装置(28)は、前記第1の駆動力と前記第2の駆動力との和に基づいて、前記左駆動輪(36a)及び前記右駆動輪(36b)のそれぞれの駆動力を制御して、前記左駆動輪(36a)及び前記右駆動輪(36b)の動力差を調整する
ことを特徴とする車両(10、10A)。 - 請求項1に記載の車両(10、10A)において、
前記要求駆動動力量はアクセルペダル(64)の開度であって、
前記旋回制御装置(28)は、前記アクセルペダル(64)の開度の時間微分値が大きいほど、前記動力差を大きくする
ことを特徴とする車両(10、10A)。 - 請求項1に記載の車両(10、10A)において、
前記要求駆動動力量が増加中でなく且つ最大値でない時には、前記第2の駆動力をゼロになるまで漸減させる
ことを特徴とする車両(10、10A)。 - 請求項1に記載の車両(10、10A)において、
前記要求駆動動力量が最大値を所定時間継続した時には、前記要求旋回量の大きさに関わらず所定時間で前記第2の駆動力をゼロとなるように漸減させる
ことを特徴とする車両(10、10A)。 - 請求項1〜4のいずれか1項に記載の車両(10、10A)において、
前記旋回制御装置(28)は、前記要求駆動動力量の時間微分値が等しい場合、前記左駆動輪(36a)の回転数が低い時よりも高い時の方が、又は前記右駆動輪(36b)の回転数が低い時よりも高い時の方が、前記動力差を小さくする
ことを特徴とする車両(10、10A)。 - 請求項1〜5のいずれか1項に記載の車両(10、10A)において、
前記旋回制御装置(28)は、前記要求駆動動力量の時間微分値が等しい場合、前記要求旋回量が大きい時よりも小さい時の方が、前記動力差を小さくする
ことを特徴とする車両(10、10A)。 - 請求項1〜6のいずれか1項に記載の車両(10、10A)において、
前記旋回制御装置(28)は、
前記左駆動輪(36a)及び前記右駆動輪(36b)のうち前記車両(10、10A)の旋回方向における外輪の動力に加算する加算動力と、内輪の動力から減算する減算動力とを、前記要求駆動動力量の時間微分値に基づいて算出し、
前記加算動力の絶対値と前記減算動力の絶対値とを等しくする
ことを特徴とする車両(10、10A)。 - 請求項1〜7のいずれか1項に記載の車両(10、10A)において、
前記第1原動機(16、16a)及び前記第2原動機(18、18a)は、それぞれ前記車両(10、10A)の前進方向及び後進方向の動力を発生可能な電動機(16、16a、18、18a)であり、
前記車両(10、10A)は、それぞれの前記電動機(16、16a、18、18a)と電気的に接続される蓄電装置(20)をさらに備える
ことを特徴とする車両(10、10A)。
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WO2015016236A1 (ja) | 2015-02-05 |
MY180489A (en) | 2020-11-30 |
CA2919965A1 (en) | 2015-02-05 |
US9725014B2 (en) | 2017-08-08 |
KR20160040629A (ko) | 2016-04-14 |
EP3028893A1 (en) | 2016-06-08 |
CN105452052B (zh) | 2018-02-16 |
US20150283918A1 (en) | 2015-10-08 |
CN105452052A (zh) | 2016-03-30 |
EP3028893B1 (en) | 2019-06-19 |
JPWO2015016236A1 (ja) | 2017-03-02 |
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