JP6539321B2 - 車両の制御システム及び車両の制御方法 - Google Patents
車両の制御システム及び車両の制御方法 Download PDFInfo
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- JP6539321B2 JP6539321B2 JP2017183815A JP2017183815A JP6539321B2 JP 6539321 B2 JP6539321 B2 JP 6539321B2 JP 2017183815 A JP2017183815 A JP 2017183815A JP 2017183815 A JP2017183815 A JP 2017183815A JP 6539321 B2 JP6539321 B2 JP 6539321B2
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- braking force
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- 238000000034 method Methods 0.000 title claims description 13
- 230000001172 regenerating effect Effects 0.000 claims description 92
- 238000001514 detection method Methods 0.000 claims description 23
- 230000000994 depressogenic effect Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
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Classifications
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- 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
- B60L15/2009—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 for braking
-
- 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
-
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Description
回生制動力P+摩擦ブレーキ制動力=前後方向力Fx ・・・(1)
摩擦ブレーキ制動力=トルクTy/タイヤ半径 ・・・(2)
回生制動力P=前後方向力Fx−トルクTy/タイヤ半径 ・・・(3)
120 電流センサ
420 検出部
900 制御装置
910 回生制動力推定部
920 回生制動制御部
Claims (5)
- 車軸にかかる前後方向力と前記車軸にかかるトルクを検出する検出部と、
回生ブレーキにより前記車軸を制動するモータジェネレータと、
前記前後方向力から前記トルクに相当する力を減算して前記回生ブレーキによる制動力を推定する回生制動力推定部と、
推定した前記制動力に基づいて前記モータジェネレータによる前記回生ブレーキを制御する回生ブレーキ制御部と、
前記モータジェネレータの駆動パラメータを検出するセンサと、
を備え、
前記回生制動力推定部は、前記センサの故障時に前記制動力を推定することを特徴とする、車両の制御システム。 - 摩擦力により前記車軸を制動する摩擦ブレーキを備え、
前記回生制動力推定部は、前記摩擦ブレーキの作動時に前記制動力を推定することを特徴とする、請求項1に記載の車両の制御システム。 - 前記トルクは、前記摩擦ブレーキの作動時における前記摩擦ブレーキによる制動トルクに相当することを特徴とする、請求項2に記載の車両の制御システム。
- 前記トルクに相当する力は、前記トルクをタイヤ半径で除算して得られる値であることを特徴とする、請求項1〜3のいずれかに記載の車両の制御システム。
- 車軸にかかる前後方向力と前記車軸にかかるトルクを検出するステップと、
回生ブレーキにより前記車軸を制動するステップと、
前記前後方向力から前記トルクに相当する力を減算して前記回生ブレーキによる制動力を推定するステップと、
推定した前記制動力に基づいて前記回生ブレーキを制御するステップと、
を備え、
前記回生ブレーキによる制動力を推定するステップは、モータジェネレータの駆動パラメータを検出するセンサの故障時に前記制動力を推定することを特徴とする、車両の制御方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017183815A JP6539321B2 (ja) | 2017-09-25 | 2017-09-25 | 車両の制御システム及び車両の制御方法 |
US16/039,008 US10926646B2 (en) | 2017-09-25 | 2018-07-18 | Vehicle control system and vehicle control method |
CN201810831913.6A CN109552061B (zh) | 2017-09-25 | 2018-07-26 | 车辆的控制系统及车辆的控制方法 |
Applications Claiming Priority (1)
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JP2017183815A JP6539321B2 (ja) | 2017-09-25 | 2017-09-25 | 車両の制御システム及び車両の制御方法 |
Publications (2)
Publication Number | Publication Date |
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JP2019062606A JP2019062606A (ja) | 2019-04-18 |
JP6539321B2 true JP6539321B2 (ja) | 2019-07-03 |
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Country Status (3)
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---|---|
US (1) | US10926646B2 (ja) |
JP (1) | JP6539321B2 (ja) |
CN (1) | CN109552061B (ja) |
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EP0663312B1 (en) * | 1991-04-09 | 1999-03-03 | Honda Giken Kogyo Kabushiki Kaisha | A braking control system for an electric vehicle |
JP3189702B2 (ja) * | 1995-10-03 | 2001-07-16 | 三菱自動車工業株式会社 | 電気自動車の回生制動併用式ブレーキ装置 |
JP3521634B2 (ja) * | 1996-08-01 | 2004-04-19 | トヨタ自動車株式会社 | ブレーキ液圧制御装置 |
JP3668838B2 (ja) * | 2000-08-01 | 2005-07-06 | トヨタ自動車株式会社 | 車両の制御装置 |
JP3811372B2 (ja) * | 2001-05-30 | 2006-08-16 | トヨタ自動車株式会社 | 車輌の制動力制御装置 |
US6750626B2 (en) * | 2002-09-11 | 2004-06-15 | Ford Global Technologies, Llc | Diagnostic strategy for an electric motor using sensorless control and a position sensor |
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ITRM20090332A1 (it) * | 2009-06-26 | 2010-12-27 | Oxygen S P A | Dispositivo per l azionamento della frenata a recupero in scooter a propulsione elettrica |
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JP6201209B2 (ja) * | 2013-09-12 | 2017-09-27 | 日立オートモティブシステムズ株式会社 | 駆動力制御装置及び駆動力制御方法 |
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2018
- 2018-07-18 US US16/039,008 patent/US10926646B2/en active Active
- 2018-07-26 CN CN201810831913.6A patent/CN109552061B/zh active Active
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Publication number | Publication date |
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CN109552061B (zh) | 2023-06-09 |
JP2019062606A (ja) | 2019-04-18 |
CN109552061A (zh) | 2019-04-02 |
US20190092187A1 (en) | 2019-03-28 |
US10926646B2 (en) | 2021-02-23 |
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