JP6706634B2 - 車両を操舵する方法、自動車用のコントローラおよび自動車 - Google Patents
車両を操舵する方法、自動車用のコントローラおよび自動車 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
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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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
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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
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
- B60W2710/08—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
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- 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
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
2 前輪
3 後輪
4 フロントアクスルステアリング
41 連動杆
5 リアアクスルステアリング
51 連動杆
rv 旋回半径
rh 旋回半径
S 重心
VA フロントアクスル
HA リアアクスル
MG ヨーイングモーメント
MR セルフアライニングモーメント
MH 保持トルク
SG コントローラ
ESC 横滑り防止装置
δv 前方車輪操舵角
δh 後方公報車輪操舵角
F 車両周辺認識部
T 軌道、軌跡、走行車線
Claims (9)
- 少なくともフロントアクスルステアリング(4)および特にリアアクスルステアリング(5)を有する車両(1)を操舵する方法において、
車両(1)の軌道(T)を保持するために、リアアクスル(HA)への介入を行い、
その場合に前輪(2)のセルフアライニングを防ぐためにフロントアクスルステアリング(4)への介入を行うことで、フロントアクスルステアリング(4)および/または車輪(2)に、前輪(2)のセルフアライニングに抗する力或いはトルク(M H )を加えて、ドライバーに気付かれないようにそのときのステアリングホイール角ないし車輪操舵角を維持する一方、そのように維持されたステアリングホイール角ないし車輪操舵角がドライバーによりいつでも変更可能とされ、その保持位置からの解放が、ドライバーに気付かれないように行われることを特徴とする方法。 - 請求項1に記載の方法において、
リアアクスルステアリング(5)を用いたリアアクスル(HA)への介入により、後輪(3)の車輪操舵角(δh)を変化させることを特徴とする方法。 - 請求項1または2に記載の方法において、
アクティブな後軸作動装置を用いるか又は車輪別の駆動部を用いてリアアクスル(HA)に介入することにより、駆動トルクおよび/または制動トルクによりヨーイングモーメントMGを操作することを特徴とする方法。 - 請求項1,2または3に記載の方法において、
車両ダイナミック制御、特にESCを用いてリアアクスル(HA)に介入することにより、制動トルクによりヨーイングモーメントMGを操作することを特徴とする方法。 - 請求項1〜4のいずれか一つに記載の方法において、
フロントアクスルステアリング(4)における介入により、所定の車輪操舵角(δv)をフロントアクスルステアリング(4)において少なくとも一時的に設定することを特徴とする方法。 - 請求項1〜5のいずれか一つに記載の方法において、
フロントアクスルステアリング(4)への介入および/またはリアアクスルステアリング(HA)への介入を、スパーインポーズドステアリングを用いるか又は電気的操舵(ステアバイワイヤ)を用いるか又は電気機械式操舵を用いるか又は電気油圧式操舵を用いることにより行うことを特徴とする方法。 - 少なくともフロントアクスル(VA)において、特にはさらにリアアクスル(HA)において操舵可能な車両(1)、好ましくは自動車のためのコントローラ(SG)において、
車両(1)の車線を維持するために、少なくとも車両速度、ギヤ比、加速度に関する車両パラメータ並びに各車輪(2,3)の車輪操舵角(δv,δh)とは少なくとも独立に、リアアクスル(HA)および/またはフロントアクスル(VA)への介入を行うことができ、フロントアクスルステアリング(4)および/または車輪(2)に、前輪(2)のセルフアライニングに抗する力或いはトルク(M H )を加えて、ドライバーに気付かれないようにそのときのステアリングホイール角ないし車輪操舵角を維持する一方、そのように維持されたステアリングホイール角ないし車輪操舵角がドライバーによりいつでも変更可能とされ、その保持位置からの解放を、ドライバーに気付かれないように行うことを特徴とするコントローラ(SG)。 - コントローラ(SG)は、車両(1)の車線を維持するように、車線維持のために追加的に車両周辺認識部(F)の信号を評価する請求項7に記載のコントローラ。
- フロントアクスルステアリングおよびリアアクスルステアリング(4,5)並びに請求項7または8に記載のコントローラ(SG)を有する車両(1)、特に自動車において、
後輪操舵(5)および/またはアクティブな後軸作動装置によるヨーイングモーメントMGの操作および/または車両ダイナミック制御による操舵中に、フロントアクスルステアリング(4)が少なくとも一時的に固定され、これにより前輪(2)に設定された車輪操舵角(δv)が少なくとも一時的に固定可能とされていることを特徴とする車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102015212229.8A DE102015212229B4 (de) | 2015-06-30 | 2015-06-30 | Verfahren zum Lenken eines Fahrzeuges, Steuerung für ein Kraftfahrzeug sowie Fahrzeug mit einer Vorderachs- und Hinterachslenkung |
DE102015212229.8 | 2015-06-30 | ||
PCT/EP2016/061531 WO2017001116A1 (de) | 2015-06-30 | 2016-05-23 | Verfahren zum lenken eines fahrzeuges, steuerung für ein kraftfahrzeug sowie kraftfahrzeug |
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JP2018525263A JP2018525263A (ja) | 2018-09-06 |
JP6706634B2 true JP6706634B2 (ja) | 2020-06-10 |
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US (1) | US10604183B2 (ja) |
JP (1) | JP6706634B2 (ja) |
KR (1) | KR102478265B1 (ja) |
CN (1) | CN107735311B (ja) |
DE (1) | DE102015212229B4 (ja) |
WO (1) | WO2017001116A1 (ja) |
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DE102020101587A1 (de) | 2020-01-23 | 2021-07-29 | Thyssenkrupp Ag | Verfahren zur Steuerung eines Kraftfahrzeuges bei langsamen Geschwindigkeiten mittels Antriebsdifferenzmoment an der Hinterachse |
DE102020201058A1 (de) | 2020-01-29 | 2021-07-29 | Thyssenkrupp Ag | Lenksäule für ein Kraftfahrzeug |
EP4206052B1 (en) * | 2020-09-21 | 2024-07-03 | Zhejiang Geely Holding Group Co., Ltd. | Driving control method for vehicle |
DE102022202130A1 (de) | 2022-03-02 | 2023-09-21 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Erhöhung des Fahrkomforts für Insassen eines zumindest teilautonom fahrenden Fahrzeugs |
CN115447667B (zh) * | 2022-09-19 | 2023-07-28 | 江苏徐工工程机械研究院有限公司 | 一种挖掘装载机的转向系统及控制方法 |
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US10604183B2 (en) | 2020-03-31 |
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