JP6710962B2 - 電動車両の制御装置 - Google Patents
電動車両の制御装置 Download PDFInfo
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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
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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
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
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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
- B60L15/2009—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
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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
- B60L15/2063—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 creeping
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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
- 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
- B60W30/18063—Creeping
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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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
- B60L2240/12—Speed
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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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2260/00—Operating Modes
- B60L2260/10—Temporary overload
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/06—Hill holder; Start aid systems on inclined road
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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
- B60W2510/18—Braking system
- B60W2510/182—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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
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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
- 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
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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
- 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)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
まずは、本実施形態に係る電動車両の全体構成について説明する。図1に示すように、本実施形態に係る電動車両1は、電気自動車(EV)であり、二次電池であるバッテリ2と、このバッテリ2から供給される電力により作動する駆動源としての走行用モータ(電動機)3と、を備える。バッテリ2と走行用モータ3とはインバータ4を介して接続されている。走行用モータ3は、例えば、図示しない自動変速機等を含む伝達系5を介して車輪(本実施形態では、駆動輪である前輪)6に連結されている。
2 バッテリ
3 走行用モータ
4 インバータ
5 伝達系
6 車輪
7 ブレーキペダル
8 アクセルペダル
9 車速センサ
11 マスターシリンダ
12 ホイールシリンダ
13 液圧回路
14 ブレーキアクチュエータ
15 ブレーキディスク
16 ブレーキパッド
17 ブレーキオートホールドスイッチ
18 開閉バルブ
19 液圧センサ
20 制御装置
30 モータ制御部
40 ブレーキ制御実行部
50 クリープトルク制御部
51 制動力検出手段
52 基本クリープトルク算出手段
53 クリープ抑制トルク算出手段
54 クリープトルク算出手段
Claims (4)
- 各車輪を回転させるための駆動源と、各車輪に制動力を付与する制動装置と、を備える電動車両を制御する制御装置であって、
前記制動装置は、マスターシリンダと、各車輪に設けられるホイールシリンダと、ブレーキペダルの踏み込み量に対応したマスターシリンダの液圧を計測する液圧センサと、を有し、前記ホイールシリンダの液圧により各車輪に制動力を付与し、
前記制御装置は、前記ブレーキペダルの踏み込み量に拘わらず前記ホイールシリンダの液圧を維持して車両の停止状態を保持するブレーキオートホールド制御を実行するブレーキ制御実行部と、前記車輪に付与するクリープトルクの大きさを制御するクリープトルク制御部と、を有し、
前記クリープトルク制御部は、
前記制動装置による制動力を検出する制動力検出手段と、
車速に応じた基本クリープトルクを算出する基本クリープトルク算出手段と、
前記制動力検出手段の検出結果に基づいて前記基本クリープトルクよりも小さいクリープ抑制トルクを算出するクリープ抑制トルク算出手段と、
前記基本クリープトルクから前記クリープ抑制トルクを減算することで前記クリープトルクを算出するクリープトルク算出手段と、を有し、
前記ブレーキ制御実行部により前記ブレーキオートホールド制御が実行されている場合、前記マスターシリンダの液圧を検出し、その検出結果から前記ホイールシリンダの液圧を推定し、その推定結果に応じてクリープトルクの大きさを制御し、
前記ブレーキ制御実行部により前記ブレーキオートホールド制御が実行されていない場合、前記マスターシリンダの液圧を検出し、その検出結果に応じてクリープトルクの大きさを制御する
ことを特徴とする電動車両の制御装置。 - 請求項1に記載の電動車両の制御装置において、
前記制動力検出手段は、前記ホイールシリンダの液圧を前記制動力として検出する
ことを特徴とする電動車両の制御装置。 - 請求項2に記載の電動車両の制御装置において、
前記クリープ抑制トルク算出手段は、
前記ブレーキ制御実行部により前記ブレーキオートホールド制御が実行されている場合、車両が停止している間、前記制動力検出手段が検出した前記制動力の最大値に基づいて前記クリープ抑制トルクを算出する
ことを特徴とする電動車両の制御装置。 - 請求項2又は3に記載の電動車両の制御装置において、
前記制動力検出手段は、ブレーキペダルの踏み込み量に基づいて前記ホイールシリンダの液圧を推定する
ことを特徴とする電動車両の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015250561A JP6710962B2 (ja) | 2015-12-22 | 2015-12-22 | 電動車両の制御装置 |
US15/386,528 US9862370B2 (en) | 2015-12-22 | 2016-12-21 | Control device for controlling electric vehicle |
EP16206129.5A EP3184355B1 (en) | 2015-12-22 | 2016-12-22 | Control device for controlling electric vehicle |
CN201611204013.6A CN107031453B (zh) | 2015-12-22 | 2016-12-22 | 用于控制电动车辆的控制装置 |
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JP2015250561A JP6710962B2 (ja) | 2015-12-22 | 2015-12-22 | 電動車両の制御装置 |
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JP2017118663A JP2017118663A (ja) | 2017-06-29 |
JP6710962B2 true JP6710962B2 (ja) | 2020-06-17 |
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US (1) | US9862370B2 (ja) |
EP (1) | EP3184355B1 (ja) |
JP (1) | JP6710962B2 (ja) |
CN (1) | CN107031453B (ja) |
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JP6653556B2 (ja) * | 2015-11-26 | 2020-02-26 | ジヤトコ株式会社 | 電動車両の制御装置及び制御方法 |
DE102015226134A1 (de) * | 2015-12-21 | 2017-06-22 | Zf Friedrichshafen Ag | Verfahren zum Betreiben eines Kraftfahrzeugs |
CN109720214A (zh) * | 2017-10-30 | 2019-05-07 | 长城汽车股份有限公司 | 车辆坡道蠕行控制方法及车辆 |
DE102017219675A1 (de) * | 2017-11-06 | 2019-05-09 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs und Kraftfahrzeug |
CN109835316B (zh) * | 2017-11-27 | 2021-06-29 | 上海汽车集团股份有限公司 | 一种自动驻车功能失效的处理方法、装置及整车控制器 |
DE102019208811A1 (de) * | 2019-06-18 | 2020-12-24 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Bestimmen zumindest eines Bremsenkennwerts eines hydraulischen Bremssystems eines Fahrzeugs |
JP7481197B2 (ja) | 2020-08-06 | 2024-05-10 | 株式会社Subaru | 車両制御システム |
CN112550547A (zh) * | 2020-12-03 | 2021-03-26 | 北京六十六号互动科技有限公司 | 用于电动代步车的助力推行控制方法、装置及计算机设备 |
CN112644294B (zh) * | 2020-12-29 | 2022-06-17 | 东风汽车集团有限公司 | 一种电动汽车蠕行激活的判断控制方法 |
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JP2002193082A (ja) * | 2000-12-28 | 2002-07-10 | Denso Corp | エンジン自動停止始動装置 |
JP4127310B2 (ja) | 2006-12-27 | 2008-07-30 | トヨタ自動車株式会社 | 車両の制御装置、制御方法、その方法を実現するプログラムおよびそのプログラムを記録した記録媒体 |
JP2008245517A (ja) * | 2008-04-07 | 2008-10-09 | Toyota Motor Corp | 電気自動車の制御装置 |
JP5309720B2 (ja) * | 2008-06-23 | 2013-10-09 | 日産自動車株式会社 | 電動車両の制駆動制御装置及び制駆動制御方法 |
JP5521834B2 (ja) * | 2010-06-30 | 2014-06-18 | 日産自動車株式会社 | 電動車両のクリープカット制御装置 |
JP5516268B2 (ja) * | 2010-09-17 | 2014-06-11 | 三菱自動車工業株式会社 | 車両用モータトルク制御装置 |
JP5381954B2 (ja) * | 2010-10-20 | 2014-01-08 | 三菱自動車工業株式会社 | 車両駆動力制御装置 |
CN103596827B (zh) * | 2011-06-14 | 2016-04-13 | 丰田自动车株式会社 | 车辆的控制装置 |
DE112012007125B4 (de) * | 2012-11-13 | 2023-08-24 | Honda Motor Co., Ltd. | Stoppsteuersystem für Fahrzeug |
US9707860B2 (en) * | 2013-08-05 | 2017-07-18 | Nissan Motor Co., Ltd. | Vehicle control device and vehicle control method |
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2016
- 2016-12-21 US US15/386,528 patent/US9862370B2/en active Active
- 2016-12-22 EP EP16206129.5A patent/EP3184355B1/en active Active
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CN107031453A (zh) | 2017-08-11 |
EP3184355A1 (en) | 2017-06-28 |
CN107031453B (zh) | 2019-05-17 |
EP3184355B1 (en) | 2024-01-24 |
US9862370B2 (en) | 2018-01-09 |
JP2017118663A (ja) | 2017-06-29 |
US20170174202A1 (en) | 2017-06-22 |
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