JP6777683B2 - 車両制御装置および車両制御方法 - Google Patents
車両制御装置および車両制御方法 Download PDFInfo
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- JP6777683B2 JP6777683B2 JP2018089690A JP2018089690A JP6777683B2 JP 6777683 B2 JP6777683 B2 JP 6777683B2 JP 2018089690 A JP2018089690 A JP 2018089690A JP 2018089690 A JP2018089690 A JP 2018089690A JP 6777683 B2 JP6777683 B2 JP 6777683B2
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- 238000000034 method Methods 0.000 title claims description 36
- 230000007246 mechanism Effects 0.000 claims description 82
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- 101100161935 Caenorhabditis elegans act-4 gene Proteins 0.000 description 18
- 101150079344 ACT4 gene Proteins 0.000 description 15
- 101100056774 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) ARP3 gene Proteins 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
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- 238000012545 processing Methods 0.000 description 7
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- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
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Classifications
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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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/005—Suspension locking arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/017—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
- B60G17/0185—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/027—Motorcycles with three wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/46—Means for locking the suspension
- B60G2204/4604—Means for locking the suspension mechanically, e.g. using a hook as anticreep mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/45—Rolling frame vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/019—Inclination due to load distribution or road gradient
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/019—Inclination due to load distribution or road gradient
- B60G2800/0194—Inclination due to load distribution or road gradient transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/80—Detection or control after a system or component failure
-
- 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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Lock And Its Accessories (AREA)
- Vehicle Body Suspensions (AREA)
Description
2 ECU
3 リーン機構
4 リーンACT
5 ロック機構
7 回転角センサ
8 Gセンサ
10 リーンECU
11b 判定部
20 リーンロックECU
41 駆動軸
42 歯車
52 ロックピン
101 車体
Claims (5)
- 駆動軸を回転させて車体を傾倒させる傾倒駆動部を制御する傾倒制御部と、
前記駆動軸の回転をロックまたはアンロックするロック機構を制御するロック制御部と、
前記ロック制御部からアンロック完了の通知を受け付けた場合に、前記駆動軸の回転を前記傾倒駆動部に指示することによって前記ロック機構によるアンロックの成否を判定する判定部と
を備え、
前記判定部は、
前記アンロック完了の通知を受け付けた場合に前記駆動軸を回転させ、該駆動軸の回転角が所定角以上であるならば、前記ロック機構によるアンロックが成功したと判定し、
前記判定部はさらに、
前記回転角が前記所定角未満である場合に、前記ロック機構によるアンロックが成功していないと判定し、前記車体の姿勢を直立させる方向へ前記駆動軸を回転させて前記回転角を再判定する
ことを特徴とする車両制御装置。 - 駆動軸を回転させて車体を傾倒させる傾倒駆動部を制御する傾倒制御部と、
前記駆動軸の回転をロックまたはアンロックするロック機構を制御するロック制御部と、
前記ロック制御部からアンロック完了の通知を受け付けた場合に、前記駆動軸の回転を前記傾倒駆動部に指示することによって前記ロック機構によるアンロックの成否を判定する判定部と
を備え、
前記判定部は、
前記アンロック完了の通知を受け付けた場合に前記駆動軸を回転させ、該駆動軸の回転角が所定角以上であるならば、前記ロック機構によるアンロックが成功したと判定し、
前記判定部はさらに、
前記回転角がブレる場合に、前記駆動軸をブレ方向へ回転させる
ことを特徴とする車両制御装置。 - 駆動軸を回転させて車体を傾倒させる傾倒駆動部を制御する傾倒制御部と、
前記駆動軸の回転をロックまたはアンロックするロック機構を制御するロック制御部と、
前記ロック制御部からアンロック完了の通知を受け付けた場合に、前記駆動軸の回転を前記傾倒駆動部に指示することによって前記ロック機構によるアンロックの成否を判定する判定部と
を備え、
前記判定部は、
前記アンロック完了の通知を受け付けた場合に前記駆動軸を回転させ、該駆動軸の回転角が所定角以上であるならば、前記ロック機構によるアンロックが成功したと判定し、
前記判定部はさらに、
前記駆動軸を一方方向へ回転させ、前記回転角が前記所定角未満であるならば、前記駆動軸を前記一方方向の他方方向へ回転させて前記回転角を再判定する
ことを特徴とする車両制御装置。 - 前記判定部は、
前記ロック制御部からロック中の通知を受け付けた場合に、前記ロック制御部に前記ロック機構によるアンロックをリトライさせる
ことを特徴とする請求項1、2または3に記載の車両制御装置。 - 駆動軸を回転させて車体を傾倒させる傾倒駆動部を制御する傾倒制御工程と、
前記駆動軸の回転をロックまたはアンロックするロック機構を制御するロック制御工程と、
前記ロック制御工程からアンロック完了の通知を受け付けた場合に、前記駆動軸の回転を前記傾倒駆動部に指示することによって前記ロック機構によるアンロックの成否を判定する判定工程と
を含み、
前記判定工程は、
前記アンロック完了の通知を受け付けた場合に前記駆動軸を回転させ、該駆動軸の回転角が所定角以上であるならば、前記ロック機構によるアンロックが成功したと判定し、
前記判定工程はさらに、
前記回転角が前記所定角未満である場合に、前記ロック機構によるアンロックが成功していないと判定し、前記車体の姿勢を直立させる方向へ前記駆動軸を回転させて前記回転角を再判定する
ことを特徴とする車両制御方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018089690A JP6777683B2 (ja) | 2018-05-08 | 2018-05-08 | 車両制御装置および車両制御方法 |
FR1904434A FR3081000B1 (fr) | 2018-05-08 | 2019-04-26 | Dispositif de commande de véhicule et procédé de commande de véhicule |
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JP2018089690A JP6777683B2 (ja) | 2018-05-08 | 2018-05-08 | 車両制御装置および車両制御方法 |
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JP2019196042A JP2019196042A (ja) | 2019-11-14 |
JP6777683B2 true JP6777683B2 (ja) | 2020-10-28 |
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JP (1) | JP6777683B2 (ja) |
FR (1) | FR3081000B1 (ja) |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008013096A (ja) * | 2006-07-07 | 2008-01-24 | Jtekt Corp | 車両用操舵装置 |
JP4894933B2 (ja) * | 2009-06-04 | 2012-03-14 | 株式会社デンソー | シフトレンジ切換装置、及びパーキングロック装置 |
JP5278200B2 (ja) * | 2009-06-30 | 2013-09-04 | 日産自動車株式会社 | 車体傾動制御装置及びその方法 |
JP5382435B2 (ja) * | 2009-07-29 | 2014-01-08 | 株式会社ジェイテクト | 車両用操舵装置 |
JP5617509B2 (ja) | 2010-10-07 | 2014-11-05 | トヨタ自動車株式会社 | 車体傾斜装置 |
US8657301B2 (en) * | 2010-10-12 | 2014-02-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle body tilting apparatus |
JP2013071499A (ja) * | 2011-09-27 | 2013-04-22 | Aisin Aw Co Ltd | ハイブリッド車両の駆動装置 |
JP6074543B2 (ja) * | 2014-03-24 | 2017-02-01 | ヤマハ発動機株式会社 | 鞍乗型車両 |
-
2018
- 2018-05-08 JP JP2018089690A patent/JP6777683B2/ja active Active
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2019
- 2019-04-26 FR FR1904434A patent/FR3081000B1/fr active Active
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Publication number | Publication date |
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JP2019196042A (ja) | 2019-11-14 |
FR3081000A1 (fr) | 2019-11-15 |
FR3081000B1 (fr) | 2022-09-09 |
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