JP6777684B2 - 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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- JP6777684B2 JP6777684B2 JP2018091389A JP2018091389A JP6777684B2 JP 6777684 B2 JP6777684 B2 JP 6777684B2 JP 2018091389 A JP2018091389 A JP 2018091389A JP 2018091389 A JP2018091389 A JP 2018091389A JP 6777684 B2 JP6777684 B2 JP 6777684B2
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- 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
- 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
- B62K5/10—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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Automatic Cycles, And Cycles In General (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 (7)
- 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ロックが成功していないと判定し、前記駆動軸を回転させつつ前記ロック制御部に前記ロック機構によるロックを再度指示するリトライ処理を実行し、
前記判定部はさらに、
前記回転角が第1の角度以上である場合に、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る
ことを特徴とする車両制御装置。 - 前記判定部は、
前記回転角が前記第1の角度よりも小さい第2の角度以上かつ前記第1の角度未満である場合に、前記車体の姿勢の傾き方向へ前記駆動軸を回転させる
ことを特徴とする請求項1に記載の車両制御装置。 - 前記判定部は、
前記リトライ処理の後に前記駆動軸を回転させ、前記回転角が前記所定角以上であるならば、ユーザへ前記ロック機構の異常を通知する
ことを特徴とする請求項1または2に記載の車両制御装置。 - 前記判定部は、
ユーザへ前記ロック機構の異常を通知する場合に、路面勾配が略平坦であるならば、前記傾倒駆動部への供給電源を遮断する
ことを特徴とする請求項3に記載の車両制御装置。 - 前記判定部は、
ユーザへ前記ロック機構の異常を通知する場合に、路面勾配が略平坦でないならば、前記傾倒駆動部への供給電源が継続する間、車両が転倒しないように前記傾倒制御部に前記傾倒駆動部を制御させ続ける
ことを特徴とする請求項3または4に記載の車両制御装置。 - 前記判定部は、
ユーザへ前記ロック機構の異常を通知する場合に、路面勾配が略平坦でないならば車両を略平坦な場所へ移動させるように通知する
ことを特徴とする請求項3、4または5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ロックが成功していないと判定し、前記駆動軸を回転させつつ前記ロック制御工程に前記ロック機構によるロックを再度指示するリトライ処理を実行し、
前記判定工程はさらに、
前記回転角が第1の角度以上である場合に、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 |
---|---|---|---|
JP2018091389A JP6777684B2 (ja) | 2018-05-10 | 2018-05-10 | 車両制御装置および車両制御方法 |
FR1904807A FR3081001B1 (fr) | 2018-05-10 | 2019-05-09 | Organe de commande de véhicule et procédé de commande de véhicule |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018091389A JP6777684B2 (ja) | 2018-05-10 | 2018-05-10 | 車両制御装置および車両制御方法 |
Publications (2)
Publication Number | Publication Date |
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JP2019196108A JP2019196108A (ja) | 2019-11-14 |
JP6777684B2 true JP6777684B2 (ja) | 2020-10-28 |
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JP2018091389A Active JP6777684B2 (ja) | 2018-05-10 | 2018-05-10 | 車両制御装置および車両制御方法 |
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JP (1) | JP6777684B2 (ja) |
FR (1) | FR3081001B1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3119795B1 (fr) * | 2021-02-16 | 2024-03-22 | Psa Automobiles Sa | Procédé et dispositif de verrouillage/déverrouillage sécurisé de train à suspension pendulaire de véhicule notamment pour un stationnement prolongé |
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 |
DE102008013487A1 (de) * | 2008-03-10 | 2009-09-17 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Verfahren sowie Vorrichtung zur Ansteuerung eines Sperrgliedes |
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 |
-
2018
- 2018-05-10 JP JP2018091389A patent/JP6777684B2/ja active Active
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2019
- 2019-05-09 FR FR1904807A patent/FR3081001B1/fr active Active
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Publication number | Publication date |
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JP2019196108A (ja) | 2019-11-14 |
FR3081001A1 (fr) | 2019-11-15 |
FR3081001B1 (fr) | 2022-09-16 |
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