JP6787060B2 - 駆動力制御装置及び車両の制御方法 - Google Patents
駆動力制御装置及び車両の制御方法 Download PDFInfo
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- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B60W40/072—Curvature of the road
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- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
- B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
- B60K2023/0858—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with electric means, e.g. electro-hydraulic means
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
Description
本発明の第1の実施の形態について、図1乃至図4を参照して説明する。なお、以下に説明する実施の形態は、本発明を実施する上での好適な具体例として示すものであり、技術的に好ましい種々の技術的事項を具体的に例示している部分もあるが、本発明の技術的範囲は、この具体的態様に限定されるものではない。
図2は、駆動力配分装置1の構成例を示す断面図である。
駆動力制御装置10は、例えばCPU(Central Processing Unit)と記憶素子とを備え、CPUが記憶素子に記憶されたプログラムに基づいて処理を実行することにより、第1の旋回半径演算手段11、第2の旋回半径演算手段12、目標旋回半径設定手段13、目標回転速度演算手段14、駆動力配分比調整手段15、及び路面摩擦係数推定手段16として機能する。
以上説明した第1の実施の形態によれば、ステアリングホイール109が限界旋回半径に対応する操舵角よりも大きく操舵された場合には、限界旋回半径に設定された目標旋回半径及び車速に基づいて左右後輪105a,105bのそれぞれの目標回転速度が演算され、左右後輪105a,105bの実回転速度が演算された目標回転速度に近づくように左右後輪105a,105bへの駆動力が調節される。これにより、過度なオーバーステア状態になることが抑制され、四輪駆動車100の挙動を安定化させることが可能となる。
次に、本発明の第2の実施の形態について、図5乃至図7を参照して説明する。第2の実施の形態は、左右後輪105a,105bに駆動力を配分する駆動力配分装置1Aの構成が第1の実施の形態に係る駆動力配分装置1とは異なる。以下、第2の実施の形態について、第1の実施の形態と異なる部分を中心に説明する。
以上、本発明を第1及び第2の実施の形態に基づいて説明したが、これらの実施の形態は特許請求の範囲に係る発明を限定するものではない。また、実施の形態の中で説明した特徴の組合せの全てが発明の課題を解決するための手段に必須であるとは限らない点に留意すべきである。
10,10A…駆動力制御装置
100…四輪駆動車
102…エンジン(駆動源)
105a,105b…左右後輪(左右輪)
11…第1の旋回半径演算手段
12…第2の旋回半径演算手段
13…目標旋回半径設定手段
14…目標回転速度演算手段
15…駆動力配分比調整手段
16…路面摩擦係数推定手段
41…多板クラッチ(左側クラッチ、右側クラッチ)
6…差動歯車機構
7…遊星歯車機構(歯車機構)
8…変速機構(歯車機構)
Claims (6)
- 車両の左右輪に駆動源の駆動力を配分比可変に配分することが可能な駆動力配分装置を制御する駆動力制御装置であって、
操舵角に応じて定まる車両の旋回半径である操舵角対応旋回半径を演算する第1の旋回半径演算手段と、
車速に応じて走行状態の安定性を保ちながら旋回することが可能な旋回半径の最小値である限界旋回半径を演算する第2の旋回半径演算手段と、
前記操舵角対応旋回半径が前記限界旋回半径よりも大きい場合に前記操舵角対応旋回半径を目標旋回半径として設定し、前記操舵角対応旋回半径が前記限界旋回半径よりも小さい場合に前記限界旋回半径を目標旋回半径として設定する目標旋回半径設定手段と、
前記目標旋回半径設定手段で設定された前記目標旋回半径及び車速に基づいて前記左右輪のそれぞれの目標回転速度を演算する目標回転速度演算手段と、
前記左右輪の実回転速度が前記目標回転速度に近づくように前記左右輪への駆動力の配分比を調整する駆動力配分比調整手段と、を備えた、
駆動力制御装置。 - 路面の摩擦係数を推定する路面摩擦係数推定手段をさらに備え、
前記第2の旋回半径演算手段は、前記推定された路面の摩擦係数を考慮して限界旋回半径を演算する、
請求項1に記載の駆動力制御装置。 - 目標回転速度演算手段は、アクセル開度及び車速から求められる目標スリップ角に基づいて前記目標回転速度を演算する、
請求項1又は2に記載の駆動力制御装置。 - 前記駆動力配分装置は、前記左右輪のうち左側の車輪に駆動力を伝達する左側クラッチ、及び右側の車輪に駆動力を伝達する右側クラッチを有し、
前記駆動力配分比調整手段は、前記左側クラッチ及び右側クラッチによって伝達される駆動力を調節する、
請求項1乃至3の何れか1項に記載の駆動力制御装置。 - 前記駆動力配分装置は、前記左右輪のうち左側の車輪と右側の車輪との差動回転速度を可変とする歯車機構を有し、
前記駆動力配分比調整手段は、前記歯車機構による前記差動回転速度を調節する、
請求項1乃至3の何れか1項に記載の駆動力制御装置。 - 左右輪に駆動源の駆動力を配分比可変に配分することが可能な駆動力配分装置を備えた車両の制御方法であって、
操舵角に応じて定まる車両の旋回半径である操舵角対応旋回半径を演算し、
車速に応じて走行状態の安定性を保ちながら旋回することが可能な旋回半径の最小値である限界旋回半径を演算し、
前記操舵角対応旋回半径と前記限界旋回半径とのうち大きい方を目標旋回半径として設定し、
前記目標旋回半径及び車速に基づいて前記左右輪のそれぞれの目標回転速度を演算し、
前記左右輪の実回転速度が前記目標回転速度に近づくように前記左右輪への駆動力の配分比を調整する、
車両の制御方法。
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JP2016220614A JP6787060B2 (ja) | 2016-11-11 | 2016-11-11 | 駆動力制御装置及び車両の制御方法 |
US15/807,620 US10493845B2 (en) | 2016-11-11 | 2017-11-09 | Drive force control device and method of controlling vehicle |
DE102017126192.3A DE102017126192A1 (de) | 2016-11-11 | 2017-11-09 | Antriebskraftsteuerungsvorrichtung und Verfahren des Steuerns eines Fahrzeugs |
CN201711104421.9A CN108068618B (zh) | 2016-11-11 | 2017-11-10 | 驱动力控制装置及车辆的控制方法 |
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JP6787060B2 true JP6787060B2 (ja) | 2020-11-18 |
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