JP6832331B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- JP6832331B2 JP6832331B2 JP2018240419A JP2018240419A JP6832331B2 JP 6832331 B2 JP6832331 B2 JP 6832331B2 JP 2018240419 A JP2018240419 A JP 2018240419A JP 2018240419 A JP2018240419 A JP 2018240419A JP 6832331 B2 JP6832331 B2 JP 6832331B2
- Authority
- JP
- Japan
- Prior art keywords
- deceleration force
- power plant
- additional
- additional deceleration
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 30
- 230000005484 gravity Effects 0.000 description 15
- 238000012937 correction Methods 0.000 description 13
- 230000036461 convulsion Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 239000000725 suspension Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000498 cooling water Substances 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 239000003054 catalyst Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- B60W30/18136—Engine braking
-
- 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
- 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
-
- 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
- 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
- B60W40/10—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 vehicle motion
-
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W2520/16—Pitch
-
- 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
-
- 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
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2720/12—Lateral speed
- B60W2720/125—Lateral acceleration
Landscapes
- 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)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electrical Control Of Ignition Timing (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
4A :前輪
4B :後輪
6 :パワープラント
20 :ブレーキ
21 :油圧供給装置
30 :制御装置
33 :車速センサ
34 :前輪舵角センサ
35 :ヨーレートセンサ
36 :付加ピッチモーメント演算部
37 :付加減速力演算部
38 :減速力分配部
49 :演算部
Claims (5)
- 車両のブレーキ及びパワープラントを制御する車両制御装置であって、
前輪舵角を含む車両状態情報を取得する車両状態検出装置と、
前記車両状態情報に基づいて前記車両に加えるべき付加ピッチモーメントを演算する付加ピッチモーメント演算部と、
前記付加ピッチモーメントに基づいて前記車両に発生させるべき、減速側を負の値とした付加減速力を演算する減速力演算部と、
前記付加減速力と、前記ブレーキ及び前記パワープラントの状態情報とに基づいて、前記ブレーキが発生させるべきブレーキ付加減速力と前記パワープラントが発生させるパワープラント付加減速力とを演算する減速力分配部とを有し、
前記減速力分配部は、予め設定されたパワープラント分配不可条件が成立したときに、前記付加減速力に基づいて前記ブレーキ付加減速力を演算し、かつ前記パワープラント付加減速力に0を設定し、前記パワープラント分配不可条件が成立から不成立に変化しても、前記付加減速力が0になるまで前記パワープラント付加減速力を0に維持することを特徴とする車両制御装置。 - 前記減速力分配部は、前記パワープラント分配不可条件が不成立であり、かつ前記付加減速力が所定の判定値以上のときに、前記パワープラント付加減速力に前記付加減速力を設定し、かつ前記ブレーキ付加減速力に0を設定することを特徴とする請求項1に記載の車両制御装置。
- 前記減速力分配部は、前記パワープラント付加減速力に0より小さい値を設定し、前記ブレーキ付加減速力に0を設定した場合において、前記パワープラント分配不可条件が不成立から成立に変化しても、前記付加減速力が0になるまで前記ブレーキ付加減速力を0に維持することを特徴とする請求項2に記載の車両制御装置。
- 前記減速力分配部は、前記パワープラント分配不可条件が不成立であり、かつ前記付加減速力が前記判定値より小さいときに、前記パワープラント付加減速力に前記判定値を設定すると共に、かつ前記ブレーキ付加減速力に前記付加減速力から前記判定値を引いた値を設定することを特徴とする請求項2に記載の車両制御装置。
- 前記パワープラントは、前記付加減速力を実現するために、点火時期をリタードさせることを特徴とする請求項1〜請求項4のいずれか1つの項に記載の車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018240419A JP6832331B2 (ja) | 2018-12-24 | 2018-12-24 | 車両制御装置 |
CN201911308675.1A CN111361548B (zh) | 2018-12-24 | 2019-12-18 | 车辆控制系统 |
US16/719,312 US11318945B2 (en) | 2018-12-24 | 2019-12-18 | Vehicle control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018240419A JP6832331B2 (ja) | 2018-12-24 | 2018-12-24 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020100320A JP2020100320A (ja) | 2020-07-02 |
JP6832331B2 true JP6832331B2 (ja) | 2021-02-24 |
Family
ID=71097353
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018240419A Active JP6832331B2 (ja) | 2018-12-24 | 2018-12-24 | 車両制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11318945B2 (ja) |
JP (1) | JP6832331B2 (ja) |
CN (1) | CN111361548B (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20210037785A (ko) * | 2019-09-27 | 2021-04-07 | 한국기술교육대학교 산학협력단 | 차량의 승차감 개선 장치 및 방법 |
JP7150001B2 (ja) * | 2020-12-28 | 2022-10-07 | 本田技研工業株式会社 | 車両制御装置 |
JP2022108414A (ja) | 2021-01-13 | 2022-07-26 | 本田技研工業株式会社 | 車両制御装置 |
JP7145993B2 (ja) * | 2021-01-20 | 2022-10-03 | 本田技研工業株式会社 | 車両制御装置 |
JP2022117642A (ja) * | 2021-02-01 | 2022-08-12 | 本田技研工業株式会社 | 車両制御装置 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4252487B2 (ja) * | 2004-04-23 | 2009-04-08 | 日産自動車株式会社 | 減速制御装置 |
JPWO2006013645A1 (ja) * | 2004-08-06 | 2008-05-01 | 株式会社日立製作所 | 車両姿勢制御装置および方法 |
JP2006177442A (ja) * | 2004-12-22 | 2006-07-06 | Toyota Motor Corp | 加減速度制御装置 |
JP4277915B2 (ja) * | 2007-04-03 | 2009-06-10 | 株式会社デンソー | 車両制御装置 |
JP5143103B2 (ja) * | 2009-09-30 | 2013-02-13 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
JP6255678B2 (ja) * | 2013-03-01 | 2018-01-10 | 三菱自動車工業株式会社 | 内燃機関の制御装置 |
JP6112311B2 (ja) * | 2014-08-11 | 2017-04-12 | マツダ株式会社 | 車両用挙動制御装置 |
JP6073941B2 (ja) * | 2015-02-18 | 2017-02-01 | 本田技研工業株式会社 | 車両用走行制御装置 |
EP3342658B1 (en) * | 2015-12-22 | 2020-07-01 | Mazda Motor Corporation | Vehicle control device |
JP6395789B2 (ja) | 2016-11-18 | 2018-09-26 | 本田技研工業株式会社 | 車両制御装置 |
-
2018
- 2018-12-24 JP JP2018240419A patent/JP6832331B2/ja active Active
-
2019
- 2019-12-18 US US16/719,312 patent/US11318945B2/en active Active
- 2019-12-18 CN CN201911308675.1A patent/CN111361548B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US11318945B2 (en) | 2022-05-03 |
CN111361548B (zh) | 2023-04-07 |
JP2020100320A (ja) | 2020-07-02 |
CN111361548A (zh) | 2020-07-03 |
US20200198637A1 (en) | 2020-06-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6832331B2 (ja) | 車両制御装置 | |
US7489995B2 (en) | Vehicle motion stability control apparatus | |
JP6844500B2 (ja) | 車両の挙動制御装置 | |
WO2018173302A1 (ja) | 制御装置、および、ステアリング装置 | |
JP4886655B2 (ja) | 車両挙動制御装置 | |
US11325599B2 (en) | Vehicle control system for adjusting longtitudinal motion to reduce deviation of lateral motion | |
JP6521495B1 (ja) | 車両の挙動制御装置 | |
JP6481655B2 (ja) | 車両用減衰力制御装置 | |
WO2018173303A1 (ja) | 制御装置、および、サスペンション装置 | |
JP6395789B2 (ja) | 車両制御装置 | |
US11958465B2 (en) | Vehicle control system | |
US20220242377A1 (en) | Vehicle control system | |
CN111152781B (zh) | 车辆行为稳定系统 | |
JP6438449B2 (ja) | 車両制御装置 | |
CN114802140B (zh) | 车辆控制系统 | |
JP2011218953A (ja) | 駆動力制御装置 | |
CN114684085B (zh) | 车辆控制系统 | |
JP2004203084A (ja) | 車両の運動制御装置 | |
US11840210B2 (en) | Vehicle control system | |
JP5401236B2 (ja) | 車両の運動制御装置 | |
KR20070016160A (ko) | 동적 차축 하중 전달을 상쇄시키기 위한 방법 | |
JP2006144569A (ja) | 車両用駆動力制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190726 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200915 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201113 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210105 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210201 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6832331 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |