JP6870688B2 - 車両の制御装置及び制御方法 - Google Patents
車両の制御装置及び制御方法 Download PDFInfo
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- JP6870688B2 JP6870688B2 JP2018564494A JP2018564494A JP6870688B2 JP 6870688 B2 JP6870688 B2 JP 6870688B2 JP 2018564494 A JP2018564494 A JP 2018564494A JP 2018564494 A JP2018564494 A JP 2018564494A JP 6870688 B2 JP6870688 B2 JP 6870688B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Description
図1は、本発明の第1実施形態における制御装置を備える電動車両100の主要構成を示すブロック図である。
次に、ステップS203で行われる勾配トルク推定値Td*の導出手法について図面を参照して説明する。
Jw: 駆動輪のイナーシャ
M : 電動車両100の重量
Kd: 駆動系の捻り剛性
Kt: タイヤと路面の摩擦に関する係数
N : オーバーオールギヤ比
r : タイヤの荷重半径
ωm: モータ回転速度
Tm: モータトルク
Tw: 駆動輪のトルク
F : 電動車両100に加えられる力
V : 電動車両100の速度
ωw: 駆動輪の角速度
Tf: 摩擦制動量(モータ軸換算トルク)(≧0)
そして、図5に示した車両モデルにより、以下の運動方程式を導くことができる。
次に、図2のステップS206で制振制御部24によって行われる制振制御処理について説明する。
図13は、本発明の第2実施形態における勾配トルク演算部22の構成例を示すブロック図である。
図15は、本発明の第3実施形態における勾配トルク演算部22の構成例を示すブロック図である。
次に、電動車両100の停止状態から発進状態に遷移する際に生じる車両流動を抑制する車両流動抑制処理について説明する。
図25は、本発明の第5実施形態における車両流動抑制処理の処理手順例を示すフローチャートである。
Claims (19)
- 車両に制駆動力を与えるモータと、前記車両に摩擦制動力を与える摩擦制動機構と、を備える車両の制御方法であって、
アクセルペダルの操作量に基づいて前記モータの目標トルクを演算する目標演算ステップと、
前記車両が走行する路面の勾配による外乱を打ち消す勾配トルクを推定する勾配推定ステップと、
前記勾配トルクと前記目標トルクとに基づいて前記モータのトルク指令値を演算する指令演算ステップと、
前記トルク指令値に基づいて前記モータに生じるトルクを制御する制御ステップと、
前記車両が停止するか否かを判定し、前記車両が停止すると判定したときには、前記車両に与える制動トルクを前記勾配トルクよりも大きい値とし、当該制動トルクを前記モータのトルクから前記摩擦制動機構による摩擦トルクに切り替える停止制御ステップと、を含み、
前記停止制御ステップでは、前記車両が停止すると判定したときには、前記摩擦トルクが前記大きい値になるまで、前記車両の停止判定後の経過時間が長くなるほど前記摩擦制動機構に供給される液体の昇圧速度を大きくする、
車両の制御方法。 - 車両に制駆動力を与えるモータと、前記車両に摩擦制動力を与える摩擦制動機構と、を備える車両の制御方法であって、
アクセルペダルの操作量に基づいて前記モータの目標トルクを演算する目標演算ステップと、
前記車両が走行する路面の勾配による外乱を打ち消す勾配トルクを推定する勾配推定ステップと、
前記勾配トルクと前記目標トルクとに基づいて前記モータのトルク指令値を演算する指令演算ステップと、
前記トルク指令値に基づいて前記モータに生じるトルクを制御する制御ステップと、
前記車両が停止するか否かを判定し、前記車両が停止すると判定したときには、前記車両に与える制動トルクを前記勾配トルクよりも大きい値とし、当該制動トルクを前記モータのトルクから前記摩擦制動機構による摩擦トルクに切り替える停止制御ステップと、を含み、
前記停止制御ステップでは、前記車両が停止すると判定したときには、前記摩擦トルクが前記大きい値になるまで、前記車両の速度が低下するほど前記摩擦制動機構に供給される液体の昇圧速度を大きくする、
車両の制御方法。 - 請求項2に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両が停止すると判定したときには、前記摩擦トルクが前記モータのトルクと一致するように前記液体の圧力を速やかに上昇させ、その後に前記液体の昇圧速度を徐々に大きくする、
車両の制御方法。 - 請求項1から請求項3までのいずれか1項に記載の車両の制御方法であって、
前記停止制御ステップは、
前記車両の速度が閾値よりも低下するか否かを判断し、
前記車両の速度が前記閾値よりも低下した場合には、前記摩擦トルクを前記勾配トルクの絶対値よりも大きな停車トルクまで増加させる、
車両の制御方法。 - 請求項4に記載の車両の制御方法であって、
前記停車トルクは、前記摩擦制動機構に供給される液体の温度特性によりあらかじめ設定される、
車両の制御方法。 - 請求項1から請求項5までのいずれか1項に記載の車両の制御方法であって、
前記勾配推定ステップは、前記勾配トルクを減少補正し、前記車両が停止するときには、前記車両の速度が減少するほど、前記勾配トルクの補正量をゼロに近づける、
車両の制御方法。 - 請求項6に記載の車両の制御方法であって、
前記勾配推定ステップは、前記勾配トルクが増加するほど、前記勾配トルクを減少補正する、
車両の制御方法。 - 請求項6又は請求項7に記載の車両の制御方法であって、
前記摩擦制動機構は、パーキングブレーキを含み、
前記勾配推定ステップは、前記パーキングブレーキにより前記車両に摩擦制動力を与える場合には、前記勾配トルクの補正を抑制する、
車両の制御方法。 - 請求項6から請求項8までのいずれか1項に記載の車両の制御方法であって、
前記勾配推定ステップは、前記車両がスリップ状態であるか否かを判断し、前記スリップ状態であると判断した場合には前記勾配トルクを制限する、
車両の制御方法。 - 請求項6から請求項9までのいずれか1項に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両がスリップ状態で停止するときは、前記車両がスリップしていない状態で停止するときに比べて前記摩擦トルクを増加させる、
車両の制御方法。 - 請求項1から請求項10までのいずれか1項に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両の速度が所定値まで低下した場合に、該所定値まで低下した時点からの前記車両の移動量が大きくなるほど、前記摩擦トルクを増加させる、
車両の制御方法。 - 請求項1から請求項10までのいずれか1項に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両が流動する状態を検出したときには、前記車両の流動量に応じて前記摩擦トルクを増加させる、
車両の制御方法。 - 請求項12に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両のシフトレバの切替えがDレンジとRレンジとの間で行われた場合には、前記摩擦トルクの増加を抑制する、
車両の制御方法。 - 請求項12又は請求項13に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両が進行方向に対して逆向きに流動する場合には、前記車両が前記進行方向に対して同一の向きに流動する場合に比べて、前記摩擦トルクの増加量又は増加速度を大きくする、
車両の制御方法。 - 請求項1から請求項10までのいずれか1項に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両が流動する状態を検出したときは、前記摩擦トルクを所定の値に増加させる、
車両の制御方法。 - 請求項15に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両に流動が発生してから前記車両が流動する状態を検出するまでの前記車両の流動量に応じて前記所定の値を増加させる、
車両の制御方法。 - 請求項15又は請求項16に記載の車両の制御方法であって、
前記停止制御ステップは、前記車両が停止した場合において前記車両のシフト位置がPレンジから他のレンジへ切り替えられたことを検出したときに、前記摩擦トルクを増加させる、
車両の制御方法。 - 車両に制駆動力を与えるモータと、
前記車両に摩擦制動力を与える摩擦制動機構と、
前記車両に作用する外乱を打ち消す勾配トルクを推定し、当該勾配トルクとアクセルペダルの操作量に基づく前記モータの目標トルクとに基づいて前記モータのトルク指令値を演算し、当該トルク指令値に基づいて前記モータを制御するコントローラと、を含み、
前記コントローラは、
前記車両が停止するか否かを判定し、前記車両が停止すると判定したときには、前記車両に与える制動トルクを前記勾配トルクよりも大きな値とし、当該制動トルクを前記モータのトルクから前記摩擦制動機構による摩擦トルクに切り替える停止制御処理を実行し、
前記停止制御処理では、前記コントローラは、
前記車両が停止すると判定したときには、前記摩擦トルクが前記大きい値になるまで、前記車両の停止判定後の経過時間が長くなるほど前記摩擦制動機構に供給される液体の昇圧速度を大きくする、
車両の制御装置。 - 車両に制駆動力を与えるモータと、
前記車両に摩擦制動力を与える摩擦制動機構と、
前記車両に作用する外乱を打ち消す勾配トルクを推定し、当該勾配トルクとアクセルペダルの操作量に基づく前記モータの目標トルクとに基づいて前記モータのトルク指令値を演算し、当該トルク指令値に基づいて前記モータを制御するコントローラと、を含み、
前記コントローラは、
前記車両が停止するか否かを判定し、前記車両が停止すると判定したときには、前記車両に与える制動トルクを前記勾配トルクよりも大きな値とし、当該制動トルクを前記モータのトルクから前記摩擦制動機構による摩擦トルクに切り替える停止制御処理を実行し、
前記停止制御処理では、前記コントローラは、
前記車両が停止すると判定したときには、前記摩擦トルクが前記大きい値になるまで、前記車両の速度が低下するほど前記摩擦制動機構に供給される液体の昇圧速度を大きくする、
車両の制御装置。
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