JP7040383B2 - 四輪駆動車両 - Google Patents
四輪駆動車両 Download PDFInfo
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- JP7040383B2 JP7040383B2 JP2018179487A JP2018179487A JP7040383B2 JP 7040383 B2 JP7040383 B2 JP 7040383B2 JP 2018179487 A JP2018179487 A JP 2018179487A JP 2018179487 A JP2018179487 A JP 2018179487A JP 7040383 B2 JP7040383 B2 JP 7040383B2
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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
- 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
- B60K17/344—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear
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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
- 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
- B60W40/068—Road friction coefficient
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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
- 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
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
-
- 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
- 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
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
- B60K17/35—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches
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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
- 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
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
- B60K17/35—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches
- B60K17/3515—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches with a clutch adjacent to traction wheel, e.g. automatic wheel hub
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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
- 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
- B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
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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
-
- 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
- B60K23/0808—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 for varying torque distribution between driven axles, e.g. by transfer clutch
-
- 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
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
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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
- B60K23/0808—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 for varying torque distribution between driven axles, e.g. by transfer clutch
- B60K2023/0816—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 for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential
- B60K2023/0833—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 for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential for adding torque to the rear wheels
-
- 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
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/18—Four-wheel drive vehicles
-
- 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
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/42—Clutches or brakes
- B60Y2400/421—Dog type clutches or brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/42—Clutches or brakes
- B60Y2400/424—Friction clutches
- B60Y2400/4244—Friction clutches of wet type, e.g. using multiple lamellae
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H2063/3093—Final output elements, i.e. the final elements to establish gear ratio, e.g. dog clutches or other means establishing coupling to shaft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
S=(W-Ws)/Ws ・・・(1)
なお、式(1)において、「Ws」は、前述した車体速度Wsであり、「W」は、車輪速度Wfl、Wfr、Wrl、Wrrうちの車体速度Wsとの差が一番大きくなる車輪速度Wである。
ΔRyaw=Ryaw-Ryawtgt ・・・(2)
なお、式(2)に記載されている「Ryawtgt」は、車速Vおよび操舵角θsw等に基づいて算出した目標ヨーレートRyawtgtである。
12:エンジン(駆動力源)
14L、14R:前輪(主駆動輪)
16L、16R:後輪(副駆動輪)
26:第1噛合式クラッチ(噛合式クラッチ)
30:プロペラシャフト(動力伝達部材)
36:第2噛合式クラッチ(噛合式クラッチ)
38L:左制御カップリング(電子制御カップリング)
38R:右制御カップリング(電子制御カップリング)
42:入力軸(第1入力回転部材、入力回転部材)
46:出力軸(第1出力回転部材、出力回転部材)
98:第2リングギヤ(第2入力回転部材、入力回転部材)
100:電子制御装置(制御装置)
106:中央車軸(第2出力回転部材、出力回転部材)
160:駆動状態切替部
162:路面状態判定部
164:切替要求出力部
166:路面状態再判定部
168:カップリング制御部
202:電子制御カップリング
H:変化量
H1:所定変化量(判定値)
tc:所定時間
S:スリップ率
Sa1:第1閾値
Sa2:第2閾値
ΔRyaw:ヨーレート偏差
ΔRyawp:ヨーレート偏差
Claims (7)
- 駆動力源から主駆動輪へ向かう駆動力の一部が入力される入力回転部材と副駆動輪に動力伝達可能に連結された出力回転部材との間の動力伝達経路を選択的に切断または接続する噛合式クラッチと、前記駆動力源と前記副駆動輪との間の動力伝達経路上に設けられ、前記駆動力源から前記副駆動輪へ伝達される駆動力を調整する摩擦式クラッチである電子制御カップリングと、前記噛合式クラッチを係合状態にするとともに前記電子制御カップリングを係合状態にした四輪駆動状態と前記噛合式クラッチを解放状態にした二輪駆動状態とを切替制御する制御装置と、を備え、前記制御装置は、走行路面が低摩擦路であると判定すると駆動状態を前記四輪駆動状態に切り替え、走行路面が高摩擦路であると判定すると前記駆動状態を前記二輪駆動状態に切り替える四輪駆動車両であって、
前記制御装置は、前記駆動状態を前記四輪駆動状態から前記二輪駆動状態に切り替える場合において、前記噛合式クラッチを解放させる前に、前記電子制御カップリングを一時的に解放して、前記走行路面が前記低摩擦路であるか前記高摩擦路であるかを再判定し、前記走行路面が前記低摩擦路であると再判定したときには、前記四輪駆動状態から前記二輪駆動状態への切り替えを禁止する
ことを特徴とする四輪駆動車両。 - 前記噛合式クラッチには、
前記駆動力源から前記主駆動輪へ向かう駆動力の一部が入力される第1入力回転部材と前記副駆動輪に動力伝達部材を介して連結された第1出力回転部材との間の動力伝達経路を選択的に切断または接続する第1噛合式クラッチと、
前記動力伝達部材に連結された第2入力回転部材と前記副駆動輪に連結された第2出力回転部材との間の動力伝達経路を選択的に切断または接続する第2噛合式クラッチと、が備えられ、
前記電子制御カップリングは、前記第1出力回転部材と前記副駆動輪との間の動力伝達経路上に設けられており、
前記制御装置は、前記第1噛合式クラッチおよび前記第2噛合式クラッチをそれぞれ係合状態にするとともに前記電子制御カップリングを係合状態にした四輪駆動状態と、前記第1噛合式クラッチおよび前記第2噛合式クラッチをそれぞれ解放状態にした二輪駆動状態と、を切替制御する
ことを特徴とする請求項1の四輪駆動車両。 - 前記制御装置は、前記走行路面が前記低摩擦路であるか前記高摩擦路であるかを再判定する場合において、前記主駆動輪および前記副駆動輪の何れかの車輪のスリップ率が予め設定された第1閾値を超えるとき、または、前記スリップ率が前記第1閾値よりも小さく設定された第2閾値を超え且つ前記スリップ率が前記第2閾値を超えている時間が予め設定された所定時間よりも長いときに、前記走行路面が前記低摩擦路であると再判定する
ことを特徴とする請求項1または2の四輪駆動車両。 - 前記第1閾値は、前記電子制御カップリングを一時的に解放する前の前記スリップ率に基づいて決定される
ことを特徴とする請求項3の四輪駆動車両。 - 前記制御装置は、前記走行路面が前記低摩擦路であるか前記高摩擦路であるかを再判定する場合において、前記電子制御カップリングを一時的に解放する前のヨーレート偏差と前記電子制御カップリングを一時的に解放したときのヨーレート偏差との変化量が、予め設定された判定値を超えたときに、前記走行路面が前記低摩擦路であると再判定する
ことを特徴とする請求項1から4のいずれか1の四輪駆動車両。 - 前記電子制御カップリングは、前記副駆動輪の左右にそれぞれ連結された左右一対の制御カップリングである
ことを特徴とする請求項1から5のいずれか1の四輪駆動車両。 - 前記主駆動輪は前輪であり、前記副駆動輪は後輪である請求項1から6のいずれか1の四輪駆動車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018179487A JP7040383B2 (ja) | 2018-09-25 | 2018-09-25 | 四輪駆動車両 |
CN201910899261.4A CN110936812B (zh) | 2018-09-25 | 2019-09-23 | 四轮驱动车辆 |
US16/582,148 US11097740B2 (en) | 2018-09-25 | 2019-09-25 | Four-wheel drive vehicle |
EP19199495.3A EP3628523B1 (en) | 2018-09-25 | 2019-09-25 | Four-wheel drive vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018179487A JP7040383B2 (ja) | 2018-09-25 | 2018-09-25 | 四輪駆動車両 |
Publications (2)
Publication Number | Publication Date |
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JP2020050051A JP2020050051A (ja) | 2020-04-02 |
JP7040383B2 true JP7040383B2 (ja) | 2022-03-23 |
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Application Number | Title | Priority Date | Filing Date |
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JP2018179487A Active JP7040383B2 (ja) | 2018-09-25 | 2018-09-25 | 四輪駆動車両 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11097740B2 (ja) |
EP (1) | EP3628523B1 (ja) |
JP (1) | JP7040383B2 (ja) |
CN (1) | CN110936812B (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10502574B2 (en) * | 2016-09-20 | 2019-12-10 | Waymo Llc | Devices and methods for a sensor platform of a vehicle |
US10277084B1 (en) | 2016-10-19 | 2019-04-30 | Waymo Llc | Planar rotary transformer |
JP7159768B2 (ja) * | 2018-10-09 | 2022-10-25 | トヨタ自動車株式会社 | 四輪駆動車両の走行制御装置 |
DE102018133648B4 (de) * | 2018-12-28 | 2021-06-17 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben eines Antriebsstrangs eines Kraftfahrzeugs sowie Antriebsstrang für ein Kraftfahrzeug |
EP4136368A4 (en) | 2020-04-17 | 2024-04-24 | Polaris Industries Inc. | TORQUE VECTORIZATION FOR COMMERCIAL VEHICLES |
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