JP7109406B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP7109406B2 JP7109406B2 JP2019122686A JP2019122686A JP7109406B2 JP 7109406 B2 JP7109406 B2 JP 7109406B2 JP 2019122686 A JP2019122686 A JP 2019122686A JP 2019122686 A JP2019122686 A JP 2019122686A JP 7109406 B2 JP7109406 B2 JP 7109406B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
- B60T2260/022—Rear-wheel steering; Four-wheel steering
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0022—Gains, weighting coefficients or weighting functions
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/207—Oversteer or understeer
-
- 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
Description
横運動
横運動
3D :ダンパ(ADS)
5D :ダンパ(ADS)
7 :パワープラント
9 :動力分配装置(SH)
15 :後輪操舵装置(RTC)
20 :ブレーキ(BRK)
30 :制御装置
31 :運動制御部
51 :実車両挙動推定部
52 :目標車両挙動推定部
53 :FF付加モーメント・FF付加力演算部
54 :FF付加モーメント・FF付加力分配部
55 :第1FBヨーモーメント演算部
56 :第2FBヨーモーメント演算部
57 :FBヨーモーメント演算部
59 :縮退ゲイン演算部
61 :RTC分配FF量補正部
62 :SH分配FF量補正部
63 :BRK分配FF量補正部
64 :ADS分配FF量補正部
65 :RTC制御部
66 :SH制御部
67 :BRK制御部
68 :ADS制御部
71 :フィードフォワード演算部
72 :フィードバック演算部
73 :補正部
74 :目標制御量演算部
Claims (3)
- 車両の挙動を制御する複数の挙動制御装置を制御する車両制御装置であって、
前記挙動制御装置は、パワープラントが発生した駆動力を各車輪に分配する動力分配装置と、前記各車輪に設けられ、制動力を発生するブレーキとを含み、
前記車両制御装置は、
前輪の舵角及び車速に基づいて、フィードフォワード付加モーメント及びフィードフォワード付加力を演算するフィードフォワード付加モーメント・フィードフォワード付加力演算部と、
前記フィードフォワード付加モーメント及びフィードフォワード付加力を前記挙動制御装置のそれぞれに対応して分配した分配フィードフォワード制御量を演算するフィードフォワード制御量分配部と、
前記前輪の舵角及び前記車速に基づいて演算された目標ヨーレイトと実際のヨーレイトとの差、及び前記前輪の舵角及び前記車速に基づいて演算された目標重心スリップ角と実際の重心スリップ角との差の少なくとも一方に基づいてフィードバックヨーモーメントを演算するフィードバック演算部と、
前記フィードバックヨーモーメントの増加に応じて1から0に減少する縮退ゲインを、前記分配フィードフォワード制御量のそれぞれに対応して設定する縮退ゲイン演算部と、
前記挙動制御装置のそれぞれに対応して設けられ、前記縮退ゲインのそれぞれを対応する前記分配フィードフォワード制御量に乗じることによって前記挙動制御装置のそれぞれに対応した補正分配フィードフォワード制御量を演算する複数の補正部と、
前記動力分配装置に対応した前記補正分配フィードフォワード制御量に基づいて前記動力分配装置の目標制御量を演算し、前記動力分配装置の目標制御量に基づいて前記動力分配装置を制御する動力分配装置制御部と、
前記ブレーキに対応した前記補正分配フィードフォワード制御量と前記フィードバックヨーモーメントとを加算した加算値に基づいて前記ブレーキの目標制御量を演算し、前記ブレーキの目標制御量に基づいて前記ブレーキを制御するブレーキ制御部とを有することを特徴とする車両制御装置。 - 前記縮退ゲイン演算部は、前記動力分配装置の前記分配フィードフォワード制御量に対する前記縮退ゲインを、前記ブレーキの前記分配フィードフォワード制御量に対する前記縮退ゲインよりも、前記フィードバックヨーモーメントの増加に応じて先に減少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。
- 前記補正部は、更に前記車両の挙動がオーバーステアであるか否かを判定し、オーバーステアではないと判定した場合に前記フィードバックヨーモーメントの値に関わらず、前記縮退ゲインを1に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。
Priority Applications (3)
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JP2019122686A JP7109406B2 (ja) | 2019-07-01 | 2019-07-01 | 車両制御装置 |
CN202010596743.5A CN112172917B (zh) | 2019-07-01 | 2020-06-28 | 车辆控制系统 |
US16/915,229 US11390269B2 (en) | 2019-07-01 | 2020-06-29 | Vehicle control system |
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JP2019122686A JP7109406B2 (ja) | 2019-07-01 | 2019-07-01 | 車両制御装置 |
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JP2021008197A JP2021008197A (ja) | 2021-01-28 |
JP7109406B2 true JP7109406B2 (ja) | 2022-07-29 |
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JP7259574B2 (ja) * | 2019-06-17 | 2023-04-18 | 株式会社ジェイテクト | 制御装置、および転舵装置 |
JP2022108414A (ja) * | 2021-01-13 | 2022-07-26 | 本田技研工業株式会社 | 車両制御装置 |
JP2022191875A (ja) * | 2021-06-16 | 2022-12-28 | Ntn株式会社 | 車両運動制御装置、車両運動制御システムおよび車両 |
Citations (2)
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JP2008155703A (ja) | 2006-12-21 | 2008-07-10 | Jtekt Corp | 車両用操舵装置 |
JP2014148299A (ja) | 2013-01-11 | 2014-08-21 | Nissan Motor Co Ltd | 操舵制御装置 |
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JP5834993B2 (ja) * | 2012-02-20 | 2015-12-24 | 日産自動車株式会社 | 車両のパークロック装置 |
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- 2019-07-01 JP JP2019122686A patent/JP7109406B2/ja active Active
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2020
- 2020-06-28 CN CN202010596743.5A patent/CN112172917B/zh active Active
- 2020-06-29 US US16/915,229 patent/US11390269B2/en active Active
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JP2008155703A (ja) | 2006-12-21 | 2008-07-10 | Jtekt Corp | 車両用操舵装置 |
JP2014148299A (ja) | 2013-01-11 | 2014-08-21 | Nissan Motor Co Ltd | 操舵制御装置 |
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CN112172917A (zh) | 2021-01-05 |
US20210001835A1 (en) | 2021-01-07 |
JP2021008197A (ja) | 2021-01-28 |
US11390269B2 (en) | 2022-07-19 |
CN112172917B (zh) | 2023-03-28 |
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