JP7169461B2 - 制御装置 - Google Patents
制御装置 Download PDFInfo
- Publication number
- JP7169461B2 JP7169461B2 JP2021553580A JP2021553580A JP7169461B2 JP 7169461 B2 JP7169461 B2 JP 7169461B2 JP 2021553580 A JP2021553580 A JP 2021553580A JP 2021553580 A JP2021553580 A JP 2021553580A JP 7169461 B2 JP7169461 B2 JP 7169461B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- braking
- friction
- driving
- torque
- 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
- 230000004043 responsiveness Effects 0.000 claims description 20
- 238000001514 detection method Methods 0.000 description 25
- 230000001172 regenerating effect Effects 0.000 description 24
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 16
- 230000001133 acceleration Effects 0.000 description 14
- 238000004364 calculation method Methods 0.000 description 11
- 230000006399 behavior Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 238000010248 power generation Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 239000010426 asphalt Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
Classifications
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
-
- 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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- 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
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- 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
- B60W2510/18—Braking system
- B60W2510/182—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2520/28—Wheel speed
-
- 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
- B60W2540/12—Brake pedal position
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Sustainable Energy (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Description
図1に示されるように、車両2には、右前輪215R及び左前輪215Lと、右後輪216R及び左後輪216Lと、が設けられている。右前輪215R及び左前輪215Lは、それぞれ、車両2を駆動するための右駆動輪及び左駆動輪として機能している。右後輪216R及び左後輪216Lは、それぞれ、右前輪215R及び左前輪215Lの駆動に伴って回転する右従動輪及び左従動輪として機能している。
スリップ率=(車体速度-駆動輪の車輪速度)/車体速度×100 (f1)
スリップ率=(車体速度-駆動輪の車輪速度)/車体速度×100 (f1)
TT=TR×ST/SR (f2)
TTa=TRa×ST/SR (f3)
TMG=TU-TFR-TFL (f4)
TFR≧TFR_min,TFL≧TFL_min:TMG=TU-TFR-TFL(f5)
TFR<TFR_min,TFL≧TFL_min:TMG=TU-TFR-TFL-TFR_min(f6)
TFR≧TFR_min,TFL<TFL_min:TMG=TU-TFR-TFL-TFL_min(f7)
TFR<TFR_min,TFL<TFL_min:TMG=TU-TFR-TFL-TFR_min-TFL_min(f8)
1)TFR<TFR_min,TFL≧TFL_min:TMG=TU-TFR-TFL-TFR_min
2)TFR≧TFR_min,TFL<TFL_min:TMG=TU-TFR-TFL-TFL_min
3)TFR<TFR_min,TFL<TFL_min:TMG=TU-TFR-TFL-TFR_min-TFL_min
を満たすように前記駆動制動トルクを調整することができる。
図7に示されるように、車両2Aには、右前輪215R及び左前輪215Lと、右後輪216R及び左後輪216Lと、が設けられている。右前輪215R及び左前輪215Lは、車両2を駆動するための駆動輪として機能している。右後輪216R及び左後輪216Lは、右前輪215R及び左前輪215Lの駆動に伴って回転する従動輪として機能している。
スリップ率=(車体速度-駆動輪の車輪速度)/車体速度×100 (f1A)
スリップ率=(車体速度-駆動輪の車輪速度)/車体速度×100 (f1A)
TT=TR×ST/SR (f2A)
TTa=TRa×ST/SR (f3A)
Claims (4)
- 制御装置であって、
車両に設けられた右駆動輪及び左駆動輪に差動装置を介して接続される電動モータから前記右駆動輪及び前記左駆動輪に駆動力又は制動力を与えるための駆動制動トルクを発生させるモータ制御部(121)と、
前記右駆動輪を摩擦制動する右摩擦制動装置及び前記左駆動輪を摩擦制動する左摩擦制動装置を制御する摩擦制御部(103)と、を備え、
前記摩擦制御部が前記右駆動輪及び前記左駆動輪に対してアンチロックブレーキ制御を実行する際に、前記モータ制御部が前記駆動制動トルクを発生させ、
前記モータ制御部は、前記右駆動輪の回転数及び前記左駆動輪の回転数の平均値に対応する要求トルクから、前記右摩擦制動装置が前記右駆動輪を摩擦制動する右制動トルク及び前記左摩擦制動装置が前記左駆動輪を摩擦制動する左制動トルクを差し引いて前記駆動制動トルクを算出するものであって、
前記モータ制御部は、前記右摩擦制動装置及び前記左摩擦制動装置の少なくとも一方の応答性が所定の応答性を下回らないように前記駆動制動トルクを調整する。 - 請求項1に記載の制御装置であって、
前記要求トルクをTUとし、前記駆動制動トルクをTMGとし、前記右制動トルクをTFRとし、前記左制動トルクをTFLとし、前記右摩擦制動装置の応答性が所定の第1閾値となるときの制動トルクをTFR_minとし、前記左摩擦制動装置の応答性が所定の第2閾値となるときの制動トルクをTFL_minとした場合、
前記モータ制御部は、下記式
1)TFR<TFR_min,TFL≧TFL_min:TMG=TU-TFR-TFL-TFR_min
2)TFR≧TFR_min,TFL<TFL_min:TMG=TU-TFR-TFL-TFL_min
3)TFR<TFR_min,TFL<TFL_min:TMG=TU-TFR-TFL-TFR_min-TFL_min
を満たすように前記駆動制動トルクを調整する。 - 請求項1又は2に記載の制御装置であって、
前記駆動制動トルクが所定の下限ガード値を下回る場合に、前記モータ制御部は前記駆動制動トルクを前記下限ガード値に設定する。 - 請求項1又は2に記載の制御装置であって、
前記駆動制動トルクの符号が正から負に変わる場合に、前記モータ制御部は前記駆動制動トルクの制御を停止する。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019194097 | 2019-10-25 | ||
JP2019194098 | 2019-10-25 | ||
JP2019194096 | 2019-10-25 | ||
JP2019194098 | 2019-10-25 | ||
JP2019194097 | 2019-10-25 | ||
JP2019194096 | 2019-10-25 | ||
PCT/JP2020/039988 WO2021080011A1 (ja) | 2019-10-25 | 2020-10-23 | 制御装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JPWO2021080011A1 JPWO2021080011A1 (ja) | 2021-04-29 |
JPWO2021080011A5 JPWO2021080011A5 (ja) | 2022-06-07 |
JP7169461B2 true JP7169461B2 (ja) | 2022-11-10 |
Family
ID=75620157
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021553580A Active JP7169461B2 (ja) | 2019-10-25 | 2020-10-23 | 制御装置 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4049885A4 (ja) |
JP (1) | JP7169461B2 (ja) |
WO (1) | WO2021080011A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114148331A (zh) * | 2021-12-09 | 2022-03-08 | 奇瑞汽车股份有限公司 | 车辆防滑控制方法和装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016210215A (ja) | 2015-04-30 | 2016-12-15 | いすゞ自動車株式会社 | ハイブリッド車両及びハイブリッド車両の制御方法 |
WO2019088024A1 (ja) | 2017-10-30 | 2019-05-09 | 株式会社デンソー | 路面状態判別装置およびそれを備えたタイヤシステム |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000055790A (ja) * | 1998-06-03 | 2000-02-25 | Toyota Central Res & Dev Lab Inc | 路面μ推定装置 |
JP4188348B2 (ja) * | 2005-08-10 | 2008-11-26 | 株式会社日立製作所 | 電動車両の走行制御装置および電動走行制御システム |
DE602005019047D1 (de) * | 2005-09-20 | 2010-03-11 | Atlet Ab | Verbessertes Kontrollsystem für ein Flurförderfahrzeug |
JP5766240B2 (ja) * | 2013-07-31 | 2015-08-19 | 三菱電機株式会社 | 車両用制動装置 |
-
2020
- 2020-10-23 WO PCT/JP2020/039988 patent/WO2021080011A1/ja unknown
- 2020-10-23 EP EP20878090.8A patent/EP4049885A4/en active Pending
- 2020-10-23 JP JP2021553580A patent/JP7169461B2/ja active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016210215A (ja) | 2015-04-30 | 2016-12-15 | いすゞ自動車株式会社 | ハイブリッド車両及びハイブリッド車両の制御方法 |
WO2019088024A1 (ja) | 2017-10-30 | 2019-05-09 | 株式会社デンソー | 路面状態判別装置およびそれを備えたタイヤシステム |
Also Published As
Publication number | Publication date |
---|---|
EP4049885A1 (en) | 2022-08-31 |
EP4049885A4 (en) | 2023-04-26 |
WO2021080011A1 (ja) | 2021-04-29 |
JPWO2021080011A1 (ja) | 2021-04-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11021068B2 (en) | Vehicle control device and control method | |
US9333970B2 (en) | Traction control device and traction control method | |
JP4534641B2 (ja) | 車輪のスリップ率演算装置及び車輪の制駆動力制御装置 | |
US10029678B2 (en) | Drive control device with traction control function for right-left independent drive vehicle | |
KR20170024856A (ko) | 모터를 구비한 차량의 제어 장치 및 방법 | |
KR20210014821A (ko) | 차량의 휠 슬립 제어 방법 | |
WO2018230341A1 (ja) | 車両制御装置 | |
GB2390651A (en) | Traction control with individual lowering of the slip threshold of the driving wheel on the outside of a bend | |
JP5506632B2 (ja) | 車両用ブレーキ装置 | |
JP4692499B2 (ja) | 車両の制振制御装置 | |
JP2019155970A (ja) | 車両の制御装置及び車両の制御方法 | |
JP6266652B2 (ja) | トラクション制御装置及びトラクション制御方法 | |
JP7169461B2 (ja) | 制御装置 | |
CN113561791A (zh) | 扭矩再分配调整方法以及相应的控制单元和电动车辆 | |
US20160039312A1 (en) | Traction control device and traction control method | |
WO2019162482A1 (en) | Vehicle control method and apparatus | |
US9421882B2 (en) | Traction control device and traction control method | |
JP2006200526A (ja) | 車両の出力特性制御装置 | |
KR20230037177A (ko) | 차량의 휠 슬립 제어 방법 | |
JP4325539B2 (ja) | 車両のモータトラクション制御装置 | |
JP2006136174A (ja) | 車両のモータトラクション制御装置 | |
JP5797573B2 (ja) | 車両制御装置 | |
US20230182699A1 (en) | Vehicle control method and vehicle | |
JP7149713B2 (ja) | スリップ制御装置 | |
WO2024048323A1 (ja) | 車両制御装置、車両制御方法および車両制御システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220301 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220301 |
|
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: 20221004 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221028 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7169461 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |