JP7318400B2 - 車両の駆動制御システム - Google Patents
車両の駆動制御システム Download PDFInfo
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- JP7318400B2 JP7318400B2 JP2019141541A JP2019141541A JP7318400B2 JP 7318400 B2 JP7318400 B2 JP 7318400B2 JP 2019141541 A JP2019141541 A JP 2019141541A JP 2019141541 A JP2019141541 A JP 2019141541A JP 7318400 B2 JP7318400 B2 JP 7318400B2
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- Human Computer Interaction (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
自動車(車両)は、ドライバーが、ハンドルを操縦しながらアクセルやブレーキを操作することで走行する。アクセルを踏み込めば自動車は加速し、ブレーキを踏み込めば自動車は減速する。これらの操作量に応じて自動車は加速または減速するため、操作量と自動車の加速または減速との間にズレや応答の遅れなどがあると、ドライバーに違和感を与える。
図3に、開示する技術の具体的な適用例を示す。図3は、駆動制御システムを搭載した4輪の自動車1(車両)の主な構成を示している。
エンジン2は、例えばガソリンを燃量にして燃焼を行う内燃機関である。エンジン2はまた、吸気、圧縮、膨張、排気の各サイクルを繰り返すことで回転動力を発生させる、いわゆる4サイクルエンジンである。エンジン2には、ディーゼルエンジン等、様々な種類や形態があるが、開示する技術では、特にエンジン2の種類や形態は限定しない。
自動車1には、ドライバーの運転操作に応じて、その走行をコントロールするために、上述した、ECU20、MCU21、TCU22、BCU23、およびGCU24の各ユニットが設置されている。これらユニットの各々は、CPUやメモリ、インターフェースなどのハードウエアと、データベースや制御プログラムなどのソフトウエアとで構成されている。
図5に、加速時における駆動制御の一例を示す。開示する技術では、加速時に限らず減速時にも適用できるが、便宜上、ここでは加速時を例に説明する。
第1具体例では、予め設定されている所定の条件に基づいて、各アクチュエータを、個別に制御するように構成されていた。それに対し、第2具体例では、優先順位に従って、順番にアクチュエータを制御するように構成されている。
上述した第1具体例および第2具体例では、遅れ時間tdに、認知限界の範囲内に設定された一定値が用いられていた。
2 エンジン(アクチュエータ)
3 駆動モータ(アクチュエータ)
5 第1クラッチ(アクチュエータ)
7 第2クラッチ(アクチュエータ)
8 変速機(アクチュエータ)
9 デファレンシャルギア(アクチュエータ)
14 ブレーキ(アクチュエータ)
25 制御装置
25a 要求出力設定部
25b 目標出力設定部
25c モデル予測部
25d 実機制御部
25e 優先順位設定部
25f 遅れ時間変更部
td 遅れ時間
S1 アクセルセンサ(出力センサ)
S2 ブレーキセンサ(出力センサ)
Claims (5)
- ドライバーの運転で走行する車両に搭載される駆動制御システムであって、
前記車両が走行するための駆動力を出力するアクチュエータと、
前記ドライバーの操作によって要求される駆動力を検出する出力センサと、
前記出力センサによって検出される要求駆動力に基づいて、前記アクチュエータの作動を制御する制御装置と、
を備え、
前記制御装置は、
前記要求駆動力に対応した出力値を設定する要求出力設定部と、
前記要求出力設定部で設定される要求出力値の出力が開始する時間に、人間の認知限界に基づいて予め設定された所定の遅れ時間を付加することにより、前記要求駆動力に対応した制御の出力が遅れて開始するように目標出力値を設定する目標出力設定部と、
前記アクチュエータに対応した応答特性を有する装置モデルを記憶し、当該装置モデルを用いて前記アクチュエータに対応した入出力演算を行うモデル予測部と、
前記アクチュエータの作動を制御する実機制御部と、
を有し、
前記実機制御部が、前記遅れ時間を利用して、前記モデル予測部で逆演算して得られる入力値に基づいて、前記目標出力値に対応した駆動力で前記アクチュエータに出力させる遅れ駆動制御を実行する、駆動制御システム。 - 請求項1に記載の駆動制御システムにおいて、
前記アクチュエータは複数であり、
前記制御装置が、前記アクチュエータの制約、前記アクチュエータの応答性、前記アクチュエータの実行精度、及び、前記アクチュエータの実行能力のうち、少なくともいずれか1つに基づいて予め設定された優先順位に従って、順番に前記アクチュエータの各々の前記遅れ駆動制御を実行する、駆動制御システム。 - 請求項2に記載の駆動制御システムにおいて、
前記アクチュエータは、
前記車両が走行するための駆動力を発生させる第1のアクチュエータと、
前記第1のアクチュエータで発生した駆動力を調整する第2のアクチュエータと、
を含み、
前記モデル予測部が、前記優先順位に従って、順番に第1及び第2の前記アクチュエータの各々の前記入出力演算を実行する、駆動制御システム。 - 請求項1~請求項3のいずれか1つに記載の駆動制御システムにおいて、
前記要求出力値および前記目標出力値の各々は、駆動力の時間変化に対応して傾斜する出力波形を有し、
前記要求出力値と前記目標出力値とで、前記出力波形の傾斜が略一致している、駆動制御システム。 - 請求項1~請求項4のいずれか1つに記載の駆動制御システムにおいて、
前記遅れ時間が、駆動力を変化させる温度条件および気圧条件の少なくともいずれか1つの変化に応じて変更される、駆動制御システム。
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