JP7409222B2 - 移動体の制御装置 - Google Patents
移動体の制御装置 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/32—Cooling devices
- B60H1/3204—Cooling devices using compression
- B60H1/3222—Cooling devices using compression characterised by the compressor driving arrangements, e.g. clutches, transmissions or multiple drives
-
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B63/00—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices
- F02B63/06—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices for pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B67/00—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for
- F02B67/04—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for of mechanically-driven auxiliary apparatus
- F02B67/06—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for of mechanically-driven auxiliary apparatus driven by means of chains, belts, or like endless members
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
- G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
- G05B23/0235—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions based on a comparison with predetermined threshold or range, e.g. "classical methods", carried out during normal operation; threshold adaptation or choice; when or how to compare with the threshold
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/406—Test-mode; Self-diagnosis
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Description
10 コントローラ(制御装置)
30 エンジン
50 ブレーキ
100 制御部
110 第1同定モデル
111 第1ハードモデル
112 第1ソフトモデル
120 第2同定モデル
121 第2ハードモデル
122 第2ソフトモデル
130 実験モデル
131 第3ハードモデル
132 第3ソフトモデル
141 規範値算出部
142 調整部
143 実験部
144 記憶部
AM 車両(移動体)
Claims (5)
- ハードウェアが搭載された移動体の制御装置であって、
前記ハードウェアを実際に制御する制御部と、
前記ハードウェアの動特性がモデル化された第1ハードモデルと、前記制御部と同じ入力情報が入力されかつ前記制御部が前記各ハードウェアに対して行う処理と同じ処理を前記第1ハードモデルに対して実行可能な第1ソフトモデルとを有する第1同定モデルと、
前記ハードウェアの動特性がモデル化された第2ハードモデルと、前記制御部と同じ入力情報が入力されかつ前記制御部が前記ハードウェアに対して行う処理と同じ処理を前記第2ハードモデルに対して実行可能な第2ソフトモデルとを有する第2同定モデルと、
前記第1同定モデルを用いて、前記入力情報に対する前記ハードウェアの規範となる規範出力値を算出する規範値算出部と、
前記規範出力値と前記ハードウェアの実出力値とに基づいて、前記第2ソフトモデルの処理により得られる前記第2ハードモデルの出力値が、前記ハードウェアの実出力値に適合するように、前記第2ハードモデルにおけるハードウェアのモデルの動特性を更新する調整部と、を備えることを特徴とする移動体の制御装置。 - 請求項1に記載の移動体の制御装置において、
前記ハードウェアの動特性がモデル化された第3ハードモデルと、前記制御部が前記ハードウェアに対して行う処理と同じ処理を前記第3ハードモデルに対して実行可能な第3ソフトモデルとを有する実験モデルと、
前記入力情報又は該入力情報が変更された改変情報が示す条件に基づいて前記第3ソフトモデルにより前記第3ハードモデルに対する処理を行う実験部と、を更に備え、
前記調整部は、前記第2ハードモデルを更新するときには、前記第3ハードモデルに同様の更新を行うように構成され、
前記実験部は、前記第3ソフトモデルが前記第3ハードモデルに対して処理を行ったときに得られる出力が、前記規範値算出部が算出した規範出力値に適合するように前記第3ハードモデルを制御する特定制御条件を算出することを特徴とする移動体の制御装置。 - 請求項2に記載の移動体の制御装置において、
前記実験部により算出された前記特定制御条件を記憶する記憶部を更に備え、
前記制御部は、前記入力情報が示す条件と前記改変情報が示す条件とが類似するときには、前記記憶部から前記改変情報が示す条件に対応する前記特定制御条件を読み出して、該特定制御条件により前記ハードウェアを制御することを特徴とする移動体の制御装置。 - 請求項1~3のいずれか1つに記載の移動体の制御装置において、
前記ハードウェアはエンジンを含み、
前記規範値算出部は、規範となるエンジン出力を示す規範エンジンパラメータを算出し、
前記調整部は、前記第2同定モデルを用いて算出される検証エンジンパラメータが、前記制御部の処理により得られる実際のエンジンパラメータである実エンジンパラメータに適合するように、前記第2ハードモデルにおける前記エンジンに関連するモデルの動特性を調整することを特徴とする移動体の制御装置。 - 請求項1~4のいずれか1つに記載の移動体の制御装置において、
前記ハードウェアはブレーキを含み、
前記規範値算出部は、規範となる制動関係のパラメータである規範制動パラメータを算出し、
前記調整部は、前記第2同定モデルを用いて算出される検証制動パラメータが、前記制御部の処理により得られる実際の制動パラメータである実制動パラメータに適合するように、前記第2ハードモデルにおける前記ブレーキに関連するモデルの動特性を調整することを特徴とする移動体の制御装置。
Priority Applications (4)
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JP2020085106A JP7409222B2 (ja) | 2020-05-14 | 2020-05-14 | 移動体の制御装置 |
EP21162205.5A EP3909819B1 (en) | 2020-05-14 | 2021-03-12 | Control device for mobile body |
CN202110275626.3A CN113671860B (zh) | 2020-05-14 | 2021-03-15 | 汽车的控制装置 |
US17/200,928 US11731642B2 (en) | 2020-05-14 | 2021-03-15 | Control device for mobile body |
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JP2020085106A JP7409222B2 (ja) | 2020-05-14 | 2020-05-14 | 移動体の制御装置 |
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Citations (2)
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JP4346033B2 (ja) | 2005-03-22 | 2009-10-14 | 株式会社リコー | 電源装置および画像形成装置 |
US20130138290A1 (en) | 2010-06-04 | 2013-05-30 | Jens-Werner Falkenstein | Method and device for recognizing unintended drive train responses of a motor vehicle having at least one drive unit |
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CA2363396A1 (en) * | 2001-11-21 | 2003-05-21 | Handshake Interactive Technologies Inc | Hard real time control center |
JP4147976B2 (ja) * | 2002-09-13 | 2008-09-10 | 日産自動車株式会社 | 複合ブレーキの協調制御装置 |
US7318629B1 (en) * | 2005-05-12 | 2008-01-15 | Kelsey-Hayes Company | Steer by brake control system |
CN102520711B (zh) * | 2011-11-28 | 2014-07-02 | 联合汽车电子有限公司 | Amt控制器的硬件在环仿真系统及其自动测试方法 |
JP6327846B2 (ja) * | 2013-12-16 | 2018-05-23 | 株式会社小松製作所 | 作業車両及びその制御方法 |
JP2016192010A (ja) | 2015-03-31 | 2016-11-10 | 株式会社日立製作所 | 電子制御装置 |
US11281211B2 (en) * | 2015-09-30 | 2022-03-22 | Sony Corporation | Driving control apparatus, driving control method, and program |
US10343685B2 (en) * | 2016-09-28 | 2019-07-09 | Baidu Usa Llc | Physical model and machine learning combined method to simulate autonomous vehicle movement |
CN108715163A (zh) * | 2018-05-14 | 2018-10-30 | 吕杉 | 汽车爆胎安全稳定控制系统 |
CN109375611B (zh) * | 2018-11-09 | 2020-11-13 | 中国汽车技术研究中心有限公司 | 一种新能源汽车整车控制器硬件在环测试系统 |
CN110406530B (zh) * | 2019-07-02 | 2020-12-01 | 宁波吉利汽车研究开发有限公司 | 一种自动驾驶方法、装置、设备和车辆 |
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- 2021-03-12 EP EP21162205.5A patent/EP3909819B1/en active Active
- 2021-03-15 CN CN202110275626.3A patent/CN113671860B/zh active Active
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JP4346033B2 (ja) | 2005-03-22 | 2009-10-14 | 株式会社リコー | 電源装置および画像形成装置 |
US20130138290A1 (en) | 2010-06-04 | 2013-05-30 | Jens-Werner Falkenstein | Method and device for recognizing unintended drive train responses of a motor vehicle having at least one drive unit |
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JP2021178575A (ja) | 2021-11-18 |
EP3909819B1 (en) | 2023-11-08 |
CN113671860A (zh) | 2021-11-19 |
EP3909819A1 (en) | 2021-11-17 |
US11731642B2 (en) | 2023-08-22 |
CN113671860B (zh) | 2024-02-23 |
US20210354709A1 (en) | 2021-11-18 |
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