JP7424277B2 - 車両用制動装置 - Google Patents
車両用制動装置 Download PDFInfo
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- JP7424277B2 JP7424277B2 JP2020190288A JP2020190288A JP7424277B2 JP 7424277 B2 JP7424277 B2 JP 7424277B2 JP 2020190288 A JP2020190288 A JP 2020190288A JP 2020190288 A JP2020190288 A JP 2020190288A JP 7424277 B2 JP7424277 B2 JP 7424277B2
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- 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
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- 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
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- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- 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
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- Regulating Braking Force (AREA)
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Description
図1~図8を参照し、第1実施形態について説明する。第1実施形態の車両用制動装置301が搭載される車両901は、車両前後方向において二列の左右対の車輪91、92、93、94を有する四輪車両である。以下、前列の左輪をFL輪91、前列の右輪をFR輪92、後列の左輪をRL輪93、後列の右輪をRR輪94と記す。
次に図9~図12を参照し、第2実施形態について説明する。図9に示すように、第2実施形態の車両用制動装置302が搭載される車両902は、第1実施形態と同様の転舵アクチュエータ712に加え、前列のFL輪91及びFR輪92を共通に駆動する車輪駆動モータ812、並びに、後列のRL輪93及びRR輪94を共通に駆動する車輪駆動モータ834が設けられている。
図13~図15を参照し、第3実施形態について説明する。図13に示すように、第3実施形態の車両用制動装置303が搭載される車両903は、第2実施形態の車両902に対し、前列のFL輪91及びFR輪92について、車輪駆動モータ81、82が独立に設けられている。すなわち第3実施形態は、「前列二輪独立駆動」の構成である。後列には、第2実施形態と同様にRL輪93及びRR輪94を共通に駆動する車輪駆動モータ834が設けられている。車両用制動装置303の制動制御部40は、転舵アクチュエータ712及び各車輪駆動モータ81、82、834の動作を制御する。
図16を参照し、第4実施形態について説明する。第4実施形態の車両用制動装置304が搭載される車両904は、第2実施形態の車両902に対し、前列及び後列の全ての車輪91、92、93、94について、車輪駆動モータ81、82、83、84が独立に設けられている。すなわち第4実施形態は、「四輪独立駆動」の構成である。車両用制動装置304の制動制御部40は、転舵アクチュエータ712及び各車輪駆動モータ81、82、83、84の動作を制御する。
次に第5、第6実施形態では、車両用制動装置が独立転舵車両に搭載される構成について説明する。独立転舵車両では、少なくとも一列の左右対の車輪について、転舵アクチュエータが各車輪に独立に設けられており、各車輪が独立して転舵可能である。第5実施形態では、車両用制動装置が前列二輪独立転舵車両に搭載される構成を示し、第6実施形態では、車両用制動装置が四輪独立転舵車両に搭載される構成を示す。
続いて図20~図26を参照し、第6実施形態について説明する。図20に示すように、第6実施形態の車両用制動装置306が搭載される四輪独立転舵車両906は、全ての車輪91、92、93、94について、転舵アクチュエータ71、72、73、74が独立に設けられている。車両用制動装置306の制動制御部40は、各転舵アクチュエータ71、72、73、74の動作を制御する。なお、図22以下で、太線矢印Fst3、Fst4は転舵力を示し、θst3、θst4は舵角を示す。
(a)本発明の車両用制動装置が搭載される車両は、車両前後方向において二列の左右対の車輪を有する四輪車両に限らず、車両前後方向において三列以上の車輪を有する六輪以上の車両であってもよい。その場合、第4実施形態による四輪独立駆動の構成は、全車輪独立駆動の構成に拡張される。つまり、車輪駆動モータは、全ての車輪について、各車輪に独立に設けられる。また、第6実施形態による四輪独立転舵の構成は、全車輪独立転舵の構成に拡張される。つまり、転舵アクチュエータは、全ての車輪について、各車輪に独立に設けられる。
40・・・制動制御部、
50・・・異常検出器、
61、62、63、64・・・電動ブレーキ、
71、72、73、74、712・・・転舵アクチュエータ、
81、82、83、84、812、834・・・車輪駆動モータ、
901-906・・・車両、
91、92、93、94・・・車輪。
Claims (10)
- 車両前後方向において二列以上の左右対の車輪(91、92、93、94)を有し、且つ、各車輪に制動力を発生させる複数の電動ブレーキ(61、62、63、64)、及び、少なくとも一列の左右対の車輪をハンドル操作にかかわらず転舵させることが可能な一台以上の転舵アクチュエータ(71、72、73、74、712)を備えた車両(901-906)に搭載される車両用制動装置であって、
前記電動ブレーキの制動力を含む各車輪に対する制動力、及び、前記転舵アクチュエータの動作を制御可能な制動制御部(40)と、
前記電動ブレーキの異常を検出する異常検出器(50)と、
を備え、
前記制動制御部は、
前記異常検出器がいずれかの前記電動ブレーキの異常を検出したとき、当該異常に起因する車両挙動への影響を抑制するように、少なくとも前記転舵アクチュエータの制御を含む、正常時の制御とは異なる異常時制動制御に切り替えるものであり、
異常が検出された前記電動ブレーキに対応する車輪を制動異常輪とし、前記制動異常輪と左右対を構成する他方の車輪であって、対応する前記電動ブレーキが正常である車輪を共役正常輪とすると、
前記制動制御部は、前記異常時制動制御において、
前記制動異常輪と前記共役正常輪との制動力の差によって生じる実際のヨーモーメントと、車両に要求されている要求ヨーモーメントとの乖離を小さくするように、いずれかの前記転舵アクチュエータを駆動する車両用制動装置。 - 前記制動制御部は、前記異常時制動制御において、少なくとも前記制動異常輪に対応する前記転舵アクチュエータを駆動する請求項1に記載の車両用制動装置。
- 前記制動制御部は、前記異常時制動制御において、さらに正常輪の制動力を変更する請求項1または2に記載の車両用制動装置。
- 前記制動制御部は、前記異常時制動制御において、前記制動異常輪を含む左右対の列と、それ以外の左右対の列との間で、要求制動力の配分を変更する請求項3に記載の車両用制動装置。
- 各車輪を駆動する車輪駆動モータ(81、82、83、84、812、834)をさらに備えた車両に搭載され、
前記制動制御部は、前記異常時制動制御において、
少なくとも前記制動異常輪に対応する前記車輪駆動モータについて、車輪の回転を抑制する回生トルク、又は、車両の進行方向と反対方向へ車輪を回転させる逆トルクを発生させるように通電を切り替え、制動力を生成する請求項1~4のいずれか一項に記載の車両用制動装置。 - 車両前後方向において二列以上の左右対の車輪(91、92、93、94)を有し、且つ、各車輪に制動力を発生させる複数の電動ブレーキ(61、62、63、64)、少なくとも一列の左右対の車輪をハンドル操作にかかわらず転舵させることが可能な一台以上の転舵アクチュエータ(71、72、73、74、712)、及び、各車輪を駆動する車輪駆動モータ(81、82、83、84、812、834)を備えた車両(902-904)に搭載される車両用制動装置であって、
前記電動ブレーキの制動力を含む各車輪に対する制動力、及び、前記転舵アクチュエータの動作を制御可能な制動制御部(40)と、
前記電動ブレーキの異常を検出する異常検出器(50)と、
を備え、
前記制動制御部は、
前記異常検出器がいずれかの前記電動ブレーキの異常を検出したとき、当該異常に起因する車両挙動への影響を抑制するように、少なくとも前記転舵アクチュエータの制御を含む、正常時の制御とは異なる異常時制動制御に切り替えるものであり、
異常が検出された前記電動ブレーキに対応する車輪を制動異常輪とすると、
前記制動制御部は、前記異常時制動制御において、
少なくとも前記制動異常輪に対応する前記車輪駆動モータについて、車輪の回転を抑制する回生トルク、又は、車両の進行方向と反対方向へ車輪を回転させる逆トルクを発生させるように通電を切り替え、制動力を生成する車両用制動装置。 - 前記車輪駆動モータは、少なくとも一列の左右対の車輪について、各車輪に独立に設けられている請求項5または6に記載の車両用制動装置。
- 前記車輪駆動モータは、全ての車輪について、各車輪に独立に設けられている請求項7に記載の車両用制動装置。
- 前記転舵アクチュエータは、少なくとも一列の左右対の車輪について、各車輪に独立に設けられている請求項1~8のいずれか一項に記載の車両用制動装置。
- 前記転舵アクチュエータは、全ての車輪について、各車輪に独立に設けられている請求項9に記載の車両用制動装置。
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