JP7471451B2 - 制御演算装置 - Google Patents

制御演算装置 Download PDF

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Publication number
JP7471451B2
JP7471451B2 JP2022564918A JP2022564918A JP7471451B2 JP 7471451 B2 JP7471451 B2 JP 7471451B2 JP 2022564918 A JP2022564918 A JP 2022564918A JP 2022564918 A JP2022564918 A JP 2022564918A JP 7471451 B2 JP7471451 B2 JP 7471451B2
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Japan
Prior art keywords
vehicle
state
equation
state variables
target
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JP2022564918A
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English (en)
Japanese (ja)
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JPWO2022113249A5 (https=
JPWO2022113249A1 (https=
Inventor
知輝 鵜生
凜 伊藤
翔太 亀岡
僚太 岡本
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication of JPWO2022113249A5 publication Critical patent/JPWO2022113249A5/ja
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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
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • 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
    • B60W30/10—Path keeping
    • 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
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
    • 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
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
    • 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
    • B60W2050/065—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot by reducing the computational load on the digital processor of the control computer

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2022564918A 2020-11-27 2020-11-27 制御演算装置 Active JP7471451B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/044154 WO2022113249A1 (ja) 2020-11-27 2020-11-27 制御演算装置

Publications (3)

Publication Number Publication Date
JPWO2022113249A1 JPWO2022113249A1 (https=) 2022-06-02
JPWO2022113249A5 JPWO2022113249A5 (https=) 2023-02-07
JP7471451B2 true JP7471451B2 (ja) 2024-04-19

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JP2022564918A Active JP7471451B2 (ja) 2020-11-27 2020-11-27 制御演算装置

Country Status (4)

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US (1) US20230365144A1 (https=)
JP (1) JP7471451B2 (https=)
DE (1) DE112020007805T5 (https=)
WO (1) WO2022113249A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11724739B2 (en) * 2021-07-22 2023-08-15 GM Global Technology Operations LLC Vehicle actuation commands to affect transient handling
JP2024121590A (ja) * 2023-02-27 2024-09-06 愛知製鋼株式会社 位置推定システム
JP7655371B1 (ja) 2023-12-13 2025-04-02 いすゞ自動車株式会社 制御システム及び制御方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016008024A (ja) 2014-06-26 2016-01-18 株式会社豊田中央研究所 操作情報推定装置及びプログラム
JP2019073177A (ja) 2017-10-17 2019-05-16 日立オートモティブシステムズ株式会社 予測制御装置及び方法
JP2019142303A (ja) 2018-02-19 2019-08-29 マツダ株式会社 車両制御装置
WO2019180919A1 (ja) 2018-03-23 2019-09-26 三菱電機株式会社 経路生成装置、および、車両制御システム
JP2020008889A (ja) 2018-07-02 2020-01-16 日立オートモティブシステムズ株式会社 予測制御装置
JP2020090119A (ja) 2018-12-03 2020-06-11 日立オートモティブシステムズ株式会社 車両制御装置
JP2020090269A (ja) 2018-11-22 2020-06-11 トヨタ自動車株式会社 パワートレーンシステム
JP2020189560A (ja) 2019-05-22 2020-11-26 日立オートモティブシステムズ株式会社 車両制御装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6569470B2 (ja) 2015-10-28 2019-09-04 株式会社デンソーアイティーラボラトリ 車両用制御装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016008024A (ja) 2014-06-26 2016-01-18 株式会社豊田中央研究所 操作情報推定装置及びプログラム
JP2019073177A (ja) 2017-10-17 2019-05-16 日立オートモティブシステムズ株式会社 予測制御装置及び方法
JP2019142303A (ja) 2018-02-19 2019-08-29 マツダ株式会社 車両制御装置
WO2019180919A1 (ja) 2018-03-23 2019-09-26 三菱電機株式会社 経路生成装置、および、車両制御システム
JP2020008889A (ja) 2018-07-02 2020-01-16 日立オートモティブシステムズ株式会社 予測制御装置
JP2020090269A (ja) 2018-11-22 2020-06-11 トヨタ自動車株式会社 パワートレーンシステム
JP2020090119A (ja) 2018-12-03 2020-06-11 日立オートモティブシステムズ株式会社 車両制御装置
JP2020189560A (ja) 2019-05-22 2020-11-26 日立オートモティブシステムズ株式会社 車両制御装置

Also Published As

Publication number Publication date
JPWO2022113249A1 (https=) 2022-06-02
US20230365144A1 (en) 2023-11-16
DE112020007805T5 (de) 2023-11-02
WO2022113249A1 (ja) 2022-06-02

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