JP7472892B2 - 駆動力制御装置 - Google Patents
駆動力制御装置 Download PDFInfo
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- JP7472892B2 JP7472892B2 JP2021184406A JP2021184406A JP7472892B2 JP 7472892 B2 JP7472892 B2 JP 7472892B2 JP 2021184406 A JP2021184406 A JP 2021184406A JP 2021184406 A JP2021184406 A JP 2021184406A JP 7472892 B2 JP7472892 B2 JP 7472892B2
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- driving force
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- accelerator pedal
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- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
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Classifications
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/1005—Driving resistance
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
-
- 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
- B60W2050/0095—Automatic control mode change
- B60W2050/0096—Control during transition between modes
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
以下に、本発明に係る駆動力制御装置の実施形態1について説明する。なお、本実施形態により本発明が限定されるものではない。
以下に、本発明に係る駆動力制御装置の実施形態2について説明する。なお、実施形態2において、実施形態1と共通する部分についての説明は適宜省略する。
以下に、本発明に係る駆動力制御装置の実施形態3について説明する。なお、実施形態3において、実施形態1と共通する部分についての説明は適宜省略する。
以下に、本発明に係る駆動力制御装置の実施形態4について説明する。なお、実施形態4において、実施形態1と共通する部分についての説明は適宜省略する。
以下に、本発明に係る駆動力制御装置の実施形態5について説明する。なお、実施形態5において、実施形態1と共通する部分についての説明は適宜省略する。
2 駆動輪
3 アクセルペダル
4 ECU
11 外部センサ
12 GPS受信部
13 内部センサ
14 地図データベース
15 ナビゲーションシステム
16 アクチュエータ
17 補助機器
18 車両位置認識部
19 外部状況認識部
20 走行状態認識部
21 走行計画生成部
22 走行制御部
23 補助機器制御部
100 車両
Claims (2)
- 車速、アクセルペダル位置、及び、前記アクセルペダル位置に対応して発生させるべき車両の前後加速度を目標加速度として規定した手動運転モード用駆動力特性に基づいて前記車両の駆動力を制御する手動運転モードと、運転者のアクセルペダル操作に依存せずに自動制御で前記駆動力を制御する自動運転モードと、を切り替えて走行可能であり、前記自動運転モードから前記手動運転モードへ移行する際に、前記自動運転モードで発生させた駆動力から前記手動運転モードで発生させる駆動力へ向けて前記駆動力を変化させる駆動力制御装置であって、
前記自動運転モードから前記手動運転モードへ移行する場合に、
前記車速、前記アクセルペダル位置、及び、前記車両に対する走行抵抗に応じて前記目標加速度を規定するオーバーライド用駆動力特性に基づいて前記駆動力を制御し、
全閉のアクセルペダル位置における前記前後加速度が、前記手動運転モード用駆動力特性よりも前記オーバーライド用駆動力特性のほうが高く、
且つ、前記オーバーライド用駆動力特性における前記アクセルペダル位置と前記前後加速度との関係を表したグラフと、前記手動運転モード用駆動力特性における前記アクセルペダル位置と前記前後加速度との関係を表したグラフとが、全閉及び全開とは異なる特定のアクセルペダル位置で交差することを特徴とする駆動力制御装置。 - 前記特定のアクセルペダル位置よりも全開側のアクセルペダル位置において、前記オーバーライド用駆動力特性及び前記手動運転モード用駆動力特性における前記前後加速度が一致することを特徴とする請求項1に記載の駆動力制御装置。
Priority Applications (2)
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---|---|---|---|
JP2021184406A JP7472892B2 (ja) | 2021-11-11 | 2021-11-11 | 駆動力制御装置 |
US17/932,438 US20230143408A1 (en) | 2021-11-11 | 2022-09-15 | Driving force control device |
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JP2021184406A JP7472892B2 (ja) | 2021-11-11 | 2021-11-11 | 駆動力制御装置 |
Publications (2)
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JP2023071549A JP2023071549A (ja) | 2023-05-23 |
JP7472892B2 true JP7472892B2 (ja) | 2024-04-23 |
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JP2021184406A Active JP7472892B2 (ja) | 2021-11-11 | 2021-11-11 | 駆動力制御装置 |
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US (1) | US20230143408A1 (ja) |
JP (1) | JP7472892B2 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190071087A1 (en) | 2017-09-07 | 2019-03-07 | Ford Global Technologies, Llc | Method for adjusting requested vehicle torque |
JP2020168915A (ja) | 2019-04-02 | 2020-10-15 | 株式会社Subaru | 車両の制御装置 |
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2021
- 2021-11-11 JP JP2021184406A patent/JP7472892B2/ja active Active
-
2022
- 2022-09-15 US US17/932,438 patent/US20230143408A1/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190071087A1 (en) | 2017-09-07 | 2019-03-07 | Ford Global Technologies, Llc | Method for adjusting requested vehicle torque |
JP2020168915A (ja) | 2019-04-02 | 2020-10-15 | 株式会社Subaru | 車両の制御装置 |
Also Published As
Publication number | Publication date |
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US20230143408A1 (en) | 2023-05-11 |
JP2023071549A (ja) | 2023-05-23 |
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