JP7487709B2 - 車両駆動ユニットの制御装置及び制御方法 - Google Patents
車両駆動ユニットの制御装置及び制御方法 Download PDFInfo
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- B60W30/02—Control of vehicle driving stability
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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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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- Electric Propulsion And Braking For Vehicles (AREA)
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- Control Of Transmission Device (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
1-1.車両のシステム構成例
図1は、実施の形態1に係る車両駆動ユニット10を搭載する車両100のシステム構成の一例を示す図である。車両100は、車両駆動ユニット10を備えている。車両駆動ユニット10は、車両100(車輪102)を駆動する。車両駆動ユニット10は、第1モータジェネレータ(MG)1、第2モータジェネレータ(MG)2、及び内燃機関3を動力源として備えている。MG1は主に発電機として用いられ、MG2は主に車輪102を駆動する電動機として用いられる。また、車両駆動ユニット10は、一例として動力分割機構12を備えている。
図2は、実施の形態1に係る車両駆動トルクの制御構造の概要を示すブロック図である。ECU30は、車両100を駆動するために「車両駆動トルク制御」を実行する。図2は、この車両駆動トルク制御に関連するECU30の機能構成を示している。ECU30は、目標トルク算出部34と、目標値変換部36と、車両前後加速度予測モデル38と、駆動力最適化器40と、を備えている。これらの目標トルク算出部34、目標値変換部36、車両前後加速度予測モデル38、及び駆動力最適化器40は、記憶装置30bに格納されたプログラムがプロセッサ30aによって実行されたときにソフトウェア的に実現される。
以上説明したように、本実施形態の車両駆動トルクの制御構造は、車両前後加速度予測モデル38と駆動力最適化器40とを組み合わせて構成されている(図2参照)。具体的には、車両駆動トルク制御によれば、評価関数Jを最小とする指令トルクTpcmが算出される。この評価関数Jは、目標加速度Greqに対する予測加速度Gpreの偏差(加速度偏差)を最小化するものである。より詳細には、図5に示すように目標加速度Greqの波形は振動していないため、評価関数Jに含まれる上記加速度偏差が小さくなると、車両前後振動(車両前後加速度Gの振動)が低減される。このため、評価関数Jを最小とする指令トルクTpcmによれば、車両前後振動を良好に抑制できる。そして、この指令トルクTpcmの算出に用いられる予測加速度Gpreは、機械学習モデルである加速度予測モデル38を用いて算出される。これにより、車両駆動トルク制御に用いられる適合値の数を大幅に減らすことができる。
実施の形態2は、以下に説明される車両駆動トルクの制御構造において、実施の形態1と相違している。
2 第2モータジェネレータ
3 内燃機関
10 車両駆動ユニット
12 動力分割機構
22 減速機構
24 カウンタ軸(ペラ軸)
26 ディファレンシャルギア
30 電子制御ユニット(ECU)
30a プロセッサ
30b 記憶装置
32 センサ類
34 目標トルク算出部
36 目標値変換部
38、50 車両前後加速度予測モデル
40 駆動力最適化器
50a 車両前後加速度予測モデルのモデル再学習部
52 モデル補正部
100 車両
102 車輪
104 ドライブシャフト
Claims (5)
- 1つ以上の動力源を有する車両駆動ユニットを車両の運転状態に基づいて制御する制御装置であって、
プロセッサと、
前記車両駆動ユニットに指令される車両駆動トルクである指令トルクを入力とし車両前後加速度の予測値である予測加速度を出力とする機械学習モデルである車両前後加速度予測モデルを記憶する記憶装置と、
を備え、
前記プロセッサは、
前記車両前後加速度予測モデルを用いて前記予測加速度を算出する予測加速度算出処理と、
前記運転状態に基づく前記車両駆動トルクの目標値である目標トルクに対する前記指令トルクの偏差を低減しつつ前記目標トルクに応じた目標車両前後加速度に対する前記予測加速度の偏差を最小化する評価関数を最小とする前記指令トルクを算出する指令トルク算出処理と、
を実行する
ことを特徴とする車両駆動ユニットの制御装置。 - 前記プロセッサは、前記指令トルクに応じた車両駆動トルクが前記車両駆動ユニットから出力されることに伴って生じる実車両前後加速度に対する前記予測加速度の差に基づいて、前記車両前後加速度予測モデルから出力される前記予測加速度を補正する加速度補正処理をさらに実行する
ことを特徴とする請求項1に記載の車両駆動ユニットの制御装置。 - 前記プロセッサは、現在の時間ステップからの所定期間である予測期間に含まれる複数の時間ステップでの前記目標トルク、前記指令トルク、前記目標車両前後加速度、及び前記予測加速度のデータを対象として、前記予測加速度算出処理及び前記指令トルク算出処理を時間ステップ毎に実行する
ことを特徴とする請求項1又は2に記載の車両駆動ユニットの制御装置。 - 前記予測期間は、前記車両のドライブシャフトのねじれに起因する実車両前後加速度の振動、及び、前記1つ以上の動力源から前記ドライブシャフトまでの動力伝達経路に位置するギアのバックラッシュが詰まることに起因する実車両前後加速度の振動のうちの少なくとも一方の予測に必要とされる最小の期間である
ことを特徴とする請求項3に記載の車両駆動ユニットの制御装置。 - 前記プロセッサは、前記予測期間に含まれる前記複数の時間ステップのそれぞれにおける前記目標トルクを、前記現在の時間ステップにおける前記目標トルクの値で一定とする
ことを特徴とする請求項4に記載の車両駆動ユニットの制御装置。
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US17/739,785 US11597380B2 (en) | 2021-06-02 | 2022-05-09 | Control device and control method for vehicle drive unit |
CN202210582316.0A CN115431976A (zh) | 2021-06-02 | 2022-05-26 | 用于车辆驱动单元的控制装置和控制方法 |
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