JPWO2011021634A1 - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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Abstract
Description
瞬時スポーツ度Iin=(Gx2+Gy2)1/2
で算出される。ここで、加速度はセンサで検出された加速度に限らず、アクセル開度や操舵角、ブレーキ踏力もしくはブレーキペダルの踏み込み量などの運転者による操作に基づいて演算もしくは推定されたものであってもよい。また、「瞬時スポーツ度Iin」とは、車両の走行中における各瞬間毎に、各方向の加速度が求められ、その加速度に基づいて算出される指標という意味であり、いわゆる物理量である。なお、「各瞬間毎」とは、加速度の検出およびそれに基づく瞬時スポーツ度Iinの算出が所定のサイクルタイムで繰り返し実行される場合には、その繰り返しの都度を意味する。
D=D+(Iout−Iin)・d1
なお、d1は演算周期である。
Iout=Iout−Vd・d1
Gx*(P0,v)=Gx0(v)
これは、例えば予め用意したマップに基づいて行うことができる。
Gx*(P1,v)=Gx1(v)
これは、例えば予め用意したマップに基づいて行うことができる。
C(v)=(Gx1(v)−Gx0(v))/P1k
ここで、kはウェーバー比もしくはこれを修正した値であり、「刺激の弁別閾は、基準となる基礎刺激の強度に比例する」とするウェーバーの法則による基礎刺激量の強度に対する識別閾値の比である。
Gx*(P2)=C(v)P2k+Gx0(v)
によって演算される。
Gx*(Pa)=[{(Gmax−Gx(P2))Pa}/(Pmax−P2)]+Gx(P2)
Gx*(Pa)=C(v)Pak+Gx0(v)
によって行うことができる。
Gx=−((Fzfr−Fzfr0)+(Fzfl−Fzfl0))×(L/(M×h))
が成り立ち、後輪について、
Gx=−((Fzrr−Fzrr0)+(Fzrl−Fzrl0))×(L/(M×h))
が成り立つ。ここで、Mは車体重量、hは重心高、Lはホイールベース、Fzは動的接地荷重、Fz0は静的接地荷重であり、これらの1番目の添え字の「r」は後輪であること、「f」は前輪であること、2番目の添え字の「r」は右車輪であること、「l」は左車輪であることをそれぞれ示している。
Gy=((Fzfr−Fzfr0)−(Fzfl−Fzfl0))×(T/(2×M×h×Rsf)
が成り立ち、後輪について、
Gy=((Fzrr−Fzrr0)−(Fzrl−Fzrl0))×(T/(2×M×h×(1−Rsf))
が成り立つ。ここで、Rsfはロール剛性配分、Mは車体重量、hは重心高、Tはトレッド、Fzは動的接地荷重、Fz0は静的接地荷重であり、これらの1番目の添え字の「r」は後輪であること、「f」は前輪であること、2番目の添え字の「r」は右車輪であること、「l」は左車輪であることをそれぞれ示している。
Gy=(St/nl)・{V2/(1+AV2)}
ここで、nはステアリングギヤ比、lはホイールベース、Aはスタビリティファクタ、Vは車速である。
Gy=Yr・V
であるから、ヨーレートYrをセンサによって検出し、上記の式によって横加速度Gyを求めればよい。なお、GPSによって自車両の位置を検出できるので、前述した前後加速度Gxと同様に、GPSを使用して横加速度Gyを求めることもできる。
Claims (12)
- 車両の走行特性を設定する指標を車両に生じる加速度に基づいて変化させる車両の制御装置において、
前記加速度が変化して前記指標を変化させる場合、前記加速度を生じさせる要因となる運転者の操作の内容に応じて、前記指標の変化の仕方を異ならせることを特徴とする車両の制御装置。 - 前記指標の変化の仕方が異なることは、前記操作の量もしくはその操作の量の変化率が大きい場合には前記加速度の絶対値が大きい場合の指標を前記加速度の絶対値が小さい場合の指標に変化し難くし、かつ前記操作の量もしくはその操作の量の変化率が小さい場合には前記加速度の絶対値が大きい場合の指標を前記加速度の絶対値が小さい場合の指標に変化し易くすることを含むことを特徴とする請求項1に記載の車両の制御装置。
- 前記指標の変化の仕方が異なることは、既に設定されている前記指標の値が前記加速度の絶対値が大きい場合に設定される値である場合には前記加速度の絶対値が小さい場合に設定される値である場合に比較して、もしくは前記車両の車速が高車速の場合には低車速の場合に比較して、あるいは前記車両が走行している路面の下り勾配が大きい場合には小さい場合に比較して、前記加速度の絶対値が大きい場合の指標を前記加速度の絶対値が小さい場合の指標に変化し難くすることを含むことを特徴とする請求項1または2に記載の車両の制御装置。
- 前記指標は、加速度検出器で検出された実加速度に基づいて求められかつその実加速度の絶対値が大きいほど大きい値となる第1指標と、加速度推定手段で推定された推定加速度に基づいて求められかつその推定加速度の絶対値が大きいほど大きい値となる第2指標とを含み、前記走行特性は、前記第1指標と第2指標とのうち大きい値の指標に基づいて設定されるように構成されていることを特徴とする請求項1ないし3のいずれかに記載の車両の制御装置。
- 前記運転者の操作は、前記車両の駆動力源の出力を変化させるアクセル操作と、車両の制動力を生じさせるブレーキ操作と、車両の走行方向を変化させる操舵操作との少なくともいずれか一つを含むことを特徴とする請求項1ないし4のいずれかに記載の車両の制御装置。
- 前記指標を前記加速度の絶対値が大きい場合の値から前記加速度の絶対値が小さい場合の値に変化させ難くする制御は、前記指標を所定値に保持している場合にはその保持時間を長くし、また前記加速度の絶対値が小さい場合の値に変化させている場合にはその変化速度を小さくしもしくは変化を停止する制御を含むことを特徴とする請求項2ないし5のいずれかに記載の車両の制御装置。
- 前記指標を前記加速度の絶対値が大きい場合の値から前記加速度の絶対値が小さい場合の値に変化させ難くする制御は、前記指標を所定値に保持している場合にはその保持時間を長くし、また前記加速度の絶対値が小さい場合の値に変化させている場合にはその変化速度を小さくしもしくは変化を停止する制御を含み、
前記車両の駆動力源の出力を増大させる方向の前記アクセル操作量が大きい場合もしくはその増大率が大きい場合、あるいは前記ブレーキ操作が実行された場合もしくはそのブレーキ操作量が増大した場合、あるいは前記操舵操作による操舵角度が大きい場合もしくは操舵角度の増大率が大きい場合に、前記指標を前記加速度の絶対値が大きい場合の値から前記加速度の絶対値が小さい場合の値に更に変化させ難くするように構成されている
ことを特徴とする請求項5に記載の車両の制御装置。 - 車両の走行特性を設定する指標を車両に生じる加速度に基づいて変化させ、かつ変速比もしくは変速のタイミングを決める変速特性と加速操作に対する動力源の出力を決める出力特性と車体を支持する懸架特性と操舵操作に対する回頭性を決める操舵特性との少なくともいずれか一つの特性を手動操作によって変更できる車両の制御装置において、
前記指標に基づいて所定の走行特性が設定されている状態で前記手動操作により前記いずれかの特性が変更された場合に、前記指標に基づいて設定されている前記走行特性を、前記いずれかの特性が前記手動操作による変更と同様の方向に変更するように前記指標もしくはその指標に基づく走行特性を補正する機能を備えていることを特徴とする車両の制御装置。 - 前記手動操作が行われたことによる前記車両の走行中における前記走行特性の補正は、前記車両の走行状態毎に予め定めた条件が成立した場合に実行されるように構成されていることを特徴とする請求項8に記載の車両の制御装置。
- 前記加速度は、前記車両の前後方向の前後加速度と、前記車両の横方向の横加速度とを含み、
前記予め定めた条件は、前記車両の加速度の状態がこれらの前後加速度と横加速度とに基づいて定めた制動領域にある場合および加速領域にある場合の少なくともいずれかの場合には前記前後加速度と横加速度との合成加速度の時間変化率が予め定めた値以下であることを特徴とする請求項9に記載の車両の制御装置。 - 前記車両の加速度の状態が前記前後加速度と横加速度とに基づきかつ横加速度の前後加速度に対する割合が前記制動領域および加速領域におけるよりも相対的に大きい旋回領域にある場合には前記手動操作が行われたことによる前記車両の走行中における前記走行特性の補正のうち、前記車両の駆動力を変化させる走行特性の補正が禁止され、かつ前記車両の駆動力を変化させる走行特性以外の走行特性の補正が許可されるように構成されていることを特徴とする請求項10に記載の車両の制御装置。
- 前記走行特性の補正は、その走行特性自体の補正と、その走行特性が基づいている前記指標の補正と、その指標が基づいている前記加速度の値の補正との少なくともいずれか一つを含むことを特徴とする請求項8ないし11のいずれかに記載の車両の制御装置。
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US8140238B2 (en) * | 2007-10-26 | 2012-03-20 | Ford Global Technologies, Llc | Detection and control of power induced hop during traction control in a vehicle |
JP5293212B2 (ja) | 2009-01-15 | 2013-09-18 | 日産自動車株式会社 | 車両の駆動力制御装置 |
US8521338B2 (en) * | 2009-08-18 | 2013-08-27 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
-
2010
- 2010-08-18 US US13/386,773 patent/US8521338B2/en active Active
- 2010-08-18 RU RU2012105525/11A patent/RU2503559C2/ru active
- 2010-08-18 CN CN201410283314.7A patent/CN104192143B/zh active Active
- 2010-08-18 JP JP2011527686A patent/JP5263401B2/ja active Active
- 2010-08-18 KR KR1020127004302A patent/KR101288715B1/ko active IP Right Grant
- 2010-08-18 EP EP14174074.6A patent/EP2796331B1/en not_active Not-in-force
- 2010-08-18 CN CN201080036490.0A patent/CN102470863B/zh active Active
- 2010-08-18 WO PCT/JP2010/063914 patent/WO2011021634A1/ja active Application Filing
- 2010-08-18 IN IN1026DEN2012 patent/IN2012DN01026A/en unknown
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013154874A (ja) * | 2013-02-28 | 2013-08-15 | Toyota Motor Corp | 車両の制御装置 |
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KR101288715B1 (ko) | 2013-07-22 |
IN2012DN01026A (ja) | 2015-04-10 |
EP2796331A1 (en) | 2014-10-29 |
US8521338B2 (en) | 2013-08-27 |
CN104192143B (zh) | 2017-01-11 |
RU2012105525A (ru) | 2013-09-27 |
EP2468599A4 (en) | 2013-06-12 |
EP2468599B1 (en) | 2015-01-14 |
WO2011021634A1 (ja) | 2011-02-24 |
KR20120038506A (ko) | 2012-04-23 |
CN102470863A (zh) | 2012-05-23 |
CN102470863B (zh) | 2014-12-31 |
RU2503559C2 (ru) | 2014-01-10 |
CN104192143A (zh) | 2014-12-10 |
EP2468599A1 (en) | 2012-06-27 |
US20120136506A1 (en) | 2012-05-31 |
JP5263401B2 (ja) | 2013-08-14 |
EP2796331B1 (en) | 2017-04-19 |
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