KR100645179B1 - 차량의 선회 거동 제어 장치 - Google Patents
차량의 선회 거동 제어 장치 Download PDFInfo
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- KR100645179B1 KR100645179B1 KR1020050079786A KR20050079786A KR100645179B1 KR 100645179 B1 KR100645179 B1 KR 100645179B1 KR 1020050079786 A KR1020050079786 A KR 1020050079786A KR 20050079786 A KR20050079786 A KR 20050079786A KR 100645179 B1 KR100645179 B1 KR 100645179B1
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- 230000006399 behavior Effects 0.000 claims abstract description 30
- 230000028838 turning behavior Effects 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 230000004044 response Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 183
- 238000010586 diagram Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 12
- 230000007423 decrease Effects 0.000 description 6
- 230000020169 heat generation Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000283984 Rodentia Species 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- VLPFTAMPNXLGLX-UHFFFAOYSA-N trioctanoin Chemical compound CCCCCCCC(=O)OCC(OC(=O)CCCCCCC)COC(=O)CCCCCCC VLPFTAMPNXLGLX-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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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
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
- B60K17/20—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing in which the differential movement is limited
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
-
- 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
-
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (11)
- 차량의 좌우륜 구동력에 차이를 갖게 하는 좌우륜 구동력 조정 수단(4)과,상기 차량의 각 바퀴 사이에 제동력차를 갖게 하는 제동력 조정 수단(7)과,상기 차량의 차속, 조타량 및 요레이트를 검출하는 차량 거동 검출 수단(13, 14, 15)과,상기 차량 거동 검출 수단에 의해 검출된 차량 거동에 의거하여 좌우 구동력 제어량 및 제동력 제어량을 설정하여 상기 좌우륜 구동력 조정 수단 및 상기 제동력 조정 수단을 통합적으로 제어하는 제어 수단(10)을 갖는 차량의 선회 거동 제어 장치에 있어서,노면의 마찰계수에 관련되는 정보를 취득하는 노면상황 정보 취득 수단(11, 12)과,상기 노면상황 정보 취득 수단에 의해 취득된 정보에 의거하여 상기 좌우 구동력 제어량 또는 상기 제동력 제어량의 적어도 한쪽을 변경시키는 제어량 변경 수단(19)을 또한 갖는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 제어량 변경 수단은 상기 좌우륜 구동력 조정 수단의 좌우 구동력 제어량 및 상기 제동력 조정 수단의 제동력 제어량의 제어 비율을 변경시키는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 차량 거동 검출 수단은,상기 차량의 차속을 검출하는 차속 검출 수단(13)과,상기 차량의 조타량을 검출하는 조타량 검출 수단(14)과,상기 차량에 생기는 요 레이트를 검출하는 요 레이트 검출 수단(15)과,상기 차속 및 상기 조타량에 의거하여 목표 요 레이트를 산출하고, 해당 목표 요 레이트와 상기 요 레이트의 차를 요 레이트 편차로서 산출하는 요 레이트 편차 산출 수단을 가지며,상기 제어 수단은 상기 요 레이트 편차 산출 수단에 의해 검출된 상기 요 레이트 편차에 의거하여 상기 차량에 부여하는 모멘트를 산출하고, 해당 모멘트에 응하여 상기 좌우륜 구동력 조정 수단 및 상기 제동력 조정 수단을 통합적으로 제어하는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 삭제
- 제 1항에 있어서,상기 제어량 변경 수단은 상기 마찰계수가 높을수록 상기 좌우륜 구동력 조정 수단의 좌우 구동력 제어량을 크게 변경시키는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 제어량 변경 수단은 상기 마찰계수가 높을수록 상기 제동력 조정 수단의 제동력 제어량을 작게 변경시키는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 제어량 변경 수단은 상기 마찰계수가 높을수록 상기 좌우륜 구동력 조정 수단의 좌우 구동력 제어의 기여율을 증대시키는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 제어 수단은, 상기 차량 거동 검출 수단에 의해 검출된 차량 거동에 의거하여 상기 차량에 주는 요구 요 모멘트를 산출하고 상기 요구 요 모멘트가 크게 됨에 따라 상기 좌우륜 구동력 조정 수단 및 상기 제동력 조정 수단을 순차적으로 작동시키고,상기 제어량 변경 수단은, 상기 마찰계수가 높을수록 상기 제동력 조정 수단이 작동을 시작하는 상기 요구 요 모멘트가 커지도록 상기 좌우륜 구동력 조정 수단의 좌우 구동력 제어량을 변경시키는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 차량의 전륜 또는 후륜의 적어도 한쪽의 조타각을 조정하는 조타각 조정 수단을 또한 가지며, 상기 제어 수단은, 상기 차량 거동 검출 수단에 의해 검출된 차량 거동에 의거하여 상기 좌우륜 구동력 조정 수단, 상기 제동력 조정 수단 및 조타각 조정 수단을 통합적으로 제어하고,상기 제어량 변경 수단은 노면의 마찰계수가 높을수록 상기 조타각 조정 수단의 조타각 제어량을 크게 변경시키는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 노면상황 정보 취득 수단은 노면의 마찰계수를 검출 또는 추정하는 노면 마찰계수 검출 수단인 것을 특징으로 하는 차량의 선회 거동 제어 장치.
- 제 1항에 있어서,상기 노면상황 정보 취득 수단은 운전자가 수동 선택하는 모드 전환 스위치(12)의 전환 위치에 의거하여 노면상황에 관한 정보를 취득하는 것을 특징으로 하는 차량의 선회 거동 제어 장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2004-00309075 | 2004-10-25 | ||
JP2004309075A JP4114657B2 (ja) | 2004-10-25 | 2004-10-25 | 車両の旋回挙動制御装置 |
Publications (2)
Publication Number | Publication Date |
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KR20060050787A KR20060050787A (ko) | 2006-05-19 |
KR100645179B1 true KR100645179B1 (ko) | 2006-11-10 |
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Application Number | Title | Priority Date | Filing Date |
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KR1020050079786A KR100645179B1 (ko) | 2004-10-25 | 2005-08-30 | 차량의 선회 거동 제어 장치 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7377600B2 (ko) |
EP (1) | EP1657138B1 (ko) |
JP (1) | JP4114657B2 (ko) |
KR (1) | KR100645179B1 (ko) |
CN (1) | CN1781795B (ko) |
DE (1) | DE602005013887D1 (ko) |
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WO2018047304A1 (ja) * | 2016-09-09 | 2018-03-15 | マツダ株式会社 | 車両の制御装置 |
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