WO2005102762A1 - 車両の姿勢制御装置 - Google Patents
車両の姿勢制御装置 Download PDFInfo
- Publication number
- WO2005102762A1 WO2005102762A1 PCT/JP2005/006212 JP2005006212W WO2005102762A1 WO 2005102762 A1 WO2005102762 A1 WO 2005102762A1 JP 2005006212 W JP2005006212 W JP 2005006212W WO 2005102762 A1 WO2005102762 A1 WO 2005102762A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- roll
- vehicle body
- drive torque
- control device
- Prior art date
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Classifications
-
- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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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
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a vehicle attitude control device that suppresses the roll of a vehicle. Background technology
- the present invention has been made to address the above problems, and the object of the present invention is to individually control the drive torque generated by an actuator corresponding to four wheels represented by an electric motor. It is an object of the present invention to provide a vehicle attitude control device capable of improving the riding position at the time of turning by suppressing the turning of the wheel.
- the feature of the present invention is characterized in that it comprises four actuators for independently driving four wheels suspended on a vehicle body by a suspension device, and the drive torque generated by the four actuators is A posture control device of a vehicle capable of controlling the traveling posture of a vehicle individually by controlling, the roll detection means for detecting a mouth of the vehicle, and the four types according to the detected roll of the vehicle.
- the drive torque generated by the actuator is differentiated to force the vehicle against the roll in the opposite direction.
- driving torque control means for operating the motor.
- the driving torque control means causes the front and rear wheels of the vehicle on the side where the vehicle body is raised by the roll of the vehicle to generate forces in opposite directions in the front and rear direction of the vehicle.
- the driving torque generated by the corresponding one of the front and rear wheels on the rising side is made different, or the front and rear wheels on the side where the vehicle body is lowered by the roll of the vehicle.
- the driving torque generated by the corresponding one of the front and rear wheels on the lowered side is differentiated. It is good to do.
- the roll detection means detects, for example, a roll angle of a vehicle body
- the drive torque control means uses, for example, the four rotational curves by using the detected roll angle of the vehicle body.
- drive control means is provided to drive and control the four actuators according to the calculated drive torque.
- the roll detection means calculates, for example, a lateral acceleration sensor that detects a lateral acceleration in the lateral direction of the vehicle, and a roll angle calculation that calculates a roll angle of the vehicle body according to the detected lateral acceleration. It is good to have a means.
- a force can be applied to the vehicle body in the direction opposite to the roll. That is, since the four wheels are suspended on the vehicle body by the suspension device, the force in the longitudinal direction of the vehicle generated between the front and rear wheels can be suspended if the drive torque generated by the four actuators is different. It can act on the vehicle body via the device. As a result, the roll of the vehicle is suppressed, and the ride comfort at the time of roll can be improved.
- FIG. 1 shows a vehicle provided with a vehicle attitude control device according to an embodiment of the present invention, It is the schematic side view which saw the front and rear right wheel side suspension apparatus from the inner side.
- FIG. 2 is a block diagram of an electric control device of the vehicle attitude control device shown in FIG.
- FIG. 3 is a flowchart of a program executed by the controller of FIG.
- FIG. 4 is a graph showing the change characteristics of the roll angle with respect to the lateral acceleration.
- FIG. 5 is a graph showing the change characteristic of the drive torque change with respect to the roll angle.
- 6A to 6D are schematic diagrams for explaining attitude control at the time of rolling the vehicle to the right.
- FIGS. 7A to 7D are schematic views for explaining attitude control when the vehicle rolls in the left direction.
- Fig. 1 is a schematic side view of the front and rear right wheels of the vehicle as viewed from the inside.
- the front, rear, left and right wheels Wfl, Wrl, Wfr, and Wrr of the vehicle are suspended on the car body B D by suspension devices Sfl, Sri, Sfr, and Srr, respectively (see Fig. 2). Since the suspension devices Sfl, Sri, Sfr and Srr are similarly configured on the left and right sides of the vehicle, only the suspension devices Sfr and Srr located on the right side of the vehicle will be specifically described and located on the left side of the vehicle The detailed description of the suspension devices Sfl and Sri to be performed is omitted.
- the front suspension device Sfr comprises an upper arm 1 1 and a lower arm 1 2.
- the upper arm 11 is rotatably mounted on the vehicle body BD at its inner ends 11 1 a and 1 1 b so as to be rotatable about its longitudinal axis and supports the right front wheel Wfr at its outer end 11 c. It is rotatably attached to 13.
- the lower arm 12 is rotatably mounted on the vehicle body BD at the inner ends 12a and 12b around the axis substantially in the longitudinal direction of the vehicle, and is rotatably mounted on the carrier 13 at the outer end 12c. There is.
- the axis of the inner end 1 1 a, 1 lb of the upper arm 1 1 and the axis of the inner end 1 2 a, 1 2 b of the lower arm 12 are above and behind the ground point Q of the right front wheel Wfr.
- the intersection point O is the moment center of the right front wheel Wfr with respect to the vehicle body BD.
- a force to the vehicle front acts on the contact point Q of the right front wheel Wfr
- a line connecting the intersection point O and the contact point Q to the intersection point O The force corresponding to the forward force acts in the ⁇ Q direction.
- a force to the rear of the vehicle acts on the contact point Q of the right front wheel Wfr
- a force corresponding to the force to the rear acts on the intersection point 0 in the direction of the line segment Q.
- the rear suspension system Srr is equipped with upper arms 14, 15 and lower arms 16.
- the upper arms 14 and 15 are rotatably attached to the vehicle body BD at the inner ends 14 a and 15 a respectively about the vehicle front-rear direction axial line, and the right rear wheel Wrr at the outer ends 14 b and 15 b. It is rotatably assembled to the carrier 17 to be supported.
- the lower arm 16 is rotatably attached to the vehicle body BD at the inner end 16 a so as to be rotatable about an axis in the longitudinal direction of the vehicle, and is rotatably attached to the carrier 17 at the outer end 16 b.
- the axis connecting the inner ends 14a and 15a of the upper arms 14 and 15 and the axis of the inner end 16a of the lower arm 16 are intersection points P located above and to the front of the vehicle with respect to the grounding point R of the right rear wheel Wrr. It crosses by.
- the point of intersection P is the moment center of the right rear wheel Wrr with respect to the vehicle body BD.
- a force to the vehicle rear acts on the contact point R of the right rear wheel Wrr
- the point of intersection P and the contact point A force corresponding to the backward force acts in the direction of the line segment PR connecting R.
- a force in the forward direction of the vehicle acts on the contact point R of the right rear wheel Wrr
- a force according to the forward force in the direction of the line segment RP acts on the intersection point P.
- the rotary shafts of the electric motors 21, 22, 23, 24 fixed to the wheel side members are integrally assembled to the front, rear, left and right wheels Wfl, Wrl, Wfr, Wrr of the vehicle. ing.
- the electric motors 21, 22, 23, 24 have built-in reduction gears, and drive the front and rear left and right wheels Wfl, Wrl, Wfr, Wrr independently by their rotation. Electric motors 21, 22, 23, 24 play the role of acting.
- the electric control device is provided with a lateral acceleration sensor 31.
- the lateral acceleration sensor 31 detects lateral acceleration Gy of the vehicle in the left and right direction, and is connected to the controller 32.
- This lateral acceleration sensor 31 The lateral acceleration Gy detected by this means that positive indicates that the vehicle is accelerating to the right, and negative indicates that the vehicle is accelerating to the left.
- the lateral acceleration Gy may be calculated using the motion state of another vehicle. For example, a vehicle speed sensor for detecting the vehicle speed and a steering angle sensor for detecting the steering wheel steering angle may be provided, and the lateral acceleration Gy may be calculated from the detected vehicle speed and steering angle.
- the controller 32 is composed of a microcomputer having CPU, ROM, RAM, etc. as its main components.
- the controller 32 controls the operation of the electric motors 21, 22, 23, 24 by executing the roll suppression control program of FIG.
- drive circuits 33, 34, 35, and 36 are also connected to the controller 32, respectively.
- the controller 32 and the drive circuits 33, 34, 35, 36 are supplied with power from the battery 37.
- the drive circuits 33, 34, 35, 36 according to the magnitude of the drive torque generated by the electric motors 21, 22, 23, 24, the drive current supplied to the same electric motors 21, 22, 23, 24
- Current sensors 33a, 34a, 35a, 36a for detecting the current are respectively connected.
- the drive circuits 33, 34, 35, 36 are controlled by the controller 32 according to the instruction from the controller 32.
- the torques of the electric motors 21, 22, 23, 24 are obtained by cooperation with the current sensors 33a, 34a, 35a, 36a. Control to drive front and rear left and right wheels Wfl, Wrl, Wfr, Wrr. In this case, when no rolling occurs on the vehicle, the drive torques generated by the motor motors 21, 22, 23, 24 have substantially the same magnitude. 23, 24 are torque controlled.
- torque sensors may be provided to detect the driving torque for the front and rear left and right wheels Wfl, Wrl, Wfr, Wrr.
- the controller 32 repeatedly executes the mouth reduction control program of FIG. 3 every predetermined short time.
- the execution of this program is started in step S10, and in step S12, a detection signal representing the lateral acceleration Gy is input from the lateral acceleration sensor 31.
- step S14 based on the lateral acceleration Gy input in step S12 Based on the roll angle table provided in the controller 32, the roll angle RA and the roll direction of the vehicle body BD are calculated. As shown in FIG.
- this mouth angle table has a roll angle RA that increases proportionally as the lateral acceleration Gy increases from “0” to a predetermined positive value, and the lateral acceleration Gy
- the roll angle RA which decreases proportionally as it decreases from 0 ”to a predetermined negative value, is stored.
- the roll direction of the car body BD indicates that the roll angle RA is positive to roll to the right of the car body BD, and the roll angle RA indicates roll to the left of the car body BD.
- step S16 when the vehicle is traveling straight on a flat road surface, no roll is generated on the vehicle, so it is judged as "No" in step S16, and this is determined in step S28. End program execution.
- the controller 32 cooperates with the drive circuits 3 3, 3 4, 3 5 and 3 6 to drive the electric motors 21, 2 2, 2 3 and 2 4. It controls the drive torque and rotationally drives the front and rear left and right wheels Wf l, Wrl, Wfr and Wrr.
- step S22 the roll angle RA of the vehicle body BD becomes positive, so "No” is determined in step S16, "Y es" is determined in step S18, and step S20 is performed. And execute the process of step S22.
- step S20 referring to the drive torque change table provided in the controller 32, using the roll angle RA and the roll direction of the vehicle body BD calculated in step S14, the front and rear left wheels Wfl, The drive torque change amount ⁇ Tr for changing the drive torque generated by the motorized motors 2 1, 2 2 corresponding to Wrl is calculated.
- this drive torque change table stores a drive torque change amount ⁇ that gradually increases as the absolute value I RA I of the roll angle RA increases.
- the drive torque generated by the electric motor 21 corresponding to the left front wheel W is increased by the drive torque change amount ⁇ so as to correspond to the left rear wheel Wr l
- the drive torque generated by the motorized motor 22 is changed by the drive torque ⁇ ⁇ Decrease by wrinkles.
- step S22 a drive torque change amount ⁇ for changing the drive torque generated by the electric motors 23, 24 corresponding to the front and rear right wheels Wfr, Wrr is calculated.
- the drive torque generated by the electric motor 23 corresponding to the right front wheel Wfr is reduced by the drive torque change amount ⁇ , and the electric motor corresponding to the right rear wheel Wrr.
- the drive torque generated by the motor 24 is increased by the drive torque change ⁇ T r.
- the force AF generated on the front and rear left and right wheels Wfl, Wrl, Wfr, and Wrr is “0” in total as viewed from the entire vehicle, so that acceleration in the front and rear direction is never generated with respect to the vehicle. Also, since the ⁇ F is generated in opposite directions to each other in the front, rear, left, and right of the vehicle, a yawing moment does not occur on the vehicle.
- step S28 the execution of this program is ended in step S28.
- the process of steps S20 and S22 is repeatedly executed, so that the right turn of the vehicle body BD is suppressed and the rider at the time of the same roll is controlled. The comfort can be improved.
- step S24 as in the case of step S20, the drive torque changing table is referred to, and the roll angle RA and the roll direction of the vehicle body BD calculated in step S14 are used to Calculate the change in drive torque ⁇ ⁇ ⁇ according to the absolute value I RA I of the roll angle RA. Then, the drive torque generated by the electric motor 23 corresponding to the right front wheel Wfr is increased by the drive torque change amount ATr, and the drive torque generated by the electric motor 24 corresponding to the right rear wheel W rr is calculated as the drive torque change amount ⁇ Decrease by Tr.
- step S26 the drive torque generated by the electric motor 21 corresponding to the left front wheel Wfl is reduced by the calculated drive torque change ⁇ and generated by the electric motor 22 corresponding to the left rear wheel Wrl.
- the drive torque is increased by the same drive torque change ⁇ .
- the front and rear right wheels Wfr and Wrr at the inside of the turn have the same magnitude in the front and rear direction of the vehicle according to the increase and decrease of the driving torque change ⁇ and the opposite directions are different. Occur. Also, in the front and rear left wheels Wfl and Wrl outside the turning, forces AF having the same size in the front and rear direction of the vehicle are generated in the front and rear direction of the vehicle according to the increase and decrease of the drive torque change amount ⁇ .
- step S26 the execution of this program is ended in step S28. If the vehicle continues to turn to the right, the process of steps S 24 and S 26 is performed. By being repeatedly executed, the roll in the left direction of the vehicle body BD is suppressed, and the riding comfort at the time of rolling can be improved.
- steps S 24 and S 26 are performed as in the case where the vehicle starts turning to the right.
- a downward force is generated at each instant center defined by the suspension devices Sfr and Srr on the right side as shown in FIG. 7C.
- an upward force is generated at each instant center defined by the suspension devices Sfl and Sri on the left side. As a result, the roll in the left direction of the vehicle body BD is suppressed.
- the lateral acceleration sensor 31 and the lateral acceleration Gy detected by the lateral acceleration sensor 31 are used to calculate the roll angle RA of the vehicle body BD in steps S12 and S14.
- a roll detection means was configured by the processing.
- the lateral acceleration sensor 31 for example, it is possible to provide a roll angle detection sensor for detecting the roll angle RA of the vehicle body BD, and to make this roll angle detection sensor function as a roll detection means.
- the rolling torque of the vehicle is suppressed by increasing or decreasing the driving torque by the driving torque change amount ⁇ .
- the drive torque generated by the electric motor corresponding to only the front and rear wheels of at least one of front and rear left wheels Wfl and Wrl and front and rear right wheels Wfr and Wrr may be increased or decreased by the drive torque change ⁇ , respectively.
- one of the processes of step S 20 and step S 22 is omitted, and one of the processes of step S 24 and step S 26 is performed.
- One process may be omitted.
- each moment center defined by the front suspension devices Sil and Sir is positioned above and behind the vehicle from the ground contact point, and is defined by the rear suspension devices Sri and Srr. It has been described that each instant center is located above and to the front of the vehicle than the contact point. However, the position of the instantaneous center is not limited to this.
- the instantaneous centers defined by the front suspension devices Sfl and Sfr are located below and in front of the vehicle with respect to the contact point, and also the rear suspension devices Srl , Srr when each instantaneous center is located below and behind the contact point from the vehicle (first modification), and each instantaneous center defined by the suspension devices Sfl, Sfr on the front side is from the contact point
- first modification when each instantaneous center is located below and behind the contact point from the vehicle
- each instantaneous center defined by the suspension devices Sfl, Sfr on the front side is from the contact point
- the suspension devices Sfl and Sfr define the center of each moment below and behind the contact point on the vehicle, and the suspension devices Srl and Srr on the rear side.
- Any modification of the case (third modification) of the instant center defined is positioned below and in front of the vehicle than the grounding point also can be implemented.
- the drive torque generated by the electric motor corresponding to the front wheel on which the vehicle body BD is raised (the rear wheel on which the vehicle body BD is lowered) is Drive torque change according to roll angle RA of vehicle body BD
- the vehicle body BD is increased by increasing the drive torque generated by the electric motor corresponding to the rear wheel on the side where the vehicle body BD is raised (the front wheel on which the vehicle body BD is lowered) by A downward force (an upward force at each momentary center defined by the suspension system on the side where the vehicle body BD is lowered) can be generated at each momentary center defined by the raised suspension system.
- the electric motor corresponding to the front wheel on which the vehicle body BD is raised (the rear wheel on which the vehicle body BD is lowered)
- the driving torque generated by the motor is reduced by the driving torque change amount ⁇ according to the roll angle RA of the vehicle body BD, and the electric motor corresponding to the rear wheel on which the vehicle body BD is raised (the front wheel on which the vehicle body BD is lowered)
- the drive torque change amount ⁇ By increasing the generated drive torque by the drive torque change amount ⁇ , the downward force at each moment center defined by the suspension device on the side where the vehicle body BD has risen (by the suspension device on the side where the vehicle body is lowered) An upward force) can be generated at the center of each specified moment.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05727476A EP1745974B1 (en) | 2004-04-20 | 2005-03-24 | Attitude control device for vehicle |
DE602005012497T DE602005012497D1 (de) | 2004-04-20 | 2005-03-24 | Lagesteuervorrichtung für fahrzeuge |
US11/578,609 US7762562B2 (en) | 2004-04-20 | 2005-03-24 | Vehicle attitude control apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-124185 | 2004-04-20 | ||
JP2004124185A JP4586962B2 (ja) | 2004-04-20 | 2004-04-20 | 車両の姿勢制御装置 |
Publications (1)
Publication Number | Publication Date |
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WO2005102762A1 true WO2005102762A1 (ja) | 2005-11-03 |
Family
ID=35196841
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2005/006212 WO2005102762A1 (ja) | 2004-04-20 | 2005-03-24 | 車両の姿勢制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7762562B2 (ja) |
EP (1) | EP1745974B1 (ja) |
JP (1) | JP4586962B2 (ja) |
CN (1) | CN100513224C (ja) |
DE (1) | DE602005012497D1 (ja) |
WO (1) | WO2005102762A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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US11001121B2 (en) * | 2017-01-18 | 2021-05-11 | Ntn Corporation | Vehicular suspension device |
Also Published As
Publication number | Publication date |
---|---|
EP1745974A4 (en) | 2008-03-05 |
JP2005306152A (ja) | 2005-11-04 |
DE602005012497D1 (de) | 2009-03-12 |
US20080029987A1 (en) | 2008-02-07 |
CN100513224C (zh) | 2009-07-15 |
CN1946586A (zh) | 2007-04-11 |
JP4586962B2 (ja) | 2010-11-24 |
EP1745974A1 (en) | 2007-01-24 |
US7762562B2 (en) | 2010-07-27 |
EP1745974B1 (en) | 2009-01-21 |
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