WO2006093242A1 - 車輌の制駆動力制御装置 - Google Patents
車輌の制駆動力制御装置 Download PDFInfo
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- WO2006093242A1 WO2006093242A1 PCT/JP2006/304024 JP2006304024W WO2006093242A1 WO 2006093242 A1 WO2006093242 A1 WO 2006093242A1 JP 2006304024 W JP2006304024 W JP 2006304024W WO 2006093242 A1 WO2006093242 A1 WO 2006093242A1
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- WIPO (PCT)
- Prior art keywords
- braking
- driving force
- vehicle
- target
- moment
- Prior art date
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- 230000004043 responsiveness Effects 0.000 claims description 22
- 230000001172 regenerating effect Effects 0.000 description 44
- 230000001133 acceleration Effects 0.000 description 26
- 230000007423 decrease Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 12
- 230000003247 decreasing effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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
- 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
-
- 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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
Definitions
- Vehicle braking / driving force control device Vehicle braking / driving force control device
- the present invention relates to a vehicle braking / driving force control device, and more particularly to a vehicle braking / driving force control device that controls braking / driving force of each wheel.
- the driving force of the left and right wheels is adjusted so as to give a required moment to the vehicle.
- Driving force control devices that perform distribution control have been known in the past, and the braking force that controls the braking / driving force of the vehicle and the moment by controlling the braking force of each wheel to ensure vehicle running stability. Control devices are already known. According to such a braking / driving force control device, the running stability of the vehicle can be improved.
- the braking / driving force and momentum of a vehicle can be controlled by controlling the braking / driving force of each wheel, but the braking / driving force that can be generated by each wheel is limited.
- the conventional braking / driving force control device as described above does not take this situation into consideration. Improvement of this point is needed.
- the corrected target braking / driving force and the target moment will be the braking / driving force of each wheel. It is conceivable to correct the target braking / driving force or target moment so that the maximum possible value can be achieved, but in this case, if the target braking / driving force changes abruptly, the target moment after correction is corrected. If the target momentum changes rapidly, the corrected target braking / driving force changes rapidly, which may decrease the running stability of the vehicle and cause the vehicle occupant to feel uncomfortable.
- a main object of the present invention is to provide a conventional vehicle braking / driving force control device configured to control the braking / driving force and moment of a vehicle by controlling the braking / driving force of each wheel.
- the braking / driving force applying means for applying braking / driving force to each wheel, the means for detecting the driving operation amount of the occupant, and at least generated by the braking / driving force of each wheel based on the driving operation amount of the occupant.
- the target braking / driving force or target moment of the vehicle not be achieved due to the means for calculating the target braking / driving force and target moment of the vehicle and the braking / driving force of each wheel, the target braking / driving force or target moment Is applied to each wheel by the braking / driving force applying means so that the braking / driving force and the moment of the vehicle by the braking / driving force of each wheel become the target braking / driving force and the target moment after correction.
- Vehicle braking / driving force control device having a control means for controlling the braking / driving force of the vehicle, wherein the correcting means is a rectangular seat having the vehicle braking / driving force and the moment as coordinate axes.
- the major axis and minor axis are within the range of the vehicle braking / driving force and vehicle moment that can be achieved by the braking / driving force of each wheel and have a center on the coordinate axis of the orthogonal braking / driving force.
- a vehicle braking / driving force control device configured to correct a target braking / driving force or a target moment to a value within an ellipse range aligned with the direction of a coordinate axis of orthogonal coordinates.
- the vehicle's braking / driving force and the moment are viewed in Cartesian coordinates. Therefore, it is within the range of vehicle braking / driving force and vehicle moment that can be achieved by the braking / driving force of each wheel, and has a center on the coordinate axis of the braking / driving force of Cartesian coordinates and the major axis and minor axis are Cartesian coordinates.
- the target braking / driving force or target moment can be achieved depending on the braking / driving force of each wheel. Even if this is not possible, it is possible to achieve a braking / driving force and moment that are close to the target braking / driving force and target moment, and that the target braking / driving force and target moment are Even if there is a sudden change, the braking / driving force of the vehicle is prevented from changing suddenly, which effectively reduces the vehicle's running stability and may cause the vehicle occupant to feel uncomfortable. Can be reduced.
- the ellipse is the vehicle braking / driving force achievable by the braking / driving force of each wheel and the vehicle. It may intersect with each side of the polygon that defines the range of the moment. According to this configuration, it is possible to prevent the vehicle moment and braking / driving force from abruptly changing regardless of which of the target braking / driving force and the target moment of abrupt change.
- the diameter of the ellipse may be variably set according to the friction coefficient of the road surface so that it is smaller when the friction coefficient of the road surface is low than when the friction coefficient of the road surface is high. According to this configuration, when the road friction coefficient is high, the correction of the target braking / driving force or target moment by the ellipse is prevented, and when the road friction coefficient is low, the correction by the corrected ellipse is prevented. It is possible to prevent the target braking / driving force or target moment from being insufficiently corrected.
- the diameter of the ellipse indicates the magnitude of the rate of change of the target braking / driving force or the magnitude of the rate of change of the target braking / driving force or the moment of the target moment when the magnitude of the rate of change of the target braking / driving force is large. It may be variably set according to the rate of change of the target braking / driving force or the rate of change of the target moment so that the rate of change is smaller than when it is small. According to this configuration, it is possible to prevent the target moment or the target braking / driving force from being excessively corrected when the change rate of the target braking / driving force or the change rate of the target moment of inertia is small. However, when the rate of change of the target braking / driving force or the rate of change of the target moment is large, it is possible to effectively prevent the corrected target moment or target braking / driving force from changing suddenly. Can do.
- the diameter of the ellipse may be variably set according to the driving preference of the occupant. According to this configuration, the degree of correction of the target braking / driving force or the target moment by the ellipse can be changed according to the driving preference of the occupant.
- the correction means determines the necessity of achieving the target braking / driving force according to the driving operation of the occupant, and when the necessity of achieving the target braking / driving force is high, the correction means needs to achieve the target braking / driving force.
- the degree of correction of the target braking / driving force by the ellipse may be relaxed.
- the target braking / driving force is effectively prevented from changing rapidly while the necessity of achieving the target braking / driving force is high. The possibility that the achievement of the target braking / driving force will be hindered can be effectively reduced.
- the correction means determines the necessity of achieving the target moment according to the occupant's driving operation.
- the correction means The degree of correction of the target moment by the ellipse may be relaxed compared to when the need for achievement is low. According to this configuration, when the necessity for achieving the target moment is low, it is possible to effectively prevent the target moment from changing suddenly, and when the necessity for achieving the target moment is high, It is possible to effectively reduce the possibility of the achievement being hindered.
- a straight line connecting the point indicating the target braking / driving force and the target moment and the origin of the orthogonal coordinates when viewed in Cartesian coordinates with the braking / driving force and the moment of the vehicle as coordinate axes
- the first target point is the intersection with the line that shows the maximum braking / driving force of the vehicle due to braking / driving force and the size of the moment, and it is orthogonal to the point that shows the target braking / driving force and target moment.
- the intersection between the straight line connecting the origin of the coordinates and the ellipse is set as the second target point, and the correction means determines the value of the first and second target points near the origin and the target braking / driving force and force after correction.
- the ratio of the braking / driving force of the vehicle to the moment of inertia can be surely made to be the ratio of the target braking / driving force to the target moment, and the braking / driving force of the vehicle by the braking / driving force of each wheel can be increased. Even if the target braking / driving force or the target moment is abruptly changed, the vehicle momentum is controlled / branched while achieving the braking / driving force and the moment required by the vehicle as much as possible by increasing the magnitude of the moment and the moment. It is possible to effectively prevent the force from changing suddenly.
- the vehicle's target braking / driving force and the vehicle's target moment are calculated by means of at least the vehicle's target braking / driving force and vehicle target for driving the vehicle stably based on the occupant's driving operation amount. Calculate the total moment, estimate the turning moment by the lateral force of the wheel based on at least the occupant's driving operation amount, and calculate the value obtained by subtracting the turning total moment from the target total moment as the target moment of the vehicle. It's okay. According to this configuration, it is possible to accurately calculate the target braking / driving force and the target moment of the vehicle that should be generated by the braking / driving force on each wheel based on at least the occupant's driving operation amount.
- the diameter that matches the coordinate direction of the elliptical moment is larger when the change rate of the target braking / driving force is large than when the change rate of the target braking / driving force is small. It may be variably set to be smaller. In the above configuration, the diameter that matches the coordinate direction of the elliptical braking / driving force is smaller when the change rate of the target moment is large than when the change rate of the target moment is small. It may be variably set to be.
- the vehicle has vehicle responsiveness setting means for variably setting the responsiveness of the vehicle to the driving operation operated by the occupant, and the ellipse diameter is the responsiveness of the vehicle set by the vehicle responsiveness setting means.
- the vehicle responsiveness setting means may be variably set according to the vehicle responsiveness set by the vehicle responsiveness setting means so that the vehicle responsiveness set by the vehicle responsiveness setting means is larger when the vehicle is high.
- the braking / driving force applying means may apply the braking / driving force to each wheel independently of each other.
- the braking / driving force applying means applies braking force to each wheel independently of each other, and the driving force distribution of the left and right wheels can be changed so that the driving force from the driving means common to the left and right wheels can be changed. It may be applied to the left and right wheels.
- the ellipse intersects each side of the polygon defining the range of vehicle braking / driving force and vehicle momentum that can be achieved by the braking / driving force of each wheel at two points. It may be.
- the ellipse may have a center at the origin of the Cartesian coordinates and the major axis and minor axis may be aligned with the coordinate axes of the Cartesian coordinates.
- the maximum braking / driving force of the vehicle that can be achieved by the braking / driving force of each wheel is larger than the maximum moment of the vehicle that can be achieved by the braking / driving force of each wheel.
- the center may be located on the coordinate axis of the braking / driving force of the orthogonal coordinate on the braking force side with respect to the origin of the orthogonal coordinate.
- the correcting means is smaller when the magnitude of the steering operation amount of the occupant and the rate of change thereof are small than when the magnitude of the steering operation amount of the occupant and the rate of change thereof are large.
- the degree of correction of the target braking / driving force by the ellipse is alleviated, or when the accelerating / decelerating operation amount of the occupant and the change rate are large, the accelerating / decelerating operation amount of the occupant and the change rate are large.
- the degree of correction of the target braking / driving force by the ellipse may be reduced as compared with the case where the height is small.
- the correction means is compared with the case where the magnitude of the acceleration / deceleration operation amount of the occupant and the rate of change thereof are large when the magnitude of the acceleration / deceleration operation amount of the occupant and the rate of change thereof are small. Therefore, the degree of correction of the target moment by the ellipse is alleviated, or when the magnitude of the occupant's steering operation and the rate of change thereof are large, the magnitude of the occupant's steering operation and the rate of change thereof are reduced. The degree of correction of the target moment by the ellipse may be relaxed compared to when the size is small.
- the lines indicating the maximum braking / driving force and maximum moment of the vehicle are the maximum vehicle driving force, the maximum vehicle braking force, and the left turn of the vehicle. It may be determined by the maximum value of the direction moment and the maximum value of the moment in the right turn direction of the vehicle.
- the line indicating the maximum value of the braking / driving force and the maximum moment of the vehicle may be variably set according to the friction coefficient of the road surface.
- the braking / driving force applying means may include means for applying driving force to each wheel independently of each other and means for applying braking force to each wheel independently of each other.
- the means for applying the driving force is a means for applying a common driving force to the left and right wheels, a means for controlling the driving force distribution of the left and right wheels, and a braking force to each wheel independently. There may be a means to do this.
- the means for applying the driving force may comprise means for applying a common driving force to the left and right front wheels and means for applying a common driving force to the left and right rear wheels.
- the means for applying the driving force includes means for applying a common driving force to the left and right front wheels and the left and right rear wheels, means for controlling the driving force distribution of the front and rear wheels, and the driving force distribution of the left and right front wheels.
- Means for controlling and means for controlling the distribution of driving force between the left and right rear wheels may be provided.
- the means for applying the driving force may include an electric motor.
- the electric motor may perform regenerative braking during braking.
- the means for calculating the target braking / driving force and the target moment of the vehicle is not limited to the target longitudinal acceleration and target speed of the vehicle for stable running of the vehicle based on the driving operation amount of the occupant. It is possible to calculate the target braking / driving force and the target total moment of the vehicle based on the target longitudinal acceleration and the target rate of the vehicle, respectively.
- control means calculates the target braking / driving force of each wheel based on the target braking / driving force of the vehicle, the target moment of the vehicle, and the front / rear wheel distribution ratio of the braking / driving force.
- the braking / driving force applied to each wheel may be controlled based on the force.
- FIG. 1 is a schematic diagram showing a first embodiment of a braking / driving force control device according to the present invention applied to a wheel-in motor type four-wheel drive vehicle.
- FIG. 2 is an explanatory diagram showing the relationship between the braking / driving force of each wheel, the braking / driving force of the vehicle, and the moment in the first embodiment in various cases.
- FIG. 3 is a flow chart showing braking / driving force control notification achieved by the driving force control electronic control device in the first embodiment.
- Fig. 4A is a graph showing the range of vehicle braking / driving force and momentum that can be achieved by controlling the braking / driving force of each wheel in the first embodiment
- Fig. 4B is the drive of only the front or rear wheels.
- 4 is a graph showing the range of vehicle braking / driving force and momentum that can be achieved by controlling the braking / driving force of each wheel in a vehicle.
- FIG. 5A shows the corrected value when the vehicle target braking / driving force F vn and the vehicle target torque Mvn are outside the achievable range by controlling the braking / driving force of each wheel in the first embodiment.
- FIG. 5B is a diagram illustrating the calculation of the vehicle target braking / driving force F vt and the vehicle target moment of inertia Mvt.
- FIG. 5B shows the vehicle target braking / driving force F vn and the vehicle target braking / driving force F vn and the vehicle target braking / driving force F vn.
- FIG. 5C is an explanatory diagram showing the operation of the first embodiment when the point indicating the target motor moment Mvn moves from PI to P 2, and FIG.
- FIG. 5C shows the target braking / driving force of the vehicle due to the change of the target moment Mvn of the vehicle.
- FIG. 5 is an explanatory diagram showing the operation of the first embodiment when the point indicating F vn and the target moment Mvn moves from P 1 to P 2.
- Fig. 6 shows vehicle braking / driving force control according to the present invention applied to a four-wheel drive vehicle in which the driving force and regenerative braking force of one motor generator common to all four wheels are distributed and controlled to the front and rear wheels and the left and right wheels. It is a schematic block diagram which shows the 2nd Example of an apparatus.
- FIG. 7 is an explanatory diagram showing the relationship between the braking / driving force of each wheel, the braking / driving force of the vehicle, and the moment in the second embodiment in various cases.
- FIG. 8 is an explanatory diagram showing the relationship between the braking / driving force of each wheel, the braking / driving force of the vehicle, and the moment in the second embodiment in various other cases.
- Fig. 9A is a graph showing the range of the braking / driving force and the moment of the vehicle that can be achieved by controlling the braking / driving force of each wheel in the second embodiment
- Fig. 9B shows only the front or rear wheels
- 4 is a graph showing the range of vehicle braking / driving force and momentum achievable by controlling the braking / driving force of each wheel in a driven vehicle.
- FIG. 1 OA is the second example when the point indicating the vehicle target braking / driving power F vn and the target moment Mvn moves from P 1 to P 2 due to the change of the vehicle target braking / driving force F vn.
- FIG. 10 is an explanatory diagram showing the operation of the second embodiment, and FIG. 10B shows the vehicle according to the change in the vehicle target moment Mvn.
- FIG. 11 is an explanatory diagram showing the operation of the second embodiment when the point indicating the target braking / driving force Fvn and the target moment of inertia Mvn moves from PI to P2.
- FIG. 1 is a schematic diagram showing a first embodiment of a vehicle braking / driving force control device according to the present invention applied to an in-wheel motor type four-wheel drive vehicle.
- 10 FL and 10 FR indicate left and right front wheels, which are steering wheels, respectively, and 10 0RL and 10 0RR respectively indicate left and right rear wheels, which are non-steering wheels.
- Left and right front wheels 1 0FL and 1 0 FR have built-in motor generators 1 2FL and 1 2FR, respectively.
- Left and right front wheels 1 OFL and 1 OFR are motor generators 1 2FL and 1 2 Driven by FR.
- the motor generators 1 2FL and 1 2FR also function as regenerative generators for the left and right front wheels, respectively, and generate regenerative braking force during braking.
- motor generators 1 2RL and 1 2 RR which are in-wheel motors, are incorporated in the left and right rear wheels 1 0RL and 1 0RR, respectively.
- the left and right front wheels 1 0 RL and 1 0RR are motor generators 1 2 Driven by RL and 1 2RR.
- the motor generators 1 2RL and 1 2 RR also function as left and right rear wheel generators during braking, respectively, and generate regenerative braking force.
- Motor generator 1 2FL ⁇ 1 2RR driving force is detected by accelerator opening sensor 14 4.
- the regenerative braking force of the motor generator 1 2FL to 1 2 RR is also controlled by the driving force control electronic control device 16.
- the driving force control electronic control unit 16 is composed of a microcomputer and a drive circuit, and the microphone port computer includes, for example, a CPU, a ROM, a RAM, and an input. And a general configuration in which these are connected to each other by a bidirectional common bus. Also, during normal driving, the power charged in the battery (not shown in Fig. 1) is supplied to each motor generator 1 2FL to 1 2RR through the drive circuit, and each motor generator 1 2FL to 1 is used for deceleration braking of the vehicle. Electric power generated by regenerative braking by 2RR is charged to the battery via the drive circuit. Left and right front wheels 1 O FL, 1 0 FR and left and right rear wheels 1 0 RL, 1 0 RR friction braking force is a friction braking device 1
- the hydraulic circuit 20 includes a reservoir, an oil pump, various valve devices, etc., and the braking pressure of each wheel cylinder normally affects the amount of depression of the brake pedal 24 by the driver.
- the brake pedal 2 is controlled according to the pressure of the master cylinder 2 6 driven by the depression of the 4 4, and the oil pump and various valve devices are controlled by the electronic control device 28 for braking force control as necessary. Thus, the control is performed regardless of the amount of depression of the brake pedal 24 by the driver.
- the braking force control electronic control device 28 is also composed of a microphone mouth converter and a drive circuit, and the microcomputer includes, for example, a CPU, a ROM, a RAM, and an input. And a general configuration in which these are connected to each other by a bidirectional common bus.
- the electronic controller for driving force control 16 includes a signal indicating the friction coefficient ⁇ of the road surface from the ⁇ sensor 30, steering angle sensor 3 2 A signal indicating the steering angle 0 and a signal indicating the vehicle speed V from the vehicle speed sensor 34 are input.
- the electronic control unit 16 for driving force control and the electronic control unit 28 for braking force control 28 exchange signals with each other as necessary.
- the steering angle sensor 32 detects the steering angle ⁇ with the vehicle turning left as positive.
- the electronic control unit for driving force control 16 calculates the target longitudinal acceleration Gxt of the vehicle based on the accelerator opening ⁇ and the master cylinder pressure Pm, which are the driver's acceleration / deceleration operation amount, and the driver's steering operation amount. Based on the steering angle 0 and the vehicle speed V, the vehicle's target normal rate Y t is calculated in a manner known in the art.
- the driving force control electronic control unit 16 calculates the target braking / driving force F vn required for the vehicle based on the target longitudinal acceleration Gxt of the vehicle, and is required for the vehicle based on the target vehicle rate T / t of the vehicle. Calculate the total target moment Mvnt.
- the driving force control electronic control unit 16 calculates the vehicle slip angle) 3 in the manner known in the art, and determines the slippage of the left and right front wheels based on the vehicle slip angle) 3 and the steering angle ⁇ .
- the angle ⁇ is calculated, and the turning moment Ms of the vehicle due to the lateral force of each wheel is calculated based on the slip angle ⁇ .
- the electronic control unit for driving force control 16 uses the vehicle target total moment Mvn by controlling the braking / driving force of each wheel required for the vehicle by subtracting the turning moment Ms from the target total moment Mvnt of the vehicle. Calculate as
- the driving force control electronic control unit 16 calculates the maximum driving force F vdraax of the vehicle and the maximum braking force F vbmax of the vehicle by the braking / driving force of each wheel based on the friction coefficient ⁇ of the road surface. Based on the friction coefficient ⁇ , calculate the maximum moment Mvlraax in the left turn direction of the vehicle and the maximum moment Mvrmax in the right turn direction of the vehicle due to the braking / driving force of each wheel.
- the maximum driving force F vdmax of the vehicle in a situation where the motor moment does not act is the left and right front wheels 1 O FL and 10 FR braking / driving forces F wxfl and F wxfr are the maximum driving forces F wdflmax and F wdfrmax and left and right rear This is achieved when the braking / driving forces F wxr 1 and F wxrr of the wheels 10 RL and 10 RR are the maximum driving forces F wdr lmax and F wdrrmax.
- the maximum braking force F vbmax of the vehicle in a situation where the moment due to the braking / driving force of the wheel does not act on the vehicle is the control of the left and right front wheels 1 O FL and 1 O FR.
- Driving force F wxfl and F wxfr are the maximum braking force F wbflmax and F wbfrmax
- the left and right rear wheels 1 0 RL and 1 0 RR braking / driving force F wxr 1 and F wxrr are the maximum braking force F wbr lmax and F wbrrmax Achieved if.
- the maximum vehicle moment Mvlmax in the left turn direction of the vehicle in the situation where the longitudinal force due to the braking / driving force of the wheel does not act on the vehicle is the left front wheel 1 O FL and 1 0 RL.
- the braking / driving forces F wxfl and F wxrl are the maximum braking forces F wbflmax and F wbrlmax and the right front and rear wheels 1 0 FR and 1 0 RR braking / driving forces F wxf r and F wxrr are the maximum driving forces F wdf rmax Achieved if F wdrrmax.
- the maximum motor moment M vrmax in the right turn direction of the vehicle in the situation where the left moment of the vehicle is the maximum moment Mvlmax is the left front wheel 1 O FL and 10 RL braking / driving forces F wxfl and F wxrl are maximum driving forces F wdflmax and F wdrlmax and right front and rear wheels 1 O FR and 10 RR braking / driving forces F wxfr and F wxrr are maximum braking Achieved when the force is F wbf rmax and F wbrrma.
- the maximum driving force and the maximum braking force of each wheel are determined by the friction coefficient ⁇ of the road surface.
- the left turning direction of the vehicle is positive, the maximum driving force and braking force of each wheel, the maximum driving force of the vehicle and the maximum braking force of the vehicle, the maximum moment of the vehicle in the left turn direction and the right side of the vehicle Maximum rotation direction
- Vehicle braking / driving force F vx and vehicle momentum ⁇ are the vehicle's maximum driving force Fvdmax, vehicle maximum braking force, vehicle left turn maximum maximum moment Mvlmax, vehicle right turn maximum moment M Mvrmax The value is within the range of the rhombus quadrilateral 1 0 0 determined by.
- points A to D are points corresponding to the cases A to D in FIG. 2, and the coordinates of points A to D are (F vdmax, 0), (F vbmax, 0), (0, Mvlraax), (0, Mvrmax).
- the quadrilateral 100 is smaller as the road friction coefficient ⁇ is lower.
- the greater the steering angle 0 the greater the lateral force of the left and right front wheels that are the steered wheels, and the smaller the margin of front-rear force. Therefore, the quadrilateral 100 becomes smaller as the steering angle 0 increases.
- the driving force control electronic control device 16 has a major axis L a (long Set an ellipse 1 0 2 where the radius along the axis) and the minor axis L b (radius along the minor axis) are aligned with the horizontal and vertical axes of the Cartesian coordinates and intersect each side of the quadrilateral 1 0 0 .
- the major axis L a and the minor axis L b are F vdmax, depending on the friction coefficient of the road surface, so that the values are smaller when the friction coefficient of the road surface is low than when the friction coefficient of the road surface is high.
- the major axis La is variably set according to the rate of change of the target moment Mvn so that the greater the rate of change of the target moment Mvn is, the minor axis L b is the target braking / driving force of the vehicle.
- the vehicle's target braking / driving force F vn is variably set according to the rate of change of the vehicle so that the rate of change of F vn increases. Note that the size of the two diagonals of the quadrilateral 100 and the direction along the horizontal and vertical axes of the ellipse 100 2 is the major axis La or minor axis. Therefore, the shape of the quadrangle 100 and the ellipse 102 also depends on the scale of the horizontal and vertical axes.
- the electronic control device 1 for driving force control 1 6 sets the target braking / driving force Fvt of the vehicle after the correction and the target moment of inertia Mvt of the vehicle to the target braking / driving force Fvn and the target moment of inertia Mvn, respectively.
- the electronic controller for driving force control 16 is The ratio of the target braking / driving force Fvt of the vehicle after correction and the target moment of inertia Mvt of the vehicle becomes the ratio of the target braking power Fvn and the target moment of inertia Mvn, and the target braking / driving force F vt after correction
- the corrected target braking / driving force Fvt and the corrected target moment Mvt are calculated so that the target magnitude Mvt is maximized within the range of the above-mentioned quadrilateral 100 and the range of the ellipse 1002.
- the electronic control unit 16 for driving force control is based on the target braking / driving force Fvt of the vehicle after correction, the target moment Mvt of the vehicle and the braking / driving force Fwxi rear wheel distribution ratio Kr.
- the driving force of each wheel is controlled so that the braking / driving force Fwxi of each wheel becomes the target braking / driving force Fwxti.
- Each motor generator 1 2 FL ⁇ 1 2 RR is controlled so that the braking force becomes the maximum regenerative braking force F wxrimax, and the regenerative braking force is controlled, and the target braking / driving force F wxti and the maximum regenerative braking force F wxrimax
- Output to controller 28 is controlled so that the braking force becomes the maximum regenerative braking force F wxrimax, and the regenerative braking force is controlled, and the target braking / driving force F wxti and the maximum regenerative braking force F wxrimax
- step 10 a signal indicating the accelerator opening ⁇ detected by the accelerator opening sensor 14 is read, and in step 20, the above procedure is performed based on the accelerator opening ⁇ .
- the target braking / driving force Fvn of the vehicle by controlling the braking / driving force of each wheel required for the vehicle and the target moment Mvn of the vehicle are calculated.
- step 30 a map or function not shown in the figure based on the friction coefficient / X of the road surface.
- the vehicle's maximum driving force Fvdmax, vehicle's maximum braking force Fvbmax, vehicle's left-turn maximum maximum moment Mvlmax, and vehicle's right-turn maximum maximum moment M vrmax are calculated. . That is, the points A to D of the quadrilateral 100 shown in FIGS. 4 and 5 are specified.
- step 40 based on the magnitude of the change rate of the road friction coefficient ⁇ , the target moment ⁇ , and the change rate of the target braking / driving force Fvn, a map or function not shown in the figure is used.
- the major axis La and minor axis Lb of the ellipse 102 shown in FIG. 5 are determined.
- step 50 the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle are within the range of the quadrilateral 100 and the range of the ellipse 102, and are controlled by controlling the braking / driving force of each wheel. It is determined whether or not the braking / driving force Fvn and the target moment Mvn can be achieved. If a negative determination is made, the process proceeds to step 70.If an affirmative determination is made, the process proceeds to step 60 after the correction. After the vehicle's target braking / driving force Fvt and the vehicle's target torque Mvt are set to the target braking / driving force Fvn and target vehicle moment Mvn, the routine proceeds to step 200. In step 70, as shown in Fig.
- the line segment L connecting the point P indicating the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle M and the origin O and four sides The intersection point Q1 with the outline of the shape 100 is obtained as the first target point, and the line segment L connecting the point P indicating the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle M to the origin O and the ellipse 1 Intersection Q2 with 02 is determined as the second target point.
- step 80 it is determined whether or not the first target point Q1 and the second target point Q2 that are close to the origin O are the first target point Q1, and an affirmative determination is made.
- the coordinates of the first target point Q1 are (Fvql, Mvql), and the corrected vehicle target braking / driving force Fvt and the vehicle target choke moment Mvt are set to Fvql and Mvql, respectively.
- step 100 the coordinates of the second target point Q2 are set to (Fvq2, Mvq2) and the target braking / driving force of the vehicle after correction F vt and the vehicle target After the moment Mvt is set to Fvq2 and Mvq2, proceed to step 200.
- Step 200 the target braking / driving of each wheel that achieves the target braking / driving force Fvt and the target moment of inertia Mvt as described above based on the corrected vehicle target braking / driving force Fvt and the vehicle's target braking / momenting moment Mvt.
- step 2 10 the target friction braking force Fwbti is calculated as described above, and a signal indicating the target friction braking force Fwbti is output to the braking force control electronic control unit 28, thereby controlling the target friction braking force Fwbti.
- the electronic control device 28 for power control is controlled so that the friction braking force Fwbti of each wheel becomes the target friction braking force Fwbti.
- step 220 the motor generators 12FL to 12RR are controlled so that the driving force Fwdi or regenerative braking force Fwri of each wheel becomes the target driving force Fwdti or the target regenerative braking force Fwrti, respectively.
- the vehicle target braking / driving force Fvn and the vehicle target moment Mvn are calculated in step 20 by controlling the braking / driving force of each wheel required for the vehicle.
- the maximum driving force Fvdmax of the vehicle due to the braking / driving force of each wheel is calculated
- the maximum braking force Fvbmax of the vehicle is calculated
- the maximum moment Mvlmax of the vehicle in the left turn direction is calculated
- the major axis La and the minor axis Lb of the ellipse 102 are determined
- the target braking / driving force Fvn and the target moment Mvn are determined by controlling the braking / driving force of each wheel. A determination is made as to whether it can be achieved.
- the target braking / driving is performed in step 70.
- the intersection point Q1 of the line L connecting the point P showing the force Fvn and the target moment Mvn and the origin O and the outline of the quadrilateral 100 is obtained as the first target point
- the target driving force Fvn and target The intersection Q2 of the line L connecting the point P indicating the moment Mvn and the origin O and the ellipse 102 is obtained as the second target point
- the driving force Fvt and the vehicle target moment Mvt are set to the coordinates of the target point close to the origin O among the first target point Q1 and the second target point Q2.
- the vehicle by the braking / driving power of each wheel is achieved.
- the target braking / driving force of each wheel is within the range where the ratio of the target braking / driving force Fvn to the momentum Mvt is the ratio of the target braking / driving force Fvn to the desired momentum Mvn.
- the vehicle's target braking / driving force Fvt and the vehicle's target braking / driving force Fvt and the vehicle's target braking / driving force Mvt are calculated so that the magnitude of the braking / driving force Fv of the vehicle Fvxti and the momentum Mv are as large as possible. Therefore, the braking / driving force of each wheel is controlled so that the ratio between the braking / driving force of the vehicle and the moment is surely the ratio of the target braking / driving force and the target moment, so that the braking / driving force that each wheel can generate is controlled. range As much as possible system is required for the vehicle driving force at ⁇ Pi Yomomen Can be achieved.
- the target braking / driving force Fvt of the vehicle after correction and the target moment Mvt of the vehicle are set to the coordinates of the target point close to the origin O among the first target point Q1 and the second target point Q2. Therefore, even if the target braking / driving force Fvn or the target moment Mvn changes suddenly by a driver's sudden acceleration / deceleration operation or steering operation, the target vehicle's target moment Mvt or correction after correction It is possible to prevent the target braking / driving force Fvt of the subsequent vehicle from abruptly increasing / decreasing, and the vehicle's momentum / braking force is abruptly increasing / decreasing, resulting in a decrease in vehicle running stability. However, it is possible to effectively reduce the possibility that the vehicle occupant will feel uncomfortable.
- the target braking / driving force F vn suddenly changes at a constant change rate due to a rapid acceleration / deceleration operation by the driver, and the target braking / driving force Fvn and the vehicle's target momentum Looking at the case where the point indicating M vn moves from PI to P2, if the change in the target braking / driving force F vt of the vehicle after correction and the eyeball moment Mvt of the vehicle is not limited by the ellipse 102, The point indicating the target braking / driving force Fvt of the vehicle after correction and the target moment of inertia Mvt of the vehicle moves from Q1 to C to Q along the outline of the quadrilateral 100, and the vehicle moment increases and decreases accordingly. To do.
- the minor axis Lb of the ellipse 102 is made smaller than the standard value, and the corrected vehicle target moment Mvt does not exceed the quadrilateral 100 and the ellipse 102.
- the point indicating the target braking / driving force Fvn and the vehicle's target moment Mvn moves from PI to P 2
- the points indicating the target braking / driving force Fvt of the vehicle after correction and the target moment of inertia Mvt of the vehicle move from Q1 ⁇ R1 ⁇ R2 ⁇ Q1, and it is possible to reliably prevent the vehicle moment from increasing or decreasing rapidly. Can do.
- the target motor moment Mvn suddenly changes due to a sudden steering operation by the driver, and the point indicating the target braking / driving force Fvn and the vehicle target motor moment Mvn is changed from P1 to P2.
- the target braking / driving force Fvt of the vehicle after the correction and the target moment of inertia Mvt of the vehicle is not limited by the ellipse 1002
- the target braking / driving force Fvt of the vehicle after the correction and The point indicating the target moment of inertia Mvt of the vehicle moves from Q1 ⁇ A ⁇ Q along the outline of the quadrilateral 100, and the braking / driving force of the vehicle suddenly increases or decreases accordingly.
- the major axis La of the ellipse 102 is smaller than the standard value. Therefore, the target braking / driving force Fvt of the vehicle after correction is limited so as not to exceed the quadrangle 100 and the ellipse 102, so that the target moment Mvn changes rapidly due to a sudden steering operation by the driver, and the target Even if the point indicating the braking / driving force Fvn and the vehicle's target moment Mvn moves from P1 to P2, the point indicating the vehicle's target braking / driving force Fvt and the vehicle's target moment Mvt after correction is Q1 ⁇ R1 ⁇ Moving from R2 to Q1 'can surely prevent the braking / driving force of the vehicle from abruptly increasing or decreasing.
- the driving source of each wheel is a motor generator 1 2 FL to 12 RR provided on each wheel, and the target braking / driving force Fwxti of each wheel is a negative value.
- the braking / driving force required for the vehicle as much as possible within the range of braking / driving force that can be generated by each wheel. It is possible to effectively recover the vehicle's kinetic energy as electrical energy when the vehicle is braking and decelerating while achieving the moment.
- the motor generators 12FL to 12RR are in-wheel motors.
- the motor generator may be provided on the vehicle body side and serves as a drive source for each wheel.
- the electric motor may not perform regenerative braking, and the driving source may be a driving source other than the electric motor as long as the driving force of each wheel can be increased or decreased independently of each other.
- the motor generators 12 FL to 12 RR are provided corresponding to the four wheels, but in this embodiment, the drive source is only for the left and right front wheels or the left and right rear wheels. May be applied to the vehicle provided, in which case the quadrilateral 100 will be as shown in FIG. 4B as 1 00 ', the vehicle's left turn direction momentum and the vehicle's right
- the braking / driving force of the vehicle when the moment in the turning direction is the maximum value Mvlmax and Mvrmax, respectively, is a negative value, that is, the braking force. Therefore, in such a vehicle, as shown in Fig.
- FIG. 6 shows a vehicle according to the present invention applied to a four-wheel drive vehicle in which the driving force and regenerative braking force of one motor generator common to all four wheels are distributed and controlled to the front and rear wheels and the left and right wheels.
- FIG. 5 is a schematic configuration diagram showing a second embodiment of the braking / driving force control device.
- the same members as those shown in FIG. 1 are denoted by the same reference numerals as those shown in FIG.
- a motor generator 40 is provided as a common drive source for the left and right front wheels 1 O FL, 1 0 FR and the left and right rear wheels 1 0 RL, 1 O RR, The driving force and regenerative braking force of the motor generator 40 are transmitted to the front wheel propeller shaft 4 4 and the rear wheel propeller shaft 4 6 by the center differential 42 that can control the distribution ratio of the front and rear wheels.
- the driving force and regenerative braking force of the propeller shaft for front wheels 4 4 are transmitted to the left front wheel axle 5 OL and the right front wheel axle 5 OR by the front wheel differential 4 8 which can control the distribution ratio of the left and right front wheels. 1 0 FL and 1 0 FR are driven to rotate.
- the driving force of the rear wheel propeller shaft 4 6 is transmitted to the left rear wheel axle 5 4 L and the right rear wheel axle 5 4 R by the rear wheel differential 52 which can control the distribution ratio of the left and right rear wheels.
- the left and right rear wheels 10 RL and 10 RR are driven to rotate.
- the driving force of the motor generator 40 is controlled by the driving force control electronic control device 16 based on the accelerator opening ⁇ detected by the accelerator opening sensor 14, and the regenerative braking force of the motor generator 40 is also the driving force. It is controlled by a control electronic control unit 16.
- the electronic control unit for driving force control 16 controls the front and rear wheel distribution ratio of the driving force and regenerative braking force by the center differential 4 2, and the right and left wheel distribution ratio of the driving force and regenerative braking force by the front wheel differential 48
- the left and right wheel distribution ratio of the driving force and regenerative braking force by the rear wheel differential 52 is controlled.
- the driving force control electronic control unit 16 has a target braking / driving force F vn by controlling the braking / driving force of each wheel required for the vehicle, and each required for the vehicle.
- Target vehicle moment Mvn by controlling the braking / driving force of the wheel, maximum vehicle driving force F vdraax, maximum braking force F vbmax of the vehicle, maximum vehicle moment Mvlmax in the left turn direction of the vehicle by braking / driving force of each wheel,
- the maximum moment Mvrmax in the right turn direction is calculated in the same manner as in the first embodiment.
- the maximum driving force of the motor generator 40 is equally distributed to the left and right front wheels 1 0 FL, 1 0 FR and the left and right rear wheels 1 0 RL, 1 O RR. It is assumed that the driving force F wdi of each wheel is smaller than the maximum possible longitudinal force determined by the friction coefficient ⁇ of the road surface.
- the maximum driving force F vdmax of the vehicle in the situation where the vehicle moment due to the braking / driving force of the wheel does not act on the vehicle is the braking / driving force F of the left and right front wheels 1 0 FL and 1 0 FR.
- the left and right wheels have the same driving force distribution This is achieved when the maximum driving force is Fwdrlraax and Fwdrrmax.
- the maximum braking force Fvbmax of the vehicle in the situation where the vehicle moment due to the braking / driving force of the wheel does not act on the vehicle is the braking force of the left and right front wheels 1 0 FL and 1 OFR.
- Maximum braking force when F wxfl and Fwxfr are equal to the left and right wheel braking force distribution Fwbflmax and Fwbfrmax and left and right rear wheels 1 0RL and 1 ORR braking / driving force Fwxrl and Fwxrr are the braking force distribution of the left and right wheels Is achieved when the maximum braking forces F wbr lmax and F wbrrmax are equal.
- the maximum moment Mvlmax in the left turn direction of the vehicle is the distribution of the driving force of the left and right wheels to the right wheel.
- the right and left front wheels 1 OFR and 1 ORR braking / driving forces Fwxfr and Fwxrr are the maximum driving forces Fwdfrmax 'and Fwdrrraax', respectively, and the magnitudes are the maximum braking forces of the left front and rear wheels 1 0 FL and 1 0 RL, respectively. This is achieved when the powers F wbf lmax and F wbr lmax are equal in magnitude.
- the maximum moment Mvlmax 'in the left turn direction of the vehicle in the situation where the braking / driving force of the vehicle is the maximum driving force Fvdmax is the left front and rear wheels 1 0 FL and 1 0 RL This is achieved when the driving powers Fwxfl and Fwxrl of the engine are 0 and the right and left front wheel 1 OFR and 1 ORR braking / driving forces Fwxfr and Fwxrr are the maximum driving forces Fwdflmax 'and Fwdrrmax'.
- the maximum left-turn moment Mvlmax "of the vehicle in the situation where no driving force is applied to any wheel is the braking / driving of the right front and rear wheels 1 0 FR and 1 0 RR. This is achieved when the forces F wxfr and Fwxrr are 0 and the left and right front and rear wheels 1 OFL and 1 0 RL have the braking / driving forces F wxf 1 and F wxrl at the maximum braking forces F wbf lmax and F wbrrmax, respectively.
- the left and right front wheels 1 OFL and 1 ORL braking / driving force Fwxfl and Fwxrl are the maximum driving forces Fwdflmax 'and Fwdrlmax', and the magnitudes of the right front and rear wheels are 1 0 FR and 1 0 RR, respectively. This is achieved when the maximum braking force is equal to the magnitude of F wbfrmax and Fwbrrmax.
- the maximum moment Mvrmax 'in the right turn direction of the vehicle in the situation where the braking / driving force of the vehicle is the maximum driving force Fvdmax is the right front and rear wheels 1 0 FR and 1 0
- the driving powers Fwxfr and Fwxrr of the RR are 0 and the left front and rear wheels 10 FL and 10 0RL have braking and driving forces F rail and Fwxrl of the maximum driving forces Fwdflmax 'and Fwdrlmax', respectively.
- the maximum right-side moment Mvrmax ”of the vehicle in the situation where no driving force is applied to any of the wheels is the braking / driving force of the left front and rear wheels 1 OFL and 1 0RL.
- F wxfl and F wxrl are 0 and right front and rear wheels 1 O FR and 1 0 RR braking / driving force F wxfr and
- the maximum driving force F wdimax of each wheel is determined by the maximum output torque of the motor generator 40, the friction coefficient ⁇ of the road surface, and the distribution ratio, and the maximum braking force F wbimax of each wheel is determined by the friction coefficient of the road surface /! Therefore, the maximum driving force F vdmax of the vehicle, the maximum braking force of the vehicle, the maximum motor moment Mylmax in the left turn direction of the vehicle, and the maximum moment Mvrmax in the right turn direction of the vehicle are also the maximum output torque of the motor generator 40 Therefore, if the maximum output torque of the motor generator 40 and the road friction coefficient ⁇ are known, the maximum driving force F wdimax of each wheel can be estimated. Furthermore, as shown in Fig.
- this can be achieved by controlling the braking / driving force of each wheel, as seen in orthogonal coordinates with the vehicle's braking / driving force F vx as the horizontal axis and the vehicle's moment Mv as the vertical axis.
- Vehicle braking / driving force F vx and vehicle moment of inertia ⁇ are vehicle maximum driving force F vdmax, vehicle maximum braking force F vbraax, vehicle left turn maximum moment Mvlmax, vehicle right turn direction
- Maximum motor moment Mvrraax, vehicle's braking / driving force F vx is the maximum driving force F vdmax or the maximum braking force F vbraax Hexagon determined by the variable range of the vehicle's momentum Mv 1 0 Value within the range of 4.
- points A to H correspond to the cases A to H in FIGS. 7 and 8, respectively.
- the hexagon 10 4 decreases as the road friction coefficient ⁇ decreases. Also, the larger the steering angle 0, the greater the lateral force of the left and right front wheels, and the smaller the margin of front-rear force, so the larger the steering angle ⁇ is, the smaller the hexagon 1 0 4 is. Become. '
- the maximum driving force and maximum braking force of each wheel are determined by the friction coefficient of the road surface, so that the vehicle acceleration direction and the vehicle left turn direction are corrected.
- the maximum driving force of the vehicle and the maximum braking force of the vehicle the maximum moment of the vehicle in the left turn direction and the maximum force of the vehicle in the right turn direction Therefore, the range of the vehicle driving force and the moment that can be achieved by the braking / driving force of each wheel is the same as that of the first embodiment. Similarly, the range is diamond-shaped.
- the vehicle can be used even when all of the maximum driving force of the left and right wheels is distributed to the left or right wheel.
- the driving force of the vehicle is maximized and the braking force of the vehicle is also applied when all of the maximum braking force of the left and right wheels is distributed to the left or right wheel.
- the range of vehicle driving force and moment that can be achieved by the braking / driving force of each wheel is a rectangular range.
- the coordinates of points A to H shown in Fig. 9 are (F vdmax, 0), (F vbmax, 0), (0, Mvlmax), respectively. , (F vdmax, KmMvlmax) N (F vbmax, KmMvlmax), (0, Mvrmax) (F vdmax, — KmMvlmax), (F vbmax, ⁇ KmMvlmax)
- the drive source is a single motor generator 40 common to all four wheels, but the drive for driving each wheel so that the drive force distribution can be controlled between the left and right wheels.
- the source may be any drive means known in the art, such as an internal combustion engine or a hybrid system.
- one motor generator 40 is provided as a common drive source for the four wheels, but a common drive source for the left and right front wheels and a common drive for the left and right rear wheels. Sources may be provided. Alternatively, a common drive source may be provided only for the left and right front wheels, or a common drive source may be provided only for the left and right rear wheels.
- the hexagonal shape 10 4 is 1 0 4 ′ in FIG. 9B.
- the vehicle braking / driving force is negative when the vehicle's left-turn direction and the vehicle's left-turn direction moment are the maximum values Mvlmax and Mvrmax, respectively. It becomes power. Even in the case of such a vehicle, the following effects can be achieved.
- the driving force control electronic control unit 16 has a major axis L a and a minor axis L b each having a horizontal axis of orthogonal coordinates. And an ellipse 1 0 2 that is aligned with the direction of the vertical axis and intersects each side of the hexagon 10 4 is set, but as shown in the figure, the maximum braking force F vbraax of the vehicle is equal to the maximum driving force F vdmax of the vehicle.
- the center O ′ of the ellipse 1002 is set to a position on the braking side from the origin O of the orthogonal coordinates, for example, the midpoint of the line segment connecting the points A and B.
- the road surface friction coefficient is such that the long diameter L a and the short diameter L b are smaller when the road friction coefficient is low than when the road friction coefficient is high. It is variably set according to.
- the major axis La is variably set according to the rate of change of the target moment Mvn so that the larger the rate of change of the target moment Mvn is, the minor axis L b is the target driving force of the vehicle. It is variably set according to the rate of change of the target braking / driving force F vn of the vehicle so that the rate of change of F vn increases.
- the length of the major axis of the ellipse 10 2 (2 La) is the length of the line segment connecting points A and B of the hexagon 10 4
- the length of the minor axis of the ellipse 102 (2 Lb) is preferably shorter than the length of the line segment connecting the points C and F of the hexagon 104.
- the length of the line connecting the points A and B of the hexagon 104 and the length relationship of the line connecting the points C and F and Which of the directions along the horizontal axis and the vertical axis of the ellipse 102 is the major axis La and the minor axis depends on the scale of the horizontal axis and the vertical axis. It depends on how to calibrate the horizontal and vertical axes.
- the electronic controller for driving force control 16 has a vehicle target braking / driving force Fvn and a vehicle target moment Mvn within the range of the above hexagonal 104 and within the range of the ellipse 10 02.
- the target braking / driving force Fvt of the vehicle after correction and the target moment of inertia Mvt of the vehicle are set to the target braking / driving force Fvn and the target moment of inertia Mvn, respectively.
- the electronic controller for driving force control 16 is The ratio of the target braking / driving force Fvt of the vehicle after correction and the target momentum Mvt of the vehicle becomes the ratio of the target driving power Fvn and the target moment Mvn, and the corrected target braking / driving force F vt and the target.
- the target braking / driving force Fvt after the correction and the target moment Mvt are adjusted so that the magnitude of the target moment Mvt is the maximum within the hexagonal shape of the above-mentioned hexagonal 104 and the range of the fine circle 10 2. Calculate.
- the rear wheel distribution ratio of the braking / driving force Fwxi of each wheel is Kr (0 ⁇ Kr ⁇ l constant), and the left / right wheel distribution ratio of the braking / driving force Fwxi for the front and rear wheels is Ky (0 ⁇ Kr ⁇ 1)
- the driving force control electronic control unit 16 calculates the target driving current It and the left / right wheel distribution ratio Ky for the motor generator 40 based on the target driving force F wdti using a map or function not shown in the figure.
- Each wheel is controlled by controlling the drive current supplied to the motor generator 40 based on the target drive current I ti and controlling the front wheel differential 48 and the rear wheel differential 52 based on the left / right wheel distribution ratio Ky.
- the driving force of each wheel is controlled so that the braking / driving force F wxi of the wheel becomes the target braking / driving force F wxt i.
- the electronic controller for driving control 16 is The left / right wheel distribution ratio Ky is determined so that the driving force is distributed only to the side where the target braking / driving force F wxti is positive, and electric power generation is based on the sum of the positive target braking / driving force F wxti.
- a signal indicating the target braking / driving force F wxti is calculated so that the friction braking force by the friction braking device 18 is applied to the wheel having the negative target braking / driving force F wxti by calculating the target driving current It for the machine 40. Is output to the braking force control electronic control device 28.
- the driving force control electronic control unit 16 controls the driving current supplied to the motor generator 40 based on the target driving current I ti and the front wheel differential 48 based on the left / right wheel distribution ratio Ky.
- the wheel differential 52 2 is controlled, and the braking force control electronic control device 28 applies a friction braking force corresponding to the target braking / driving force F wxti to the wheel having the negative target braking power F wxti.
- the braking / driving force F wx i of each wheel is controlled to become the target braking / driving force F wxt i.
- the driving force control electronic control unit 16 sets the target driving force F wdti and the target friction braking force F wbti of each wheel to 0.
- the target regenerative braking force F wrti is set to the target braking / driving force F wxti and the left and right wheel distribution ratio Ky and the motor generator 40 are controlled so that the regenerative braking force becomes the target regenerative braking force F wrti.
- the electronic controller for driving force control 1 6 sets the target driving force F wdti of each wheel to 0, sets the regenerative braking force by the motor generator 40 to the maximum regenerative braking force, and regenerates the wheels for which the target braking / driving force F wxti is large.
- the left / right wheel distribution ratio Ky is set so that the distribution ratio of braking force increases.
- the driving force control electronic control unit 16 calculates the target friction braking force F wbti by calculating a value obtained by subtracting the regenerative braking force of the wheel from the target braking / driving force F wxti for each wheel as the target friction braking force F wbti. Is output to the braking force control electronic control device 28, and the motor generator 40 is controlled so that the regenerative braking force becomes the maximum regenerative braking force, and the front wheel differential 4 is controlled based on the left / right wheel distribution ratio Ky. Controls 8 and rear wheel differential 5 2.
- the braking force control electronic control device 28 is based on the target friction braking force F wbti of each wheel input from the driving force control electronic control device 16.
- the friction braking force F wbi is controlled so as to become the target friction braking force F wbti of each wheel.
- a hexagon 10 4 is set instead of the quadrilateral 100, and the regenerative braking force and the target friction braking force F of each wheel are set. Except for the point that wbti is calculated as described above, it is substantially the same as in the case of the first embodiment described above, so the illustration of the flowchart and the description with reference to the flowchart will be omitted.
- the target braking / driving force F vn and the target moment Mvn can be achieved by controlling the braking / driving power of each wheel. Even in a situation where it is not possible, the braking / driving force of each wheel is controlled so that the ratio between the braking / driving force of the vehicle and the moment is surely the ratio of the target braking / driving force to the target moment.
- the braking / driving force and the moment required by the vehicle can be achieved as much as possible within the range of the braking / driving force that the wheel can generate.
- the corrected target braking / driving force F vt of the vehicle and the target moment Mvt of the vehicle are set to the coordinate values of the target point near the origin O of the first target point Q 1 and the second target point Q 2. Therefore, even if the target braking / driving force F vn or the target choke moment Mvn changes suddenly due to the driver's sudden acceleration / deceleration operation or steering operation, the target choke moment Mvt or the post-capture vehicle target choke moment Mvt It is possible to prevent the target braking / driving force F vt of the subsequent vehicle from abruptly increasing / decreasing, and the vehicle's momentum / braking force can be prevented from abruptly increasing / decreasing.
- the minor axis Lb of the ellipse 102 is made smaller than the standard value, and the target moment Mvt of the vehicle after the correction is hexagonal 104 and elliptical 102.
- the target braking / driving force Fvn suddenly changes due to a rapid acceleration / deceleration operation by the driver, and the point indicating the target braking / driving force Fvn and the vehicle's target moment Mvn is changed from PI to P2.
- the target momentum Mvn changes suddenly due to a sudden steering operation by the driver, and the point indicating the target braking / driving force Fvn and the vehicle target moment Mvn is greater than P1 P2. If the change in the target braking / driving force Fvt of the corrected vehicle and the target moment of inertia Mvt of the vehicle is not limited by the ellipse 102, the corrected target braking / driving force Fvt of the vehicle The point indicating the vehicle's target moment Mvt moves along the outline of the hexagon 104 from Q1 ⁇ D ⁇ A ⁇ G ⁇ Q1 ⁇ , and the braking / driving force of the vehicle suddenly increases or decreases accordingly.
- the major axis La of the ellipse 102 is made smaller than the standard value, and the corrected target braking / driving force Fvt of the vehicle exceeds the hexagonal 104 and the ellipse 102.
- the motor generator 40 as a drive source common to each wheel is used when the vehicle target braking / driving force F vt is a negative value and a braking force.
- the braking / driving force and the moment required by the vehicle are achieved as much as possible within the range of the braking / driving force that each wheel can generate, as in the case of the first embodiment described above.
- the vehicle's kinetic energy can be effectively recovered as electrical energy during braking and deceleration of the vehicle.
- the drive source is one motor generator 40 common to all four wheels, but each wheel is driven so that the drive power distribution can be controlled between the left and right wheels.
- the drive source may be any drive means known in the art, such as an internal combustion engine or a hybrid system.
- one motor generator 40 is provided as a common drive source for the four wheels, but a common drive source for the left and right front wheels and a common drive for the left and right rear wheels. Sources may be provided. Also, a common drive source may be provided only for the left and right front wheels, or a common drive source may be provided only for the left and right rear wheels.
- the hexagonal shape 10 4 is shown in FIG. The vehicle braking / driving force is negative when the vehicle's left-turning moment and the vehicle's left-turning moment are the maximum values Mvlmax and Mvrmax, respectively. It becomes power. Even in the case of such a vehicle, the above-described effects can be achieved.
- the major axis L a and the minor axis L b are smaller when the road surface friction coefficient is lower than when the road surface friction coefficient is higher. Since it is variably set according to the friction coefficient of the road surface, the maximum driving force F vdmax of the vehicle due to the level of the friction coefficient of the road surface, the maximum braking force F vbmax of the vehicle, the maximum vehicle moment Mvlmax in the left turn direction of the vehicle, the right side of the vehicle Maximum vehicle moment in the turning direction Mvrmax changes according to the vehicle's target braking / driving force F vt by the ellipse 1 0 2 and the vehicle's target vehicle moment Mvt. Compared to the case where L a and short diameter L b are constant values, it is possible to appropriately prevent a sudden change in the braking / driving force of the vehicle regardless of the friction coefficient of the road surface.
- the major axis La is variable according to the rate of change of the target moment Mvn so that it decreases as the rate of change of the target moment Mvn increases.
- the minor axis L b is variably set according to the rate of change of the vehicle target braking / driving force F vn so that it decreases as the rate of change of the vehicle target braking / driving force F vn increases. Therefore, the higher the possibility that the braking / driving force of the vehicle will suddenly increase or decrease, the more severe the restrictions on the corrected vehicle target moment Mvt and target braking / driving force F vt will be.
- the vehicle In situations where the operation or steering operation is gentle, the vehicle is required to provide the required braking / driving force, and in situations where the acceleration / deceleration operation or steering operation by the driver is abrupt. Therefore, it is possible to reliably prevent the braking / driving force from fluctuating suddenly, and, compared to the case where the major axis L a and the minor axis L b are constant values, It is possible to reliably reduce the degree of change in the braking / driving force of the vehicle when the speed of deceleration operation or steering operation changes suddenly.
- the vehicle target acceleration / deceleration G xt is calculated based on the accelerator opening ⁇ and the master cylinder pressure P m which are the acceleration / deceleration operation amount of the driver,
- the target vehicle rate of the vehicle is calculated based on the steering angle 0 and the vehicle speed V, which are the steering operation amount, and the target braking / driving force F vn required for the vehicle is calculated based on the target longitudinal acceleration Gxt of the vehicle. Based on this, the target total moment Mvnt required for the vehicle is calculated.
- the vehicle's turning torque Ms due to the lateral force of each wheel is calculated, and the value obtained by subtracting the turning torque Ms from the vehicle's total target moment Mvnt is the vehicle's control by controlling the braking / driving force of each wheel. Since the vehicle is calculated as the target moment Mvn, the vehicle's turning by controlling the braking / driving force of each wheel that is required for the vehicle more reliably and accurately than when the vehicle's turning moment Ms due to the lateral force of the wheel is not considered.
- the target moment can be calculated without excess or deficiency.
- the regenerative braking force is generated as required by the motor generators 1 2 FL to 1 2 RR and the motor generator 40, respectively.
- the drive source is a motor generator
- the regenerative braking force may not be performed and the braking force may be corrected to be generated only by friction braking.
- the rear wheel distribution ratio Kr of the braking / driving force F wxi of each wheel is constant, but in general, as the steering angle increases, Since the lateral force increases and the allowable front-rear force of the steering wheel decreases, the rear wheel distribution ratio Kr is steered so that the rear wheel distribution ratio Kr gradually increases as the steering angle increases. It may be modified to be variably set according to the size of the corner. In general, when the braking force of the rear wheels increases during deceleration of the vehicle, the lateral force of the rear wheels decreases and the running stability of the vehicle decreases.Therefore, the rear wheel distribution ratio Kr has a negative target braking / driving force of the vehicle. It may be modified so that it is variably set in accordance with the target braking / driving force of the vehicle so that it becomes smaller as the magnitude increases.
- the vehicle target braking / driving force F vn and the vehicle target braking / driving force Mvn can be achieved by the braking / driving force of each wheel.
- F vn and vehicle target moment Mv is a quadrangle indicating the Mvn or hexagonal shape 10 4 If the vehicle is outside the range of the target braking / driving force F vt and the vehicle target moment Mvt
- the intersection Q 1 between the line segment L connecting P and the origin O and the outline of the quadrilateral 1 0 0 or hexagon 1 0 4 is obtained as the first target point.
- the target point Q1 can be obtained in any way as long as it is close to the target braking / driving force F vn of the vehicle and the target moment of inertia Mvn of the vehicle as much as possible and is on the outline of the quadrilateral 1 0 0 or hexagon 1 0 2 May be.
- the second target point Q 2 may be obtained as the intersection of the line segment L connecting the first target point Q 1 and the original point O and the ellipse 10 2.
- the major axis La and the minor axis Lb of the ellipse 100 are variably set according to the friction coefficient of the road surface, and the change in the target moment Mvn respectively.
- the vehicle is variably set according to the magnitude of the rate and the rate of change of the target braking / driving force F vn, but it is operated by the vehicle occupant and the vehicle responsiveness to the driving operation is variably set.
- a switch is provided as a responsiveness setting means, and the diameter of the ellipse is larger when the vehicle responsiveness set by the switch is higher than when the responsiveness of the vehicle set by the switch is low.
- the vehicle may be modified so as to be variably set in accordance with the vehicle responsiveness set by.
- the necessity of achieving the target braking / driving force is determined according to the driving operation of the occupant.
- the necessity for achieving the target braking / driving force is high, the necessity for achieving the target braking / driving force is low. Modification may be made so that the diameter of the ellipse in the direction along the coordinate axis of the braking / driving force is increased so that the degree of correction of the target braking / driving force by the ellipse is relaxed.
- the necessity of achieving the target moment is determined according to the driving operation of the occupant. When the necessity for achieving the target moment is high, the ellipse is used compared to when the necessity for achieving the target moment is low. It may be modified so that the diameter of the ellipse in the direction along the coordinate axis of the moment is increased so that the degree of correction of the target moment is relaxed.
- the degree of correction of the target braking / driving force is relaxed, or when the occupant's acceleration / deceleration operation amount and its change rate are large, the occupant's acceleration / deceleration operation amount and its change rate are large.
- the degree of correction of the target braking / driving force by the ellipse may be relaxed compared to when the length is small.
- the target moment due to the ellipse is larger than when the amount of acceleration / deceleration operation amount of the occupant and the rate of change are large.
- the degree of correction is relaxed or when the magnitude of the occupant's steering operation and the rate of change thereof are large, the size of the occupant's steering operation is large due to the ellipse compared to when the magnitude of the steering operation amount and the rate of change is small.
- Target degree of moment correction may be relaxed.
- the target braking / driving is performed by controlling the braking / driving force of each wheel required for the vehicle based on the driver's acceleration / deceleration operation amount and the driver's steering operation amount.
- the force F vn and the target moment Mvn are calculated, but the target braking / driving force F vn and the target moment Mvn are the acceleration / deceleration of the driver when the vehicle behavior is unstable.
- it may be modified to be calculated by taking into account the target longitudinal acceleration and the target acceleration rate necessary for stabilizing the vehicle behavior.
- the lengths of the diameters on both sides of the origin along the braking / driving force Fv of the ellipse 100 are If the maximum driving force F vdmax and the maximum braking force F vbmax are different from each other, the length of the diameter of both sides of the origin of the ellipse 10 0 2 is the maximum driving force F vdmax. Different values may be set according to the magnitude and the magnitude of the maximum braking force F vbmax.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2006800066981A CN101132958B (zh) | 2005-03-01 | 2006-02-24 | 车辆的制动/驱动力控制设备 |
GB0716781A GB2437694B (en) | 2005-03-01 | 2006-02-24 | Braking-driving force control device of vehicle |
US11/817,510 US7974761B2 (en) | 2005-03-01 | 2006-02-24 | Braking-driving force control device of vehicle |
DE112006000473.5T DE112006000473B4 (de) | 2005-03-01 | 2006-02-24 | Fahrzeugbrems-/Antriebskraftsteuergerät |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-056503 | 2005-03-01 | ||
JP2005056503A JP4131270B2 (ja) | 2005-03-01 | 2005-03-01 | 車輌の制駆動力制御装置 |
Publications (1)
Publication Number | Publication Date |
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WO2006093242A1 true WO2006093242A1 (ja) | 2006-09-08 |
Family
ID=36941271
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/304024 WO2006093242A1 (ja) | 2005-03-01 | 2006-02-24 | 車輌の制駆動力制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7974761B2 (ja) |
JP (1) | JP4131270B2 (ja) |
CN (1) | CN101132958B (ja) |
DE (1) | DE112006000473B4 (ja) |
GB (1) | GB2437694B (ja) |
WO (1) | WO2006093242A1 (ja) |
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WO2012032466A1 (en) | 2010-09-08 | 2012-03-15 | Basf Se | Aqueous polishing compositions containing n-substituted diazenium dioxides and/or n'-hydroxy-diazenium oxide salts |
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US9070632B2 (en) | 2010-10-07 | 2015-06-30 | Basf Se | Aqueous polishing composition and process for chemically mechanically polishing substrates having patterned or unpatterned low-k dielectric layers |
US9496146B2 (en) | 2011-03-11 | 2016-11-15 | Basf Se | Method for forming through-base wafer vias |
US9524874B2 (en) | 2010-12-10 | 2016-12-20 | Basf Se | Aqueous polishing composition and process for chemically mechanically polishing substrates containing silicon oxide dielectric and polysilicon films |
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- 2006-02-24 CN CN2006800066981A patent/CN101132958B/zh not_active Expired - Fee Related
- 2006-02-24 WO PCT/JP2006/304024 patent/WO2006093242A1/ja active Application Filing
- 2006-02-24 DE DE112006000473.5T patent/DE112006000473B4/de not_active Expired - Fee Related
- 2006-02-24 GB GB0716781A patent/GB2437694B/en not_active Expired - Fee Related
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9028708B2 (en) | 2009-11-30 | 2015-05-12 | Basf Se | Process for removing a bulk material layer from a substrate and a chemical mechanical polishing agent suitable for this process |
US10392531B2 (en) | 2009-11-30 | 2019-08-27 | Basf Se | Process for removing a bulk material layer from a substrate and a chemical mechanical polishing agent suitable for this process |
EP2428541A1 (en) | 2010-09-08 | 2012-03-14 | Basf Se | Aqueous polishing composition and process for chemically mechanically polishing substrates containing silicon oxide dielectric and polysilicon films |
WO2012032469A1 (en) | 2010-09-08 | 2012-03-15 | Basf Se | Aqueous polishing composition and process for chemically mechanically polishing substrate materials for electrical, mechanical and optical devices |
WO2012032466A1 (en) | 2010-09-08 | 2012-03-15 | Basf Se | Aqueous polishing compositions containing n-substituted diazenium dioxides and/or n'-hydroxy-diazenium oxide salts |
US9070632B2 (en) | 2010-10-07 | 2015-06-30 | Basf Se | Aqueous polishing composition and process for chemically mechanically polishing substrates having patterned or unpatterned low-k dielectric layers |
US9524874B2 (en) | 2010-12-10 | 2016-12-20 | Basf Se | Aqueous polishing composition and process for chemically mechanically polishing substrates containing silicon oxide dielectric and polysilicon films |
US9496146B2 (en) | 2011-03-11 | 2016-11-15 | Basf Se | Method for forming through-base wafer vias |
Also Published As
Publication number | Publication date |
---|---|
CN101132958B (zh) | 2011-06-15 |
JP4131270B2 (ja) | 2008-08-13 |
CN101132958A (zh) | 2008-02-27 |
DE112006000473T5 (de) | 2008-04-03 |
GB2437694A (en) | 2007-10-31 |
US7974761B2 (en) | 2011-07-05 |
GB0716781D0 (en) | 2007-10-10 |
DE112006000473B4 (de) | 2018-07-05 |
US20090012687A1 (en) | 2009-01-08 |
GB2437694B (en) | 2009-05-06 |
JP2006240397A (ja) | 2006-09-14 |
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