WO2006093244A1 - 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
- Publication number
- WO2006093244A1 WO2006093244A1 PCT/JP2006/304026 JP2006304026W WO2006093244A1 WO 2006093244 A1 WO2006093244 A1 WO 2006093244A1 JP 2006304026 W JP2006304026 W JP 2006304026W WO 2006093244 A1 WO2006093244 A1 WO 2006093244A1
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- WIPO (PCT)
- Prior art keywords
- driving force
- braking
- target
- vehicle
- moment
- Prior art date
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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
- 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
- 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
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
-
- 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
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/613—ESP features related thereto
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0057—Frequency analysis, spectral techniques or transforms
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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
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/18—Steering angle
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/28—Wheel speed
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 left and right wheels are driven to give a required moment to the vehicle.
- driving force control devices that control force distribution are known, and the braking / driving force and the moment of the vehicle are controlled by controlling the braking force of each wheel in order to ensure vehicle running stability.
- Braking force 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 moment 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, so it is required for the vehicle.
- the conventional braking / driving force control device as described above does not take this situation into consideration. Improvement of this point is needed.
- the target braking / driving force or target moment required for the vehicle exceeds the value achievable by controlling the braking / driving force of each wheel, the target braking / driving force and target moment after the correction will be It may be possible to correct the target braking / driving force or target moment so that it is as large as possible, depending on the force. If the target moment after the target suddenly increases or decreases, and the target momentum changes rapidly, the target braking / driving force after the correction suddenly increases or decreases, and the running stability of the vehicle decreases or the vehicle occupant feels uncomfortable. I may feel it. Disclosure of the invention
- the main object of the present invention is to control the braking / driving force and the moment of the vehicle by controlling the braking / driving force of each wheel as described above in the conventional vehicle braking / driving force control device.
- the braking / driving force or momentum required for the vehicle exceeds the value achievable by controlling the braking / driving force of each wheel, the braking / driving force and the momentum required for the vehicle are achieved as much as possible.
- the target braking / driving force and the target moment required for the vehicle change rapidly, the braking / driving force of the vehicle is prevented from changing rapidly.
- 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 be calculated and the braking / driving force of each wheel cannot achieve the target braking / driving force or target moment
- Correcting means that corrects the target braking / driving force or target moment so that the force / target moment becomes a value that can be achieved by the braking / driving force of each wheel, and the vehicle braking / driving force and moment by the braking / driving force of each wheel.
- the vehicle has a braking / driving force applying means and a control means for controlling the braking / driving force applied to each wheel so that the target braking / driving force and the target moment after the correction are obtained.
- the correction means corrects the target after correction due to a change in the target braking / driving power in a situation where the target braking / driving force or target moment cannot be achieved depending on the braking / driving force of each wheel.
- a vehicle braking / driving force control device configured to suppress a change in the moment is provided.
- the braking / driving force and the moment that are close to the target braking / driving force and the target moment can be prevented from changing suddenly even if the target braking / driving force changes abruptly.
- the possibility of feeling uncomfortable can be effectively reduced.
- the degree of suppression of the change in the target momentum after correction is greater 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 can be expensive.
- the degree of suppression of the change in the corrected target moment may be higher as the change rate of the target braking / driving force is larger. According to these configurations, when the change rate of the target braking / driving force is small, it is possible to prevent the change in the corrected target moment from being excessively suppressed, while the change rate of the target braking / driving force is large. Effectively suppresses a sudden change in the corrected target moment when the depth is large Can do.
- the correction means may be configured to suppress a change in the target moment after the correction by limiting the magnitude of the corrected target moment.
- the correction means may be configured to suppress a change in the target moment after the correction by limiting the rate of change in the corrected target moment.
- the correcting means may suppress a change in the target moment after the correction when the magnitude of the rate of change in the target braking / driving force is equal to or greater than the suppression reference value.
- the change rate of the target braking / driving force is small, and even if the target braking / driving force changes, there is no possibility that the magnitude of the corrected target moment will not change greatly. It can be surely prevented that the change in the target moment after the front is suppressed unnecessarily.
- the correction means limits the change in the target moment after the correction by limiting the magnitude of the corrected target moment to the limit value, which is the rate of change in the target braking / driving force.
- the magnitude of is large, it may be smaller than when the change rate of the target braking / driving force is small.
- the correction means limits the change in the target moment after the correction by limiting the magnitude of the change rate in the corrected target moment to the limit change rate, and the limit change rate is the target control.
- the change rate of the driving force is large, it may be smaller than when the change rate of the target braking / driving force is small.
- 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 the braking / driving force of each wheel based on the driving operation amount of the occupant at least.
- the correction means for correcting the target braking / driving force or target moment so that the force and the target moment can be achieved by the braking / driving force of each wheel, and the braking / driving force of each wheel.
- a control means for controlling the braking / driving force applied to each wheel by the braking / driving force applying means so that the braking / driving force and the moment of the vehicle are the corrected target braking / driving force and target moment.
- the correction means is at least after correction in accordance with a change in the target moment in a situation where the target braking / driving force or target moment cannot be achieved depending on the braking / driving force of each wheel.
- a vehicle braking / driving force control device configured to suppress a change in target braking / driving force is provided.
- the braking / driving force and moment that are close to the target braking / driving force and target moment are achieved. It is possible to prevent the braking / driving force of the vehicle from changing suddenly even if the target sensation changes suddenly, which reduces the running stability of the vehicle and makes the vehicle occupant feel uncomfortable. Can be effectively reduced.
- the degree of suppression of change in the target braking / driving force after correction may be higher when the change rate of the target moment is large than when the change rate of the target moment is small.
- the degree of suppression of the change in the target braking / driving force after the correction may be higher as the change rate of the target moment increases. According to these configurations, when the rate of change of the target momentum is small, it is possible to prevent a change in the target driving force after the correction from being excessively suppressed and to increase the rate of change of the target moment. It is possible to effectively suppress the target braking / driving force after correction when the clearance is large.
- the correction means may be configured to suppress a change in the corrected target braking / driving force by limiting the magnitude of the corrected target braking / driving force after correction. According to this configuration, it is possible to reliably prevent the corrected target braking / driving force from becoming excessively large when the rate of change of the target moment is large, and thereby to correct the target braking / driving force after correction. It is possible to reliably prevent the size of the power source from decreasing after being excessively increased.
- the correcting means may be configured to suppress the change in the target braking / driving force after correction by limiting the rate of change in the corrected target braking / driving force.
- the correcting means may suppress a change in the target braking / driving force after correction when the magnitude of the rate of change of the target moment is equal to or greater than the suppression reference value.
- the corrected target braking / driving force does not have a large change even if the target moment change rate is small and there is no possibility that the corrected target braking / driving force will change greatly. It is possible to reliably prevent the change in braking / driving force from being unnecessarily suppressed.
- the correction means limits the target braking / driving force after correction to the limit value, thereby suppressing the change of the target braking / driving force after correction, and the limit value is the target braking moment.
- the rate of change of is large, it may be smaller than when the rate of change of the target moment is small.
- the correction means suppresses the change in the target braking / driving force after correction by limiting the magnitude of the change rate in the target braking / driving force after the correction to the limiting change rate.
- the rate of change of the target moment is large, it may be smaller than when the rate of change of the target moment is small.
- the straight line connecting the point indicating the target braking / driving force and the target moment and the origin is viewed in Cartesian coordinates using the braking / driving force and the moment of the vehicle as coordinate axes.
- the correction means now sets the target braking / driving force and the target moment to the values of the target point, with the intersection point with the line indicating the maximum value of the braking / driving force and the maximum value of the moment as the target point. It may be.
- the ratio of the braking / driving force of the vehicle to the moment of inertia can be surely set to 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.
- 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 each wheel can generate.
- the vehicle's target braking / driving force and the target moment are calculated by means of at least the vehicle's target braking / driving force and vehicle so that the vehicle can travel stably based on the driving operation amount of the occupant.
- the target total moment of the vehicle is calculated, the turning moment by the lateral force of the wheel is estimated based on at least the occupant's driving operation amount, and the value obtained by subtracting the turning moment from the target total moment is calculated. It may be calculated as a moment.
- 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 It may be given to the left and right wheels.
- the means for detecting the driving operation amount of the occupant may detect the accelerating / decelerating operation amount and the steering operation amount of the occupant.
- the lines indicating the maximum braking / driving force and maximum moment of the vehicle are the maximum driving force, maximum braking force, and left turn direction of the vehicle. It may be determined by the maximum value of the 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 of the vehicle and the size 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 braking / driving force applying means applies 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 independently applies a braking force to each wheel. May have 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 included.
- 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 are at least the target longitudinal acceleration and the target center for the vehicle to stably travel based on the driving operation amount of the occupant.
- the rate may be calculated, and the target braking / driving force and target total moment of the vehicle may be calculated based on the target longitudinal acceleration and the target rate of the vehicle, respectively.
- the 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 braking / driving force.
- FIG. 1 is a schematic configuration diagram showing a first embodiment of a braking / driving force control device according to the present invention applied to a four-wheel drive vehicle of a wheel-in motor type.
- 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 flowchart showing the braking / driving force control notification achieved by the electronic control device for driving force control in the first embodiment.
- FIG. 4 is a flowchart showing the calculation of the corrected target braking / driving force F vt and the moment Mvt in step 100 of the flowchart shown in FIG.
- FIG. 5A is a graph showing the range of vehicle braking / driving force and moment that can be achieved by controlling the braking / driving force of each wheel in the first embodiment
- FIG. FIG. 5 is an explanatory diagram showing a range of a target braking / driving force F vt and a vehicle target moment Mvt that can be achieved by controlling braking / driving force of each wheel in a vehicle provided only on the left and right rear wheels.
- FIG. 6A and 6B show the case where the vehicle target braking / driving force F vn and the vehicle target braking moment Mvn are outside the range achievable by controlling the braking / driving force of each wheel in the first embodiment.
- Fig. 6 is an explanatory diagram showing the point of calculation of the target braking / driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle, and
- Fig. 6C shows the vehicle by the change of the target braking / driving force F vn of the vehicle.
- FIG. 6 is an explanatory diagram showing the operation of the first embodiment when the point indicating the target braking / driving force F vn and the target moment Mvn of the shift from PI to P 2.
- FIG. 7A and 7B show the case where the vehicle target braking / driving force F vn and vehicle target braking / momenting moment Mvn are outside the range achievable by controlling the braking / driving force of each wheel in the first embodiment.
- Fig. 7 is an explanatory diagram showing the procedure for calculating the target braking / driving force F vt of the vehicle after correction and the target moment of motor Mvt of the vehicle, and
- Fig. 7C shows the target of the vehicle due to the change of the vehicle target moment Mvn.
- FIG. 6 is an explanatory diagram showing the operation of the first embodiment when a point indicating the braking / driving force F vn and the target moment Mvn moves from PI to P 2.
- Figure 8 shows the absolute value of the rate of change F vnd of the target braking / driving force F vn and the braking force of the vehicle's target moment Mvt. It is a graph which shows the relationship between limit value Mlim.
- FIG. 9 is a graph showing the relationship between the absolute value of the rate of change Mvnd of the target moment Mvn and the limit value F lim of the vehicle target braking / driving force F vt.
- Fig. 10 shows the braking / driving force control of a vehicle according to the present invention applied to a four-wheel drive vehicle in which the drive 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 left and right wheels. It is a schematic block diagram which shows the 2nd Example of an apparatus.
- FIG. 11 is an explanatory diagram showing the relationship between the braking / driving force of each wheel and the braking / driving force of the vehicle and the moment in various examples in the second embodiment.
- FIG. 12 is an explanatory diagram showing the relationship between the braking / driving force of each wheel and the braking / driving force of the vehicle and the moment in the second embodiment in various other cases.
- FIG. 13 is a flowchart showing a calculation routine of the target braking drive force F vt and the moment Mvt after correction achieved by the electronic controller for driving force control in the second embodiment.
- Figure 14 is a graph showing the relationship between the absolute value of the rate of change Mvnd of the target moment Mvn and the limit values F dlim and F blim of the target braking / driving force F vt of the vehicle.
- FIG. 15 A is a graph showing the range of vehicle braking power and momentum that can be achieved by controlling the braking / driving force of each wheel in the second embodiment.
- FIG. 5 is an explanatory diagram showing ranges of a target braking / driving force F vn and a vehicle target moment Mvn that can be achieved by controlling the braking / driving force of each wheel in a vehicle provided only on front wheels or left and right rear wheels.
- Fig. 1 6 A and Fig. 1 6 B show the vehicle target braking / driving force F vn and the vehicle target braking moment Mvn outside the range achievable by controlling the braking / driving force of each wheel in the second embodiment.
- Fig. 16 is an explanatory diagram showing the procedure for calculating the target braking / driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle in some cases.
- Fig. 16C shows the target braking / driving force F vn of the vehicle.
- FIG. 10 is an explanatory diagram showing the operation of the second embodiment when a point indicating the vehicle target braking / driving force F vn and target joe moment Mvn moves from PI to P 2 due to a change in the vehicle.
- FIG. 17 A and Fig. 17 B show that the vehicle target braking / driving force F vn and vehicle target braking moment Mvn are outside the achievable range by controlling the braking / driving force of each wheel in the second embodiment.
- Fig. 17 is an explanatory diagram showing the procedure for calculating the target braking / driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle.
- FIG. 7 is an explanatory diagram showing the operation of the second embodiment when the point indicating the target braking / driving force F vn and the target moment Mvn of FIG. 1 moves from P 1 to P 2.
- FIG. 17 A and Fig. 17 B show that the vehicle target braking / driving force F vn and vehicle target braking moment Mvn are outside the achievable range by controlling the braking / driving force of each wheel in the second embodiment.
- Fig. 17 is an explanatory diagram showing the procedure for calculating the target braking / driving force F vt of the vehicle after correction
- Fig. 19 is a graph showing the relationship between the absolute value of the rate of change Fvnd of the target braking / driving force Fvn and the change limit value ⁇ M 1 im of the vehicle target moment Mvt.
- Fig. 20 is a graph showing the relationship between the absolute value of the change rate of the target moment Mvn] Ivnd and the change limit value ⁇ Flim of the target braking / driving force Fvt of the vehicle.
- 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 1 OFR respectively indicate left and right front wheels that are steering wheels
- 10 0RL and 10 0RR indicate left and right rear wheels that are non-steering wheels
- the left and right front wheels 10FL and 1 0 FR have built-in motor generators 1 2FL and 1 2 FR, respectively.
- the left and right front wheels 1 OFL and 1 0FR 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.
- the left and right rear wheels 1 ORL and 1 ORR have built-in motor generators 1 2RL and 1 2 RR, respectively, and the left and right front wheels 1 ORL and 1 ORR are motor generators 1 2 Driven by RL and 1 2RR.
- the motor generators 1 2RL and 1 2 RR also function as generators for the left and right rear wheels during braking, respectively, and generate regenerative braking force.
- Motor generator 1 The driving force of 2FL to 1 2RR is detected by the 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
- the microphone port computer includes, for example, a CPU, a ROM, a RAM, and an input. Output port devices, and these are connected to each other by a bidirectional common path It may be of a simple configuration. 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 during 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 OFL, 10 FR and left and right rear wheels, 1 ORL, 1 0 RR friction braking force is applied by the hydraulic circuit 20 of the friction braking device 1 8 Wheel cylinder 22FL, 22FR, 22RL, 22RR braking pressure It is controlled by controlling.
- the hydraulic circuit 20 includes a reservoir, an oil pump, various valve devices, etc., and the braking pressure of each wheel cylinder is normally determined by the amount of depression of the brake pedal 24 by the driver and the brake pedal. It is controlled according to the pressure of the master cylinder 26 that is driven in response to the depression of 24, and the oil pump and various valve devices are controlled by the electronic control device 28 for braking force control as necessary. Regardless of how much the brake pedal 24 is depressed.
- the braking force control electronic control unit 28 is also 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 / output. And a general configuration in which these are connected to each other via a bidirectional common path.
- the electronic control unit for driving force control 16 includes a signal indicating the friction coefficient ⁇ of the road surface from the ⁇ sensor 30 and the steering angle sensor 32.
- a signal indicating the steering angle 0 and a signal indicating the vehicle speed V are input from the vehicle speed sensor 34.
- the electronic control unit 28 for controlling the braking force has a signal indicating the master cylinder pressure Pra from the pressure sensor 36, and the pressure sensor
- the driving force control electronic control device 16 and the braking force control electronic control device 28 exchange signals with each other as necessary.
- the steering angle sensor 32 detects the steering angle 0 with the vehicle turning left as positive.
- the electronic controller 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 a certain steering angle ⁇ and vehicle speed V, a vehicle target rate T t is calculated in a manner known in the art.
- the driving force control electronic control unit 16 calculates the slip angle i3 of the vehicle in a manner known in the art, and based on the vehicle slip angle j8 and the steering angle ⁇ , the left and right front wheel slip angles ⁇ Based on the slip angle &, the vehicle turning torque Ms due to the lateral force of each wheel is calculated.
- the driving force control electronic control unit 16 calculates the value obtained by subtracting the turning moment Ms from the vehicle target total moment Mvnt as the vehicle target moment Mvn by controlling the braking / driving force of each wheel required for the vehicle. .
- the driving force control electronic control unit 16 calculates the maximum vehicle driving force Fvdmax and the vehicle maximum braking force Fvbmax by the braking / driving force of each wheel based on the road friction coefficient ⁇ , and the road friction coefficient ⁇ Based on the above, calculate the maximum moment Mvlmax 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 Fvdmax of the vehicle in the situation where the motor moment does not act is the left and right front wheels 10 FL and 10 FR braking / driving forces Fwxfl and Fwxfr are the maximum driving forces Fwdflmax and Fwdfrmax and the left and right rear wheels 1 0RL and 1 This is achieved when the braking / driving forces Fwxrl and Fwxrr of 0RR are the maximum driving forces Fwdrlmax and Fwdrrmax.
- Fig. 2A assuming that the ground contact load of each wheel and the friction coefficient with respect to the road surface are the same, and the size of the friction circle of each wheel is the same.
- the maximum braking force Fvbmax of the vehicle in the situation where the moment due to the braking / driving force of the wheel does not act on the vehicle is the braking / driving force Fwxfl of the left and right front wheels 1 OFL and 1 OFR. This is achieved when Fwxfr is the maximum braking force Fwbflmax and Fwbfrmax and the braking / driving forces Fwxrl and Fwxrr of the left and right rear wheels 1 ORL and 10 RR are the maximum braking forces Fwbrlmax and Fwbrrmax.
- the maximum moment Mvlmax in the left turning direction of the vehicle is the braking / driving of the left front and rear wheels 1 OFL and 1 0RL.
- Forces Fwxfl and Fwxrl are maximum braking force Fwbflmax and Fwbrlmax and right front and rear wheels 1 0 FR and 1 0 RR braking / driving force
- F wxf r and F wxrr are maximum driving force F wdf rmax and F wdrrmax If achieved.
- FIG. 2C in the situation where the longitudinal force due to the braking / driving force of the wheel does not act on the vehicle, the maximum moment Mvlmax in the left turning direction of the vehicle is the braking / driving of the left front and rear wheels 1 OFL and 1 0RL.
- Forces Fwxfl and Fwxrl are maximum braking force Fwbflmax and Fwbrlmax and right front and rear wheels 1 0 FR and 1 0 RR
- Fwxfl and Fwxrl are the maximum driving force Fwdflmax and Fwdrlraax and right front and rear wheels 10 FR and 1 0 RR braking / driving force
- F wxfr and Fwxrr are the maximum braking force F wbf rmax and F wbrrmax Achieved in some cases.
- the maximum driving force and the maximum braking force of each wheel are determined by the friction coefficient ⁇ of the road surface.
- the vehicle's counterclockwise direction 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, and the maximum moment of the vehicle in the left turn direction.
- Maximum vehicle right turn direction 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, and the maximum moment of the vehicle in the left turn direction.
- the braking force, the maximum vehicle moment Mvlmax in the vehicle's left turn direction, and the maximum vehicle moment M vrmax in the vehicle's right turn direction are also determined by the friction coefficient of the road surface. If the road friction coefficient is known, the maximum driving force F wdimax of each wheel Etc. can be estimated.
- the vehicle braking / driving force F vx and the vehicle's momentum ⁇ ⁇ are the vehicle's maximum driving force Fvdmax, the vehicle's maximum braking force, the vehicle's leftward turning maximum moment Mvlraax, and the vehicle's rightward turning maximum moment M
- the value is in the range of a rhombus quadrilateral 1 0 0 determined by vrmax.
- points A to D are points corresponding to the cases of A to D in FIG. 2, and the coordinates of points A to D are (F vdmax, 0), (F vbmax, 0), (0, Mvlmax), (0, Mvrmax).
- the quadrilateral 100 is smaller as the road friction coefficient / X 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 target braking / driving force F vt of the vehicle by controlling the braking / driving force of each wheel Vehicle target moment Mvt is the target braking / driving force F vn and vehicle target moment Mv n
- the electronic control device for driving force control 16 can control the vehicle by the braking / driving force of each wheel.
- the target braking / driving force of each wheel is within the range where the ratio between the target braking / driving force Fvn and the momentum Mvt is the ratio of the target braking / driving force Fvn to the desired momentum Mvn.
- the target braking / driving force Fvt of the vehicle and the target moment of inertia Mvt of the vehicle are calculated so that the magnitude of the braking / driving force Fv of the vehicle by the force Fwxti and the magnitude of the moment Mv are maximized.
- the driving force control electronic control unit 16 calculates, as the target braking / driving force Fwxti of each wheel, a value satisfying the above formulas 1 to 3 by, for example, the least square method.
- the electronic control unit for driving force control 16 has a larger rate of change of the target braking / driving force Fvn so that the limit value Mlim of the target vehicle moment Mvt of the vehicle becomes smaller as the rate of change of the target braking / driving force Fvn increases.
- the limit value Mlim of the vehicle's target momentum Mvt is calculated.
- the larger the rate of change of the target momentum Mvn the smaller the target braking / driving force Fvt of the vehicle, the smaller the limit value Flim of the vehicle.
- the limit value Flim of the vehicle target braking / driving force Fvt is calculated.
- the electronic control unit for driving force control 16 corrects the magnitude of the target moment Mvt to the limit value Mlim when the magnitude of the corrected target moment Mvt of the vehicle exceeds the limit value Mlim.
- the target braking / driving force Fvt is corrected to the limit value Flim. Prevents sudden increase / decrease in vehicle target braking / driving force Fvt and vehicle target moment Mvt due to a sudden change in moment Mvn.
- 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.
- the regenerative braking force is controlled to the maximum regenerative braking force F wxrimax by controlling each motor generator 1 2 FL to 1 2 RR to control the regenerative braking force, and the target braking / driving force Fwxti and the maximum regenerative braking force Fwxrimax
- the control based on the front chart shown in FIG. 3 is started when the electronic control unit 16 for driving force control is activated, and the ignition switch not shown in the figure is switched off. It is repeatedly executed every predetermined time until it is received.
- 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 vehicle's target braking / driving force Fvn by controlling the braking / driving force of each wheel required for the vehicle
- step 30 the vehicle's maximum driving force F vdmax, vehicle's maximum braking force F vbmax and vehicle's maximum braking force F vbmax according to the map or function not shown in the figure based on the friction coefficient / of the road surface
- the maximum moment Mvlmax in the left turn direction of ⁇ and the maximum moment M vrmax in the right turn direction of the vehicle are calculated. That is, the points A to D shown in FIG. 5 are specified.
- step 40 the target braking / driving force F vn of the vehicle and the target momentum Mvn of the vehicle are within the range of the quadrilateral 100, and the target braking / driving force is controlled by controlling the braking / driving force of each wheel. It is determined whether or not F vn and target moment Mvn can be achieved. If a negative determination is made, the process proceeds to step 1 0 0.If an affirmative determination is made, the process proceeds to step 50. After the corrected vehicle target braking / driving force F vt and the vehicle target torque Mvt are set to the target braking / driving force F vn and target vehicle moment M vn , the process proceeds to step 200.
- step 100 the target braking / driving force F vt and the moment Mvt of the vehicle after correction are calculated based on the target braking / driving force F vn and the target moment Mvn according to the flowchart shown in FIG. Then, go to step 2 0 0.
- step 200 each wheel which achieves the target braking / driving force F vt and the target moment ⁇ as described above based on the corrected vehicle target braking / driving force F vt and the vehicle's target braking / momenting moment Mvt.
- step 2 10 the target friction braking force F wbti is calculated as described above, and a signal indicating the target friction braking force F wbti is output to the braking force control electronic control device 28, Thus, the frictional braking force F wbti of each wheel is controlled to become the target frictional braking force F wbti by the electronic controller 28 for braking / controlling.
- each motor generator 1 2 FL to 1 2 RR is set so that the driving force F wdi or regenerative braking force F wri of each wheel becomes the target driving force F wdti or the target regenerative braking force F wrti, respectively. Is controlled.
- step 10 5 the target braking / driving of the vehicle is performed.
- the intersection point Q of the line segment L connecting the point P indicating the target force moment Mvn of the force F vn and the vehicle and the origin O and the outline of the quadrilateral 1 0 0 is obtained as the target point. If F vq, Mvq), the target braking / driving force F vt of the corrected vehicle and the target moment Mvt of the vehicle are set to F vq and Mvq, respectively.
- step 1 1 the rate of change F vnd of the target braking / driving force F vn is calculated as the time derivative of the target braking / driving force F vn of the vehicle, and the rate of change F vnd of the target braking / driving force F vn is calculated.
- the limit value Mlim of the vehicle target moment Mvt is calculated from the map corresponding to the graph shown in FIG.
- the limit value Mlimo when the absolute value of the rate of change F vnd of the target braking / driving force F vn is less than or equal to the suppression reference value F vndo is a constant value larger than the magnitudes of the maximum moments Mvlmax and Mvrmax. Value.
- step 1 1 5 the change rate Mvnd of the target show moment Mvn is calculated as the time differential value of the target show moment Mvn of the vehicle, and is shown in Fig. 9 based on the absolute value of the change rate M vnd of the target show moment Mvn.
- the limit value F lim of the target braking / driving force F vt of the vehicle is calculated from the map corresponding to the graph.
- the limit value F limo when the absolute value of the rate of change Mvnd of the target moment Mvn is less than or equal to the suppression reference value Mvndo is a constant value larger than the maximum braking / driving forces F vdmax and Mvbmax. .
- step 1 2 it is determined whether or not the absolute value of the corrected vehicle target moment Mvt exceeds the limit value M lim. If a negative determination is made, the process proceeds to step 1 3 0.
- step 1 2 5 signMvt is used as the sign of the target car moment of the vehicle after the correction. After the target vehicle moment Mvt of the corrected car is corrected to signMvt ⁇ Mlim, step 1 3 Proceed to 0.
- the target braking / driving force F vt of the vehicle after correction is the force maintained at the coordinate value F q of the target point Q.
- the target moment of the vehicle after correction Mvt is corrected to Mlim, and therefore the corrected target braking / driving force F vt and target moment Mvt of the vehicle after correction are set to the value of the coordinates of the intersection point Q 'of the perpendicular line below the target point Q on the straight line of the limit value Mlim.
- step 1 it is determined whether or not the absolute value of the target braking / driving force F vt of the vehicle after correction exceeds the limit value F lim, and if a negative determination is made, step 2 0 Proceed to 0. If affirmative determination is made, the target braking / driving force of the vehicle after correcting sign F vt in step 1 3 5
- the target moment of inertia Mvt of the vehicle after correction is the force maintained at the coordinate value Mvq of the target point Q.
- the target braking / driving force F vt of the vehicle after correction is The target braking / driving force F vt and the target moment Mvt of the vehicle after correction is corrected to F lim and set to the coordinate value of the intersection point Q 'of the perpendicular line below the target point Q to the limit value F lim Is done.
- the vehicle target braking / driving force F vn and the vehicle target moment of inertia Mvn by controlling the braking / driving force of each wheel required for the vehicle in step 20.
- the maximum driving force F vdmax of the vehicle due to the braking / driving force of each wheel the maximum braking force F vbmax of the vehicle, the maximum moment Mvlmax of the left turn direction of the vehicle, and the clockwise rotation of the vehicle
- the maximum rotational moment Mvrmax in the rotational direction is calculated, and in step 40, it is determined whether or not the target braking / driving force F vn and the target moment Mvn can be achieved by controlling the braking / driving force of each wheel. .
- step 40 when it is determined that the target braking / driving force F vn and the target moment Mvn cannot be achieved by controlling the braking / driving force of each wheel, step 100, that is, step 1 0 5 to 1 3 5 are executed, thereby calculating the target braking / driving force F vt of the vehicle after correction and the target moment Mvt of the vehicle as values that can be achieved by the braking / driving force of each wheel.
- Step 1 0 5 the intersection point Q of the line segment L connecting the point P and the origin O that shows the target braking / driving force F vt of the vehicle and the target moment Mvt of the vehicle and the origin O is the target point Q.
- the target braking / driving force F vt of the vehicle after correction and the target moment Mvt of the vehicle are set to the values of the target points Q, F vq and Mvq, respectively.
- Change rate of F vn Target vehicle moment Mvt limit value Mlim is calculated based on the absolute value of F vnd.
- the change rate of target vehicle moment Mvn is calculated based on the absolute value of Mvnd.
- the limit value F lim of the target braking / driving power F vt of the vehicle is calculated, and the magnitudes of the target braking / driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle are calculated in steps 1 2 0 to 1 3 5, respectively.
- the limit values F lim and Mlim are exceeded, these sizes are limited to the limit values. .
- the braking / driving force of each wheel is within a range where the ratio of the target braking / driving force F vn and the target moment Mvn due to the braking / driving force of each vehicle required by the vehicle.
- the vehicle's target braking / driving force F vt and the vehicle's target braking / driving force F vt and the vehicle's target braking / driving force Mvt are calculated so that the vehicle braking / driving force F v and the vehicle moment Mv are maximized.
- 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, thereby generating each wheel.
- the braking / driving force and the moment required for the vehicle can be achieved as much as possible within the range of the braking / driving force to be obtained.
- the corrected target vehicle moment Mvt or the corrected vehicle Since the target braking / driving force F vt is prevented from abruptly increasing / decreasing, the vehicle's momentum can be reduced due to a sudden increase / decrease in braking / driving force. It is possible to effectively reduce the fear that the passengers will feel discomfort. For example, as shown in Fig.
- 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 F vn and t
- the point indicating M vn moves from PI to P 2
- changes in the target braking / driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle are not limited,
- the point indicating the target driving force F vt and the vehicle target moment Mvt moves from Q 1 ⁇ C ⁇ Q 2 along the outline of the quadrilateral 100, and the vehicle moment increases and decreases accordingly. To do.
- the corrected vehicle target moment Mvt is limited so as not to exceed the limit value Mlim, so that the target braking / driving force F vn Changes rapidly, and the point indicating the target braking / driving force F vn and the vehicle target moment Mvn moves from P 1 to P 2, the vehicle's target braking / driving force F vt and the vehicle The point indicating the target moment Mvt moves from Q 1 ⁇ R 1 ⁇ R 2, and it is possible to reliably prevent the vehicle moment from suddenly increasing or decreasing.
- the target moment Mvn suddenly changes due to the driver's sudden steering operation, and the target braking / driving force F vn and the target moment Mvn of the vehicle are shown.
- the target braking / driving force of the vehicle after the correction F vt and the target momentum of the vehicle If the change in Mvt is not limited, the target of the vehicle after the correction
- the point indicating the braking / driving force F vt and the vehicle's target moment Mvt is along the outline of the quadrilateral 1 0 0 Q 1 ⁇ A ⁇
- the target braking / driving force F vt of the vehicle after the correction is limited so as not to exceed the limit value F lira, so that the target motor moment can be reduced by a sudden steering operation by the driver.
- G Mvn changes rapidly and the target braking / driving force F vt and vehicle target braking / driving force F vt and vehicle The point indicating the target moment Mvt moves from Q 1 ⁇ R 1 ⁇ R 2, which can reliably prevent the braking / driving force of the vehicle from abruptly increasing or decreasing.
- the limit value Ml im is smaller as the absolute value of the rate of change F vnd of the target braking / driving force F vn becomes smaller as shown in FIG.
- the rate of change of vn is variably set according to the absolute value of F vnd, and the limit values Mlim and F litn are as shown in Fig. 9.
- the change rate of the motor moment Mvn is variably set according to the absolute value of the Mvnd, so the higher the possibility that the braking / driving force of the vehicle suddenly increases / decreases, the higher the target vehicle moment Mvt and the target driving force of the vehicle after correction.
- F vt is more restrictive, so that in a situation where the acceleration / deceleration operation and steering operation by the driver are gentle, the momentum required for the vehicle is reliably applied, and the acceleration / deceleration operation by the driver is performed. And steering operation In extreme conditions, the vehicle's momentum can be prevented from suddenly changing the braking / driving force, and compared to the case where the limit values Mlim and Flim are constant, It is possible to reliably reduce the degree of change in braking / driving force when the speed of acceleration / deceleration operation or steering operation by the driver suddenly changes.
- the driving source of each wheel is a motor generator 1 2 FL to 1 2 RR provided on each wheel, and the target braking / driving force F wxti of each wheel is a negative value.
- the regenerative braking force by the motor generators 1 2 FL to 1 2 is used, so that the braking force required by the vehicle is as much as possible within the range of braking / driving force that each wheel can generate. While achieving the driving force and moment, the vehicle's kinetic energy can be effectively recovered as electrical energy when the vehicle is braked and decelerated.
- the motor generators 1 2 FL to 1 2 RR are in-wheel motors.
- the motor generator may be provided on the vehicle body side, and each wheel drive source
- the motor may be one that does not perform regenerative braking, and the drive source may be a drive source other than the motor as long as the driving force of each wheel can be increased or decreased independently of each other.
- the motor generators 1 2 FL to 1 2 RR are provided corresponding to the four wheels.
- the drive source is the left and right front wheels or the left and right rear wheels. In this case, the quadrilateral 1 0 0 becomes as shown as 1 0 0 'in FIG.
- the braking / driving force of the vehicle when the right moment of the right vehicle is at the maximum values Mvlraax and Mvrmax is a negative value, that is, the braking force. Even in the case of such a vehicle, the above-described effects can be achieved. This also applies to the third embodiment described later.
- FIG. 10 is based on 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 vehicle braking / driving force control device.
- the same members as those shown in FIG. 1 are given 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 10 FL, 1 0 FR and the left and right rear wheels 1 0 RL, 1 0 RR.
- the driving force and regenerative braking force of the generator 40 are transmitted to the front wheel propeller shaft 44 and the rear wheel propeller shaft 46 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 front wheel propeller shaft 4 4 are transmitted to the left front wheel axle 5 0 L and the right front wheel axle 5 OR by the front wheel differential 48, which can control the distribution ratio of the left and right front wheels. 1 0 FL and 1 0 FR are driven to rotate. Similarly, the driving force of the rear wheel propeller shaft 4 6 is controlled by the rear wheel differential 5 2 that can control the distribution ratio of the left and right rear wheels.
- 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 And control the left / right wheel distribution ratio of the driving force and regenerative braking force by the rear wheel differential 52.
- the driving force control electronic control unit 16 is required for the vehicle.
- the target braking / driving force Fvn by controlling the braking / driving force of each wheel
- the target moment of motor Mvn by controlling the braking / driving force of each wheel required by the vehicle
- the maximum driving force Fvdraax of the vehicle and the maximum braking force F vbmax of the vehicle Therefore, the maximum torque Mvlraax in the left turn direction of the vehicle due to the braking / driving force of each wheel and the maximum moment Mvrmax in the right turn direction of the vehicle are calculated in the same manner as in the first embodiment.
- the maximum driving force of the motor generator 40 is that of each wheel when it is evenly distributed to the left and right front wheels 1 OFL, 10 FR and the left and right rear wheels 1 ORL, 1 ORR. It is assumed that the driving force Fwdi is smaller than the maximum possible longitudinal force that is usually determined by the road friction coefficient ⁇ .
- the vehicle's maximum driving force Fvdmax in the situation where the vehicle's momentum due to the braking / driving force of the wheel does not act on the left and right front wheels 1 OFL and 1 ⁇ FR braking / driving force F wxf 1 and Fwxfr are the maximum driving force Fwdflmax and Fwdfrmax when the left and right wheel driving force distribution is equal, and left and right rear wheels 1 0RL and 1 ORR braking / driving force Fwxrl and Fwxrr are equal to the right and left wheel driving force distribution This is achieved when the maximum driving force is F wdrlmax and F wdrrtnax.
- the maximum braking force Fvbmax of the vehicle in the situation where the moment due to the braking / driving force of the wheel is not applied to the vehicle is the braking / driving force of the left and right front wheels 1 OFL and 1 OFR.
- the maximum left-side moment Mvlmax of the vehicle in a situation where the longitudinal force due to the braking / driving force of the wheel does not act on the vehicle is the distribution of the driving force of the left and right wheels to the right wheel.
- the right and left front wheel 1 OFR and 1 ORR braking / driving forces Fwxfr and Fwxrr are the maximum driving forces Fwdfrmax 'and Fwdrrmax ⁇ , respectively, and their magnitudes are the maximum braking force of the left front and rear wheels 1 0 FL and 1 0 RL, respectively. This is achieved if it is equal to the magnitude of F wbflmax and Fwbrlmax.
- the maximum moment Mvlmax "in the left turn direction of the vehicle in the situation where no driving force is applied to any wheel is the control of the right front wheel 1 OFR and 1 ORR.
- Driving force F wxfr and Fwxrr are 0 and left front and rear wheels 1 OFL and 1 0 RL braking / driving force F wxf 1 and This is achieved when F wxrl is the maximum braking force F wbf lmax and F wbrrmax.
- the maximum momentum Mvrmax in the right-turn direction of the vehicle in a situation where the longitudinal force due to the braking / driving force of the wheel does not act on the vehicle is the driving force of the left and right wheels.
- the left and right front wheels 1 0 FL and 1 O RL braking / driving forces F wxfl and F wxrl are the maximum driving forces F wdflmax 'and F wdrlma, respectively. 1 0 This is achieved when the maximum braking force of RR is equal to the magnitude of F wbfrmax and F wbrrmax.
- 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 F vdmax is 1 0 FR and 1 0 RR braking / driving force F wxfr and F wxrr are 0 and left front and rear wheels 1 0 FL and 1 O RL braking / driving forces F wxfl and F wxrl are maximum driving forces F wdflmax 'and F wdrlmax' Achieved in some cases.
- the maximum right-side moment Mvrmax "of the vehicle in the situation where no driving force is applied to any wheel is the left front and rear wheels 1 O FL and 1 0 RL. This is achieved when the braking / driving forces F wxfl and F wxrl of the engine are 0 and the braking / driving forces F wxfr and F wxrr of the right front and rear wheels 1 O FR and 1 0 RR are the maximum braking forces F wbfrmax and F wbrrmax, respectively. .
- the maximum driving force F wdimax of each wheel is determined by the maximum output torque of the motor generator 40, the friction coefficient / i of the road surface, and the distribution ratio.
- the maximum braking force F wbimax of each wheel is determined by the friction coefficient / X of the road surface.
- the maximum driving force F vdmax of the vehicle, the maximum braking force of the vehicle, the maximum motor moment Mvlmax in the left turn direction of the vehicle, and the maximum motor 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 friction coefficient ⁇ of the road surface are known, the maximum driving force F wdimax of each wheel can be estimated. Furthermore, as shown in Fig.
- the hexagon 10 2 becomes smaller as the road friction coefficient / decreases. Also, the larger the steering angle is, the greater the lateral force of the left and right front wheels is, and the margin of front and rear force is smaller.Hexagon 1 ⁇ 2 is smaller the larger the steering angle is. .
- the output torque of the motor generator 40 is sufficiently large, the maximum driving force and the maximum braking force of each wheel are determined by the friction coefficient ⁇ of the road surface, so that the acceleration direction of the vehicle and the left turn direction of the vehicle are determined.
- the vehicle is driven even when all of the maximum driving force of the left and right wheels is distributed to the left or right wheel. Since the maximum braking force of the left and right wheels is allotted to the left or right wheel, the braking force of the vehicle is maximized, so this is indicated by the phantom line in Fig. 15 ⁇ . As shown, the range of vehicle driving force and momentum 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. 15 are vdmax, 0),.
- the rear wheel distribution ratio of the braking / driving force Fwxi of each wheel is Kr (a constant between 0 and Kr), and the left and right wheel distribution ratio of the braking / driving force Fwxi for the front and rear wheels is Ky (0 ⁇ Kr ⁇ 1).
- the electronic controller for driving force control 16 can control the braking / driving force of each wheel.
- the vehicle target braking / driving force F vt and the vehicle target chord moment Mvt to the target braking / driving force Fvn and the vehicle target chord moment Mvn, respectively.
- the target braking / driving force Fwxti (i fl, mu, rl, rr) and the left / right wheel distribution ratio Ky.
- the electronic controller 16 for driving force control is configured so that when the vehicle target braking / driving force Fvt and the vehicle target moment Mvt are values outside the range of the hexagon 102, the first embodiment described above. Case and Similarly, the ratio between the vehicle target braking / driving force Fvt and the moment Mvt due to the braking / driving force of each wheel is equal to the ratio between the target braking / driving force Fvn and the target moment Mvn due to the braking / driving force of each wheel required for the vehicle.
- the target braking / driving force Fvtti and the vehicle braking / driving force Fvxti and the momentum Mv are maximized so that the vehicle's target braking / driving force Fvt and vehicle Calculate the target moment Mvt.
- the electronic controller for driving force control 16 calculates a value satisfying the above equations 4 to 7 as the target braking / driving force F wxt i of each wheel by, for example, the least square method.
- the electronic control unit for driving force control 16 changes the magnitude of the target braking / driving force Fvn so that the limit value Mlim of the vehicle's target moment Mvt becomes smaller as the rate of change in the magnitude of the target braking / driving force Fvn increases.
- the limit value Mlim of the vehicle's target moment Mvt is calculated, and the larger the rate of change in the size of the target moment Mvn, the smaller the vehicle's target braking / driving force Fvt's limit values Fdlim and Fblim.
- the target braking / driving force Fvt limit values Fdlim and Fblim of the vehicle are calculated based on the rate of change of the magnitude of the target moment Mvn.
- the electronic control unit for driving force control 16 corrects the magnitude of the target moment Mvt to the limit value Mlim when the magnitude of the corrected target moment Mvt of the vehicle exceeds the limit value Mlim.
- the target braking / driving force Fvt of the rear vehicle is larger than the limit value Fdlim
- the target braking / driving power Fvt is corrected to the limiting value Fdlim
- the corrected vehicle target braking / driving force Fvt is smaller than the limit value Fblim
- the target braking / driving force Fvt is corrected to the limit value Fblim, and the vehicle's target braking / driving force Fvt and the vehicle's target braking moment Mvt suddenly change as the target braking / driving force Fvn and target braking moment Mvn change rapidly. Prevent significant changes.
- the electronic control device 16 for driving force control is used when the vehicle braking / driving force Fv is a positive value and driving force, and the target braking / driving force F wxt i of each wheel is a positive value and driving force.
- 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 Fwdti using a map or function not shown in the figure. , by controlling the front wheel differential 4 8 and the rear wheel differential 5 2 on the basis of the lateral distribution ratio Ky to the right wheels to control the drive current supplied to the motor generator 40 based on the target drive current I ti, braking of the wheels The driving force of each wheel is controlled so that the driving force Fwxi becomes the target braking / driving force Fwxti.
- 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.
- control is performed so that the braking / driving force F wxi of each wheel becomes the target braking / driving force F wxti.
- the electronic controller for driving force control 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 target braking force of any wheel is reduced.
- the electronic controller for driving force control 1.6 sets the target driving force F wdti of each wheel to 0 and Set the regenerative braking force by the generator 40 to the maximum regenerative braking force, and set the left / right wheel distribution ratio Ky so that the distribution ratio of the regenerative braking force to the wheel with the large target braking / driving force F wxti is large.
- 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 input from the driving force control electronic control device 16 based on the target friction braking force F wbti of each wheel.
- the target braking / driving force F vn and the target moment Mvn cannot be achieved by the braking / driving force of each wheel in the second embodiment.
- the calculation routine of the target braking / driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle in the situation will be explained.
- steps 10 to 50 and steps 2 0 to 2 2 0 are the same as in the case of the first embodiment described above.
- Steps 1 0 5, 1 1 0, '1 2 0, 1 2 5 are also executed in the same manner as in the first embodiment described above.
- step 105 the line segment L connecting the point P indicating the target braking / driving force F vt of the vehicle and the target moment Mvt of the vehicle M to the origin O and the outline of the hexagon 10 2
- the intersection point Q is obtained as the target point, and the corrected target braking / driving force F vt of the vehicle and the target moment Mvt of the vehicle are set to the values F vq and Mvq of the target point Q, respectively.
- step 1 1 5 the target braking / driving force F vt limit value F dlim, F of the vehicle based on the absolute value of the change rate Mvnd of the target moment Mvn from the map corresponding to the graph shown in Fig. 14 blim is computed.
- Step 1 3 it is determined whether or not the target braking / driving force F vt of the vehicle after correction is larger than the limit value F dlimo, and if a negative determination is made, go to Step 2 0 0 If affirmative determination is made, the vehicle proceeds to step 1 40 after the target braking / driving force F vt of the corrected vehicle is corrected to F dlim in step 1 3 5.
- step 140 it is determined whether the corrected target braking / driving force F vt of the vehicle is smaller than the limit value F blimo. If a negative determination is made, the process proceeds to step 200. When the affirmative determination is made, after the target braking / driving force F vt of the vehicle after correction is corrected to F blim in step 1 45, the process proceeds to step 200.
- step 2 10 of the second embodiment as described above, the regenerative braking force of each wheel and the Except for the fact that the target friction braking force F wbti is calculated as described above, the same control as in the first embodiment is performed.
- steps 1 05 to 145 are executed,
- the corrected vehicle target braking / driving force Fvt and vehicle target moment of inertia Mvt exceed the limits Flim, Mdlim, and Mblim, respectively, these magnitudes are limited to the limits.
- the braking / driving force and the moment required for the vehicle can be achieved as much as possible within the range of the braking / driving force that each wheel can generate, and the vehicle's momentum can be achieved. It is possible to effectively reduce the possibility that the running stability of the vehicle will decrease and the vehicle occupant will feel uncomfortable due to the sudden increase / decrease in braking / driving force.
- the target braking / driving force Fvn suddenly changes at a constant rate by a sudden acceleration / deceleration operation by the driver, and the target braking / driving force Fvn and the vehicle's target moment Mvn are Looking at the case where the indicated point moves from PI to P2, if the change in the target braking / driving force F vt of the vehicle after correction and the target moment Mvt of the vehicle are not restricted, the corrected vehicle eye
- the point indicating the target driving force Fvt and the target moment Mvt of the vehicle moves from Q1 to C to Q2 along the outline of the hexagon 102, and the vehicle moment is suddenly temporarily changed accordingly. Decrease after increasing.
- the corrected target torque Mvt of the vehicle is limited so as not to exceed the limit value Mlim, so that the target braking / driving force Fvn is reduced by a sudden acceleration / deceleration operation by the driver. Even if the point indicating the target braking / driving force Fvn and the vehicle target moment Mvn moves from P1 to P2 even if it changes suddenly, the vehicle target braking / driving force Fvt and the vehicle target motor The point indicating the moment Mvt moves along the line indicating the limit value Mlim as Q ' ⁇ R2, and it is possible to reliably prevent the vehicle's momentum from increasing or decreasing.
- the target momentum Mvn suddenly changes due to a sudden steering operation by the driver, and the point indicating the target braking / driving force Fvn and the target momentum Mvn of the vehicle is P1.
- the target braking / driving force of the vehicle after correction is not limited.
- the point indicating the Fvt and vehicle target moment Mvt is the Q1 ⁇ D along the outline of the hexagonal 102 ⁇ A ⁇ G ⁇ Q 2 and the braking / driving force of the vehicle suddenly increases / decreases accordingly.
- the target braking / driving force F vt of the vehicle after the correction is limited so as not to exceed the limit value F 1 im, so that the target can be increased by a sudden steering operation by the driver.
- the moment Mvn changes rapidly and the point indicating the target braking / driving force F vn and the vehicle's target moment Mvn moves from P 1 to P 2
- the vehicle's target braking / driving force F vt and The point indicating the vehicle's target momentum Mvt moves from Q 1 ⁇ R 1 ⁇ R 2 along the line indicating the limit value F lim, to ensure that the braking / driving force of the vehicle does not suddenly increase or decrease. Can do.
- 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. Since the regenerative braking force is generated, 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. When the vehicle is braked and decelerated, the vehicle's kinetic energy can be effectively recovered as electrical energy. This also applies to the third embodiment described later.
- the drive source is one motor generator 40 common to all four wheels, but the drive for driving each wheel so that the drive power distribution can be controlled between the left and right transports.
- 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 hexagon 10 2 is shown in FIG.
- the vehicle braking / driving force is negative when the vehicle's left-turn direction and the left-turn direction's momentum are maximum values Mvlmax and Mvrraax, respectively. That is, it becomes a braking force. Even in the case of such a vehicle, the above-described effects can be achieved. This also applies to the third embodiment described later.
- FIG. 18 is a flowchart showing the main part of a braking / driving force control routine in a third embodiment of the braking / driving force control device for a vehicle according to the present invention.
- steps 10 to 50 and steps 200 to 220 are the same as those in the first embodiment or 2. Is executed in the same way as step 1 5 5 Performed in the same manner as in the case of the first embodiment described above or Step 1 0 5 of 2.
- the vehicle to which the third embodiment is applied is such that the braking / driving force is applied to each wheel independently of each other like the in-wheel motor type four-wheel drive vehicle in the first embodiment described above.
- the driving force and regenerative braking force of one motor generator common to the four wheels in the second embodiment described above are distributed and controlled to the front and rear wheels and the left and right wheels.
- This is a vehicle in which braking force is applied to each wheel independently like a wheel drive vehicle, and the drive force from the drive means common to the left and right wheels is applied to the left and right wheels so that the drive force distribution of the left and right wheels can be changed. There may be.
- step 1 60 when the calculation of the target braking / driving force F vt and the target momentum Mvt of the vehicle after the correction in step 1 55 is completed, in step 1 60
- the rate of change F vnd of the target braking / driving force F vn is calculated as the time differential value of the vehicle's target braking / driving power F vn, and the rate of change of the target braking / driving force F vn is calculated based on the absolute value of F vnd as shown in Figure 19
- the increase / decrease limit value A Mlim of the vehicle target moment Mvt is calculated from the map corresponding to the graph shown.
- step 1 65 the rate of change Mvnd of the target moment Mvn is calculated as the time differential value of the target moment Mvn of the vehicle, and the rate of change M vnd of the target moment Mvn is calculated as shown in Fig. 20.
- the increase / decrease limit value ⁇ Flim of the vehicle target braking / driving force F vt is calculated from the map corresponding to the graph.
- Step 1 70 the difference between the corrected target vehicle moment Mvt and its previous value Mvtf, that is, the increase / decrease amount A Mvt of the target vehicle moment Mvt after correction, and the increase / decrease amount ⁇ Mvt It is determined whether or not the absolute value of the value exceeds the increase / decrease limit value ⁇ . If a negative determination is made, the process proceeds to step 1800, and if an affirmative determination is made, the process proceeds to step 175. After signMvt is corrected, the target vehicle moment Mvt of the corrected vehicle is corrected to Mvtf + signMvt ⁇ A Mlim as the sign of the corrected vehicle target moment Mvt. '
- Step 1 80 the difference between the target braking / driving force F vt of the vehicle after correction and its previous value F vtf, that is, the increase / decrease amount ⁇ F vt of the target braking / driving force F vt of the vehicle after correction is At the same time, it is determined whether or not the absolute value of the increase / decrease amount ⁇ F vt exceeds the increase / decrease limit value ⁇ F lim, and if a negative determination is made, the process proceeds to step 2 0 0, where an affirmative determination is made. In step 1 8 5
- the corrected vehicle target braking / driving force F vt is corrected to F vtf + sign F vt ⁇ ⁇ F lim, and then to step 2 0 0 move on.
- the ratio between the braking / driving force of the vehicle and the moment is ensured.
- the braking / driving force of each wheel is controlled so that the ratio of the braking force and the driving force can be achieved as much as possible within the range of the braking / driving force that each wheel can generate.
- the target braking / driving force F vt of the vehicle after correction is large. Therefore, the rate of change of the target braking / driving force F vn of the vehicle or the rate of change of the target moment Mvn of the vehicle is large. In the situation, the target vehicle Moment Mvt and after correction of the vehicle target braking-driving force F vt can be prevented reliably that rapidly ⁇ changed.
- the target longitudinal acceleration G xt of the vehicle is calculated based on the accelerator opening ⁇ and the master cylinder pressure P m that are the driver's acceleration / deceleration operation amount, and is the driver's steering operation amount. Based on the steering angle 0 and the vehicle speed V, the vehicle target ⁇ rate ⁇ “1” is not calculated, the vehicle target longitudinal acceleration G xt is calculated based on the vehicle target braking / driving force F vn, and the vehicle target yo rate is calculated.
- the target total moment Mvnt required for the vehicle is calculated, and the vehicle turning moment Ms due to the lateral force of each wheel is calculated, and the value obtained by subtracting the turning moment Ms from the vehicle target total moment Mvnt is the vehicle. Since the vehicle's target momentum Mvn by controlling the required braking / driving force of each wheel is calculated, the vehicle turning moment Ms due to the lateral force of the wheel is not considered. Than the vehicle target ® over moment can and without excess or deficiency calculation child by reliably and accurately control the longitudinal force of each wheel required to the vehicle with.
- a regenerative braking force is generated as necessary by the motor generators 1 2 FL to 1 2 RR or the motor generator 40, respectively.
- a motor generator may be modified so that the regenerative braking force is not performed and the braking force is generated only by friction braking.
- the braking / driving force F wxi of each wheel has a constant rear wheel distribution ratio Kr.
- the rear wheel distribution ratio Kr may be modified to be variably set according to the steering angle so that r gradually increases.
- the rear wheel distribution ratio Kr is the target braking / driving force of the vehicle. It may be modified to be variably set according to the target braking / driving force of the vehicle so that it is a negative value and decreases as the size 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. If the value is outside the range of the quadrilateral 1 0 0 or hexagon 1 0 2 indicating the moment Mvn, the segment L connecting the point P indicating the target braking / driving force F vt of the vehicle and the target moment Mvt of the vehicle M to the origin O L Is the target point, and the target driving force F vt of the vehicle after correction and the target moment of inertia Mvt of the vehicle are the target points Q, respectively.
- the vehicle's target braking / driving force F vt and the vehicle's target momentum Mvt after correction are the vehicle target braking / driving force F vn and the vehicle's target as much as possible.
- the target braking / driving force F vn and the target by controlling the braking / driving force of each wheel required for the vehicle based on the acceleration / deceleration operation amount of the driver and the steering operation amount of the driver.
- the target braking / driving force F vn and the target moment Mvn can be calculated by the driver's acceleration / deceleration operation amount and the driver's steering when the vehicle behavior is unstable.
- the manipulated variable it may be modified so that it is calculated by taking into account the target longitudinal acceleration and target acceleration required to stabilize the vehicle behavior.
- the target moment of inertia M vt of the vehicle after correction in order to prevent the magnitude of the target braking / driving force F vt from changing abruptly, in the first embodiment described above, after the completion of Step 1 35 and in the second embodiment described above, the step After completion of 14 45, it may be modified so that the same steps as steps 160 to 185 of the third embodiment described above are executed.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06728588.2A EP1864879B1 (en) | 2005-03-01 | 2006-02-24 | Braking-driving force control device of vehicle |
US11/817,517 US7909416B2 (en) | 2005-03-01 | 2006-02-24 | Vehicle braking/driving force control apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2005056499A JP4131269B2 (ja) | 2005-03-01 | 2005-03-01 | 車輌の制駆動力制御装置 |
JP2005-056499 | 2005-03-01 |
Publications (1)
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WO2006093244A1 true WO2006093244A1 (ja) | 2006-09-08 |
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ID=36941274
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PCT/JP2006/304026 WO2006093244A1 (ja) | 2005-03-01 | 2006-02-24 | 車輌の制駆動力制御装置 |
Country Status (6)
Country | Link |
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US (1) | US7909416B2 (ja) |
EP (1) | EP1864879B1 (ja) |
JP (1) | JP4131269B2 (ja) |
CN (1) | CN100554050C (ja) |
RU (1) | RU2357882C1 (ja) |
WO (1) | WO2006093244A1 (ja) |
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JP4928221B2 (ja) * | 2006-10-18 | 2012-05-09 | 日立オートモティブシステムズ株式会社 | 車両挙動制御装置 |
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JP4962068B2 (ja) * | 2007-03-19 | 2012-06-27 | トヨタ自動車株式会社 | 駆動制御装置 |
JP5161595B2 (ja) * | 2008-01-28 | 2013-03-13 | 本田技研工業株式会社 | 複数駆動源の駆動力制御装置 |
JP5083025B2 (ja) * | 2008-05-13 | 2012-11-28 | トヨタ自動車株式会社 | 車両の制駆動力制御装置 |
DE102009000947A1 (de) * | 2009-02-18 | 2010-08-19 | Robert Bosch Gmbh | Gierratenregelung bei gleichzeitiger Maximalverzögerung |
JP5526983B2 (ja) * | 2010-04-28 | 2014-06-18 | 日産自動車株式会社 | 車両の操舵時挙動改善装置 |
JP5413295B2 (ja) | 2010-04-28 | 2014-02-12 | 日産自動車株式会社 | 車両の操舵時挙動改善装置 |
JP5212663B2 (ja) * | 2010-10-21 | 2013-06-19 | トヨタ自動車株式会社 | 車両の制駆動力制御装置 |
EP2760714B1 (de) * | 2011-09-28 | 2019-03-20 | Continental Teves AG & Co. OHG | Schlupfgeregeltes bremssystem für elektrisch angetriebene kraftfahrzeuge |
JP5729489B2 (ja) * | 2011-12-28 | 2015-06-03 | トヨタ自動車株式会社 | 減速因子推定装置 |
US9376101B2 (en) * | 2013-08-28 | 2016-06-28 | Continental Automotive Systems, Inc. | All-wheel drive torque vectoring by electronic brake system control |
US9440632B2 (en) * | 2014-11-05 | 2016-09-13 | Bendix Commercial Vehicle Systems Llc | Method, controller and system for monitoring brake operation |
JP6542017B2 (ja) | 2015-04-14 | 2019-07-10 | Ntn株式会社 | 車両姿勢制御装置 |
JP6844500B2 (ja) * | 2017-10-30 | 2021-03-17 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
DE102019003008A1 (de) * | 2019-04-26 | 2020-10-29 | Daimler Ag | Verfahren zum Betreiben eines Fahrerassistenzsystems eines zumindest teilweise elektrisch betreibbaren Kraftfahrzeugs zum Ansteuern von vier Rädern, Fahrerassistenzsystem sowie Kraftfahrzeug |
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Also Published As
Publication number | Publication date |
---|---|
EP1864879A4 (en) | 2013-05-29 |
RU2357882C1 (ru) | 2009-06-10 |
EP1864879B1 (en) | 2014-06-25 |
EP1864879A1 (en) | 2007-12-12 |
RU2007136039A (ru) | 2009-04-10 |
JP4131269B2 (ja) | 2008-08-13 |
US7909416B2 (en) | 2011-03-22 |
US20090236905A1 (en) | 2009-09-24 |
CN100554050C (zh) | 2009-10-28 |
CN101132957A (zh) | 2008-02-27 |
JP2006240396A (ja) | 2006-09-14 |
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