WO2006120838A1 - 車両の駆動力制御装置 - Google Patents
車両の駆動力制御装置 Download PDFInfo
- Publication number
- WO2006120838A1 WO2006120838A1 PCT/JP2006/308009 JP2006308009W WO2006120838A1 WO 2006120838 A1 WO2006120838 A1 WO 2006120838A1 JP 2006308009 W JP2006308009 W JP 2006308009W WO 2006120838 A1 WO2006120838 A1 WO 2006120838A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- driving force
- vehicle
- target
- target driving
- control device
- Prior art date
Links
- 230000001052 transient effect Effects 0.000 claims abstract description 70
- 238000012546 transfer Methods 0.000 claims abstract description 28
- 230000004044 response Effects 0.000 claims abstract description 14
- 230000035945 sensitivity Effects 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 abstract description 10
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 238000004364 calculation method Methods 0.000 description 19
- 230000008859 change Effects 0.000 description 19
- 230000006978 adaptation Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
-
- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
- F02D2200/606—Driving style, e.g. sporty or economic driving
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
- F02D2250/21—Control of the engine output torque during a transition between engine operation modes or states
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/10—Introducing corrections for particular operating conditions for acceleration
Definitions
- the present invention relates to a control device for a vehicle on which a power train having an engine and an automatic transmission is mounted, and more particularly to a drive control device capable of outputting a driving force corresponding to a driver's required driving force.
- driving force control In a vehicle equipped with an engine and an automatic transmission that can control the engine output torque independently of the driver's accelerator pedal operation, it is calculated based on the driver's accelerator pedal operation amount, vehicle driving conditions, etc.
- driving force control there is a concept of “driving force control” that realizes positive and negative target drive tonlect by using the engine torque and the gear ratio of the automatic transmission.
- driving force demand type control methods called “driving force demand type” and “driving force demand type” are similar.
- the dynamic characteristics of the vehicle can be easily changed by creating the target driving torque.
- acceleration / deceleration transient response
- it is driven not only by the inertia torque corresponding to the temporal change of the gear ratio of the automatic transmission but also by the inertia torque corresponding to the temporal change of the wheel speed. Since the torque deviates from the target value, it is necessary to correct the torque.
- Japanese Laid-Open Patent Publication No. 2 0 0 2-8 7 1 1 7 describes a drive specification as required by the driver by adopting a control specification that realizes a steady target and a transient target of the driving force by synchronous control of the engine torque and the gear ratio.
- a driving force control device that can realize power and can greatly improve power and drivability.
- the driving force control device disclosed in this publication includes an accelerator operation amount detection unit that detects an accelerator operation amount, a vehicle speed detection unit that detects a vehicle speed, and a detected accelerator operation amount in a power train having an engine and a transmission.
- Target driving force calculating means for calculating a static target driving force from the vehicle speed and a driving pattern calculating means for calculating a change pattern of the target driving force, and calculating a steady engine torque target value based on the target driving force.
- the engine torque transient target value and the gear ratio transient target value are calculated based on the steady target value calculating means for calculating the gear ratio steady target value from the detected accelerator operation amount and the vehicle speed, and the change pattern of the target driving force.
- Transient target value calculating means for calculating, target engine torque realizing means for realizing steady engine torque target value and engine torque transient target value, and gear ratio setting And a target speed ratio realizing means for realizing a normal target value and a speed ratio transient target value.
- the target driving force calculation means calculates the static target driving force from the accelerator operation amount detected by the accelerator operation amount detection means and the vehicle speed detected by the vehicle speed detection means. Then, in the driving force pattern calculating means, the pattern of change in the target driving force is calculated. Then, the steady target value calculation means calculates the engine torque steady target value based on the target driving force, calculates the steady gear ratio target value from the detected accelerator operation amount and the vehicle speed, and sends it to the transient target value calculation means. The engine torque transient target value and the gear ratio transient target value are calculated based on the target driving force change pattern.
- the target engine torque realization means The engine torque steady target value and the engine torque transient target value are realized, and the gear ratio steady target value and the gear ratio transient target value are realized in the target gear ratio realizing means.
- a steady target and a transient target of the driving force are realized by synchronous control of the engine torque and the gear ratio. Therefore, the driving force as required by the driver can be realized, and the power and driving performance can be greatly improved.
- a static target driving force is calculated based on an accelerator operation amount that is a driver's operation
- the target driving force is calculated by calculating the transient characteristics by adding the delay that occurs in each part of the vehicle to the target driving force change pattern. For this reason, the driver's operation and the characteristics (delay characteristics) in each part of the vehicle are calculated in association with each other. For this reason, it is indispensable to stably realize the transient characteristics of the acceleration generated in the vehicle in order to realize the acceleration feeling and the deceleration feeling appealing to the driver's sensitivity.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle driving force control device that can realize a driving force that can appeal to the driver's sensibility through easy adaptation. That is.
- a vehicle driving force control apparatus controls a driving force of a vehicle including a power source and a transmission connected to the power source.
- the driving force control device includes a target driving force setting unit that sets a target driving force based on a driver's operation, and a power source and a transmission based on the target driving force output from the target driving force setting unit. And a control unit for controlling.
- This control unit includes a compensation unit that compensates for the transient characteristics of the power source.
- the target driving force setting unit which is a function block that sets the target driving force based on the transient characteristics that the driver appeals in relation to the driver's operation, and the set target driving force.
- a control unit that is a functional block for controlling the power source and the transmission based on the power source is provided separately.
- the control unit compensates for the transient characteristics of the power source, and the compensator functioning to generate acceleration in the vehicle that the driver appeals to the input target driving force without being affected by the hardware characteristics of the vehicle.
- Setting the final target driving force to achieve the transient characteristics that the driver demands in the target driving force setting unit and compensating the vehicle dynamics by the control unit are realized in separate function blocks. Therefore, the final target driving force can be set according to the driver's sensitivity and the motion performance required for the vehicle, and easy adaptation becomes possible.
- the vehicle hardware characteristics are compensated for by the compensation unit so that such transient characteristics of the final target driving force can be generated, a desired vehicle acceleration can be realized.
- the target driving force setting unit sets a target driving force based on a driver's operation, and a transient characteristic that sets a final target driving force by adding a transient characteristic to the set target driving force. And an additional part.
- the set final target driving force is output to the control unit.
- the present invention for example, by using a response characteristic in the time domain and a transient characteristic represented by a transfer function (second-order delay + dead time), it is adapted to the driver's sensibility and the motion performance required for the vehicle. It becomes easy.
- the transient characteristic adding unit sets the final target driving force by adding the transient characteristic using at least one of the response characteristic and the transfer function in the time domain.
- the present invention it is easy to adapt to the driver's sensibility and the motor performance required for the vehicle by using the transient characteristics expressed by the response characteristics and transfer function (secondary delay + dead time) in the time domain. become.
- the transient characteristic adding unit adjusts the transient characteristic based on at least one of a driver's sensitivity and a motion performance required for the vehicle, and adjusts the adjusted transient characteristic.
- the final target driving force is set by adding characteristics.
- the compensation unit is created using a characteristic model of vehicle acceleration generated with respect to the power source output.
- the transient characteristics of the power source can be compensated accurately.
- the compensation unit is created using an inverse function of a transfer function representing a characteristic model.
- the inverse function of the transfer function representing the characteristic model in which the input is the throttle opening of the engine, which is an example of the power source, and the output is the acceleration G of the vehicle is used. Can be compensated.
- it further includes a detection unit that detects vehicle driving information and an adjustment unit that adjusts the compensation unit based on the detected vehicle driving information.
- the turbine rotation speed of the torque converter based on the number of rotations of the engine, which is an example of the power source, the turbine rotation speed of the torque converter, the output shaft rotation speed of the automatic transmission, the vehicle speed of the vehicle, etc. Since the compensation unit is adjusted by changing the characteristic model, the transient characteristics of the power source can be compensated accurately.
- a characteristic model and a transfer function of the characteristic model are prepared for each driving region in advance based on such information, and the characteristic model is a characteristic model when the driving region is switched based on the detected vehicle driving state. The transfer function may be changed.
- FIG. 1 is a block diagram showing the overall configuration of a control device according to an embodiment of the present invention.
- Figures 2 to 4 show examples of transient responses.
- FIG. 1 shows a control block diagram of the driving force control apparatus according to this embodiment.
- This driving force control device is realized by an ECU (Electronic Control Unit) including a CPU (Central Processing Unit) installed in a vehicle by a program executed by the CPU.
- ECU Electronic Control Unit
- CPU Central Processing Unit
- this driving force control device finally outputs the required engine speed / reject to the engine 300 and the required gear stage to ECT (Electronically Controlled Automatic Transmission) 4 0 0.
- ECT Electrically Controlled Automatic Transmission
- E C T 400 may be a bell-type CVT (Continuously Variable Transmission), and the output in that case is not the required gear stage but the required gear ratio.
- This driving force control device includes a driver model 1 100 and a path manager 2 0 0, and in a target transient characteristic addition calculation unit 1 2 0 included in the driver model 1 0 0, humans other than the vehicle hardware characteristics are included. Tuning of the vehicle's hardware characteristics other than human sensitivity at the characteristic compensator 2 20 included in the path manager 2 0 0 It is characterized by distinguishing it from characteristics. Another feature is that the transient characteristics can be easily tuned by the nonlinearity of the hardware characteristics of the vehicle. In the following, the driving force control device including this feature will be described in the order of driver model 1 0 0 and path manager 2 0 0.
- the driver model 10 0 0 has a target base driving force calculation unit (static characteristics) 1 1 0 and a target driving force output from the target base driving force calculation unit (static characteristics) 1 1 0. And a target transient characteristic load calculating unit 120 that calculates the final target driving force based on the above.
- Target base driving force calculation unit (static characteristics) 1 1 0 As shown as MAP, etc., the target driving force is calculated based on a map in which the target driving force is determined by the vehicle speed using the accelerator opening as a parameter. That is, in this target base driving force calculation unit (static characteristics) 110, the target driving force is calculated based on the accelerator opening operated by the driver and the vehicle speed (vehicle speed) at that time. It becomes.
- the target transient characteristic load calculation unit 1 2 0 is a characteristic element of the present invention, and is based on the position of human sensitivity (separate from the hardware characteristic of the vehicle). This is the part that performs calculations to determine whether to make transient characteristics.
- This target transient characteristic load calculation unit 1 2 0 is given in time series as shown, for example, as “target driving force transient characteristic MAP, etc.” in FIG. 1, or transfer function (secondary delay + dead time) ).
- This target transient characteristic load calculation unit 1 2 0 is given by such a time series or transfer function (assuming that the characteristic compensator described later is operating normally), so that the hardware characteristics of the vehicle
- the vehicle acceleration characteristics (static characteristics and dynamic characteristics) with respect to the accelerator opening can be tuned (customized) by adjusting the target responsiveness in the target driving force transient characteristics MAP without depending on.
- the “target driving force transient characteristics MAP etc.” is given by a transfer function will be described.
- the transfer function shown in FIG. 1 is an example composed of a second-order lag element and a dead time element as described above. As a change in the target driving force as a step change (such as when the accelerator pedal is stepped), this transfer function causes an excessive response of the second-order lag system in the time domain. From this point, it can be said that a second-order lag filter is provided for the required driving force.
- Figure 2 shows the waveform of the step response of this transfer function.
- the parameter ⁇ generates overshoot when 0 ⁇ ⁇ 1 (insufficient vibration suppression), and vibrates more as the parameter ⁇ is smaller.
- ⁇ > 1 overvibration
- it gradually approaches the target value as parameter ⁇ increases without vibration.
- it converges to the target value without vibration.
- Figure 3 shows the overshoot ⁇ when 0 ⁇ 1 (insufficient damping).
- the parameter co ⁇ affects the shape of the response curve up to the inflection point at time t (2) in the step response of the second-order lag system shown in Fig. 4.
- the parameter ⁇ is set to 1
- the parameter ⁇ ⁇ is increased, the shape of the response curve described above becomes a straight line, and when the parameter ⁇ ⁇ is decreased, the line becomes gradual (rounded). Therefore, the parameter ⁇ ⁇ is tuned based on the following policy.
- the parameter ⁇ ⁇ is adjusted to be small when the driver wants a gradual acceleration change, or when family car tuning is required as a vehicle concept. In other words, a rounded gentle rise near the inflection point in Fig. 4 is realized.
- the parameter ⁇ ⁇ is adjusted to be large. In other words, a quick rise that is not rounded in the vicinity of the inflection point in Fig. 4 is realized.
- the parameter ⁇ (> 1) is adjusted to be large and the parameter ⁇ ⁇ is adjusted to be small. If the driver wants a direct acceleration change or if a sporty tuning is required as a vehicle concept, the parameter ⁇ should be set so that the parameter ⁇ (> 1) is as close to 1. Adjust ⁇ so that it increases. Note that these parameters and parameter adjustment methods are merely examples, and the present invention is not limited thereto.
- a compensator for vehicle hardware characteristics is configured by a characteristic compensator 2 20 of the patrol manager 2 0 0 described later, and in the driver model 1 0 0, such hardware of the vehicle is configured. Only the factors that affect the human sensibility that do not affect the characteristics can be adjusted separately from the vehicle hardware characteristics.
- the path manager 2 0 0 is the target engine torque &
- This characteristic compensator 2 20 compensates for the part of the response of the vehicle G, which is the acceleration generated in the vehicle, depending on the hardware characteristics of the vehicle.
- This characteristic compensator 2 20 is a characteristic element of the present invention, which separates the human sensibility from the standpoint of the hardware characteristics of the vehicle. It is designed based on the inverse function of the transfer function from engine throttle opening to vehicle acceleration obtained by identifying a detailed simulation model. By adopting such a configuration, the accelerator opening-vehicle acceleration characteristics (static characteristics 14, dynamic characteristics) can be kept constant without being greatly affected by the vehicle hardware characteristics. Accordingly, it is possible to always provide the user with a highly satisfied acceleration characteristic in combination with the target transient characteristic load calculating unit 120 described above.
- the dynamic characteristic model of throttle opening ⁇ vehicle G is created based on the dynamic characteristic model of the engine, torque converter, and vehicle.
- this characteristic compensator 2 20 can change or switch its characteristics according to vehicle operating state information (engine speed N e, turbine speed N t :, output shaft speed N o, vehicle speed). It may be. This has the effect of changing the dynamic model itself.
- the target transient characteristic addition calculation unit 1 2 0 is put out before the path manager 2 0 0, and this pattern manager 2 0 0 is set as the target transient special addition calculation unit 1 2 0.
- the target transient characteristic addition calculation unit 1 2 0 is configured as a function block that processes only the part related to human sensitivity, and the path manager 2 0 0 is configured only for the part that depends on the hardware characteristics of the vehicle. It was configured as a function block to be processed.
- the functional block that affects human sensitivity and sensitivity related to the vehicle concept, and vehicle hardware It is divided into functional blocks (characteristic compensators) that affect the characteristics.
- the transfer function from the target driving force to the final target driving force is tuned by the fitter sensibly.
- the transfer function is expressed as a second-order delay + dead time transfer function. This makes it easy to adjust the transient characteristics in the time domain, such as the rising characteristics after the accelerator pedal is stepped.
- the required engine torque can be calculated from the target engine torque.
- human sensitivity 6 308009 can be easily tuned by the adaptor, and the hardware characteristics can be compensated regardless of the hardware characteristics of the vehicle with non-linear control characteristics.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Transmission Device (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112006000868.4T DE112006000868B4 (de) | 2005-04-13 | 2006-04-11 | Antriebskraft-Steuervorrichtung für ein Fahrzeug |
US11/911,203 US8538651B2 (en) | 2005-04-13 | 2006-04-11 | Driving force controller of vehicle |
CN2006800126060A CN101160230B (zh) | 2005-04-13 | 2006-04-11 | 车辆的驱动力控制设备 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005115804A JP4525434B2 (ja) | 2005-04-13 | 2005-04-13 | 車両の駆動力制御装置 |
JP2005-115804 | 2005-04-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006120838A1 true WO2006120838A1 (ja) | 2006-11-16 |
Family
ID=37396351
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/308009 WO2006120838A1 (ja) | 2005-04-13 | 2006-04-11 | 車両の駆動力制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8538651B2 (ja) |
JP (1) | JP4525434B2 (ja) |
CN (1) | CN101160230B (ja) |
DE (1) | DE112006000868B4 (ja) |
WO (1) | WO2006120838A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101636576B (zh) * | 2007-03-16 | 2012-12-05 | 丰田自动车株式会社 | 车辆的驱动力控制装置 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009167873A (ja) | 2008-01-15 | 2009-07-30 | Toyota Motor Corp | 動力源の制御装置 |
US8612107B2 (en) * | 2008-06-10 | 2013-12-17 | The Regents Of The University Of Michigan | Method, control apparatus and powertrain system controller for real-time, self-learning control based on individual operating style |
JP4600540B2 (ja) * | 2008-07-31 | 2010-12-15 | トヨタ自動車株式会社 | 駆動源の制御装置 |
JP4702429B2 (ja) * | 2008-10-16 | 2011-06-15 | トヨタ自動車株式会社 | 駆動源の制御装置 |
US8935063B2 (en) | 2009-01-29 | 2015-01-13 | Toyota Jidosha Kabushiki Kaisha | Control apparatus and control method for vehicle |
US8560143B2 (en) | 2010-08-31 | 2013-10-15 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for adjusting a pedal map |
IN2014CN00536A (ja) * | 2011-06-27 | 2015-04-03 | Pinnacle Engines Inc | |
DE102011082626A1 (de) * | 2011-09-13 | 2013-03-14 | Bayerische Motoren Werke Aktiengesellschaft | Bestimmen einer Fahrerwunschlängsbeschleunigung eines Kraftfahrzeugs mit Hilfe eines invertierten Fahrermodells |
SE538535C2 (sv) * | 2012-03-27 | 2016-09-13 | Scania Cv Ab | Anordning och förfarande för begränsning av momentuppbyggnadhos en motor hos ett motorfordon |
ITBO20120216A1 (it) | 2012-04-19 | 2013-10-20 | Magneti Marelli Spa | Metodo di controllo di un motore a combustione interna |
DE102012222482A1 (de) * | 2012-12-06 | 2014-06-12 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Vorrichtung zum verbesserten Umschalten zwischen Fahrpedalkennlinien |
US9573579B2 (en) * | 2014-07-30 | 2017-02-21 | Ford Global Technologies, Llc | Methods and system for transitioning between control modes while creeping |
CN104260725B (zh) * | 2014-09-23 | 2016-09-14 | 北京理工大学 | 一种含有驾驶员模型的智能驾驶系统 |
DE102018216515A1 (de) * | 2018-09-26 | 2020-03-26 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Bedaten eines Steuergeräts sowie Verfahren zum Betreiben eines Kraftfahrzeugs |
JP7215380B2 (ja) * | 2019-09-19 | 2023-01-31 | トヨタ自動車株式会社 | 車両の変速制御装置 |
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JP2002087117A (ja) * | 2000-09-18 | 2002-03-26 | Nissan Motor Co Ltd | 駆動力制御装置 |
JP2004322947A (ja) * | 2003-04-28 | 2004-11-18 | Nissan Motor Co Ltd | 振動抑制制御装置 |
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JP2593432B2 (ja) * | 1984-12-06 | 1997-03-26 | 日産自動車株式会社 | 無段変速機の制御装置 |
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JP2605840B2 (ja) * | 1988-11-16 | 1997-04-30 | 日産自動車株式会社 | 無段変速機の変速制御装置 |
DE4443219C1 (de) * | 1994-12-05 | 1996-05-15 | Daimler Benz Ag | Tempomat-Fahrgeschwindigkeitsregeleinrichtung mit regelschwingungsbeeinflussenden Mitteln |
JP4122585B2 (ja) * | 1998-08-07 | 2008-07-23 | 日産自動車株式会社 | 車両の駆動力制御装置 |
JP3577966B2 (ja) | 1998-09-07 | 2004-10-20 | 日産自動車株式会社 | 車両の駆動力制御装置 |
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2005
- 2005-04-13 JP JP2005115804A patent/JP4525434B2/ja not_active Expired - Fee Related
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2006
- 2006-04-11 CN CN2006800126060A patent/CN101160230B/zh not_active Expired - Fee Related
- 2006-04-11 DE DE112006000868.4T patent/DE112006000868B4/de not_active Expired - Fee Related
- 2006-04-11 WO PCT/JP2006/308009 patent/WO2006120838A1/ja active Application Filing
- 2006-04-11 US US11/911,203 patent/US8538651B2/en not_active Expired - Fee Related
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JP2002087117A (ja) * | 2000-09-18 | 2002-03-26 | Nissan Motor Co Ltd | 駆動力制御装置 |
JP2004322947A (ja) * | 2003-04-28 | 2004-11-18 | Nissan Motor Co Ltd | 振動抑制制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101636576B (zh) * | 2007-03-16 | 2012-12-05 | 丰田自动车株式会社 | 车辆的驱动力控制装置 |
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CN101160230B (zh) | 2010-12-15 |
US8538651B2 (en) | 2013-09-17 |
US20090069971A1 (en) | 2009-03-12 |
JP2006290235A (ja) | 2006-10-26 |
DE112006000868T5 (de) | 2008-03-13 |
DE112006000868B4 (de) | 2020-03-12 |
CN101160230A (zh) | 2008-04-09 |
JP4525434B2 (ja) | 2010-08-18 |
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