WO2011070941A1 - 自動二輪車 - Google Patents
自動二輪車 Download PDFInfo
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- WO2011070941A1 WO2011070941A1 PCT/JP2010/071343 JP2010071343W WO2011070941A1 WO 2011070941 A1 WO2011070941 A1 WO 2011070941A1 JP 2010071343 W JP2010071343 W JP 2010071343W WO 2011070941 A1 WO2011070941 A1 WO 2011070941A1
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- slip value
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- 230000009467 reduction Effects 0.000 claims description 204
- 238000012545 processing Methods 0.000 claims description 57
- 230000008859 change Effects 0.000 claims description 21
- 230000010354 integration Effects 0.000 claims description 16
- 230000003247 decreasing effect Effects 0.000 abstract description 7
- 238000012937 correction Methods 0.000 description 35
- 238000000034 method Methods 0.000 description 35
- 230000008569 process Effects 0.000 description 35
- 238000006243 chemical reaction Methods 0.000 description 14
- 238000002347 injection Methods 0.000 description 14
- 239000007924 injection Substances 0.000 description 14
- 239000000446 fuel Substances 0.000 description 13
- 230000007423 decrease Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000014509 gene expression Effects 0.000 description 5
- 239000002828 fuel tank Substances 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- 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
-
- 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
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
-
- 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
- B60W2520/26—Wheel slip
- B60W2520/263—Slip values between front and rear axle
-
- 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
- B60W2720/26—Wheel slip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
-
- 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
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
-
- 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
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
- F02D2200/501—Vehicle speed
-
- 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
- F02D2200/602—Pedal position
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D37/00—Non-electrical conjoint control of two or more functions of engines, not otherwise provided for
- F02D37/02—Non-electrical conjoint control of two or more functions of engines, not otherwise provided for one of the functions being ignition
-
- 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
- F02D41/0002—Controlling intake air
-
- 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
- F02D41/30—Controlling fuel injection
- F02D41/32—Controlling fuel injection of the low pressure type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02P—IGNITION, OTHER THAN COMPRESSION IGNITION, FOR INTERNAL-COMBUSTION ENGINES; TESTING OF IGNITION TIMING IN COMPRESSION-IGNITION ENGINES
- F02P5/00—Advancing or retarding ignition; Control therefor
- F02P5/04—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions
- F02P5/045—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions combined with electronic control of other engine functions, e.g. fuel injection
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02P—IGNITION, OTHER THAN COMPRESSION IGNITION, FOR INTERNAL-COMBUSTION ENGINES; TESTING OF IGNITION TIMING IN COMPRESSION-IGNITION ENGINES
- F02P5/00—Advancing or retarding ignition; Control therefor
- F02P5/04—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions
- F02P5/145—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions using electrical means
- F02P5/15—Digital data processing
- F02P5/1502—Digital data processing using one central computing unit
Definitions
- An engine (driving source in claims) 8 is disposed behind the front wheel 6, and a rear wheel (driving wheel) 9 is disposed behind the engine 8. Torque output from the engine 8 is transmitted to the rear wheel 9 via a transmission member such as a chain or a shaft.
- a swing arm 11 extending in the front-rear direction is disposed behind the engine 8. The torque of the engine 8 is transmitted to the rear wheel 9 by a drive shaft (not shown) disposed inside the swing arm 11.
- a fuel tank 7 is disposed above the engine 8.
- a seat 17 is disposed behind the fuel tank 7.
- the control unit 22 controls the engine 8 based on these data. Specifically, the control unit 22 controls the engine 8 that affects the engine torque, such as the opening of the throttle valve 14 (hereinafter referred to as the throttle valve opening), the fuel injection amount of the injector 15, and the ignition timing of the spark plug 16. Calculate the parameters.
- the control unit 22 outputs a signal corresponding to the control parameter to the drive circuit 28 to control the throttle valve opening, the fuel injection amount, and the ignition timing.
- the control unit 22 reduces the engine torque by adjusting the throttle valve opening, the fuel injection amount, and the ignition timing, and suppresses excessive slip of the rear wheel 9. That is, the control unit 22 performs traction control.
- the range in which the slip threshold Sth changes (difference between the maximum value and the minimum value of the slip threshold Sth) is compared with the range in which the target slip value Stg changes (the difference between the minimum value and the maximum value of the target slip value Stg). It is getting smaller. Therefore, the range in which the slip threshold value Sth changes due to the accelerator operation is smaller than the range in which the target slip value Stg changes.
- the engine control unit 22d includes a torque reduction processing unit 23 and a throttle valve control unit 24 as its functions.
- the torque reduction processing unit 23 includes a first reduction processing unit 23a and a second reduction processing unit 23f.
- the throttle valve control unit 24 calculates an engine torque reduction amount calculated by the first reduction processing unit 23a (hereinafter referred to as a first reduction amount C1) and an engine torque reduction amount calculated by the second reduction processing unit 23f (hereinafter referred to as a first reduction amount). 2)
- the throttle valve opening is calculated based on the reduction amount C2) and the accelerator opening.
- the throttle valve control unit 24 decreases the throttle valve opening and decreases the engine torque as the first reduction amount C1 and the second reduction amount C2 increase.
- the torque conversion coefficient is preferably determined according to the transmission reduction ratio of the engine 8. For example, when the reduction ratio is high (for example, when the transmission is set to low), a large value is set for the torque conversion coefficient, and when the reduction ratio is small (for example, the transmission is set to the top). A small value is set for the torque conversion coefficient.
- the differential calculation unit 23e calculates a differential reduction amount Cd corresponding to the changing speed of the actual slip value Sr. That is, the differential calculation unit 23e increases the differential reduction amount Cd as the change rate of the actual slip value Sr increases. For example, the differential operation unit 23e multiplies the change rate of the first excess slip value ⁇ S1 by a torque conversion coefficient, and sets the value obtained thereby as the differential reduction amount Cd.
- the changing speed of the first excess slip value ⁇ S1 is a dimension of acceleration (m / s2).
- the engine torque is reduced even when the actual slip value Sr is lower than the target slip value Stg. Therefore, when the actual slip value Sr exceeds the target slip value Stg, the actual slip value Sr can be made to follow the target slip value Stg without requiring rapid engine torque reduction.
- the engine torque is reduced based on the difference between the actual slip value Sr and the reference value (in the above description, the slip threshold value Sth). Therefore, when the actual slip value Sr is lower than the target slip value Stg, it is possible to suppress an increase in engine torque independently of the passenger's accelerator operation, and it is possible to improve the riding feeling of the motorcycle.
- the difference ⁇ S1 between the actual slip value Sr and the reference value is used to calculate the control parameter both before and after the actual slip value Sr exceeds the target slip value Stg. Has been. Further, immediately after the actual slip value Sr exceeds the target slip value Stg, the difference ⁇ S2 between the actual slip value Sr and the target slip value Stg becomes a small value. Therefore, when the actual slip value Sr exceeds the target slip value Stg, it is possible to prevent the control parameter from changing suddenly. As a result, when the actual slip value Sr exceeds the target slip value Stg, it is possible to prevent the engine torque from rapidly decreasing.
- the throttle valve opening is used as a control parameter of the engine 8 for increasing or decreasing the engine torque.
- the ignition timing and the fuel injection amount of the injector 15 may be used as control parameters of the engine 8 for increasing or decreasing the engine torque.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
Claims (11)
- 搭乗者のアクセル操作に基づいて目標スリップ値を算出する目標スリップ値算出部と、
前輪の回転速度と後輪の回転速度との差に基づいて実スリップ値を算出する実スリップ値算出部と、
前記実スリップ値が前記目標スリップ値より低い場合に、前記目標スリップ値とは異なる基準値と前記実スリップ値との差に基づいて駆動源の出力トルクを低減する駆動源制御部と、
を備えることを特徴とする自動二輪車。 - 請求項1に記載の自動二輪車において、
前記目標スリップ値より低い値に設定された閾値より前記実スリップ値が高いか否かを判定する判定部をさらに含み、
前記駆動源制御部は、前記実スリップ値が前記閾値より高い場合に、前記基準値と前記実スリップ値との差に基づいて前記駆動源の出力トルクを低減する、
ことを特徴とする自動二輪車。 - 請求項2に記載の自動二輪車において、
搭乗者のアクセル操作に基づいて前記閾値を算出するスリップ閾値算出部をさらに備える、
ことを特徴とする自動二輪車。 - 請求項3に記載の自動二輪車において、
前記スリップ閾値算出部は、予め設定された時間内におけるアクセル開度の変化量に基づいて前記閾値を算出する、
ことを特徴とする自動二輪車。 - 請求項4に記載の自動二輪車において、
前記基準値には前記スリップ閾値算出部によって算出される前記閾値が設定される、
ことを特徴とする自動二輪車。 - 請求項1に記載の自動二輪車において、
前記目標スリップ値算出部は、アクセル開度に基づいて前記目標スリップ値を算出する、
ことを特徴とする自動二輪車。 - 請求項1に記載の自動二輪車において、
前記目標スリップ値算出部は、前記前輪の回転速度と搭乗者のアクセル操作とに基づいて、前記目標スリップ値を算出する、
ことを特徴とする自動二輪車。 - 請求項1に記載の自動二輪車において、
前記駆動源制御部は、前記実スリップ値が前記目標スリップ値より高いか否かを判定する判定部を含み、前記実スリップ値が前記目標スリップ値より高い場合に、前記目標スリップ値と前記実スリップ値との差に基づいて前記駆動源の出力トルクを低減する、
ことを特徴とする自動二輪車。 - 請求項1に記載の自動二輪車において、
前記駆動源制御部は、
前記実スリップ値が前記目標スリップ値より低い場合に、前記実スリップ値と前記基準値との差に基づいて前記駆動源の制御パラメータを算出し、
前記実スリップ値が前記目標スリップ値より高い場合に、前記実スリップ値と前記基準値との差と、前記実スリップ値と前記目標スリップ値との差とに基づいて前記制御パラメータを算出する、
ことを特徴とする自動二輪車。 - 請求項9に記載の自動二輪車において、
前記駆動源制御部は、
前記実スリップ値と前記基準値との差に基づく第1の値を算出する第1の低減処理部と、
前記実スリップ値と前記目標スリップ値との差について時間による積分処理を実行し、前記積分処理によって得られた積分値に応じた第2の値を算出する第2の低減処理部と、を含み、
前記駆動源制御部は、前記実スリップ値が前記目標スリップ値より高い場合に、前記第1の値と前記第2の値とに応じた量だけ前記駆動源の出力トルクが低下するよう、前記制御パラメータを算出する、
ことを特徴とする自動二輪車。 - 請求項1に記載の自動二輪車において、
前記駆動源制御部は、前記実スリップ値と前記基準値との差に基づいて前記駆動源の出力トルクの低減量を算出し、前記低減量に基づいて前記駆動源の制御パラメータを算出する、
ことを特徴とする自動二輪車。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10835863.1A EP2511502B1 (en) | 2009-12-10 | 2010-11-30 | Motorcycle |
ES10835863T ES2777898T3 (es) | 2009-12-10 | 2010-11-30 | Motocicleta |
US13/514,298 US8909451B2 (en) | 2009-12-10 | 2010-11-30 | Motorcycle including traction control |
JP2011545175A JP5314767B2 (ja) | 2009-12-10 | 2010-11-30 | 自動二輪車 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009281005 | 2009-12-10 | ||
JP2009-281005 | 2009-12-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011070941A1 true WO2011070941A1 (ja) | 2011-06-16 |
Family
ID=44145486
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/071343 WO2011070941A1 (ja) | 2009-12-10 | 2010-11-30 | 自動二輪車 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8909451B2 (ja) |
EP (1) | EP2511502B1 (ja) |
JP (1) | JP5314767B2 (ja) |
ES (1) | ES2777898T3 (ja) |
WO (1) | WO2011070941A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5755003B2 (ja) * | 2011-03-29 | 2015-07-29 | 本田技研工業株式会社 | 自動二輪車 |
US10053100B2 (en) | 2015-10-09 | 2018-08-21 | Cnh Industrial America Llc | Slip control system for an off-road vehicle |
US10448555B2 (en) | 2016-05-27 | 2019-10-22 | Cnh Industrial America Llc | System and method for scouting vehicle mapping |
CN110296002B (zh) * | 2019-06-28 | 2022-08-23 | 潍柴动力股份有限公司 | 一种发动机转速的控制方法及装置、系统 |
US11505244B2 (en) * | 2020-02-03 | 2022-11-22 | Caterpillar Inc. | Steering system |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07156816A (ja) * | 1993-12-03 | 1995-06-20 | Mazda Motor Corp | 車両のトラクションコントロール装置 |
JPH07208225A (ja) * | 1994-01-21 | 1995-08-08 | Mazda Motor Corp | 車両のトラクションコントロール装置 |
JPH09249050A (ja) * | 1996-03-15 | 1997-09-22 | Honda Motor Co Ltd | 車両の駆動力制御装置 |
JPH11270383A (ja) * | 1998-03-25 | 1999-10-05 | Mazda Motor Corp | エンジンの制御装置 |
JP2008111430A (ja) * | 2006-10-06 | 2008-05-15 | Yamaha Motor Co Ltd | 制御システムおよびそれを備えた車両 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6141618A (en) * | 1994-03-31 | 2000-10-31 | Mazda Motor Corporation | Traction control system for vehicles |
US6542806B1 (en) * | 2001-05-24 | 2003-04-01 | Brunswick Corporation | Optimal tractive force control method for ground vehicles |
JP3870878B2 (ja) * | 2002-08-29 | 2007-01-24 | トヨタ自動車株式会社 | 原動機の制御装置および原動機の制御方法 |
US7753156B2 (en) * | 2006-10-06 | 2010-07-13 | Yamaha Hatsudoki Kabushiki Kaisha | Control system and vehicle including the same |
-
2010
- 2010-11-30 JP JP2011545175A patent/JP5314767B2/ja active Active
- 2010-11-30 US US13/514,298 patent/US8909451B2/en active Active
- 2010-11-30 WO PCT/JP2010/071343 patent/WO2011070941A1/ja active Application Filing
- 2010-11-30 ES ES10835863T patent/ES2777898T3/es active Active
- 2010-11-30 EP EP10835863.1A patent/EP2511502B1/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07156816A (ja) * | 1993-12-03 | 1995-06-20 | Mazda Motor Corp | 車両のトラクションコントロール装置 |
JPH07208225A (ja) * | 1994-01-21 | 1995-08-08 | Mazda Motor Corp | 車両のトラクションコントロール装置 |
JPH09249050A (ja) * | 1996-03-15 | 1997-09-22 | Honda Motor Co Ltd | 車両の駆動力制御装置 |
JPH11270383A (ja) * | 1998-03-25 | 1999-10-05 | Mazda Motor Corp | エンジンの制御装置 |
JP2008111430A (ja) * | 2006-10-06 | 2008-05-15 | Yamaha Motor Co Ltd | 制御システムおよびそれを備えた車両 |
Also Published As
Publication number | Publication date |
---|---|
JP5314767B2 (ja) | 2013-10-16 |
EP2511502B1 (en) | 2020-03-04 |
ES2777898T3 (es) | 2020-08-06 |
US8909451B2 (en) | 2014-12-09 |
EP2511502A4 (en) | 2017-04-26 |
US20120239267A1 (en) | 2012-09-20 |
EP2511502A1 (en) | 2012-10-17 |
JPWO2011070941A1 (ja) | 2013-04-22 |
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