WO2012124107A1 - 障害物検出装置を有する車両 - Google Patents
障害物検出装置を有する車両 Download PDFInfo
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- WO2012124107A1 WO2012124107A1 PCT/JP2011/056422 JP2011056422W WO2012124107A1 WO 2012124107 A1 WO2012124107 A1 WO 2012124107A1 JP 2011056422 W JP2011056422 W JP 2011056422W WO 2012124107 A1 WO2012124107 A1 WO 2012124107A1
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- WIPO (PCT)
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- vehicle
- detection device
- inverter
- motor
- sonar
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/003—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to inverters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/40—DC to AC converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/142—Emission reduction of noise acoustic
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
Definitions
- the present invention relates to a vehicle having an obstacle detection device that detects an obstacle around the vehicle, and more particularly to a vehicle including an AC motor driven by an inverter.
- a technique for detecting an obstacle around a vehicle by an objective sensor such as an ultrasonic sensor (sonar) installed in the vehicle or a laser radar is known.
- an obstacle detection apparatus using such an ultrasonic sensor there is a technique disclosed in Patent Document 1.
- This technology aims to prevent false alarms due to interference between external noise and sensor transmission / reception, and uses a sensor that can switch the transmission frequency. When noise is detected, the transmission frequency and reception sensitivity of the sensor are different from normal ones. Therefore, it is described that malfunction due to noise is suppressed and fluctuation of the detection area is suppressed.
- an object of the present invention is to provide a vehicle having an obstacle detection device capable of achieving both improvement in control accuracy of an electric motor and suppression of influence of noise on a sensor.
- a vehicle having an obstacle detection device includes an AC motor, an inverter that drives the motor, and a detection device that detects obstacles around the vehicle by electromagnetic waves or sound waves.
- a determination unit that determines the possibility of interference of the noise generated by the inverter with the search frequency of the detection device; and a control unit that changes the carrier frequency of the inverter when the determination unit determines that there is a possibility of interference. Is.
- This control means may operate the detection device intermittently and change the carrier frequency of the inverter only when the detection device is operating.
- This detection device is, for example, an ultrasonic sonar.
- the electric motor can perform regenerative braking at the time of vehicle braking, and the control means may prohibit regenerative braking and allow only hydraulic braking when an obstacle is detected by a detection device.
- the possibility of interference of the noise generated by the inverter with the search frequency of the detection device is determined, and when it is determined that there is a possibility of interference, the carrier frequency of the inverter is changed. It is possible to suppress interference of the noise detection device with the search frequency. Thereby, the improvement of the control precision of an electric motor and suppression of the influence of noise can be made compatible.
- the frequency of the ultrasonic sonar can be lowered while the carrier frequency of the inverter can be increased, so that the control accuracy of the motor is improved and the influence of noise is suppressed. Can be achieved.
- FIG. 1 It is a block block diagram of the vehicle-mounted apparatus of the vehicle which has the obstruction detection apparatus which concerns on this invention. It is a figure which shows the arrangement
- FIG. 1 is a block diagram of an in-vehicle device of a vehicle having an obstacle detection device according to the present invention
- FIG. 2 shows an arrangement relationship of sonar and inverter in this vehicle.
- the obstacle detection device of this embodiment includes an ultrasonic sonar 1 that is an objective sensor as a detection device, a sonar switch (SW) 11 that switches on / off of obstacle detection by the sonar, and a sonar ECU ( Electrical ⁇ Control 5 Unit) 5.
- the drive source includes an engine 4 that is an internal combustion engine, a motor 31 that functions as a generator, and a motor 32 that functions as an output motor.
- the engine 4, the motor 31, and the motor 32 are connected by a power split mechanism (not shown).
- a planetary gear can be used as the power split mechanism.
- These motors 31 and 32 are both AC motors and are driven by the inverter 2.
- the motor 31 performs regenerative braking that decelerates the vehicle by converting the kinetic energy of the vehicle into electric energy by generating power during deceleration and vehicle braking.
- the vehicle includes a hydraulic brake 13 as a braking device.
- the vehicle control system includes a brake ECU 7 that controls the hydraulic brake 13, an ENG (Engine) -ECU 9 that controls the engine 4, and an MG (MotorMGenerator) -ECU 10 that controls the inverter 2.
- ENG-ECU 9 and HV (Hybrid Vehicle) -ECU 8 for controlling MG-ECU 10.
- Each ECU includes a CPU, a ROM, a RAM, and the like. These ECUs may share some or all of the hardware.
- Each ECU is further connected to a CAN (Controller Area Network) 12 which is an in-vehicle LAN. Also connected to the CAN 12 is a frequency determination device 6 that is a determination means for determining the possibility of interference between the inverter 2 and the sonar 1.
- CAN Controller Area Network
- the sonars 1a to 1d are arranged at a distance from the front end portion of the vehicle, for example, as shown in FIG.
- An inverter 2, motors 31 and 32, and an engine 4 are arranged in the hood at the front of the vehicle.
- the search frequency of the sonars 1a to 1d is set to 20 to 40 kHz. Since the reach of ultrasonic waves decreases as the frequency increases, the exploration area is lengthened by reducing the frequency in this way. On the other hand, in order to improve the control accuracy of the motors 31 and 32, the carrier frequency of the inverter 2 is increased and may reach 20 kHz or more. For this reason, the noise of the inverter 2 may affect the sonars 1a to 1d arranged near the inverter 2.
- FIG. 3 is a flowchart showing the control process. This process is mainly performed by the frequency determination device 6 in cooperation with other ECUs.
- step S1 it is determined whether or not the sonar SW11 is on (step S1).
- the sonar SW11 is not in the on state, the inverter 2 does not interfere with the sonar 1, so the subsequent processing is skipped and the processing is terminated.
- the sonar SW11 is in the ON state, there is a possibility that the inverter 2 may interfere with the sonar 1, and the process proceeds to step S2.
- step S2 it is first determined whether or not the rotation state of the motor 32 is in a high rotation state, that is, during high-speed running.
- the process proceeds to step S3.
- a system alignment chart at this time is shown in FIG.
- the drive output is increased by driving both the motor 32 and the engine 4.
- the motor 31, which is a generator, is also driven at the same time to collect excess energy.
- the frequency determination device 6 instructs the MG-ECU 10 through the HV-ECU 8 to change the carrier frequency of the inverter 2 that drives the motor 32, and intermittently lowers the frequency (step S3).
- the frequency judgment device 6 instructs the sonar ECU 5 to execute intermittent sonar detection for intermittently operating the obstacle detection by the sonars 1a to 1d when the carrier frequency is lowered (step S4).
- FIG. 5 shows a timing chart example at this time.
- the detection by the sonars 1a to 1d is invalidated between the time t 0 and t 1 when the carrier frequency of the inverter 2 driving the motor 32 is high and after the time t 2 .
- detection by the sonars 1a to 1d is effective.
- sonar detection when the carrier frequency of the inverter 2 is lowered in this way, sonar detection can be performed when the influence of noise of the inverter 2 is small, and high-precision measurement can be performed.
- the carrier frequency of the inverter 2 can be increased intermittently, the control accuracy of the motor 32 which is an electric motor is improved, and the response and fuel consumption can be improved.
- step S2 When it is determined in step S2 that the vehicle is not in a high speed running state, the process proceeds to step S5, and it is determined whether or not the rotation state of the motor 31 is a high rotation state, that is, a regenerative braking state.
- the rotation state of the motor 31 is a high rotation state, that is, a regenerative braking state.
- the motor 31 is not in the high rotation state, it is determined that none of the motors is in the high rotation state, the carrier frequency is low, and there is no possibility of interference with the sonar, the subsequent processing is skipped, and the processing is terminated.
- step S6 A system alignment chart at this time is shown in FIG. Since the state is shifted to the braking state, the drive rotational speeds of both the motor 32 and the engine 4 are lowered. On the other hand, by driving the motor 31 as a generator at high speed, the traveling energy is converted into electric energy to recover the energy and decelerate. In this case, there is a possibility that the carrier frequency of the inverter 2 for driving the motor 31 is increased with the rotation of the motor 31. Therefore, the frequency determination device 6 instructs the MG-ECU 10 through the HV-ECU 8 to intermittently lower the carrier frequency of the inverter 2 that drives the motor 31 (step S6). Further, the frequency judgment device 6 instructs the sonar ECU 5 to execute intermittent sonar detection for detecting obstacles by the sonars 1a to 1d when the carrier frequency is lowered (step S7).
- FIG. 7 shows an example of a timing chart at this time.
- the detection by the sonars 1a to 1d is invalidated between the time t 0 and t 1 when the carrier frequency of the inverter 2 that drives the motor 31 is high and after the time t 2 .
- detection by the sonars 1a to 1d is made effective.
- sonar detection when the carrier frequency of the inverter 2 is lowered in this way, sonar detection can be performed when the influence of noise of the inverter 2 is small, as in the case of the processing of steps S3 and S4 described above. Highly accurate measurement can be performed.
- the carrier frequency of the inverter 2 can be increased intermittently, the control accuracy of the motor 32 which is an electric motor is improved, and the response and fuel consumption can be improved.
- step S8 it is determined whether or not an obstacle has been detected as a result of intermittent sonar detection during regenerative braking. If no obstacle is detected, the process ends. At this time, steps S6 and S7 are repeated unless an obstacle is detected during regenerative braking. On the other hand, when an obstacle is detected, the process proceeds to step S9, where regenerative braking is prohibited and only hydraulic braking by the hydraulic brake 13 is permitted, and sonar detection is executed.
- FIG. 8 shows an example of a timing chart at this time.
- the carrier frequency of the inverter 2 for driving the motor 31 between time t 0 ⁇ t 1 shown in FIG. 7 (a), the state frequency is lower than the time t 2 after Maintained. Therefore, sonar detection is enabled over the entire period.
- the sonars 1a to 1d can be measured with high accuracy.
- the control accuracy of the motor 32 which is an electric motor, can be improved, and the response and fuel consumption can be improved.
- the present invention is not limited to this, and other types of hybrid vehicles and electric vehicles using only a motor as a drive source are also described. Applicable.
- the present invention is suitable for various hybrid vehicles and electric vehicles.
Abstract
Description
Claims (4)
- 交流電動機と前記電動機を駆動するインバータと、電磁波または音波により車両周辺の障害物を探知する探知機器を備える障害物検出装置を有する車両において、
前記インバータが発するノイズの前記探知機器の探査周波数への干渉可能性を判断する判断手段と、
前記判断手段で干渉可能性ありと判断した場合は、前記インバータのキャリア周波数を変更する制御手段と、を備えている障害物検出装置を有する車両。 - 前記制御手段は、前記探知機器を間欠作動させ、前記探知機器が作動しているときのみ前記インバータのキャリア周波数を変更する請求項1記載の障害物検出装置を有する車両。
- 前記探知機器は超音波ソナーである請求項1または2に記載の障害物検出装置を有する車両。
- 前記電動機は、車両制動時に回生制動を行うことが可能であって、前記制御手段は、前記探知機器により障害物を検出した場合は、前記回生制動を禁止して油圧制動のみを許可する請求項1または2に記載の障害物検出装置を有する車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN201180058186.0A CN103597526B (zh) | 2011-03-17 | 2011-03-17 | 具有障碍物检测装置的车辆 |
PCT/JP2011/056422 WO2012124107A1 (ja) | 2011-03-17 | 2011-03-17 | 障害物検出装置を有する車両 |
US14/001,889 US9037332B2 (en) | 2011-03-17 | 2011-03-17 | Vehicle having obstacle detection device |
JP2013504484A JP5494886B2 (ja) | 2011-03-17 | 2011-03-17 | 障害物検出装置を有する車両 |
Applications Claiming Priority (1)
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PCT/JP2011/056422 WO2012124107A1 (ja) | 2011-03-17 | 2011-03-17 | 障害物検出装置を有する車両 |
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US (1) | US9037332B2 (ja) |
JP (1) | JP5494886B2 (ja) |
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Cited By (2)
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CN105513427A (zh) * | 2016-02-18 | 2016-04-20 | 北京小米移动软件有限公司 | 车辆和车辆的行车预警方法及装置 |
CN109696664A (zh) * | 2019-01-07 | 2019-04-30 | 广州小鹏汽车科技有限公司 | 一种超声波同频干扰的检测方法及检测装置 |
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DE102014108865A1 (de) | 2014-06-25 | 2015-12-31 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines Kraftfahrzeugs und Kraftfahrzeug |
CN112757900B (zh) * | 2021-02-05 | 2022-09-27 | 奇瑞新能源汽车股份有限公司 | 一种防止纯电动汽车电池包挂底的控制策略 |
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JP2004170183A (ja) * | 2002-11-19 | 2004-06-17 | Mitsubishi Electric Corp | 車載用レーダ装置 |
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Also Published As
Publication number | Publication date |
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CN103597526B (zh) | 2015-09-16 |
US20140005870A1 (en) | 2014-01-02 |
CN103597526A (zh) | 2014-02-19 |
JPWO2012124107A1 (ja) | 2014-07-17 |
JP5494886B2 (ja) | 2014-05-21 |
US9037332B2 (en) | 2015-05-19 |
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