WO2013027573A1 - 車両の旋回効率化装置 - Google Patents
車両の旋回効率化装置 Download PDFInfo
- Publication number
- WO2013027573A1 WO2013027573A1 PCT/JP2012/070097 JP2012070097W WO2013027573A1 WO 2013027573 A1 WO2013027573 A1 WO 2013027573A1 JP 2012070097 W JP2012070097 W JP 2012070097W WO 2013027573 A1 WO2013027573 A1 WO 2013027573A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- turning
- steering
- vehicle
- assist
- right wheels
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 claims description 19
- 230000006872 improvement Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001934 delay Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
-
- 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
- B60W2720/14—Yaw
Definitions
- the present invention generates a braking force difference or a driving force difference between wheels inside and outside a turn by using a braking force source or a driving force source capable of independent left and right control during emergency steering typified by obstacle avoidance.
- the present invention relates to a vehicle turning efficiency improving apparatus that efficiently generates a turning moment of a vehicle due to a difference.
- Patent Document 1 As a conventional turning assist using a braking force, the one described in Patent Document 1 is known. This is feed-forward control that improves the yaw phase lag of the vehicle by assisting turning with a braking force.
- An object of the present invention is to provide a vehicle turning efficiency improving device that can efficiently generate a turning yaw moment of a vehicle when a sudden turn is necessary, and can perform a reliable turning during emergency steering. .
- the outline of the present invention will be described using reference numerals in the drawings showing embodiments.
- the turning efficiency improving device for a vehicle 20 is either one of the brakes 4L and 4R and the drive system 6 capable of independently controlling the braking force or driving force of the left and right wheels 1L and 1R in the same longitudinal direction.
- a turning efficiency improving device for the vehicle 20 including the turning device 3 capable of independently turning the left and right wheels 1L and 1R, and driving the turning device 3 in accordance with a steering command from the steering means 18.
- a turning difference is generated in the turning operation of the left and right wheels 1L and 1R, and the turning assist control is performed to generate a turning yaw moment by causing a braking / driving force difference between the left and right wheels 1L and 1R.
- Control means 9 is provided.
- the steering means 18 is, for example, a steering wheel.
- the “braking / driving force difference” means a braking force difference or a driving force difference, and may cause both a braking force difference and a driving force difference.
- a braking / driving force difference between the left and right wheels 1L, 1R is generated, and a time difference is generated in the steering operation of the left and right wheels 1L, 1R.
- This time difference may delay the start of turning of one of the wheels 1L, 1R or may be turned to a low speed. Due to the time difference in this steering operation, the direction of the force to the vehicle 20 that generates the turning yaw moment is directed toward the rear of the vehicle, and the turning yaw moment of the vehicle 20 can be efficiently generated. Therefore, reliable steering during emergency steering can be performed.
- This turning assist control is not limited to the case where the turning angle is increased, but can also be applied to the case where steering is performed so that the turning angle returns to the neutral angle.
- the turning assist control means 9 is configured to increase the turning angle.
- the turning assist control the steering of the wheels 1L and 1R on the inner side of the turning is delayed, and the braking force difference between the left and right wheels 1L and 1R is generated so that the wheels 1L and 1R on the inner side of the turning have a large braking force. Also good.
- the steering 1L and 1R of the wheels on the inner side of the turn are delayed, and a braking force difference between the left and right wheels 1L and 1R is generated so that the wheels 1L and 1R on the inner side of the turning have a large braking force.
- the direction of the force to the vehicle 20 that generates the turning yaw moment is directed toward the rear of the vehicle, and the turning yaw moment of the vehicle can be efficiently generated. Therefore, reliable steering during emergency steering can be performed.
- the turning assist control means 9 has a judging section 11 for judging the emergency degree of steering from the steering command of the steering means 18 according to the setting rule R, and the judging section 11 judges that the emergency degree is high.
- the turning assist control may be performed only when it is performed. Except for emergency situations such as a sudden steering wheel, during normal steering, it is appropriate to respond to steering without performing turning assistance such as a difference in braking / driving force or a time difference in the turning operation of the left and right wheels 1L, 1R. Can be steered. Further, it is preferable not to perform the turning assist so as not to cause an uncomfortable feeling of steering.
- the turning unit 18 performs the turning assist control only when the determination unit 11 obtains the urgency level, that is, the driver's intention to avoid the obstacle from the steering command of the steering means 18 and determines that the urgency level is high.
- the determination unit 11 obtains the urgency level, that is, the driver's intention to avoid the obstacle from the steering command of the steering means 18 and determines that the urgency level is high.
- the determination of the degree of urgency by the determination unit 11 may be made based on the values of the steering angular velocity and the steering angular acceleration of the steering means 18.
- the absolute value of the steering angular velocity is large.
- the determination unit 11 includes an ambient environment acquisition sensor 21 that is provided in the vehicle 20 and detects an ambient environment for determining the collision of the vehicle 20 in addition to the determination of the urgency based on the steering command of the steering means 18. It may have a function of determining the degree of urgency according to the detection content.
- the ambient environment acquisition sensor 21 include a camera 15 that images the front, a distance sensor 16 that detects a distance from an obstacle, and an ultrasonic sensor. By using such detection contents of the surrounding environment acquisition sensor 21, the degree of urgency necessary for obstacle avoidance can be determined.
- a more appropriate level of urgency can be determined by making a determination using the detection contents of the surrounding environment acquisition sensor 21.
- the turning assist control unit 9 has a determination unit 11 that determines the emergency level of steering according to the setting rule R from the steering command of the steering unit 18, the emergency level determined by the determination unit 11 The higher the is, the larger the assist amount that determines the degree of occurrence of the braking / driving force difference between the left and right wheels 1L, 1R, or the upper limit value of the assist amount may be increased.
- the turning assist control by the time difference in the steering operation of the left and right wheels 1L, 1R and the braking / driving force difference of the left and right wheels 1L, 1R contributes to the assurance of the turning operation in an emergency, but excessive turning assist
- the control leads to excessive generation of turning yaw moment, generation of excessive lateral acceleration, uncomfortable feeling of steering, and 1L and 1R slip of the wheel. Therefore, by adjusting the assist amount that determines the braking / driving force difference between the left and right wheels 1L and 1R or the upper limit value of the assist amount according to the degree of urgency and various information obtained from the surrounding environment acquisition sensor 21 and the like, A turning yaw moment and lateral acceleration can be obtained, and steering discomfort can be reduced and wheel slip can be avoided.
- the determination unit 11 determines a predetermined turn assist end condition, and when it is determined that the turn assist end condition is satisfied, the turn assist control by the turn assist control means 9 is ended. good.
- the braking / driving force is controlled according to the amount of assistance.
- a change in conditions may occur during that time, and turning assistance may be unnecessary.
- Such a change in the condition is compared with the turning assist end condition by the determination unit 11, and when the condition is satisfied, the routine is shifted to normal steering. As a result, it is possible to avoid excessive turning assist control and obtain an appropriate turning yaw moment and lateral acceleration, to reduce steering discomfort and avoid wheel slip.
- FIG. 1 is a block diagram showing a conceptual configuration of a vehicle turning efficiency improving device according to a preferred embodiment of the present invention. It is a flowchart of control by the turning efficiency improvement device.
- FIG. 6 is a characteristic diagram showing a relationship between an assist amount, an upper limit value of the assist amount, an assist gain, and an urgency level.
- A)-(C) are schematic diagrams of a turning assist operation by the turning efficiency improving device.
- A)-(C) are schematic diagrams of a conventional turning assist operation.
- a vehicle 20 to which the embodiment is applied is a four-wheeled vehicle in which wheels 1L and 1R serving as front wheels are steered wheels, for example, a passenger car, and the left and right wheels 1L and 1R serving as steered wheels are independent.
- a steering device 3 that can be steered.
- the traveling drive may be a type that drives any of the front wheels 1L, 1R and the rear wheels 2L, 2R, or may be a four-wheel drive. Either an internal combustion engine or an electric motor may be used.
- brakes 4L and 4R capable of independently controlling the braking force of the left and right wheels 1L and 1R serving as steered wheels are provided for the wheels 1L and 1R.
- the brakes 5L and 5R of the wheels 2L and 2R serving as non-steered wheels may be capable of independent control of the left and right wheels, or may be possible.
- Each of the brakes 4L, 4R, 5L, and 5R may be a hydraulic brake, or may be another type, for example, an electric type or a wire type.
- the left and right wheels 1L and 1R serving as the steered wheels may not necessarily be able to independently control the braking force, but in that case, the driving system capable of independently controlling the driving force of the left and right wheels 1L and 1R. 6 is provided.
- the drive system 6 is separate left and right drive sources 6L and 6R such as in-wheel motors.
- FIG. 1 shows an example in which the left and right wheels 1L and 1R can be controlled independently of each other, and shows an example in which drive sources 6L and 6R for independently driving the left and right wheels are not provided.
- an example including the drive sources 6L and 6R is shown together by showing blocks of the drive sources 6L and 6R with broken lines.
- the ECU 7 is an electric control unit that performs overall control of the vehicle 20, and includes a computer, a program executed on the computer, and an electronic circuit.
- the ECU 7 is provided with a turning basic operation control means 8 and a turning assist control means 9 as control means for turning.
- the turning basic motion control means 8 is means for controlling the steering device 3 in accordance with a steering command from the steering means 18 and steers the left and right wheels 1L and 1R by the same angle in accordance with the steering command.
- the steering means 18 is, for example, a steering wheel, and a steering command thereby is an output of a steering angle sensor 19 that detects a steering angle that is a rotation angle of the steering means 18.
- the turning assist control means 9 drives the turning device 3 in accordance with the steering command of the steering means 18, it causes a time difference in the turning operation of the left and right wheels 1L, 1R as the front wheels, and the left and right wheels 1L,
- This is means for performing turning assist control which is control for generating a turning yaw moment by generating a 1R braking / driving force difference.
- the “braking / driving force difference” generated as the turning assist control is a braking force difference when the left and right wheels 1L and 1R are not individually driven, but can be controlled separately on the left and right sides.
- the turning assist control means 9 includes a calculation unit 10, a determination unit 11, and a control unit 12.
- the control unit 12 includes a braking / driving force difference control unit 13 and a turning time difference control unit 14.
- the calculation unit 10 is a means for calculating the steering angular velocity and the steering angular acceleration from the steering angle output from the steering angle sensor 19.
- the calculation unit 10 is not necessarily provided as a part of the turning assist control unit 9, and may be provided as a function of the steering angle sensor 19, for example. That is, the steering angle sensor 19 may output a steering angular velocity and a steering angular acceleration. Further, the determination unit 11 may have the function of the calculation unit 10.
- the determination unit 11 is a unit that determines the emergency degree of steering according to the setting rule R from the steering command of the steering unit 18, and the control unit 12 only turns when the determination unit 11 determines that the emergency level is high.
- the setting rule R is, for example, a rule that defines the relationship between the steering angular velocity and steering angular acceleration values of the steering means 18 calculated by the calculation unit 10 and the steering emergency. More specifically, the setting rule R is, for example, a steering pattern according to the driver's situation, and a judgment is made by comparing with the steering pattern.
- the steering pattern according to the situation of the driver is a relationship pattern of the vehicle speed, the steering angle, the steering angular velocity, the steering angular acceleration, and the like.
- the steering pattern may be arbitrarily set based on a test, a simulation, or the like, or an initial value may be set, and learning may be performed and updated as the actual driving is repeated.
- the determination unit 11 may have a function of determining the urgency according to the detection content of the surrounding environment acquisition sensor 21 in addition to the determination of the urgency based on the steering command of the steering means 18.
- the ambient environment acquisition sensor 21 is a general term for sensors that are provided in the vehicle 20 to detect the ambient environment for collision determination of the vehicle 20, and includes, for example, the front camera 15, the distance sensor 16, and other sensors 17. .
- the other sensors 17 are vehicle speed sensors, for example.
- the front camera 15 is a camera that images the front of the vehicle 20 and is a CCD camera or the like that outputs a captured image as a digital signal.
- the output of the front camera 15 is processed by an image processing means (not shown) provided as a part of the determination unit 11 or separately from the determination unit 11, and is used for the determination of the degree of urgency.
- the distance sensor 16 is a sensor that detects the distance between the vehicle 20 and the obstacle, and an ultrasonic sensor or the like is used.
- the determination unit 11 instructs the control unit 12 to perform the turning assist control only when the urgency level is determined to be high.
- the assist amount, the upper limit value of the assist amount, the assist gain, and the urgency are in a relationship shown in FIG. 3, for example.
- (Assist amount) [(Urgent level) ⁇ (Assist threshold)] ⁇ (Assist gain) It is. However, 0 ⁇ (assist amount) ⁇ (assist amount upper limit value)
- (Assist amount) [(Urgent level) ⁇ (Assist threshold)] ⁇ (Assist gain) It is. However, 0 ⁇ (assist amount) ⁇ (assist amount upper limit value)
- the assist amount increases according to the curve indicating the assist gain as the degree of urgency increases. However, even if the degree of urgency increases, the assist amount does not exceed the assist amount upper limit value. It becomes a constant value.
- the assist threshold E T is the lowest urgency for performing the assist.
- the assist gain is variable and changes depending on several parameters such as the vehicle speed.
- Assist amount upper limit value A MAX is also the same variable assist threshold E T, it varies by several parameters, such as vehicle speed. Whether assist threshold E T and the assist amount upper limit value A MAX changes how the parameters, in turn assist control unit 9, previously defined appropriately.
- an area surrounded by a horizontal axis indicating the degree of urgency, a line indicating the assist gain, and a horizontal line indicating the assist amount upper limit value is an assist area that is an area for assisting.
- the determination unit 11 only determines the degree of urgency, and the control unit 12 provides the processing for increasing the assist amount, the processing for increasing the assist gain, and the processing for increasing the upper limit value of the assist amount from the determination unit 11. You may make it carry out according to the urgency level.
- the determination unit 11 determines a predetermined turn assist end condition, and outputs a command to end the turn assist control by the control unit 12 of the turn assist control unit 9 when it is determined that the turn assist end condition is satisfied. To do. Regarding the end of the turn assist control, the determination unit 11 may only determine the turn assist end condition, and the control unit 12 may end the turn assist control according to the determination result.
- the braking / driving force difference control unit 13 of the control unit 12 controls the braking force of the left and right brakes 4L and 4R so that a braking / driving force difference is generated according to the assist amount set in the assist amount setting unit 13a. Further, it is means for controlling the driving force of the left and right driving sources 6L, 6R.
- the assist amount setting unit 13a can freely update the assist amount.
- the turning time difference control unit 14 of the control unit 12 is means for causing a time difference in the turning operation of the left and right wheels 1L and 1R. This time difference may be caused by delaying the start of steering, even if the start of turning of one of the wheels 1L, 1R is delayed, or at the same time the steering is started and turned to a low speed. You may make it produce both with the speed difference of steering.
- FIG. 2 is a flowchart of an example of control performed by the turning assist control means 9, and will be described with reference to FIG. 1 together with FIG.
- step S1 various parameters of materials for determining whether to perform turning assist are collected. That is, the determination unit 11 monitors the output of the steering angle sensor 19 and the output of the surrounding environment acquisition sensor 21 to determine the urgency level (intention to avoid the driver). It is determined whether or not the obtained urgency level satisfies a predetermined turning assist condition (S2). Based on this determination, if the condition is not satisfied, the process returns to the parameter collection step (S1).
- the various parameters are, for example, the steering angle, the steering angular velocity, the steering angular acceleration obtained from the output of the steering angle sensor 19, and various information obtained from the surrounding environment acquisition sensor 21.
- the steering of the wheel 1R inside the turn (FIGS. 4A to 4C) is stopped or slowed down (S3), and the determination unit 11 or the braking / driving force difference control is performed.
- the unit 13 determines a braking / driving force gain (assist gain) for generating a turning yaw moment, or an upper limit value thereof (S4, S5), and uses the value to determine an assist amount for determining a braking / driving force difference. Determine (S6).
- the assist gain for each determined item is calculated from the collected parameters described above (S4), and the obtained assist gain and assist amount are integrated to determine the assist gain value to be adopted. To do.
- the value of the assist gain to be adopted is the maximum assist gain (S5).
- the assist gain for each item is, for example, the assist gain for each parameter.
- the assist amount is determined based on the urgency level and the adopted assist gain. If this value is larger than the assist amount upper limit value, the value is limited (S6).
- the determination unit 11 determines the urgency of avoidance using the surrounding environment acquisition sensor 21 such as the front camera 15, the distance sensor 16, and the ultrasonic sensor, the avoidance necessary for the distance from the obstacle and the lateral direction of the vehicle
- the urgency level is determined by determining the amount.
- the degree of urgency is high and the degree of urgency is a certain level or more is a condition for performing the turn assist control. Further, the assist gain is increased as the degree of urgency increases.
- the braking / driving force difference control unit 13 of the control unit 12 performs braking / driving of the brakes 4L and 4R or the driving sources 6L and 6R according to the assist amount calculated as described above and set in the assist amount setting unit 13a.
- the driving force is controlled (S7).
- S7 When the brakes 4L and 4R are used, a difference is generated between the left and right braking forces according to the assist amount (including 0 on one side), and the wheel 1R on the right side of the turn (the right wheel 1R in FIGS. 4A to 4C). ) Is increased as compared with the braking force of the outer wheel (1L).
- a negative drive is applied to the wheel 1R inside the turn.
- an external force is generated on the left and right wheels 1L, R from the road surface, and the braking force / driving force difference external force can cause the vehicle 20 to generate a yaw moment, which is used as a turning assist.
- the left and right independent turning mechanism 3 is used to stop or slow down the turning of the wheel 1R inside the turning,
- the angle formed by the external force from the road surface due to the generation of braking / driving force and the traveling direction of the vehicle 20 is reduced (S3).
- the turning yaw moment is efficiently generated by stopping or slowing the turning of the turning inner wheel 1R.
- the turning wheel 1R becomes a resistance and prevents turning. . Therefore, the turning time difference control unit 14 generates the turning yaw moment as described above, and after starting the turning, causes the turning angle of the wheel 1R inside the turning to follow the steering (S9).
- the braking / driving force is controlled according to the amount of assistance that changes every moment, but the determination unit 11 always judges the turn assist condition even during the turn assist (S8), and the turn assist end condition is satisfied
- the turning assist control is terminated, the normal steering is performed, and the process returns to step S1.
- Normal steering is steering by the turning basic motion control means 8.
- the turn assist end condition for ending the turn assist control may be different from the condition for starting the turn assist, or may be the same condition.
- the time during which the steering angle satisfies the conditions for the above-described turning assist varies depending on the driving conditions and the driver, but is about 200 ms as an actual measurement value, and the time from when the steering angle is input to the vehicle 20 until the turning yaw moment is generated. Which is approximately equal to about 200 ms. Therefore, when the steering information is used as a condition, the steering information is also referred to for the condition for ending the turning assist.
- Other conditions for the end of the turning assist determined by the determination unit 11 include detection of a turning yaw moment and lateral acceleration using information of an installed acceleration / angular velocity sensor which is one of the other sensors 17.
- the turning yaw moment and lateral acceleration generated in the vehicle 20 are used as parameters for conditions for calculating assist gain and turning assist.
- the turning yaw moment of the vehicle 20 can be efficiently generated in this way when a sudden turning is necessary, and reliable turning during emergency steering is achieved. It can be carried out.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
(アシスト量)=〔(緊急度)-(アシスト閾値)〕×(アシストゲイン)
である。
ただし、0≦(アシスト量)≦(アシスト量上限値)
とする。
3…転舵装置
4L,4R…ブレーキ
6…駆動系
6L,6R…駆動源
8…旋回基本動作制御手段
9…旋回アシスト制御手段
10…演算部
11…判断部
12…制御部
13…制動・駆動力差制御部
14…転舵時間差制御部
15…カメラ
16…距離センサ
17…その他のセンサ
18…操舵手段
19…操舵角センサ
20…車両
21…周囲環境取得センサ
M…ヨーモーメント
R…設定規則
Claims (8)
- 互いに同じ前後方向位置にある左右の車輪を独立して制動力制御または駆動力制御可能なブレーキおよび駆動系のいずれか一方と、前記左右の車輪を独立して転舵可能な転舵装置と、操舵手段の操舵指令に従って前記転舵装置を駆動するときに、左右の車輪の転舵動作に時間差を生じさせると共に、左右の車輪の制動・駆動力差を生じさせて旋回ヨーモーメントを発生させる旋回アシスト制御を行う旋回アシスト制御手段とを備えた車両の発生旋回効率化装置。
- 請求項1において、前記車両は、前記左右の車輪を独立して制動力制御可能なブレーキを備え、前記旋回アシスト制御手段は、転舵角度を大きくする場合の前記旋回アシスト制御として、旋回内側の車輪の転舵を遅れさせ、旋回内側の車輪が制動力大となるように左右の車輪の制動力差を生じさせる車両の旋回効率化装置。
- 請求項1において、前記旋回アシスト制御手段は、前記操舵手段の操舵指令から、設定規則に従って操舵の緊急度を判断する判断部を有し、この判断部により緊急度が高いと判断された場合のみ、前記旋回アシスト制御を行うようにした車両の発生旋回効率化装置。
- 請求項3において、前記判断部による緊急度の判断を、前記操舵手段の操舵角速度および操舵角加速度の値によって行う車両の旋回効率化装置。
- 請求項3において、前記判断部は、前記操舵手段の操舵指令による緊急度の判断に加え、車両に設けられて車両の衝突判断のための周囲環境を検出する周囲環境取得センサの検出内容に応じて緊急度を判断する機能を有する車両の旋回効率化装置。
- 請求項3において、前記旋回アシスト制御手段は、前記判断部で判断された緊急度が高いほど、前記左右の車輪の制動・駆動力差を生じさせる程度を定めるアシスト量を大きくする車両の発生旋回効率化装置。
- 請求項3において、前記旋回アシスト制御手段は、前記判断部で判断された緊急度が高いほど、前記左右の車輪の制動・駆動力差を生じさせる程度を定めるアシスト量の上限値を大きくする車両の旋回効率化装置。
- 請求項3において、前記判断部は、定められた旋回アシスト終了条件を判断し、旋回アシスト終了条件を充足すると判断したときに、前記旋回アシスト制御手段による旋回アシスト制御を終了させる車両の旋回効率化装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12825236.8A EP2746125B1 (en) | 2011-08-19 | 2012-08-07 | Vehicle turning efficiency improving apparatus |
CN201280039762.1A CN103732459B (zh) | 2011-08-19 | 2012-08-07 | 车辆的转弯效率化装置 |
US14/238,635 US9393993B2 (en) | 2011-08-19 | 2012-08-07 | Vehicle turning efficiency improving apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011179542A JP5808977B2 (ja) | 2011-08-19 | 2011-08-19 | 車両のヨーモーメント発生旋回効率化装置 |
JP2011-179542 | 2011-08-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013027573A1 true WO2013027573A1 (ja) | 2013-02-28 |
Family
ID=47746323
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/070097 WO2013027573A1 (ja) | 2011-08-19 | 2012-08-07 | 車両の旋回効率化装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9393993B2 (ja) |
EP (1) | EP2746125B1 (ja) |
JP (1) | JP5808977B2 (ja) |
CN (1) | CN103732459B (ja) |
WO (1) | WO2013027573A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015091051A1 (en) * | 2013-12-17 | 2015-06-25 | Jaguar Land Rover Limited | Control system and method for improving vehicle turning performance |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6346406B6 (ja) * | 2013-04-09 | 2023-10-11 | いすゞ自動車株式会社 | 油圧パワーステアリングシステム、それを搭載した車両、及び油圧パワーステアリングシステムの制御方法 |
JP6578212B2 (ja) * | 2016-01-08 | 2019-09-18 | Ntn株式会社 | 車両の旋回制御装置 |
JP6604894B2 (ja) * | 2016-04-12 | 2019-11-13 | 日立オートモティブシステムズ株式会社 | 車両制御装置及び方法 |
JP6682355B2 (ja) * | 2016-05-25 | 2020-04-15 | Ntn株式会社 | 車両の旋回制御装置 |
JP6663333B2 (ja) * | 2016-09-23 | 2020-03-11 | 株式会社Subaru | 車両の制御装置及び車両の制御方法 |
JP6547780B2 (ja) * | 2017-02-16 | 2019-07-24 | トヨタ自動車株式会社 | 車両旋回制御装置 |
JP7017130B2 (ja) * | 2018-08-13 | 2022-02-08 | トヨタ自動車株式会社 | ステアリングシステム |
KR102591992B1 (ko) * | 2018-09-11 | 2023-10-23 | 현대자동차주식회사 | 차량 및 그 제어방법 |
CN113272202B (zh) * | 2018-11-13 | 2024-02-13 | 瑞维安知识产权控股有限责任公司 | 用于向车辆提供前倾模式的系统和方法 |
FR3093689B1 (fr) * | 2019-03-12 | 2021-04-09 | Renault | Procédé d’élaboration d’une consigne de pilotage mixte d’un système de braquage de roues et d’un système de freinage différentiel d’un véhicule automobile |
JP7298273B2 (ja) * | 2019-04-24 | 2023-06-27 | 株式会社デンソー | 走行制御装置 |
WO2022042818A1 (en) * | 2020-08-24 | 2022-03-03 | Volvo Truck Corporation | A method for controlling steering of a vehicle arrangement |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004203087A (ja) * | 2002-12-24 | 2004-07-22 | Toyota Motor Corp | 転舵装置 |
JP3788131B2 (ja) | 1999-09-09 | 2006-06-21 | 日産自動車株式会社 | 車両のヨーイング運動量制御装置 |
JP2007038747A (ja) * | 2005-08-01 | 2007-02-15 | Nissan Motor Co Ltd | 車両のピッチ運動制御装置 |
JP2010047047A (ja) * | 2008-08-19 | 2010-03-04 | Advics Co Ltd | 車両の前後力制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5195601A (en) | 1991-05-02 | 1993-03-23 | General Motors Corporation | Independent rear wheel toe-in control in a vehicle four wheel steering system |
JP3425728B2 (ja) * | 1997-03-28 | 2003-07-14 | 三菱ふそうトラック・バス株式会社 | 車両の挙動制御装置 |
DE10100743B4 (de) * | 2000-01-14 | 2011-12-01 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Regelung des Abbremsens und der Fahrstabilität eines fahrenden Fahrzeugs |
EP1125826A3 (en) * | 2000-02-11 | 2003-01-08 | Delphi Technologies, Inc. | Control of independent steering actuators to improve vehicle stability and stopping |
US6808041B2 (en) | 2000-02-11 | 2004-10-26 | Delphi Technologies, Inc. | Method and system for providing secondary vehicle directional control through braking |
DE10108421A1 (de) * | 2001-02-21 | 2001-09-20 | Seuser Ulrich H | Verfahren zum Bremsen und Stabilisieren von Personenkraftwagen, Nutz- und Sonderfahrzeugen, sowie bei Flugzeugen auf der Erde |
JP4003627B2 (ja) * | 2002-11-26 | 2007-11-07 | トヨタ自動車株式会社 | 車輌用操舵制御装置 |
CN100408406C (zh) | 2004-09-20 | 2008-08-06 | 丰田自动车株式会社 | 车辆行驶控制装置 |
-
2011
- 2011-08-19 JP JP2011179542A patent/JP5808977B2/ja not_active Expired - Fee Related
-
2012
- 2012-08-07 EP EP12825236.8A patent/EP2746125B1/en not_active Not-in-force
- 2012-08-07 CN CN201280039762.1A patent/CN103732459B/zh not_active Expired - Fee Related
- 2012-08-07 WO PCT/JP2012/070097 patent/WO2013027573A1/ja active Application Filing
- 2012-08-07 US US14/238,635 patent/US9393993B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3788131B2 (ja) | 1999-09-09 | 2006-06-21 | 日産自動車株式会社 | 車両のヨーイング運動量制御装置 |
JP2004203087A (ja) * | 2002-12-24 | 2004-07-22 | Toyota Motor Corp | 転舵装置 |
JP2007038747A (ja) * | 2005-08-01 | 2007-02-15 | Nissan Motor Co Ltd | 車両のピッチ運動制御装置 |
JP2010047047A (ja) * | 2008-08-19 | 2010-03-04 | Advics Co Ltd | 車両の前後力制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2746125A4 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015091051A1 (en) * | 2013-12-17 | 2015-06-25 | Jaguar Land Rover Limited | Control system and method for improving vehicle turning performance |
US10155514B2 (en) | 2013-12-17 | 2018-12-18 | Jaguar Land Rover Limited | Control system and method for improving vehicle turning performance |
Also Published As
Publication number | Publication date |
---|---|
EP2746125A1 (en) | 2014-06-25 |
US20140195123A1 (en) | 2014-07-10 |
CN103732459A (zh) | 2014-04-16 |
EP2746125A4 (en) | 2016-06-08 |
US9393993B2 (en) | 2016-07-19 |
CN103732459B (zh) | 2016-03-30 |
JP2013039892A (ja) | 2013-02-28 |
JP5808977B2 (ja) | 2015-11-10 |
EP2746125B1 (en) | 2017-04-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5808977B2 (ja) | 車両のヨーモーメント発生旋回効率化装置 | |
JP4866580B2 (ja) | 車両の走行制御装置 | |
WO2014064805A1 (ja) | 車両用走行支援装置 | |
JP5358978B2 (ja) | 車両用走行制御装置及びその方法 | |
US20110015850A1 (en) | Lane keeping assist device and lane keeping assist method | |
JP5227082B2 (ja) | 4輪操舵機構を搭載した車両の操舵制御装置 | |
JP2004155241A (ja) | 車輌用制動制御装置 | |
WO2006126736A1 (ja) | 車両逸脱防止装置 | |
JP2004082862A (ja) | 電動式パワーステアリング装置 | |
JP2008126858A (ja) | 車両挙動制御装置 | |
JP4886655B2 (ja) | 車両挙動制御装置 | |
JP5790401B2 (ja) | 車両用走行支援装置 | |
JP4600126B2 (ja) | 車両姿勢制御装置 | |
JP2007168641A (ja) | 可変舵角操舵装置及びその方法、並びにその可変舵角操舵装置を搭載した自動車 | |
JP2010158963A (ja) | 車両制御装置及び車両制御方法 | |
JP5333245B2 (ja) | 車両挙動制御装置 | |
JP5347499B2 (ja) | 車両制御装置及び車両制御方法 | |
JP2007276564A (ja) | 車両制御装置 | |
JP5347500B2 (ja) | 車両制御装置及び車両制御方法 | |
JP4379039B2 (ja) | 車両の運動制御装置 | |
JP2010184548A (ja) | 車両操作支援装置 | |
JP2007176314A (ja) | 旋回挙動制御装置、自動車、及び旋回挙動制御方法 | |
JP2024036092A (ja) | 車両の制御装置 | |
JP2006347238A (ja) | 車両の後退旋回制御装置 | |
JP4608942B2 (ja) | 車両の駆動力配分および操舵力協調制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201280039762.1 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12825236 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14238635 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REEP | Request for entry into the european phase |
Ref document number: 2012825236 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012825236 Country of ref document: EP |