WO2013145137A1 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- WO2013145137A1 WO2013145137A1 PCT/JP2012/058010 JP2012058010W WO2013145137A1 WO 2013145137 A1 WO2013145137 A1 WO 2013145137A1 JP 2012058010 W JP2012058010 W JP 2012058010W WO 2013145137 A1 WO2013145137 A1 WO 2013145137A1
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- WIPO (PCT)
- Prior art keywords
- wheel
- vehicle
- hydroplaning
- control device
- ecu
- Prior art date
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- 230000008859 change Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
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- 238000011156 evaluation Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
- B60T8/17636—Microprocessor-based 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
-
- 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
- B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/13—Aquaplaning, hydroplaning
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
Definitions
- the present invention relates to a vehicle control device.
- Patent Literature 1 discloses that when a hydroplane state is detected, the brake pressure of the drive wheel on the high-pressure side of the left and right drive wheels is reduced to the same pressure on the left and right, and then the same acceleration slip brake A vehicle traction control device that performs control is disclosed. As a result, this traction control device for a vehicle achieves both ensuring the stability of the vehicle behavior in the hydroplane state and ensuring the response of driving wheel slip suppression when the accelerator is depressed in the hydroplane state.
- the traction control device for a vehicle described in Patent Document 1 as described above has room for further improvement in terms of vehicle behavior stability when a hydroplaning phenomenon occurs, for example.
- the present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control device capable of stabilizing the behavior of a vehicle when a hydroplaning phenomenon occurs.
- a vehicle control device includes an adjustment device that can individually adjust the rotational phase of each wheel of the vehicle, and a hydroplaning phenomenon that occurs in the vehicle when the vehicle has a hydroplaning phenomenon. Based on the correlation between the rotational phase and the hydroplaning characteristics representing the difficulty of occurrence of the hydroplaning phenomenon, it is possible to control the adjusting device and control the rotational phase of each wheel individually. And a control device.
- the correlation between the rotational phase of the wheel and the hydroplaning characteristic is set in advance, and the hydroplaning characteristic is determined based on a contact surface between a tire mounted on the wheel and a road surface. It is determined according to the pattern and can be changed according to the change in the rotational phase of the wheel.
- the hydroplaning characteristic may be a value relating to a friction coefficient of the wheel according to a rotational phase of the wheel.
- the control device controls the adjustment device to adjust the rotation phases of the left and right wheels of the vehicle to a rotation phase at which the hydroplaning characteristics of the left and right wheels are equivalent. May be executable.
- the control device controls the adjustment device to adjust the rotation phase of each wheel of the vehicle to a rotation phase at which the hydroplaning characteristic of each wheel is maximized. It can be executable.
- the control device controls the adjusting device so that the slip ratio of the wheel is a predetermined slip ratio and a reference slip ratio that can realize the maximum hydroplaning characteristic. Then, the rotation of the wheel can be adjusted so that the rotation phase at which the hydroplaning characteristic of the wheel is maximized is obtained.
- the control device controls the adjustment device to adjust the rotation phases of the left and right wheels of the vehicle to rotation phases in which the hydroplaning characteristics of the left and right wheels are different from each other, Control for causing the yaw rate of the vehicle to follow the target yaw rate can be executed.
- the vehicle control device has an effect that the behavior of the vehicle can be stabilized when the hydroplaning phenomenon occurs.
- FIG. 1 is a schematic configuration diagram of a vehicle to which the vehicle control device according to the first embodiment is applied.
- FIG. 2 is a development view illustrating an example of a tread pattern of a vehicle wheel to which the vehicle control device according to the first embodiment is applied.
- FIG. 3 is a diagram illustrating an example of a correlation between the rotational phase of the vehicle and the hydroplaning characteristics in the vehicle control apparatus according to the first embodiment.
- FIG. 4 is a flowchart illustrating an example of control by the ECU of the vehicle control device according to the first embodiment.
- FIG. 5 is a time chart illustrating an example of control by the ECU of the vehicle control device according to the second embodiment.
- FIG. 6 is a flowchart illustrating an example of control by the ECU of the vehicle control device according to the second embodiment.
- FIG. 7 is a flowchart illustrating an example of control by the ECU of the vehicle control device according to the third embodiment.
- FIG. 1 is a schematic configuration diagram of a vehicle to which the vehicle control device according to the first embodiment is applied.
- FIG. 2 is a development view illustrating an example of a tread pattern of a vehicle wheel to which the vehicle control device according to the first embodiment is applied.
- FIG. 3 is a diagram showing an example of the correlation between the rotational phase of the vehicle and the hydroplaning characteristics in the vehicle control device according to the first embodiment, and
- FIG. 4 is a diagram of control by the ECU of the vehicle control device according to the first embodiment. It is a flowchart explaining an example.
- the present embodiment is typically applied to a vehicle and has the following components.
- An ECU capable of selecting a rotation phase corresponding to an appropriate hydroplaning characteristic under the occurrence of a hydroplaning phenomenon.
- the hydroplaning phenomenon is a vehicle traveling on a wet road surface covered with a water film.
- water is generated between the tire mounted on the wheel and the road surface.
- This is a phenomenon in which the membrane enters and pushes up the tire from the road surface, whereby the contact between the tire and the road surface is cut off by the water film on the road surface.
- tires tend to slip and running stability tends to be impaired.
- this hydroplaning phenomenon occurs and the driver steers the vehicle. It becomes difficult to perform operations such as braking and driving.
- the behavior of the vehicle can be stabilized by appropriately adjusting the rotational phase of each wheel of the vehicle. It can be done.
- the vehicle control device 1 of the present embodiment is a braking control system that is mounted on a vehicle 2 and brakes the vehicle 2 as shown in FIG.
- the vehicle control device 1 independently controls the braking force of each wheel 3 of the vehicle 2 to independently adjust the rotational phase of each wheel 3 independently, so that the vehicle stability when the hydroplaning phenomenon occurs is controlled.
- the vehicle 2 includes, as wheels 3, a left front wheel (left front wheel 3) 3FL, a right front wheel (right front wheel 3) 3FR, a left rear wheel (left rear wheel 3) 3RL, and a right rear wheel (right rear side).
- the wheel 3) is provided with 3RR, but these are simply referred to as the wheel 3 when it is not necessary to separate them.
- the left and right wheels are a combination of the left front wheel 3FL and the right front wheel 3FR or a combination of the left rear wheel 3RL and the right rear wheel 3RR unless otherwise specified.
- the vehicle control device 1 includes an accelerator pedal 4, a power source 5, a brake pedal 6, a braking device 7 as an adjustment device, an ECU 8 as a control device, and the like.
- the power source 5 generates power (torque) according to the operation of the accelerator pedal 4 by the driver, and this power is transmitted to the wheels 3 via a power transmission device (not shown). Generate driving force.
- the vehicle 2 generates a braking force on the wheel 3 by operating the braking device 7 according to the operation of the brake pedal 6 by the driver.
- the power source 5 is a driving power source such as an internal combustion engine or an electric motor.
- the braking device 7 can individually adjust the braking force generated on each wheel 3 of the vehicle 2.
- the brake device 7 is a variety of hydraulic brake devices in which brake oil, which is a working fluid, is filled in a hydraulic path connected from the master cylinder 9 to a wheel cylinder 11 of each wheel 3 via a hydraulic control device (hydraulic actuator) 10. is there.
- the hydraulic braking unit 12 operates according to the braking pressure supplied to the wheel cylinder 11 to generate a pressure braking force on the wheel 3.
- the brake device 7 basically has a master cylinder pressure (operating pressure) applied to the brake oil by the master cylinder 9 according to the pedal depression force (operating force) acting on the brake pedal 6 by the driver operating the brake pedal 6. Is granted.
- the hydraulic braking unit 12 is activated by a pressure corresponding to the master cylinder pressure acting as a wheel cylinder pressure (braking pressure) in each wheel cylinder 11.
- Each hydraulic braking unit 12 has a predetermined rotational resistance force according to the wheel cylinder pressure acting on the disk rotor rotating together with the wheel 3 by the brake pad being in contact with and pressed against the disk rotor by the wheel cylinder pressure.
- a braking force can be applied to the disk rotor and the wheel 3 rotating integrally therewith.
- the wheel cylinder pressure of the braking device 7 is appropriately adjusted by the hydraulic control device 10 according to the operating state.
- the hydraulic control device 10 individually adjusts the braking force generated in each wheel 3 by individually increasing, reducing, and holding the wheel cylinder pressure independently.
- the hydraulic control device 10 is provided on the hydraulic path of the brake oil that connects the master cylinder 9 and the wheel cylinder 11, and increases or decreases the hydraulic pressure in each wheel cylinder 11 by control by the ECU 8 separately from the brake operation of the brake pedal 6. Then, the braking force applied to each wheel 3 is controlled.
- the hydraulic control device 10 includes, for example, a plurality of pipes, an oil reservoir, an oil pump, each hydraulic pipe connected to each wheel cylinder 11 provided in each wheel 3, and the hydraulic pressure of each hydraulic pipe is increased, reduced, It comprises a plurality of electromagnetic valves for holding, and is controlled by the ECU 8.
- the hydraulic control device 10 functions as a working fluid pressure adjusting unit that transmits the hydraulic pressure (master cylinder pressure) in the hydraulic piping as it is or pressurizes and depressurizes it to each wheel cylinder 11 described later in accordance with a control command of the ECU 8.
- the hydraulic control device 10 is a wheel that acts on the wheel cylinder 11 according to the amount of operation (depression amount) of the brake pedal 6 by the driver, for example, by driving an oil pump or a predetermined electromagnetic valve in accordance with a control command of the ECU 8.
- the cylinder pressure can be adjusted.
- an oil pump or a predetermined electromagnetic valve is driven in accordance with a control command of the ECU 8, so that the wheel cylinder pressure acting on the wheel cylinder 11 is increased.
- the hydraulic control device 10 can set the mode individually for each wheel cylinder 11 of each wheel 3 according to the traveling state of the vehicle 2 under the control of the ECU 8. That is, the hydraulic control device 10 can individually adjust the braking force acting on each wheel 3 according to the traveling state of the vehicle 2 regardless of the operation of the brake pedal 6 by the driver.
- the ECU 8 controls driving of each part of the vehicle 2 and includes an electronic circuit mainly composed of a known microcomputer including a CPU, a ROM, a RAM, and an interface.
- the ECU 8 is electrically connected to various sensors and detection devices attached to various parts of the vehicle 2 and receives an electrical signal corresponding to the detection result.
- the ECU 8 is generated in each wheel speed sensor 13 that detects the rotational speed of each wheel 3, a yaw rate sensor 14 that detects the yaw rate of the vehicle 2, a steering angle sensor 15 that detects the steering angle of the vehicle 2, and the vehicle body of the vehicle 2.
- a longitudinal acceleration sensor 16 for detecting the acceleration in the longitudinal direction (traveling direction), a master cylinder pressure sensor 17 for detecting the master cylinder pressure, and each wheel cylinder pressure sensor 18 for detecting the wheel cylinder pressure of each wheel 3 are connected. .
- the wheel cylinder pressure detected by the wheel cylinder pressure sensor 18 is a value corresponding to the magnitude of the braking force generated by the hydraulic braking unit 12 of each wheel 3.
- the ECU 8 executes the stored control program on the basis of various input signals and various maps input from various sensors, thereby allowing each part of the vehicle 2 such as the power source 5 and the hydraulic control device 10 of the braking device 7 to be executed. Drive signals are output to control these drives.
- the ECU 8 controls the hydraulic control device 10 in accordance with the traveling state of the vehicle 2 and individually sets the wheel cylinder pressures of the wheel cylinders 11 provided on the respective wheels 3 (hereinafter sometimes simply referred to as “brake hydraulic pressure”).
- the braking force control function and the like can be realized by controlling the braking force at each wheel 3 individually.
- the vehicle control device 1 of the present embodiment when the hydroplaning phenomenon occurs in the vehicle 2, the ECU 8 controls the braking device 7 based on the correlation between the rotational phase of the wheels 3 and the hydroplaning characteristics, Rotation phase control for individually adjusting the rotation phase of each wheel 3 is executed. As a result, the vehicle control device 1 stabilizes the behavior of the vehicle 2 when the hydroplaning phenomenon occurs.
- the hydroplaning characteristic is an index representing the difficulty of occurrence of the hydroplaning phenomenon in each wheel 3, and the greater the value, the less likely the hydroplaning phenomenon occurs.
- the hydroplaning characteristic is a performance related to difficulty in reducing the tire ⁇ performance due to the wheel 3 floating on the wet road surface.
- this hydroplaning characteristic is typically determined according to the tread pattern 31 of the tire 30 as shown in FIG.
- the tread pattern 31 is a groove pattern formed on the outer peripheral surface of the tire 30 attached to the wheel 3.
- the hydroplaning phenomenon that occurs in each wheel 3 of the vehicle 2 is that the amount of water that has entered between the tire 30 attached to the wheel 3 and the road surface is the drainage performance due to the action of the grooves of the tread pattern 31. When the (drainage capacity) is exceeded, the water between the tire 30 and the road surface cannot be completely drained.
- the drainage performance of the tire 30 is determined according to the tread pattern 31 and the like on the contact surface between the tire 30 and the road surface. That is, the hydroplaning characteristic for each rotational phase of the wheel 3 is typically determined by the drainage performance of the ground contact surface of the tire 30, and the pattern of the ground contact surface between the tire 30 and the road surface according to the tread pattern 31. It depends on your needs. That is, this hydroplaning characteristic changes with the change of the pattern (tread pattern 31) of the contact surface between the tire 30 and the road surface according to the change of the rotational phase of the wheel 3.
- the hydroplaning characteristic is the friction coefficient of the wheel 3 during the wet road surface traveling according to the rotational phase of the wheel 3 (the friction coefficient between the wheel 3 and the road surface, hereinafter referred to as “tire ⁇ ”).
- the rotation phase of the wheel 3 here is a phase corresponding to the rotation angle of the wheel 3.
- the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics of the present embodiment is preset based on actual vehicle evaluation or the like, and is stored in the storage unit of the ECU 8 as a map or a mathematical model.
- FIG. 3 is an example of a hydroplaning characteristic map m1 representing the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristic.
- This hydroplaning characteristic map m1 describes the relationship between the tire ⁇ during running on a wet road surface corresponding to the hydroplaning characteristic, the slip ratio of the wheel 3, and the rotational phase of the wheel 3, and is stored in the storage unit of the ECU 8. It is remembered.
- the slip rate of the wheel 3 is an index representing slip (slip) between the tire of the wheel 3 and the road surface.
- the horizontal axis indicates the slip ratio of the vehicle 2
- the vertical axis indicates the tire ⁇ when running on a wet road surface
- the relationship between the slip ratio for each unit rotation phase of the wheel 3 and the tire ⁇ is an actual vehicle evaluation.
- the hydroplaning characteristic map m1 corresponds to a ⁇ -S characteristic (tire ⁇ -slip ratio characteristic) diagram during wet road running for each unit rotational phase of the wheel 3.
- the braking force generated on the wheels 3 during wet road running varies according to the tire ⁇ during wet road running, and tends to increase as the tire ⁇ increases.
- the tire ⁇ during wet road running generally increases with an increase in the slip ratio at each rotational phase, and is the maximum value at the peak ⁇ slip ratio.
- the peak ⁇ tends to decrease again.
- the hydroplaning characteristics that is, the tire ⁇ when running on a wet road surface, the rotational phase of the wheel 3 is relatively high when the groove density of the tread pattern 31 on the ground contact surface of the tire 30 is relatively high. It tends to be higher. This is because the drainage performance on the ground contact surface of the tire 30 is relatively high.
- the tire ⁇ during running on a wet road surface tends to be relatively low when the rotational phase of the wheel 3 is a phase in which the groove density of the tread pattern 31 on the ground contact surface of the tire 30 is relatively low. This is because the drainage performance on the ground contact surface of the tire 30 is relatively low.
- the tire ⁇ (hydroplaning characteristics) during running on the wet road surface may be a phase in which the tread pattern 31 is similar and the groove density and drainage performance are the same even when the rotational phase of the wheels 3 is different. Almost the same value.
- the tread pattern 31 is similar in the rotational phases indicated by the encircled lines A1, A2, and A3 in FIG. 2, and the tire ⁇ (hydroplaning characteristics) corresponding to these phases when running on a wet road surface is approximately Equivalent and relatively high values.
- the ECU 8 of the present embodiment executes rotational phase control for individually adjusting the rotational phase of each wheel 3 by controlling the braking device 7 based on the hydroplaning characteristic map m1.
- the ECU 8 is described as executing the rotational phase control using the hydroplaning characteristic map m1 illustrated in FIG. 3, but is not limited thereto.
- the ECU 8 may execute the rotational phase control based on a mathematical model corresponding to the hydroplaning characteristic map m1 illustrated in FIG.
- the braking device 7 of this embodiment can adjust the rotational phase of each wheel 3 separately by adjusting the brake hydraulic pressure of each wheel 3 separately, and adjusting the braking force in each wheel 3 separately.
- the ECU 8 controls the hydraulic control device 10 of the braking device 7 and independently adjusts the magnitude of the brake hydraulic pressure, the change speed, etc. of each wheel 3 to independently control the rotational phase of each wheel 3. Can be controlled.
- the vehicle control device 1 includes, for example, a rotation phase sensor 19 that detects the rotation phase of each wheel 3 as a mechanism for determining the rotation phase of each wheel 3.
- a rotation phase sensor 19 for example, a sensor that detects the rotation phase of the wheel 3 using an encoder or the like, a rotation angle sensor that detects a rotation angle as a pulse signal, or the like can be used.
- Each rotational phase sensor 19 is connected to the ECU 8, and the ECU 8 can determine the rotational phase of each wheel 3 based on the detection result of each rotational phase sensor 19.
- the vehicle control device 1 is not limited to this, and is configured not to include the rotational phase sensor 19 but to determine the rotational phase of each wheel 3 by the ECU 8 integrating the detection values of the respective wheel speed sensors 13. Also good.
- the ECU 8 controls the hydraulic control device 10 of the braking device 7 to independently adjust the brake hydraulic pressure magnitude, change speed, and the like of each wheel 3 so that the slip ratio and slip of each wheel 3 are adjusted.
- the rate rate can also be controlled individually and independently.
- the braking device 7 can individually adjust the brake hydraulic pressure of each wheel 3 and individually adjust the braking force at each wheel 3 to individually adjust the slip ratio and the slip ratio speed of each wheel 3.
- the slip ratio is an index representing slip (slip) between the tire of the wheel 3 and the road surface
- the slip ratio speed is an index representing the amount of change in the slip ratio per unit time. is there.
- the braking device 7 can change the slip ratio by changing the magnitude of the brake hydraulic pressure, and the slip ratio speed by changing the change speed (pressure increase speed, pressure reduction speed) of the brake hydraulic pressure.
- the ECU 8 can obtain the slip rate speed of the wheel 3 using various known methods. For example, the ECU 8 can calculate the slip rate speed (in other words, the change rate of the slip rate) S ⁇ dot (dS / dt) of the wheel 3 by calculating the time differential value of the slip rate. Note that the slip rate speed fluctuates according to, for example, the depression speed of the brake pedal 6 by the driver, and tends to be relatively fast as the depression operation becomes faster.
- the ECU 8 of this embodiment also functions as a device that determines whether or not the vehicle 2 is in a situation where a hydroplaning phenomenon occurs based on the detection results of various sensors and detection devices.
- the ECU 8 can detect and predict the occurrence of the hydroplaning phenomenon using various known methods. For example, the ECU 8 may estimate the traveling speed and the vehicle speed of the tire 30 where the hydroplaning phenomenon occurs by simulation using a finite element method, and thereby detect the occurrence of the hydroplaning phenomenon. Further, the ECU 8 estimates the vehicle speed at which the hydroplaning phenomenon occurs based on, for example, the amount of water on the road surface detected based on the road noise generated while the vehicle is traveling and the vehicle speed. Occurrence may be detected.
- the ECU 8 estimates the vehicle speed at which the hydroplaning phenomenon occurs, for example, from the balance between the ground pressure of the tire 30 and the dynamic pressure of water that enters between the tire and the road surface, thereby generating the hydroplaning phenomenon. May be detected. Further, the ECU 8 may detect the occurrence of the hydroplaning phenomenon by detecting that the steering torque is small relative to the magnitude of the steering angle detected by the steering angle sensor 15, for example. Further, the ECU 8, for example, based on the dynamic load radius of the side portion of the tire 30, the dynamic load radius of the central portion of the tire 30 and the air pressure of the tire 30 when viewed from the rolling direction of the tire 30 of the vehicle 2.
- the vehicle speed at which the planing phenomenon occurs may be estimated, and thereby the occurrence of the hydroplaning phenomenon may be detected.
- the ECU 8 also detects the brake hydraulic pressure of each wheel 3 detected by each wheel cylinder pressure sensor 18, the actual deceleration (braking force) detected by the longitudinal acceleration sensor 16, and the wheel of each wheel 3 detected by each wheel speed sensor 13.
- the occurrence of a hydroplaning phenomenon may be detected based on a correlation such as speed.
- the ECU 8 of this embodiment detects that the hydroplaning phenomenon occurs in the vehicle 2, the ECU 8 controls the braking device 7 based on the hydroplaning characteristic map m1, thereby rotating the rotational phase of each wheel 3.
- Rotation phase control is performed to adjust each individually.
- the ECU 8 controls the braking device 7 based on the detection result by the rotational phase sensor 19 and the hydroplaning characteristic map m1, and determines the rotational phases of the left and right wheels 3 of the vehicle 2 in the left and right directions.
- the hydroplaning characteristic equalization control is executed to adjust the rotational phase so that the hydroplaning characteristics of the wheels 3 are equal. That is, as the rotational phase control, the ECU 8 performs hydroplaning characteristic equalization control that controls the braking device 7 and individually adjusts the rotational phases of the left and right wheels 3 of the vehicle 2 to equalize the hydroplaning characteristics.
- the ECU 8 controls the hydraulic control device 10 of the braking device 7 to independently adjust the brake hydraulic pressure magnitude, change speed, etc. of each wheel 3 and to independently control the slip rate, slip rate speed, etc.
- the hydroplaning characteristics are made equal by adjusting the rotational phases of the left and right wheels 3 individually.
- the ECU 8 may execute hydroplaning characteristic equalization control so as to select and match the hydroplaning characteristic of any one of the left and right wheels.
- the ECU 8 may select the target hydroplaning characteristic based on the hydroplaning characteristics of the left and right wheels, and execute the hydroplaning characteristic equalization control so as to obtain the target hydroplaning characteristic.
- the ECU 8 executes the hydroplaning characteristic equalization control so that the left and right wheels 3 are traveling on a wet road surface.
- the tire ⁇ is controlled to be equal.
- the ECU 8 independently performs hydroplaning characteristic equalization control for the left front wheel 3FL and the right front wheel 3FR and hydroplaning characteristic equalization control for the left rear wheel 3RL and the right rear wheel 3RR as rotational phase control. What should I do?
- the ECU 8 executes the rotation phase control when the hydroplaning phenomenon occurs in the vehicle 2.
- the contact surface between the tire 30 and the road surface has various patterns according to the tread pattern 31 for each rotation phase of the tire 30. That is, the hydroplaning phenomenon greatly depends on the pattern of the contact surface between the tire 30 and the road surface, in other words, the tread pattern 31. For this reason, under conditions where the hydroplaning phenomenon begins to occur (conditions such as vehicle speed and water thickness), the hydroplaning characteristics of each wheel 3 change due to the change in the ground contact surface pattern of the tire 30 in accordance with the rotational phase of the wheel 3, and the mutual May be different.
- the vehicle control apparatus 1 causes the ECU 8 to rotate the wheel 3 and the hydroplaning characteristics (wet road running) as shown in the hydroplaning characteristic map m1 in FIG. Rotational phase control is performed based on the correlation with the tires ⁇ ).
- the vehicle control device 1 executes rotational phase control in accordance with the hydroplaning characteristic of each wheel 3 and controls the pattern of the ground contact surface of the tire 30 of each wheel 3 through adjustment of the rotational phase of each wheel 3. Therefore, the hydroplaning characteristics of each wheel 3 can be adjusted appropriately.
- the vehicle control apparatus 1 controls the behavior of the vehicle 2 when the hydroplaning phenomenon occurs, by the ECU 8 executing the rotational phase control of each wheel 3 in a feedforward manner and adjusting the rotational phase of each wheel 3.
- the braking stability can be improved.
- the vehicle control device 1 aligns the hydroplaning characteristics on the left and right wheels of the vehicle 2 under the situation where the hydroplaning phenomenon occurs. Can do.
- the vehicle control apparatus 1 can arrange
- the vehicle control device 1 can prevent the driver from performing extra steering, for example.
- control routines are repeatedly executed at a control cycle of several ms to several tens of ms. Further, the control described below is performed independently for the combination of the left front wheel 3FL and the right front wheel 3FR (that is, the front side) and the combination of the left rear wheel 3RL and the right rear wheel 3RR (that is, the rear side). Executed.
- the ECU 8 determines whether or not the current traveling state of the vehicle 2 is a state in which a hydroplaning phenomenon occurs (ST1).
- the ECU 8 determines whether or not the vehicle 2 is in a situation where a hydroplaning phenomenon occurs based on detection results from various sensors and detection devices.
- the ECU 8 determines whether the hydroplaning characteristics are the same for each rotation phase of the right wheel and the left wheel (ST3). ). For example, the ECU 8 determines whether or not the right and left wheels have the same hydroplaning characteristics based on the detection result of each rotational phase sensor 19 and the hydroplaning characteristics map m1 illustrated in FIG.
- the ECU 8 determines that the hydroplaning characteristics are not equal between the right wheel and the left wheel (ST3: No)
- the ECU 8 controls the braking device 7 and executes hydroplaning characteristics equalization control as the rotational phase control (ST4).
- the control cycle ends, and the process proceeds to the next control cycle.
- the ECU 8 rotates the left and right wheels so that the hydroplaning characteristics match between the left and right wheels based on the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics as shown in the hydroplaning characteristics map m1 in FIG.
- the phase can be adjusted individually and independently.
- the ECU 8 determines in ST1 that the hydroplaning phenomenon does not occur in the vehicle 2 (ST1: No), the ECU 8 determines in ST2 that the rotational phases of the wheels 3 are aligned on the left and right wheels (ST2: Yes). ), When it is determined in ST3 that the right and left wheels have the same hydroplaning characteristics (ST3: Yes), the following control is performed. That is, the ECU 8 executes normal brake control (ST5) regardless of the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics as shown in the hydroplaning characteristics map m1 in FIG. 3 (ST5). To end the next control cycle.
- the braking device 7 and the ECU 8 are provided.
- the braking device 7 can individually adjust the rotational phase of each wheel 3 of the vehicle 2.
- the ECU 8 controls the braking device 7 based on the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristic indicating the difficulty of the hydroplaning phenomenon. Control for individually adjusting the rotation phase of each wheel 3 can be executed.
- the vehicle control device 1 can individually adjust the rotational phase of each wheel 3 and can individually adjust the hydroplaning characteristics of each wheel 3, the behavior of the vehicle 2 when the hydroplaning phenomenon occurs can be determined. Can be stabilized.
- FIG. 5 is a time chart for explaining an example of control by the ECU of the vehicle control device according to the second embodiment.
- FIG. 6 is a flowchart for explaining an example of control by the ECU of the vehicle control device according to the second embodiment.
- the vehicle control apparatus according to the second embodiment is different from the first embodiment in the content of rotational phase control.
- the overlapping description is abbreviate
- FIG. 1 for details of each configuration of the vehicle control device according to the second embodiment, refer to FIG. 1 as appropriate (the same applies to the following embodiments).
- the braking device 7 is based on the hydroplaning characteristic map m1 (see FIG. 3).
- the rotational phase control for individually adjusting the rotational phase of each wheel 3 is executed.
- the ECU 8 controls the braking device 7 on the basis of the detection result by the rotational phase sensor 19 and the hydroplaning characteristic map m1, and determines the rotational phase of each wheel 3 of the vehicle 2 to each wheel.
- the hydroplaning characteristic maximization control is performed to adjust the rotation phase so that the hydroplaning characteristic of 3 is maximized. That is, as the rotational phase control, the ECU 8 performs hydroplaning characteristic maximization control for controlling the braking device 7 and individually adjusting the rotational phase of each wheel 3 of the vehicle 2 to maximize the hydroplaning characteristic.
- the ECU 8 controls the hydraulic control device 10 of the braking device 7 to independently adjust the brake hydraulic pressure magnitude, change speed, etc. of each wheel 3 and to independently control the slip rate, slip rate speed, etc. Adjust the rotational phase of each wheel 3 individually to maximize the hydroplaning characteristics. For example, the ECU 8 selects the maximum value of the hydroplaning characteristic as the target hydroplaning characteristic based on the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristic as shown in the hydroplaning characteristic map m1 of FIG. The hydroplaning characteristic maximization control is executed so as to achieve the target hydroplaning characteristic.
- the ECU 8 executes the hydroplaning characteristic maximization control to thereby execute the tire ⁇ during running on the wet road surface of each wheel 3. Is controlled to be the maximum, that is, the peak ⁇ .
- the ECU 8 controls the braking device 7 so that when the slip rate of the wheel 3 reaches a preset reference slip rate, the rotational phase at which the hydroplaning characteristic of the wheel 3 is maximized is obtained.
- the rotation of the wheel 3 is adjusted.
- the reference slip ratio is a slip ratio determined in advance, and is a slip ratio that can realize the maximum value of the hydroplaning characteristics.
- the hydroplaning characteristics that is, the tire ⁇ during wet road running, increases as the slip ratio increases at each rotational phase as shown in FIG. It tends to decrease again to the maximum value ⁇ .
- the maximum value of the peaks ⁇ of all rotation phases is the peak ⁇ max
- the rotation phase capable of generating the peak ⁇ max is the maximum ⁇ generation rotation phase Pmax
- the peak ⁇ max is generated with the maximum ⁇ generation rotation phase Pmax.
- the slip ratio that can be made is the peak ⁇ slip ratio Smax.
- the ECU 8 adjusts the rotation phase by adjusting the rotation of the wheel 3 so that the rotation phase of the wheel 3 becomes the maximum ⁇ generation rotation phase Pmax when the actual slip rate of the wheel 3 is the peak ⁇ slip ratio Smax.
- the vehicle control device 201 can generate the maximum hydroplaning characteristic, that is, the peak ⁇ max, at the wheel 3.
- the peak ⁇ max the maximum hydroplaning characteristic, that is, the peak ⁇ max, at the wheel 3.
- the braking force generated on the wheel 3 during the wet road surface traveling is the maximum ⁇ generated rotational phase Pmax, and the tire ⁇ during the wet road surface traveling is The maximum braking force is reached when the peak ⁇ max is reached.
- the ECU 8 sets the peak ⁇ slip ratio Smax in advance as a reference slip ratio based on actual vehicle evaluation or the like.
- the horizontal axis represents the time axis
- the vertical axis represents the brake hydraulic pressure
- the slip ratio of the wheel 3 and the rotation phase.
- the ECU 8 detects that the hydroplaning phenomenon occurs in the vehicle 2 at the time t1, the actual slip rate of the wheel 3 in the current braking state (rotation state) is the reference slip rate (peak ⁇ slip). It is determined whether or not the rotational phase when the ratio Smax) reaches the maximum ⁇ -generated rotational phase Pmax.
- the ECU 8 determines that the rotational phase becomes the maximum ⁇ -generated rotational phase Pmax when the actual slip rate of the wheel 3 becomes the reference slip rate even in the braking state as it is, the ECU 8 executes normal brake control. In this case, the ECU 8 executes normal brake control regardless of the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics as shown in the hydroplaning characteristics map m1 of FIG.
- the ECU 8 has the maximum rotational phase at time t2 when the actual slip rate of the wheel 3 becomes the reference slip rate (peak ⁇ slip rate Smax) in the braking state as it is.
- control is performed as follows. That is, the ECU 8 controls the braking device 7 so that the rotation phase becomes the maximum ⁇ generation rotation phase Pmax when the actual slip rate of the wheel 3 becomes the reference slip rate, and the brake hydraulic pressure of each wheel 3 is increased. Then, the rotation speed of the wheel 3 is adjusted by independently adjusting the change speed and the like to increase / decrease the slip ratio and the slip ratio speed (slip ratio change gradient).
- the ECU 8 adjusts the rotation of the wheel 3 by reducing the change speed of the brake hydraulic pressure and reducing the slip rate speed.
- the ECU 8 can set the rotation phase of the wheel 3 to the maximum ⁇ generation rotation phase Pmax at the time t3 when the actual slip ratio of the wheel 3 becomes the reference slip ratio (peak ⁇ slip ratio Smax).
- the vehicle control device 201 can set the tire ⁇ at the time of wet road running to the peak ⁇ max, and can generate the maximum braking force on the wheels 3.
- the vehicle control device 201 configured as described above executes the rotational phase control in accordance with the hydroplaning characteristics of each wheel 3 and adjusts the rotational phase of each wheel 3 to the pattern of the ground contact surface of the tire 30 of each wheel 3. Therefore, the hydroplaning characteristic of each wheel 3 can be adjusted appropriately.
- the vehicle control apparatus 201 controls the behavior of the vehicle 2 when the hydroplaning phenomenon occurs by the ECU 8 performing the rotational phase control of each wheel 3 in a feed forward manner and adjusting the rotational phase of each wheel 3. For example, the braking stability can be improved.
- the vehicle control device 201 since the ECU 8 executes the hydroplaning characteristic maximization control as the rotational phase control, the vehicle control device 201 has the rotational phase having the highest hydroplaning characteristic in the wheel 3 under the situation where the hydroplaning phenomenon occurs. You can choose. Thereby, for example, when the hydroplaning phenomenon occurs, the vehicle control device 201 returns to the state in which the maximum braking force can be generated in each wheel 3 in a short time, and quickly returns from the hydroplaning state. Therefore, the braking distance can be relatively shortened.
- the ECU 8 determines whether or not the current traveling state of the vehicle 2 is a state in which a hydroplaning phenomenon occurs (ST201).
- the ECU 8 determines that the vehicle 2 is in a situation where a hydroplaning phenomenon occurs (ST201: Yes), the detection result of each wheel speed sensor 13 and each rotational phase sensor 19, the hydroplaning characteristic map m1 illustrated in FIG. Based on the above, it is determined whether or not the rotation phase of the wheel 3 when the actual slip rate of the wheel 3 becomes the reference slip rate in the current braking state becomes the maximum ⁇ generation rotation phase Pmax (ST202). ). That is, the ECU 8 determines whether or not the rotational phase becomes the maximum ⁇ generation rotational phase Pmax when the actual slip ratio becomes the reference slip ratio when the slip ratio changes at the current slip ratio speed.
- the reference slip ratio is set to the peak ⁇ slip ratio Smax that can realize the peak ⁇ max and the maximum braking force.
- the ECU 8 determines that the rotational phase of the wheel 3 does not become the maximum ⁇ generation rotational phase Pmax when the actual slip rate of the wheel 3 becomes the reference slip rate in the braking state as it is (ST202: No). Make a decision. That is, the ECU 8 sets the rotational phase of the wheel 3 to the maximum ⁇ generation rotational phase Pmax based on the detection result of each wheel speed sensor 13 and each rotational phase sensor 19 and the hydroplaning characteristic map m1 illustrated in FIG. It is then determined whether the brake hydraulic pressure can be controlled (ST203).
- the maximum ⁇ generation rotation phase Pmax is a rotation phase at which the hydroplaning characteristic (the tire ⁇ during running on a wet road surface) has a maximum value (peak ⁇ max).
- the braking device 7 is controlled to equalize the hydroplaning characteristics as the rotation phase control. Control is executed (ST204), the current control cycle is terminated, and the next control cycle is started.
- the brake hydraulic pressure cannot be controlled so that the rotational phase of the wheel 3 becomes the maximum ⁇ generation rotational phase Pmax, for example, until the actual slip ratio becomes the reference slip ratio even if the brake hydraulic pressure is maximized or minimized.
- the rotation phase of the wheel 3 cannot be adjusted to the maximum ⁇ generation rotation phase Pmax.
- the ECU 8 controls the left and right wheels so that the hydroplaning characteristics are matched based on the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics as shown in the hydroplaning characteristics map m1 in FIG. Adjust the rotation phase of the wheel independently.
- the ECU 8 determines that the brake hydraulic pressure can be controlled so that the rotational phase of the wheel 3 becomes the maximum ⁇ generation rotational phase Pmax (ST203: Yes)
- the hydroplaning characteristic is maximized as the rotational phase control by controlling the braking device 7.
- Control is executed (ST205), the current control cycle is terminated, and the next control cycle is started. Accordingly, the ECU 8 determines the rotational phase so that the hydroplaning characteristic is maximized at each wheel 3 based on the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristic as shown in the hydroplaning characteristic map m1 of FIG. Can be adjusted individually and independently.
- the ECU 8 determines in ST201 that the hydroplaning phenomenon does not occur in the vehicle 2 (ST201: No), the actual slip rate of the wheel 3 becomes the reference slip rate even in the braking state as it is in ST202. If it is determined that the rotation phase is the maximum ⁇ generation rotation phase Pmax (ST202: Yes), the following control is performed. That is, the ECU 8 executes normal brake control (ST206) regardless of the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics as shown in the hydroplaning characteristics map m1 in FIG. To end the next control cycle.
- the vehicle control apparatus 201 can individually adjust the rotation phase of each wheel 3 and can individually adjust the hydroplaning characteristics of each wheel 3, when the hydroplaning phenomenon occurs.
- the behavior of the vehicle 2 can be stabilized.
- the ECU 8 controls the braking device 7 so that the rotational phase of each wheel 3 of the vehicle 2 is maximized, and the hydroplaning characteristic of each wheel 3 is maximized. Control to adjust to the rotational phase can be executed. Therefore, for example, the vehicle control device 201 can return from the hydroplaning state at an early stage when the hydroplaning phenomenon occurs, and can shorten the braking distance relatively.
- the ECU 8 described above may execute the hydroplaning characteristic equalization control and the hydroplaning characteristic maximization control in combination as the rotational phase control.
- the ECU 8 controls the braking device 7 so that the rotation phases of the left and right wheels 3 of the vehicle 2 are the rotation phases at which the hydroplaning characteristics of the left and right wheels 3 are equivalent, and the hydroplaning of each wheel 3 is performed. Adjust the rotation phase to maximize the characteristics.
- the vehicle control device 201 can more reliably achieve both the straight running stability improvement and the early return from the hydroplaning state.
- FIG. 7 is a flowchart illustrating an example of control by the ECU of the vehicle control device according to the third embodiment.
- the vehicle control apparatus according to the third embodiment is different from the first and second embodiments in the content of rotational phase control.
- the ECU 8 of the vehicle control device 301 detects that a hydroplaning phenomenon occurs in the vehicle 2, the braking device 7 is based on the hydroplaning characteristic map m1 (see FIG. 3). By controlling this, the rotational phase control for individually adjusting the rotational phase of each wheel 3 is executed.
- the ECU 8 can execute the target yaw rate follow-up control by controlling the braking device 7 based on the detection result by the rotation phase sensor 19 and the hydroplaning characteristic map m1 as the rotation phase control.
- the rotational phase of the left and right wheels 3 of the vehicle 2 is adjusted to a rotational phase in which the hydroplaning characteristics of the left and right wheels 3 are different from each other, so that the yaw rate of the vehicle 2 follows the target yaw rate.
- the ECU 8 executes the target yaw rate follow-up control as the rotational phase control, and thus the behavior of the vehicle 2 that occurs due to the hydroplaning characteristics of the left and right wheels 3 being different from each other, the yaw rate of the vehicle 2 is targeted. Can be reflected in the control to follow the yaw rate.
- the vehicle control device 301 can improve the control accuracy of the target yaw rate tracking control.
- the ECU 8 sets a target yaw rate using various known methods when the vehicle 2 is turning. For example, the ECU 8 is generated in the vehicle 2 when it is assumed that the vehicle 2 is performing a predetermined circular turning motion from the rudder angle and the vehicle speed based on detection results by the wheel speed sensors 13 and the rudder angle sensor 15. The yaw rate is calculated and set as the target yaw rate.
- the ECU 8 executes the target yaw rate follow-up control as the rotational phase control by controlling the braking device 7 so that the actual yaw rate of the vehicle 2 detected by the yaw rate sensor 14 approaches the target yaw rate.
- the ECU 8 considers the degree of deflection of the vehicle body 2 in the yaw direction due to the difference in the hydroplaning characteristics of the left and right wheels 3, that is, the difference in the tires ⁇ when the left and right wheels 3 travel on the wet road surface.
- the target hydroplaning characteristic of each wheel 3 is set.
- the ECU 8 controls the braking device 7 based on the deviation between the hydroplaning characteristic of each wheel 3 and the target hydroplaning characteristic to individually adjust the rotational phase of each wheel 3 so that the hydroplaning characteristic of each wheel 3 is Target yaw rate follow-up control is executed to achieve the target hydroplaning characteristics.
- the vehicle control device 301 can improve the turning stability of the vehicle 2.
- the ECU 8 determines whether or not the current traveling state of the vehicle 2 is a state in which a hydroplaning phenomenon occurs (ST301).
- the ECU 8 determines that the hydroplaning phenomenon occurs in the vehicle 2 (ST301: Yes), whether the vehicle 2 is currently turning based on the detection results of the yaw rate sensor 14, the steering angle sensor 15, and the like. Is determined (ST302).
- ECU8 when it determines with the vehicle 2 currently turning (ST302: Yes), based on the detection result by each wheel speed sensor 13, the steering angle sensor 15, etc., sets a target yaw rate (ST303).
- the ECU 8 controls the braking device 7 based on the deviation between the actual yaw rate detected by the yaw rate sensor 14 and the target yaw rate set in ST303, and executes target yaw rate follow-up control as rotational phase control ( ST304), the current control cycle is terminated, and the process proceeds to the next control cycle.
- the ECU 8 controls each wheel 3 so that the actual yaw rate follows the target yaw rate based on the deviation between the actual yaw rate and the target yaw rate, the detection result by the rotational phase sensor 19, and the hydroplaning characteristic map m1. Can be independently and independently adjusted.
- the ECU 8 determines in ST301 that the vehicle 2 is not in a situation where a hydroplaning phenomenon occurs (ST201: No) as follows. To control. That is, the ECU 8 executes normal brake control (ST305) regardless of the correlation between the rotational phase of the wheel 3 and the hydroplaning characteristics as shown in the hydroplaning characteristics map m1 in FIG. To end the next control cycle.
- the vehicle control device 301 can individually adjust the rotational phase of each wheel 3 and can individually adjust the hydroplaning characteristics of each wheel 3, when the hydroplaning phenomenon occurs.
- the behavior of the vehicle 2 can be stabilized.
- the ECU 8 controls the braking device 7 so that the rotational phases of the left and right wheels 3 of the vehicle 2 are determined according to the hydroplaning characteristics of the left and right wheels 3. It is possible to execute control in which the yaw rate of the vehicle 2 follows the target yaw rate by adjusting the rotational phases to be different from each other. Therefore, for example, the vehicle control device 301 can suppress a decrease in control accuracy of control for causing the yaw rate to follow the target yaw rate even when the hydroplaning phenomenon occurs, and improve the turning stability of the vehicle 2. can do.
- the vehicle control device according to the above-described embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope described in the claims.
- the vehicle control device according to the present embodiment may be configured by appropriately combining the components of the embodiments described above.
- control device of the vehicle control device has been described as an ECU that controls each part of the vehicle.
- control device is not limited to this, and is configured separately from the ECU, for example. Alternatively, it may be configured to exchange information such as drive signals and control commands.
- the vehicle control device has been described as a braking control system for braking the vehicle, but is not limited thereto, and may be a drive control system for driving the vehicle.
- the vehicle control device independently controls the driving force of each wheel of the vehicle independently, thereby independently adjusting the rotational phase of each wheel and improving the vehicle stability during the hydroplaning phenomenon. It may be a thing.
- the adjusting device is configured to be able to individually adjust the rotational phase of each wheel by individually adjusting the driving force in each wheel.
- Vehicle control device 2 Vehicle 3 Wheel 3RR Right rear wheel 3FR Right front wheel 3RL Left rear wheel 3FL Left front wheel 7 Braking device (adjustment device) 8 ECU (control device) 30 tire 31 tread pattern
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Abstract
Description
図1は、実施形態1に係る車両制御装置が適用された車両の概略構成図、図2は、実施形態1に係る車両制御装置が適用された車両の車輪のトレッドパターンの一例を表す展開図、図3は、実施形態1に係る車両制御装置における車両の回転位相とハイドロプレーニング特性との相関関係の一例を表す線図、図4は、実施形態1に係る車両制御装置のECUによる制御の一例を説明するフローチャートである。
(1)車両にハイドロプレーニング現象が発生する状況であるか否かを判定する装置。
(2)車両の各車輪の回転位相を判別する機構。
(3)車両の各車輪の回転を独立して調節可能である機構。
(4)車両の各車輪で回転位相に応じて車輪を回転制御できる機構。
(5)車輪の回転位相に応じてハイドロプレーニング特性(性能)との相関関係がどのように変わるのかを示すマップ等。
(6)ハイドロプレーニング現象の発生状況下で適切なハイドロプレーニング特性に応じた回転位相を選択可能であるECU。
S=(Vr-Vw)/Vr ・・・ (1)
図5は、実施形態2に係る車両制御装置のECUによる制御の一例を説明するタイムチャート、図6は、実施形態2に係る車両制御装置のECUによる制御の一例を説明するフローチャートである。実施形態2に係る車両制御装置は、回転位相制御の内容が実施形態1とは異なる。その他、上述した実施形態と共通する構成、作用、効果については、重複した説明はできるだけ省略する。なお、実施形態2に係る車両制御装置の各構成の詳細については、適宜、図1を参照する(以下の実施形態でも同様である。)。
図7は、実施形態3に係る車両制御装置のECUによる制御の一例を説明するフローチャートである。実施形態3に係る車両制御装置は、回転位相制御の内容が実施形態1、2とは異なる。
2 車両
3 車輪
3RR 右後輪
3FR 右前輪
3RL 左後輪
3FL 左前輪
7 制動装置(調節装置)
8 ECU(制御装置)
30 タイヤ
31 トレッドパターン
Claims (7)
- 車両の各車輪の回転位相を個別に調節可能である調節装置と、
前記車両にハイドロプレーニング現象が発生する場合に、前記車輪の回転位相と前記ハイドロプレーニング現象の発生のしにくさを表すハイドロプレーニング特性との相関関係に基づいて、前記調節装置を制御し、前記各車輪の回転位相を個別に調節する制御を実行可能である制御装置とを備えることを特徴とする、
車両制御装置。 - 前記車輪の回転位相と前記ハイドロプレーニング特性との相関関係は、予め設定されており、
前記ハイドロプレーニング特性は、前記車輪に装着されるタイヤと路面との接地面のパターンに応じて定まり、前記車輪の回転位相の変化に応じて変化する、
請求項1に記載の車両制御装置。 - 前記ハイドロプレーニング特性は、前記車輪の回転位相に応じた前記車輪の摩擦係数に関する値である、
請求項1又は請求項2に記載の車両制御装置。 - 前記制御装置は、前記調節装置を制御し、前記車両の左右の車輪の回転位相を、当該左右の車輪の前記ハイドロプレーニング特性が同等となる回転位相に調節する制御を実行可能である、
請求項1乃至請求項3のいずれか1項に記載の車両制御装置。 - 前記制御装置は、前記調節装置を制御し、前記車両の前記各車輪の回転位相を、当該各車輪の前記ハイドロプレーニング特性が最大となる回転位相に調節する制御を実行可能である、
請求項1乃至請求項4のいずれか1項に記載の車両制御装置。 - 前記制御装置は、前記調節装置を制御し、前記車輪のスリップ率が予め定められたスリップ率であって最大の前記ハイドロプレーニング特性を実現可能である基準スリップ率になった際に、当該車輪の前記ハイドロプレーニング特性が最大となる回転位相になるように当該車輪の回転を調節する、
請求項5に記載の車両制御装置。 - 前記制御装置は、前記調節装置を制御し、前記車両の左右の車輪の回転位相を、当該左右の車輪の前記ハイドロプレーニング特性が相互に異なる回転位相に調節し、前記車両のヨーレイトを目標のヨーレイトに追従させる制御を実行可能である、
請求項1乃至請求項6のいずれか1項に記載の車両制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12839229.7A EP2832617A4 (en) | 2012-03-27 | 2012-03-27 | CONTROL DEVICE FOR A VEHICLE |
US13/877,677 US20140195118A1 (en) | 2012-03-27 | 2012-03-27 | Vehicle control device |
JP2012525787A JP5267741B1 (ja) | 2012-03-27 | 2012-03-27 | 車両制御装置 |
PCT/JP2012/058010 WO2013145137A1 (ja) | 2012-03-27 | 2012-03-27 | 車両制御装置 |
CN201280003501.4A CN103429476B (zh) | 2012-03-27 | 2012-03-27 | 车辆控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2012/058010 WO2013145137A1 (ja) | 2012-03-27 | 2012-03-27 | 車両制御装置 |
Publications (1)
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WO2013145137A1 true WO2013145137A1 (ja) | 2013-10-03 |
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PCT/JP2012/058010 WO2013145137A1 (ja) | 2012-03-27 | 2012-03-27 | 車両制御装置 |
Country Status (5)
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US (1) | US20140195118A1 (ja) |
EP (1) | EP2832617A4 (ja) |
JP (1) | JP5267741B1 (ja) |
CN (1) | CN103429476B (ja) |
WO (1) | WO2013145137A1 (ja) |
Families Citing this family (9)
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US9352730B2 (en) * | 2012-10-05 | 2016-05-31 | Toyota Jidosha Kabushiki Kaisha | Vehicle brake control device |
CN103738324B (zh) * | 2013-12-30 | 2018-05-08 | 长安大学 | 一种汽车用车轮辐条相对位置校正方法 |
JP5883489B1 (ja) * | 2014-09-30 | 2016-03-15 | 富士重工業株式会社 | 車両の制御装置及び車両の制御方法 |
JP6369408B2 (ja) * | 2015-07-16 | 2018-08-08 | トヨタ自動車株式会社 | 路面の冠水推定装置 |
DE102015214176A1 (de) * | 2015-07-27 | 2017-02-02 | Continental Teves Ag & Co. Ohg | Verfahren zur Fahrerunterstützung bei Wasserglätte auf einem Fahrbahnuntergrund |
JP6686952B2 (ja) * | 2017-03-27 | 2020-04-22 | 株式会社アドヴィックス | 車両用制動装置 |
WO2019111670A1 (ja) * | 2017-12-05 | 2019-06-13 | 日本電産株式会社 | 回転制御装置、移動体、および搬送ロボット |
US11447193B2 (en) * | 2019-06-10 | 2022-09-20 | GM Global Technology Operations LLC | Control of vehicle aerodynamic force for hydroplaning mitigation |
IT202200003239A1 (it) | 2022-02-22 | 2023-08-22 | Pirelli | Metodo e sistema di controllo di un veicolo in presenza di acquaplano |
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DE19543928C2 (de) * | 1995-11-24 | 1997-09-04 | Daimler Benz Ag | Verfahren zur frühzeitigen Erkennung des Aufschwimmens eines Fahrzeugreifens auf nasser Fahrbahn |
DE10053608B4 (de) * | 2000-10-28 | 2010-01-28 | Robert Bosch Gmbh | Antriebsschlupfregelungseinrichtung und Verfahren zum Regeln des Schlupfes eines Rades |
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- 2012-03-27 CN CN201280003501.4A patent/CN103429476B/zh not_active Expired - Fee Related
- 2012-03-27 JP JP2012525787A patent/JP5267741B1/ja not_active Expired - Fee Related
- 2012-03-27 US US13/877,677 patent/US20140195118A1/en not_active Abandoned
- 2012-03-27 WO PCT/JP2012/058010 patent/WO2013145137A1/ja active Application Filing
- 2012-03-27 EP EP12839229.7A patent/EP2832617A4/en not_active Withdrawn
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See also references of EP2832617A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN103429476B (zh) | 2016-10-12 |
JP5267741B1 (ja) | 2013-08-21 |
EP2832617A1 (en) | 2015-02-04 |
US20140195118A1 (en) | 2014-07-10 |
EP2832617A4 (en) | 2015-11-11 |
JPWO2013145137A1 (ja) | 2015-08-03 |
CN103429476A (zh) | 2013-12-04 |
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