WO2021001672A1 - 車両の制御方法、及び、 車両の制御装置 - Google Patents
車両の制御方法、及び、 車両の制御装置 Download PDFInfo
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- WO2021001672A1 WO2021001672A1 PCT/IB2019/000673 IB2019000673W WO2021001672A1 WO 2021001672 A1 WO2021001672 A1 WO 2021001672A1 IB 2019000673 W IB2019000673 W IB 2019000673W WO 2021001672 A1 WO2021001672 A1 WO 2021001672A1
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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Definitions
- the present invention relates to a vehicle control method and a vehicle control device.
- the JP2018-538558A uses the acceleration detected by the acceleration sensor coupled to the vehicle body side with respect to the suspension device between the vehicle body and the wheels to generate noise reduction sound to generate noise inside the vehicle body. Active load noise control systems that reduce are disclosed.
- the acceleration sensor for detecting the vehicle state is located on the vehicle body side above the suspension provided between the wheels and the vehicle body.
- the noise generated by traveling in a vehicle is mainly road noise generated between a wheel and its ground contact surface. Therefore, since the noise is absorbed by the suspension, there is a problem that the noise source cannot be directly observed and may not be appropriately controlled.
- the vehicle control method of the present invention is in a vehicle including wheels, a sensor that acquires the rotation speed of the wheels, and a sound generation device that generates sound when the sound generation device is driven. , The angular acceleration of the wheel is obtained from the rotation speed acquired by the sensor, and the sound generation device is controlled so that the generated sound becomes louder when the condition is satisfied. If the angular acceleration is large, it is included in the condition.
- FIG. 1 is a block diagram showing a configuration of a vehicle according to the first embodiment.
- FIG. 2 is a flowchart showing the control of the sound generation device.
- FIG. 3 is a timing chart showing changes over time in the state of the vehicle.
- FIG. 4 is a flowchart showing the control of the engine of the second embodiment.
- FIG. 5 is a flowchart showing the control of the engine of the third embodiment.
- FIG. 6 is a diagram showing an operating region of the engine.
- FIG. 7 is a timing chart showing the operating state of the engine.
- FIG. 8 is a flowchart showing the control of the engine of the fourth embodiment.
- FIG. 9 is a timing chart showing the operating state of the engine.
- FIG. 10 is a flowchart showing engine control in the comparative example.
- FIG. 10 is a flowchart showing engine control in the comparative example.
- FIG. 11 is a timing chart showing the operating state of the engine in the comparative example.
- FIG. 12 is a flowchart showing a part of engine control according to the fifth embodiment.
- FIG. 13 is a flowchart showing a part of engine control.
- FIG. 14 is a graph showing the relationship between the vehicle speed and the variance threshold value.
- FIG. 15 is a graph showing the correction of the variance threshold value.
- FIG. 16 is a flowchart showing the control of the engine of the sixth embodiment.
- FIG. 17 is a table showing correction coefficients used for correction of the variance threshold value.
- FIG. 18 is a block diagram showing the configuration of the vehicle according to the seventh embodiment.
- FIG. 19 is a flowchart showing control of the engine according to the eighth embodiment.
- FIG. 1 is a block diagram showing a configuration of a vehicle according to the first embodiment of the present invention.
- the vehicle 100 includes an engine (internal combustion engine) 1, a generator 2, a battery 3, an electric motor 4, a gear 5, an axle 6, and wheels 7. Further, the vehicle 100 is a series type hybrid vehicle, which uses the power of the engine 1 to generate electricity in the generator 2, stores the generated power in the battery 3, and rotates the motor 4 with the power stored in the battery 3. The wheel 7 is driven by the operation. Therefore, the power of the engine 1 is used not for driving the vehicle 100 but for generating the generator 2.
- the engine 1 is mechanically connected to the generator 2 via a speed reducer (not shown), and the generator 2 is connected to the battery 3 so as to be able to transmit and receive power.
- the driving force of the engine 1 is transmitted to the generator 2, the generator 2 generates electric power by the driving force of the engine 1, and the electric power generated by the generator 2 is charged to the battery 3.
- the electric power of the battery 3 is supplied to the motor 4, and the motor 4 is rotationally driven by the electric power of the battery 3.
- the motor 4 is mechanically connected to the axle 6 via the gear 5, and the axle 6 is mechanically connected to the wheel 7.
- the driving force of the motor 4 is transmitted to the wheels 7 via the gear 5 and the axle 6.
- the wheels 7 are rotated by the driving force of the motor 4, so that the vehicle 100 travels.
- the vehicle 100 includes a controller 8 that controls the entire vehicle 100.
- the controller 8 is configured to be able to execute a predetermined program by a microcomputer equipped with a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface). To. It is also possible to configure the controller 8 with a plurality of microcomputers.
- the vehicle 100 further includes a brake oil pressure sensor 9 for detecting the braking force and an accelerator position sensor 10 for detecting the accelerator opening degree.
- the controller 8 is electrically connected to each of the brake oil pressure sensor 9 and the accelerator position sensor 10, and the detection result of each sensor is input.
- the controller 8 generates a torque command value in response to inputs from the brake oil pressure sensor 9 and the accelerator position sensor 10, and drives the motor 4 in response to the torque command value. Further, the controller 8 is configured to be able to detect the remaining amount of the battery 3, and is configured to be able to control the engine 1 and the generator 2 according to the remaining amount of the battery 3 (SOC: System of Charge) and the like. ing.
- a wheel speed sensor 11 for measuring the rotation speed of the wheels 7 is provided in the vicinity of the wheels 7 on the side of the wheels 7 below the suspension, and a sound generation device that generates a sound as the vehicle is driven. 12 is provided.
- An air conditioner 121 that controls the temperature of the passenger compartment and generates a driving noise, a fan 122 that generates a rotating noise when cooling a high electric system, and the like are examples of the sound generating device 12, and noise is generated by driving the device itself.
- the engine 1 is also an example of a sound generation device 12 that generates noise in response to rotational drive.
- the controller 8 in addition to controlling the sound generation device 12 based on a predetermined condition, the controller 8 generates noise according to the angular velocity (rotational speed) of the wheel 7 input from the wheel speed sensor 11 as described later.
- the sound generation device 12 is controlled so as to change the volume of the generated noise.
- the controller 8 raises the drive level of the sound generation device 12 because it can be determined that the noise caused by running is large when there are many variations in the angular acceleration obtained by differentiating the angular velocity.
- the sound generation device 12 is a device that generates noise, the noise generated by the driving is large, so that the noise generated by the sound generation device 12 is noticed by the driver. Hateful.
- the drive level of the sound generation device 12 can be increased without impairing comfort.
- the sound generation device 12 is a device that generates a notification sound
- the volume of the notification sound generated by the sound generation device 12 is increased to notify the driver or the like. Sound can be notified appropriately.
- the sound generation device 12 is a device that generates noise
- FIG. 2 is a flowchart showing a control method of the sound generation device 12 performed by the controller 8.
- the controller 8 controls the sound generation device 12 under predetermined conditions, and additionally controls the sound generation device 12 even when the conditions shown in the flowchart shown in FIG. 2 are satisfied.
- step S1 the controller 8 acquires the angular velocity ⁇ of the wheel 7 detected by the wheel speed sensor 11.
- step S2 the controller 8 acquires the angular acceleration A of the wheel 7 by differentiating the angular velocity ⁇ of the wheel 7 acquired in step S1.
- step S3 the controller 8 obtains the variation of the angular acceleration A acquired in step S2.
- the controller 8 samples the angular acceleration A, and the variance, standard deviation, root mean square, the difference (amplitude) between the maximum and minimum values in a predetermined period, and the angular acceleration within a predetermined range in a predetermined period.
- the number of counts and the like is obtained as the variation according to the fluctuation of the angular acceleration A.
- step S4 the controller 8 determines whether or not the variation of the angular acceleration A obtained in step S3 satisfies a predetermined stability criterion. For example, if the amplitude is below the amplitude threshold corresponding to the stability reference, the variance is below the variance threshold corresponding to the stability reference, the standard deviation is below the reference deviation, or the root mean square is below the reference value, a predetermined period of time is allowed. When the amplitude is below the reference value and the number of times the angular acceleration A has entered the predetermined range in a predetermined period is less than the reference value, the controller 8 determines that the variation of the angular acceleration A satisfies the predetermined stability standard. Judge.
- step S4 determines that the variation in the angular acceleration A satisfies a predetermined stability criterion (S4: Yes)
- the controller 8 then performs the process of step S5.
- the controller 8 determines that the variation in the angular acceleration A does not satisfy the predetermined stability criterion (S4: No)
- the controller 8 then performs the process of step S6.
- step S5 since the variation of the angular acceleration A satisfies the predetermined stability standard, the noise caused by running is small, and the sound generated by driving the sound generation device 12 is easily noticed by the driver. Therefore, in order to prevent the sound generated by the sound generation device 12 from causing discomfort to the driver, the controller 8 controls the sound generation device 12 so that the volume of the generated noise is reduced. .. For example, the controller 8 stops the engine 1 or reduces the rotation speeds of the air conditioner 121 and the fan 122. This is because, in the first stage of step S5, since the variation of the angular acceleration A satisfies the predetermined stability criterion (S4: Yes), the contact noise between the wheels 7 and the road surface is relatively small, and the vehicle 100 can travel. This is because it can be determined that the resulting noise is small.
- S4 predetermined stability criterion
- step S6 since the variation of the angular acceleration A does not satisfy the predetermined stability standard, the noise caused by the driving is large, and the sound generated by driving the sound generation device 12 is hard for the driver to notice. Therefore, since it is unlikely that the sound generated by the sound generation device 12 causes discomfort to the driver, the controller 8 controls the sound generation device 12 so that the volume of the generated noise is increased. ..
- the controller 8 drives the engine 1 to charge the battery 3, raises the drive level of the air conditioner 121, and increases the rotation speed of the fan 122.
- step S6 the controller 8 has a relatively loud contact noise between the wheels 7 and the road surface because the variation in the angular acceleration A does not satisfy the predetermined stability standard (S4: No), and the vehicle 100 travels. This is because it can be judged that the noise caused by the above is large.
- the controller 8 can raise the drive level of the air conditioner 121 to set the room temperature faster.
- the controller 8 can raise the drive level of the air conditioner 121 to set the room temperature faster.
- the controller 8 increases the rotation speed of the fan 122 when the fan 122 is used for cooling the high electric system.
- the cooling time of the battery 3 is shortened, the output is less likely to be limited, and deterioration of the strong electric system can be prevented.
- the warm-up time of the battery 3 is shortened, the output is less likely to be limited, and the internal resistance is lowered, so that the operating efficiency can be improved.
- FIG. 3 is a timing chart showing changes over time in the state of the vehicle 100 such as the angular velocity ⁇ of the wheels 7, the angular acceleration A, and the movement dispersion of the angular acceleration A.
- FIG. 3 an example in which the road surface on which the vehicle 100 travels is good is shown (FIGS. 3 (A1) to (A3)), and an example in which the road surface is in poor condition is shown on the right side of the figure (FIG. 3 (FIG. 3).
- the movement dispersion of (A1, B1) angular velocity ⁇ , (A2, B2) angular acceleration A, and (A3, C3) angular acceleration A is shown.
- FIGS. 3 (A1) and 3 (B1) it is difficult to distinguish the difference in the amount of change in the angular velocity ⁇ on both rough and good roads.
- the angular acceleration A obtained by differentiating the angular velocity ⁇ has an uneven portion on the traveling road surface on a rough road, and the convex portion is used as a wheel.
- the angular velocity ⁇ of the wheel 7 increases or decreases.
- the amount of change in the angular velocity ⁇ is small on both the bad road and the good road, and it is difficult to distinguish the difference between the two. Therefore, as shown in FIGS.
- the controller 8 obtains the movement variance of the angular acceleration A. Since the movement dispersion exceeds the dispersion threshold corresponding to the stability standard, it can be determined that the noise generated by the running of the vehicle 100 is large.
- the controller 8 may change the rotational speed of the engine 1 when idling. For example, when the controller 8 determines that the variation in the angular acceleration A satisfies a predetermined stability criterion (S4: Yes), it determines that the noise generated due to traveling is small, and sets the idling state during traveling. The rotation speed of the engine 1 during sailing idling is lowered.
- the controller 8 determines that the variation in the angular acceleration A does not satisfy the predetermined stability criterion (S4: No), the controller 8 determines that the noise caused by running is large, and determines that the engine 1 during sailing idling. Increase the rotation speed. By doing so, when the noise caused by running is large, it is possible to suppress the fuel consumption during sailing idling without impairing the comfort due to the engine noise.
- a torque converter which is a fluid coupling, may be provided at the connection between the engine 1 and the generator 2.
- the engine 1 and the generator 2 are locked up, and the engine 1 transmits torque to the generator 2.
- the torque fluctuation of the engine 1 is transmitted without being absorbed, so that the vibration and noise generated in the vehicle 100 become large.
- the noise caused by the engine 1 is relatively large, the noise caused by the lockup is difficult for the driver to notice even if the engine 1 is locked up when the rotation speed is lower.
- the controller 8 determines that the variation in the angular acceleration A satisfies the predetermined stability criterion (S4: Yes)
- the controller 8 sets the rotation speed of the engine 1 in a lock-up state in a relatively high state.
- the controller 8 determines that the variation in the angular acceleration A does not satisfy the predetermined stability criterion (S4: No)
- the controller 8 sets the rotation speed of the engine 1 in a relatively low state and releases the lockup.
- the controller 8 may change the torque output of the engine 1 at the time of warming up to drive the engine 1. For example, when the controller 8 determines that the fluctuation of the angular acceleration A satisfies a predetermined stability criterion (S4: Yes), the controller 8 reduces the torque of the engine 1 during warm-up. On the other hand, when the controller 8 determines that the variation in the angular acceleration A does not satisfy the predetermined stability criterion (S4: No), the controller 8 increases the torque of the engine 1 during warm-up.
- the noise generated during traveling in the vehicle 100 is due to the contact noise between the wheels 7 and the road surface. That is, when the speed of the vehicle 100 does not change much, the contact noise between the wheels 7 and the road surface becomes small and the noise becomes small. On the other hand, when the speed of the vehicle 100 changes, the contact noise between the wheels 7 and the road surface becomes louder.
- the controller 8 when the variation of the angular acceleration A satisfies a predetermined stability criterion (S4: Yes), the controller 8 makes noise generated due to the traveling of the vehicle 100. Is determined to be small, and the sound generation device 12 is controlled so that the volume of the generated sound becomes small (S5). On the other hand, when the fluctuation of the rotation speed does not satisfy the predetermined stability standard (S4: No), the controller 8 determines that the sound caused by running is loud, and sets the sound generation device 12 so that the volume becomes loud. Control (S6).
- the sound generated by the traveling of the vehicle 100 is relatively loud
- the sound generated by the sound generation device 12 is increased to generate the sound generated by the sound generation device 12 for the person in the vehicle interior. It's hard to notice and hear the noise.
- deterioration of comfortability can be suppressed, and the sound generation device 12 can be operated with a high load, so that the driving performance of the vehicle 100 can be improved.
- the noise caused by traveling is relatively small
- the sound generating device 12 is controlled so that the noise generated by the sound generating device 12 is reduced, so that the quietness in the vehicle interior can be maintained. In this way, the comfort in the vehicle interior can be improved.
- the wheel speed sensor 11 directly observes the state of the wheel 7 which is a source of road noise, and the state thereof is observed. Whether or not noise is generated is determined based on the observation results. In this way, since the state of the wheel 7 can be directly observed without going through a suspension or the like, when the wheel 7 travels on an undulating road, it becomes easier to detect the state of the wheel 7 overcoming the undulation. , It is possible to determine whether or not noise generated by the contact between the wheel 7 and the road surface is generated.
- the amplitude of the angular acceleration A can be used as a parameter indicating the variation of the angular acceleration A.
- the controller 8 determines that the noise caused by running is small, and the volume of the generated noise is small.
- the sound generation device 12 is controlled so as to be (S5).
- the controller 8 determines that the noise caused by running is large, and generates sound so that the volume of the generated noise becomes large.
- the device 12 is controlled (S6).
- the sound generation device 12 can be controlled according to the magnitude of the noise generated due to the traveling of the vehicle 100, so that the sound can be suppressed while suppressing the deterioration of the habitability in the vehicle interior.
- the drive level of the generation device 12 can be increased.
- the dispersion of the angular acceleration A can be used as a parameter indicating the variation of the angular acceleration A.
- the controller 8 controls the sound generation device 12 according to a predetermined condition
- the variance of the angular acceleration A is smaller than the threshold value indicating the predetermined stability reference (S4: Yes)
- the controller 8 determines that the noise caused by running is large, and generates sound so that the volume of the generated noise becomes large.
- the device 12 is controlled (S6).
- the sound generation device 12 can be controlled according to the magnitude of the noise generated due to the traveling of the vehicle 100, so that the sound can be suppressed while suppressing the deterioration of the habitability in the vehicle interior.
- the drive level of the generation device 12 can be increased.
- a general-purpose control method in the controller 8 can be used.
- FIG. 4 is a flowchart showing the control of the engine 1 in the second embodiment.
- steps S3A, S4A, S5A, and S6A are controlled instead of steps S3, S4, S5, and S6.
- step S3A the controller 8 obtains the variance of the angular acceleration A obtained in step S2.
- step S4A the controller 8 determines whether or not the variance obtained in step S3A is smaller than the variance threshold according to the stability criterion. Then, when the variance obtained in step S3A is smaller than the variance threshold value (S4A: Yes), the controller 8 determines that the noise caused by traveling is small, and proceeds to the process of step S5A. If the variance is not smaller than the variance threshold, the controller 8 determines that the noise caused by traveling is large (S4B: Yes), and proceeds to the process of step S6A.
- step S5A the controller 8 stops the engine 1. By this control, the engine sound cannot be heard from the engine 1.
- step S6A the controller 8 drives the engine 1 to charge the battery 3 with the electric power generated by the generator 2.
- the driving of the engine 1 produces an engine noise.
- the engine 1 when the noise caused by running is small, the engine 1 is not driven, so that no engine noise is generated and the quietness in the vehicle interior can be maintained.
- the noise caused by running when the noise caused by running is loud, the engine 1 can be driven to charge the battery 3, but since the running noise is loud and the driver is hard to notice the engine noise, the battery 3 can be charged. Even if this is done, the battery 3 can be charged without impairing comfort.
- the controller 8 determines that the noise caused by running is small, and determines that the noise caused by the running is small, and the engine Stop 1 (S5A).
- the controller 8 determines that the noise caused by the traveling is large and drives the engine 1 (S6A).
- FIG. 5 is a flowchart showing the control of the engine 1 in the third embodiment.
- step S5B is controlled instead of step S5A
- step S6B is controlled instead of step S6A.
- step S5B the controller 8 controls the engine 1 so that the rotational speed is reduced so that the generated engine noise is reduced, or the driving state of the engine 1 is not changed.
- the engine noise is controlled to be reduced, the electric power generated by the generator 2 is reduced and the engine noise from the engine 1 is reduced. Further, when the driving state of the engine 1 is not changed, the engine sound does not change.
- step S6B the controller 8 controls the engine 1 so that the rotation speed increases.
- the electric power generated by the generator 2 becomes large, and the engine noise from the engine 1 becomes large.
- the controller 8 increases the rotation speed so that the operating efficiency of the engine 1 is improved.
- FIG. 6 is a diagram showing an operating region corresponding to the operating point of the engine 1. This figure is used in the process of step 6B described above.
- the x-axis shows the rotation speed of the engine 1 and the y-axis shows the engine torque.
- the operating points at which the operating efficiencies of the engines 1 are equal are indicated by ellipses, and the operating efficiencies are at the highest level when the operating points are inside the ellipses indicated by the thick lines.
- the dotted line indicates the operating point with the lowest fuel consumption as the optimum fuel consumption line.
- step S6B the controller 8 changes the torque and the rotation speed of the engine 1 so as to pass through the optimum fuel consumption line shown in FIG.
- the controller 8 controls so that the rotational speed of the engine 1 does not change when the operating point of the engine 1 is in the maximum efficiency region.
- the engine 1 may be controlled at a high rotation speed exceeding the maximum efficiency region. By doing so, the rotation speed of the engine 1 can be controlled in consideration of fuel efficiency and efficiency.
- FIG. 7 is a timing chart showing the state of the engine 1 in the present embodiment.
- the volume inside is shown.
- the noise (background sound) caused by running is indicated by a dashed line.
- the control in the present embodiment is performed by the solid line, the engine sound of the engine 1 in the comparative example in which the rotation speed of the engine 1 is not changed by the dotted line is shown.
- the background sound shown in the room sound is noise caused by running, and therefore changes according to the angular velocity ⁇ and the angular acceleration A.
- the engine sound is smaller than the background sound, so that it is difficult for the driver to hear and comfort is maintained.
- the engine sound is lower than the background sound, the engine sound is also difficult for the driver to hear, so that comfort can be maintained.
- the charge amount of the battery 3 can be increased by increasing the driving opportunity of the engine 1 while maintaining the same comfort as in the comparative example.
- the controller 8 determines that the noise caused by running is small when the variance of the angular acceleration A is smaller than the variance threshold value (S4A: Yes).
- the rotation speed of the engine 1 is reduced (S5B).
- the controller 8 determines that the noise caused by running is large, and increases the rotational speed of the engine 1 (S6B). ..
- the controller 8 controls so that the operating efficiency of the engine 1 is optimized.
- the rotation speed of the engine 1 becomes small and the engine noise becomes small. Therefore, the battery 3 can be charged to some extent while maintaining comfort. Can be done.
- the noise caused by running is relatively loud, even if the drive level of the engine 1 is increased, it is difficult to hear the engine noise, so that comfort can be maintained, and the rotation speed of the engine 1 increases and the battery 3 The amount of charge increases. Further, when the rotation speed of the engine 1 is increased, the control is performed so that the operating efficiency of the engine 1 is optimized, so that the fuel efficiency can be improved.
- FIG. 8 is a diagram showing control of the engine 1 in the fourth embodiment.
- steps S41C and S42C are controlled instead of step S4
- step S5C is controlled instead of step S5
- steps S61C and S62C are controlled instead of step S6.
- step S41C the controller 8 determines whether or not the variance of the angular acceleration A of the engine 1 is below the first threshold value.
- the first threshold value is a threshold value for determining the control of the first stage for controlling the drive / stop of the engine 1.
- the controller 8 then performs the process of step S5C.
- the controller 8 then performs the process of step S42C.
- step S42C the controller 8 determines whether or not the variance of the angular acceleration A falls below the second threshold value, which is larger than the first threshold value.
- the second threshold value is a threshold value for determining the second stage control for controlling the high / low rotation speed of the engine 1.
- the controller 8 then performs the process of step S61C.
- the controller 8 then performs the process of step S62C.
- step S5C the controller 8 stops the engine 1. Therefore, the engine sound from the engine 1 is stopped.
- step S61C the controller 8 drives the engine 1 at the first rotation speed. Therefore, the engine sound of the engine 1 is generated.
- step S62C the controller 8 drives the engine 1 at a second rotation speed higher than the first rotation speed. Therefore, the engine 1 produces a louder engine noise than that of step S61C.
- FIG. 9 is a time chart showing a state change of the vehicle 100 in this embodiment.
- (A) angular velocity ⁇ , (B) SOC of battery 3, (C) rotational speed of engine 1, (D) angular acceleration A, (E) dispersion value of angular acceleration A, and ( F) Noise in the passenger compartment is shown.
- the noise in the vehicle interior F
- the running noise corresponding to the rotation speed of the engine 1 is indicated by a chain line.
- the controller 8 shall perform the control shown in FIG.
- FIG. 10 is a flowchart showing the control of the engine 1 in the comparative example.
- the controller 8 controls the engine 1 according to the SOC of the battery 3.
- step S101 the controller 8 determines whether or not the SOC of the battery 3 is smaller than the charging start threshold value which is a reference for starting charging.
- step S101: Yes If the SOC is smaller than the charging start threshold value (S101: Yes), the controller 8 then proceeds to step S103. On the other hand, if the SOC is not smaller than the charging start threshold value (S101: No), the controller 8 then proceeds to step S102.
- step S102 the controller 8 determines whether or not the SOC is equal to or higher than the charging stop threshold value which is a reference for stopping charging.
- step S102 If the SOC is equal to or higher than the charge stop threshold value (S102: Yes), the controller 8 then proceeds to step S103. On the other hand, when the SOC is smaller than the charge stop threshold value (S102: No), the controller 8 then proceeds to step S105.
- step S103 and S105 the controller 8 drives the engine 1. As a result, the generator 2 operates and the battery 3 is charged.
- step S104 the controller 8 stops the engine 1. As a result, charging of the battery 3 is stopped.
- FIG. 11 is a time chart showing the state of the vehicle 100 in the comparative example.
- the value and (F) the noise in the vehicle interior are shown.
- (F) noise in the passenger compartment the running noise according to the rotation speed is indicated by the alternate long and short dash line.
- (D) vertical vibration shall be acquired by the acceleration sensor attached to the vehicle body. Since there is a suspension between the wheel 7 and the vehicle body, the accelerometer cannot directly observe the vertical vibration of the wheel 7, and (D) the vertical vibration does not change significantly at all times.
- the rotation speed of the engine 1 is switched in two steps, so that the loudness of the engine sound is further brought closer to the running sound. be able to. Therefore, it is possible to increase the driving opportunity of the engine 1 while maintaining the comfort, so that the charge amount of the battery 3 can be increased.
- the dispersion threshold value according to the stability criterion used in the determination in step S4A is determined according to the SOC of the battery 3.
- FIG. 14 shows the variance threshold value according to the stability criterion.
- the variance threshold is determined according to the vehicle speed.
- the variance threshold is composed of a low speed region and a high speed region. In the low speed region, the variance threshold decreases with increasing vehicle speed. In the high speed region, the variance threshold increases with increasing vehicle speed.
- the dispersion threshold is increased as the vehicle speed increases.
- the noise caused by traveling tends to be significantly reduced, so that the dispersion threshold value is increased as the vehicle speed decreases.
- step S121 the controller 8 determines whether or not the SOC is larger than the third threshold value Th3.
- the third threshold value Th3 is a value at which it can be determined that the SOC of the battery 3 does not need to be charged sufficiently large. Then, when the SOC is larger than the third threshold value Th3 (S121: Yes), the controller 8 determines that the need to charge the battery 3 is low, and then performs the process of step S122. If the SOC is not greater than the third threshold Th3 (S121: No), the controller 8 then performs the process of step S123.
- step S122 the controller 8 changes to a larger value by adding an offset value to the variance threshold value, as shown in FIG.
- the SOC is larger than the appropriate upper limit value (S121: Yes)
- the SOC is large and the need to charge the battery 3 is low, so a correction is made to increase the threshold value. Therefore, in the process of step S4A in the subsequent stage, the variance tends to be smaller than the variance threshold value (S4A: Yes), and the engine 1 tends to stop (S5A), so that the increase in SOC is suppressed.
- step S123 the controller 8 determines whether or not the SOC is smaller than the fourth threshold value Th4.
- the fourth threshold value Th4 is a value at which it can be determined that the SOC of the battery 3 is relatively small and it is highly necessary to charge the battery. Then, when the SOC is smaller than the fourth threshold value Th4 (S122: Yes), the controller 8 determines that it is highly necessary to charge the battery 3, and then performs the process of step S124. If the SOC is not smaller than the fourth threshold Th4 (S122: No), the controller 8 then performs the process of step S125.
- step S124 the controller 8 changes to a smaller value by reducing the offset value with respect to the variance threshold, as shown in FIG.
- the SOC is smaller than the appropriate lower limit value (S123: Yes)
- the SOC is small and the battery 3 needs to be charged. Therefore, the threshold value is reduced in this way. Therefore, in the process of step S4A in the subsequent stage, the variance is less likely to be smaller than the variance threshold value (S4A: No), and the engine 1 is easily driven (S6A), so that the increase in SOC is promoted.
- step S124 the controller 8 does not correct the dispersion threshold value by using the reference value shown in FIG. 15 as the threshold value. By controlling in this way, the need for charging differs depending on the remaining amount of the battery 3, so that the engine 1 can be driven and stopped more appropriately.
- the dispersion threshold value is changed according to the SOC of the battery 3, but the present invention is not limited to this.
- the dispersion threshold is reduced to drive the engine 1. It may be easier to do.
- the dispersion threshold is increased to drive the engine 1. It may be difficult to do.
- the controller 8 when the controller 8 has a third threshold value Th3, which indicates that the SOC of the battery 3 is a sufficient amount, is larger than (S121: Yes), the battery 3 needs to be charged. Since it is low, the variance threshold is increased in order to tighten the stability criteria (S122). By doing so, the engine 1 is likely to stop, so that fuel efficiency can be improved.
- the SOC of the battery 3 is smaller than the fourth threshold Th4 indicating that the SOC of the battery 3 is relatively low (S124: Yes)
- the controller 8 is stable because the need for charging the battery 3 is high.
- the variance threshold is reduced to relax the criterion (S122). By doing so, the engine 1 can be easily driven, and the battery 3 can be prevented from becoming empty.
- the dispersion threshold value is changed according to the SOC of the battery 3, but the present invention is not limited to this.
- the dispersion threshold value may be changed according to the amount of steering operation and the vehicle speed. Therefore, a sensor is provided on the steering wheel, and the controller 8 receives an input of an operation amount from the sensor.
- FIG. 16 is a flowchart showing the control of the engine 1 in the sixth embodiment. As shown in this figure, the basic flowchart is the same as the flowchart of the second embodiment shown in FIG. 4, except that the process of step S161 is performed between steps S3A and S4A.
- step S161 the controller 8 determines the correction coefficient with reference to the table shown in FIG. 16 according to the vehicle speed and the steering angle and speed, and sets the correction coefficient with respect to the dispersion value calculated in step S3A.
- the variance threshold is corrected by multiplying.
- FIG. 17 is a table showing the correction coefficients used for the correction in step S161.
- correction coefficients corresponding to the steering angle ( ⁇ ) and the steering speed ( ⁇ / S) are shown at each of the vehicle speeds of 20 km / h, 40 km / h, and 60 km / h.
- the correction coefficient is 1 when the steering angle is zero or when the steering speed ( ⁇ / S) is zero. This indicates that there is no need to make corrections when the steering operation is not performed.
- the correction coefficient becomes smaller as the steering angle becomes larger and the turning radius becomes smaller, and as the steering speed becomes larger and the steering wheel operating speed becomes faster.
- the wheels 7 slip slightly as compared with the case where the steering operation is not performed, and therefore, when the wheels 7 get over the convex portion on an uneven road surface, the wheels 7 slip.
- the dispersion of the angular acceleration A of the wheel 7 tends to be large. Therefore, when the steering operation is performed, the engine sound generated from the engine 1 can be appropriately controlled according to the noise caused by running by multiplying the angular acceleration A by a correction coefficient smaller than 1. it can.
- the larger the vehicle speed the smaller the correction coefficient. That is, regardless of the presence or absence of steering operation, the higher the traveling speed, the larger the dispersion of the angular acceleration A of the wheels 7 when the wheels 7 get over the convex portion, so that the angular acceleration A is reduced to drive the engine 1. It may be easier to do.
- the correction coefficient is multiplied by the variance threshold value, but the dispersion value of the angular acceleration A may be multiplied by the correction coefficient. In that case, unlike the present embodiment, the correction coefficient becomes larger than 1.
- the noise generated in response to the angular acceleration A changes according to the steering operation.
- the controller 8 may correct the threshold using parameters other than steering and vehicle speed.
- the threshold value may be corrected by using parameters that affect noise caused by running, such as tire pressure, type, deterioration degree, outside air temperature, road surface condition, and vehicle weight.
- the sound generating device 12 control relating to a device that generates noise such as an engine 1, an air conditioner 121, and a fan 122 has been described, but the present invention is not limited to this.
- the sound generation device 12 may generate a notification sound for the driver.
- FIG. 18 is a schematic configuration diagram of the seventh embodiment.
- the sound generation device 12 further includes a navigation system 123, audio 124, and a running sound generator 125.
- the navigation system 123 notifies the driver of the guidance of the traveling route.
- the audio 124 sounds music or the like selected by the driver.
- the running sound generator 125 is a device that intentionally sounds a sound simulating the driving sound of the engine 1 in order to notify a person around the vehicle 100 that the vehicle is running. In particular, the present embodiment. It is used in a vehicle 100 driven by a motor 4 such as.
- the sound generation device 12 that generates such a notification sound, by controlling the first embodiment shown in FIG. 2, the variation of the angular acceleration A is small and the stability criterion is satisfied (S4: Yes).
- the sound generation device 12 is controlled so that the notification sound becomes small (S5).
- the angular acceleration A varies widely and does not satisfy the stability criterion (S4: No) and the noise caused by traveling is large
- the sound generation device 12 is controlled so that the notification sound becomes loud (S6).
- the sound generation device 12 generates sound so that the notification sound becomes louder than the noise when the angular acceleration A varies greatly and does not satisfy the stability standard (S4: No) and the noise caused by running is large. Control device 12.
- the notification sound required for the driver and the people around the vehicle 100 is loud (S6), and when the noise is low, the notification sound is loud. (S4: Yes), the notification sound required for the driver and people around the vehicle 100 is controlled to be small (S5). By controlling in this way, the notification sound can be transmitted to the driver in the vehicle interior, the pedestrian near the vehicle 100, and the like at an appropriate volume with respect to the volume of the noise caused by the traveling.
- the volume of the notification sound becomes loud. Therefore, by determining the volume of noise caused by running according to the variation of the angular acceleration A, the volume of the notification sound can be changed mainly according to the influence of road noise, so that for a person in the vehicle interior. , The notification sound can be controlled to a more appropriate volume.
- the volume of the generated sound of the sound generation device 12 is controlled according to the variation of the angular acceleration A, but the present invention is not limited to this. Further, in the sixth embodiment, as shown in FIG. 17, the correction coefficient was changed according to the vehicle speed. In the present embodiment, the volume of the generated sound of the sound generation device 12 may be controlled according to the vehicle speed (angular velocity ⁇ ) by yet another method.
- FIG. 19 is a flowchart showing the control of the sound generation device 12 of the present embodiment.
- the determination of step S191 is further made between the processes of step S3 and step S4.
- step S191 the controller 8 determines whether or not the angular velocity ⁇ indicating the rotational speed of the wheel 7 obtained in step S2 is smaller than a predetermined threshold value.
- the angular velocity ⁇ is a parameter that determines the speed of the vehicle 100, and the vehicle speed has a high correlation with the wind noise generated in the vehicle body. Therefore, by adding a process according to the angular velocity ⁇ , the sound generation device 12 can be controlled in consideration of the influence of wind noise and the like.
- the controller 8 determines that the generation of wind noise is small, and proceeds to the process of step S5. If the angular velocity ⁇ is not smaller than the threshold value (S191: No), the controller 8 determines that the generation of wind noise is small, and proceeds to the process of step S6. By doing so, parameters that affect the vehicle speed, such as the angular velocity ⁇ , are taken into consideration instead of the variation in the angular acceleration A. Therefore, the sound generation device 12 takes into consideration the loudness of the wind noise determined according to the vehicle speed. Can be controlled.
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Abstract
Description
図1は、本発明の第1実施形態に係る車両の構成を示すブロック図である。
第2実施形態においては、音生成デバイス12がエンジン1である場合における、エンジン1の具体的な制御例について説明する。
第3実施形態においては、音生成デバイス12がエンジン1である場合における、エンジン1の他の制御例について説明する。
第4実施形態においては、音生成デバイス12がエンジン1である場合において、エンジン1を2段階で制御する例について説明する。なお、この制御においては、エンジン1の駆動/停止を制御する第1段階と、エンジン1の回転数の高/低を制御する第2段階とにおいてなされる。
第5実施形態においては、コントローラ8が、エンジン1の停止/駆動の判断に用いる閾値を変更する例について説明する。本実施形態においては、SOCが比較的大きく充電をする必要性が低い場合にはエンジン1を駆動しにくくし、SOCが比較的小さく充電をする必要性が低い場合には、エンジン1を駆動しやすくすることが行われる。
第5実施形態においては、バッテリ3のSOCに応じて分散閾値を変化させたが、これに限らない。例えば、ステアリングの操作量、及び、車速に応じて分散閾値を変化させてもよい。そのため、ステアリングにはセンサが設けられており、コントローラ8は、当該センサから操作量の入力を受け付ける。
コントローラ8は、ステアリングや車速以外のパラメータを用いて、閾値を補正してもよい。例えば、タイヤの空気圧、種類、劣化度や、外気温や路面状態、車重などの、走行に起因する騒音に影響を与えるパラメータを用いて閾値を補正してもよい。このように構成することで、より適切に、エンジン1などの音生成デバイスにより生成される音の音量を、走行に起因する騒音に応じて制御することができる。
第1乃至第6実施形態においては、音生成デバイス12として、エンジン1、エアコン121、及び、ファン122などの騒音が生成されるデバイスに関する制御について説明したが、これに限らない。音生成デバイス12は、運転者に対する報知音を生成するものであってもよい。
第1乃至第7実施形態においては、角加速度Aのばらつきに応じて音生成デバイス12の生成音の音量を制御したが、これに限らない。また、第6実施形態においては、図17に示されるように、車速に応じて補正係数を変更した。本実施形態では、さらに別の方法によって、車速(角速度ω)に応じて音生成デバイス12の生成音の音量を制御してもよい。
Claims (11)
- 車輪と、前記車輪の回転速度を取得するセンサと、音生成デバイスであって、当該音生成デバイスの駆動とともに音が生成される音生成デバイスと、を備える車両の制御方法であって、
前記センサにより取得される前記回転速度から、前記車輪の角加速度を求め、
条件が満たされる場合に、生成される音が大きくなるように前記音生成デバイスを制御し、
前記角加速度が大きい場合は、前記条件に含まれる、車両の制御方法。 - 請求項1に記載の車両の制御方法であって、
前記角加速度の振幅が振幅閾値を上回る場合は、前記条件に含まれる、車両の制御方法。 - 請求項1または2に記載の車両の制御方法であって、
前記角加速度の分散が分散閾値を上回る場合は、前記条件に含まれる、車両の制御方法。 - 請求項1から3のいずれか1項に記載の車両の制御方法であって、
前記車両は、さらに、
前記車輪を駆動させるモータと、
前記モータに電力を供給するバッテリと、
電力を生成し、生成した電力を前記バッテリに充電させる発電機と、
前記発電機を回転駆動させるエンジンと、を備え、
前記音生成デバイスは、前記エンジンであり、
前記条件が満たされる場合に、エンジン回転速度が大きくなるように前記エンジンを制御する、車両の制御方法。 - 請求項4に記載の車両の制御方法であって、
エンジン駆動条件が満たされる場合に、前記エンジンは駆動し、
前記エンジン駆動条件は、前記角加速度のばらつきが大きい場合を含む、車両の制御方法。 - 請求項4に記載の車両の制御方法であって、
前記エンジンの運転効率が最適となる状態を維持しながら、前記エンジンの回転速度が大きくなるように前記エンジンを制御する、車両の制御方法。 - 請求項4または6に記載の車両の制御方法であって、
前記バッテリの容量が大きい場合には、前記バッテリの容量が小さい場合よりも、前記条件に含まれる場合における前記角加速度がより大きい、車両の制御方法。 - 請求項1から3のいずれか1項に記載の車両の制御方法であって、
前記音生成デバイスは、前記車両の内外にいる人の少なくとも一方に対する報知音を生成する装置である、車両の制御方法。 - 請求項1から8のいずれか1項に記載の車両の制御方法であって、
さらに、走行に起因する騒音の大きさに影響するパラメータに応じて、前記条件を変更する、車両の制御方法。 - 請求項1から9のいずれか1項に記載の車両の制御方法であって、
前記車両は、前記車輪の操作に用いられるステアリングを有し、
さらに、前記ステアリングの操作量が大きい場合には、前記角加速度が小さくなるように補正する、車両の制御方法。 - 車輪と、前記車輪の回転速度を取得するセンサと、音生成デバイスであって、当該音生成デバイスの駆動とともに音が生成される音生成デバイスと、コントローラと、を備える車両の制御装置であって、
前記コントローラは、
前記センサにより取得される前記回転速度から、前記車輪の角加速度を求め、
条件が満たされる場合に、生成される音が大きくなるように前記音生成デバイスを制御し、
前記角加速度が大きい場合は、前記条件に含まれる、車両の制御装置。
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