WO2022201261A1 - 駆動力制御方法及び駆動力制御装置 - Google Patents
駆動力制御方法及び駆動力制御装置 Download PDFInfo
- Publication number
- WO2022201261A1 WO2022201261A1 PCT/JP2021/011800 JP2021011800W WO2022201261A1 WO 2022201261 A1 WO2022201261 A1 WO 2022201261A1 JP 2021011800 W JP2021011800 W JP 2021011800W WO 2022201261 A1 WO2022201261 A1 WO 2022201261A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pitch rate
- driving force
- vehicle
- acceleration
- force control
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 88
- 230000001133 acceleration Effects 0.000 claims abstract description 213
- 238000009826 distribution Methods 0.000 claims abstract description 31
- 230000008859 change Effects 0.000 claims description 80
- 230000003247 decreasing effect Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 4
- 230000001629 suppression Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 46
- 238000012545 processing Methods 0.000 description 19
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001747 exhibiting effect Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/16—Pitch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
Definitions
- the present invention relates to a driving force control method and a driving force control device.
- JP2007-118898A a pitch rate (pitch angular velocity) corresponding to a change in the pitch angle around the center of gravity corresponding to a change in the attitude of the vehicle when passing over a step on the road surface is detected, and the detected pitch rate is reduced.
- a braking/driving force control device that applies different braking/driving forces to front and rear wheels has been proposed.
- the pitch rate is adjusted regardless of the magnitude of the longitudinal acceleration (hereinafter also referred to as "requested acceleration") required for the vehicle.
- a braking/driving force is applied to suppress the For this reason, the actual driving force of the vehicle may be smaller than the driving force appropriate for the required acceleration from the viewpoint of realizing suitable vehicle characteristics (power consumption or fuel consumption characteristics, power characteristics, slip characteristics, etc.). .
- the actual driving force becomes insufficient with respect to the required acceleration, and the feeling of acceleration that the vehicle occupant feels decreases, which may give the occupant a sense of discomfort.
- driving force distribution to each of the first drive source connected to the front wheels and the second drive source connected to the rear wheels is controlled so that the pitch angle of the vehicle behaves as desired.
- a driving force control method is provided.
- the pitch rate at the start of the vehicle is set to a corrected pitch rate that is larger or smaller than the basic pitch rate, and the basic pitch rate is determined according to the basic driving force distribution for obtaining desired vehicle characteristics.
- the corrected pitch rate is determined to adjust the acceleration feel of the vehicle occupants in response to changes in the requested acceleration of the vehicle.
- FIG. 1 is a diagram illustrating the configuration of a vehicle in which a driving force control method according to an embodiment of the invention is executed.
- FIG. 2 is a block diagram illustrating the functional configuration of a driving force control device that executes the driving force control method.
- FIG. 3 is a diagram for explaining the pitch motion of the vehicle.
- FIG. 4A is a flow chart illustrating adjustment processing I.
- FIG. 4B is a flowchart illustrating adjustment processing II.
- FIG. 4C is a flow chart illustrating adjustment processing III.
- FIG. 5A is a map showing an example of vehicle operating points when the corrected pitch rate of adjustment process I is set.
- FIG. 5B is a map showing an example of vehicle operating points when the corrected pitch rate of adjustment process II is set.
- FIG. 5A is a map showing an example of vehicle operating points when the corrected pitch rate of adjustment process I is set.
- FIG. 5B is a map showing an example of vehicle operating points when the corrected pitch rate of adjustment process II is set.
- FIG. 5C is a map showing an example of vehicle operating points when the corrected pitch rate of adjustment process III is set.
- FIG. 6 is a time chart showing control results by the driving force control method of the first embodiment.
- FIG. 7 is a time chart showing the control results of adjustment processing III of the second embodiment.
- FIG. 8 is a flow chart for explaining the driving force control method of the third embodiment.
- FIG. 9 is a time chart showing an example of control results when the control of the third embodiment is applied.
- FIG. 10 is a flow chart for explaining the driving force control method of the fourth embodiment.
- FIG. 1 is a diagram illustrating the configuration of a vehicle 100 in which the driving force control method of this embodiment is executed.
- the vehicle 100 of the present embodiment is assumed to be an electric vehicle or a hybrid vehicle that is provided with a drive motor 10 as a drive source and that can run with the driving force of the drive motor 10 .
- the drive motor 10 includes a front wheel motor 10f as a first electric motor provided at a front position (hereinafter referred to as "front wheel side") of the vehicle 100 for driving the front wheels 11f, and a rear wheel motor 10f (hereinafter referred to as “rear wheel side”). ) and a rear wheel motor 10r as a second electric motor for driving the rear wheels 11r.
- the front wheel motor 10f is configured as a three-phase AC motor.
- the front wheel motor 10f receives electric power from a battery as a power source and generates driving force.
- the driving force generated by the front wheel motor 10f is transmitted to the front wheels 11f via the front wheel transmission 16f and the front wheel drive shaft 21f.
- the front wheel motor 10f converts regenerative driving force generated when the front wheel 11f rotates while the vehicle 100 is running, into AC power.
- the electric power supplied to the front wheel motor 10f is adjusted by the front wheel inverter 12f.
- the front wheel inverter 12f provides a total driving force (hereinafter also referred to as “total required driving force F fr ”) required for the vehicle 100 and a driving force (hereinafter referred to as “front wheel driving force F f ”) drives the front wheel motor 10f.
- the rear wheel motor 10r is configured as a three-phase AC motor.
- the rear wheel motor 10r receives power supply from a battery as a power source and generates driving force.
- a driving force generated by the rear wheel motor 10r is transmitted to the rear wheel 11r via the rear wheel transmission 16r and the rear wheel drive shaft 21r.
- the rear wheel motor 10r converts regenerative driving force generated when the vehicle 100 is driven and rotated by the rear wheels 11r into AC power.
- the electric power supplied to the rear wheel motor 10r is adjusted by the rear wheel inverter 12r.
- the rear-wheel inverter 12r drives the rear-wheel motor 10r with a driving force (hereinafter also referred to as "rear-wheel driving force Fr ”) based on the total required driving force Ffr and the distribution ratio ⁇ determined for the rear-wheel motor 10r. drive.
- a driving force hereinafter also referred to as "rear-wheel driving force Fr ”
- the vehicle 100 is provided with a controller 50 as a driving force control device that controls the driving force distribution of the vehicle 100 (that is, the front wheel driving force F f and the rear wheel driving force F r ) based on various input information. It is, the front wheel driving force F f and the rear wheel driving force F r ) based on various input information. It is
- the controller 50 is composed of a computer having a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input/output interface (I/O interface). It is programmed to perform each process. In particular, the functionality of controller 50 may be located external to any on-board computer and/or vehicle 100 such as a vehicle controller (VCM), vehicle motion controller (VMC), and motor controllers. It can be implemented by a computer. Note that the controller 50 may be implemented by a single piece of computer hardware, or may be implemented by distributing various processes using a plurality of pieces of computer hardware.
- the various input information (estimated value or detected value) input to the controller 50 includes an operation amount (hereinafter also referred to as “accelerator opening APO”) for an accelerator pedal mounted on the vehicle 100, a pitch angle ⁇ , and Acceleration in the longitudinal direction of vehicle 100 (hereinafter also referred to as “longitudinal acceleration a”) is included.
- the input information may include the steering angle of the vehicle 100, the slope angle of the road on which the vehicle 100 is running, the friction (road surface ⁇ ) on the road on which the vehicle 100 is running, and/or the remaining charge of the battery mounted on the vehicle 100.
- SOC State of charge
- the accelerator opening APO in this embodiment is a parameter representing the value of the longitudinal acceleration a required of the vehicle 100 .
- ADAS Advanced Driver Assistance Systems
- AD Automatic Driving
- the value of the required longitudinal acceleration a is determined based on the commanded driving force. Therefore, hereinafter, this is collectively expressed as “requested acceleration a fr ".
- controller 50 The functions of the controller 50 will be described in more detail below.
- FIG. 2 is a block diagram explaining the configuration of the controller 50. As shown in FIG. As illustrated, the controller 50 has a total required driving force calculation section 52 , a basic driving force distribution section 53 , a required acceleration change rate calculation section 55 and a pitch rate adjustment section 56 .
- a total required driving force calculation unit 52 receives other parameters such as the accelerator opening APO and appropriate vehicle speed, and calculates a total required driving force Ffr , which is the sum of the driving forces required for the vehicle 100 .
- the total required driving force calculation unit 52 reads from any memory a predetermined map that defines an appropriate total required driving force Ffr according to the accelerator opening APO and vehicle speed, and calculates the input accelerator opening APO and vehicle speed. By applying this to the map, the total required driving force Ffr can be calculated.
- the total required driving force calculation unit 52 then outputs the calculated total required driving force F fr to the basic driving force distribution unit 53 .
- the basic driving force distribution unit 53 receives the total required driving force F fr from the total required driving force calculation unit 52, and calculates a basic value of the front wheel driving force F f from a predetermined basic distribution ratio ⁇ b (hereinafter referred to as “basic front wheel driving force F f_b ”) and a basic value of the rear wheel driving force F r (hereinafter also referred to as “basic rear wheel driving force F r_b ”).
- basic allocation ratio ⁇ b is a basic value of allocation ratio ⁇ that is determined by experiments, simulations, or the like so that the vehicle characteristics of vehicle 100 take on desired characteristics.
- vehicle characteristics used in the present embodiment mainly include characteristics related to the efficiency of energy consumed in operations such as running of the vehicle 100 (fuel consumption performance or electricity consumption performance), characteristics (slip performance) related to the difficulty of slipping, and followability (power performance) of the longitudinal acceleration a with respect to the required acceleration afr .
- a specific value for the basic distribution ratio ⁇ b can be changed as appropriate depending on the specifications of the vehicle 100 and the driving scene.
- the basic distribution ratio ⁇ b can be set to 50 (front wheels):50 (rear wheels).
- the basic value of the pitch angle ⁇ of the vehicle 100 hereinafter also referred to as “basic pitch angle ⁇ _b * ”
- the basic value of the pitch rate ⁇ (hereinafter also referred to as “basic pitch rate ⁇ _b * ”) is determined. The significance of the pitch angle ⁇ and the pitch rate ⁇ in this embodiment will be explained.
- FIG. 3 is a diagram schematically showing the pitch motion of vehicle 100.
- the pitch angle ⁇ in the present embodiment is defined as displacement in the pitch direction (rotational direction about an axis passing through the center of gravity G and extending in the vehicle width direction) with respect to the horizontal direction around the center of gravity G of the vehicle 100 .
- the sign of the pitch angle ⁇ is set so that the direction in which the front wheels 11f of the vehicle 100 are lifted (nose-up direction) is positive, and the direction in which the rear wheels 11r are lifted (nose-down direction) is set to be negative.
- the pitch rate ⁇ is defined as the time rate of change of this pitch angle ⁇ (that is, the pitch angular velocity).
- the pitch angle .theta. and the pitch rate .omega. change according to the distribution ratio .kappa.
- the pitch angle ⁇ and the pitch rate ⁇ can be controlled by manipulating the respective magnitudes (driving force distribution) of the front wheel driving force Ff and the rear wheel driving force Fr.
- the basic driving force distribution unit 53 outputs the calculated basic front wheel driving force F f_b and basic rear wheel driving force F r_b to the pitch rate adjusting unit 56 .
- a requested acceleration change rate calculation unit 55 receives the requested acceleration a fr (accelerator opening APO) and calculates a requested acceleration change rate j fr . Specifically, the requested acceleration change rate calculator 55 obtains the change amount of the requested acceleration afr per predetermined control period as the requested acceleration change rate jfr . Then, the requested acceleration change rate calculator 55 outputs the obtained requested acceleration change rate j fr to the pitch rate adjuster 56 .
- the pitch rate adjustment unit 56 receives the longitudinal acceleration a, the required acceleration a fr , the required acceleration change rate j fr , the basic front wheel driving force F f_b , and the basic rear wheel driving force F r_b as input information. Based on the required acceleration afr and the required acceleration change rate jfr , the pitch rate adjustment unit 56 controls the corrected front wheel drive force F f_c and the corrected rear wheel drive force F f_c to be set under predetermined conditions described later when the vehicle 100 starts moving. Find the force Fr_c . In particular, the pitch rate adjustment unit 56 executes adjustment processes I to III for determining the corrected pitch rate ⁇ _c * , which will be described later.
- the pitch rate adjustment unit 56 adjusts the front wheel driving force F f and the rear wheel driving force F r in the case where the pitch rate ⁇ is matched with the corrected pitch rate ⁇ _c * obtained by the adjustment processing, respectively, to the corrected front wheel driving force F f_c and corrected rear wheel driving force Fr_c .
- the pitch rate adjusting unit 56 calculates a corrected front wheel driving force F f_c and a corrected rear wheel driving force F r_c for bringing the pitch rate ⁇ closer to the corrected pitch rate ⁇ _c * when the vehicle 100 starts moving. More specifically, when the pitch angle ⁇ is decreased (when the vehicle 100 is moved nose down), the pitch rate adjustment unit 56 adjusts the corrected front wheel driving force F f_c so that the corrected pitch rate ⁇ _c * becomes a negative value. and the corrected rear wheel driving force Fr_c . More specifically, when the anti-dive angle ⁇ of the front suspension of the vehicle 100 is negative (that is, when the front suspension has a downward shape toward the front wheels 11f when viewed from the side of the vehicle 100), corrected front wheel drive is performed.
- the pitch rate adjustment unit 56 adjusts the corrected front wheel driving force F f_c and the corrected front wheel driving force F f_c so that the corrected pitch rate ⁇ _c * becomes a positive value.
- a rear wheel driving force Fr_c is calculated.
- the corrected front wheel driving force F f_c is set to increase and/or the corrected rear wheel drive force F r_c is set to decrease so that the corrected pitch rate ⁇ _c * becomes a positive value (nose up).
- the corrected front wheel may be changed as appropriate depending on the difference in the structure of the vehicle 100 (particularly, the difference in the sign of the anti- dive angle ⁇ ).
- the pitch rate adjusting unit 56 outputs the corrected front wheel driving force F f_c and the corrected rear wheel driving force F r_c to the front wheel inverter 12 f and the rear wheel inverter 12 r under predetermined conditions described later.
- the pitch rate adjusting unit 56 outputs the basic front wheel driving force F f_b and the basic rear wheel driving force F r_b to the front wheel inverter 12f and the rear wheel inverter 12r, respectively, except under the predetermined conditions.
- control described below assumes an acceleration scene (longitudinal acceleration a>0) when the vehicle 100 starts moving. However, the following control can also be applied to a deceleration scene (longitudinal acceleration a ⁇ 0) with some modifications. In this case, it is particularly preferable to use the absolute values of the required acceleration a fr and the required acceleration change rate j fr when comparing the required acceleration a fr and the required acceleration change rate j fr with the threshold values described later.
- any one of adjustment process I, adjustment process II, and adjustment process III described in the flowcharts of FIGS. 4A to 4C below is selectively executed.
- the controller 50 (particularly the pitch rate adjustment unit 56) repeatedly executes one of the routines shown in the flowcharts of FIGS. 4A to 4C at predetermined calculation intervals with the start time of the vehicle 100 as a base point.
- FIG. 4A is a flow chart illustrating adjustment processing I.
- steps S100 to S120 are executed.
- step S100 the controller 50 determines whether or not the requested acceleration afr exceeds a predetermined acceleration threshold ath .
- the acceleration threshold a th is whether or not the required acceleration a fr is large enough for the occupant to desire a feeling of acceleration of the vehicle 100 above a certain level (for example, if the accelerator pedal operation amount by the driver is above a certain level). It is determined from the viewpoint of judging whether there is
- the acceleration threshold a th can be determined in advance by experiment or simulation.
- the specific value of the acceleration threshold a th can be changed variously and is not limited to a specific value, but can be set to about 0.2G as an example.
- the sense of acceleration of the occupant of the vehicle 100 means the occupant's subjective sensitivity to the degree of followability of the actual longitudinal acceleration a to the required acceleration afr . That is, although the criteria for the intensity of the sense of acceleration largely depend on individual differences, they are correlated at least with the magnitude of the longitudinal acceleration a (magnitude of the inertial force acting on the occupant due to the longitudinal acceleration a). As a result of diligent study, the present inventors focused on this point and appropriately adjusted the rate of change of the pitch angle ?
- the purpose of the determination in step S100 is to estimate whether or not the occupant desires a strong sense of acceleration above a certain level by comparing the magnitude of the requested acceleration afr and the acceleration threshold ath . More specifically, for example, when an occupant (particularly a driver) manually operates the vehicle 100 (accelerator operation), the magnitude of the required acceleration a fr (accelerator opening APO) is substantially can be said to directly reflect the driver's own intention to accelerate. Therefore, in a situation where the requested acceleration afr is large, it can be inferred that the occupant of the vehicle 100 desires a strong feeling of acceleration above a certain level.
- the vehicle 100 when the driving operation is executed based on the command of the automatic driving controller, the magnitude of the requested acceleration afr directly indicates the intention of acceleration. cannot be said to be reflected in However, when the automatic driving controller sets a relatively large required acceleration afr , the driver also recognizes that further acceleration is necessary (such as when the distance between the vehicles in front is large, or when accelerating to merge). ) often matches. Therefore, even when the vehicle 100 is automatically driven, the determination in step S100 makes it possible to detect, with a certain degree of accuracy, a scene in which the occupant desires a certain or stronger sense of acceleration.
- Step S110 when the controller 50 determines that the required acceleration afr exceeds the acceleration threshold ath, it sets an exaggerated pitch rate ⁇ _c1 * that is greater than the basic pitch rate ⁇ _b * as the corrected pitch rate ⁇ _c * .
- the controller 50 determines that the required acceleration afr is equal to or less than the acceleration threshold ath, it sets the corrected pitch rate ⁇ _c* to a suppressed pitch rate ⁇ _c2 * that is smaller than the basic pitch rate ⁇ _b * (step S120).
- FIG. 5A is a map showing an example of the operating points (requested acceleration afr and pitch angle ⁇ ) of the vehicle 100 when the corrected pitch rate ⁇ _c * of adjustment processing I is set.
- the hatched portion in the figure represents the entire range of operating points that can be taken in this embodiment (hereinafter also referred to as "feasible region R").
- each dashed line represents a set of operating points with a constant pitch rate ⁇ determined according to each distribution ratio ⁇ .
- ⁇ the distribution ratio
- a suppressed pitch rate ⁇ _c2 * smaller than the basic pitch rate ⁇ _b * is set in a region where the required acceleration afr is equal to or less than the acceleration threshold ath .
- an exaggerated pitch rate ⁇ _c1* that is greater than the basic pitch rate ⁇ _b * is set in a region where the requested acceleration afr exceeds the acceleration threshold ath.
- the illustrated example is an example of straight lines representing the suppressed pitch rate ⁇ _c2 * and the exaggerated pitch rate ⁇ _c1 * . and an exaggerated pitch rate ⁇ _c1 * may be set.
- the exaggerated pitch rate ⁇ _c1 * is based on the pitch angle ⁇ at the maximum value a 2 of the required acceleration afr (e.g. It is preferably set to be the same as the value of the basic pitch angle ⁇ _b * based on the pitch rate ⁇ _b * (the value ⁇ 2 in FIG. 5A).
- the pitch rate ⁇ is suppressed in comparison with the case where the basic pitch rate ⁇ _b * is set in the low acceleration region where the required acceleration afr is equal to or lower than the acceleration threshold ath . be done.
- the pitch displacement of the vehicle 100 is suppressed in the low acceleration region, so smooth acceleration with suppressed pitch vibration is realized.
- the pitch rate ⁇ becomes greater than when the basic pitch rate ⁇ _b * is set.
- the pitch displacement of vehicle 100 can be increased to enhance the sense of acceleration given to the driver.
- the exaggerated pitch rate ⁇ _c1 * is preferably set to a larger value as the required acceleration afr increases.
- the suppressed pitch rate ⁇ _c2 * is assumed to be negative for the front wheel driving force F f and positive for the rear wheel driving force F r (slope smaller than the line with the distribution ratio ⁇ of 0:100).
- the exaggerated pitch rate ⁇ _c1 * is preferably positive for the front wheel driving force F f and for the rear wheel driving force F r (especially the gradient between the 50:50 line and the 100:0 line, which are basic distributions).
- FIG. 4B is a flowchart illustrating adjustment processing II.
- the processes of steps S200 to S230 are executed.
- step S200 the controller 50 determines whether or not the requested acceleration afr exceeds the acceleration threshold ath , as in step S100.
- step S230 when the controller 50 determines that the required acceleration a fr is equal to or less than the acceleration threshold a th , it sets the suppressed pitch rate ⁇ _c2 * as the corrected pitch rate ⁇ _c * (step S230 ). On the other hand, when the controller 50 determines that the requested acceleration afr exceeds the acceleration threshold ath , the process proceeds to step S210.
- step S210 the controller 50 determines whether or not the requested acceleration change rate j fr exceeds a predetermined change rate threshold value j th .
- the change rate threshold value j th is determined from the viewpoint of determining whether or not the change in the requested acceleration a fr is large enough for the occupant to desire a certain acceleration feeling of the vehicle 100 or not.
- the change rate threshold j th can be predetermined by experiment or simulation. In particular, when the driver is manually driving the vehicle 100, when the required acceleration change rate j fr exceeds a certain level, it can be said that the driver is performing a sudden accelerator operation. Therefore, when the requested acceleration change rate j fr is greater than a certain value, it can be assumed that the scene is one in which the occupant of the vehicle 100 desires a stronger feeling of acceleration equal to or greater than a certain value.
- the determination in step S210 is performed on the premise that the requested acceleration afr exceeds the acceleration threshold ath (the determination result in step S is affirmative). In other words, this determination is performed with the intent of specifying a scene in which the driver is more likely to desire a strong sense of acceleration. Therefore, the rate-of-change threshold j th is preferably set to a suitable value from a specific viewpoint of the scene.
- step S220 when the controller 50 determines that the requested acceleration change rate j fr exceeds the change rate threshold value j th , it sets the exaggerated pitch rate ⁇ _c1 * (step S220). On the other hand, when the controller 50 determines that the requested acceleration change rate j fr is equal to or less than the change rate threshold value j th , it sets the suppressed pitch rate ⁇ _c2 * (step S230).
- FIG. 5B is a map showing an example of operating points of the vehicle 100 when the corrected pitch rate ⁇ _c * of the adjustment process II is set.
- the map shown in FIG. 5B is based on the premise that the requested acceleration change rate j fr exceeds the change rate threshold value j th .
- the suppression pitch rate ⁇ _c2 * is set in the region where the required acceleration afr is equal to or less than the acceleration threshold ath within the feasible region R, and in the region where the required acceleration afr exceeds the acceleration threshold ath , the exaggerated pitch rate ⁇ _c1 * is set.
- the exaggerated pitch rate ⁇ _c1 * based on adjustment process II is determined to be greater than that based on adjustment process I.
- the requested acceleration change rate j fr exceeds the change rate threshold value j th , so that the driver is able to You can strengthen the feeling of acceleration given to the person.
- the exaggerated pitch rate ⁇ _c1 * is preferably set to a larger value as the required acceleration change rate j fr increases.
- the pitch angle ⁇ at the maximum value a2 of the required acceleration afr is the basic pitch angle ⁇ _b * based on the basic pitch rate ⁇ _b*. It is preferable that ⁇ _b * is set to be the same as the value ⁇ 2. In order to meet this requirement, as shown in FIG. 5B, the corrected pitch rate ⁇ _c * is set to a negative value (corresponding to a straight line with a negative slope in FIG. 5B) in a region where the required acceleration afr is equal to or greater than a predetermined value a1. is preferred.
- the suppressed pitch rate ⁇ _c2 * is set such that the front wheel driving force F f is negative and the rear wheel driving force F r is positive (the slope is smaller than the line where the distribution ratio ⁇ is 0:100), and the exaggerated pitch rate It is preferable that the rate ⁇ _c1 * be positive for the front wheel drive force F f and for the rear wheel drive force F r (especially the slope between the 50:50 line and the 100:0 line, which are the basic distributions).
- the sections in which the directions of the front wheel driving force Ff and the rear wheel driving force Fr differ from each other are kept below the acceleration threshold ath . As a result, deterioration of electric power consumption is also suppressed.
- FIG. 4C is a flow chart illustrating adjustment processing III.
- the process of steps S300 to S320 is executed.
- step S300 the controller 50 determines whether or not the requested acceleration change rate j fr and the change rate threshold value j th are exceeded in the same manner as in step S210 relating to the adjustment process II.
- step S310 when the controller 50 determines that the requested acceleration change rate j fr exceeds the change rate threshold value j th , it sets the exaggerated pitch rate ⁇ _c1 * (step S310). On the other hand, when the controller 50 determines that the requested acceleration change rate j fr is equal to or less than the change rate threshold value j th , it sets the basic pitch rate ⁇ _b * (step S320).
- FIG. 5C is a map showing an example of operating points of vehicle 100 when the corrected pitch rate ⁇ _c * of adjustment process III is set.
- the exaggerated pitch rate ⁇ _c1 * is preferably set to a larger value as the required acceleration change rate j fr increases.
- the corrected pitch rate ⁇ _c * in the adjustment process III is also preferably set to be the same as the value ⁇ 2 of the basic pitch angle ⁇ _b * based on the basic pitch rate ⁇ _b * .
- the time chart of FIG. 6 assumes changes in the pitch angle ⁇ from the longitudinal acceleration a of 0 (when the vehicle 100 starts to move) to a predetermined steady-state value a S in each of the adjustment processes I to III. .
- FIG. 6(A) shows changes over time in the longitudinal acceleration a
- FIG. 6(B) shows changes over time in the pitch angle ⁇
- the change over time of the pitch angle ⁇ when adjustment processing I is performed is indicated by a one-dot chain line
- the change over time of pitch angle ⁇ when adjustment processing II is performed is indicated by a solid line
- the change over time of the pitch angle ⁇ when the adjustment process III is executed is shown by a dashed line.
- the dotted line shows the change over time of the pitch angle ⁇ when none of the adjustment processes I to III is executed (when the basic pitch rate ⁇ _b * is set).
- the timing (time t2 ), the pitch rate ⁇ is suppressed with respect to the basic pitch rate ⁇ _b * (No in step S100 and step S120). Note that in the example shown in FIG. 6, the suppressed pitch rate ⁇ _c2 * set in the region equal to or lower than the acceleration threshold a th is set to zero.
- the longitudinal acceleration a is in a transient state, that is, at the timing (time t2) at which the longitudinal acceleration a reaches the acceleration threshold value ath , and at the timing (time t5) at which a predetermined time has elapsed since the longitudinal acceleration a reached the steady-state value aS .
- the pitch rate ⁇ becomes greater than the basic pitch rate ⁇ _b * (Yes in step S100 and step S110).
- the pitch rate ⁇ is adjusted to 0 from time t1 to time t2, as in adjustment processing I (No in step S200 and step S230).
- the pitch rate ⁇ becomes greater than the basic pitch rate ⁇ _b * . (Yes in step S200, Yes in step S210, and step S220).
- the negative pitch rate ⁇ is set so as to reduce the pitch angle ⁇ to a predetermined steady-state value ⁇ S.
- the negative pitch rate ⁇ is set so as to reduce the pitch angle ⁇ to a predetermined steady-state value ⁇ S.
- the front wheel motor 10f as the first drive source connected to the front wheels 11f and the rear wheel motor 10f as the second drive source connected to the rear wheels 11r are arranged so that the pitch angle ⁇ of the vehicle 100 behaves as desired.
- a drive force control method is provided to control the drive force distribution (F f , F r ) to each of the wheel motors 10r.
- the pitch rate ⁇ at the start of the vehicle 100 is set to a corrected pitch rate ⁇ _c * different from a predetermined basic pitch rate ⁇ _b * .
- the basic pitch rate ⁇ _b * is determined according to the basic driving force distribution (basic front wheel driving force F f_b and basic rear wheel driving force F r_b ) for obtaining desired vehicle characteristics.
- the corrected pitch rate ⁇ _c * is determined from the viewpoint of adjusting the acceleration feeling of the vehicle occupant according to the change in the required acceleration afr of the vehicle 100 .
- the driving force distribution to the front and rear of the vehicle 100 is adjusted based on the pitch rate ⁇ that realizes the desired strength of the passenger's sense of acceleration in accordance with the magnitude of the requested acceleration afr . Therefore, a control logic that gives the passenger a suitable feeling of acceleration in the driving scene is realized.
- the corrected pitch rate ⁇ _c * includes a suppressed pitch rate ⁇ _c2 * that is smaller than the basic pitch rate ⁇ _b * and an exaggerated pitch rate ⁇ _c1 * that is larger than the basic pitch rate ⁇ _b * .
- the suppressed pitch rate ⁇ _c2 * is set, and when the requested acceleration a fr exceeds the acceleration threshold a th , the exaggerated pitch rate ⁇ Set _c1 * (FIG. 4A or 4B).
- a control logic is realized that suitably detects a scene (particularly in a high-acceleration region) in which the occupant desires a strong sense of acceleration when starting the vehicle 100, and makes it possible to give the occupant a stronger sense of acceleration in that scene. be.
- the logic for determining a scene in which the occupant desires a strong sense of acceleration based on the magnitude relationship between the requested acceleration afr and the acceleration threshold ath as the first threshold has been described.
- a configuration may be adopted in which the scene is determined based on the magnitude relationship between the requested acceleration change rate j fr and the value corresponding to the first threshold value.
- the pitch rate ⁇ _c1 * it is preferable to increase the exaggerated pitch rate ⁇ _c1 * as the required acceleration a fr or the required acceleration change rate j fr increases.
- the pitch rate ⁇ can be adjusted so as to match the intensity of the feeling of acceleration desired by the passenger.
- the exaggerated pitch rate ⁇ _c1 * is set when the requested acceleration change rate j fr is equal to or less than a predetermined third threshold (change rate threshold j th ), and the requested acceleration change Set the restrained pitch rate ⁇ _c2 * if the rate j fr exceeds the change rate threshold j th (FIG. 4C).
- the rate-of-change threshold value j th is determined from the viewpoint of determining whether or not the requested acceleration a fr is large enough for the occupant to desire a feeling of acceleration above a certain level.
- the pitch rate ⁇ can be quickly made higher than the basic pitch rate ⁇ _b * in a scene where the driver strongly depresses the accelerator pedal, for example. Therefore, it is possible to make the occupants of the driver more strongly recognize the pitch motion of the vehicle 100 and exaggerate the feeling of acceleration.
- change rate threshold j th (second threshold) in adjustment process II and the change rate threshold j th (third threshold) in adjustment process III may be the same value or may be different values.
- a controller 50 is provided as a driving force control device for executing the driving force control method.
- the controller 50 controls a front wheel motor 10f as a first drive source connected to the front wheels 11f and a second drive source connected to the rear wheels 11r so that the pitch angle ⁇ of the vehicle 100 behaves as desired. It functions as a driving force control device that controls the driving force distribution (F f , F r ) to each of the rear wheel motors 10r.
- the controller 50 includes a setting unit (FIG. 2) that sets the pitch rate ⁇ at the start of the vehicle 100 to a corrected pitch rate ⁇ _c * different from the predetermined basic pitch rate ⁇ _b * .
- the setting unit determines the basic pitch rate ⁇ _b * according to the basic driving force distribution (basic front wheel driving force F f_b and basic rear wheel driving force F r_b ) for obtaining desired vehicle characteristics. Further, the setting unit determines the corrected pitch rate ⁇ _c * from the viewpoint of adjusting the feeling of acceleration of the vehicle occupant according to the change in the required acceleration a fr of the vehicle 100 .
- FIG. 7 is a time chart showing control results of adjustment processing III of the present embodiment.
- the exaggerated pitch rate ⁇ _c1 * is set only for a predetermined time from the timing (time t1) when it is detected that the requested acceleration change rate j fr reaches the change rate threshold value j th . sets the pitch rate ⁇ to zero.
- the predetermined time is set as the time from the time t1 when setting the exaggerated pitch rate ⁇ _c1 * to the timing (time t6) when the first peak of the vibration of the pitch angle ⁇ appears.
- the pitch rate ⁇ is increased to exaggerate the sense of acceleration given to the occupant, while also suppressing the continuation of the pitch vibration that causes discomfort to the occupant. can be done.
- FIG. 8 is a flowchart for explaining the driving force control method of this embodiment.
- the controller 50 of the present embodiment determines whether or not the acceleration fluctuation (the rate of change of the longitudinal acceleration a) is equal to or greater than a certain value, on the premise of any one of the adjustment processes I to III (step S1000).
- determination step S1100
- determination of whether or not the steering angle of the vehicle 100 is equal to or less than a constant value step S1200
- determination of whether or not the slope angle is equal to or less than a constant value step S1300
- road surface ⁇ is constant
- It is determined whether or not the SOC of the battery is equal to or greater than the value (step S1400), and whether or not the SOC of the battery is equal to or less than a certain value (step S1500).
- step S1200 executes the processing from step S1200 onward when the determination result of step S1100 is affirmative.
- the controller 50 executes the processing from step S1200 onward when the determination result of step S1100 is affirmative.
- step S1100 determines whether the determination result in step S1100 is negative.
- the pitch rate ⁇ is switched from the corrected pitch rate ⁇ _c * to the basic pitch rate ⁇ _b * (step S1800).
- the controller 50 maintains the corrected pitch rate ⁇ _c * determined by any one of the adjustment processes I to III (step S1600 ). On the other hand, if at least one of the determination results relating to these determinations is negative, the controller 50 further decreases the corrected pitch rate ⁇ _c * (step S1700).
- the controller 50 sets the corrected pitch rate ⁇ _c * as it is when the acceleration fluctuation is equal to or greater than a certain value (when the longitudinal acceleration a is in a transient state), and the acceleration fluctuation is less than a constant value (when the longitudinal acceleration a reaches a steady value aS ) , the target value of the pitch rate ⁇ is switched from the corrected pitch rate ⁇ _c * to the basic pitch rate ⁇ b .
- the longitudinal acceleration a reaches the steady value aS while the pitch rate ⁇ is controlled giving priority to the feeling of acceleration given to the occupant until the longitudinal acceleration a reaches the steady value aS .
- the speed of change when the pitch rate ⁇ is changed from the corrected pitch rate ⁇ _c * to the basic pitch rate ⁇ b is set so that the driver is less likely to notice the pitch change (for example, when the pitch direction acceleration is 0.00).
- 02G is preferably controlled.
- the controller 50 sets the correction pitch rate ⁇ _c * as it is when the steering angle is equal to or less than a certain value. On the other hand, when the steering angle exceeds a certain value, the controller 50 further reduces the pitch rate ⁇ relative to the corrected pitch rate ⁇ _c * as the steering angle increases.
- the controller 50 sets the correction pitch rate ⁇ _c * as it is when the slope angle of the traveling road is equal to or less than a certain value. On the other hand, when the gradient angle exceeds a certain value, the controller 50 further reduces the pitch rate ⁇ relative to the corrected pitch rate ⁇ _c * as the gradient angle increases.
- the pitch displacement is suppressed according to the magnitude of the slope angle (degree of inclination of the uphill road), and the vehicle 100 is prevented from advancing or retreating unintentionally due to the slope. can be avoided.
- the controller 50 sets the correction pitch rate ⁇ _c * as it is when the friction (road surface ⁇ ) of the traveling road is equal to or greater than a certain value.
- the road surface ⁇ is less than a certain value, the smaller the road surface ⁇ , the more the pitch rate ⁇ is reduced with respect to the corrected pitch rate ⁇ _c * .
- the controller 50 sets the corrected pitch rate ⁇ _c * as it is when the SOC indicating the remaining charge of the vehicle-mounted battery is equal to or higher than a certain value.
- the SOC is less than a certain value, the larger the SOC, the more the pitch rate ⁇ is reduced with respect to the corrected pitch rate ⁇ _c * .
- the pitch control amount can be suppressed according to the amount of the SOC deficiency, and the electricity consumption can be further improved.
- FIG. 9 is a time chart showing an example of control results when the control of this embodiment is applied.
- changes in the pitch angle ⁇ over time when the corrected pitch rate ⁇ _c * and the basic pitch rate ⁇ _b * are applied are partially indicated by dotted lines and dashed-dotted lines, respectively.
- the pitch rate ⁇ changes so that the pitch angle ⁇ approaches the basic pitch angle ⁇ _b * (encircled immediately after time t7). part).
- the control amount of the pitch angle ⁇ is reduced compared to when the corrected pitch rate ⁇ _c * is maintained ( Encircled portion immediately after time t8).
- the control amount of the pitch angle ⁇ is reduced compared to when the corrected pitch rate ⁇ _c * is maintained ( Encircled portion immediately after time t9).
- the control amount of the pitch angle ⁇ is reduced compared to the case where the corrected pitch rate ⁇ _c * is maintained (immediately after time t10). circled part).
- the configuration in which the controller 50 executes all the determinations in steps S1100 to S1500 has been described.
- the aspect in which the controller 50 executes only one or a plurality of determinations in steps S1100 to S1500, and executes at least one of steps S1600 to S1800 according to the determination result is of course also possible. Disclosure range.
- FIG. 10 is a flowchart for explaining the driving force control method of this embodiment.
- controller 50 assumes that any one of adjustment processes I to III is controlled (step S2000), and when vehicle 100 is operating by automatic driving (Yes in step S2100), vehicle 100 The pitch rate ⁇ is further suppressed (steps S2200 and S2300) compared to when the vehicle is operated by the manual driving operation of the passenger (particularly the driver) (No in step S2100).
- the correlation between the magnitude of the requested acceleration a fr or the requested acceleration change rate j fr and the probability that the driver desires a strong feeling of acceleration is higher.
- the control of the pitch rate ⁇ can be executed with a higher priority given to the feeling of acceleration given to the occupants.
- the required acceleration afr or the required acceleration change rate jfr does not directly depend on the driver's operation, it is possible to suppress the pitch displacement by giving priority to exhibiting suitable vehicle characteristics.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Description
以下、第1実施形態について説明する。
図4Aは、調節処理Iを説明するフローチャートである。調節処理IではステップS100~ステップS120の処理が実行される。
図4Bは、調節処理IIを説明するフローチャートである。調節処理IIではステップS200~ステップS230の処理が実行される。
図4Cは、調節処理IIIを説明するフローチャートである。調節処理IIIではステップS300~ステップS320の処理が実行される。
以下、第2実施形態について説明する。なお、第1実施形態と同様の要素には同一の符号を付し、その説明を省略する。特に、本実施形態では調節処理IIIに関する異なる制御態様が提供される。
以下、第3実施形態について説明する。なお、第1又は第2実施形態と同様の要素には同一の符号を付し、その説明を省略する。
以下、第4実施形態について説明する。なお、第1~3実施形態の何れかと同様の要素には同一の符号を付し、その説明を省略する。
Claims (13)
- 車両のピッチ角が所望の挙動をとるように、前輪に接続された第1駆動源及び後輪に接続された第2駆動源のそれぞれに対する駆動力配分を制御する駆動力制御方法であって、
前記車両の発進時におけるピッチレートを所定の基本ピッチレートと異なる補正ピッチレートに設定し、
前記基本ピッチレートは、前記車両の所望の車両特性を得るための基本駆動力配分に応じて定められ、
前記補正ピッチレートは、前記車両の要求加速度の変化に応じて前記車両の乗員の加速感を調節するように定められる、
駆動力制御方法。 - 請求項1に記載の駆動力制御方法であって、
前記補正ピッチレートは、前記基本ピッチレートよりも小さい抑制ピッチレートと、前記基本ピッチレートよりも大きい誇張ピッチレートと、を含み、
前記要求加速度又は該要求加速度の変化率が所定の第1閾値以下である場合に前記抑制ピッチレートを設定し、
前記要求加速度又は該要求加速度の変化率が前記第1閾値を超える場合に前記誇張ピッチレートに設定する、
駆動力制御方法。 - 請求項2に記載の駆動力制御方法であって、
前記要求加速度の変化率が所定の第2閾値以下である場合に前記抑制ピッチレートを設定し、
前記要求加速度が前記第2閾値を超える場合に前記誇張ピッチレートを設定する、
駆動力制御方法。 - 請求項2又は3に記載の駆動力制御方法であって、
前記誇張ピッチレートを、前記要求加速度又は該要求加速度の変化率が大きいほど大きくする、
駆動力制御方法。 - 請求項1に記載の駆動力制御方法であって、
前記補正ピッチレートは、前記基本ピッチレートよりも小さい抑制ピッチレートと、前記基本ピッチレートよりも大きい誇張ピッチレートと、を含み、
前記要求加速度の変化率が所定の第3閾値以下である場合に前記誇張ピッチレートを設定し、
前記要求加速度の変化率が前記第3閾値を超える場合に前記抑制ピッチレートを設定する、
駆動力制御方法。 - 請求項5に記載の駆動力制御方法であって、
前記誇張ピッチレートを所定時間のみ設定し、その後は前記ピッチレートを略0に設定する、
駆動力制御方法。 - 請求項1~6の何れか1項に記載の駆動力制御方法であって、
さらに、前記車両の前後加速度の変化が一定値以下であると判断すると、前記補正ピッチレートを前記基本ピッチレートに切り替える、
駆動力制御方法。 - 請求項1~7の何れか1項に記載の駆動力制御方法であって、
さらに、前記車両の操舵角が大きいほど、前記補正ピッチレートを小さくする、
駆動力制御方法。 - 請求項1~8の何れか1項に記載の駆動力制御方法であって、
さらに、前記車両の走行路の勾配角が大きいほど、前記補正ピッチレートを小さくする、
駆動力制御方法。 - 請求項1~9の何れか1項に記載の駆動力制御方法であって、
さらに、前記車両の走行路の摩擦が小さいほど、前記補正ピッチレートを小さくする、
駆動力制御方法。 - 請求項1~9の何れか1項に記載の駆動力制御方法であって、
さらに、前記車両に搭載されたバッテリの充電残量が低いほど、前記補正ピッチレートを小さくする、
駆動力制御方法。 - 請求項1~10の何れか1項に記載の駆動力制御方法であって、
前記車両が手動運転操作により動作している場合には前記ピッチレートを前記補正ピッチレートに設定し、
前記車両が自動運転により動作している場合には前記車両が手動運転操作により動作している場合よりも前記ピッチレートを減少させる、
駆動力制御方法。 - 車両のピッチ角が所望の挙動をとるように、前輪に接続された第1駆動源及び後輪に接続された第2駆動源のそれぞれに対する駆動力配分を制御する駆動力制御装置であって、
前記車両の発進時におけるピッチレートを所定の基本ピッチレートと異なる補正ピッチレートに設定する設定部を備え、
前記設定部は、
前記基本ピッチレートを、前記車両の所望の車両特性を得るための基本駆動力配分に応じて定め、
前記補正ピッチレートを、前記車両の要求加速度の変化に応じて前記車両の乗員の加速感を調節するように定める、
駆動力制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP21931951.4A EP4316932A4 (en) | 2021-03-22 | 2021-03-22 | DRIVE FORCE CONTROL METHOD AND DEVICE |
US18/283,386 US20240166194A1 (en) | 2021-03-22 | 2021-03-22 | Driving Force Control Method and Driving Force Control Device |
CN202180096001.9A CN117015491B (en) | 2021-03-22 | Driving force control method and driving force control device | |
PCT/JP2021/011800 WO2022201261A1 (ja) | 2021-03-22 | 2021-03-22 | 駆動力制御方法及び駆動力制御装置 |
JP2023508181A JPWO2022201261A1 (ja) | 2021-03-22 | 2021-03-22 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/011800 WO2022201261A1 (ja) | 2021-03-22 | 2021-03-22 | 駆動力制御方法及び駆動力制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022201261A1 true WO2022201261A1 (ja) | 2022-09-29 |
Family
ID=83396415
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/011800 WO2022201261A1 (ja) | 2021-03-22 | 2021-03-22 | 駆動力制御方法及び駆動力制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20240166194A1 (ja) |
EP (1) | EP4316932A4 (ja) |
JP (1) | JPWO2022201261A1 (ja) |
WO (1) | WO2022201261A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006217712A (ja) * | 2005-02-02 | 2006-08-17 | Mitsubishi Motors Corp | 電気自動車の車両制御装置 |
JP2007118898A (ja) | 2005-10-31 | 2007-05-17 | Toyota Motor Corp | 車両の制駆動力制御装置 |
JP2011006015A (ja) * | 2009-06-29 | 2011-01-13 | Toyota Motor Corp | 車両用制御装置および車両用制御方法 |
JP2012061944A (ja) * | 2010-09-15 | 2012-03-29 | Toyota Motor Corp | 車両の制御装置 |
JP2018170854A (ja) * | 2017-03-29 | 2018-11-01 | 株式会社Subaru | 電動車両の制御装置 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4333767B2 (ja) * | 2007-04-03 | 2009-09-16 | 株式会社デンソー | 車両制御装置 |
EP2610605B1 (en) * | 2010-08-26 | 2023-04-12 | Nissan Motor Co., Ltd. | Device for estimating vehicle body vibration and controller for suppressing vehicle body vibration using same |
US9043106B2 (en) * | 2010-10-04 | 2015-05-26 | W. Morrison Consulting Group, Inc. | Vehicle control system and methods |
DE102011003490A1 (de) * | 2011-02-02 | 2012-08-02 | Robert Bosch Gmbh | Verfahren zur Verteilung der Antriebskraft auf die Räder eines Kraftfahrzeugs |
CN104024008B (zh) * | 2011-12-28 | 2016-06-15 | 日产自动车株式会社 | 车辆的控制装置 |
EP2968709B1 (en) * | 2013-03-15 | 2019-10-02 | ClearMotion, Inc. | Active vehicle suspension improvements |
US20160121883A1 (en) * | 2014-11-05 | 2016-05-05 | GM Global Technology Operations LLC | Front-rear torque split control for an all-wheel-drive vehicle with independent power-sources |
JP2016088380A (ja) * | 2014-11-07 | 2016-05-23 | トヨタ自動車株式会社 | ハイブリッド自動車 |
JP6274139B2 (ja) * | 2015-03-21 | 2018-02-07 | トヨタ自動車株式会社 | 車両の制振制御装置 |
JP6450267B2 (ja) * | 2015-06-23 | 2019-01-09 | 本田技研工業株式会社 | 移動体 |
JP6622543B2 (ja) * | 2015-10-07 | 2019-12-18 | 川崎重工業株式会社 | ウィリー判定装置、乗物、および車輪浮上り量判定方法 |
JP6233608B2 (ja) * | 2015-10-13 | 2017-11-22 | トヨタ自動車株式会社 | 車両の駆動力制御装置 |
JP6380468B2 (ja) * | 2016-06-21 | 2018-08-29 | マツダ株式会社 | 四輪駆動車の制御装置 |
GB2568912B (en) * | 2017-11-30 | 2022-09-21 | Moss Nicholas | Remote control vehicle |
US11130382B2 (en) * | 2018-04-07 | 2021-09-28 | Nimbus AV Limited Liability Company | Vehicle and methods for improving stability and occupant comfort |
JP6983127B2 (ja) * | 2018-08-09 | 2021-12-17 | 本田技研工業株式会社 | 駆動力制御装置 |
US11958384B2 (en) * | 2019-01-25 | 2024-04-16 | Advics Co., Ltd. | Vehicle action control device |
JP7297198B2 (ja) * | 2019-04-22 | 2023-06-26 | マツダ株式会社 | 車両システム |
JP7270481B2 (ja) * | 2019-06-25 | 2023-05-10 | 株式会社日立製作所 | 車両制御システム |
KR20210156920A (ko) * | 2020-06-18 | 2021-12-28 | 현대자동차주식회사 | 전동화 차량의 모션 제어 장치 및 방법 |
KR20220017230A (ko) * | 2020-08-04 | 2022-02-11 | 현대자동차주식회사 | 피치 저감 제어 장치 및 제어 방법 |
EP4219257A4 (en) * | 2020-09-28 | 2024-03-06 | Nissan Motor Co., Ltd. | VEHICLE TRAVEL CONTROL METHOD AND VEHICLE TRAVEL CONTROL DEVICE |
-
2021
- 2021-03-22 EP EP21931951.4A patent/EP4316932A4/en active Pending
- 2021-03-22 US US18/283,386 patent/US20240166194A1/en active Pending
- 2021-03-22 WO PCT/JP2021/011800 patent/WO2022201261A1/ja active Application Filing
- 2021-03-22 JP JP2023508181A patent/JPWO2022201261A1/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006217712A (ja) * | 2005-02-02 | 2006-08-17 | Mitsubishi Motors Corp | 電気自動車の車両制御装置 |
JP2007118898A (ja) | 2005-10-31 | 2007-05-17 | Toyota Motor Corp | 車両の制駆動力制御装置 |
JP2011006015A (ja) * | 2009-06-29 | 2011-01-13 | Toyota Motor Corp | 車両用制御装置および車両用制御方法 |
JP2012061944A (ja) * | 2010-09-15 | 2012-03-29 | Toyota Motor Corp | 車両の制御装置 |
JP2018170854A (ja) * | 2017-03-29 | 2018-11-01 | 株式会社Subaru | 電動車両の制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP4316932A4 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2022201261A1 (ja) | 2022-09-29 |
EP4316932A1 (en) | 2024-02-07 |
CN117015491A (zh) | 2023-11-07 |
US20240166194A1 (en) | 2024-05-23 |
EP4316932A4 (en) | 2024-05-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102753413B (zh) | 用于车辆的控制装置 | |
JP6261154B2 (ja) | インホイールモータを利用した車両制御方法 | |
CN109747632B (zh) | 一种双动力源驱动车辆扭矩分配方法 | |
JP5196005B2 (ja) | 車両走行制御装置 | |
US10029669B2 (en) | Powertrain and method of coordinating chassis and propulsion system torque limits | |
WO2006093242A1 (ja) | 車輌の制駆動力制御装置 | |
JP2009051369A (ja) | 車両の挙動制御装置 | |
WO2011152128A1 (ja) | 車両用電動モータのトルク応答制御装置 | |
US11691603B2 (en) | Method of controlling driving of a vehicle using an in-wheel system | |
JP2008067436A (ja) | 車両の制御装置及び制御方法 | |
JP4058539B2 (ja) | 車両 | |
JP6993044B2 (ja) | 電動車両の制御装置、電動車両の制御システム及び電動車両の制御方法 | |
JP5029197B2 (ja) | 車両のヨーモーメント制御装置及びヨーモーメント制御方法 | |
WO2022201261A1 (ja) | 駆動力制御方法及び駆動力制御装置 | |
CN112339575A (zh) | 一种新型新能源客车限速控制方法 | |
JP4058538B2 (ja) | 車両 | |
CN117015491B (en) | Driving force control method and driving force control device | |
WO2014103522A1 (ja) | 電動車両の制御装置および電動車両の制御方法 | |
JP2022146558A (ja) | 駆動力制御方法及び駆動力制御装置 | |
JP2006069395A (ja) | 車高調整装置 | |
WO2023032221A1 (ja) | 駆動力制御方法及び駆動力制御装置 | |
JP6418080B2 (ja) | 電動車両の走行制御装置 | |
WO2023032220A1 (ja) | 駆動力制御方法及び駆動力制御装置 | |
JP2006176015A (ja) | 車両挙動制御装置及び車両挙動制御方法 | |
JP7324071B2 (ja) | 車両の制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21931951 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2023508181 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180096001.9 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18283386 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2021931951 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2021931951 Country of ref document: EP Effective date: 20231023 |