WO2022202935A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

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Publication number
WO2022202935A1
WO2022202935A1 PCT/JP2022/013705 JP2022013705W WO2022202935A1 WO 2022202935 A1 WO2022202935 A1 WO 2022202935A1 JP 2022013705 W JP2022013705 W JP 2022013705W WO 2022202935 A1 WO2022202935 A1 WO 2022202935A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving force
road surface
vehicle
start assist
assist device
Prior art date
Application number
PCT/JP2022/013705
Other languages
English (en)
Japanese (ja)
Inventor
辰弥 堀米
Original Assignee
いすゞ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by いすゞ自動車株式会社 filed Critical いすゞ自動車株式会社
Publication of WO2022202935A1 publication Critical patent/WO2022202935A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • 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
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • 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
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight

Definitions

  • the present invention relates to a control device that controls the operation of a vehicle start assist device.
  • Patent Literature 1 discloses a start assist device that increases the contact pressure of tires on a drive shaft when starting a vehicle.
  • the start assist device By activating the start assist device, it is possible to reduce tire slip on the drive shaft when the vehicle is empty.
  • the driver In order for the start assist device to operate, the driver must perform an operation to operate the start assist device. However, if the operation of the start assist device is entrusted to the driver, the driver may not be aware of the existence of the start assist device, or the driver may forget to operate the start assist device. Therefore, even if the vehicle is equipped with a start assist device, the tires of the drive shaft may slip when the vehicle is started.
  • an object of the present invention is to make it difficult for the tires of the drive shaft to slip when starting the vehicle.
  • a control device for controlling the operation of a start assist device that increases the contact pressure of a tire of a drive shaft when starting a vehicle, wherein the control device identifies the road surface condition of the location where the vehicle is present.
  • a road surface condition identification unit a road surface condition identification unit;
  • a first calculation unit that calculates a necessary driving force of the tires required for starting the vehicle based on the weight of the vehicle and the road surface gradient of the location;
  • the magnitude of friction between the road surface at the location and the tire is specified based on the state, and the limit of the driving force of the tire is determined based on the specified magnitude of friction and the load of the tire.
  • a second calculation unit that calculates a limit driving force
  • a determination unit that determines whether or not it is necessary to operate the start assist device based on the relationship between the required driving force and the limit driving force
  • a device control unit that activates the start assist device when the determination unit determines that the start assist device needs to be operated.
  • the determination unit may determine that the start assist device needs to be activated when the limit driving force is less than the required driving force. The determination unit determines that the start assist device needs to be activated when the limit driving force exceeds the required driving force and the road surface condition indicates that the road surface at the existing location is wet. can be determined.
  • the control device further includes a running state identifying section that identifies a running state of the vehicle, and the determining section determines that the running state identified by the running state identifying section indicates that the vehicle is stopped. During this time, it may be determined whether or not the start assist device needs to be activated.
  • the device control unit determines the magnitude of the ground pressure based on the difference between the limit driving force and the required driving force, and determines the determined ground pressure. You may control the said start assistance device so that it may become.
  • the device control unit may determine the ground contact pressure to be larger as the difference is larger, and to be smaller as the difference is smaller.
  • FIG. 1 is a block diagram for explaining an example of a configuration of a vehicle
  • FIG. 4 is a flowchart showing the flow of processing by the control device
  • FIG. 1 is a block diagram for explaining an example of the configuration of a vehicle 1.
  • Vehicle 1 is, for example, a truck.
  • the vehicle 1 has a sensor 10 , a start assist device 20 and a control device 30 .
  • the sensor 10 includes at least one of a wiper state detector, a camera, a road surface state detector, a pressure measuring device, an acceleration sensor and a speed measuring device.
  • a wiper condition detector is a device that detects the condition of the wipers.
  • a camera is a device that captures an image of the outside of the vehicle 1 .
  • the road surface condition detector is a device that detects the road surface condition of the location where the vehicle 1 exists using infrared rays, microwaves, or the like.
  • a pressure gauge is a device that measures the pressure applied to the air suspension.
  • a speedometer is a device that measures the rotational speed of a wheel. Information indicating the results of detection, imaging, or measurement by the sensor 10 is output to the control device 30 .
  • the start assist device 20 is a device that increases the contact pressure of the tires of the drive shaft when the vehicle 1 starts. When the vehicle 1 is started, the start assist device 20 increases the contact pressure of the tire of the drive shaft, thereby increasing the friction between the tire of the drive shaft and the road surface on which the tire is in contact with the ground. Slippage is less likely to occur.
  • the control device 30 controls the operation of the start assist device 20 . Although the details will be described later, the control device 30 determines whether or not it is necessary to operate the start assist device 20 based on the information output by the sensor 10, and determines that the start assist device 20 needs to be operated. When determined, the start assist device 20 is operated.
  • control device 30 can automatically operate the start assist device 20 without the driver performing an operation to operate the start assist device 20 .
  • the control device 30 can reduce the situation where the start assist device 20 does not operate in a situation where the start assist device 20 needs to be operated.
  • the control device 30 can make it difficult for the tires of the drive shaft to slip when the vehicle 1 starts moving.
  • control device 30 has a storage section 31 and a control section 32 .
  • the storage unit 31 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory).
  • the storage unit 31 stores programs and various data for the control unit 32 to execute.
  • the control unit 32 is, for example, a CPU (Central Processing Unit).
  • the control unit 32 performs processing related to the vehicle 1 by executing programs stored in the storage unit 31 .
  • the control unit 32 functions as a road surface condition identification unit 321 , a first calculation unit 322 , a second calculation unit 323 , a determination unit 324 , a device control unit 325 and a running condition identification unit 326 .
  • the road surface condition identification unit 321 identifies the road surface condition of the location where the vehicle 1 exists.
  • the road surface condition is, for example, a dry road surface, a wet road surface, or the like. Specifically, the road surface condition identification unit 321 identifies the road surface condition based on the information output by the sensor 10 .
  • the road surface condition identification unit 321 identifies the road surface condition based on the presence or absence of wiper operation detected by the wiper condition detector included in the sensor 10 . For example, when the sensor 10 detects that the wiper is in operation, or after the sensor 10 detects that the wiper is in operation, the road surface condition identification unit 321 detects a predetermined period (for example, 5 minutes or 30 minutes). ) has not passed, the road surface is identified as being in a wet state. On the other hand, if the sensor 10 detects that the wipers are not operating, or if a predetermined period of time has elapsed since the sensor 10 detected that the wipers were operating, the road surface condition identification unit 321 determines whether the road surface is dry. Identify the state of
  • the road surface condition identifying unit 321 analyzes the captured image captured by the camera of the sensor 10 and identifies the road surface condition based on the analyzed weather conditions at the location where the vehicle 1 is present. For example, when the analyzed weather condition is sunny or cloudy, the road surface condition identifying unit 321 identifies that the road surface condition is dry. Further, for example, when the analyzed weather condition is rain, the road surface condition identifying unit 321 identifies that the road surface condition is wet.
  • the road surface condition identifying unit 321 may acquire the weather forecast for the location of the vehicle 1 from a server (not shown) that manages weather forecasts, and identify the road surface condition based on the acquired weather forecast.
  • the road surface condition identification unit 321 may identify the road surface condition based on the result detected by the road surface condition detector included in the sensor 10 .
  • the first calculation unit 322 calculates the required driving force of the tires of the drive shaft required to start the vehicle 1 .
  • the first calculator 322 calculates the weight of the vehicle 1 using the pressure measured by the pressure measuring device included in the sensor 10 .
  • the first calculator 322 calculates the sum of the product of the air suspension pressure measured by the sensor 10 (the air pressure of the air suspension mounted on each wheel) and the effective cross-sectional area of each air suspension. Calculate the weight on the air suspension. Then, the first calculator 322 calculates the weight of the vehicle 1 by adding the weight below the air suspension to the weight above the air suspension. The effective cross-sectional area of the air suspension and the weight under the air suspension are set in the controller 30 in advance. The first calculator 322 calculates a larger required driving force as the weight of the vehicle 1 is larger, and calculates a smaller required driving force as the weight of the vehicle 1 is smaller.
  • the first calculation unit 322 uses the acceleration measured by the acceleration sensor of the sensor 10 to calculate the road surface gradient of the location.
  • the first calculator 322 may calculate the road surface gradient using map data. For example, the first calculator 322 calculates a larger required driving force as the road surface gradient increases, and calculates a smaller required driving force as the road surface gradient decreases.
  • the second calculator 323 calculates the limit driving force, which is the limit of the driving force of the tires of the drive shaft. Specifically, first, the second calculator 323 identifies the magnitude of friction between the road surface at the vehicle 1 location and the tire of the drive shaft based on the road surface condition at the vehicle 1 location. For example, the coefficient of friction between the road surface condition and the tire of the drive shaft is stored in the storage unit 31 for each road surface condition, and the second calculation unit 323 corresponds to the road surface condition specified by the road surface condition specifying unit 321. By specifying the coefficient of friction, the magnitude of friction between the road surface where the vehicle 1 exists and the tires of the drive shaft is specified.
  • the second calculation unit 323 calculates the limit driving force of the tires of the drive shaft based on the specified magnitude of friction and the load of the drive wheels.
  • the second calculator 323 calculates the limit driving force that increases as the friction or load increases and decreases as the friction or load decreases.
  • the determination unit 324 determines whether or not it is necessary to operate the start assist device 20 based on the relationship between the required driving force and the limit driving force. The determination unit 324 determines that the start assist device 20 needs to be activated when the limit driving force is less than the required driving force. On the other hand, the determination unit 324 determines that the start assist device 20 does not need to be activated when the limit driving force exceeds the required driving force. If the limit drive force is less than the required drive force, the probability that the tires on the drive shaft will slip increases, so the control device 30 needs to operate the start assist device 20 .
  • the control device 30 determines that the start assist device 20 needs to be activated, so that in a situation where there is a high probability that the tires of the driving wheels will slip, the start assist device 30 Device 20 can be activated. As a result, the control device 30 can reduce the situation where the tire of the drive shaft slips.
  • the determination unit 324 may determine that the start assist device 20 needs to be activated when the road surface where the vehicle 1 exists is wet. Specifically, when the limit driving force exceeds the required driving force and the road surface condition specified by the road surface condition specifying unit 321 indicates that the road surface at the existing location is wet, the determination unit 324 starts the vehicle. It is determined that the operation of the auxiliary device 20 is necessary. By doing so, the control device 30 can make it difficult for the tires of the drive shaft to slip. It should be noted that regardless of the relationship between the required driving force and the limit driving force, the determination unit 324 determines whether or not the start assist device 20 needs to be operated based on the road surface condition at the location where the vehicle 1 exists. good too.
  • the start assist device 20 needs to operate before the stopped vehicle 1 starts. Therefore, the determination unit 324 may perform a determination process of determining whether or not the start assist device 20 needs to be operated on condition that the vehicle 1 is stopped. Specifically, first, the running state identification unit 326 identifies the running state of the vehicle 1 . Then, the determination unit 324 determines whether or not it is necessary to operate the start assist device 20 while the running state specified by the running state specifying unit 326 indicates that the vehicle 1 is stopped. .
  • the running state identification unit 326 detects that the wheel rotational speed measured by the sensor 10 is 1 km/h or more, or that a predetermined period has elapsed since the sensor 10 measured the wheel rotational speed to 0 km/h. If the time has not elapsed, it is specified that the vehicle 1 is running.
  • the running state identification unit 326 identifies the running state of the vehicle 1 at predetermined intervals (for example, every second or every 10 seconds).
  • control device 30 performs the determination process for determining whether or not the start assist device 20 needs to be operated on the condition that the vehicle 1 is stopped. It is possible to avoid a situation in which the tire of the drive shaft slips due to the vehicle 1 starting before the operation.
  • the device control unit 325 operates the start assist device 20 when the determination unit 324 determines that the start assist device 20 needs to be operated.
  • the device control unit 325 operates the start assist device 20, for example, on condition that the vehicle 1 is stopped.
  • the device control section 325 may control the start assist device 20 so that the ground pressure is in accordance with the relationship between the limit driving force and the required driving force. Specifically, first, when the limit driving force is lower than the required driving force, the device control section 325 determines the magnitude of the ground contact pressure based on the difference between the limit driving force and the required driving force. Then, the device control unit 325 controls the start assist device 20 so as to achieve the determined ground contact pressure.
  • the device control unit 325 determines a larger ground pressure as the difference between the limit driving force and the required driving force is larger, and a smaller ground pressure as the difference between the limit driving force and the required driving force is smaller. By doing so, the control device 30 can control the start assist device 20 according to the road surface condition.
  • FIG. 2 is a flowchart showing the processing flow of the control device 30. As shown in FIG. This flowchart is started when the road surface condition identification unit 321 identifies the road surface condition of the location where the vehicle 1 exists (S1).
  • the first calculator 322 calculates the required driving force of the tires of the drive shaft based on the weight of the vehicle 1 and the road surface gradient of the location (S2).
  • the second calculator 323 identifies the magnitude of friction between the road surface at the location of the vehicle 1 and the tire of the drive shaft based on the road surface condition at the location of the vehicle 1 (S3).
  • the second calculator 323 calculates the limit driving force of the tires of the drive shaft based on the identified magnitude of friction and the load of the drive wheels (S4).
  • the determination unit 324 determines whether or not it is necessary to operate the start assist device 20 based on the relationship between the required driving force and the limit driving force. Specifically, the determination unit 324 determines whether or not the limit driving force is less than the required driving force (S5). If determination unit 324 determines that activation of start assist device 20 is not necessary, that is, if it determines that the limit driving force does not fall below the required driving force (NO in S5), it terminates the process. On the other hand, if determination unit 324 determines that activation of start assist device 20 is necessary, that is, if it determines that the limit driving force is less than the required driving force (YES in S5), device control unit 325 performs start assist The device 20 is activated (S6).
  • the control device 30 operates the start assist device 20 when determining that the start assist device 20 needs to be operated based on the relationship between the required drive force and the limit drive force. By doing so, the control device 30 can automatically activate the start assist device 20 even if the driver does not operate the start assist device 20 . As a result, the control device 30 can reduce the situation where the start assist device 20 does not operate in a situation where the start assist device 20 needs to be operated. As a result, the control device 30 can make it difficult for the tires of the drive shaft to slip when the vehicle 1 starts moving.
  • vehicle 10 sensor 20 start assist device 30 control device 31 storage unit 32 control unit 321 road surface state identification unit 322 first calculation unit 323 second calculation unit 324 determination unit 325 device control unit 326 running state identification unit

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif de commande 30 qui commande le fonctionnement d'un dispositif auxiliaire de démarrage 20, le dispositif de commande comprenant : une unité de spécification d'état de surface de route 321 qui spécifie l'état d'une surface de route à un emplacement auquel un véhicule 1 est présent ; une première unité de calcul 322 qui calcule, sur la base du poids du véhicule 1 et du gradient de la surface de la route au niveau de l'emplacement, une force d'entraînement requise des pneus qui est nécessaire pour démarrer le véhicule 1 ; une deuxième unité de calcul 323 qui spécifie, sur la base de l'état d'une surface de route, la quantité de frottement entre la surface de route et les pneus au niveau de l'emplacement, et calcule une force d'entraînement limite, qui est la limite de la force d'entraînement des pneus, sur la base de la quantité spécifiée de frottement et du poids des pneus ; une unité de détermination 324 qui détermine, sur la base de la relation entre la force d'entraînement requise et la force d'entraînement limite, si le dispositif auxiliaire de démarrage 20 doit être actionné ; et une unité de commande de dispositif 325 qui amène le dispositif auxiliaire de démarrage 20 à fonctionner lorsque l'unité de détermination 324 a déterminé que le dispositif auxiliaire de démarrage 20 doit être actionné.
PCT/JP2022/013705 2021-03-25 2022-03-23 Dispositif de commande WO2022202935A1 (fr)

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JP2021051362 2021-03-25
JP2021-051362 2021-03-25

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WO2022202935A1 true WO2022202935A1 (fr) 2022-09-29

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10151930A (ja) * 1996-11-25 1998-06-09 Isuzu Motors Ltd 車両の発進補助装置
JP2005104324A (ja) * 2003-09-30 2005-04-21 Toyota Motor Corp 車両の輪荷重制御装置
JP2008285006A (ja) * 2007-05-17 2008-11-27 Advics:Kk 車両駆動輪荷重制御装置
JP2012076712A (ja) * 2010-10-06 2012-04-19 Toyota Motor Corp 車両の制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10151930A (ja) * 1996-11-25 1998-06-09 Isuzu Motors Ltd 車両の発進補助装置
JP2005104324A (ja) * 2003-09-30 2005-04-21 Toyota Motor Corp 車両の輪荷重制御装置
JP2008285006A (ja) * 2007-05-17 2008-11-27 Advics:Kk 車両駆動輪荷重制御装置
JP2012076712A (ja) * 2010-10-06 2012-04-19 Toyota Motor Corp 車両の制御装置

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