WO2023089418A3 - 制御装置及び制御方法 - Google Patents

制御装置及び制御方法 Download PDF

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Publication number
WO2023089418A3
WO2023089418A3 PCT/IB2022/060273 IB2022060273W WO2023089418A3 WO 2023089418 A3 WO2023089418 A3 WO 2023089418A3 IB 2022060273 W IB2022060273 W IB 2022060273W WO 2023089418 A3 WO2023089418 A3 WO 2023089418A3
Authority
WO
WIPO (PCT)
Prior art keywords
leaning vehicle
drive force
control device
control method
control
Prior art date
Application number
PCT/IB2022/060273
Other languages
English (en)
French (fr)
Other versions
WO2023089418A2 (ja
Inventor
勝一朗 金子
雄也 及川
Original Assignee
ロベルト·ボッシュ·ゲゼルシャフト·ミト•ベシュレンクテル·ハフツング
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 ロベルト·ボッシュ·ゲゼルシャフト·ミト•ベシュレンクテル·ハフツング filed Critical ロベルト·ボッシュ·ゲゼルシャフト·ミト•ベシュレンクテル·ハフツング
Priority to JP2023561935A priority Critical patent/JPWO2023089418A1/ja
Publication of WO2023089418A2 publication Critical patent/WO2023089418A2/ja
Publication of WO2023089418A3 publication Critical patent/WO2023089418A3/ja

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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
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • 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
    • B60W2520/18—Roll
    • 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
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0677—Engine 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

本発明は、リーン車両の駆動力を適切に調節することができる制御装置及び制御方法を得るものである。 本発明に係る制御装置20及び制御方法では、制御装置20の実行部が、リーン車両1の車輪挙動又は車体挙動に応じて当該リーン車両1に生じさせる駆動力を調節する駆動力調節動作を実行し、実行部は、リーン車両1の旋回姿勢情報、及び、リーン車両1に生じている高さ方向加速度の指標値である高さ方向加速度指標値に基づいて、駆動力調節動作を実行する。
PCT/IB2022/060273 2021-11-17 2022-10-26 制御装置及び制御方法 WO2023089418A2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023561935A JPWO2023089418A1 (ja) 2021-11-17 2022-10-26

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-187317 2021-11-17
JP2021187317 2021-11-17

Publications (2)

Publication Number Publication Date
WO2023089418A2 WO2023089418A2 (ja) 2023-05-25
WO2023089418A3 true WO2023089418A3 (ja) 2023-07-13

Family

ID=86007651

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2022/060273 WO2023089418A2 (ja) 2021-11-17 2022-10-26 制御装置及び制御方法

Country Status (3)

Country Link
JP (1) JPWO2023089418A1 (ja)
TW (1) TW202411097A (ja)
WO (1) WO2023089418A2 (ja)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080306653A1 (en) * 2006-12-11 2008-12-11 Yamaha Hatsudoki Kabushiki Kaisha Engine Control Apparatus and Straddle-Type Vehicle
US20190210592A1 (en) * 2018-01-11 2019-07-11 Robert Bosch Gmbh Method for automatically adjusting the speed of a motorcycle during a turning maneuver
EP3812223A1 (en) * 2018-06-21 2021-04-28 Robert Bosch GmbH Controller and control method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080306653A1 (en) * 2006-12-11 2008-12-11 Yamaha Hatsudoki Kabushiki Kaisha Engine Control Apparatus and Straddle-Type Vehicle
US20190210592A1 (en) * 2018-01-11 2019-07-11 Robert Bosch Gmbh Method for automatically adjusting the speed of a motorcycle during a turning maneuver
EP3812223A1 (en) * 2018-06-21 2021-04-28 Robert Bosch GmbH Controller and control method

Also Published As

Publication number Publication date
TW202411097A (zh) 2024-03-16
JPWO2023089418A1 (ja) 2023-05-25
WO2023089418A2 (ja) 2023-05-25

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