JP2006082787A - Braking force control device - Google Patents

Braking force control device Download PDF

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JP2006082787A
JP2006082787A JP2004272193A JP2004272193A JP2006082787A JP 2006082787 A JP2006082787 A JP 2006082787A JP 2004272193 A JP2004272193 A JP 2004272193A JP 2004272193 A JP2004272193 A JP 2004272193A JP 2006082787 A JP2006082787 A JP 2006082787A
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braking force
driving force
braking
pedal
wheel
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JP2004272193A
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Takahiro Shiotani
崇洋 塩谷
Mizuho Sugiyama
瑞穂 杉山
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Toyota Motor Corp
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Toyota Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/24—Driver interactions by lever actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Braking Elements And Transmission Devices (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a braking force control device enabling a driver to adjust braking force/driving force distribution by simple operation. <P>SOLUTION: Pressure sensors 25 to 28 corresponding to each wheel are arranged at four corners between a pedal upper plate 22 and a pedal lower plate 23 of a brake pedal 2 (same as a case of an accelerator pedal 3). Braking force/driving force distribution applied on each wheel is set on the basis of the operation amount (stroke amount) of the brake pedal when the driver steps the brake pedal 2 and pressure values detected by the pressure sensors 25 to 28. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、制動力または駆動力の制御装置に関し、特に、各車輪ごとに付与する制動力または駆動力を独立して制御可能な制駆動力の制御装置に関する。   The present invention relates to a braking force or driving force control device, and more particularly to a braking / driving force control device capable of independently controlling the braking force or driving force applied to each wheel.

車輪ごとに付与する制動力や駆動力を調整することが可能な制動力制御装置または駆動力制御装置を備える車両が知られている。この種の制駆動力制御装置においては、旋回時や不安定路面における車両挙動安定化のため、制動力／駆動力を各車輪に自動的に配分する制御を行っており、運転者が積極的にその配分を変えることは通常予想されていない。   There is known a vehicle including a braking force control device or a driving force control device capable of adjusting a braking force and a driving force applied to each wheel. In this type of braking / driving force control device, control is performed to automatically distribute the braking force / driving force to each wheel in order to stabilize vehicle behavior during turning and on unstable road surfaces. It is usually not expected to change that allocation.

特許文献１は、運転者が積極的に左右の制動力配分を変更できるようにして、要求に則した回頭性能を発揮できることを目的とした技術である。この技術においては、ステアリングホイールに左右一対のレバー状の操作スイッチを設け、左右の制動力配分を変更できるようにすることで、操作が煩雑にならないようにした、と記載されている。
特開２００１−５８６８４号公報 Patent Document 1 is a technique for enabling a driver to positively change the left and right braking force distribution and exhibiting the turning performance in accordance with requirements. In this technique, it is described that the operation is not complicated by providing a pair of left and right lever-like operation switches on the steering wheel so that the left and right braking force distribution can be changed.
JP 2001-58684 A

しかしながら、この装置では、左右の制動力配分は容易に変更できるが、前後の制動力配分を変更したり、４輪の駆動力配分を変更することは困難である。また、操舵のためにステアリングを操作しながら、レバーを操作することは難しく、ブレーキペダルの操作量との関係も複雑になるため、運転者による調整が難しいという問題がある。   However, with this device, the left and right braking force distribution can be easily changed, but it is difficult to change the front and rear braking force distribution and the four-wheel driving force distribution. In addition, it is difficult to operate the lever while operating the steering for steering, and the relationship with the operation amount of the brake pedal becomes complicated, so that there is a problem that adjustment by the driver is difficult.

そこで本発明は、運転者が４輪の制動力または駆動力配分を容易な操作で調整することを可能とした制駆動力制御装置を提供することを課題とする。   Therefore, an object of the present invention is to provide a braking / driving force control device that enables a driver to adjust the braking force or driving force distribution of four wheels by an easy operation.

上記課題を解決するため、本発明にかかる制駆動力制御装置は、制動力または駆動力を各輪ごとに独立に制御可能な車両において、独立制御可能な該制動力／駆動力の制御を行う制駆動力制御装置であって、この独立制御可能な制動力／駆動力の運転者による操作手段は、板状の操作子の４隅に圧力センサが配置されて構成されており、操作子の操作量と、各圧力センサの出力から圧力センサに対応する車輪の制動力／駆動力を制御することを特徴とする。   In order to solve the above-mentioned problems, a braking / driving force control device according to the present invention controls a braking force / driving force that can be independently controlled in a vehicle in which braking force or driving force can be independently controlled for each wheel. In this braking / driving force control device, the operation means by the driver of braking force / driving force that can be independently controlled is configured by arranging pressure sensors at four corners of the plate-like operation element. The braking force / driving force of the wheel corresponding to the pressure sensor is controlled from the operation amount and the output of each pressure sensor.

板状の操作子（アクセルペダル、ブレーキペダル等）の４隅に各車輪に対応する圧力センサが配置される。ブレーキペダルを例にとると、ペダルを踏み込む際に、ペダルの特定の部分に足をおいて力が偏在するように踏み込むと、均一に踏み込んだ場合と異なり、その位置に応じて各圧力センサで検知した圧力配分は、踏み方に応じて変化する。この圧力センサの出力とペダル操作量に基づいて、この場合には各車輪への制動力配分を調整する。   Pressure sensors corresponding to the respective wheels are arranged at four corners of a plate-like operation element (accelerator pedal, brake pedal, etc.). Taking a brake pedal as an example, when depressing the pedal, placing the foot on a specific part of the pedal and depressing so that the force is unevenly distributed differs from the case of depressing uniformly, and depending on the position, each pressure sensor The detected pressure distribution changes depending on how to step. In this case, the distribution of braking force to each wheel is adjusted based on the output of the pressure sensor and the pedal operation amount.

本発明によれば、従来のブレーキペダルやアクセルペダル、レバー装置等に各車輪に対応する圧力センサを配置しており、圧力センサの検出圧力の違いにより、制動力または駆動力配分を調整するため、基本的な操作は従来と同様であり、操作の煩雑化を避けることができる。また、操舵や他のペダルやレバー等の操作を行いながら操作することも容易であり、また、操作手法が感覚的にも理解しやすいので、誤操作を引き起こすことなく、運転者による車両のコントロール性が向上する。   According to the present invention, a pressure sensor corresponding to each wheel is arranged on a conventional brake pedal, accelerator pedal, lever device, or the like, and the braking force or driving force distribution is adjusted according to the difference in pressure detected by the pressure sensor. The basic operation is the same as the conventional one, and the complication of the operation can be avoided. In addition, it is easy to operate while steering and other pedals and levers, etc., and the operation method is easy to understand sensuously, so the driver can control the vehicle without causing erroneous operation. Will improve.

以下、添付図面を参照して本発明の好適な実施の形態について詳細に説明する。説明の理解を容易にするため、各図面において同一の構成要素に対しては可能な限り同一の参照番号を附し、重複する説明は省略する。   DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the description, the same reference numerals are given to the same components in the drawings as much as possible, and duplicate descriptions are omitted.

図１は、本発明にかかる制駆動力制御装置を搭載した車両の概略構成図である。この車両は、各車輪７１〜７４にそれぞれ専用のインホイールモータ６１〜６４が配置されており、これらのインホイールモータ６１〜６４の作動を個別に制御することで各車輪７１〜７４に付与する制動力／駆動力を独立に制御することが可能である。ここでは、制駆動力双方の配分を運転者が調整できる実施形態について説明する。   FIG. 1 is a schematic configuration diagram of a vehicle equipped with a braking / driving force control device according to the present invention. In this vehicle, dedicated in-wheel motors 61 to 64 are disposed on the wheels 71 to 74, respectively, and the operations of the in-wheel motors 61 to 64 are individually controlled to be applied to the wheels 71 to 74. The braking force / driving force can be controlled independently. Here, an embodiment in which the driver can adjust the distribution of both braking and driving forces will be described.

各インホイールモータ６１〜６４は、制御部であるＥＣＵ（Electric Control Unit）１によって制御される。このＥＣＵ１は、ＲＯＭ、ＲＡＭ、ＣＰＵによって構成されるが、制動制御／駆動制御以外の車両の制御を合わせて行ってもよいし、制動制御、駆動制御をそれぞれ単独の制御ユニットで行うようにしてもよい。   Each in-wheel motor 61-64 is controlled by ECU (Electric Control Unit) 1 which is a control part. The ECU 1 is composed of a ROM, a RAM, and a CPU. However, the control of the vehicle other than the braking control / driving control may be performed together, or the braking control and driving control may be performed by a single control unit. Also good.

ＥＣＵ１には、ブレーキペダル２に配置されるストロークセンサ２１と４つの圧力センサ２５〜２８の出力信号、アクセルペダル３に配置されるストロークセンサ３１と４つの圧力センサ３５〜３８の出力信号、車速センサ５１、Ｇセンサ５２、舵角センサ５３の各出力信号のほか、設定スイッチ４の設定信号が入力される。   The ECU 1 includes an output signal from the stroke sensor 21 and the four pressure sensors 25 to 28 disposed on the brake pedal 2, an output signal from the stroke sensor 31 and the four pressure sensors 35 to 38 disposed on the accelerator pedal 3, and a vehicle speed sensor. In addition to the output signals of 51, G sensor 52 and rudder angle sensor 53, the setting signal of setting switch 4 is input.

ブレーキペダル２の概略構成を図２、図３に示す。なお、図示は省略するが、アクセルペダル３についても同様の構成をとる。ブレーキペダル２は、ペダルリンク部２０に板状のペダル下板２３が固定されており、４つの圧力センサ２５〜２８をはさんで、ペダル上板２２が配置される。各圧力センサ２５〜２８は、車輪７１〜７４にそれぞれ対応している。運転者がブレーキペダル２のペダル上板２２を足で踏み込むと、ペダルリンク部２０が移動して、その移動量（ストローク量）がストロークセンサ２１により検出される。また、ペダル上板２２を均一ではなく、特定の部分に力を集中させて踏み込むと、圧力センサ２５〜２８の出力には、踏み方に応じた偏差が発生する。   A schematic configuration of the brake pedal 2 is shown in FIGS. Although not shown, the accelerator pedal 3 has the same configuration. In the brake pedal 2, a plate-like pedal lower plate 23 is fixed to the pedal link portion 20, and the pedal upper plate 22 is disposed across the four pressure sensors 25 to 28. The pressure sensors 25 to 28 correspond to the wheels 71 to 74, respectively. When the driver steps on the pedal upper plate 22 of the brake pedal 2 with his / her foot, the pedal link portion 20 moves and the movement amount (stroke amount) is detected by the stroke sensor 21. Further, when the pedal upper plate 22 is not uniform and is stepped on while concentrating the force on a specific portion, the output of the pressure sensors 25 to 28 generates a deviation corresponding to the stepping method.

本実施形態に基づく制御を制動力制御を例に説明する。図４は、制御処理を示すフローチャートである。この処理は、ＥＣＵ１によって車両の電源がオンにされてからオフにされるまでの間所定のタイミングで繰り返し実行される。   Control based on this embodiment will be described by taking braking force control as an example. FIG. 4 is a flowchart showing the control process. This process is repeatedly executed at a predetermined timing from when the vehicle is turned on by the ECU 1 to when it is turned off.

まず、各センサの出力から車両状態量および操作量を読み込む（ステップＳ１）。具体的には、ブレーキペダル２に配置されたストロークセンサ２１からストローク量、圧力センサ２５〜２８の各検出圧力、車速センサ５１から車速信号、Ｇセンサ５２から車両の加速度、舵角センサ５３から操舵角、設定スイッチ４の設定状態をそれぞれ読み込む。   First, the vehicle state quantity and the operation quantity are read from the output of each sensor (step S1). Specifically, the stroke amount from the stroke sensor 21 disposed on the brake pedal 2, the detected pressures of the pressure sensors 25 to 28, the vehicle speed signal from the vehicle speed sensor 51, the acceleration of the vehicle from the G sensor 52, and the steering from the steering angle sensor 53 The angle and the setting state of the setting switch 4 are read.

次に、ストローク量と車両の挙動をもとにして基本制動力を設定する（ステップＳ２）。次に、設定スイッチの設定状態および車両の現在の挙動状態から運転者による制動力配分調整を許可してよいか否かを判定する（ステップＳ３）。運転者が積極的に制動力配分を変更したいと意図している場合にのみ運転者の操作状態から制動力配分の決定を行うよう、設定スイッチで変更が許可されていない状態の場合には、配分調整を許可しない。また、車両の挙動が所定の状態より不安定な状態にある等の場合には、運転者による積極的な制動力配分調整を禁止または抑制するとよい。   Next, the basic braking force is set based on the stroke amount and the vehicle behavior (step S2). Next, it is determined from the setting state of the setting switch and the current behavior state of the vehicle whether or not the brake force distribution adjustment by the driver may be permitted (step S3). If the setting switch is not allowed to change so that the braking force distribution is determined from the driver's operation state only when the driver intends to actively change the braking force distribution, Do not allow distribution adjustment. In addition, when the behavior of the vehicle is more unstable than a predetermined state, it is preferable to prohibit or suppress the aggressive braking force distribution adjustment by the driver.

制動力配分が許可されている場合には、圧力センサ２５〜２８の検出圧力に応じて制動力配分を決定する（ステップＳ４）。このとき、車両挙動に応じて制動力配分を決定しておき、圧力センサ２５〜２８の検出圧力に応じてそれを調整するようにしてもよい。例えば、圧力センサ２５〜２８の検出圧力をそれぞれＰ１〜Ｐ４とし、Ｐ１〜Ｐ４の平均圧力Ｐaveからの偏差をΔＰ１（＝Ｐ１−Ｐave）〜ΔＰ４（＝Ｐ４−Ｐave）とする。このΔＰ１〜ΔＰ４に応じて各車輪７１〜７４に付与する制動力を微調整する。 When the braking force distribution is permitted, the braking force distribution is determined according to the detected pressure of the pressure sensors 25 to 28 (step S4). At this time, the braking force distribution may be determined according to the vehicle behavior and adjusted according to the pressure detected by the pressure sensors 25 to 28. For example, the detected pressures of the pressure sensors 25 to 28 are P 1 to P 4 , respectively, and the deviations from the average pressure Pave of P 1 to P 4 are ΔP 1 (= P 1 −Pave) to ΔP 4 (= P 4 −Pave). ). The braking force applied to each of the wheels 71 to 74 is finely adjusted according to ΔP 1 to ΔP 4 .

例えば、ブレーキペダル２の上側を下側より強く踏み込んだ場合には、圧力センサ２５、２６の検出圧力Ｐ１、Ｐ２が圧力センサ２７、２８の検出圧力Ｐ３、Ｐ４より高くなるため、ΔＰ１、ΔＰ２は、ΔＰ３、ΔＰ４より大きくなる。この場合には、前輪７１、７２へと付与する制動力が後輪７３、７４へ付与する制動力より大きくなるよう調整される。 For example, when the upper side of the brake pedal 2 is depressed more strongly than the lower side, the detected pressures P 1 and P 2 of the pressure sensors 25 and 26 become higher than the detected pressures P 3 and P 4 of the pressure sensors 27 and 28. ΔP 1 and ΔP 2 are larger than ΔP 3 and ΔP 4 . In this case, the braking force applied to the front wheels 71 and 72 is adjusted to be larger than the braking force applied to the rear wheels 73 and 74.

また、ブレーキペダル２の右側を左側より強く踏み込んだ場合には、圧力センサ２６、２８の検出圧力Ｐ２、Ｐ４が圧力センサ２５、２７の検出圧力Ｐ１、Ｐ３より高くなるため、ΔＰ２、ΔＰ４は、ΔＰ１、ΔＰ３より大きくなる。この場合には、右前輪７２、右後輪７４へと付与する制動力が左前輪７１、左後輪７３へ付与する制動力より大きくなるよう調整される。 In addition, when the right side of the brake pedal 2 is depressed more strongly than the left side, the detected pressures P 2 and P 4 of the pressure sensors 26 and 28 become higher than the detected pressures P 1 and P 3 of the pressure sensors 25 and 27, and therefore ΔP 2 and ΔP 4 are larger than ΔP 1 and ΔP 3 . In this case, the braking force applied to the right front wheel 72 and the right rear wheel 74 is adjusted to be larger than the braking force applied to the left front wheel 71 and the left rear wheel 73.

ステップＳ６では、設定した制動力配分に基づいて制動力を付与するよう各インホイールモータ６１〜６４へと指示する。制動の際には、インホイールモータ６１〜６４を発電機として機能させることにより車輪７１〜７４の回転エネルギーを電気エネルギーに変換し、図示していないバッテリに回収する回生制動を行う。   In step S6, the in-wheel motors 61 to 64 are instructed to apply the braking force based on the set braking force distribution. At the time of braking, regenerative braking is performed by converting the rotational energy of the wheels 71 to 74 into electrical energy by causing the in-wheel motors 61 to 64 to function as a generator, and collecting it in a battery (not shown).

一方、ステップＳ３で、運転者による制動力配分調整を許可すべきでないと判定した場合には、ステップＳ５へと移行して、車両状態に基づいて車両を安定化させるような制動力配分を決定し、ステップＳ６へと移行して設定した制動力配分に基づいた制動を実施する。   On the other hand, if it is determined in step S3 that the braking force distribution adjustment by the driver should not be permitted, the process proceeds to step S5 to determine the braking force distribution that stabilizes the vehicle based on the vehicle state. Then, the process shifts to step S6 to perform braking based on the set braking force distribution.

このように、本実施形態では、ブレーキペダル２の踏み方によって、運転者が各車輪７１〜７４への制動力配分を自在に調整することを可能としているため、操作が容易で、煩雑になるのを避けられる。また、各車輪７１〜７４との対応関係が直感的に理解できるので、誤操作を引き起こすおそれが少ない。さらに、ブレーキペダル２以外の操作を通常通り行うことができるため、操舵中やシフト操作中においても操作が可能であり、また、ブレーキペダル２の操作自体も通常通り行うことが可能であるため、操縦性が向上する。   Thus, in this embodiment, since the driver can freely adjust the braking force distribution to the wheels 71 to 74 depending on how the brake pedal 2 is depressed, the operation is easy and complicated. Can be avoided. Moreover, since the correspondence with each wheel 71-74 can be understood intuitively, there is little possibility of causing an erroneous operation. Furthermore, since operations other than the brake pedal 2 can be performed as usual, operations can be performed during steering and shifting operations, and the operation of the brake pedal 2 itself can be performed as usual. Maneuverability is improved.

駆動力操作を行う場合には、図４における処理フローチャートにおける制動力部分を駆動力と読み替えればよい。その場合、ステップＳ６では、設定した駆動力配分に基づいて駆動力を付与するよう各インホイールモータ６１〜６４へ供給する電力を調整すればよい。このようにすると、アクセルペダル３の踏み方によって、運転者が各車輪７１〜７４への駆動力配分を自在に調整することが可能となる。このため、駆動力配分調整の操作が容易で、煩雑になるのを避けられる。また、各車輪７１〜７４との対応関係が直感的に理解できるので、誤操作を引き起こすおそれが少ない。さらに、アクセルペダル３以外の操作を通常通り行うことができるため、操舵中やシフト操作中においても操作が可能であり、また、アクセルペダル３の操作自体も通常通り行うことが可能であるため、操縦性が向上する。   When a driving force operation is performed, the braking force portion in the process flowchart in FIG. 4 may be read as driving force. In that case, in step S6, the power supplied to each in-wheel motor 61-64 may be adjusted so as to apply the driving force based on the set driving force distribution. In this way, the driver can freely adjust the driving force distribution to the wheels 71 to 74 depending on how the accelerator pedal 3 is depressed. For this reason, the operation of adjusting the driving force distribution is easy and can be prevented from becoming complicated. Moreover, since the correspondence with each wheel 71-74 can be understood intuitively, there is little possibility of causing an erroneous operation. Furthermore, since operations other than the accelerator pedal 3 can be performed as usual, operations can be performed during steering and shift operations, and the operation of the accelerator pedal 3 itself can also be performed as usual. Maneuverability is improved.

以上の説明では、駆動力、制動力の操作手段としてペダルを用いる例を説明してきたが、例えば、レバーを用いて手で入力するタイプの車両においても本発明は好適に適用できる。また、ここでは、制動力、駆動力の双方を配分調整する例を説明したが、いずれか一方のみを調整してもよい。   In the above description, an example in which a pedal is used as an operating means for driving force and braking force has been described. However, the present invention can also be suitably applied to, for example, a vehicle of a type that is manually input using a lever. Moreover, although the example which distributes and adjusts both braking force and driving force was demonstrated here, you may adjust only any one.

また、ここでは、インホイールモータを用いる車両について説明したが、ディファレンシャルギア等を用いて駆動力の配分調整を行う車両の駆動力配分調整に適用することもできるし、摩擦ブレーキを用いる車両であって、各車輪に付与する制動力を独立に調整可能な車両の制動力配分調整に適用することも可能である。   In addition, although a vehicle using an in-wheel motor has been described here, it can be applied to a driving force distribution adjustment of a vehicle that performs a driving force distribution adjustment using a differential gear or the like, or a vehicle using a friction brake. Thus, it is also possible to apply to the braking force distribution adjustment of the vehicle in which the braking force applied to each wheel can be adjusted independently.

本発明にかかる制駆動力制御装置を搭載した車両の概略構成図である。1 is a schematic configuration diagram of a vehicle equipped with a braking / driving force control device according to the present invention. ブレーキペダルの正面図である。It is a front view of a brake pedal. ブレーキペダルの側面図である。It is a side view of a brake pedal. 本発明にかかる制駆動力制御装置による制動力制御処理を示すフローチャートである。It is a flowchart which shows the braking force control process by the braking / driving force control apparatus concerning this invention.

符号の説明Explanation of symbols

１…ＥＣＵ、２…ブレーキペダル、３…アクセルペダル、４…設定スイッチ、２０…ペダルリンク部、２１、３１…ストロークセンサ、２２…ペダル上板、２３…ペダル下板、２５〜２８、３５〜３８…圧力センサ、５１…車速センサ、５２…センサ、５３…舵角センサ、６１〜６４…インホイールモータ、７１〜７４…車輪。   DESCRIPTION OF SYMBOLS 1 ... ECU, 2 ... Brake pedal, 3 ... Accelerator pedal, 4 ... Setting switch, 20 ... Pedal link part, 21, 31 ... Stroke sensor, 22 ... Pedal upper board, 23 ... Pedal lower board, 25-28, 35- 38 ... Pressure sensor, 51 ... Vehicle speed sensor, 52 ... Sensor, 53 ... Rudder angle sensor, 61-64 ... In-wheel motor, 71-74 ... Wheel.

Claims (1)

制動力または駆動力を各輪ごとに独立に制御可能な車両において、独立制御可能な該制動力／駆動力の制御を行う制駆動力制御装置であって、
該独立制御可能な制動力／駆動力の運転者による操作手段は、板状の操作子の４隅に圧力センサが配置されて構成されており、
前記操作子の操作量と、各圧力センサの出力から圧力センサに対応する車輪の制動力／駆動力を制御することを特徴とする制駆動力制御装置。 A braking / driving force control device for controlling the braking force / driving force that can be independently controlled in a vehicle capable of independently controlling braking force or driving force for each wheel,
The operation means by the driver of the braking force / driving force that can be independently controlled is configured by arranging pressure sensors at the four corners of the plate-like operation element,
A braking / driving force control device that controls a braking force / driving force of a wheel corresponding to a pressure sensor from an operation amount of the operation element and an output of each pressure sensor.
JP2004272193A 2004-09-17 2004-09-17 Braking force control device Withdrawn JP2006082787A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008201274A (en) * 2007-02-20 2008-09-04 Toyota Motor Corp Braking force control device, brake pedal operational mode estimating device and brake pedal device
JP2008222030A (en) * 2007-03-13 2008-09-25 Honda Motor Co Ltd Brake control system
JP2011170457A (en) * 2010-02-16 2011-09-01 Toyota Motor Corp Vehicle that automatically corrects difference of sensitivity caused by difference of positions of pedal to be stepped

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008201274A (en) * 2007-02-20 2008-09-04 Toyota Motor Corp Braking force control device, brake pedal operational mode estimating device and brake pedal device
JP2008222030A (en) * 2007-03-13 2008-09-25 Honda Motor Co Ltd Brake control system
JP2011170457A (en) * 2010-02-16 2011-09-01 Toyota Motor Corp Vehicle that automatically corrects difference of sensitivity caused by difference of positions of pedal to be stepped

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