JP2007131062A - 車両挙動制御装置 - Google Patents
車両挙動制御装置 Download PDFInfo
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- JP2007131062A JP2007131062A JP2005323991A JP2005323991A JP2007131062A JP 2007131062 A JP2007131062 A JP 2007131062A JP 2005323991 A JP2005323991 A JP 2005323991A JP 2005323991 A JP2005323991 A JP 2005323991A JP 2007131062 A JP2007131062 A JP 2007131062A
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- 230000033001 locomotion Effects 0.000 description 14
- 239000012530 fluid Substances 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 101000642661 Homo sapiens Serine-threonine kinase receptor-associated protein Proteins 0.000 description 7
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- 230000001133 acceleration Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 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
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
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- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/14—Electronic locking-differential
-
- 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
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- 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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral 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
- B60W2520/14—Yaw
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
【解決手段】調整部40cは、前後駆動力配分制御部40aと制動力制御部40bを認識し、現在の車両状態から前後駆動力配分制御部40aと制動力制御部40bにそれぞれ必要な目標ヨーモーメントを演算する。そして、それぞれの制御部40a、40bの現在の作動状況を基に、それぞれの制御補正値を最大値を考慮しながら演算し、出力する。
【選択図】図2
Description
図1〜図9は本発明の実施の一形態を示し、図1は車両全体の概略構成を示す説明図、図2は制御部の機能ブロック図、図3は車速、アクセル開度に応じた目標差動制限トルクのマップの説明図、図4は車両の横運動の2輪モデルを示す説明図、図5は前後駆動力配分制御と制動力制御の比率の一例を示す説明図、図6は車両挙動制御調整プログラムのフローチャート、図7は各周辺制御部に必要な目標ヨーモーメントの演算ルーチンのフローチャート、図8は前後駆動力配分制御プログラムのフローチャート、図9は制動力制御プログラムのフローチャートである。
2・Cf+2・Cr=M・(d2y/dt2) …(1)
となる。
2・Cf・Lf−2・Cr・Lr=Iz・(d2ψ/dt2) …(2)
(d2y/dt2)=V・((dβ/dt)+(dψ/dt)) …(3)
で表される。
従って、上記(1)式は、以下の(4)式となる。
2・Cf+2・Cr=M・V・((dβ/dt)+(dψ/dt)) …(4)
Cf=Kf・αf …(5)
Cr=Kr・αr …(6)
ここで、Kf,Krは前後輪の等価コーナリングパワ、αf,αrは前後輪のすべり角である。
αf=δf−(β+Lf・(dψ/dt)/V)
=(θH/n)−(β+Lf・(dψ/dt)/V) …(7)
αr=δr−(β−Lr・(dψ/dt)/V) …(8)
(dx(t) /dt)=A・x(t) +B・u(t) …(9)
x(t) =[β (dψ/dt)]T
u(t) =[θH δr]T
a11=−2・(Kf+Kr)/(M・V)
a12=−1.0−2・(Lf・Kf−Lr・Kr)/(M・V2)
a21=−2・(Lf・Kf−Lr・Kr)/Iz
a22=−2・(Lf2・Kf+Lr2・Kr)/(Iz・V)
b11=2・Kf/(M・V・n)
b12=2・Kr/(M・V)
b21=2・Lf・Kf/Iz
b22=−2・Lr・Kr/Iz
Δ(dψ/dt)=(dψ/dt)−(dψ/dt)t …(10)
MVDCT=GVDC・Δ(dψ/dt) …(11)
ここで、GVDCは制御ゲインである。
(ケース1).(dψ/dt)>ε,MVDCT>εM…左旋回状態でアンダステア傾向のとき…左後輪制動
(ケース2).(dψ/dt)>ε,MVDCT<−εM…左旋回状態でオーバステア傾向のとき…右前輪制動
(ケース3).(dψ/dt)<ε,MVDCT>εM…右旋回状態でオーバステア傾向のとき…左前輪制動
(ケース4).(dψ/dt)<ε,MVDCT<−εM…右旋回状態でアンダステア傾向のとき…右後輪制動
(ケース5).|(dψ/dt)|≦εの略直進状態、或いは、|MVDCT|≦εMの旋回状態のとき…制動輪の選択はせず非制動
F=MVDCT/(d/2) …(12)
ここで、dはトレッドである。
Pfl=kfl・F …(13)
Pfr=kfr・F …(14)
Prl=krl・F …(15)
Prr=krr・F …(16)
ここで、kfl,kfr,krl,krrは、換算係数である。
また、4輪のブレーキ液圧センサ36fl,36fr,36rl,36rrで検出したブレーキ液圧Pfl,Pfr,Prl,Prrは、上述の関係式により、各輪のブレーキ力Ffl,Ffr,Frl,Frrに換算され、調整部40cに出力される。
Ffl=Pfl/kfl …(17)
Ffr=Pfr/kfr …(18)
Frl=Prl/krl …(19)
Frr=Prr/krr …(20)
MAWD=rAWD・ΔMz …(21)
MVDC=(1−rAWD)・ΔMz …(22)
こうして得られた、目標ヨーモーメントMAWD、MVDCと、各制御の作動状況と比較し、各制御の制御補正値ΔTAWD、ΔMVDCを演算して、各制御部40a、40bにそれぞれ出力する。
TAWD=GAWD・MAWD …(23)
ΔTAWD=TAWDS−TAWD …(24)
MMAX=FMAX・(d/2) …(25)
ΔMVDC=MMAX−MVDC …(26)
15 トランスファクラッチ
17fl,17fr,17rl,17rr ホイールシリンダ
31fl,31fr,31rl,31rr 車輪速センサ(車両状態検出手段)
32 ハンドル角センサ(車両状態検出手段)
33 ヨーレートセンサ(車両状態検出手段)
34 アクセル開度センサ(車両状態検出手段)
35 クラッチ力センサ(作動状況検出手段)
36fl,36fr,36rl,36rr ブレーキ液圧センサ(作動状況検出手段)
40 制御部
40a 前後駆動力配分制御部(車両挙動制御手段)
40b 制動力制御部(車両挙動制御手段)
40c 調整部(調整手段)
41 トランスファクラッチ駆動部
42 ブレーキ駆動部
Claims (2)
- それぞれ独立して車両挙動を制御する複数の車両挙動制御手段と、
上記複数の車両挙動制御手段の作動状況を検出する作動状況検出手段と、
少なくとも車両の走行状態と運転状態を検出する車両状態検出手段と、
上記車両状態検出手段で検出した上記車両の走行状態と運転状態と上記作動状況検出手段で検出した上記複数の車両挙動制御手段の作動状況とに基づき上記複数の車両挙動制御手段の制御量を調整する調整手段と、
を備えたことを特徴とする車両挙動制御装置。 - 上記調整手段は、上記車両状態検出手段で検出した上記車両の走行状態と運転状態に基づき車両全体で必要な制御量を演算し、該車両全体で必要な制御量を得るための上記各車両挙動制御手段の分担制御量を演算して、上記複数の車両挙動制御手段の作動状況と上記分担制御量とを比較し、上記複数の車両挙動制御手段の制御量を調整することを特徴とする請求項1記載の車両挙動制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005323991A JP4969833B2 (ja) | 2005-11-08 | 2005-11-08 | 車両挙動制御装置 |
US11/593,629 US7761208B2 (en) | 2005-11-08 | 2006-11-07 | Vehicle behavior control device |
EP06123646A EP1782994B1 (en) | 2005-11-08 | 2006-11-08 | Vehicle behaviour control device |
DE602006006001T DE602006006001D1 (de) | 2005-11-08 | 2006-11-08 | Kontrollvorrichtung für das Verhalten eines Kraftfahrzeugs |
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JP2005323991A JP4969833B2 (ja) | 2005-11-08 | 2005-11-08 | 車両挙動制御装置 |
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Publication Number | Publication Date |
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JP2007131062A true JP2007131062A (ja) | 2007-05-31 |
JP4969833B2 JP4969833B2 (ja) | 2012-07-04 |
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JP2005323991A Active JP4969833B2 (ja) | 2005-11-08 | 2005-11-08 | 車両挙動制御装置 |
Country Status (4)
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---|---|
US (1) | US7761208B2 (ja) |
EP (1) | EP1782994B1 (ja) |
JP (1) | JP4969833B2 (ja) |
DE (1) | DE602006006001D1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011207313A (ja) * | 2010-03-29 | 2011-10-20 | Toyota Motor Corp | 車両の制御装置 |
JP2012056511A (ja) * | 2010-09-10 | 2012-03-22 | Fuji Heavy Ind Ltd | 車両挙動制御装置 |
JP2012126229A (ja) * | 2010-12-15 | 2012-07-05 | Jtekt Corp | 車両挙動制御装置 |
JP2018154242A (ja) * | 2017-03-17 | 2018-10-04 | 株式会社Subaru | 車両の制御装置 |
JP6481744B1 (ja) * | 2017-11-24 | 2019-03-13 | マツダ株式会社 | 四輪駆動車の制御装置 |
JP2019093943A (ja) * | 2017-11-24 | 2019-06-20 | マツダ株式会社 | 四輪駆動車の制御装置 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007000995A1 (de) * | 2007-11-28 | 2009-06-04 | Zf Lenksysteme Gmbh | Verfahren zum Betrieb einer Überlagerungslenkung für ein Kraftfahrzeug |
DE102011006166B4 (de) | 2011-03-25 | 2020-05-07 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Steuergerät mit einer Funktion zum Schutz einer Allradkupplung eines Kraftfahrzeugs mit kupplungsgesteuertem Allradantrieb bei einer kritischen Festbremssituation mit Kupplungsschlupf |
GB201314795D0 (en) * | 2013-08-19 | 2013-10-02 | Jaguar Land Rover Ltd | Driveline and method of controlling a driveline |
US9376101B2 (en) * | 2013-08-28 | 2016-06-28 | Continental Automotive Systems, Inc. | All-wheel drive torque vectoring by electronic brake system control |
JP6380055B2 (ja) * | 2014-11-28 | 2018-08-29 | 株式会社ジェイテクト | 四輪駆動車の制御装置 |
JP6610448B2 (ja) * | 2016-06-23 | 2019-11-27 | 株式会社アドヴィックス | 走行制御装置 |
JP6729441B2 (ja) * | 2017-02-20 | 2020-07-22 | トヨタ自動車株式会社 | 四輪駆動車両の制御装置 |
US11052757B2 (en) * | 2019-04-05 | 2021-07-06 | GM Global Technology Operations LLC | Methods of controlling axle torque distribution |
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JP4456748B2 (ja) | 2000-10-27 | 2010-04-28 | 富士重工業株式会社 | 4輪駆動車の動力配分制御装置 |
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JP2005112007A (ja) * | 2003-10-02 | 2005-04-28 | Toyoda Mach Works Ltd | 車両の統合制御装置 |
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-
2005
- 2005-11-08 JP JP2005323991A patent/JP4969833B2/ja active Active
-
2006
- 2006-11-07 US US11/593,629 patent/US7761208B2/en active Active
- 2006-11-08 DE DE602006006001T patent/DE602006006001D1/de active Active
- 2006-11-08 EP EP06123646A patent/EP1782994B1/en not_active Expired - Fee Related
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JPH05105048A (ja) * | 1991-10-14 | 1993-04-27 | Nissan Motor Co Ltd | 制動力制御装置 |
JPH0624304A (ja) * | 1992-07-08 | 1994-02-01 | Nissan Motor Co Ltd | 制動力制御装置 |
JPH0632242A (ja) * | 1992-07-16 | 1994-02-08 | Nissan Motor Co Ltd | 車両の運動制御装置 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2011207313A (ja) * | 2010-03-29 | 2011-10-20 | Toyota Motor Corp | 車両の制御装置 |
JP2012056511A (ja) * | 2010-09-10 | 2012-03-22 | Fuji Heavy Ind Ltd | 車両挙動制御装置 |
JP2012126229A (ja) * | 2010-12-15 | 2012-07-05 | Jtekt Corp | 車両挙動制御装置 |
JP2018154242A (ja) * | 2017-03-17 | 2018-10-04 | 株式会社Subaru | 車両の制御装置 |
US10486703B2 (en) | 2017-03-17 | 2019-11-26 | Subaru Corporation | Control device for vehicle |
JP6481744B1 (ja) * | 2017-11-24 | 2019-03-13 | マツダ株式会社 | 四輪駆動車の制御装置 |
JP2019093944A (ja) * | 2017-11-24 | 2019-06-20 | マツダ株式会社 | 四輪駆動車の制御装置 |
JP2019093943A (ja) * | 2017-11-24 | 2019-06-20 | マツダ株式会社 | 四輪駆動車の制御装置 |
Also Published As
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US7761208B2 (en) | 2010-07-20 |
DE602006006001D1 (de) | 2009-05-14 |
EP1782994A3 (en) | 2008-01-23 |
EP1782994B1 (en) | 2009-04-01 |
US20070112499A1 (en) | 2007-05-17 |
EP1782994A2 (en) | 2007-05-09 |
JP4969833B2 (ja) | 2012-07-04 |
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