JP2009143432A - 車両用挙動制御装置 - Google Patents
車両用挙動制御装置 Download PDFInfo
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Abstract
【解決手段】車両挙動に基づいて、各車輪それぞれに発生させるべき要求トルクを演算し、その演算される各車輪の要求トルクに対して、摩擦制動手段により車輪に発生させる摩擦制動トルクとして各車輪均一のトルク値を、かつ、各車輪の電気モータごとに車輪に発生させる駆動トルク又は回生制動トルクとしてそれぞれ独立したトルク値を、それぞれ設定する。この際、車載バッテリの電池残量を測定し、その測定される電池残量に応じて、設定される摩擦制動手段による摩擦制動トルクと電気モータによる駆動トルク又は回生制動トルクとの配分を変更する。
【選択図】図2
Description
+2π∫TRR・ωRRdt+2π∫TRL・ωRLdt ・・・(1)
但し、Wは電力回生量であり、電力回生側が+であり、電力消費側が−である。また、Tは制動トルクであり、制動トルク側が+であり、駆動トルク側が−である。更に、ωは各車輪FR,FL,RR,RLそれぞれの回転数である。
12 電気モータ
14 車載バッテリ
16 電子制御ユニット(ECU)
17 バッテリ状態センサ
18 摩擦制動機構
20 ブレーキペダル
24 マスタシリンダ
26 ホイルシリンダ
42 増圧用リニアバルブ
44 ポンプ
46 アキュムレータ
50 減圧用リニアバルブ
Claims (7)
- 電力を充放電可能な車載バッテリと、複数の車輪それぞれに設けられ、前記車載バッテリから電力が供給されることにより対応の車輪に駆動トルクを付与し、また、対応の車輪に回生制動トルクを発生させることにより前記車載バッテリに回生電力を供給する電気モータと、車輪に摩擦制動トルクを発生させる摩擦制動手段と、を備える車両の挙動を制御する装置であって、
車両挙動に基づいて、各車輪それぞれに発生させるべき要求トルクを演算する要求トルク演算手段と、
前記要求トルク演算手段により演算される各車輪の要求トルクに対して、前記摩擦制動手段により車輪に発生させる摩擦制動トルクとして各車輪均一のトルク値を、かつ、各車輪の前記電気モータごとに車輪に発生させる駆動トルク又は回生制動トルクとしてそれぞれ独立したトルク値を、それぞれ設定するトルク値設定手段と、
を備えることを特徴とする車両用挙動制御装置。 - 前記トルク値設定手段は、
前記車載バッテリの電池残量を測定する電池残量測定手段と、
前記電池残量測定手段により測定される前記電池残量に応じて、前記要求トルク演算手段により演算される各車輪の要求トルクに対して設定される前記摩擦制動手段による摩擦制動トルクと前記電気モータによる駆動トルク又は回生制動トルクとの配分を変更するトルク配分変更手段と、
を有することを特徴とする請求項1記載の車両用挙動制御装置。 - 前記トルク配分変更手段は、前記電池残量測定手段により測定される前記電池残量が多いほど、設定される前記摩擦制動手段による摩擦制動トルクの配分を増やし、かつ、設定される前記電気モータによる駆動トルクの配分を増やし或いは回生制動トルクの配分を減らすことを特徴とする請求項2記載の車両用挙動制御装置。
- 前記トルク配分変更手段は、前記電池残量測定手段により測定される前記電池残量が少なくとも満充電状態にあるときは、各車輪の前記電気モータに対して設定されるトルク値を合算した総トルク値が駆動トルク側となるように、前記摩擦制動手段による摩擦制動トルクと前記電気モータによる駆動トルク又は回生制動トルクとの配分を変更することを特徴とする請求項2又は3記載の車両用挙動制御装置。
- 前記摩擦制動手段は、少なくとも2つの車輪に同時に均一の摩擦制動トルクを付与する摩擦制動機構であることを特徴とする請求項1乃至4の何れか一項記載の車両用挙動制御装置。
- 前記摩擦制動機構は、ブレーキ操作手段に接続するマスタシリンダと、各車輪ごとに設けられ、前記マスタシリンダに連通路を介して連通して車輪に摩擦制動トルクを付与するホイルシリンダと、高圧のブレーキフルードを吐出可能なポンプと、前記ポンプの吐出側から供給されかつリザーバタンクへ排出される前記ホイルシリンダのブレーキフルード圧を調整するリニアバルブと、を有することを特徴とする請求項5記載の車両用挙動制御装置。
- 前記要求トルク演算手段は、車両の目標ヨーレートと実ヨーレートとの差に基づいて、車両の旋回挙動を安定化すべく各車輪それぞれに発生させるべき要求トルクを演算することを特徴とする請求項1記載の車両用挙動制御装置。
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JP2007323543A JP4412400B2 (ja) | 2007-12-14 | 2007-12-14 | 車両用挙動制御装置 |
PCT/IB2008/003434 WO2009077835A1 (en) | 2007-12-14 | 2008-12-11 | Vehicle behavior control device, and vehicle behavior control method |
CN2008801212359A CN101903223B (zh) | 2007-12-14 | 2008-12-11 | 车辆行为控制设备以及车辆行为控制方法 |
BRPI0820880-8A BRPI0820880A2 (pt) | 2007-12-14 | 2008-12-11 | Dispositivo de controle de comportamento de veículo e método de controle de comportamento de veículo |
US12/808,057 US20100292882A1 (en) | 2007-12-14 | 2008-12-11 | Vehicle behavior control device, and vehicle behavior control method |
RU2010123893/11A RU2448006C2 (ru) | 2007-12-14 | 2008-12-11 | Устройство и способ для управления поведением транспортного средства |
EP08861579A EP2231449B1 (en) | 2007-12-14 | 2008-12-11 | Vehicle behavior control device, and vehicle behavior control method |
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- 2008-12-11 EP EP08861579A patent/EP2231449B1/en not_active Not-in-force
- 2008-12-11 BR BRPI0820880-8A patent/BRPI0820880A2/pt not_active IP Right Cessation
- 2008-12-11 CN CN2008801212359A patent/CN101903223B/zh not_active Expired - Fee Related
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CN101903223B (zh) | 2013-07-24 |
US20100292882A1 (en) | 2010-11-18 |
EP2231449A1 (en) | 2010-09-29 |
BRPI0820880A2 (pt) | 2015-06-16 |
RU2010123893A (ru) | 2012-01-20 |
RU2448006C2 (ru) | 2012-04-20 |
CN101903223A (zh) | 2010-12-01 |
JP4412400B2 (ja) | 2010-02-10 |
EP2231449B1 (en) | 2013-04-03 |
WO2009077835A1 (en) | 2009-06-25 |
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