JP2018154242A - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
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Abstract
Description
まず、図1及び図2を参照して、本発明の実施形態に係る車両1の概略について説明する。図1は、本実施形態に係る車両1の駆動系の概略構成の一例を示す模式図である。
続いて、図3〜図10を参照して、本実施形態に係る制御装置100の詳細について説明する。
まず、図3を参照して、本実施形態に係る制御装置100の機能構成について説明する。図3は、本実施形態に係る制御装置100の機能構成の一例を示すブロック図である。
取得部120は、外部の装置から出力される各種情報を取得する。また、取得部120は、取得した当該各種情報を到達時間算出部140及び制御部160へ出力する。取得部120は、具体的には、速度センサ202、加速度センサ203、及び路面μセンサ205から出力される各検出結果を取得する。また、取得部120は、要求駆動力を算出する他の制御装置から出力される当該要求駆動力を示す情報を取得する。
到達時間算出部140は、車両1の前方において路面の摩擦係数が変化する地点である変化地点5に車両1が到達するまでの到達時間を算出する。また、到達時間算出部140は、算出した到達時間を示す情報を制御部160へ出力する。具体的には、到達時間算出部140は、車両1の前方において変化地点5が検出された場合に、到達時間の算出処理を実行する。
制御部160は、前後輪の駆動力配分を制御する。具体的には、制御部160は、前後輪の駆動力配分を、高μ路R10の走行時と低μ路R20の走行時とで異ならせるように制御する。ここで、制御部160は、例えば、前輪の駆動力配分率を制御することによって、前後輪の駆動力配分を制御し得る。以下では、高μ路R10の走行時における前輪の駆動力配分率を高μ路配分率と称し、低μ路R20の走行時における前輪の駆動力配分率を低μ路配分率と称する。
続いて、図4〜図10を参照して、本実施形態に係る制御装置100が行う処理の流れについて説明する。
以上説明したように、本実施形態によれば、制御部160は、車両1の前方において路面の摩擦係数が変化する地点である変化地点5に車両1が到達するまでに、前後輪の駆動力配分を、所定の時間変化率で第1の配分から第2の配分へ移行させる。それにより、車両1が変化地点5を通過する場合において、前後輪の駆動力配分がステップ的に切り替えられることを防止することができる。また、車両1が変化地点5へ到達する時点以前において、前後輪の駆動力配分の切り替えを完了することができる。ゆえに、車両1の安定性を確保しつつ、車両1の挙動の急激な変化を抑制することが可能となる。
5 変化地点
11a 左前輪
11b 右前輪
11c 左後輪
11d 右後輪
13f フロントディファレンシャル装置
13r リヤディファレンシャル装置
21 エンジン
31 バッテリ
33 インバータ
35 駆動モータ
100 制御装置
120 取得部
140 到達時間算出部
160 制御部
162 配分決定部
164 移行時間算出部
166 駆動力配分制御部
202 速度センサ
203 加速度センサ
205 路面μセンサ
Claims (9)
- 車両の前方において路面の摩擦係数が変化する地点である変化地点に前記車両が到達するまでに、前後輪の駆動力配分を、所定の時間変化率で第1の配分から第2の配分へ移行させる制御部を備える、
車両の制御装置。 - 前記制御部は、前記変化地点において路面の摩擦係数が低下する場合に、前記所定の時間変化率での前記駆動力配分の前記第1の配分から前記第2の配分への移行を実行し、
前記第2の配分における前輪の駆動力配分率と後輪の駆動力配分率との差は、前記第1の配分と比較して小さい、
請求項1に記載の車両の制御装置。 - 前記変化地点に前記車両が到達するまでの到達時間を算出する到達時間算出部を備え、
前記制御部は、
前記所定の時間変化率で前記駆動力配分が前記第1の配分から前記第2の配分へ移行するまでの時間である移行時間を算出する移行時間算出部と、
前記移行時間と前記到達時間との比較結果に基づいて、前記所定の時間変化率での前記駆動力配分の前記第1の配分から前記第2の配分への移行を開始する駆動力配分制御部と、
を備える、
請求項1又は2に記載の車両の制御装置。 - 前記到達時間算出部は、現時点における前記車両の速度、前記車両の加速度、及び前記車両から前記変化地点までの距離に基づいて、前記到達時間を算出する、請求項3に記載の車両の制御装置。
- 前記制御部は、前記変化地点より前方における路面に関する情報である路面情報に基づいて、前記第2の配分を決定する、請求項1〜4のいずれか一項に記載の車両の制御装置。
- 前記路面情報は、前記変化地点より前方における路面の摩擦係数を示す情報を含む、請求項5に記載の車両の制御装置。
- 前記路面情報は、前記変化地点より前方における路面の形状を示す情報を含む、請求項5又は6に記載の車両の制御装置。
- 前記制御部は、前記車両のドライバによる選択操作に応じて、前記第1の配分を決定する、請求項1〜7のいずれか一項に記載の車両の制御装置。
- 前記所定の時間変化率は、前記第1の配分及び前記第2の配分によらず同一の時間変化率である、請求項1〜8のいずれか一項に記載の車両の制御装置。
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JP2017052930A JP6412192B2 (ja) | 2017-03-17 | 2017-03-17 | 車両の制御装置 |
US15/879,216 US10486703B2 (en) | 2017-03-17 | 2018-01-24 | Control device for vehicle |
CN201810127589.XA CN108622070B (zh) | 2017-03-17 | 2018-02-08 | 车辆的控制装置 |
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Cited By (3)
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---|---|---|---|---|
CN111114550A (zh) * | 2018-10-30 | 2020-05-08 | 长城汽车股份有限公司 | 车辆控制方法和控制装置及车辆和存储介质 |
JP2020104638A (ja) * | 2018-12-27 | 2020-07-09 | トヨタ自動車株式会社 | 車両制御装置 |
JP2021038709A (ja) * | 2019-09-04 | 2021-03-11 | 川崎重工業株式会社 | ウィリー抑制制御装置 |
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EP3653461B1 (en) * | 2018-11-15 | 2024-03-06 | Bayerische Motoren Werke Aktiengesellschaft | A method for optimizing energy consumption of a transportation means, human machine interface and transportation means |
DE102018133648B4 (de) * | 2018-12-28 | 2021-06-17 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben eines Antriebsstrangs eines Kraftfahrzeugs sowie Antriebsstrang für ein Kraftfahrzeug |
Citations (5)
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US11479248B2 (en) | 2018-12-27 | 2022-10-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle control apparatus |
JP2021038709A (ja) * | 2019-09-04 | 2021-03-11 | 川崎重工業株式会社 | ウィリー抑制制御装置 |
JP7404000B2 (ja) | 2019-09-04 | 2023-12-25 | カワサキモータース株式会社 | ウィリー抑制制御装置 |
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JP6412192B2 (ja) | 2018-10-24 |
US20180265092A1 (en) | 2018-09-20 |
US10486703B2 (en) | 2019-11-26 |
CN108622070B (zh) | 2019-06-07 |
CN108622070A (zh) | 2018-10-09 |
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