JP2019172078A - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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- 238000004441 surface measurement Methods 0.000 claims description 10
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- 230000007246 mechanism Effects 0.000 description 2
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- 206010039203 Road traffic accident Diseases 0.000 description 1
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
-
- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2520/28—Wheel speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
μc=√(Fx2+Fy2)/Fz
なお、上述の説明では、第1のセンサ150の検出値に基づいて車輪が接触している路面の路面摩擦係数μcを算出する例を示したが、例えば、タイヤ内に設けられたセンサや加速度計から車輪が接触している路面の摩擦係数を求めても良い。
β=tan−1(Vy/Vx)
F=Dsin(Ctan−1(Bβ−E(Bβtan−1(Bβ)))
μcmaxFz=μcmax*Fz
μfFz=μf*Fz
Fmax=√(μcmax2−Fy2)
160 第2のセンサ
200 制御装置
210 第1の摩擦係数算出部
220 第2の摩擦係数算出部
225 低摩擦路面判定部
230 制駆動力制御部
Claims (8)
- 車輪が接触している路面の摩擦係数である第1の路面摩擦係数を算出する第1の路面摩擦係数算出部と、
路面状態を非接触で検出する非接触センサからの検出値に基づいて第2の路面摩擦係数を算出する第2の路面摩擦係数算出部と、
通常時は前記第1の路面摩擦係数に基づいて車両の制駆動力を制御し、前記第2の路面摩擦係数に基づいて車両前方に摩擦係数が低い低摩擦路面が存在すると判定された場合は、前記第2の路面摩擦係数に基づいて車両の制駆動力を制御する制駆動力制御部と、
を備える、車両の制御装置。 - 前記制駆動力制御部は、通常時は前記第1の路面摩擦係数によって定まる摩擦円の範囲内で前記制駆動力を制御し、車両前方に前記低摩擦路面が存在すると判定された場合は、前記低摩擦路面に車両が到達するまでの間に前記摩擦円を縮小しながら前記摩擦円の範囲内で前記制駆動力を制御することを特徴とする、請求項1に記載の車両の制御装置。
- 前記制駆動力制御部は、前記低摩擦路面に車両が到達するまでの間に、前記摩擦円の大きさを、前記第1の路面摩擦係数に相当する大きさから前記第2の路面摩擦係数に相当する大きさまで縮小することを特徴とする、請求項2に記載の車両の制御装置。
- 車両前方に前記低摩擦路面が存在するか否かを判定する低摩擦路面判定部を備え、
前記第2の路面摩擦係数算出部は、所定の制御周期毎に前記第2の路面摩擦係数を算出し、
前記低摩擦路面判定部は、前回の制御周期よりも現制御周期の方が前記第2の路面摩擦係数の値が小さい場合に、車両前方に前記低摩擦路面が存在すると判定することを特徴とする、請求項1〜3のいずれかに記載の車両の制御装置。 - 前記制駆動力制御部は、車両が所定の距離を走行する間に前記低摩擦路面が存在することが少なくとも2回判定された場合に、前記第2の路面摩擦係数に基づいて車両の制駆動力を制御することを特徴とする、請求項4に記載の車両の制御装置。
- 前記制駆動力制御部は、車両前方に前記低摩擦路面が存在すると判定された場合に、前記第2の路面摩擦係数に基づいて前輪の駆動力をトルクダウンするとともに、後輪をトルクアップすることを特徴とする、請求項1に記載の車両の制御装置。
- 前記第1の路面摩擦係数算出部は、車軸に設けられたハブユニットセンサ からの検出値に基づいて前記第1の路面摩擦係数を算出することを特徴とする、請求項1〜6のいずれかに記載の車両の制御装置。
- 車輪が接触している路面の摩擦係数である第1の路面摩擦係数を算出するステップと、
路面状態を非接触で検出する非接触センサからの検出値に基づいて第2の路面摩擦係数を算出するステップと、
通常時は前記第1の路面摩擦係数に基づいて車両の制駆動力を制御し、前記第2の路面摩擦係数に基づいて車両前方に摩擦係数が低い低摩擦路面が存在すると判定された場合は、前記第2の路面摩擦係数に基づいて車両の制駆動力を制御するステップと、
を備える、車両の制御方法。
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JP2018062729A JP6626523B2 (ja) | 2018-03-28 | 2018-03-28 | 車両の制御装置及び車両の制御方法 |
US16/241,001 US11077835B2 (en) | 2018-03-28 | 2019-01-07 | Control apparatus for vehicle and control method for vehicle |
DE102019102628.8A DE102019102628A1 (de) | 2018-03-28 | 2019-02-04 | Steuervorrichtung für Fahrzeug und Steuerverfahren für Fahrzeug |
CN201910140189.7A CN110316167B (zh) | 2018-03-28 | 2019-02-26 | 车辆的控制装置及车辆的控制方法 |
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Cited By (2)
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WO2023089889A1 (ja) * | 2021-11-22 | 2023-05-25 | 日立Astemo株式会社 | 車両制御装置、車両制御方法、及び車両制御システム |
DE102023132885A1 (de) | 2022-12-05 | 2024-06-06 | Subaru Corporation | Bremskraft- und antriebskraft-steuerungsvorrichtung |
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JP2022038604A (ja) * | 2020-08-27 | 2022-03-10 | 株式会社Subaru | 車両の制御装置 |
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CN110316167B (zh) | 2023-03-03 |
US11077835B2 (en) | 2021-08-03 |
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