JP2020083169A - 車両運動制御装置 - Google Patents
車両運動制御装置 Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims abstract description 108
- 239000000725 suspension Substances 0.000 claims description 29
- 238000013016 damping Methods 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 101150110041 timm10b gene Proteins 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007935 neutral effect Effects 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
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- 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
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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
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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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
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
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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
- B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
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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
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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
- B60W2520/10—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
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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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/22—Suspension systems
- B60W2710/226—Damping
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
-
- 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
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
2 車体
3 サスペンション装置
6 パワープラント
12 ダンパ(減衰力可変ダンパ)
30 車両運動制御装置
31 制御装置
33 車速センサ
34 前輪舵角センサ
35 横加速度センサ
41 規範横G演算部(規範横加速度演算部)
42 ステア状態判定部
43 要求前後力演算部
44 前後力制御部
45 ブレーキ制御部
46 パワープラント制御部
47 ピッチモーメント制御部
48 要求ピッチモーメント演算部
49 ダンパ制御部(サスペンション制御部)
δf 前輪舵角
V 車速
Gy 実横加速度
Gyref 規範横加速度
SS ステア状態
Fx 要求前後力
Mp 要求ピッチモーメント
ΔGy1 横G偏差(偏差)
Gyth FB閾値(閾値)
ΔGy2 制御横G偏差(制御偏差)
G 制御ゲイン
Fxlim 前後力制限値
Claims (9)
- 舵角を検出する舵角センサと、
車速を検出する車速センサと、
車体の実横加速度を検出する横加速度センサと、
前記舵角及び前記車速に基づいて、車両が発生すべき規範横加速度を算出する規範横加速度演算部と、
前記実横加速度と前記規範横加速度とに基づいてステア状態を判定するステア状態判定部と、
前記ステア状態に応じて、前記実横加速度の前記規範横加速度に対する偏差を減少させるための要求前後力を算出する要求前後力演算部と、
前記要求前後力を発生するようにブレーキ及びパワープラントの少なくとも一方の出力を制御する前後力制御部とを備えることを特徴とする車両運動制御装置。 - 前記要求前後力演算部は、前記規範横加速度及び前記実横加速度に不感帯を設けて前記偏差を算出することを特徴とする請求項1に記載の車両運動制御装置。
- 前記要求前後力演算部は、前記偏差によるフィードバック制御によって前記要求前後力を算出することを特徴とする請求項1又は請求項2に記載の車両運動制御装置。
- 前記要求前後力演算部は、前記ステア状態、前記車速及び前記実横加速度の少なくとも1つに応じて前記偏差に対する閾値を設定し、前記偏差の前記閾値に対する超過量である制御偏差を用いて前記フィードバック制御を行うことを特徴とする請求項3に記載の車両運動制御装置。
- 前記要求前後力演算部は、前記制御偏差に制御ゲインを乗じることで前記要求前後力を算出することを特徴とする請求項4に記載の車両運動制御装置。
- 前記要求前後力演算部は、前記制御偏差及び前記車速に応じて前記要求前後力に対する制限値を設定し、当該制限値によって前記要求前後力を制限することを特徴とする請求項4又は請求項5に記載の車両運動制御装置。
- 前記要求前後力演算部は、前記要求前後力に不感帯を設けることを特徴とする請求項1〜請求項6のいずれかに記載の車両運動制御装置。
- 車体にピッチモーメントを発生させ得るように構成されたサスペンション装置と、
前記サスペンション装置のピッチモーメントを制御するピッチモーメント制御部とを更に備え、
前記ピッチモーメント制御部は、
前記要求前後力に起因するピッチモーメントを打ち消す向きのピッチモーメントを要求ピッチモーメントとして算出する要求ピッチモーメント演算部と、
前記要求ピッチモーメントを発生するように前記サスペンション装置を制御するサスペンション制御部とを備えることを特徴とする請求項1〜請求項6のいずれかに記載の車両運動制御装置。 - 前記サスペンション装置が、減衰力可変ダンパ及びエアサスペンション装置の少なくとも一方を含むことを特徴とする請求項8に記載の車両運動制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018223027A JP6913072B2 (ja) | 2018-11-29 | 2018-11-29 | 車両運動制御装置 |
US16/696,341 US11325599B2 (en) | 2018-11-29 | 2019-11-26 | Vehicle control system for adjusting longtitudinal motion to reduce deviation of lateral motion |
CN201911187897.2A CN111231940B (zh) | 2018-11-29 | 2019-11-28 | 车辆运动控制*** |
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JP2018223027A JP6913072B2 (ja) | 2018-11-29 | 2018-11-29 | 車両運動制御装置 |
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JP2020083169A true JP2020083169A (ja) | 2020-06-04 |
JP6913072B2 JP6913072B2 (ja) | 2021-08-04 |
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US (1) | US11325599B2 (ja) |
JP (1) | JP6913072B2 (ja) |
CN (1) | CN111231940B (ja) |
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JP7150001B2 (ja) * | 2020-12-28 | 2022-10-07 | 本田技研工業株式会社 | 車両制御装置 |
JP7145993B2 (ja) * | 2021-01-20 | 2022-10-03 | 本田技研工業株式会社 | 車両制御装置 |
JP2022147785A (ja) | 2021-03-23 | 2022-10-06 | 本田技研工業株式会社 | 車両制御装置 |
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JPH0989076A (ja) * | 1995-09-28 | 1997-03-31 | Mitsubishi Motors Corp | 車両の旋回挙動制御装置 |
JPH09142331A (ja) * | 1995-11-21 | 1997-06-03 | Honda Motor Co Ltd | 電動パワーステアリング装置 |
JP2005035451A (ja) * | 2003-07-17 | 2005-02-10 | Advics:Kk | 車両の運動制御装置 |
JP2006007810A (ja) * | 2004-06-22 | 2006-01-12 | Honda Motor Co Ltd | 車両の操舵状態判定方法 |
JP2011031739A (ja) * | 2009-07-31 | 2011-02-17 | Nissan Motor Co Ltd | サスペンション制御装置、及びサスペンション制御方法 |
JP2013067382A (ja) * | 2012-11-12 | 2013-04-18 | Hitachi Automotive Systems Ltd | 車両の運動制御装置 |
JP2017087890A (ja) * | 2015-11-06 | 2017-05-25 | マツダ株式会社 | 車両用挙動制御装置 |
JP2018030582A (ja) * | 2017-10-06 | 2018-03-01 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置、及び運動制御プログラム |
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JP5212663B2 (ja) * | 2010-10-21 | 2013-06-19 | トヨタ自動車株式会社 | 車両の制駆動力制御装置 |
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JP6844500B2 (ja) * | 2017-10-30 | 2021-03-17 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
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2018
- 2018-11-29 JP JP2018223027A patent/JP6913072B2/ja active Active
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2019
- 2019-11-26 US US16/696,341 patent/US11325599B2/en active Active
- 2019-11-28 CN CN201911187897.2A patent/CN111231940B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0989076A (ja) * | 1995-09-28 | 1997-03-31 | Mitsubishi Motors Corp | 車両の旋回挙動制御装置 |
JPH09142331A (ja) * | 1995-11-21 | 1997-06-03 | Honda Motor Co Ltd | 電動パワーステアリング装置 |
JP2005035451A (ja) * | 2003-07-17 | 2005-02-10 | Advics:Kk | 車両の運動制御装置 |
JP2006007810A (ja) * | 2004-06-22 | 2006-01-12 | Honda Motor Co Ltd | 車両の操舵状態判定方法 |
JP2011031739A (ja) * | 2009-07-31 | 2011-02-17 | Nissan Motor Co Ltd | サスペンション制御装置、及びサスペンション制御方法 |
JP2013067382A (ja) * | 2012-11-12 | 2013-04-18 | Hitachi Automotive Systems Ltd | 車両の運動制御装置 |
JP2017087890A (ja) * | 2015-11-06 | 2017-05-25 | マツダ株式会社 | 車両用挙動制御装置 |
JP2018030582A (ja) * | 2017-10-06 | 2018-03-01 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置、及び運動制御プログラム |
JP2018090248A (ja) * | 2017-12-26 | 2018-06-14 | 株式会社ショーワ | 車両制御装置、および、車両 |
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Publication number | Publication date |
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US20200172102A1 (en) | 2020-06-04 |
US11325599B2 (en) | 2022-05-10 |
CN111231940B (zh) | 2023-05-12 |
JP6913072B2 (ja) | 2021-08-04 |
CN111231940A (zh) | 2020-06-05 |
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