JP4445889B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP4445889B2 JP4445889B2 JP2005087350A JP2005087350A JP4445889B2 JP 4445889 B2 JP4445889 B2 JP 4445889B2 JP 2005087350 A JP2005087350 A JP 2005087350A JP 2005087350 A JP2005087350 A JP 2005087350A JP 4445889 B2 JP4445889 B2 JP 4445889B2
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- 238000004364 calculation method Methods 0.000 claims description 18
- 230000014509 gene expression Effects 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
- B60T2260/022—Rear-wheel steering; Four-wheel steering
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/101—Side slip angle of tyre
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
ただし、Cciは前記線形補間した制御量、Coiは前記協調制御量、Csiは前記操舵制御量、ρはグリップ余裕度が大きな通常領域からグリップ余裕度が小さな限界領域までグリップ余裕度に応じて0〜1まで変化されるパラメータである。
Mz0=lfFyf−lrFyr ・・・(2)
ただし、lfは前軸と重心との間の距離、lrは後軸と重心との間の距離である。
次に、グリップ余裕度が小さな限界領域において、操舵角と制駆動力とを統合して制御する操舵・制駆動統合制御則について説明する。
つぎに、最大化を目的とした評価関数として次式を定義する。
(問題1)
(23)、(24)式の拘束条件を満足し、(28)式を最大化するqiを求める。
ここでは、この非線形最適化問題を、逐次2次計画法のアルゴリズムを利用して解く。まず、sinqi, cosqiを
12 摩擦円演算手段
14 最適発生力配分演算手段
16 統合パラメータ演算手段
18 操舵制御操作量演算手段
20 協調操作量演算手段
22 制御手段
Claims (2)
- ドライバが望む車体運動を得るために車体に加えるべき目標合成力と各車輪の摩擦円の大きさをパラメータとして含む拘束条件とに基づいて、各車輪のμ利用率を最適化する各輪の制動力及び駆動力の少なくとも一方を制御するための第1の制御量、または前記第1の制御量及び各輪の操舵角を制御する第2の制御量を含む協調制御量を演算する第1の制御量演算手段と、
操舵角のみの制御によって前記目標合成力を得るための各輪の操舵制御量を演算する第2の制御量演算手段と、
グリップ余裕度が大きな通常領域では、前記操舵制御量に基づいて前記各車輪の操舵角のみを制御し、グリップ余裕度が小さな限界領域では、前記協調制御量に基づいて各車輪の制動力及び駆動力の少なくとも一方、及び各車輪の操舵角を制御し、前記通常領域と前記限界領域との間の領域では、前記操舵制御量及び前記協調制御量を線形補間した制御量に基づいて、各車輪の制動力及び駆動力の少なくとも一方、及び各車輪の操舵角を制御する制御手段と、
を含む車両制御装置。 - 前記操舵制御量及び前記協調制御量を以下の式に従って線形補間した請求項1記載の車両制御装置。
Cci=ρCoi+(1−ρ)Csi
ただし、Cciは前記線形補間した制御量、Coiは前記協調制御量、Csiは前記操舵制御量、ρはグリップ余裕度が大きな通常領域からグリップ余裕度が小さな限界領域までグリップ余裕度に応じて0〜1まで変化されるパラメータである。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005087350A JP4445889B2 (ja) | 2005-03-24 | 2005-03-24 | 車両制御装置 |
US11/363,066 US7698043B2 (en) | 2005-03-24 | 2006-02-28 | Vehicle control system and vehicle control method |
DE102006013788A DE102006013788B8 (de) | 2005-03-24 | 2006-03-24 | Vorrichtung und Verfahren zur Steuerung eines Fahrzeugs, insbesondere im Grenzbereich der Haftungsreserve |
CNB2006100661531A CN100554054C (zh) | 2005-03-24 | 2006-03-24 | 车辆控制***及车辆控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005087350A JP4445889B2 (ja) | 2005-03-24 | 2005-03-24 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006264561A JP2006264561A (ja) | 2006-10-05 |
JP4445889B2 true JP4445889B2 (ja) | 2010-04-07 |
Family
ID=36973854
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005087350A Expired - Fee Related JP4445889B2 (ja) | 2005-03-24 | 2005-03-24 | 車両制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7698043B2 (ja) |
JP (1) | JP4445889B2 (ja) |
CN (1) | CN100554054C (ja) |
DE (1) | DE102006013788B8 (ja) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070213911A1 (en) * | 2006-03-09 | 2007-09-13 | Ford Global Technologies, Llc | Trailbraking |
JP2007269295A (ja) * | 2006-03-31 | 2007-10-18 | Toyota Central Res & Dev Lab Inc | 車両運動制御装置及び制御方法 |
FR2906779B1 (fr) * | 2006-10-06 | 2008-12-05 | Renault Sas | Procede et systeme de controle d'un vehicule equipe d'un systeme de freinage pilote et d'un systeme quatre roues directrices. |
JP4796480B2 (ja) * | 2006-12-06 | 2011-10-19 | 株式会社豊田中央研究所 | 車両運動制御装置及び制御方法 |
JP4586795B2 (ja) | 2006-12-07 | 2010-11-24 | トヨタ自動車株式会社 | 車両用制御装置 |
EP1995150A3 (en) * | 2007-05-25 | 2009-05-06 | NSK Ltd. | Electric power steering apparatus |
JP4801637B2 (ja) | 2007-07-19 | 2011-10-26 | 三菱重工業株式会社 | 車両の操舵制御方法及び装置 |
JP4997031B2 (ja) * | 2007-09-06 | 2012-08-08 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP4909876B2 (ja) * | 2007-11-29 | 2012-04-04 | 本田技研工業株式会社 | 車両挙動制御装置 |
JP5053139B2 (ja) * | 2008-03-21 | 2012-10-17 | 本田技研工業株式会社 | 車両挙動制御装置 |
JP5120049B2 (ja) * | 2008-04-25 | 2013-01-16 | トヨタ自動車株式会社 | 車両の走行制御装置 |
DE102008021530A1 (de) * | 2008-04-30 | 2009-11-12 | Ford Global Technologies, LLC, Dearborn | Vorrichtung und Verfahren zur Fahrzeugsteuerung |
EP2189347B1 (en) * | 2008-11-25 | 2011-05-25 | Ford Global Technologies, LLC | Electronic arrangement and method for comparing used friction with available friction |
JP5172764B2 (ja) * | 2009-03-30 | 2013-03-27 | 本田技研工業株式会社 | 路面摩擦係数推定装置 |
DE102009026572A1 (de) * | 2009-05-29 | 2010-12-02 | Ford Global Technologies, LLC, Dearborn | Anordnung und Verfahren zur Fahrzeugbewegungssteuerung |
DE112010003322B4 (de) * | 2009-08-18 | 2020-01-02 | Toyota Jidosha Kabushiki Kaisha | Fahrzeugsteuersystem |
EP2512886B1 (de) | 2009-12-15 | 2014-12-03 | Continental Teves AG & Co. oHG | Verfahren und bremssystem zur beeinflussung der fahrdynamik durch brems- und antriebseingriff |
DE102010000713A1 (de) * | 2010-01-07 | 2011-07-14 | Ford Global Technologies, LLC, Mich. | Verfahren und Vorrichtung zur Regulierung eines Kühlluftstroms eines Kraftfahrzeugs |
DE102010014564A1 (de) * | 2010-04-10 | 2011-10-13 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung und Verfahren zum Bestimmen eines Fahrbahnreibwertes für ein Fahrzeug |
US9221452B2 (en) * | 2010-07-21 | 2015-12-29 | Eaton Corporation | System and method for optimizing fuel economy using predictive environment and driver behavior information |
JP5706130B2 (ja) * | 2010-10-29 | 2015-04-22 | 株式会社アドヴィックス | 車両の挙動制御装置及び車両の挙動制御方法 |
CN102336189B (zh) * | 2011-06-10 | 2014-10-08 | 合肥工业大学 | 一种应用于汽车afs和esp集成***的解耦控制方法 |
JP5970322B2 (ja) | 2012-10-01 | 2016-08-17 | 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 |
WO2014073180A1 (ja) * | 2012-11-07 | 2014-05-15 | 日産自動車株式会社 | 操舵制御装置 |
JP2018001901A (ja) * | 2016-06-30 | 2018-01-11 | アイシン精機株式会社 | 走行支援装置 |
DE102016212677A1 (de) | 2016-07-12 | 2018-01-18 | Volkswagen Aktiengesellschaft | Verfahren zur Veränderung der Radstellung von Rädern wenigstens einer Achse eines Kraftfahrzeugs in Abhängigkeit des Fahrbetriebs sowie Kraftfahrzeug zur Durchführung des Verfahrens |
CN115636010A (zh) * | 2017-02-25 | 2023-01-24 | 优动产品公司 | 机动车辆 |
US10759416B1 (en) | 2017-10-18 | 2020-09-01 | Zoox, Inc. | Independent control of vehicle wheels |
US10821981B1 (en) * | 2017-10-18 | 2020-11-03 | Zoox, Inc. | Independent control of vehicle wheels |
US10488172B1 (en) | 2017-10-18 | 2019-11-26 | Zoox, Inc. | Independent control of vehicle wheels |
US11136021B1 (en) | 2017-10-18 | 2021-10-05 | Zoox, Inc. | Independent control of vehicle wheels |
CN108177652A (zh) * | 2017-12-27 | 2018-06-19 | 广州大学 | 一种四轮转向运载工具的车道保持方法和*** |
JP2019217838A (ja) * | 2018-06-18 | 2019-12-26 | 株式会社ジェイテクト | 4輪駆動車の制御装置 |
JP7275991B2 (ja) * | 2019-08-20 | 2023-05-18 | 株式会社ジェイテクト | 制御装置、および転舵装置 |
DE102019128459A1 (de) * | 2019-10-22 | 2021-04-22 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Steuervorrichtung für ein Fahrzeug |
CN111368424B (zh) * | 2020-03-03 | 2023-09-01 | 阿波罗智能技术(北京)有限公司 | 一种车辆仿真方法、装置、设备及介质 |
KR20220018137A (ko) * | 2020-08-05 | 2022-02-15 | 현대자동차주식회사 | 군집 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
US11560152B2 (en) | 2020-12-23 | 2023-01-24 | Automotive Research & Testing Center | Method and system for controlling movements of an autonomous vehicle with self diagnosis capability |
Family Cites Families (8)
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DE60305232T2 (de) * | 2002-04-23 | 2007-03-08 | Aisin Seiki K.K., Kariya | Vorrichtung zur Schätzung des Haftungsfaktors eines Fahrzeugrades |
JP3950729B2 (ja) * | 2002-04-23 | 2007-08-01 | アイシン精機株式会社 | 車両の運動制御装置 |
ATE293552T1 (de) * | 2002-06-13 | 2005-05-15 | Michelin Soc Tech | Stabilitätsregelungssystem eines fahrzeuges unter verwendung einer für alle reifen charakteristischen invarianzfunktion |
DE10226683A1 (de) * | 2002-06-15 | 2003-12-24 | Bosch Gmbh Robert | Fahrstabilitätsmanagement durch einen Fahrzeugreglerverbund |
JP2004075013A (ja) * | 2002-08-22 | 2004-03-11 | Denso Corp | 車両制御装置 |
JP3964771B2 (ja) * | 2002-10-11 | 2007-08-22 | 株式会社豊田中央研究所 | 路面状態推定装置、及び該装置を備えた車両の運動制御装置 |
JP4165380B2 (ja) | 2003-01-31 | 2008-10-15 | 株式会社豊田中央研究所 | 車両制御方法及び車両制御装置 |
JP2005112007A (ja) * | 2003-10-02 | 2005-04-28 | Toyoda Mach Works Ltd | 車両の統合制御装置 |
-
2005
- 2005-03-24 JP JP2005087350A patent/JP4445889B2/ja not_active Expired - Fee Related
-
2006
- 2006-02-28 US US11/363,066 patent/US7698043B2/en not_active Expired - Fee Related
- 2006-03-24 DE DE102006013788A patent/DE102006013788B8/de not_active Expired - Fee Related
- 2006-03-24 CN CNB2006100661531A patent/CN100554054C/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US20060217867A1 (en) | 2006-09-28 |
CN1836947A (zh) | 2006-09-27 |
CN100554054C (zh) | 2009-10-28 |
DE102006013788B8 (de) | 2012-05-03 |
DE102006013788A1 (de) | 2006-09-28 |
JP2006264561A (ja) | 2006-10-05 |
US7698043B2 (en) | 2010-04-13 |
DE102006013788B4 (de) | 2012-02-16 |
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