JP4665390B2 - 車両の制動制御装置 - Google Patents
車両の制動制御装置 Download PDFInfo
- Publication number
- JP4665390B2 JP4665390B2 JP2003382611A JP2003382611A JP4665390B2 JP 4665390 B2 JP4665390 B2 JP 4665390B2 JP 2003382611 A JP2003382611 A JP 2003382611A JP 2003382611 A JP2003382611 A JP 2003382611A JP 4665390 B2 JP4665390 B2 JP 4665390B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel speed
- wheel
- rear wheel
- vehicle
- braking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000001172 regenerating effect Effects 0.000 claims description 51
- 230000009467 reduction Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims description 4
- 230000000881 depressing effect Effects 0.000 claims description 2
- 238000012937 correction Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006866 deterioration Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008929 regeneration Effects 0.000 description 5
- 238000011069 regeneration method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229910000652 nickel hydride Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
-
- 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
- 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
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- 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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
-
- 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
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
-
- 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
- B60W2540/12—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/89—Repartition of braking force, e.g. friction braking versus regenerative braking
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
前後輪ブレーキ10、11は、制動時に発生する熱を放熱しやすく、制動性能の低下を防ぐためにディスクブレーキとして、ブレーキキャリパは、対向ピストン型を用いることが好ましい。なお、車両重量が軽量である場合にはドラムブレーキを用いてもよい。
なお、本願において車輪速センサ15、16の出力が制動状態信号に相当する。
2 変速機
3 デフギア
4 前輪
5 駆動モータ
6 バッテリ
7 ブレーキペダル
8 倍力装置
9 コントロールバルブ
10 前輪油圧ブレーキ
11 後輪油圧ブレーキ
12 回生制動制御装置
13 駆動モータコントローラ
14 バッテリコントローラ
15、16 車輪速センサ
17 故障診断装置
18 回生制御装置
19 EBD
Claims (6)
- 車両の前輪の車輪速と後輪の車輪速とを検出する車輪速検出手段と、
前記後輪を駆動する駆動モータと、
車両減速時に前記駆動モータを回生制動させる回生制御手段と、
運転者がブレーキペダルを踏み込む踏力により発生する油圧に応じて前記前後輪に制動力を発生する油圧ブレーキと、
前進走行中の制動時に前輪への荷重が大きくなることによって発生する後輪スリップを抑制するために後輪のブレーキ油圧の上昇を規制する油圧低減手段と、
前記運転者の踏力が所定踏力以下の場合には、検出した後輪速よりも小さな疑似車輪速を計算し、前記運転者の踏力が所定踏力より大きい場合には、検出した後輪速を疑似車輪速とする疑似車輪速計算手段と、
を備え、
前記油圧低減手段は、所定条件が成立した時には、疑似車輪速に基づいて後輪の油圧ブレーキの油圧を減圧し、
前記回生制御手段は、前記油圧低減手段の油圧減圧分に対応して前記駆動モータによる回生トルクを増加する、
ことを特徴とする車両の制動制御装置。 - 前記駆動モータに電力を供給し、また前記駆動モータが回生発電した電力を充電するバッテリを備え、
前記擬似車輪速は、前記後輪の車輪速と、運転者がブレーキペダルを踏み込む力である踏力及び前記バッテリのSOCとに応じて設定される、
ことを特徴とする請求項1に記載の車両の制動制御装置。 - 前記回生制御手段は、検出した前輪の車輪速と後輪の車輪速とが同一となるように前記駆動モータの回生トルクを増減する、
ことを特徴とする請求項1または2に記載の車両の制動制御装置。 - 前記疑似車輪速計算手段は、検出した前輪の車輪速と後輪の車輪速との差を増大させるように前記擬似車輪速を計算し、
前記油圧低減手段は、前記擬似車輪速に応じて前記後輪の油圧ブレーキの油圧を低減する、
ことを特徴とする請求項1から3のいずれか一つに記載の車両の制動制御装置。 - 前記回生制御手段は、運転者の踏力を前輪の車輪速から推定する踏力推定手段を備える、
ことを特徴とする請求項1に記載の車両の制動制御装置。 - 前記所定条件の成立条件は、ABSが作動しておらず、かつ駆動モータに電力を供給し、駆動モータが発電した電力を充電するバッテリのSOCが所定値以下である、
ことを特徴とする請求項1に記載の制動制御装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003382611A JP4665390B2 (ja) | 2003-11-12 | 2003-11-12 | 車両の制動制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003382611A JP4665390B2 (ja) | 2003-11-12 | 2003-11-12 | 車両の制動制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005145147A JP2005145147A (ja) | 2005-06-09 |
JP4665390B2 true JP4665390B2 (ja) | 2011-04-06 |
Family
ID=34691637
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003382611A Expired - Fee Related JP4665390B2 (ja) | 2003-11-12 | 2003-11-12 | 車両の制動制御装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP4665390B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101094634B1 (ko) | 2006-09-06 | 2011-12-20 | 주식회사 만도 | 에이비에스를 장착한 하이브리드 전기차량의 밀림방지장치 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8608255B2 (en) | 2006-04-14 | 2013-12-17 | Toyota Jidosha Kabushiki Kaisha | Vehicle and control method of vehicle |
JP5095955B2 (ja) * | 2006-05-11 | 2012-12-12 | トヨタ自動車株式会社 | 車両およびその制御方法 |
JP2009040162A (ja) | 2007-08-07 | 2009-02-26 | Toyota Motor Corp | ブレーキ制御装置及びブレーキ制御方法 |
WO2012053609A1 (ja) * | 2010-10-22 | 2012-04-26 | 日産自動車株式会社 | 車両の回生制動制御装置 |
JP5803594B2 (ja) * | 2011-11-15 | 2015-11-04 | 三菱自動車工業株式会社 | 出力特性制御方法 |
CN105228870B (zh) * | 2013-05-21 | 2017-07-11 | 丰田自动车株式会社 | 制动装置 |
JP6462213B2 (ja) * | 2014-01-24 | 2019-01-30 | 株式会社ミツバ | 電動車両制動システム及び電動車両制動方法 |
CN107472244B (zh) * | 2017-07-31 | 2020-02-14 | 江苏理工学院 | 一种基于vlc的车辆智能防撞预警*** |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1111277A (ja) * | 1997-06-19 | 1999-01-19 | Unisia Jecs Corp | ブレーキ装置 |
JPH1191565A (ja) * | 1997-09-17 | 1999-04-06 | Aisin Seiki Co Ltd | 電動車両の制動制御装置 |
JP2000197205A (ja) * | 1998-12-25 | 2000-07-14 | Nissan Motor Co Ltd | 車両用回生協調ブレ―キ制御装置 |
JP2001211502A (ja) * | 2000-01-21 | 2001-08-03 | Sumitomo Denko Brake Systems Kk | 制動トルク制御装置 |
JP2001268704A (ja) * | 2000-03-16 | 2001-09-28 | Mazda Motor Corp | モータ駆動車両のエネルギ回収制御装置 |
JP2003174703A (ja) * | 2001-09-27 | 2003-06-20 | Nissan Motor Co Ltd | 制動制御装置 |
-
2003
- 2003-11-12 JP JP2003382611A patent/JP4665390B2/ja not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1111277A (ja) * | 1997-06-19 | 1999-01-19 | Unisia Jecs Corp | ブレーキ装置 |
JPH1191565A (ja) * | 1997-09-17 | 1999-04-06 | Aisin Seiki Co Ltd | 電動車両の制動制御装置 |
JP2000197205A (ja) * | 1998-12-25 | 2000-07-14 | Nissan Motor Co Ltd | 車両用回生協調ブレ―キ制御装置 |
JP2001211502A (ja) * | 2000-01-21 | 2001-08-03 | Sumitomo Denko Brake Systems Kk | 制動トルク制御装置 |
JP2001268704A (ja) * | 2000-03-16 | 2001-09-28 | Mazda Motor Corp | モータ駆動車両のエネルギ回収制御装置 |
JP2003174703A (ja) * | 2001-09-27 | 2003-06-20 | Nissan Motor Co Ltd | 制動制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101094634B1 (ko) | 2006-09-06 | 2011-12-20 | 주식회사 만도 | 에이비에스를 장착한 하이브리드 전기차량의 밀림방지장치 |
Also Published As
Publication number | Publication date |
---|---|
JP2005145147A (ja) | 2005-06-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10967840B2 (en) | System and method of controlling braking of electric vehicle | |
US8886375B2 (en) | Control apparatus for electric vehicle | |
JP3811372B2 (ja) | 車輌の制動力制御装置 | |
JP4606074B2 (ja) | 電気自動車の回生制動制御方法及び装置 | |
US7571967B2 (en) | Brake control apparatus for vehicle | |
KR101588789B1 (ko) | 구동 모터를 구비한 차량의 크립 토크 제어 방법 및 장치 | |
US8082089B2 (en) | Vehicle speed control in a cruise mode using vehicle brakes | |
KR100901591B1 (ko) | 전기자동차용 회생제동 제어 방법 | |
US20050228554A1 (en) | Control apparatus for hybrid vehicle | |
US7761214B2 (en) | Vehicle deceleration control device | |
KR20190040623A (ko) | 모터를 구비한 차량의 제어 장치 및 방법 | |
JP2005253126A (ja) | ハイブリッド車両の制動力制御装置および該制御装置を搭載した車両 | |
US20100049414A1 (en) | Control apparatus for electric vehicle | |
JP2018043656A (ja) | 車両の制動力制御装置 | |
JP4665390B2 (ja) | 車両の制動制御装置 | |
KR100623126B1 (ko) | 차량 구동력 제어 장치 | |
JP4735058B2 (ja) | 車両重量推定装置 | |
JP5120297B2 (ja) | 電気自動車の回生制動制御装置 | |
JP3417453B2 (ja) | 電気自動車の制動制御装置 | |
JP3622656B2 (ja) | 車輌の制動力制御装置 | |
JP2015205547A (ja) | ハイブリッド自動車の制御装置 | |
JP2002152905A (ja) | 前後輪駆動車両 | |
JP3781101B2 (ja) | 車輌の制動力制御装置 | |
JP3661545B2 (ja) | ハイブリッド車両 | |
JP2005153790A (ja) | 4輪駆動車両 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20060925 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20081023 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20090623 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20090820 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20100406 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100528 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20101214 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20101227 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140121 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |