JP5060219B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- JP5060219B2 JP5060219B2 JP2007231300A JP2007231300A JP5060219B2 JP 5060219 B2 JP5060219 B2 JP 5060219B2 JP 2007231300 A JP2007231300 A JP 2007231300A JP 2007231300 A JP2007231300 A JP 2007231300A JP 5060219 B2 JP5060219 B2 JP 5060219B2
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- wheel speed
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- Expired - Fee Related
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- 238000004364 calculation method Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 description 13
- 238000001514 detection method Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000052 comparative effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- 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
- B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
-
- 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
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- 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
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
-
- 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
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W40/105—Speed
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
先ず、図1の模式的な平面図を参照して、本発明の実施形態に係る車両制御装置を備えた車両10の具体例について説明する。
定手段」、「設定手段」、及び「禁止手段」の一例であり、車輪速度センサ41FR、4
1FL、41RR、及び41RLは、本発明に係る「車輪速度検出手段」の一例である。
続いて、図5のフローチャートを参照して、第2実施形態に係る車両制御装置を備えた車両10の動作について説明する。なお、第2実施形態に係る車両制御装置を備えた車両の構成は、図1に示す第1実施形態のものと同様でよいため、その詳細な説明は省略する。
続いて、図8のフローチャートを参照して、第3実施形態に係る車両制御装置を備えた車両10の動作について説明する。図8の説明中に、図9及び図10を適宜参照する。ここで、図9は、第3実施形態に係る車両制御装置における各種速度の変化と、それに伴う制駆動トルクの変化を示すタイムチャートである(無効な車輪速度がない場合)。図10は、第3実施形態に係る車両制御装置における各種速度の変化と、それに伴う制駆動トルクの変化を示すタイムチャートである(無効な車輪速度がある場合)。なお、第3実施形態に係る車両制御装置を備えた車両の構成は、図1に示す第1実施形態のものと同様でよいため、その詳細な説明は省略する。
Claims (4)
- 車体速度が目標速度に維持されるように、車両に対して付与する駆動力及び制動力を制御する車両制御装置であって、
前記車両に備わる複数の車輪の車輪速度を夫々検知する車輪速度検出手段と、
前記検知される車輪速度に基づいて、各車輪に係る検知可能な前記車輪速度の最低値を意味する車輪速度有効速度を、夫々予め与えられた値を初期値として低速側へ更新する演算手段と、
前記更新される車輪速度有効速度が前記目標速度未満の範囲で設定される所定速度閾値を下回る車輪について、前記検知される車輪速度が有効であると判定する判定手段と、
前記判定手段による判定結果に応じて、前記更新される車輪速度有効速度のうち何れかの値を超える値に、前記目標速度を設定し直す設定手段と、
前記有効であると判定された車輪速度に基づいて前記車両の車体速度を推定する推定手段と
を備えることを特徴とする車両制御装置。 - 前記設定手段は、前記判定手段により有効でないと判定される車輪速度が少なくとも1つある場合、前記更新される車輪速度有効速度のうち何れの値をも超える値に、前記目標速度を設定し直す
ことを特徴とする請求項1に記載の車両制御装置。 - 前記推定手段が、前記検知される車輪速度のうち、相対的に低い車輪速度を除外した残りの車輪速度に基づいて前記車体速度を推定する場合には、前記設定手段は、前記残りの車輪速度に対応する車輪に係る前記更新される車輪速度有効速度のうち何れの値をも超える値に、前記目標速度を設定し直す
ことを特徴とする請求項1に記載の車両制御装置。 - 前記車両の始動開始から前記車両の走行距離が所定距離を超えるまで、又は前記車両の始動開始からの経過時間が所定時間を超えるまでは、前記設定手段により前記目標速度を設定し直すことを禁止する禁止手段を更に備える
ことを特徴とする請求項1に記載の車両制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007231300A JP5060219B2 (ja) | 2007-09-06 | 2007-09-06 | 車両制御装置 |
US12/230,852 US8818679B2 (en) | 2007-09-06 | 2008-09-05 | Vehicle control device and vehicle control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007231300A JP5060219B2 (ja) | 2007-09-06 | 2007-09-06 | 車両制御装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2009061905A JP2009061905A (ja) | 2009-03-26 |
JP2009061905A5 JP2009061905A5 (ja) | 2012-02-09 |
JP5060219B2 true JP5060219B2 (ja) | 2012-10-31 |
Family
ID=40432784
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007231300A Expired - Fee Related JP5060219B2 (ja) | 2007-09-06 | 2007-09-06 | 車両制御装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8818679B2 (ja) |
JP (1) | JP5060219B2 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6164141B2 (ja) * | 2014-03-31 | 2017-07-19 | 株式会社アドヴィックス | 車両の運転支援装置 |
DE102016204356B4 (de) * | 2016-03-16 | 2022-02-10 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zur Längsregelung eines Kraftfahrzeugs |
KR20220022683A (ko) * | 2020-08-19 | 2022-02-28 | 현대자동차주식회사 | 하이브리드 차량의 연료펌프 제어 장치 |
CN112776787B (zh) * | 2021-03-02 | 2022-04-01 | 上海拿森汽车电子有限公司 | 一种车辆紧急制动控制方法、装置及计算机存储介质 |
CN118124592B (zh) * | 2024-05-07 | 2024-06-25 | 成都赛力斯科技有限公司 | 一种非全轮驱动车辆的车速估算方法、***、设备及介质 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS6026246U (ja) * | 1983-07-29 | 1985-02-22 | 日産自動車株式会社 | 車速信号利用制御装置 |
JP2503386B2 (ja) * | 1985-03-18 | 1996-06-05 | 株式会社日本自動車部品総合研究所 | 車輪の異常検出装置 |
US4885710A (en) * | 1987-06-25 | 1989-12-05 | Delco Electronics Corporation | Method and apparatus for low speed estimation |
JPS6488161A (en) * | 1987-09-29 | 1989-04-03 | Aisin Seiki | Vehicle speed detecting device |
US4989923A (en) * | 1989-08-14 | 1991-02-05 | General Motors Corporation | ABS Reference speed determination |
JP2543245B2 (ja) * | 1990-09-17 | 1996-10-16 | オ−クマ株式会社 | 位置検出誤差補正装置 |
EP0583495B1 (de) * | 1992-08-14 | 1996-01-10 | Siemens Aktiengesellschaft | Verfahren zur Erkennung und Korrektur von Fehlern bei der Zeitmessung an sich drehenden Wellen |
US5301130A (en) * | 1992-10-22 | 1994-04-05 | Hughes Aircraft Company | Absoulte velocity sensor |
JP3289375B2 (ja) * | 1993-03-24 | 2002-06-04 | 株式会社デンソー | 車体速度推定装置及び推定車体速度を用いたタイヤ状態検知装置 |
DE4314449A1 (de) * | 1993-05-03 | 1994-11-10 | Teves Gmbh Alfred | Schaltungsanordnung zur Aufbereitung und Auswertung von Radsensorsignalen |
JP3289474B2 (ja) * | 1994-03-22 | 2002-06-04 | 株式会社デンソー | 車両制御装置 |
US6142026A (en) * | 1994-06-06 | 2000-11-07 | Toyota Jidosha Kabushiki Kaisha | Wheel information estimating apparatus |
JP3225797B2 (ja) * | 1995-07-20 | 2001-11-05 | 日産自動車株式会社 | 車輪速検出装置 |
DE19713251A1 (de) * | 1997-03-29 | 1998-10-01 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ermittlung einer die Fahrzeuggeschwindigkeit beschreibenden Größe |
DE19721488A1 (de) * | 1997-05-23 | 1998-11-26 | Itt Mfg Enterprises Inc | Verfahren zum Ausgleich von Abweichungen eines Raddrehzahlsensors |
JP3747652B2 (ja) | 1998-10-08 | 2006-02-22 | トヨタ自動車株式会社 | 車輌の車体速度推定装置 |
JP2000335393A (ja) | 1999-05-25 | 2000-12-05 | Unisia Jecs Corp | ブレーキ制御装置 |
JP3700824B2 (ja) * | 1999-07-26 | 2005-09-28 | トヨタ自動車株式会社 | 回転速度検出装置 |
JP2003063375A (ja) * | 2001-08-23 | 2003-03-05 | Bosch Automotive Systems Corp | 車体加速度センサの出力固着故障検出方法、及び車体加速度センサの出力固着故障検出装置 |
JP4039184B2 (ja) | 2002-08-29 | 2008-01-30 | 株式会社アドヴィックス | クリープ走行制御装置 |
JP2004142550A (ja) * | 2002-10-23 | 2004-05-20 | Honda Motor Co Ltd | 車体速測定装置 |
US6876300B2 (en) * | 2002-11-25 | 2005-04-05 | Richard L. Ponziani | Electronic intelligent turn signal control system |
-
2007
- 2007-09-06 JP JP2007231300A patent/JP5060219B2/ja not_active Expired - Fee Related
-
2008
- 2008-09-05 US US12/230,852 patent/US8818679B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2009061905A (ja) | 2009-03-26 |
US20090069997A1 (en) | 2009-03-12 |
US8818679B2 (en) | 2014-08-26 |
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