JP5301029B2 - 車両の作動方法および作動装置 - Google Patents
車両の作動方法および作動装置 Download PDFInfo
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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
- 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
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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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
- B60W10/08—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
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
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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
- B60W30/18—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
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
- B60L2240/48—Drive Train control parameters related to transmissions
- B60L2240/486—Operating parameters
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
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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
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- 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
- Y02T10/62—Hybrid vehicles
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- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
請求項1の特徴を備えた車両の作動方法により得られる利点とは、設定された目標トルクがカーブ走行であっても車両の駆動動作によって実際に達成されることである。カーブ走行の場合、まえもって定められた目標トルクで車両が加速されるよう、操舵された軸および/または操舵されていない軸の駆動トルクが補正されることによって、操舵された軸と操舵されていない軸の車輪において生じるそれぞれ異なるてこ作用が補償される。
Claims (14)
- 車両の少なくとも1つの軸(7,13)が駆動装置(5,11)により駆動されて、車両が所定の目標トルクにより加速され、該加速は、少なくとも1つの軸(7,13)および該軸と結合された車輪(8,9;14,15)に部分駆動トルクが伝達されることにより行われる、
車両の作動方法において、
カーブ走行時、所定の目標トルクによって車両が加速されるよう、操舵軸(7)および/または非操舵軸(13)における部分駆動トルクが補正され、
操舵軸(7)および/または非操舵軸(13)における部分駆動トルクは、車輪(8,9;14,15)と車両旋回点(D)との間隔(16,17;18,19)に依存して補正されることを特徴とする、
車両の作動方法。 - 操舵軸(7)および/または非操舵軸(13)における部分駆動トルクは、操舵軸(7)における車輪(8,9)の操舵角に依存して補正される、請求項1記載の方法。
- 前記所定の目標トルクが定められ、操舵軸(7)および非操舵軸(13)の部分駆動トルクに分配され、
少なくとも1つの部分駆動トルクは、操舵軸(7)における車輪(8,9)の操舵角に依存して補正され、ついで求められた部分駆動トルクが操舵軸(7)および非操舵軸(13)へ伝達される、
請求項1または2記載の方法。 - 部分駆動トルクは、車両の動作状態に依存して操舵軸(7)および非操舵軸(13)に分配される、請求項3記載の方法。
- 前記部分駆動トルクの補正は基準点に依存して行われ、該基準点は、操舵軸(7)または非操舵軸(13)に関連づけられており、または操舵軸(7)と非操舵軸(13)との間の位置に関連づけられている、請求項1から4のいずれか1項記載の方法。
- 前記所定の目標トルクのための基準点として非操舵軸(13)が定められ、操舵軸(7)における部分駆動トルクは、該操舵軸(7)の車輪(8,9)の車輪操舵角に依存して補正される、請求項5記載の方法。
- 前記所定の目標トルクのための基準点として操舵軸(7)が選定され、非操舵軸(13)における部分駆動トルクは車輪の操舵に依存して絶対値に関して高められる、請求項5記載の方法。
- 前記所定の目標トルクのための基準点として、操舵軸(7)と非操舵軸(13)との間の位置が選定され、操舵軸(7)における部分駆動トルクが絶対値に関して低減され、非操舵軸(13)における部分駆動トルクが絶対値に関して高められる、請求項5記載の方法。
- 前記車両はハイブリッド車両である、請求項1から8のいずれか1項記載の方法。
- 車両の少なくとも1つの軸(7,13)が駆動装置(5,11)により駆動されて、車両が所定の目標トルクにより加速され、該加速は、少なくとも1つの軸(7,13)および該軸と結合された車輪(8,9;14,15)に部分駆動トルクが伝達されることにより行われる、
車両の作動装置において、
カーブ走行時、所定の目標トルクによって車両が加速されるよう、操舵軸(7)および/または非操舵軸(13)における部分駆動トルクを補正する手段(1)が設けられており、
前記手段(1)は、操舵軸(7)および/または非操舵軸(13)の部分駆動トルクを、車輪(8,9;14,15)と車両旋回点(D)との間隔(16,17;18,19)に依存して補正することを特徴とする、
車両の作動装置。 - 前記所定の目標トルクは制御装置(1)により定められ、操舵軸(7)と非操舵軸(13)の部分駆動トルクに分配され、該部分駆動トルクは、操舵軸(7)の少なくとも1つの車輪(8,9)の車輪操舵角に依存して補正されて、操舵軸(7)と非操舵軸(13)に伝達される、請求項10記載の装置。
- 前記制御装置(1)は、操舵軸(7)を駆動するための第1の駆動装置(5)および非操舵軸(13)を駆動するための第2の駆動装置(11)と接続されている、請求項10または11記載の装置。
- 前記第1の駆動装置(5)は内燃機関として構成されており、前記第2の駆動装置(11)は電気モータとして構成されている、請求項12記載の装置。
- 前記車両はハイブリッド車両である、請求項10から13のいずれか1項記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009002586A DE102009002586A1 (de) | 2009-04-23 | 2009-04-23 | Verfahren und Vorrichtung zum Betreiben eines Fahrzeuges, insbesondere eines Hybridfahrzeuges |
DE102009002586.3 | 2009-04-23 | ||
PCT/EP2010/052292 WO2010121850A1 (de) | 2009-04-23 | 2010-02-23 | Verfahren und vorrichtung zum betreiben eines fahrzeuges, insbesondere eines hybridfahrzeuges |
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JP2012524689A JP2012524689A (ja) | 2012-10-18 |
JP5301029B2 true JP5301029B2 (ja) | 2013-09-25 |
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JP2012506412A Expired - Fee Related JP5301029B2 (ja) | 2009-04-23 | 2010-02-23 | 車両の作動方法および作動装置 |
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US (1) | US20120116623A1 (ja) |
EP (1) | EP2421734B1 (ja) |
JP (1) | JP5301029B2 (ja) |
KR (1) | KR101693906B1 (ja) |
CN (1) | CN102414067B (ja) |
DE (1) | DE102009002586A1 (ja) |
WO (1) | WO2010121850A1 (ja) |
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WO2013146057A1 (ja) * | 2012-03-30 | 2013-10-03 | 本田技研工業株式会社 | 車両及び車両の制御方法 |
CN107237886A (zh) * | 2016-03-29 | 2017-10-10 | 上海中科深江电动车辆有限公司 | 混合动力装置 |
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DE3542059C1 (de) | 1985-11-28 | 1987-06-04 | Opel Adam Ag | Kraftfahrzeug mit Hauptantriebsachse und zuschaltbarer Antriebsachse |
JP3807232B2 (ja) * | 2001-02-02 | 2006-08-09 | 日産自動車株式会社 | ハイブリッド式車両制御装置 |
JP4223205B2 (ja) * | 2001-08-27 | 2009-02-12 | 本田技研工業株式会社 | ハイブリッド車両の駆動力分配装置 |
WO2004045933A2 (en) * | 2002-11-18 | 2004-06-03 | Nsk Ltd. | Axle unit with slip sensor and slip measurement method |
JP4161923B2 (ja) * | 2004-03-09 | 2008-10-08 | 株式会社デンソー | 車両安定化制御システム |
JP4735142B2 (ja) * | 2005-09-09 | 2011-07-27 | 日産自動車株式会社 | 前後輪駆動車の駆動力配分制御装置 |
JP2007252153A (ja) * | 2006-03-20 | 2007-09-27 | Hitachi Ltd | 自動車の制御装置及び自動車 |
JP4929944B2 (ja) * | 2006-09-20 | 2012-05-09 | 日産自動車株式会社 | 車両の駆動力配分制御装置 |
EP2050642A3 (en) * | 2007-10-16 | 2009-09-30 | Hitachi Ltd. | Braking/driving control apparatus and vehicle having the apparatus |
JP4650483B2 (ja) * | 2007-12-12 | 2011-03-16 | 株式会社デンソー | 車両走行制御装置 |
-
2009
- 2009-04-23 DE DE102009002586A patent/DE102009002586A1/de not_active Withdrawn
-
2010
- 2010-02-23 KR KR1020117024852A patent/KR101693906B1/ko active IP Right Grant
- 2010-02-23 CN CN201080017760.3A patent/CN102414067B/zh not_active Expired - Fee Related
- 2010-02-23 WO PCT/EP2010/052292 patent/WO2010121850A1/de active Application Filing
- 2010-02-23 EP EP10705865.3A patent/EP2421734B1/de active Active
- 2010-02-23 US US13/265,687 patent/US20120116623A1/en not_active Abandoned
- 2010-02-23 JP JP2012506412A patent/JP5301029B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE102009002586A1 (de) | 2010-10-28 |
CN102414067A (zh) | 2012-04-11 |
WO2010121850A1 (de) | 2010-10-28 |
EP2421734B1 (de) | 2013-04-17 |
JP2012524689A (ja) | 2012-10-18 |
KR101693906B1 (ko) | 2017-01-09 |
US20120116623A1 (en) | 2012-05-10 |
CN102414067B (zh) | 2016-02-10 |
EP2421734A1 (de) | 2012-02-29 |
KR20120014129A (ko) | 2012-02-16 |
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