JP5497598B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
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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
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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/945—Characterized by control of gearing, e.g. control of transmission ratio
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Transmission Device (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
瞬時スポーツ度(瞬時SPI)Iin=(Gx2+Gy2)1/2
で算出される。ここで、加速度はセンサで検出された加速度に限らず、アクセル開度や操舵角、ブレーキ踏力もしくはブレーキペダルの踏み込み量などの運転者による操作に基づいて演算もしくは推定されたものであってもよい。また、「瞬時スポーツ度Iin」とは、車両の走行中における各瞬間毎に、各方向の加速度が求められ、その加速度に基づいて算出される指標という意味であり、いわゆる物理量である。なお、「各瞬間毎」とは、加速度の検出およびそれに基づく瞬時スポーツ度Iinの算出が所定のサイクルタイムで繰り返し実行される場合には、その繰り返しの都度を意味する。
ジャーク={(dGx/dt)2+(dGy/dt)2}1/2
である。こうして演算されたジャーク(すなわち瞬時スポーツ度(合成加速度)Iinの時間微分値)が予め定めた禁止判断閾値αより大きいか否かが判断される(ステップS4)。この禁止判断閾値αは、加速度の変化と走行特性の変更に伴う挙動の変化とが重畳することが好ましくないと考えられるジャークの下限値であり、走行実験やシミュレーションなどによって予め定めたものである。そして、この禁止判断閾値αは、走行特性の全体について一つの値を設定することができるが、これとは異なり、走行特性を規定する(走行特性に含まれる)駆動力特性や変速特性、操舵特性、懸架特性(ダンパ特性もしくはサスペンション特性)などの各特性毎に設定することができる。その場合、変化が車両の搭乗者に体感されやすい特性についての禁止判断閾値αほど小さい値とする。こうすることにより、加速度が変化している際の、変化が体感されやすい特性の変化が、より強く制限される。さらにまた、上記の禁止判断閾値αは、一定値であってもよく、あるいは車速などの他の要因に応じて変化する変数であってもよい。
Claims (7)
- 車両の走行状態に基づく指標を求め、前記指標に応じて車両の走行特性を変化させる車両制御装置において、
前記指標は、前記車両の走行中に生じている加速度を繰り返し瞬時的に求めた瞬時加速度に基づいて求められ、かつ前記瞬時加速度が大きいほど前記車両の走行の機敏さを増大させる値に設定されるとともに前記瞬時加速度が小さいほど前記車両の走行の機敏さを低下させる値に設定される指示指標であり、
前記車両を機敏に走行させる方向への前記指示指標の前記走行状態の変化に対する変化より、前記車両の走行の機敏さを低下させる方向への前記指示指標の前記走行状態の変化に対する変化を遅くする指示指標設定手段を有するとともに、前記指示指標設定手段は、前記瞬時加速度の値が前記指示指標の値の元になった前記瞬時加速度の値以上の値になった場合に前記指示指標の値を該大きくなった瞬時加速度の値に応じた値に素早く増大させかつ保持する指示指標保持手段と、前記瞬時加速度の値が前記保持されている指示指標の値の元になった前記瞬時加速度の値よりも小さい場合には、予め定められている条件が成立することを待って前記指示指標の値を低下させる指示指標低下手段とを含み、
前記保持されている指示指標が求められた時点において発生可能な最大加速度に対する要求加速度の割合である要求最大加速度率を前記指示指標に基づいて求めるとともに前記指示指標の値が小さい場合には大きい場合に比較して前記要求最大加速度率を小さく設定しかつ前記指示指標の値が大きい場合には小さい場合に比較して前記要求最大加速度率を大きく設定する制御器を更に備えている
ことを特徴とする車両制御装置。 - 前記瞬時加速度は、前記車両の走行中に繰り返し求められる前後瞬時加速度成分と横瞬時加速度成分との瞬時合成加速度を含み、
前記指示指標保持手段は、前記指示指標を、前記瞬時合成加速度が大きいほど大きい値とする手段を含む
ことを特徴とする請求項1に記載の車両制御装置。 - 前記車両は、前記制御器によって回転数が制御される内燃機関を備え、
前記制御器の制御特性は、前記内燃機関の燃費が予め定め範囲内の燃費効率側となる特性に設定されることを特徴とする請求項1または2に記載の車両制御装置。 - 前記車両は、変速比を変化させることにより前記内燃機関の回転数が変化する変速機を更に備え、
前記制御器は、前記変速機の変速比を変化させる制御器を含み、
前記制御器の制御特性は、前記変速機の変速比に応じた前記内燃機関の回転数が前記予め定め範囲内の燃費効率が得られる回転数となるように前記変速比を制御する特性に設定されることを特徴とする請求項3に記載の車両制御装置。 - 前記内燃機関が出力した動力を分割する差動作用を行う動力分割機構と、その動力分割機構に連結されるとともに発電量に応じて前記内燃機関の回転数を変化させることのできる発電機とを更に備え、
前記制御器は、前記発電機の回転数を制御して前記内燃機関の回転数を制御する制御器を含み、
前記制御器の制御特性は、前記発電機の回転数に応じた前記内燃機関の回転数が前記予め定めた範囲内の燃費効率側の回転数となるように前記発電機の回転数を制御する特性に設定されることを特徴とする請求項3に記載の車両制御装置。 - 前記車両は、前記発電機で発電した電力を蓄える蓄電装置を更に備え、
その蓄電装置に既に蓄えられている電力量が多い場合には、既に蓄えられている電力量が少ない場合に比較して、前記予め定めた範囲内の燃費効率側となる前記回転数が相対的に低回転数とされている
ことを特徴とする請求項5に記載の車両制御装置。 - 前記車両が走行する路面を含む前記車両の外部の環境である走行環境に関する情報を取得するとともに、前記制御器は、前記指示指標に加えて前記走行環境情報に応じて前記制御器の制御特性を変更するように構成されていることを特徴とする請求項1ないし6のいずれかに記載の車両制御装置。
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PCT/IB2011/002128 WO2012035405A2 (en) | 2010-09-15 | 2011-09-14 | Vehicle control system |
CN201180044681.6A CN103108763B (zh) | 2010-09-15 | 2011-09-14 | 车辆控制*** |
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