JP6425050B1 - 駆動力制御方法 - Google Patents
駆動力制御方法 Download PDFInfo
- Publication number
- JP6425050B1 JP6425050B1 JP2017116504A JP2017116504A JP6425050B1 JP 6425050 B1 JP6425050 B1 JP 6425050B1 JP 2017116504 A JP2017116504 A JP 2017116504A JP 2017116504 A JP2017116504 A JP 2017116504A JP 6425050 B1 JP6425050 B1 JP 6425050B1
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- driving force
- wheel
- driving
- occurrence
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012937 correction Methods 0.000 claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000007788 roughening Methods 0.000 abstract description 3
- 230000003746 surface roughness Effects 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- 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
-
- 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
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- 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
- 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
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- 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
- B60W2520/10—Longitudinal 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/30—Wheel torque
-
- 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
- B60W2552/35—Road bumpiness, e.g. potholes
-
- 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
- B60W2552/40—Coefficient of friction
-
- 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
- B60W2720/26—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
-
- 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
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
【解決手段】駆動輪の駆動力を制御する四輪駆動車の駆動力制御方法において、路面状況を検知して路面荒れを判定する路面状況判定ステップと、前記路面状況判定ステップで路面が荒れていると判定したときに、路面の荒れた状態に応じて予め設定された荷重変化率に基づいて駆動輪の接地荷重を補正する荷重補正ステップと、前記荷重補正ステップで補正した接地荷重と路面摩擦係数と前記駆動輪に作用する横力と前記駆動輪の駆動力とに基づいて、前記駆動輪のスリップ発生を予測する予測ステップと、前記予測ステップでスリップ発生が予測されたときに、スリップ発生を抑えるように前記駆動輪の駆動力の制御を行う駆動力制御ステップとを有する。
【選択図】図4
Description
実施例に係る本発明の駆動力制御方法は、路面状況判定ステップにおいて判定された路面荒れを、荷重補正ステップにおいて主駆動輪内輪の接地荷重Waに反映させる補正をして接地荷重Wrを得る。そして、予測ステップにおいて接地荷重Wrと路面μと横力Gfと駆動力Dfに基づいて主駆動輪内輪のスリップ発生を予測し、スリップ発生が予測された場合には、駆動力制御ステップにおいて駆動力制御ステップでスリップ発生を抑えるように駆動力の制御を行う。従って、路面荒れに応じた駆動力制御を行うことができるので、路面荒れによるスリップ発生を効果的に抑制することができる。
[1]上記実施例では、主駆動輪の駆動力を従駆動輪に分配してスリップ発生を抑制しているが、主駆動輪と共に従駆動輪についてもスリップ発生を予測し、主駆動輪及び従駆動輪のスリップ発生と判定された場合には、駆動力の分配と共に又は駆動力の分配に代えてエンジン6の出力を抑えるように調整してスリップ発生を抑制するようにしてもよい。
[2]荷重補正ステップで、横加速度Gによる補正係数αと、路面荒れに応じた荷重変化率γに基づいて静止時の接地荷重Wを接地荷重Wrに補正する構成にしてもよい。
[3]後輪3a,3bが主駆動輪の後輪駆動をベースとした四輪駆動車に上記駆動力制御を適用することもできる。
2a,2b 前輪(主駆動輪)
3a,3b 後輪(従駆動輪)
6 エンジン
10 駆動力伝達軸
13 制御ユニット
13a トラクション制御部
13b 路面状況判定部
14a,14b,15a,15b 車輪速センサ
16 横加速度センサ
Claims (3)
- 駆動輪の駆動力を制御する四輪駆動車の駆動力制御方法において、
路面状況を検知して路面荒れを判定する路面状況判定ステップと、
前記路面状況判定ステップで路面が荒れていると判定したときに、路面の荒れた状態に応じて予め設定された荷重変化率に基づいて前記駆動輪の接地荷重を補正する荷重補正ステップと、
前記荷重補正ステップで補正した接地荷重と路面摩擦係数と前記駆動輪に作用する横力と前記駆動輪の駆動力とに基づいて、前記駆動輪のスリップ発生を予測する予測ステップと、
前記予測ステップでスリップ発生が予測されたときに、スリップ発生を抑えるように前記駆動輪の駆動力の制御を行う駆動力制御ステップとを有することを特徴とする駆動力制御方法。 - 前記荷重補正ステップでは、車両旋回時の内輪の接地荷重を補正することを特徴とする請求項1に記載の駆動力制御方法。
- 前記予測ステップでは主駆動輪についてスリップ発生を予測し、
前記駆動力制御ステップでは、前記主駆動輪の駆動力を従駆動輪に分配する制御を行うことを特徴とする請求項1又は2に記載の駆動力制御方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017116504A JP6425050B1 (ja) | 2017-06-14 | 2017-06-14 | 駆動力制御方法 |
DE102018004621.5A DE102018004621B4 (de) | 2017-06-14 | 2018-06-11 | Verfahren zum Regeln bzw. Steuern einer Antriebskraft, Antriebskraft-Regel- bzw. Steuervorrichtung, Fahrzeug mit Vierradantrieb und Computerprogrammprodukt |
US16/006,690 US10471952B2 (en) | 2017-06-14 | 2018-06-12 | Method of controlling driving force |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017116504A JP6425050B1 (ja) | 2017-06-14 | 2017-06-14 | 駆動力制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6425050B1 true JP6425050B1 (ja) | 2018-11-21 |
JP2019001265A JP2019001265A (ja) | 2019-01-10 |
Family
ID=64379152
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017116504A Active JP6425050B1 (ja) | 2017-06-14 | 2017-06-14 | 駆動力制御方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10471952B2 (ja) |
JP (1) | JP6425050B1 (ja) |
DE (1) | DE102018004621B4 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2565547B (en) * | 2017-08-14 | 2022-03-02 | Jaguar Land Rover Ltd | Estimating terrain roughness |
DE102018132865A1 (de) * | 2018-12-19 | 2020-06-25 | Thyssenkrupp Ag | Verfahren zur Bestimmung eines Lenkgefühls eines Steer-by-Wire-Lenksystems |
CN110843788A (zh) * | 2019-10-30 | 2020-02-28 | 同济大学 | 一种基于路面摩擦系数的车况分析方法 |
KR20210156895A (ko) * | 2020-06-18 | 2021-12-28 | 현대자동차주식회사 | 자동차 및 그를 위한 선회 제어 방법 |
CN116443014B (zh) * | 2023-06-19 | 2023-10-10 | 广汽埃安新能源汽车股份有限公司 | 一种车辆驱动防滑控制方法及装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02200527A (ja) * | 1989-01-31 | 1990-08-08 | Mazda Motor Corp | 4輪駆動車のトルク分配制御装置 |
JP2009061855A (ja) * | 2007-09-05 | 2009-03-26 | Toyota Motor Corp | 車両の制駆動力制御装置 |
JP2015067040A (ja) * | 2013-09-27 | 2015-04-13 | 株式会社アドヴィックス | 車両の運転支援装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0842836B1 (en) | 1996-07-24 | 2003-06-04 | Denso Corporation | Vehicular motion controlling system |
JP3642041B2 (ja) | 2001-06-26 | 2005-04-27 | 日産自動車株式会社 | 4輪駆動車の駆動力制御装置 |
DE102004043487B4 (de) | 2003-09-09 | 2010-06-10 | Mitsubishi Jidosha Kogyo K.K. | Antriebskraftverteilungs- und Steuervorrichtung für ein Fahrzeug |
EP2106353B1 (en) | 2007-01-25 | 2014-01-08 | Honda Motor Co., Ltd. | Vehicle systems control for improving stability |
JP5793877B2 (ja) | 2011-02-02 | 2015-10-14 | マツダ株式会社 | 四輪駆動車の制御装置 |
JP5844567B2 (ja) * | 2011-07-28 | 2016-01-20 | マツダ株式会社 | 四輪駆動車の制御方法及び制御装置 |
JP6217931B2 (ja) | 2014-07-23 | 2017-10-25 | マツダ株式会社 | 四輪駆動車の駆動トルク配分制御装置 |
JP6717155B2 (ja) | 2016-10-07 | 2020-07-01 | アイシン精機株式会社 | 電動車 |
JP6376477B2 (ja) | 2016-11-24 | 2018-08-22 | マツダ株式会社 | 駆動力制御方法 |
-
2017
- 2017-06-14 JP JP2017116504A patent/JP6425050B1/ja active Active
-
2018
- 2018-06-11 DE DE102018004621.5A patent/DE102018004621B4/de active Active
- 2018-06-12 US US16/006,690 patent/US10471952B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02200527A (ja) * | 1989-01-31 | 1990-08-08 | Mazda Motor Corp | 4輪駆動車のトルク分配制御装置 |
JP2009061855A (ja) * | 2007-09-05 | 2009-03-26 | Toyota Motor Corp | 車両の制駆動力制御装置 |
JP2015067040A (ja) * | 2013-09-27 | 2015-04-13 | 株式会社アドヴィックス | 車両の運転支援装置 |
Also Published As
Publication number | Publication date |
---|---|
DE102018004621A1 (de) | 2018-12-20 |
US10471952B2 (en) | 2019-11-12 |
JP2019001265A (ja) | 2019-01-10 |
DE102018004621B4 (de) | 2023-06-07 |
US20180362021A1 (en) | 2018-12-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6425050B1 (ja) | 駆動力制御方法 | |
US9278693B2 (en) | System and method for improving vehicle performance on grade | |
JP6122916B2 (ja) | タイヤ摩耗を決定するためのシステムおよび方法 | |
US6418369B2 (en) | Road surface friction coefficient estimating apparatus | |
US7395142B2 (en) | Counter steer detecting method | |
US7873459B2 (en) | Load transfer adaptive traction control system | |
WO2013015389A1 (ja) | 車両の揺動検出方法および車両 | |
US7945362B2 (en) | Apparatus and method for power hop detection and mitigation | |
JP2001500271A (ja) | 車両重量を求めるための方法及び装置 | |
US8332112B2 (en) | Control device for controlling drive force that operates on vehicle | |
JP2010285987A (ja) | 二輪自動車のトラクション制御システムおよび制御方法 | |
US8744710B2 (en) | Control device for controlling drive force that operates on vehicle | |
JPWO2003091056A1 (ja) | 駆動力伝達装置 | |
US8725377B2 (en) | Control device for controlling drive force that operates on vehicle | |
US20050033499A1 (en) | Method and a computer readable storage device for estimating tire-to-road friction | |
JP5918564B2 (ja) | 車両に働く駆動力を制御する制御装置 | |
JP6376477B2 (ja) | 駆動力制御方法 | |
JP6465461B1 (ja) | 四輪駆動車の車輪荷重推定方法 | |
KR20160038415A (ko) | 적외선 감지센서를 이용한 4wd 차량의 제어 시스템 및 이를 이용한 제어 방법 | |
JP4730543B2 (ja) | 車両の駆動力分配制御装置 | |
CN109641592B (zh) | 一种减轻车辆中的共振的方法和采用这种方法的机动车辆 | |
JP4735142B2 (ja) | 前後輪駆動車の駆動力配分制御装置 | |
JP2019137163A (ja) | スリップ率算出装置 | |
JP2010149568A (ja) | 車両用運転支援装置および車両用運転支援方法 | |
JP3325346B2 (ja) | 4輪駆動車の駆動力制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20180904 |
|
TRDD | Decision of grant or rejection written | ||
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20180919 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180926 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20181009 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6425050 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |