JP6502084B2 - 四輪独立駆動車の一輪失陥時車両制御装置 - Google Patents
四輪独立駆動車の一輪失陥時車両制御装置 Download PDFInfo
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Description
a )旋回外輪側の前輪の駆動源が駆動不能に陥ると、反対側にある旋回内輪側の前輪に対する駆動力を徐々に低下させていき、所定時間経過後には駆動力をゼロにする。
b )旋回内輪側の前輪の駆動源が駆動不能に陥ると、反対側にある旋回外輪側の前輪に対する駆動力の供給を直ちに停止させる。
a )前輪のキングピンオフセットが正の車両では、前輪(転舵輪)の一方が失陥した場合は、後輪(非転舵輪)の一方が失陥した場合に比べ、制駆動力の近づけ度合いを高くする。
b )前輪のキングピンオフセットが負の車両では、前輪(転舵輪)の一方が失陥した場合は、後輪(非転舵輪)の一方が失陥した場合に比べ、制駆動力の近づけ度合いを低くする。
c )失陥した時の左右輪の制駆動力差が大きいほど、制駆動力の近づけ度合いを高くする。
a )フリーになった場合:失陥モータの左右反対側のモータをフリーにする。
b )ロックした場合:失陥モータの左右反対側のモータで回生制動力を発生させる。
前記各駆動源4で駆動輪2,3に作用させる現在の目標とする前後力の和である前後力和、および現在の目標とする車両のヨーモーメントを求めて設定する目標前後力和・ヨーモーメント設定手段25と、
前記各駆動輪2,3の前記駆動源4およびこの駆動源4の制御系を含む駆動系に失陥が発生したことを検出する失陥検出手段26と、
この失陥検出手段26で一輪の駆動源4および駆動系が失陥したことが検出されると、この検出された駆動源4および駆動系の一輪を除く全健全輪の前記駆動源4を駆動する一輪失陥時制御手段27と、
を備え、
前記一輪失陥時制御手段27は、前記目標前後力和・ヨーモーメント設定手段25で目標値として設定されている前記失陥前の前後力和を用いて、全健全輪の負荷率二乗和を最小にして、各健全輪前後力を決定し、
前記負荷率は、各輪に働く垂直力に対する前後力と横力の合力の比である。
df,drは前後輪のトレッドを表している。
を用いて、目標として前記目標前後力和・ヨーモーメント設定手段25に設定された前後力和XおよびヨーモーメントMとなるように、かつ前記の式(3)の評価関数が最小となる全健全輪の前後力Xiを求める。この求めた各輪の前後力Xiを各輪のインバータ装置22に与える。
2,3…駆動輪
4…モータ(駆動源)
10…操舵手段
15…荷重センサ
25…目標前後力和・ヨーモーメント設定手段
26…失陥検出手段
27…一輪失陥時制御手段
Claims (6)
- 左右の前輪および後輪となる四輪の駆動輪を独立して駆動する駆動源を有する車両の制御装置であって、
前記各駆動源で駆動輪に作用させる現在の目標とする前後力の和である前後力和、および現在の目標とする車両のヨーモーメントを求めて設定する目標前後力和・ヨーモーメント設定手段と、
前記各駆動輪の前記駆動源およびこの駆動源の制御系を含む駆動系に失陥が発生したことを検出する失陥検出手段と、
この失陥検出手段で一輪の駆動源および駆動系が失陥したことが検出されると、この検出された駆動源および駆動系の一輪を除く全健全輪の前記駆動源を駆動する一輪失陥時制御手段と、
を備え、
前記一輪失陥時制御手段は、前記目標前後力和・ヨーモーメント設定手段で目標値として設定されている前記失陥前の前後力和を用いて、全健全輪の負荷率二乗和を最小にして、各健全輪前後力を決定し、
前記負荷率は、各輪に働く垂直力に対する前後力と横力の合力の比である、
四輪独立駆動車の一輪失陥時車両制御装置。 - 請求項1に記載の四輪独立駆動車の一輪失陥時車両制御装置において、前記目標前後力和・ヨーモーメント設定手段は、車両の操舵手段から操舵角入力を得て、前記目標とするヨーモーメントを、車両の運動方程式より求められる操舵角入力に対する伝達関数によって設定する四輪独立駆動車の一輪失陥時車両制御装置。
- 請求項1に記載の四輪独立駆動車の一輪失陥時車両制御装置において、前記目標前後力和・ヨーモーメント設定手段は、前記操舵角入力に対するヨー角速度の伝達特性が設定されていて、車両の操舵手段から得た操舵角入力から、前記伝達特性を用いて前記目標とするヨーモーメントを求めて設定する四輪独立駆動車の一輪失陥時車両制御装置。
- 請求項1ないし請求項3のいずれか1項に記載の四輪独立駆動車の一輪失陥時車両制御装置において、前記一輪失陥時制御手段は、各輪に働く前後力、横力、および垂直力のいずれかを駆動輪または車両の運動方程式を解いて推定し、その推定値を用いて前記負荷率を求める四輪独立駆動車の一輪失陥時車両制御装置。
- 請求項1ないし請求項3のいずれか1項に記載の四輪独立駆動車の一輪失陥時車両制御装置において、前記一輪失陥時制御手段は、各輪に働く前後力、横力、および垂直力のいずれかを車輪支持手段に取り付けられた荷重センサで検知し、この検知した値を用いて前記負荷率を求める四輪独立駆動車の一輪失陥時車両制御装置。
- 請求項4に記載の四輪独立駆動車の一輪失陥時車両制御装置において、各輪に働く垂直力を、車重と、重心点および前後車軸間の距離とから推定する四輪独立駆動車の一輪失陥時車両制御装置。
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JP2014256204A JP6502084B2 (ja) | 2014-01-15 | 2014-12-18 | 四輪独立駆動車の一輪失陥時車両制御装置 |
CN201580004315.6A CN105899421B (zh) | 2014-01-15 | 2015-01-07 | 四轮独立驱动车的一轮失灵时车辆控制装置 |
EP15737225.1A EP3103702A4 (en) | 2014-01-15 | 2015-01-07 | Vehicle control device of four-wheel independent drive vehicle for when one wheel is lost |
PCT/JP2015/050206 WO2015107943A1 (ja) | 2014-01-15 | 2015-01-07 | 四輪独立駆動車の一輪失陥時車両制御装置 |
US15/208,140 US10099559B2 (en) | 2014-01-15 | 2016-07-12 | Vehicle control device of four-wheel independent drive vehicle for when one wheel is lost |
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CN105857113B (zh) * | 2016-04-27 | 2018-05-25 | 北京航天发射技术研究所 | 一种多轮独立驱动电动车故障模式下的驱动扭矩补偿方法 |
JP2018098868A (ja) * | 2016-12-12 | 2018-06-21 | Ntn株式会社 | 車両制御装置 |
JP6465461B1 (ja) * | 2017-08-31 | 2019-02-06 | マツダ株式会社 | 四輪駆動車の車輪荷重推定方法 |
CN109733205B (zh) * | 2018-12-10 | 2022-02-15 | 江苏大学 | 一种带有容错功能的轮毂电动汽车直接横摆力矩控制方法 |
CN110481343B (zh) * | 2019-08-30 | 2020-10-02 | 东风汽车集团有限公司 | 四轮轮毂电机驱动汽车力矩补偿的组合二阶滑模控制方法 |
CN111332302B (zh) * | 2020-03-24 | 2021-03-19 | 常州工学院 | 一种四轮独立驱动电动汽车控制方法及*** |
CN111516672B (zh) * | 2020-04-26 | 2023-05-02 | 清华大学苏州汽车研究院(吴江) | 四轮驱动车辆故障处理方法、装置、设备及存储介质 |
US11607952B1 (en) * | 2022-05-04 | 2023-03-21 | Dimaag-Ai, Inc. | Methods and systems for controlling differential wheel speeds of multi- independent-wheel drive vehicles |
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JPH08168112A (ja) * | 1994-12-15 | 1996-06-25 | Nissan Motor Co Ltd | 左右輪独立駆動車の駆動力制御装置 |
FR2806664A1 (fr) | 2000-03-21 | 2001-09-28 | Michelin Soc Tech | Accessoire pour flap |
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US10099559B2 (en) | 2018-10-16 |
CN105899421A (zh) | 2016-08-24 |
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CN105899421B (zh) | 2018-01-23 |
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