JP6647412B2 - 車両の制動力制御装置 - Google Patents
車両の制動力制御装置 Download PDFInfo
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- 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
- B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
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- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/03—Driver counter-steering; Avoidance of conflicts with ESP control
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- 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
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- 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
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- 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
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- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/109—Direction of power flow
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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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
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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
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
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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
- B60W2710/18—Braking system
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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
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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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W30/18054—Propelling the vehicle related to particular drive situations at stand still, e.g. engine in idling state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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Description
これは、操舵輪51,52の制動力を緩和することでスリップを回避するための制動力が不足することを防止するためである。なお、車両がスリップしたか否かは、例えば、ABS(アンチロックブレーキシステム)又はESC(横滑り防止装置)が作動したか否かあるいは各車輪51〜54の車輪速差に基づいて判定する。
Claims (21)
- 車両の減速時に操舵輪及び非操舵輪の制動力を個別に制御する停止制動力制御部と、
前記車両の停止状態での操舵を事前検知する事前検知部とを備え、
前記停止制動力制御部は、前記事前検知部により前記車両の停止状態での操舵が事前検知されたときに、前記操舵輪の制動力を通常制動時の制動力よりも低下させる制動力緩和制御を実行する車両の制動力制御装置において、
前記停止制動力制御部は、前記制動力緩和制御を実行すると同時に、前記非操舵輪の制動力を通常制動時の制動力よりも増加させることを特徴とする車両の制動力制御装置。 - 車両の減速時に操舵輪及び非操舵輪の制動力を個別に制御する停止制動力制御部と、
前記車両の停止状態での操舵を事前検知する事前検知部とを備え、
前記停止制動力制御部は、前記事前検知部により前記車両の停止状態での操舵が事前検知されたときに、前記操舵輪の制動力を通常制動時の制動力よりも低下させる制動力緩和制御を実行する車両の制動力制御装置において、
前記事前検知部は、前記車両の制動中でかつ前記車両の速度が所定車速を下回ったときに、前記車両の停止状態での操舵が行われることを事前検知することを特徴とする車両の制動力制御装置。 - 請求項2に記載の車両の制動力制御装置において、
前記停止制動力制御部は、前記制動力緩和制御を実行すると同時に、前記車両の減速度が通常制動時の減速度と一致するように前記非操舵輪の制動力を増加させることを特徴とする車両の制動力制御装置。 - 車両の減速時に操舵輪及び非操舵輪の制動力を個別に制御する停止制動力制御部と、
前記車両の停止状態での操舵を事前検知する事前検知部とを備え、
前記停止制動力制御部は、前記事前検知部により前記車両の停止状態での操舵が事前検知されたときに、前記操舵輪の制動力を通常制動時の制動力よりも低下させる制動力緩和制御を実行する車両の制動力制御装置において、
前記事前検知部は、前記車両の状態が予め規定した所定の事前条件を満たしているか否かに基づいて、前記車両の停止状態での操舵が行われることを事前検知することを特徴とする車両の制動力制御装置。 - 請求項4に記載の車両の制動力制御装置において、
前記所定の事前条件には、乗員により所定の意思表示操作が行われた場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項4に記載の車両の制動力制御装置において、
前記所定の事前条件には、前記車両が駐車位置を含む所定領域内に進入した場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項4に記載の車両の制動力制御装置において、
前記所定の事前条件には、乗員により前後進切替操作が行われた場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項4に記載の車両の制動力制御装置において、
前記所定の事前条件には、前記車両が停止した時点の前記操舵輪の舵角が中立角度を含む所定角度範囲内に収まらない場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項4に記載の車両の制動力制御装置において、
前記所定の事前条件には、前記車両が後退している場合が含まれることを特徴とする車両の制動力制御装置。 - 車両の減速時に操舵輪及び非操舵輪の制動力を個別に制御する停止制動力制御部と、
前記車両の停止状態での操舵を事前検知する事前検知部とを備え、
前記停止制動力制御部は、前記事前検知部により前記車両の停止状態での操舵が事前検知されたときに、前記操舵輪の制動力を通常制動時の制動力よりも低下させる制動力緩和制御を実行する車両の制動力制御装置において、
前記停止制動力制御部は、前記車両の状態が予め規定した所定の禁止条件を満たしている場合に、前記制動力緩和制御を実行しないことを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、乗員により所定の意思表示操作が行われた場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記車両が停止した時点の前記操舵輪の舵角が所定角度範囲内に収まる場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記制動力緩和制御を実行することにより前記車両の制動力が不足する場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記車両の制動中でかつ前記車両の減速度が所定減速度を上回っている場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記車両が勾配路に位置する場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記車両がスリップした場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項16に記載の車両の制動力制御装置において、
前記車両がスリップしたか否かをアンチロックブレーキシステム又は横滑り防止装置が作動したか否かに基づいて判定することを特徴とする車両の制動力制御装置。 - 請求項16に記載の車両の制動力制御装置において、
前記車両がスリップしたか否かを前記操舵輪及び前記非操舵輪の車輪速差に基づいて判定することを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記操舵輪の制動力が所定制動力よりも大きい場合が含まれることを特徴とする車両の制動力制御装置。 - 請求項10に記載の車両の制動力制御装置において、
前記所定の禁止条件には、前記車両に搭載された自動操縦システムにより前記車両の衝突防止を目的として前記操舵輪の制動力が制御されている場合が含まれることを特徴とする車両の制動力制御装置。 - 車両の減速時に操舵輪及び非操舵輪の制動力を個別に制御する停止制動力制御部と、
前記車両の停止状態での操舵を事前検知する事前検知部とを備え、
前記停止制動力制御部は、前記事前検知部により前記車両の停止状態での操舵が事前検知されたときに、前記操舵輪の制動力を通常制動時の制動力よりも低下させる制動力緩和制御を実行する車両の制動力制御装置において、
前記事前検知部は、操舵計画部で作成された操縦計画に基づいて前記車両の停止状態での操舵を事前検知することを特徴とする車両の制動力制御装置。
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