JP6663333B2 - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
- B62D6/005—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis treating sensor outputs to obtain the actual yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
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- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
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- B62D1/166—Means changing the transfer ratio between steering wheel and steering gear
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- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/20—Connecting steering column to steering gear
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- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- 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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining 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
- B60L2200/00—Type of vehicles
- B60L2200/46—Vehicles with auxiliary ad-on propulsions, e.g. add-on electric motor kits for bicycles
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/18—Acceleration lateral
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/22—Yaw angle
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- 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
- B60W2520/18—Roll
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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
- B60W2710/20—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
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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
- B60W2720/14—Yaw
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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
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
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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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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Description
γ_tgt:目標ヨーレート
θh:ステアリング操舵角
V:車両速度
T:車両の時定数
S:ラプラス演算子
N:ステアリングギヤ比
l:車両ホイールベース
lf:車両重心点から前輪中心までの距離
lr:車両重心点から後輪中心までの距離
m:車両重量
Kftgt:目標コーナリングパワー(前方輪)
Krtgt:目標コーナリングパワー(後方輪)
γ_F/B=a×γ_clc+(1−a)×γ_sens ・・・・(6)
a=−20×γ_diff+2
a=+20×γ_diff+2
Δγ=γ_tgt−γ_F/B ・・・・(7)
差分Δγは、ヨーレート補正量として、付加ステアアングル演算部240と旋回アシスト制御部258に入力される。
ACT_δ=δstd+ACT_addδ ・・・(11)
Mx_ratio=ACT_Mx/Mx_clc ・・・(16)
actSt_G=Mx_clc/ACT_Mx ・・・(17)
adjStθ=actSt_G×ACT_θ ・・・(18)
ACT_Gratio=adjStθ/ACT_δ ・・・(19)
adjStθ=actSt_G×θh ・・・(20)
モーション変化率=((γ_F/B)/γ_tgt)/(Mx_sens/Mx_clc)
・・・(23)
258 旋回アシスト制御部
258a ステアリング旋回アシスト制御部
258b 左右駆動力制御部
1000 車両
Claims (5)
- ステアリングホイールの操舵角と車両の前輪のタイヤ舵角との間のステアリングギヤ比が変更可能なアクティブステアリングシステムにおいて、前記車両が発生させる実ヨーレートが目標ヨーレートとなる前記ステアリングギヤ比で前記タイヤ舵角を制御する旋回アシストを実行するステアリング旋回アシスト制御部と、
ステアリング操舵系とは独立して前記車両にヨーモーメントを付加する左右独立駆動可能な電動駆動輪である前記車両の後輪の駆動力を制御する左右駆動力制御を実行する左右駆動力制御部と、
を備え、
前記左右駆動力制御部は、前記ステアリング旋回アシスト制御部が前記旋回アシストを実行する際に、前記車両に発生するロールレートを目標ロールレートで除算した値及び前記値にゲインを乗算して得られる値の少なくとも一方が所定値以上であることが検出される場合、前記実ヨーレートが前記目標ヨーレートとなるように、前記左右駆動力制御を実行するとともに、前記タイヤ舵角を減少することを特徴とする、車両の制御装置。 - 前記ステアリング旋回アシスト制御部は、前記旋回アシストを実行する際における前記ロールレートを前記目標ロールレートで除算した値及び前記値にゲインを乗算して得られる値の少なくとも一方が所定値よりも小さい場合、前記実ヨーレートと前記目標ヨーレートとの差分に相当する付加タイヤ舵角を、前記ステアリングホイールの操舵角に対応するベースタイヤ舵角に付加するように前記ステアリングギヤ比を制御することを特徴とする、請求項1に記載の車両の制御装置。
- 前記ゲインは、車両のロールレートに対するヨーレートの比率から求まることを特徴とする、請求項1又は2に記載の車両の制御装置。
- 前記ゲインは、前記比率が小さいほど大きな値とされることを特徴とする、請求項3に記載の車両の制御装置。
- ステアリングホイールの操舵角と車両の前輪のタイヤ舵角との間のステアリングギヤ比が変更可能なアクティブステアリングシステムにおいて、前記車両が発生させる実ヨーレートが目標ヨーレートとなる前記ステアリングギヤ比で前記タイヤ舵角を制御するステアリング旋回アシストを実行するステップと、
ステアリング操舵系とは独立して前記車両にヨーモーメントを付加する左右独立駆動可能な電動駆動輪である前記車両の後輪の駆動力を制御する左右駆動力制御を実行するステップと、
を備え、
前記ステアリング旋回アシストを実行するステップにおいて、前記車両に発生するロールレートを目標ロールレートで除算した値及び前記値にゲインを乗算して得られる値の少なくとも一方が所定値以上であることが検出されることに応じて、前記左右駆動力制御を実行するステップに移行し、
前記左右駆動力制御を実行するステップにおいて、前記実ヨーレートが前記目標ヨーレートとなるように、前記左右駆動力制御を実行するとともに、前記タイヤ舵角を減少することを特徴とする、車両の制御方法。
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JP2016185703A JP6663333B2 (ja) | 2016-09-23 | 2016-09-23 | 車両の制御装置及び車両の制御方法 |
US15/646,253 US10272943B2 (en) | 2016-09-23 | 2017-07-11 | Control unit for vehicle and control method for vehicle |
CN201710665187.0A CN107867286B (zh) | 2016-09-23 | 2017-08-07 | 车辆的控制装置及车辆的控制方法 |
DE102017119154.2A DE102017119154A1 (de) | 2016-09-23 | 2017-08-22 | Steuerungseinheit und steuerungsverfahren für ein fahrzeug |
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JP2016185703A JP6663333B2 (ja) | 2016-09-23 | 2016-09-23 | 車両の制御装置及び車両の制御方法 |
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JP6663333B2 true JP6663333B2 (ja) | 2020-03-11 |
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JP (1) | JP6663333B2 (ja) |
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DE102016001592A1 (de) * | 2016-02-11 | 2017-08-17 | Audi Ag | Verfahren zur Beeinflussung der Fahrtrichtung von Kraftfahrzeugen |
JP6279121B1 (ja) * | 2017-03-24 | 2018-02-14 | 株式会社ショーワ | 制御装置、および、ステアリング装置 |
CN109774783B (zh) * | 2017-11-10 | 2022-05-13 | 现代自动车株式会社 | 用于电动转向的控制方法和控制*** |
JP6553256B1 (ja) * | 2018-06-29 | 2019-07-31 | 株式会社ショーワ | ステアリング制御装置及びステアリング装置 |
US11119482B2 (en) * | 2019-02-07 | 2021-09-14 | GM Global Technology Operations LLC | System and method for control of an autonomous vehicle |
US11376955B2 (en) * | 2019-08-29 | 2022-07-05 | Kawasaki Motors, Ltd. | Utility vehicle |
US11590977B2 (en) * | 2019-12-31 | 2023-02-28 | Rivian Ip Holdings, Llc | Systems and methods for providing a vehicle with a torque vectored K-turn mode |
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