JP6983127B2 - 駆動力制御装置 - Google Patents
駆動力制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
- B60N2/0021—Seats provided with an occupancy detection means mounted therein or thereon characterised by the type of sensor or measurement
- B60N2/003—Seats provided with an occupancy detection means mounted therein or thereon characterised by the type of sensor or measurement characterised by the sensor mounting location in or on the seat
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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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
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
- B60N2/0021—Seats provided with an occupancy detection means mounted therein or thereon characterised by the type of sensor or measurement
- B60N2/0024—Seats provided with an occupancy detection means mounted therein or thereon characterised by the type of sensor or measurement for identifying, categorising or investigation of the occupant or object on the seat
- B60N2/0027—Seats provided with an occupancy detection means mounted therein or thereon characterised by the type of sensor or measurement for identifying, categorising or investigation of the occupant or object on the seat for detecting the position of the occupant or of occupant's body part
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/90—Details or parts not otherwise provided for
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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
- 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
- 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
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/48—Inputs being a function of acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
- B60N2210/10—Field detection presence sensors
- B60N2210/16—Electromagnetic waves
- B60N2210/22—Optical; Photoelectric; Lidar [Light Detection and Ranging]
- B60N2210/24—Cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
- B60N2210/40—Force or pressure sensors
-
- 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
- B60W2520/105—Longitudinal acceleration
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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
- 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
- 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
-
- 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/14—Inputs being a function of torque or torque demand
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
(1)駆動力制御装置50は、要求駆動力を算出する要求駆動力算出部401と、乗員の乗車姿勢を検出する圧力センサ38と、車両100の加速度Ga,Gbを検出する加速度センサ32bと、前後および左右の駆動力配分が変更可能な態様で走行駆動力を発生する4つのモータ2と、加速度センサ32bにより前後方向の所定値Ga1以上の大きさの加速度Gaまたは左右方向の所定値Gb1以上の大きさの加速度Gbが検出され、かつ、圧力センサ38により所定程度以上の乗車姿勢の変化が検出されると、すなわちシートバック表面上の基準位置P1から所定値ΔX1,ΔY1以上離れた乗員荷重による代表位置P2が検出されると、要求駆動力算出部401により算出された要求駆動力を発揮しながら、前後または左右の駆動力配分を、乗車姿勢の変化を抑えるような目標駆動力配分に変更するようにモータ2を制御する配分制御部404と、を備える(図4)。
Claims (3)
- 要求駆動力を算出する要求駆動力算出部と、
乗員の乗車姿勢を検出する姿勢検出部と、
車両の加速度を検出する加速度検出部と、
前後およびまたは左右の駆動力配分が変更可能な態様で走行駆動力を発生する駆動力発生部と、
前記加速度検出部により所定の大きさ以上の加速度が検出され、かつ、前記姿勢検出部により所定程度以上の乗車姿勢の変化が検出されると、前記要求駆動力算出部により算出された要求駆動力を発揮しながら、前後およびまたは左右の駆動力配分を乗車姿勢の変化を抑えるような目標駆動力配分に変更するように前記駆動力発生部を制御する制御部と、を備えることを特徴とする駆動力制御装置。 - 請求項1に記載の駆動力制御装置において、
前記姿勢検出部は、乗員が着座するシートに作用する乗員荷重のシート表面上の代表位置を検出する代表位置検出部を有し、
前記加速度検出部により前記所定の大きさ以上の加速度が検出される前に前記代表位置検出部により検出された前記代表位置を、乗員荷重の基準位置に設定する基準位置設定部をさらに備え、
前記制御部は、前記加速度検出部により前記所定の大きさ以上の加速度が検出され、かつ、前記代表位置検出部により、前記基準位置設定部により設定された前記基準位置との偏差が所定値以上となる前記代表位置が検出されると、前記要求駆動力算出部により算出された要求駆動力を発揮しながら、前後およびまたは左右の駆動力配分を前記目標駆動力配分に変更するように前記駆動力発生部を制御することを特徴とする駆動力制御装置。 - 請求項2に記載の駆動力制御装置において、
前記制御部は、前記加速度検出部により前後方向の前記所定の大きさ以上の加速度が検出され、かつ、前記代表位置検出部により、前記基準位置設定部により設定された前記基準位置との上下方向の偏差が前記所定値以上となる前記代表位置が検出されると、前輪および後輪のいずれか一方に駆動トルクを発生させ、前輪および後輪のいずれか他方に制動トルクを発生させるように前記駆動力発生部を制御することを特徴とする駆動力制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2018150657A JP6983127B2 (ja) | 2018-08-09 | 2018-08-09 | 駆動力制御装置 |
CN201910663044.5A CN110861644A (zh) | 2018-08-09 | 2019-07-22 | 驱动力控制装置 |
US16/528,322 US10787162B2 (en) | 2018-08-09 | 2019-07-31 | Driving force control apparatus |
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JP2018150657A JP6983127B2 (ja) | 2018-08-09 | 2018-08-09 | 駆動力制御装置 |
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JP2020028151A JP2020028151A (ja) | 2020-02-20 |
JP6983127B2 true JP6983127B2 (ja) | 2021-12-17 |
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US (1) | US10787162B2 (ja) |
JP (1) | JP6983127B2 (ja) |
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Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019003296A1 (ja) * | 2017-06-27 | 2019-01-03 | 川崎重工業株式会社 | 疑似感情生成方法並びに走行評価方法および走行評価システム |
JP7461756B2 (ja) | 2020-02-25 | 2024-04-04 | 日野自動車株式会社 | 車両制御装置及び車両制御方法 |
JP7302554B2 (ja) * | 2020-09-03 | 2023-07-04 | トヨタ自動車株式会社 | 立ち乗り式車両 |
EP4219257A4 (en) * | 2020-09-28 | 2024-03-06 | Nissan Motor Co., Ltd. | VEHICLE TRAVEL CONTROL METHOD AND VEHICLE TRAVEL CONTROL DEVICE |
JPWO2022201261A1 (ja) * | 2021-03-22 | 2022-09-29 | ||
DE102021117327A1 (de) | 2021-07-05 | 2023-01-05 | Ford Global Technologies, Llc | Verfahren zum Betrieb eines Kraftfahrzeugs |
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 |
WO2024057465A1 (ja) * | 2022-09-14 | 2024-03-21 | 日産自動車株式会社 | 電動車両の制御方法、及び、電動車両の制御装置 |
CN115645165A (zh) * | 2022-10-26 | 2023-01-31 | 浙江足步医疗科技有限公司 | 一种可移动座椅及其助力控制方法、具有存储功能的装置 |
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JP3807013B2 (ja) * | 1997-03-25 | 2006-08-09 | 日産自動車株式会社 | 車両用制御装置 |
JP4079083B2 (ja) * | 2003-12-12 | 2008-04-23 | トヨタ自動車株式会社 | 車両の制御装置 |
JP4534944B2 (ja) * | 2005-10-07 | 2010-09-01 | トヨタ自動車株式会社 | 乗り物 |
JP2007153160A (ja) * | 2005-12-06 | 2007-06-21 | Toyota Motor Corp | 車両の駆動力制御装置 |
JP5982894B2 (ja) * | 2012-03-13 | 2016-08-31 | 株式会社豊田中央研究所 | 車両制御装置及びプログラム |
JP5914448B2 (ja) * | 2013-11-01 | 2016-05-11 | ヤマハ発動機株式会社 | 鞍乗り型車両および車輪力取得装置 |
JP6542017B2 (ja) * | 2015-04-14 | 2019-07-10 | Ntn株式会社 | 車両姿勢制御装置 |
CN106427957B (zh) * | 2015-08-11 | 2019-03-29 | 比亚迪股份有限公司 | 基于四轮驱动的电动汽车稳定控制***及方法及电动汽车 |
JP6585444B2 (ja) * | 2015-09-25 | 2019-10-02 | Ntn株式会社 | 車両姿勢制御装置 |
JP6233608B2 (ja) * | 2015-10-13 | 2017-11-22 | トヨタ自動車株式会社 | 車両の駆動力制御装置 |
JP6380468B2 (ja) * | 2016-06-21 | 2018-08-29 | マツダ株式会社 | 四輪駆動車の制御装置 |
KR101782266B1 (ko) * | 2016-07-06 | 2017-09-26 | 현대다이모스(주) | 친환경 차량의 후륜 구동장치 |
US10464455B2 (en) * | 2017-07-28 | 2019-11-05 | Ford Global Technologies, Llc | Active seat bolster adjustment based on occupant pressure map and method |
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2018
- 2018-08-09 JP JP2018150657A patent/JP6983127B2/ja active Active
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2019
- 2019-07-22 CN CN201910663044.5A patent/CN110861644A/zh not_active Withdrawn
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US10787162B2 (en) | 2020-09-29 |
CN110861644A (zh) | 2020-03-06 |
JP2020028151A (ja) | 2020-02-20 |
US20200047735A1 (en) | 2020-02-13 |
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