JP7312859B2 - 車両制御装置、車両制御方法および車両制御システム - Google Patents
車両制御装置、車両制御方法および車両制御システム Download PDFInfo
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- JP7312859B2 JP7312859B2 JP2021571203A JP2021571203A JP7312859B2 JP 7312859 B2 JP7312859 B2 JP 7312859B2 JP 2021571203 A JP2021571203 A JP 2021571203A JP 2021571203 A JP2021571203 A JP 2021571203A JP 7312859 B2 JP7312859 B2 JP 7312859B2
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- differential
- vehicle
- braking force
- wheel
- electric brake
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Classifications
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
- B60K17/165—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing provided between independent half axles
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
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- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
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- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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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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- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
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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
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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
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- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
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- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0297—Control Giving priority to different actuators or systems
-
- 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
- B60W2510/18—Braking system
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2710/12—Differentials
-
- 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
- B60W2710/12—Differentials
- B60W2710/125—Locking status
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/80—Control of differentials
- B60Y2300/84—Differential locking
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
- F16D2125/36—Helical cams, Ball-rotating ramps
-
- 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
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H2048/204—Control of arrangements for suppressing differential actions
-
- 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
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H2048/204—Control of arrangements for suppressing differential actions
- F16H2048/205—Control of arrangements for suppressing differential actions using the steering as a control parameter
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Description
Claims (12)
- 車両制御装置であって、該車両制御装置は、
車両に設けられ、入力した情報に基づいて演算を行って演算結果を出力するコントロール部を備え、
前記車両は、
該車両の第1駆動輪と、前記車両の第2駆動輪と、の間に設けられた差動装置と、
前記差動装置の差動を制限する差動制限機構と、
前記第1駆動輪に対して第1モータで第1制動部材を推進させて制動力を付与する第1電動ブレーキ機構と、
前記第2駆動輪に対して第2モータで第2制動部材を推進させて制動力を付与する第2電動ブレーキ機構と、
を備え、
前記コントロール部は、
前記第1電動ブレーキ機構の作動に関わる失陥に関する情報を取得し、
前記第1駆動輪と前記第2駆動輪に付与する要求制動力に関する物理量を取得し、
前記失陥に関する情報と、前記要求制動力に関する物理量と、に基づいて、前記差動制限機構に前記差動装置の差動を制限するための差動制限制御指令を出力する、
車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記コントロール部は、
前記失陥に関する情報を取得した場合、前記失陥に関する情報を取得していない場合の前記要求制動力に関する物理量に対する前記第2制動部材の推進力と比較して、前記要求制動力に関する物理量に対する前記第2制動部材の推進力が大きくなるように前記第2モータを制御するための制御指令を出力する、
車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記コントロール部は、
前記要求制動力に関する物理量の大きさに応じて、前記差動装置の差動の制限の大きさが変わるように前記差動制限制御指令を出力する、
車両制御装置。 - 請求項3に記載の車両制御装置であって、
前記コントロール部は、
前記要求制動力に関する物理量の大きさが大きくなるにしたがって、前記差動装置の差動の制限の大きさが大きくなるように前記差動制限制御指令を出力する、
車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記コントロール部は、
前記車両の速度の大きさに応じて、前記差動装置の差動の制限の大きさが変わるように前記差動制限制御指令を出力する、
車両制御装置。 - 請求項5に記載の車両制御装置であって、
前記コントロール部は、
前記車両の速度が大きくなるにしたがって、前記差動装置の差動の制限の大きさが大きくなるように前記差動制限制御指令を出力する、
車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記コントロール部は、
前記車両の転舵角の大きさに応じて、前記差動装置の差動の制限の大きさが変わるように前記差動制限制御指令を出力する、
車両制御装置。 - 請求項7に記載の車両制御装置であって、
前記コントロール部は、
前記車両の転舵角が大きくなるにしたがって、前記差動装置の差動の制限の大きさが小さくなるように前記差動制限制御指令を出力する、
車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記要求制動力に関する物理量は、前記車両に設けられたブレーキ操作部材の操作量に関する物理量に基づいて求められる、
車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記第1駆動輪は右前輪であり、前記第2駆動輪は左前輪である、
車両制御装置。 - 車両制御装置により実行される車両の車両制御方法であって、
前記車両は、
該車両の第1駆動輪と、前記車両の第2駆動輪と、の間に設けられた差動装置と、
前記差動装置の差動を制限する差動制限機構と、
前記第1駆動輪に対して第1モータで第1制動部材を推進させて制動力を付与する第1電動ブレーキ機構と、
前記第2駆動輪に対して第2モータで第2制動部材を推進させて制動力を付与する第2電動ブレーキ機構と、を備え、
前記車両制御方法は、
前記第1電動ブレーキ機構の作動に関わる失陥に関する情報を取得し、
前記第1駆動輪と前記第2駆動輪に付与する要求制動力に関する物理量を取得し、
前記失陥に関する情報と、前記要求制動力に関する物理量と、に基づいて、前記差動制限機構に前記差動装置の差動を制限するための差動制限制御指令を出力する、
車両制御方法。
- 車両制御システムであって、該車両制御システムは、
車両の第1駆動輪と、前記車両の第2駆動輪と、の間に設けられた差動装置と、
前記差動装置の差動を制限する差動制限機構と、
前記第1駆動輪に対して第1モータで第1制動部材を推進させて制動力を付与する第1電動ブレーキ機構と、
前記第2駆動輪に対して第2モータで第2制動部材を推進させて制動力を付与する第2電動ブレーキ機構と、
コントローラであって、
前記第1電動ブレーキ機構の作動に関わる失陥に関する情報を取得し、
前記第1駆動輪と前記第2駆動輪に付与する要求制動力に関する物理量を取得し、
前記失陥に関する情報と、前記要求制動力に関する物理量と、に基づいて、前記差動制限機構に前記差動装置の差動を制限するための差動制限制御指令を出力する、
前記コントローラと、を備える車両制御システム。
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GB2607735B (en) * | 2021-02-22 | 2023-08-09 | Univ Jiangsu | Brake-shift integrated system for wire-controlled vehicles based on machine-hydraulic compound and control method thereof |
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JP2006205912A (ja) | 2005-01-28 | 2006-08-10 | Toyota Motor Corp | 制動力制御装置 |
JP4176764B2 (ja) | 2005-11-29 | 2008-11-05 | Tdk株式会社 | ノイズ吸収装置 |
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JP2835173B2 (ja) * | 1990-11-13 | 1998-12-14 | 本田技研工業株式会社 | 車両のブレーキ制御装置 |
JP3380315B2 (ja) * | 1993-02-17 | 2003-02-24 | マツダ株式会社 | 差動制限装置とアンチスキッドブレーキを備えた車両の制御装置 |
FR2705286B1 (fr) * | 1993-05-18 | 1995-09-08 | Smh Management Services Ag | Véhicule comprenant un système de freinage électrique et mécanique. |
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JP4288501B2 (ja) | 2004-09-30 | 2009-07-01 | 株式会社日立製作所 | 電動ブレーキ装置 |
DE102013113685B4 (de) * | 2013-05-15 | 2020-06-04 | GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) | Verfahren und system zum steuern einer fahrzeugrichtung durch optimales kombinieren von funktionen des elektrischen feststellbrems- und hyraulikbremssubsystems |
JP6809413B2 (ja) * | 2017-08-22 | 2021-01-06 | トヨタ自動車株式会社 | 電子制御ブレーキシステム |
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JP2006205912A (ja) | 2005-01-28 | 2006-08-10 | Toyota Motor Corp | 制動力制御装置 |
JP4176764B2 (ja) | 2005-11-29 | 2008-11-05 | Tdk株式会社 | ノイズ吸収装置 |
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