JP7439869B2 - 制動力制御装置 - Google Patents
制動力制御装置 Download PDFInfo
- Publication number
- JP7439869B2 JP7439869B2 JP2022132192A JP2022132192A JP7439869B2 JP 7439869 B2 JP7439869 B2 JP 7439869B2 JP 2022132192 A JP2022132192 A JP 2022132192A JP 2022132192 A JP2022132192 A JP 2022132192A JP 7439869 B2 JP7439869 B2 JP 7439869B2
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- JP
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- Prior art keywords
- jerk
- braking force
- target
- actuator
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Description
以下、本実施形態について、図面を参照しながら詳細に説明する。なお、速度、加速度、ジャーク等は、車両進行方向を正とする符号付きの値で表現する。
図1に、本実施形態に係る車両1の要部の構成を示す。一例として車両1は、第1アクチュエータ部10、第2アクチュエータ部20、ディファレンシャルギヤ30、車輪40、制動力制御装置100を備える。第1アクチュエータ部10および第2アクチュエータ部20は、いずれも、力を車輪40に伝達することができる。各部間における力の伝達経路を太い実線で表し、制御信号の経路を細い実線で表す。
図3は、ユーザによる車両の運転中に制動力制御装置100が実行する処理の一例を示すフローチャートである。図3を参照して、制動力制御装置100によるジャークの制御の一例を説明する。本処理は、車両1がパワーオンとなり走行可能な状態において、実行される。
本実施形態においては、好適な減速感が得られると想定される目標ジャークを設定してジャークの制御を行う。ディファレンシャルギヤ30を介して車輪40に制動力を伝達する第1アクチュエータ部10が発生させるジャークを、ディファレンシャルギヤ30においてガタ打ちによるショックが発生しない範囲で発生させ、目標ジャークに足りない分は、ディファレンシャルギヤ30を介さずに車輪40に制動力を伝達する第2アクチュエータ部20に可能な範囲でジャークを発生させて補う。これにより、車両1の好適な減速感を得ることと、ショックを抑制することとが両立でき、乗り心地を向上することができる。
本発明の第2実施形態は、第1実施形態において第2アクチュエータ部20の構成をインホイールモータおよびサービスブレーキからなるものとし、第2アクチュエータ部20が追加ジャークを発生させる際、インホイールモータをサービスブレーキより優先的に用いるようしたものである。
本実施形態においても第1実施形態と同様、車両1の好適な減速感を得ることと、ショックを抑制することとが両立でき、乗り心地を向上する効果が得られる。本実施形態によって得られるさらなる効果を以下に説明する。
本発明の第3実施形態は、第2実施形態において、第2アクチュエータ部20に追加ジャークを発生させる際、サービスブレーキを用いる期間を、過去のユーザによるペダル踏み替え時間の長短の傾向に応じて変更するようにしたものである。すなわち、本実施形態では、ユーザがアクセルペダルの操作をやめてから、車両1の惰行状態を経て、ブレーキペダルを操作するまでの時間である踏み替え時間に基づいて、サービスブレーキによってジャークを発生させる期間を決定する。
本実施形態においては、第1実施形態および第2実施形態に比べて、ジャークの発生が一部制限されるが、可能な範囲でジャーク発生させ、第1実施形態および第2実施形態と同様、車両1の好適な減速感を得ることと、ショックを抑制することとが両立でき、乗り心地を向上することができる。また、本実施形態によって得られるさらなる効果を以下に説明する。
10 第1アクチュエータ部
20 第2アクチュエータ部
30 ディファレンシャルギヤ
31、32 歯車
40 車輪
100 制動力制御装置
110 目標ジャーク算出部
120 第1ジャーク算出部
130 第2ジャーク算出部
140 ジャーク制御部
Claims (8)
- ディファレンシャルギヤを介して車輪に力を伝達して車両に制動力を発生させることが可能な第1アクチュエータ部と、前記ディファレンシャルギヤを介さず車輪に力を伝達して車両に制動力を発生させることが可能な第2アクチュエータ部とを含む車両において、アクセルペダルの操作量が0以外から0となり、かつ、ブレーキペダルの操作量が0であることで惰行状態になったときに車両に発生させる制動力を制御する制動力制御装置であって、
制動力を得るために発生させる、車両進行方向を正の向きとしたときに負となるジャークの目標値である目標ジャークを算出する目標ジャーク算出部と、
前記第1アクチュエータ部によって発生させても前記ディファレンシャルギヤにおいてショックが発生しない、車両進行方向を正の向きとしたときの最小のジャークである第1ジャークを算出する第1ジャーク算出部と、
前記第2アクチュエータ部によって発生させることが可能な、車両進行方向を正の向きとしたときの最小のジャークである第2ジャークを算出する第2ジャーク算出部と、
前記目標ジャーク、前記第1ジャーク、および前記第2ジャークに基づいて、前記第1アクチュエータ部および前記第2アクチュエータ部にジャークを発生させる制御を行うジャーク制御部と、を備え、
前記ジャーク制御部は、
前記目標ジャークが前記第1ジャーク以上の場合、前記第1アクチュエータ部に前記目標ジャークを発生させ、
前記目標ジャークが前記第1ジャークより小さく、前記第1ジャークと前記第2ジャークとの和以上である場合、前記第1アクチュエータ部に前記第1ジャークを発生させ、前記第2アクチュエータ部に追加ジャークとして前記目標ジャークから前記第1ジャークを減算したジャークを発生させる、制動力制御装置。 - 前記目標ジャーク算出部は、車速に基づいて前記目標ジャークを算出する、請求項1に記載の制動力制御装置。
- 前記目標ジャーク算出部は、さらに、ユーザが指定した走行特性を表すドライブモードおよび路面勾配の少なくとも1つに基づいて前記目標ジャークを算出する、請求項2に記載の制動力制御装置。
- 前記第1アクチュエータ部は、少なくともエンジンを含み、前記第1ジャーク算出部は、少なくとも前記エンジンの冷却水の温度に基づいて前記第1ジャークを算出する、請求項1~3のいずれかに記載の制動力制御装置。
- 前記第1アクチュエータ部は、少なくとも変速機を含み、前記第1ジャーク算出部は、少なくとも前記変速機のギヤ比に基づいて前記第1ジャークを算出する、請求項1~4のいずれかに記載の制動力制御装置。
- 前記第2アクチュエータ部は、インホイールモータを含み、前記第2ジャーク算出部は、前記インホイールモータの回生電力によって充電される電池の蓄電率および前記インホイールモータの温度の少なくとも1つに基づいて前記第2ジャークを算出する、請求項1~5のいずれかに記載の制動力制御装置。
- 前記第2アクチュエータ部は、サービスブレーキを含み、前記第2ジャーク算出部は、前記サービスブレーキの摩擦材の温度に基づいて前記第2ジャークを算出する、請求項1~5のいずれかに記載の制動力制御装置。
- 前記第2アクチュエータ部は、サービスブレーキを含み、前記サービスブレーキは、操作開始時点で制動力を発生させているときのブレーキペダルの操作量に対する抵抗力と、操作開始時点で制動力を発生させていないときのブレーキペダルの操作量に対する抵抗力とが相異なる特性を有し、
前記ジャーク制御部は、ユーザが惰行状態の開始から前記ブレーキペダルの操作を開始するまでの時間である踏み替え時間を測定し、測定した踏み替え時間に基づいて、前記サービスブレーキを用いて前記ジャークを発生させる期間を決定する、請求項1~5のいずれかに記載の制動力制御装置。
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