WO2006093241A1 - 車輌の制駆動力制御装置 - Google Patents
車輌の制駆動力制御装置 Download PDFInfo
- Publication number
- WO2006093241A1 WO2006093241A1 PCT/JP2006/304022 JP2006304022W WO2006093241A1 WO 2006093241 A1 WO2006093241 A1 WO 2006093241A1 JP 2006304022 W JP2006304022 W JP 2006304022W WO 2006093241 A1 WO2006093241 A1 WO 2006093241A1
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- WO
- WIPO (PCT)
- Prior art keywords
- braking
- driving force
- vehicle
- target
- moment
- Prior art date
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- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 238000013528 artificial neural network Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000001172 regenerating effect Effects 0.000 description 48
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 230000007423 decrease Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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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
-
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
-
- 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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- 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
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/14—Electronic locking-differential
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
-
- 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
- B60T2270/60—Regenerative braking
- B60T2270/613—ESP features related thereto
-
- 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
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0057—Frequency analysis, spectral techniques or transforms
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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
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2510/20—Steering 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
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
Definitions
- Vehicle braking / driving force control device Vehicle braking / driving force control device
- the present invention relates to a vehicle braking / driving force control device, and more particularly to a vehicle braking / driving force control device that controls braking / driving force of each wheel.
- the driving force of the left and right wheels is set so as to give a required moment to the vehicle.
- Driving force control devices that perform distribution control have been known in the past, and the braking / driving force and the moment of the vehicle are controlled by controlling the braking force of each wheel to ensure vehicle running stability.
- Braking force control devices are already known. According to such a braking / driving force control device, the running stability of the vehicle can be improved.
- the braking / driving force and the moment of the vehicle can be controlled by controlling the braking / driving force of each wheel, but the braking / driving force that each wheel can generate is limited, so the braking / driving force required for the vehicle is limited. In some cases, the driving force or the moment exceeds the value achievable by controlling the braking / driving force of each wheel. In the conventional braking / driving force control device as described above, this situation is not taken into consideration. There is a need for improvement. Disclosure of the invention
- the main object of the present invention is to control the braking / driving force and the moment of the vehicle by controlling the braking / driving force of each wheel as described above in the conventional vehicle braking / driving force control device.
- the braking / driving force and the moment of the vehicle are as close as possible to the braking / driving force and the moment required by the vehicle within the range of the braking / driving force that can be generated by each wheel.
- the braking / driving force of each wheel By controlling the braking / driving force of each wheel to a value suitable for the operating conditions, the braking / driving force and the moment required by the vehicle are as close as possible within the range of braking / driving force that each wheel can generate.
- the vehicle braking / driving force control device has control means for controlling the braking / driving force applied to each wheel by the braking / driving force applying means so as to achieve the target braking / driving force and target moment of the vehicle.
- a vehicle braking / driving force control device configured to determine a ratio of a correction to a target braking / driving force and a target moment based on a driver's driving operation situation. .
- the vehicle can generate as much as possible within the range of braking / driving force that can be generated by each wheel. Therefore, it is possible to achieve braking / driving force and moment that are close to the braking / driving force and moment that are required for the vehicle and that are suitable for the driving operation situation of the driver.
- the control means reduces and corrects the target braking / driving force or the target moment so that the corrected target braking / driving force and target moment are at values that can be achieved by the braking / driving force of each wheel. It may be. According to this configuration, it is possible to reliably prevent the target braking / driving force or the target moment from becoming excessively large.
- the control means is the magnitude of the vehicle braking / driving force and the magnitude of the vehicle moment by the braking / driving force of each wheel, as viewed in orthogonal coordinates with the vehicle braking / driving force and the moment as the coordinate axes.
- the straight line portion closest to the point indicating the target braking / driving force and target moment is determined from among the lines indicating the maximum value of the straight line, and the target point value is corrected after the internal point of the straight line is set as the target point.
- the driving force and the target moment may be set, and the ratio of the internal portion of the straight line portion may be determined based on the driving operation status of the driver. According to this configuration, the corrected target braking / driving force and target moment are surely close to the braking / driving force and moment required by the vehicle and suitable for the driving operation situation of the driver. it can.
- control means is configured such that when the target braking / driving force exceeds the maximum braking / driving force achievable by the braking / driving force of each wheel, Saga goal An internal dividing point for a range less than or equal to the magnitude of the braking / driving force may be set as a target point. According to this configuration, it is possible to reliably prevent the target braking / driving force and the target moment from being corrected while reliably preventing the target braking / driving force from becoming excessively large. It is possible to make the value close to one moment and suitable for the driving operation situation of the driver.
- the control means when the magnitude of the target moment exceeds the maximum momentum achievable by the braking / driving force of each wheel, the control means
- the internal dividing point in the range where the size is less than or equal to the size of the target momentum may be set as the target point.
- the target braking / driving force and the moment required by the vehicle can be reliably ensured with the target braking / driving force and target moment after the correction while reliably preventing the target moment from becoming excessively large.
- a value suitable for the situation of the driving operation of the driver In the above configuration, the driving operation state of the driver may be an acceleration / deceleration operation and a steering operation.
- the target braking / driving force and the target moment after the correction are surely close to the braking / driving force and the moment required by the vehicle according to the driver's acceleration / deceleration operation and steering operation. It can be set to a value suitable for the driving operation situation.
- control means may determine the correction ratio using a dual network in which a value indicating the driving operation status of the driver is input. According to this configuration, the correction ratio can be easily and reliably determined to a value corresponding to the driver's acceleration / deceleration operation and steering operation.
- the vehicle's target braking / driving force and the vehicle's target moment are calculated by means of at least the vehicle's target braking / driving force and vehicle target for driving the vehicle stably based on the occupant's driving operation amount. Calculate the total moment, estimate the turning moment by the lateral force of the wheel based on at least the occupant's driving operation amount, and calculate the value obtained by subtracting the turning total moment from the target total moment as the target moment of the vehicle. It's okay. According to this configuration, it is possible to accurately calculate the target braking / driving force and the target moment of the vehicle that should be generated by the braking / driving force on each wheel based on at least the driving amount of the occupant.
- the maximum braking / driving force and maximum momentum of the vehicle are The line shown may be determined by the maximum value of the vehicle driving force, the maximum value of the braking force of the vehicle, the maximum value of the moment of the vehicle in the left turn direction, and the maximum value of the moment of the vehicle in the right turn direction.
- the line indicating the maximum value of the braking / driving force and the maximum moment of the vehicle may be variably set according to the friction coefficient of the road surface.
- the acceleration / deceleration operation status may be determined based on the acceleration operation amount, the change rate of the acceleration operation amount, the braking operation amount, and the change rate of the braking operation amount.
- the status of the steering operation may be determined based on the steering operation amount and the rate of change of the steering operation amount.
- the vehicle's target braking / driving force and target moment are calculated by means of at least the vehicle's target longitudinal acceleration and target for stable vehicle travel based on the occupant's driving operation amount.
- the vehicle rate may be calculated, and the vehicle target braking / driving force and the target total moment may be calculated based on the vehicle target longitudinal acceleration and vehicle target rate, respectively.
- control means calculates the target braking / driving force of each wheel based on the vehicle target braking / driving force, the vehicle target momentum, and the front / rear wheel distribution ratio of the braking / driving force.
- the braking / driving force applied to each wheel may be controlled based on the braking / driving force.
- the target braking / driving force or target moment of the vehicle does not increase or decrease at the correction ratio depending on the value of the target braking / driving force or target moment of the vehicle.
- the target braking / driving force and the target moment may be set to specific values that can be achieved by the braking / driving force of each wheel.
- the braking / driving force applying means may include means for applying driving force to each wheel independently of each other and means for applying braking force to each wheel independently of each other.
- the braking / driving force applying means applies a common driving force to the left and right wheels, a means for controlling the driving force distribution of the left and right wheels, and independently applies a braking force to each wheel. May have a means to do this.
- the driving force applying means may comprise means for applying a common driving force to the left and right front wheels and means for applying a common driving force to the left and right rear wheels.
- the driving force applying means controls the driving force distribution of the left and right front wheels, the means for applying a common driving force to the left and right front wheels and the left and right rear wheels, the means for controlling the driving force distribution of the front and rear wheels. And means for controlling the distribution of driving force between the left and right rear wheels.
- the means for applying the driving force may include an electric motor.
- the electric motor may perform regenerative braking during braking.
- FIG. 1 is a schematic diagram showing a first embodiment of a braking / driving force control device according to the present invention applied to a wheel-in motor type four-wheel drive vehicle.
- FIG. 2 is an explanatory diagram showing the relationship between the braking / driving force of each wheel, the braking / driving force of the vehicle, and the moment in the first embodiment in various cases.
- FIG. 3 is a flowchart showing a braking / driving force control routine achieved by the driving force control electronic control device in the first embodiment.
- FIG. 4A is a graph showing the range of vehicle braking / driving force and momentum that can be achieved by controlling the braking / driving force of each wheel in the first embodiment.
- FIG. 5 is an explanatory diagram showing a range of a target braking / driving force F vn and a vehicle target torque Mvn that can be achieved by controlling the braking / driving force of each wheel in a vehicle provided only on the front wheels or the left and right rear wheels.
- Figure 5 shows the vehicle target braking / driving force F vt and vehicle target braking moment M vt in the first embodiment when they are outside the range achievable by controlling the braking / driving force of each wheel.
- the specific point of the straight line L closest to the driving force F vn and the vehicle target moment Mvn, and the coordinates of the internal segment Q of the straight line L are set to the corrected vehicle target braking / driving force F vt and vehicle target moment Mvt. It is explanatory drawing which shows the point to be performed.
- FIG. 3 is an explanatory diagram showing a neural network that outputs a distribution ratio K.
- Figure 7 shows the braking / driving force control of a vehicle according to the present invention applied to a four-wheel drive vehicle in which the drive force and regenerative braking force of one motor generator common to all four wheels are distributed and controlled to the front and rear wheels and the left and right wheels. It is a schematic block diagram which shows the 2nd Example of an apparatus.
- FIG. 8 is an explanatory diagram showing the relationship between the braking / driving force of each wheel, the braking / driving force of the vehicle, and the moment in the second embodiment in various cases.
- FIG. 9 is an explanatory diagram showing the relationship between the braking / driving force of each wheel, the braking / driving force of the vehicle and the moment in the second embodiment in various other cases.
- FIG. 10 is a flowchart showing the main part of the braking / driving force control routine achieved by the driving force control electronic control device in the second embodiment.
- Fig. 1 1 A is a graph showing the range of vehicle braking power and momentum that can be achieved by controlling the braking / driving force of each wheel in the second embodiment
- Fig. 1 1 B is the drive source for the left and right front wheels.
- FIG. 5 is an explanatory diagram showing ranges of a target braking / driving force F vn and a vehicle target moment Mvn that can be achieved by controlling the braking / driving force of each wheel in a vehicle provided only on the left and right rear wheels.
- Figure 12 shows the vehicle's target braking / driving force F vn and the vehicle's target braking moment Mvn in the second embodiment when they are outside the achievable range by controlling the braking / driving force of each wheel.
- the procedure to specify the straight line L 1 closest to the driving force F vn and the vehicle target moment Mvn, the internal dividing point Q 1 of the straight line L 1 is the corrected vehicle target braking / driving force F vt and the vehicle It is explanatory drawing which shows the point set to the target moment Mvt.
- Figure 13 shows the vehicle's target braking / driving force F vn and the vehicle's target torque Mvn in the second embodiment when the vehicle's target braking / driving force Mvn is outside the range achievable by controlling the braking / driving force of each wheel.
- the driving force F vn and the target vehicle moment of the vehicle The point of specifying the straight line L 2 closest to the Mvn, and the coordinates of the internal dividing point Q 2 of the straight line L 2 are the target braking / driving force F vt and the vehicle after the correction. It is explanatory drawing which shows the point set to the target moment of inertia Mvt.
- FIG. 14 shows a braking / driving force control device for a vehicle according to a third embodiment of the present invention, which is applied to an in-wheel motor type four-wheel drive vehicle and is configured as a modification of the first embodiment.
- 3 is a flowchart showing the main part of a driving force control routine.
- Figure 15 shows the distribution ratio K when the vehicle target braking / driving force F vn and the vehicle target moment Mvn are outside the achievable range by controlling the braking / driving force of each wheel in the third embodiment. It is explanatory drawing which shows area
- Fig. 16 is applied to a four-wheel drive vehicle in which the driving force and regenerative braking force of one motor generator common to all four wheels are distributed and controlled to the front and rear wheels and the left and right wheels, and is configured as a modification of the second embodiment.
- 10 is a flow chart showing a main part of a braking / driving force control routine in a fourth embodiment of the braking / driving force control device for a vehicle according to the present invention.
- Figure 17 shows the vehicle target braking / driving force F vn and the vehicle target moment in the fourth embodiment.
- FIG. 6 is an explanatory diagram showing a modified example in which the vehicle target braking / driving force Fvt and the vehicle target moment Mvt are calculated for the range of BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is a schematic diagram showing a first embodiment of a vehicle braking / driving force control device according to the present invention applied to an in-wheel motor type four-wheel drive vehicle.
- 10 FL and 10 FR indicate left and right front wheels as steering wheels
- 10 0RL and 10 0RR indicate left and right rear wheels as non-steering wheels, respectively.
- the left and right front wheels 1 0FL and 1 0 FR have built-in motor generators 1 2FL and 1 2 FR, respectively.
- the left and right front wheels 1 0FL and 1 OFR are motor generators 1 2FL and 1 2 Driven by FR.
- the motor generators 1 2FL and 1 2FR also function as regenerative generators for the left and right front wheels, respectively, and generate regenerative braking force during braking.
- motor generators 1 2RL and 1 2 RR which are in-wheel motors, are incorporated in the left and right rear wheels 1 0RL and 1 0RR, respectively, and the left and right front wheels 1 0 RL and 1 ORR are motor generators 1 2 RL and 1 2 Driven by RR.
- the motor generators 1 2RL and 1 2 RR also function as left and right rear wheel generators during braking, respectively, and generate regenerative braking force.
- Motor generator 1 Driving force of 2FL to 1 2RR is detected by accelerator opening sensor 14 4.
- the regenerative braking force of the motor generator 1 2FL to 1 2 RR is also controlled by the driving force control electronic control device 16.
- the driving force control electronic control unit 16 is composed of a microcomputer and a drive circuit
- the microphone port computer includes, for example, a CPU, a ROM, a RAM, and an input. And an output port device, which are connected to each other by a bidirectional common path.
- the electric power charged in the battery not shown in Fig. 1 is supplied to each motor generator 1 2FL ⁇ 1 2RR via the drive circuit, and each motor generator 1 2FL ⁇ 1 during deceleration braking of the vehicle Electric power generated by regenerative braking by 2RR is charged to the battery via the drive circuit.
- Left and right front wheels 1 0 FL, 1 O FR and left and right rear wheels 1 0 RL, 1 0 RR friction braking force is a friction braking device 1
- the hydraulic circuit 20 includes a reservoir, an oil pump, various valve devices, etc., and the braking pressure of each wheel cylinder normally affects the amount of depression of the brake pedal 24 by the driver. Controlled according to the pressure of the master cylinder 26 driven according to the depression of the brake pedal 2 4, and the oil pump and various valve devices are controlled by the electronic control device 28 for braking force control as necessary Thus, the control is performed regardless of the depression amount of the brake pedal 24 by the driver.
- the braking force control electronic control device 28 is also composed of a microcomputer and a drive circuit, and the microphone port computer includes, for example, a CPU, a ROM, a RAM, and an input. And a general configuration in which these are connected to each other by a bidirectional common bus.
- the electronic controller for driving force control 16 includes a signal indicating the friction coefficient ⁇ of the road surface from the ⁇ sensor 30, steering angle sensor 3 2 A signal indicating the steering angle ⁇ and a signal indicating the vehicle speed V from the vehicle speed sensor 34 are input.
- the electronic control unit 28 for braking force control has a signal indicating the master cylinder pressure P m from the pressure sensor 3 6, the pressure sensor
- the electronic control unit 16 for driving force control and the electronic control unit 28 for braking force control 28 exchange signals with each other as necessary.
- the steering angle sensor 32 detects the steering angle ⁇ with the vehicle turning left as positive.
- the electronic control device for driving force control 16 calculates the target longitudinal acceleration G xt of the vehicle based on the accelerator opening ⁇ and the master cylinder pressure P m which are the amount of acceleration / deceleration operation of the driver, and the steering operation of the driver. Based on the steering angle 0 and the vehicle speed V, which are quantities, the target vehicle rate y t of the vehicle is calculated in a manner known in the art.
- the target braking / driving force F vn required for the vehicle is calculated based on Gxt, and the target total moment Mvnt required for the vehicle is calculated based on the target target rate y t of the vehicle.
- the driving force control electronic control unit 16 calculates the vehicle slip angle j8 in a manner known in the art, and determines the left and right front wheels based on the vehicle slip angle] 3 and the steering angle 0.
- the slip angle ⁇ is calculated, and the vehicle turning torque Ms due to the lateral force of each wheel is calculated based on the slip angle ⁇ .
- the driving force control electronic control unit 16 calculates the value obtained by subtracting the turning moment Ms from the vehicle target total moment Mvnt as the vehicle target moment Mvn by controlling the braking / driving force of each wheel required for the vehicle. .
- the driving force control electronic control unit 16 calculates the maximum vehicle driving force Fvdmax and the vehicle maximum braking force Fvbmax based on the braking / driving force of each wheel based on the road surface friction coefficient / z, and calculates the road surface friction coefficient. Based on ⁇ , calculate the maximum moment Mvlmax in the left turn direction of the vehicle and the maximum moment Mvrmax in the right turn direction of the vehicle based on the braking / driving force of each wheel.
- the maximum driving force Fvdmax of the vehicle in a situation where one moment does not act is the left and right front wheels 1 0FL and 1 0 FR braking / driving forces Fwxfl and Fwxfr are the maximum driving forces Fwdflmax and Fwdfrmax and the left and right rear wheels 1 ORL This is achieved when the braking / driving forces Fwxrl and Fwxrr at the maximum 10 RR are the maximum driving forces Fwdrlmax and Fwdrrmax. Similarly, as shown in Fig.
- the maximum braking force Fvbmax of the vehicle in a situation where the moment due to the braking / driving force of the wheel does not act on the vehicle is the braking / driving force of the left and right front wheels 1 OFL and 1 OFR. This is achieved when Fwxfl and Fwxfr are the maximum braking forces Fwbflmax and Fwbfrmax and the left and right rear wheels 10 RL and 10 RR braking / driving forces F wxrl and Fwxrr are the maximum braking forces Fwbrlmax and Fwbrrmax.
- the maximum moment M vrmax in the right turn direction of the vehicle in the situation where the left moment in the left turn direction of the vehicle is the maximum moment Mvlmax is the left front and rear wheel 1 0 FL and 1 0 RL braking / driving force
- F wxfl and Fwxrl are maximum driving force F wdflmax and Fwdrlmax and right front and rear wheels 1 OFR and 1 0 RR braking / driving force
- Fwxfr and Fwxrr are maximum braking force F wbf rmax And F wbrrmax.
- the maximum driving force and braking force of each wheel are determined by the friction coefficient ⁇ of the road surface.
- the maximum driving force and braking force of each wheel between the maximum driving force of the vehicle and the maximum braking force of the vehicle, the maximum moment in the left turning direction of the vehicle and the right turning of the vehicle Maximum direction
- the maximum driving force Fvdmax of the vehicle and the maximum braking force of the vehicle Maximum vehicle moment Mvlmax in the left turn direction of the vehicle and maximum moment M vrmax in the right turn direction of the vehicle are also determined by the friction coefficient ⁇ of the road surface. Therefore, if the friction coefficient ⁇ of the road surface is known, the maximum driving force F of each wheel wdimax and the like can be estimated.
- the braking / driving force Fvx of the vehicle and the vehicle's momentum ⁇ are determined by the vehicle's maximum driving force Fvdmax, the vehicle's maximum braking force, the vehicle's leftward turning maximum moment Mvlmax, and the vehicle's rightward turning maximum moment M Mvrmax.
- the value of the rhombus quadrilateral is 100.
- points A to D are points corresponding to A to D in FIG. 2, and the coordinates of points A to D are (Fvdmax, 0), (F vbmax, 0), ( 0, Mvlmax), (0, Mvrmax).
- the quadrilateral 100 becomes smaller as the road friction coefficient ⁇ becomes lower.
- the larger the steering angle is the greater the lateral force of the left and right front wheels, which is the steered wheel, and the smaller the margin of front-rear force. Therefore, the quadrilateral 100 becomes smaller as the steering angle ⁇ is larger.
- the electronic control device 16 for driving force control is based on the control of the braking / driving force of each wheel when the vehicle target braking / driving force Fvn and the vehicle target moment Mvn are within the range of the quadrilateral 100.
- the vehicle target braking / driving force Fvt and the vehicle target motor moment Mvt to the target braking / driving force Fvn and the vehicle target motor moment Mvn, respectively, and satisfy the following formulas 1 to 3 by the least squares method, for example.
- the target braking / driving force F wxti (i fl, fr, rl, rr) for each wheel.
- the electronic control unit 16 for driving force control as shown in FIG.
- the straight line L closest to the point P indicating the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle among the outlines of the quadrilateral 100 is identified, and the neural network 50 shown in FIG.
- the distribution ratio K (a value greater than 0 and less than 1) for determining the internal dividing point R of the straight line L is calculated, and the internal dividing point R of the straight line L based on the distribution ratio K is calculated as the target point.
- the electronic controller for driving force control 16 calculates a value satisfying the above formulas 1 to 3 as the target braking / driving force Fwxti of each wheel by, for example, the least square method.
- the neural network 50 in the first embodiment shown in the figure shows that the accelerator opening ⁇ indicating the driving operation status of the driver, the change rate of the accelerator opening ⁇ i> d, the master cylinder pressure Pm, and the change in the master cylinder pressure.
- the ratio Pmd, the steering angle 0, and the steering angle change rate (steering angular velocity) 0d are input, and the distribution ratio K is calculated as the weight for the moment.
- the neural network 50 indicates that the accelerator opening indicating the driver's acceleration / deceleration operation state ⁇ accelerator opening change rate ⁇ 1, master cylinder pressure Pm, master cylinder pressure change rate Pmd.
- the calculation is made to a smaller value, and the distribution ratio K is calculated to be larger as the magnitude of the steering angle 0 and the steering angle change rate 0d indicating the driver's steering operation status is larger.
- the target braking / driving force Fwxti of each wheel is a negative value and braking force
- the target braking / driving force Fwxti is less than the maximum regenerative braking force of each wheel
- electronic control for driving force control The device 16 sets the target driving force Fwdti and the target friction braking force Fwbti of each wheel to 0, sets the target regenerative braking force Fwrti to the target braking / driving force Fwxti, and the regenerative braking force becomes the target regenerative braking force Fwrti.
- Each to be Motor generator 1 2FL ⁇ 1 2 RR is controlled.
- Control the regenerative braking force by controlling each motor generator 1 2 FL to 1 2 RR so that the braking force becomes the maximum regenerative braking force F wxrimax, and the difference between the target braking / driving force Fwxti and the maximum regenerative braking force Fwxrimax
- Output to 28
- step 10 a signal indicating the accelerator opening ⁇ detected by the accelerator opening sensor 14 is read, and in step 20, the above procedure is performed based on the accelerator opening ⁇ .
- the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle are calculated by controlling the braking / driving force of each wheel required for the vehicle.
- step 30 the vehicle's maximum driving force Fvdmax, vehicle's maximum braking force Fvbmax and vehicle's maximum braking force Fvbmax are calculated according to the map / function not shown in the figure based on the friction coefficient / i of the road surface.
- the maximum moment Mvlmax in the left turn direction of ⁇ and the maximum moment M vrmax in the right turn direction of the vehicle are calculated. That is, the points A to D shown in FIG. 4 are specified.
- step 40 the absolute value of the target braking / driving force Fvn is less than the maximum driving force Fvdraax of the vehicle, and the absolute value of the vehicle target moment Mvn is less than the maximum vehicle moment Mvlmax.
- the vehicle's target braking / driving force Fvn and the vehicle's target braking / momenting moment Mvn are within the range of the above-mentioned quadrilateral 100, and the target braking / driving force Fvn and It is determined whether or not the target moment Mvn can be achieved. If a negative determination is made, the process proceeds to step 60. If an affirmative determination is made, in step 50, the corrected vehicle target system is corrected. After the driving force Fvt and the target moment Mvt of the vehicle are set to the target braking / driving force Fvn and the target moment Mvn, the routine proceeds to step 200.
- step 60 the accelerator opening ⁇ indicating the driver's acceleration / deceleration operation status, the change rate of the accelerator opening ⁇ (1, the master cylinder pressure Pm, the change rate of the master cylinder pressure Pmd are allocated as the magnitude is larger.
- the ratio K is set to a small value, and the distribution ratio K is set by the neural network 50 so that the distribution ratio K becomes larger as the magnitude of the steering angle 0 and the steering angle change rate 0 d indicating the driver's steering operation status increases. K is calculated.
- step 80 the straight line L closest to the point P indicating the vehicle's target driving force Fvn and the vehicle's target moment Mvn is identified from the outline of the quadrilateral 100 as shown in Fig. 5. It is.
- the straight line L is specified as the f line segment AC when the point P indicating the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle is in the first quadrant in FIG. 5, and the point P is shown in FIG.
- line BC When it is in the second quadrant, it is specified as line BC, and when point P is in the third quadrant in FIG. 5, it is specified as line AD, and point P is in quadrant 4 in FIG.
- step 90 the coordinates of the end Q1 of the straight line L where the magnitude of the moment is large is (Mvmax, 0), and the coordinates of the end Q2 of the straight line L where the magnitude of the moment is small are ( 0, F vmax), the vector component from the point P to the end Q 1 (Zxl Z yl) and the vector component from the point P to the end Q2 (Zx2 Zy2) are expressed by the following equations 4 and 5, respectively.
- the ends Q 1 and Q2 are respectively points C and A when point P is in the first quadrant in FIG. 5, and points C and A are respectively when point P is in the second quadrant in FIG.
- points D and A are respectively, and when the point P is in the fourth quadrant in Fig. 5, points D and B, respectively. It is.
- Step 1 ⁇ 1 the target braking / driving force Fvt of the vehicle after the correction and the target motor moment Mvt of the vehicle are the values of the coordinates of the target point R, which is the internal dividing point of the straight line L based on the distribution ratio K.
- step 200 the target braking / driving force Fvt of the vehicle after correction and the target braking moment Mvt of the vehicle and the target braking / driving force Fvt and the target braking moment Mvt that achieve the target braking moment Mvt as described above are achieved.
- step 210 the target friction braking force Fwbti is calculated as described above, and a signal indicating the target friction braking force Fwbti is output to the braking force control electronic control unit 28, thereby controlling the braking force.
- the electronic control device 28 controls the friction braking force Fwbti of each wheel to become the target friction braking force Fwbti.
- step 220 the motor generators 12FL to 12RR are controlled so that the driving force Fwdi or regenerative braking force Fwri of each wheel becomes the target driving force Fwdti or the target regenerative braking force Fwrti, respectively.
- the vehicle target braking / driving force Fvn and the vehicle target moment Mvn are calculated in step 20 by controlling the braking / driving force of each wheel required for the vehicle.
- step 30 the vehicle's maximum driving force Fvdmax due to the braking / driving force of each wheel, the vehicle's maximum braking force Fvbmax, the vehicle's leftward turning maximum moment Mvlmax, and the vehicle's rightward turning maximum moment Mvrmax is calculated, and it is determined in step 40 whether or not the target braking / driving force Fvn and the target moment Mvn can be achieved by controlling the braking / driving force of each wheel.
- step 60 the driver's The neural network is such that the larger the value indicating the acceleration / deceleration operation status, the smaller the distribution ratio K, and the larger the value indicating the driver's steering operation status, the greater the distribution ratio K. 50, the distribution ratio K is calculated, and in step 80, the straight line L closest to the point P indicating the target braking / driving force Fvn of the vehicle and the target moment Mvn of the vehicle is identified from the outline of the quadrilateral 100.
- the coordinate value of the target point R which is the internal dividing point of the straight line L based on the distribution ratio K, is the corrected vehicle target braking / driving force Fvt and the vehicle target moment Mvt.
- the target braking / driving force Fvn is controlled by controlling the braking / driving force of each wheel.
- the target moment Mvn cannot be achieved, the larger the value indicating the driver's acceleration / deceleration operation status, the smaller the distribution ratio K becomes, and the value indicating the driver's steering operation status.
- the distribution ratio K is calculated so that the larger the size of the vehicle is, the larger the distribution ratio K becomes, and the target braking / driving force F vn of the vehicle and the target moment M M vn of the vehicle of the quadrilateral 1 0 0 outline are calculated.
- the line L closest to the indicated point P is identified, and the coordinate value of the target point R, which is the internal dividing point of the straight line L based on the distribution ratio K, is the corrected target braking / driving force F vt of the vehicle and the target moment of the vehicle Since it is calculated as Mvt, the braking / driving force suitable for the driver's driving situation is as close as possible to the braking / driving force and the moment required for the vehicle within the range of braking / driving force that can be generated by each wheel. Achieving a moment It can be.
- the driving source of each wheel is a motor generator 1 2 FL to 1 2 RR provided on each wheel, and the target braking / driving force F wxti of each wheel is a negative value. If it is a braking force, the regenerative braking force by the motor generator 1 2 FL to 1 2 RR is used, so the vehicle is required as much as possible within the range of braking / driving force that each wheel can generate. While achieving braking / driving force and momentum, the vehicle's kinetic energy can be effectively recovered as electrical energy during braking and deceleration of the vehicle. .
- the motor generators 1 2 FL to 1 2 RR are in-wheel motors, but the motor generator may be provided on the vehicle body side, and each wheel drive source
- the motor may be one that does not perform regenerative braking, and the drive source may be a drive source other than the motor as long as the driving force of each wheel can be increased or decreased independently of each other. This also applies to the third embodiment described later.
- the motor generators 1 2 FL to 1 2 RR are provided corresponding to the four wheels, but in this embodiment, the drive source is the left and right front wheels or the left and right rear wheels.
- the quadrilateral 1 0 0 becomes as shown as 1 0 0 'in FIG.
- the braking / driving force of the vehicle is negative, that is, the braking force when the right-turning moment of the vehicle is at the maximum values Mvlmax and Mvrmax, respectively. Even in the case of such a vehicle, the above-described effects can be achieved.
- FIG. 7 shows a vehicle according to the present invention applied to a four-wheel drive vehicle in which the driving force and regenerative braking force of one motor generator common to all four wheels are distributed and controlled to the front and rear wheels and the left and right wheels.
- Second implementation of braking / driving force control device It is a schematic block diagram which shows an example.
- the same members as those shown in FIG. 1 are denoted by the same reference numerals as those shown in FIG.
- a motor generator 40 is provided as a common drive source for the left and right front wheels 10 FL, 1 0 FR and the left and right rear wheels 1 0 RL, 1 0 RR.
- the driving force and regenerative braking force of the generator 40 are transmitted to the front wheel propeller shaft 4 4 and the rear wheel propeller shaft 4 6 by the center differential 42 2 capable of controlling the distribution ratio of the front and rear wheels.
- the driving force and regenerative braking force of the propeller shaft for the front wheels 4 4 are transmitted to the left front wheel axle 5 0 L and the right front wheel axle 5 OR by the front wheel differential 4 8 which can control the distribution ratio of the left and right front wheels. 0 FL and 1 0 FR are driven to rotate. Similarly, the driving force of the rear wheel propeller shaft 4 6 is controlled by the rear wheel differential 5 2 that can control the distribution ratio of the left and right rear wheels.
- the driving force of the motor generator 40 is controlled by the driving force control electronic control device 16 based on the accelerator opening ⁇ detected by the accelerator opening sensor 14, and the regenerative braking force of the motor generator 40 is also the driving force. It is controlled by a control electronic control unit 16.
- the electronic control unit for driving force control 16 controls the front-rear wheel distribution ratio of the driving force and regenerative braking force by the center differential 42, and the left-right wheel distribution ratio of the driving force and regenerative braking force by the front wheel differential 48. And the right / left wheel distribution ratio of the driving force and regenerative braking force by the rear wheel differential termination 52 are controlled.
- the driving force control electronic control unit 16 has a target braking / driving force F vn by controlling the braking / driving force of each wheel required for the vehicle, and each required for the vehicle.
- Target vehicle moment Mvn by controlling the braking / driving force of the wheel, maximum vehicle driving force F vdmax, maximum braking force F vbmax of the vehicle, maximum vehicle moment Mvlmax in the left turn direction of the vehicle by braking / driving force of each wheel,
- the maximum moment Mvrmax in the right turn direction is calculated in the same manner as in the first embodiment.
- the maximum driving force of the motor generator 40 is equally distributed to the left and right front wheels 1 0 FL, 1 0 FR and the left and right rear wheels 1 0 RL, 1 0 RR. It is assumed that the driving force F wdi of each wheel is smaller than the maximum possible longitudinal force determined by the friction coefficient ⁇ of the road surface.
- the vehicle's maximum driving force F vdraax in a situation where the vehicle's momentum due to the braking / driving force of the wheels does not act on the vehicle
- left and right rear wheels 1 ORL and 1 0RR braking / driving force Fwxrl and Fwxrr are the left and right wheel driving force distribution. It is achieved when the maximum driving force is equal to F wdr lmax and F wdrrmax.
- the maximum braking force Fvbmax of the vehicle in a situation where the vehicle moment due to the braking / driving force of the wheel does not act on the vehicle is the braking / driving force F of the left and right front wheels 1 OFL and 1 OFR.
- the maximum moment Mvlmax in the left turn direction of the vehicle is the distribution of the driving force of the left and right wheels to the right wheel.
- the right and left front wheels 1 FR and 1 ORR braking / driving forces Fwxfr and Fwxrr are the maximum driving forces Fwdfrma and F wdrrmax ', and their magnitudes are the maximum left and right wheels 1 0 FL and 1 0 RL, respectively. This is achieved when the power is equal to the magnitude of F wbflmax and Fwbrlmax.
- the maximum moment Mvlmax 'in the left turn direction of the vehicle in the situation where the braking / driving force of the vehicle is the maximum driving force Fvdraax is 1 0 FL and 1 0
- the driving powers Fwxfl and Fwxrl of RL are 0, respectively
- the braking / driving forces Fwxfr and Fwxrr of the right front and rear wheels 10FR and 1ORR are the maximum driving forces Fwdflmax 'and Fwdrrraax'.
- the maximum left-side moment Mvlmax "of the vehicle in the situation where no driving force is applied to any of the wheels is the braking / driving of the right front and rear wheels 1 0 FR and 1 0 RR. Achieved when forces F wxfr and Fwxrr are 0 and left front and rear wheels 1 OFL and 1 0 RL braking / driving forces F wxf 1 and F wxr 1 are maximum braking forces F wbf lmax and F wbrrmax.
- the maximum right moment Mvrmax in the right turn direction of the vehicle in the situation where the longitudinal force due to the braking / driving force of the wheel does not act on the vehicle is the distribution of the driving force of the left and right wheels to the left wheel.
- Left and right front wheels 1 0FL and 1 ORL braking / driving force Fwxfl and Fwxrl are the maximum driving forces Fwdflma and F wdrlmax ', and their sizes are the right and left front wheels 1 0 FR and 1 0 RR, respectively. This is achieved when the braking force is equal to the magnitude of F wbfrraax and Fwbrrraax.
- the maximum moment Mvrma in the right turn direction of the vehicle in the situation where the braking / driving force of the vehicle is the maximum driving force Fvdmax is 1 0 FR and 1 0 RR This is achieved when the driving powers Fwxfr and Fwxrr of the engine are 0 and the left and right front wheels 10 FL and 10 RL have braking / driving forces F wxfl and Fwxrl at the maximum driving forces Fwdflraax 'and Fwdrlmax', respectively. Furthermore, as shown in Fig.
- the maximum right moment Mvrmax "of the vehicle in the right turn direction in the situation where no driving force is applied to any of the wheels is the value of the left front and rear wheels 1 O FL and 1 O RL.
- the braking / driving forces F wxfl and F wxrl are 0, and the right and left wheels 1 O FR and 1 0 RR braking / driving forces F ⁇ rafr and F wxrr are the maximum braking forces F wbf rmax and F wbrrmax Achieved.
- the maximum driving force F wdimax of each wheel is determined by the maximum output torque of the motor generator 40, the friction coefficient of the road surface / and each distribution ratio, and the maximum braking force F wbimax of each wheel is determined by the friction coefficient ⁇ of the road surface.
- the maximum driving force F vdmax of the vehicle, the maximum braking force of the vehicle, the maximum momentum Mvlmax of the vehicle in the left turn direction of the vehicle, and the maximum moment Mvrmax of the vehicle in the right turn direction of the vehicle are also the maximum output torque and road surface of the motor generator 40. Therefore, if the maximum output torque of the motor generator 40 and the friction coefficient / i of the road surface are known, the maximum driving force F wdimax of each wheel can be estimated.
- this is achieved by controlling the braking / driving force of each wheel, as seen in Cartesian coordinates with the vehicle braking / driving force F vx as the horizontal axis and the vehicle moment Mv as the vertical axis.
- Possible vehicle control power F vx and vehicle momentum ⁇ are maximum vehicle driving force F vdmax, maximum vehicle braking force F vbmax, maximum vehicle left turn direction Mvlraax, right turn direction of vehicle Maximum vehicle moment h Mvrmax, vehicle's braking / driving force F vx is the maximum driving force F vdmax or the maximum braking force F vbmax Hexagonal shape determined by the variable range of vehicle's moment Mv 1 0 The value is in the range of 2.
- points A to H correspond to the cases A to H in FIGS. 8 and 9, respectively.
- the hexagon 10 2 becomes smaller as the road friction coefficient ⁇ decreases.
- the larger the steering angle is the greater the lateral force of the left and right front wheels, which is the steering wheel, and the smaller the margin of front-rear force, so the hexagonal shape is smaller as the steering angle is larger. .
- the maximum driving force and the maximum braking force of each wheel are determined by the friction coefficient ⁇ of the road surface, so the acceleration direction of the vehicle and the left turn direction of the vehicle are determined.
- the range of the vehicle driving force and the moment that can be achieved by the braking / driving force of each wheel is the same as that of the first embodiment. As in the case, it is in the rhombus range.
- the output torque of the motor generator 40 and the maximum braking force of each wheel are smaller than in the embodiment.
- the maximum driving force of the left and right wheels is allotted to the left or right wheel, and the driving force of the vehicle is maximized, and all of the maximum braking force of the left and right wheels is allotted to the left or right wheel. Even in this case, the braking force of the vehicle is maximized. Therefore, the range of vehicle driving force and momentum that can be achieved by the braking / driving force of each wheel as shown by the phantom line in Fig. 11 A. Is a rectangular range.
- the coordinates of points A to H shown in Fig. 11 are (F vdmax, 0), (F vbmax, 0), (0, Mvlmax), (Fvdmax, KmMvlmax) ⁇ (F vbmax, KmMvlmax), (0, Mvrmax) (F vdmax, — KmMvlmax), (F vbmax, – KmMvlmax).
- the rear wheel distribution ratio of the braking / driving force Fwxi of each wheel is Kr (0 ⁇ Kr ⁇ l constant), and the left / right wheel distribution ratio of the braking / driving force Fwxi for the front and rear wheels is Ky (0 ⁇ Kr ⁇ 1)
- the electronic control device for driving force control 16 controls the vehicle by controlling the braking / driving force of each wheel.
- the electronic control unit 16 for driving force control is such that when the vehicle target braking / driving force Fvt and the vehicle target motor moment Mvt are values outside the range of the hexagon 102, the magnitude of the target motor moment Mvn is 0. Judge whether or not the value exceeds 5Mvlmax, and the magnitude of target moment Mvn is 0
- the distribution ratio K (which is greater than 0 and greater than 1) is determined by determining the straight line L1 closest to the point P1 and determining the internal dividing point Q1 of the straight line L by the operation of the dual network 50 shown in FIG.
- the vehicle's target braking / driving force Fvt after correcting the braking / driving force Fv and the moment Mv of the target point Q1 with the internal dividing point Q1 of the straight line L based on the distribution ratio K as the target point It is assumed that the target moment of the vehicle is Mvt.
- the electronic controller for driving force control 16 shows the moment of the hexagonal shape 102 as shown in FIG. Toka S 0.5 In the region below Mvlmax, the vehicle's target braking / driving force F vn and the vehicle's target moment Mvn are shown.
- the line L2 closest to P2 is identified, and the neural network shown in Fig. 6 is identified.
- ⁇ ⁇ Calculate the distribution ratio K for determining the internal dividing point Q2 of the straight line L by calculating 50, and use the internal dividing point Q2 of the straight line L based on the distribution ratio as the target point.
- the braking / driving force of the target point Q2 Fv And the vehicle moment Mv are the target braking / driving force Fvt of the vehicle after correction and the vehicle target torque Mvt.
- the driving force control electronic control unit 16 calculates values satisfying the above formulas 8 to 11 as the target braking / driving force Fwxti and the left-right transportation distribution ratio Ky of each wheel by, for example, the least square method.
- the electronic control device for driving force control 16 has a vehicle braking / driving force Fv having a positive value and driving force, and each wheel target braking / driving force Fwxti has a positive value and driving force.
- Set the target friction braking force Fwbti and the target regenerative braking force Fwrti (i fl, fr, rl, rr) to 0, and send a signal indicating the target friction braking force Fwbti to the electronic controller 28 for braking force control.
- the driving force control electronic control unit 16 calculates the target driving current It and the left / right wheel distribution ratio Ky for the motor generator 40 based on the target driving force Fwdti using a map or function not shown in the figure.
- the control of each wheel is controlled.
- the driving force of each wheel is controlled so that the driving force Fwxi becomes the target braking / driving force Fwxti.
- the vehicle braking / driving force Fv is a positive value and driving force
- the target braking / driving force Fwxti of any wheel is a negative value and braking force
- the vehicle braking / driving force Fv Is a negative value and a braking force
- the target braking / driving force Fwxti of any wheel is a positive value
- the electronic controller for driving control 16 will The left / right wheel distribution ratio Ky is determined so that the driving force is distributed only to the side where Fwxti is positive
- the target driving current for the electric generator 40 is determined based on the sum of the positive target braking / driving force Fwxti.
- the driving force control electronic control unit 16 controls the driving current supplied to the motor generator 40 based on the target driving current I ti, and also determines the front wheel differential based on the left / right wheel distribution ratio Ky. 4 8 and the rear wheel differential 52 are controlled, and the braking force control electronic control device 2 8 applies a friction braking force corresponding to the target braking / driving force F wxti to a wheel having a negative target braking force F wxti.
- the braking / driving force F wxi of each wheel is controlled to become the target braking / driving force F wxti.
- the electronic controller for driving force control 16 sets the target driving force F wdti and the target friction braking force F wbti of each wheel to 0.
- the target regenerative braking force F wrti is set to the target braking / driving force F wxti and the left / right wheel distribution ratio Ky and the motor generator 40 are controlled so that the regenerative braking force becomes the target regenerative braking force F wrti.
- the electronic controller for driving force control 16 sets the target driving force F wdti of each wheel to 0, and Set the regenerative braking force by machine 40 to the maximum regenerative braking force, and set the left / right wheel distribution ratio Ky so that the distribution ratio of the regenerative braking force to the wheel with the large target braking / driving force F wxti is large.
- the driving force control electronic control unit 16 calculates the target friction braking force F wbti by calculating a value obtained by subtracting the regenerative braking force of the wheel from the target braking / driving force F wxti for each wheel as the target friction braking force F wbti. Is output to the braking force control electronic control device 28, and the motor generator 40 is controlled so that the regenerative braking force becomes the maximum regenerative braking force, and the front wheel differential 4 is controlled based on the left / right wheel distribution ratio Ky. 8 and rear wheel differential 5 2 are controlled.
- the braking force control electronic control device 28 is based on the target friction braking force F wbti of each wheel input from the driving force control electronic control device 16.
- the braking / driving force control routine in the second embodiment will be described with reference to the flowchart shown in FIG. In FIG. 10, the same step number as that shown in FIG. 3 is assigned to the same step as shown in FIG. Also, the control according to the flowchart shown in FIG. 10 is performed when the electronic controller for driving force control 16 is activated. It is executed repeatedly every predetermined time until an impression switch not shown in the figure is switched off.
- steps 10 to 60 and steps 200 to 220 are executed in the same manner as in the first embodiment described above, and in step 70 executed after step 60. In this case, it is determined whether or not the absolute value of the target moment Mvn exceeds 0.5 Mvlmax. If a negative determination is made, the process proceeds to step 1 1 0, and if an affirmative determination is made, the step is performed. Proceed to 80.
- step 80 to 100 point P is point P1
- straight line L is straight line L1
- internal dividing point R of straight line L based on distribution ratio K is internal dividing point of straight line L1 based on distribution ratio K
- the same processing as in the case of Steps 80-100 of the first embodiment described above is performed.
- the ends Q 1 and Q2 are points C and D, respectively, when point P is in the first quadrant in FIG. 11, and points P are in the second quadrant in FIG. 11, respectively.
- C and E respectively, when point P is in the third quadrant in Fig. 11 and points F and G, respectively, and when point P is in the fourth quadrant in Fig. 11 and points F and H, respectively. is there.
- step 1 1 the straight line L2 closest to the point P2 indicating the target braking / driving force Fvn of the vehicle and the target moment of inertia Mvn of the hexagon 10 2 as shown in Fig. 1 3 is Identified.
- the straight line L2 is specified as a line segment AD when the point P indicating the vehicle target braking / driving force Fvn and the vehicle target moment Mvn is in the first quadrant in FIG. 11, and the point P is shown in FIG. 11.
- line segment BE When it is in the second quadrant, it is specified as line segment BE, and when point P is in the third quadrant in Fig. 11 it is specified as line segment AG, and point P is in quadrant 4 in Fig. 11
- line BH the straight line L2 closest to the point P2 indicating the target braking / driving force Fvn of the vehicle and the target moment of inertia Mvn of the hexagon 10 2 as shown in Fig. 1 3 is Identified.
- the straight line L2 is specified as
- step 1 20 the end Q1 of the straight line L2 where the magnitude of the moment is large is (Fvmax, 0.5 Mvmax), and the end Q 2 of the straight line L where the magnitude of the moment is small.
- the vector component from the point P to the end Q1 (Zxl Zyl) and the vector component from the point P to the end Q2 (Zx2 Zy2) And 1 3 are calculated as follows.
- the ends Ql and Q2 are points C and A when point P is in the first quadrant in Fig. 5.
- points C and B When point P is in the second quadrant in Fig. 5, points C and B, respectively, and when point P is in the third quadrant in Fig. 5, points D and A are respectively
- P is in quadrant 4 in Fig. 5, points D and B, respectively.
- Mvmax is Mvlmax when the point P is in the first quadrant or the second quadrant in FIG. 5, and is Mvrmax when the point P is in the third quadrant or the fourth quadrant in FIG.
- step 1 30 the target braking / driving force Fvt of the vehicle after correction and the target moment Mvt of the vehicle are the values of the coordinates of the target point R2, which is the distribution point of the straight line L2 based on the distribution ratio K. Calculation is performed according to equations 1 4 and 1 5, and then proceeds to step 200.
- step 2 1 0 of the second embodiment as described above, except for the point that the regenerative braking force of the wheel and the target friction braking force Fwbti are calculated as described above, the same control as in the first embodiment is performed.
- steps 70 to 130 are executed.
- the straight line L1 or L2 closest to the point PI or P2 indicating the target braking / driving force F vn of the vehicle and the target moment Mvn of the vehicle of the hexagonal 102 is identified, and the distribution ratio K
- the coordinate value of the target point R1 or R2 which is the internal dividing point of the straight line L1 or L2, is calculated as the corrected target braking / driving force Fvt of the vehicle and the target moment of inertia Mvt of the vehicle.
- the vehicle even in a vehicle in which the left and right wheels are controlled and driven by a common motor generator, and the driving force or regenerative braking force is distributed and controlled between the left and right wheels.
- the target braking / driving force Fvn and the target moment Mvn cannot be achieved by controlling the braking / driving force of each wheel, the vehicle is required as much as possible within the range of braking / driving force that each wheel can generate.
- the braking / driving force and moment that are close to the braking / driving force and moment that are suitable for the driver's driving situation can be achieved.
- the motor generator 40 serving as a common drive source for each wheel has a regenerative braking function when the vehicle target braking / driving force Fvt is a negative value and a braking force. Since power is generated, as in the first embodiment described above, the vehicle achieves the braking / driving force and the moment required by the vehicle as much as possible within the range of braking / driving force that can be generated by each wheel. During vehicle deceleration Energy can be effectively recovered as electrical energy.
- the target longitudinal acceleration Gxt of the vehicle is calculated based on the accelerator opening ⁇ and the master cylinder pressure Pm which are the acceleration / deceleration operation amount of the driver, and the driver
- the target vehicle speed is calculated based on the steering angle of 0 and the vehicle speed V
- the target braking / driving force F vn required for the vehicle is calculated based on the target longitudinal acceleration Gxt of the vehicle.
- the target total moment Mvnt required for the vehicle is calculated.
- the vehicle's turning torque Ms due to the lateral force of each wheel is calculated, and the value obtained by subtracting the turning torque Ms from the vehicle's total target moment Mvnt is the vehicle's control by controlling the braking / driving force of each wheel. Since it is calculated as the target moment Mvn, the braking / driving force of each wheel required for the vehicle is more reliably and accurately required than when the vehicle turning moment Ms due to the lateral force of the wheel is not considered.
- the target moment of the vehicle by control can be calculated without excess or deficiency.
- the drive source is a single motor generator 40 common to all four wheels, but each wheel is driven so that the drive power distribution can be controlled between the left and right wheels.
- the drive source may be any drive means known in the art, such as an internal combustion engine or a hybrid system. This also applies to the fourth embodiment described later.
- one motor generator 40 is provided as a common drive source for the four wheels, but a common drive source for the left and right front wheels and a common drive for the left and right rear wheels. Sources may be provided. Alternatively, a common drive source may be provided only for the left and right front wheels, or a common drive source may be provided only for the left and right rear wheels.
- the hexagon 10 2 is 1 0 2 in FIG. 1 1 C.
- the vehicle's braking / driving force is negative when the vehicle's left turn moment and the left turn moment are the maximum values Mvlmax and Mvrmax, respectively. That is, it becomes braking force. Even in the case of such a vehicle, the above-described effects can be achieved. This also applies to the fourth embodiment described later.
- FIG. 14 shows a third embodiment of the vehicle braking / driving force control device according to the present invention, which is applied to an in-wheel motor type four-wheel drive vehicle and is configured as a modification of the first embodiment.
- 5 is a flowchart showing a main part of a braking / driving force control routine in FIG.
- the same step number as that shown in FIG. 3 is assigned to the same step as that shown in FIG. 3.
- the area encircled by straight lines perpendicular to the straight lines on both sides of the vertices A to D of the outer shape of the quadrangle 10 0 0 indicating S 1 to S 4 is the vehicle target braking / driving force F vn and the vehicle target
- the braking / driving force Fv and the moment Mv of the target point R are corrected using the internal dividing point R of the straight line L based on the distribution ratio K as the target point.
- the corresponding peak values are the target braking / driving force F vt and the vehicle target moment Mvt after correction.
- step 51 the vehicle target braking / driving force Fvn and vehicle target moment Mvn are not allocated to the non-distributed region, that is, regions S1 to S4. If a negative determination is made, the process proceeds to step 60. If an affirmative determination is made, the process proceeds to step 52.
- step 52 it is determined whether the absolute value of the target braking / driving force F vn of the vehicle is larger than the maximum driving force F vdmax of the vehicle. 5
- the corrected value in step 54 The vehicle's target braking / driving force F vt is set to F vmax, and the vehicle's target moment Mvt is set to 0.
- Mvmax is set to Mvlma when the vehicle target moment Mvn is a positive value
- Mvrmax when the vehicle target moment Mvn is a negative value
- F vmax is set to F vdraax when the vehicle target braking / driving force F vn is positive, and is set to F vbmax when the vehicle target braking / driving force F vn is negative.
- the vehicle target braking / driving force F vn or the vehicle target motor In a situation where the size of the vehicle Mvn is large, it is possible to reliably achieve the driving force or the motor required for the vehicle as compared with the case of the first embodiment described above.
- FIG. 16 is applied to a four-wheel drive vehicle in which the driving force and regenerative braking force of one motor generator common to all four wheels are distributed and controlled to the front and rear wheels and the left and right wheels.
- the main part of the braking / driving force control routine in the fourth embodiment of the vehicle braking / driving force control device according to the present invention configured as a modified example is shown. It is a chart. In FIG. 16, the same steps as those shown in FIG.
- the area sandwiched by straight lines perpendicular to the straight lines on both sides of ⁇ to ⁇ is defined as S 1 to S 6 and the vehicle's target braking / driving force F vn and
- the straight line L1 or L2 based on the distribution ratio K is used as the target point R1 or R2
- the target point R1 Or R 2 braking / driving force F v and moment Mv are not used as the corrected vehicle target braking / driving force F vt and vehicle target moment Mvt, but the value of the corresponding vertex is Target braking / driving force F vt and vehicle target moment Mvt.
- step 51 the target braking / driving force F vn of the vehicle and the target momentum Mvn of the vehicle are in the non-allocation area, that is, the areas S 1 to It is determined whether or not it is in S6. If a negative determination is made, the process proceeds to step 60. If an affirmative determination is made, the process proceeds to step 52.
- Steps 5 2 and 5 3 are executed in the same manner as in the third embodiment described above. If an affirmative determination is made in step 52, the target vehicle system after correction is corrected in step 55.
- the driving force F vt is set to F vmax and the vehicle target moment Mvt is set to 0.5 Mvmax.
- Mvmax is set to Mvlmax when the vehicle's target moment Mvn is positive, and is set to Mvrraax when the vehicle's target moment Mvn is negative.
- F vmax is set to F vdmax when the vehicle target braking / driving force F vn is a positive value, and is set to F vbmax when the vehicle target braking / driving force F vn is a negative value.
- the vehicle In a situation where the target braking / driving force F vn or the vehicle's target motor moment Mvn is large, the driving force or the moment required for the vehicle is reliably achieved compared to the case of the second embodiment described above. can do.
- the motor generators 1 2 FL to 1 2 RR and The motor generator 40 generates regenerative braking force as needed, but even if the drive source is a motor generator, no regenerative braking force is generated, and the braking force is generated only by friction braking. It may be modified.
- the rear wheel distribution ratio Kr of the braking / driving force F wxi of each wheel is constant, but in general, as the steering angle increases, As the force increases and the allowable front / rear force of the steering wheel decreases, the rear wheel distribution ratio Kr gradually increases as the steering angle increases. It may be modified to be variably set according to the size of the corner.
- the rear wheel distribution ratio Kr has a negative target braking / driving force of the vehicle. It may be modified so that it is variably set in accordance with the target braking / driving force of the vehicle so that it becomes smaller as the magnitude increases.
- the vehicle target braking / driving force F vn and the vehicle target braking / driving force Mvn can be achieved by the braking / driving force of each wheel.
- vn and vehicle target moment Mvn indicating a quadrilateral 1 0 0 or hexagon 1 0 2
- the vehicle's target braking / driving force F vn and the vehicle's target vehicle moment Mvn The straight line L etc. closest to the point P etc. is identified, and the internal dividing point R etc. based on the distribution ratio K is obtained for the entire straight line L etc., and the value of the internal dividing point R is corrected to the target braking / driving of the vehicle For example, as shown in Fig.
- a straight line L etc. is specified for a range less than the target braking / driving force F vn of the vehicle or the target moment Mvn of the vehicle, and an internal dividing point R etc. based on the distribution ratio K is obtained for the straight line L etc. It may be modified.
- the target braking / driving is performed by controlling the braking / driving force of each wheel required for the vehicle based on the acceleration / deceleration operation amount of the driver and the steering operation amount of the driver.
- the force F vn and the target moment Mvn are calculated, but the target braking / driving force F vn and the target moment Mvn are calculated when the vehicle's behavior is unstable.
- it may be modified so that it is calculated by taking into account the target longitudinal acceleration and the target short rate necessary for stabilizing the behavior of the vehicle.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Fuzzy Systems (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06728584A EP1876077A1 (en) | 2005-03-01 | 2006-02-24 | Braking-driving force control device of vehicle |
US11/817,449 US20090012686A1 (en) | 2005-03-01 | 2006-02-24 | Braking-Driving Force Control Device of Vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-056490 | 2005-03-01 | ||
JP2005056490A JP2006240394A (ja) | 2005-03-01 | 2005-03-01 | 車輌の制駆動力制御装置 |
Publications (1)
Publication Number | Publication Date |
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WO2006093241A1 true WO2006093241A1 (ja) | 2006-09-08 |
Family
ID=36941270
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2006/304022 WO2006093241A1 (ja) | 2005-03-01 | 2006-02-24 | 車輌の制駆動力制御装置 |
Country Status (6)
Country | Link |
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US (1) | US20090012686A1 (ja) |
EP (1) | EP1876077A1 (ja) |
JP (1) | JP2006240394A (ja) |
CN (1) | CN101132956A (ja) |
RU (1) | RU2007136038A (ja) |
WO (1) | WO2006093241A1 (ja) |
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WO2008071577A1 (de) * | 2006-12-12 | 2008-06-19 | Continental Automotive Gmbh | Schwingungs- und geräuschminimierende bremssteuerung |
CN110239543A (zh) * | 2018-03-07 | 2019-09-17 | 丰田自动车株式会社 | 制动力控制***、装置及方法 |
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JP4131270B2 (ja) * | 2005-03-01 | 2008-08-13 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
DE102006046093B4 (de) * | 2006-09-28 | 2022-11-03 | Volkswagen Ag | Bremssystem und Verfahren zum Bremsen eines Fahrzeugs mit einem Hybridantrieb |
JP4928221B2 (ja) * | 2006-10-18 | 2012-05-09 | 日立オートモティブシステムズ株式会社 | 車両挙動制御装置 |
JP4441544B2 (ja) * | 2007-03-15 | 2010-03-31 | 本田技研工業株式会社 | 車両の回生協調制動装置 |
JP2008308051A (ja) * | 2007-06-14 | 2008-12-25 | Toyota Motor Corp | 駆動制御装置 |
JP5088032B2 (ja) * | 2007-08-01 | 2012-12-05 | 日産自動車株式会社 | 車両の制駆動制御装置及び制駆動制御方法 |
JP5309556B2 (ja) * | 2007-12-25 | 2013-10-09 | 株式会社ジェイテクト | 車両制御装置 |
US7957875B2 (en) * | 2008-01-17 | 2011-06-07 | GM Global Technology Operations LLC | Method and apparatus for predicting braking system friction |
JP5879143B2 (ja) * | 2012-02-09 | 2016-03-08 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置及び車両運動制御方法 |
JP6605248B2 (ja) * | 2015-07-27 | 2019-11-13 | Ntn株式会社 | 摩擦ブレーキシステム |
US9702115B1 (en) * | 2016-01-08 | 2017-07-11 | Caterpillar Inc. | Autonomous method for detecting a pile |
CN109641592B (zh) * | 2016-07-27 | 2022-04-19 | 凯尔西-海耶斯公司 | 一种减轻车辆中的共振的方法和采用这种方法的机动车辆 |
JP6577448B2 (ja) * | 2016-12-20 | 2019-09-18 | トヨタ自動車株式会社 | 車両安定制御装置 |
JP6630386B2 (ja) * | 2018-03-07 | 2020-01-15 | 株式会社Subaru | 車両の制御装置及び車両の制御方法 |
FR3088274B1 (fr) | 2018-11-12 | 2022-06-24 | Foundation Brakes France | Procede de fabrication d'un systeme de freinage d'un vehicule ayant recours a de la logique floue |
JP7070453B2 (ja) * | 2019-02-01 | 2022-05-18 | トヨタ自動車株式会社 | 車両用制動力制御装置 |
CN109878480B (zh) * | 2019-03-06 | 2021-07-09 | 哈尔滨理工大学 | 一种电动汽车摩擦系数预测模式切换再生制动控制方法 |
KR20220153746A (ko) * | 2021-05-12 | 2022-11-21 | 현대자동차주식회사 | 브레이크 패드 마찰계수 예측용 메타모델 고도화를 위한 시스템 및 방법, 마찰계수 예측용 메타모델을 이용한 제동 제어 시스템 |
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- 2006-02-24 EP EP06728584A patent/EP1876077A1/en not_active Withdrawn
- 2006-02-24 RU RU2007136038/11A patent/RU2007136038A/ru not_active Application Discontinuation
- 2006-02-24 WO PCT/JP2006/304022 patent/WO2006093241A1/ja active Application Filing
- 2006-02-24 CN CNA2006800064952A patent/CN101132956A/zh active Pending
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Also Published As
Publication number | Publication date |
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CN101132956A (zh) | 2008-02-27 |
US20090012686A1 (en) | 2009-01-08 |
EP1876077A1 (en) | 2008-01-09 |
JP2006240394A (ja) | 2006-09-14 |
RU2007136038A (ru) | 2009-04-10 |
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