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WO2023167165A1 - Dispositif de commande de comportement de véhicule - Google Patents

Dispositif de commande de comportement de véhicule Download PDF

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Publication number
WO2023167165A1
WO2023167165A1 PCT/JP2023/007244 JP2023007244W WO2023167165A1 WO 2023167165 A1 WO2023167165 A1 WO 2023167165A1 JP 2023007244 W JP2023007244 W JP 2023007244W WO 2023167165 A1 WO2023167165 A1 WO 2023167165A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
vehicle
wheels
control device
braking force
Prior art date
Application number
PCT/JP2023/007244
Other languages
English (en)
Japanese (ja)
Inventor
公彦 阿部
Original Assignee
三菱自動車工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 三菱自動車工業株式会社 filed Critical 三菱自動車工業株式会社
Priority to JP2024504687A priority Critical patent/JPWO2023167165A1/ja
Publication of WO2023167165A1 publication Critical patent/WO2023167165A1/fr

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Classifications

    • 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
    • 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

Definitions

  • the present disclosure relates to a vehicle behavior control device that operates brake devices corresponding to each wheel to control the behavior of the vehicle.
  • the present disclosure has been made to solve such problems, and its purpose is to suppress problems caused by a significant decrease in braking force in brake control.
  • a vehicle behavior control device operates a braking device for each wheel of a vehicle to generate an individual braking force for each wheel, thereby performing brake control that realizes braking of the vehicle with a predetermined total braking force.
  • unweighted determination means for determining whether or not each wheel is in an unweighted state in which the ground load of each wheel is unloaded based on the operating state of the vehicle; With respect to the braking force, the operation amount of one or more brake devices corresponding to the wheels that are not determined to be in the unweighted state is added as the operation amount of the brake device corresponding to part or all of the insufficient braking force.
  • this vehicle behavior control device when some of the wheels are in an unweighted state, an operation amount corresponding to part or all of the insufficient braking force is added to the brake devices corresponding to the other wheels to additionally individual braking force can be generated. In this way, the insufficient braking force due to the unweighted wheel is compensated for by the other wheels, so that the total braking force required for brake control is not significantly lowered. As a result, it is possible to prevent the occupants from feeling that the vehicle is running idle, and to prevent the occurrence of unintended speed fluctuations and wheel slippage.
  • a vehicle behavior control device capable of suppressing the occurrence of defects caused by failure to maintain the total braking force in brake control.
  • Block diagram showing the overall configuration of a vehicle according to the present disclosure Flowchart showing processing procedure of motion addition processing
  • the vehicle 1 includes a pair of wheels 10 arranged on the left and right in the front and a pair of wheels 10 arranged on the left and right on the rear.
  • the drive device 30 receives commands from the vehicle behavior control device 80 and operates each of the brake devices 20 .
  • the brake device 20 and the drive device 30 are directly or indirectly connected by a hydraulic path, and the drive device 30 receives a command from the vehicle behavior control device 80, and responds to the command to each wheel. It is configured to apply necessary hydraulic pressure to each brake device 20 in order to generate a predetermined braking force in the brake device 10 .
  • the stroke sensor 50 is a sensor that detects the stroke amount of a shock absorber (not shown) interposed between the vehicle body 1 and the wheel 10 in the suspension device 40 .
  • the acceleration sensor 60 is composed of a sensor that detects acceleration in the longitudinal direction of the vehicle 1 and a sensor that detects acceleration in the lateral direction.
  • This operation addition process is a process executed by the vehicle behavior control device 80 according to a program stored in the built-in memory 71, and is started on the condition that the brake control process similarly executed according to the program has been started.
  • This brake control process is a process for brake control in which the drive device 30 generates an individual braking force for each wheel 10, thereby braking the vehicle 1 with a predetermined total braking force.
  • hill descent control HDC
  • This brake control is a process for brake control in which the drive device 30 generates an individual braking force for each wheel 10, thereby braking the vehicle 1 with a predetermined total braking force.
  • HDC hill descent control
  • the vehicle 1 enters a standby state until the speed of the vehicle 1 detected by the vehicle speed sensor 70 reaches or exceeds a predetermined speed (30 km/h in this embodiment) (s110: NO).
  • the speed becomes equal to or higher than the predetermined speed in s110 (s110: YES)
  • the stroke amount detected by each stroke sensor 50 is checked, and for the stroke sensor 50 that reaches the stroke amount when the wheel 10 is off the ground, the corresponding wheel 10 is in the unweighted state. It is determined that there is
  • the ground load of each wheel 10 is estimated based on the specification values of the vehicle 1 such as the wheelbase and the height of the center of gravity, the vehicle body tilt angle calculated from the detection value of the acceleration sensor 60, the coefficient of friction of the road surface, and the like. If it is equal to or less than a predetermined threshold value, it is determined that the contact load is missing.
  • the insufficient braking force (insufficient braking force) due to the wheel 10 determined to be unweighted is calculated ( s130).
  • the sum of the individual braking forces of the wheels 10 determined to be in the unweighted state is calculated as the insufficient braking force.
  • the insufficient braking force is "(the number of wheels 10 determined to be unweighted ⁇ individual It may be calculated based on "braking force)/number of wheels 10 not determined to be in an unweighted state".
  • the ground load of each wheel 10 is detected (s140).
  • the ground load is detected as an estimated value calculated based on the specification values of the vehicle 1 such as the wheelbase and the height of the center of gravity, the vehicle body tilt angle calculated from the detection value of the acceleration sensor 60, the friction coefficient of the road surface, and the like. .
  • an individual braking force for each wheel 10 required to additionally generate the insufficient braking force calculated in s130 is set (s150).
  • a large individual braking force is set for that wheel 10 .
  • the total value of a first coefficient corresponding to the ground contact load, a second coefficient corresponding to the front or rear wheel, and a third coefficient corresponding to the positional relationship with the unweighted wheel 10. is obtained for each wheel 10, and the individual braking force is set according to the ratio of these total values.
  • the first coefficient is set to a larger value for the wheel 10 having a larger contact load detected in s130.
  • the second coefficient is set such that the front wheel 10 in the direction of travel (the front of the vehicle 1 in this embodiment) has a larger value than the rear wheel 10 .
  • the third coefficient is such that the wheel 10 arranged on the same left and right side in the front-rear opposite pair of wheels 10 determined to be unweighted has a larger value than the other wheels 10 .
  • the difference in the individual braking force between the left and right wheels 10 is a predetermined threshold. At least one of the individual braking force values is adjusted so as to be equal to or less than the threshold value.
  • a command is issued to the driving device 30 to additionally generate insufficient braking force by each of the wheels 10 that have not been determined to be in the unweighted state (s160).
  • each brake device 20 is instructed to operate by the amount of operation necessary for generating additional individual braking force set in s150 via the drive device 30, and the brake device 20 that receives this command performs additional operation. to generate individual braking force.
  • the amount of operation of the brake device 20 corresponding to part or all of the insufficient braking force is additionally added as the amount of operation of any one or more of the brake devices 20 corresponding to the wheels 10 that are not determined to be in the unweighted state. be done.
  • the process returns to s110.
  • s110 is the vehicle speed detection means
  • s120 is the unloading determination means
  • s140 is the load detection means
  • s160 is the motion addition means.
  • the vehicle behavior control device 80 when applying an operation amount corresponding to the insufficient braking force to the brake device 20, the wheel 10 arranged in front of the traveling direction of the vehicle 1 has a brake device corresponding to the wheel 10. A large amount of movement can be applied to 20 to generate additional individual braking force (s150 in FIG. 2). When the vehicle 1 is braked, inertia acts, and the ground load tends to be larger toward the front wheel 10 in the traveling direction. Therefore, in the present embodiment, an unnecessarily large operation amount of the brake device 20 is not distributed to the wheels 10 having a small ground load. can prevent it from happening.
  • the vehicle behavior control device 80 adjusts the amount of operation of the brake device 20 within a range in which the difference between the individual braking forces generated by the paired left and right wheels 10 is equal to or less than a predetermined threshold value (see FIG. 2). s150). If the difference between the individual braking forces generated by the paired left and right wheels 10 becomes large, there is a possibility that problems such as unintended turning of the vehicle 1 and differential lock of the differential gear may occur. In this respect, according to the present embodiment, the above problem can be prevented by appropriately setting the threshold value.
  • the braking devices 20 of the wheels 10 arranged on the same left and right sides of the pair of wheels 10 that are determined to be in the unweighted state are provided with a larger operation amount than the other braking devices 20. can be applied to generate an additional individual braking force (s150 in FIG. 2). As a result, another yaw moment can be generated in a direction that cancels out the yaw moment caused by the unweighted wheels 10 .

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

Le dispositif de commande de comportement de véhicule d'après la présente invention amène des dispositifs de freins sur les roues respectives d'un véhicule à fonctionner et à générer une force de freinage individuelle pour chaque roue. Par conséquent, pendant une commande de frein qui effectue un freinage de véhicule en fonction d'une force de freinage totale prescrite, il est possible de déterminer, sur la base de l'état fonctionnel du véhicule, si une roue est dans un état sans charge dans lequel une charge de traction sur celle-ci est perdue. Par rapport à une insuffisance de la force de freinage, autrement dit de la force de freinage individuelle sur une roue qui a été déterminée comme étant dans l'état sans charge, le dispositif de commande de comportement de véhicule ajoute une quantité fonctionnelle de dispositif de frein correspondant à une partie ou à l'ensemble de l'insuffisance de la force de freinage au titre de la quantité fonctionnelle d'un ou plusieurs des dispositifs de freins correspondant aux roues qui n'ont pas été déterminées comme étant dans l'état sans charge.
PCT/JP2023/007244 2022-03-02 2023-02-28 Dispositif de commande de comportement de véhicule WO2023167165A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024504687A JPWO2023167165A1 (fr) 2022-03-02 2023-02-28

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022031532 2022-03-02
JP2022-031532 2022-03-02

Publications (1)

Publication Number Publication Date
WO2023167165A1 true WO2023167165A1 (fr) 2023-09-07

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ID=87883748

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PCT/JP2023/007244 WO2023167165A1 (fr) 2022-03-02 2023-02-28 Dispositif de commande de comportement de véhicule

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JP (1) JPWO2023167165A1 (fr)
WO (1) WO2023167165A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6064931A (en) * 1997-11-28 2000-05-16 Denso Corporation Control apparatus for vehicle
WO2013172122A1 (fr) * 2012-05-14 2013-11-21 日産自動車株式会社 Dispositif de commande de véhicule et procédé de commande de véhicule
WO2016136929A1 (fr) * 2015-02-27 2016-09-01 株式会社アドヴィックス Dispositif de commande de freinage de véhicule
JP2016164058A (ja) * 2015-03-06 2016-09-08 トヨタ自動車株式会社 車両の制動力制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6064931A (en) * 1997-11-28 2000-05-16 Denso Corporation Control apparatus for vehicle
WO2013172122A1 (fr) * 2012-05-14 2013-11-21 日産自動車株式会社 Dispositif de commande de véhicule et procédé de commande de véhicule
WO2016136929A1 (fr) * 2015-02-27 2016-09-01 株式会社アドヴィックス Dispositif de commande de freinage de véhicule
JP2016159678A (ja) * 2015-02-27 2016-09-05 株式会社アドヴィックス 車両用制動制御装置
JP2016164058A (ja) * 2015-03-06 2016-09-08 トヨタ自動車株式会社 車両の制動力制御装置

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