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1.发明公开DEVICE FOR CONTROLLING TRAVELING OF VEHICLE 审中-公开VORRICHTUNG ZUR STEUERUNG DES FAHRWEGS EINES FAHRZEUGS
公开(公告)号：EP2340975A1
公开(公告)日：2011-07-06
申请号：EP09823457.8
申请日：2009-09-30
发明人： YASUI, Yoshiyuki , SUZUKI, Motoshi , KOTO, Hideaki , NORO, Kazutaka , KODAMA, Hiroyuki , TANAKA, Manabu , MYAJIMA, Takayuki
CPC分类号： B60T7/12 , B60K31/0066 , B60K31/0075 , B60K31/0083 , B60T8/1755 , B60T2201/16 , B60W30/02 , B60W30/045 , B60W30/14 , B60W30/143 , B60W30/18145 , B60W40/072 , B60W40/076 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/146 , G01C21/28
摘要： After a vehicle has entered a curve, a deviation (Sch) between a target turning state quantity Td and an actual turning state quantity Ta is computed. In a stage in which Sch does not reach a predetermined value after the vehicle has entered the curve, the possibility of the vehicle traveling in the curve is judged to be low, and the reliability of the curve information Rc, Pc is judged to be low. In this case, a determination for prohibiting execution of control (So = 0) is made. In a stage after Sch has reached the predetermined value, the possibility of the vehicle traveling in the curve is judged to be high, and the reliability of the curve information Rc, Pc is judged to be high. In this case, a determination for permitting execution of the control (So = 1) is made. Deceleration control is started and executed only when a control start condition is satisfied, and the determination for permission is made. Accordingly, even when the control start condition is satisfied, the deceleration control is not started, if the prohibition determination is made. Thus, the reliability of the curve information based on map information on the vehicle is evaluated reliably, and the deceleration control within the curve can be prevented from being unnecessarily executed on the basis of curve information whose reliability is low.
摘要翻译： 在车辆进入曲线之后，计算目标转弯状态量Td与实际转弯状态量Ta之间的偏差（Sch）。 在车辆进入曲线后，Sch未达到规定值的阶段，车辆行驶曲线的可能性被判断为低，曲线信息Rc，Pc的可靠性判断为低 。 在这种情况下，进行禁止执行控制（So = 0）的判定。 在Sch达到预定值之后的阶段，车辆行驶曲线的可能性被判定为高，曲线信息Rc，Pc的可靠性被判定为高。 在这种情况下，进行允许执行控制的判定（So = 1）。 仅在满足控制开始条件的情况下才开始执行减速控制，并进行许可判定。 因此，即使满足控制开始条件，如果进行禁止判定，则不开始减速控制。 因此，可靠地评估基于车辆上的地图信息的曲线信息的可靠性，并且可以基于可靠性低的曲线信息来防止曲线内的减速控制被不必要地执行。
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公开(公告)号：EP2340975B1
公开(公告)日：2019-07-03
申请号：EP09823457.8
申请日：2009-09-30
发明人： YASUI, Yoshiyuki , SUZUKI, Motoshi , KOTO, Hideaki , NORO, Kazutaka , KODAMA, Hiroyuki , TANAKA, Manabu , MYAJIMA, Takayuki
IPC分类号： B60W30/14 , B60T7/12 , B60T8/1755 , B60W10/18 , B60W30/00 , B60W40/10 , G08G1/16 , B60K31/00 , B60W30/02 , B60W30/18 , G01C21/28 , B60W30/045 , B60W40/072 , B60W40/076
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公开(公告)号：EP2799298A1
公开(公告)日：2014-11-05
申请号：EP12863491.2
申请日：2012-12-25
申请人： Advics Co., Ltd
IPC分类号： B60T8/00
CPC分类号： B60T8/3255 , B60T7/042 , B60T8/171 , B60T8/172 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
摘要： An electric motor is controlled based on a target energization amount that is calculated based on an operation amount of a braking operation member. A state quantity is acquired as an actual value (Sva), which indicates an actual actuation state of a movable member located in a power transmission path from the electric motor to a friction member. Based on the operation amount, it is determined whether or not inertia compensation control is necessary, which compensates for the influence of inertia of a brake actuator during deceleration of the electric motor. "A target value (Svt) corresponding to the actual value" is determined as a reference value (ref), which is calculated based on the operation amount at a time point when it is determined that the inertia compensation control is necessary. Based on the actual value and the reference value, "an inertia compensation energization amount (Ikt) for decreasing the target energization amount to compensate for the influence of inertia" is calculated, and the target energization amount is adjusted based on the inertia compensation energization amount (Ikt). Accordingly, there can be provided a vehicle brake control device, which generates a braking torque by the electric motor and which can properly compensate for the influence of inertia of the entire device during deceleration of the electric motor.
摘要翻译： 基于基于制动操作构件的操作量计算的目标通电量来控制电动机。 获取状态量作为实际值（Sva），其表示位于从电动机到摩擦构件的动力传递路径中的可动构件的实际动作状态。 基于操作量，确定是否需要惯性补偿控制，这补偿了电动机减速期间制动致动器的惯性的影响。 “对应于实际值”的目标值（Svt）被确定为基于在确定需要惯性补偿控制的时间点的操作量来计算的参考值（ref）。 基于实际值和参考值，计算“用于减小目标通电量以补偿惯性的影响的惯性补偿通电量（Ikt）”，并且基于惯性补偿通电量来调整目标通电量 （IKT）。 因此，可以提供一种车辆制动控制装置，其通过电动机产生制动转矩，并且可以适当补偿电动机减速期间整个装置的惯性的影响。
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公开(公告)号：EP2799299A1
公开(公告)日：2014-11-05
申请号：EP12863626.3
申请日：2012-12-25
申请人： Advics Co., Ltd
CPC分类号： B60T8/173 , B60T7/042 , B60T8/171 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
摘要： Based on a difference (ΔFb) between a target value (Fbt) of a force of a friction member for pressing a brake disc and an actual value (Fba) thereof, a feedback energization amount (Ipt) is calculated by using a proportional gain that is smaller than an ultimate sensitivity gain. Based on the ΔFb, if the ΔFb falls within a fluctuation range of a torque ripple, a first compensation energization amount (Ibt) is calculated by using a proportional gain that is larger than the ultimate sensitivity gain, and if the ΔFb falls outside of the fluctuation range, the first compensation energization amount (Ibt) is calculated so as to be constant. A second compensation energization amount (Ift) is calculated based on a calculation characteristic that is preset based on a torque fluctuation over a predetermined range of a position of an electric motor and based on an actual position of the electric motor. An indication energization amount (Ist) calculated in accordance with the Fbt is adjusted by the Ipt, the Ibt, and the Ift so that a target energization amount (Imt) is calculated. With this, it is possible to provide a vehicle brake control device which is configured to generate a braking torque by the electric motor and is capable of compensating for effects of a torque ripple of the electric motor to improve control accuracy for the braking torque.
摘要翻译： 基于用于按压制动盘的摩擦构件的力的目标值（Fbt）和其实际值（Fba）之间的差（ΔFb），通过使用比例增益来计算反馈通电量（Ipt） 小于最终的灵敏度增益。 基于ΔFb，如果ΔFb落入转矩波动的波动范围内，则通过使用比最终灵敏度增益大的比例增益来计算第一补偿通电量（Ibt），并且如果ΔFb落在 波动范围，第一补偿通电量（Ibt）被计算为恒定。 基于基于电动机的位置的预定范围上的转矩波动预先设置的计算特性并且基于电动机的实际位置来计算第二补偿通电量（Ift）。 根据Fbt计算的指示通电量（Ist）通过Ipt，Ibt和Ift进行调整，以便计算目标通电量（Imt）。 由此，能够提供一种车辆制动控制装置，该车辆制动控制装置构成为通过电动机产生制动转矩，并且能够补偿电动机的转矩波动的影响，提高制动转矩的控制精度。
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公开(公告)号：EP2786907A1
公开(公告)日：2014-10-08
申请号：EP12852714.0
申请日：2012-11-30
申请人： Advics Co., Ltd
摘要： In this device, an electric motor is controlled based on a target energization amount calculated based on an operation amount (Bpa) of a braking operation member. Based on the operation amount (Bpa), it is determined whether or not an inertia compensation control for compensating for the influence of the inertia of a brake actuator is necessary. When the inertia compensation control is determined to be necessary (FLj←1 or FLk←1), an inertia compensation energization amount (Ijt, Ikt) for compensating for the influence of the inertia of the brake actuator is calculated based on a time-series pattern (CHj, CHk) set in advance based on the maximum response of the brake actuator. Based on the inertia compensation energization amount (Ijt, Ikt), the target energization amount is calculated. Consequently, it is possible to provide a vehicle brake control device which causes an electric motor to generate a braking torque and which is capable of appropriately compensating for the influence of the inertia of the entire device including the inertia of the electric motor.
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公开(公告)号：EP2799298B1
公开(公告)日：2019-01-23
申请号：EP12863491.2
申请日：2012-12-25
申请人： Advics Co., Ltd
IPC分类号： B60T13/74
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公开(公告)号：EP2799297B1
公开(公告)日：2018-06-06
申请号：EP12862476.4
申请日：2012-12-25
申请人： Advics Co., Ltd
CPC分类号： B60T8/172 , B60T7/042 , B60T8/171 , B60T8/58 , B60T13/662 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
摘要： Based on a difference between a target value and an actual value of a force of a friction member to press a brake disc, feedback control over the pressing force is executed. As the actual value, a detection value (Fba) of the pressing force itself is not used, but a "limit pressing force (Fbs) obtained by placing a limitation on a temporal change amount of the Fba based on of a limit value (Lmt)" is used. The limit value (Lmt) is set based on an electric motor speed (dMkt, dMka), a wheel speed (Vwa), and a temporal change amount (”Tmp) of a temperature of the friction member. The Lmt is set so as to increase as the dMkt (dMka) increases and the temporal change amount (”Tmp) of the temperature increases, and so as to also increase as the wheel speed (Vwa) decreases. Thus, in a vehicle brake control device configured to generate a braking torque by an electric motor, even when a rotating member (brake disc) is deformed, braking torque control can be appropriately executed without accelerating a fluctuation of a braking torque on the wheel.
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公开(公告)号：EP2799297A1
公开(公告)日：2014-11-05
申请号：EP12862476.4
申请日：2012-12-25
申请人： Advics Co., Ltd
CPC分类号： B60T8/172 , B60T7/042 , B60T8/171 , B60T8/58 , B60T13/662 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
摘要： Based on a difference between a target value and an actual value of a force of a friction member to press a brake disc, feedback control over the pressing force is executed. As the actual value, a detection value (Fba) of the pressing force itself is not used, but a "limit pressing force (Fbs) obtained by placing a limitation on a temporal change amount of the Fba based on of a limit value (Lmt)" is used. The limit value (Lmt) is set based on an electric motor speed (dMkt, dMka), a wheel speed (Vwa), and a temporal change amount (ΔTmp) of a temperature of the friction member. The Lmt is set so as to increase as the dMkt (dMka) increases and the temporal change amount (ΔTmp) of the temperature increases, and so as to also increase as the wheel speed (Vwa) decreases. Thus, in a vehicle brake control device configured to generate a braking torque by an electric motor, even when a rotating member (brake disc) is deformed, braking torque control can be appropriately executed without accelerating a fluctuation of a braking torque on the wheel.
摘要翻译： 基于摩擦构件的力的目标值与实际值之间的差压制动盘，执行对压力的反馈控制。 作为实际值，不使用按压力本身的检测值（Fba），而是使用通过基于限制值（Lmt）对Fba的时间变化量进行限制而获得的限制按压力（Fbs） ）“ 用来。 极限值（Lmt）基于摩擦部件的温度的电动机速度（dMkt，dMka），轮速（Vwa）和时间变化量（ΔTmp）来设定。 随着dMkt（dMka）增加和温度的时间变化量（ΔTmp）增加，并且随着轮速（Vwa）减小而增加，Lmt被设定为增加。 因此，在通过电动机产生制动转矩的车辆制动控制装置中，即使当旋转构件（制动盘）变形时，也可以适当地执行制动转矩控制，而不会加速车轮上的制动转矩的波动。
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