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公开(公告)号：EP1967432A1
公开(公告)日：2008-09-10
申请号：EP06835096.6
申请日：2006-12-21
IPC分类号： B60W30/02 , B60G17/016 , B60G17/018 , B60T8/174 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W50/06 , B62D5/04 , B62D6/00 , B62D137/00
CPC分类号： B62D6/003 , B60T8/1755 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： An FB distribution rule 20 determines an actual vehicle actuator operation control input and a vehicle model operation control input such that a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (a state amount error) approximates to zero, and the control inputs are used to operate an actuator device 3 of the actual vehicle 1 and the vehicle model 16. In the FB distribution law 20, when an actual vehicle feedback required amount based on the state amount error exists in a dead zone, then an actual vehicle actuator operation control input is determined by using the required amount as a predetermined value. A vehicle model manipulated variable control input is determined such that a state amount error is brought close to zero, independently of whether an actual vehicle feedback required amount exists in a dead zone. This enhances linearity of a control system and also enhances the robustness against disturbance factors or changes therein while carrying out operation control of an actuator that suits a behavior of an actual vehicle as much as possible.
摘要翻译： FB分配规则20确定实际车辆致动器操作控制输入和车辆模型操作控制输入，使得由车辆模型16确定的参考状态量与实际车辆1的实际状态量之间的差值（状态量误差 ）近似为零，并且控制输入被用于操作实际车辆1的致动器装置3和车辆模型16.在FB分配规则20中，当基于状态量误差的实际车辆反馈要求量存在于 死区，则通过使用所需量作为预定值来确定实际车辆致动器操作控制输入。 车辆模型操作量控制输入被确定为使得状态量误差接近于零，而不管实际车辆反馈要求量是否存在于死区中。 这增强了控制系统的线性度，并且还尽可能地增强了对干扰因素或其中的变化的鲁棒性，同时执行适合于实际车辆行为的致动器的操作控制。
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公开(公告)号：EP1950114A1
公开(公告)日：2008-07-30
申请号：EP06835097.4
申请日：2006-12-21
发明人： TAKENAKA, Toru , KONO, Hiroshi , TOYOSHIMA, Takayuki , URABE, Hiroyuki , SHIRAISHI, Shuji , ORIMOTO, Yukihiro
IPC分类号： B60W30/02 , B60T8/174 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/00 , B60W50/06 , B62D6/00 , B62D101/00 , B62D113/00 , B62D137/00
CPC分类号： B62D6/04 , B60T8/17552 , B60T8/17555 , B60T2230/02 , B60T2260/09 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W40/064 , B60W40/101 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B62D6/003
摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16 are operated on the basis of the control inputs. The FB distribution law 20 determines a control input for operating the model such that a state amount error is approximated to zero while restraining a predetermined restriction object amount from deviating from a permissible range. A vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.
摘要翻译： 根据由车辆模型16确定的参考状态量与实际车辆执行器的实际状态量 实际车辆1（状态量误差），以使状态量误差接近于零，然后基于控制输入来操作实际车辆1和模型车辆16的致动装置3。 FB分配规则20确定用于操作模型的控制输入，使得状态量误差近似为零，同时限制预定限制对象量偏离允许范围。 提供了一种车辆控制装置，其能够在尽可能多地执行适合于实际车辆的行为的致动器的操作控制的同时提高对干扰因素或其变化的稳健性。
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公开(公告)号：EP1950114B1
公开(公告)日：2010-09-22
申请号：EP06835097.4
申请日：2006-12-21
发明人： TAKENAKA, Toru , KONO, Hiroshi , TOYOSHIMA, Takayuki , URABE, Hiroyuki , SHIRAISHI, Shuji , ORIMOTO, Yukihiro
IPC分类号： B60T8/58
CPC分类号： B62D6/04 , B60T8/17552 , B60T8/17555 , B60T2230/02 , B60T2260/09 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W40/064 , B60W40/101 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B62D6/003
摘要： According to a difference (state amount difference) between a regulated state amount decided by a vehicle model (16) and an actual state amount of an actual vehicle (1), an FB distribution rule (20) decides an actual vehicle actuator operation control input and a vehicle model operation control input so that the state amount difference approaches 0. An actuator device (3) of the actual vehicle (1) and the vehicle model (16) are operated by the control inputs. The FB distribution rule (20) decides the model operation control input so that the state amount difference approaches 0 while preventing deviation of a predetermined limit amount from an allowed range. Thus, it is possible to provide a vehicle control device capable of controlling operation of the actuator appropriate for the actual vehicle behavior and increasing the robust feature against an external turbulence factor or its change.
摘要翻译： FB分配规则（20）根据由车辆模型（16）决定的规定状态量与实际车辆（1）的实际状态量的差（状态量差），决定实际的车辆致动器动作控制输入 以及车辆模型操作控制输入，使得状态量差接近于0.通过控制输入来操作实际车辆（1）和车辆模型（16）的致动器装置（3）。 FB分配规则（20）决定模型操作控制输入，使得状态量差异接近0，同时防止预定限制量偏离允许范围。 因此，可以提供一种车辆控制装置，其能够控制适合于实际车辆行为的致动器的操作并且相对于外部湍流因子或其变化增加鲁棒特征。
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公开(公告)号：EP1950113A1
公开(公告)日：2008-07-30
申请号：EP06835094.1
申请日：2006-12-21
CPC分类号： B60T8/1755 , B60T2210/12 , B60T2230/02 , B60W40/064 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20
摘要： A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a road surface reaction force and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.
摘要翻译： 确定表示车辆的多个车轮中的一个以上的特定车轮的第k个车轮的驾驶/制动力操纵控制输入，使得能够起作用的路面反作用力之间的关系的要求条件 基于路面反作用力的检测值或估计值和第k轮的摩擦特性，从第k轮的路面，与第k轮的驱动/制动力相关的反馈控制输入 第k轮，用于使车辆的状态量与接近零的基准状态量之间的差异，基于由车辆的驾驶员提供的驱动操作变量的驱动/制动力前馈控制输入，以及k- 满足车轮驱动/制动力操纵控制输入。 这种布置使得可以适当地考虑从车轮上的路面起作用的路面反作用力的特性来适当地控制实际车辆的运动到期望的运动。
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公开(公告)号：EP1967433A1
公开(公告)日：2008-09-10
申请号：EP06835098.2
申请日：2006-12-21
IPC分类号： B60W30/02 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/00
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/184 , B60W10/20 , B60W50/06 , B60W2050/0012 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.
摘要翻译： 表示车辆的多个车轮中的一个或多个特定车轮的第k个车轮的驱动/制动力操纵控制输入被确定为使得关于可能起作用的路面反作用力 根据第k轮的侧滑角和第k轮的摩擦特性的检测值或估计值，从第k轮上的路面输出与k的驱动/制动力有关的反馈控制输入 基于由车辆的驾驶员提供的驾驶操作变量的驱动/制动力前馈控制输入，以及第k个车轮的第k个车轮的状态量与基准状态量之间的差值接近零 满足车轮驱动/制动力操纵控制输入。 这种布置使得可以适当地考虑从车轮上的路面作用的路面反作用力的特性，同时适当地将实际车辆的运动控制为期望的运动。
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公开(公告)号：EP1950116A1
公开(公告)日：2008-07-30
申请号：EP06835093.3
申请日：2006-12-21
IPC分类号： B60W50/06 , B60T8/174 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/02 , B62D6/00 , B62D101/00 , B62D113/00 , B62D137/00
CPC分类号： B62D6/04 , B60T8/1755 , B60T2230/02 , B60T2270/86 , B60W2050/0033 , B62D6/003 , Y10S903/93
摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16, respectively, are operated on the basis of the control inputs. The FB distribution law 20 estimates an external force acting on the actual vehicle 1 due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero. Thus, a vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.
摘要翻译： 根据由车辆模型16确定的参考状态量与实际车辆执行器的实际状态量 实际车辆1（状态量误差），以使状态量误差接近于零，然后根据控制输入分别操作实际车辆1和模型车辆16的致动装置3。 FB分配规则20根据用于操作实际车辆致动器的控制输入来估计作用在实际车辆1上的外力，并且基于估计值和基本值来确定用于操作车辆模型的控制输入 用于操作车辆模型的控制输入，用于将状态量误差近似为零。 因此，提供了一种车辆控制装置，该车辆控制装置能够在尽可能多地执行适合于实际车辆的行为的致动器的操作控制的同时提高对干扰因素或其变化的稳健性。
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公开(公告)号：EP1950116B1
公开(公告)日：2010-02-17
申请号：EP06835093.3
申请日：2006-12-21
IPC分类号： B60W50/06 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/02 , B62D6/00
CPC分类号： B62D6/04 , B60T8/1755 , B60T2230/02 , B60T2270/86 , B60W2050/0033 , B62D6/003 , Y10S903/93
摘要： According to a difference (state amount difference) between a predetermined state amount decided by a vehicle model (16) and an actual state amount of an actual vehicle (1), an FB distribution rule (20) decides the actual vehicle actuator operation control input and the vehicle model operation control input so that the state amount difference approaches 0. An actuator device (3) of the actual vehicle (1) and the vehicle model (16) are operated by these control inputs. The FB distribution rule (20) estimates an external force operating on the actual vehicle (1) and attributed to the actual vehicle actuator operation control input and decides the vehicle model operation control input according to the estimated value and a basic value of the vehicle model operation control input for making the state amount difference approach 0. Thus, it is possible to provide a vehicle control device capable of performing actuator operation control appropriate for an actual vehicle behavior and increasing the robust feature against an external turbulence factor or its change.
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公开(公告)号：EP1967433B1
公开(公告)日：2010-09-29
申请号：EP06835098.2
申请日：2006-12-21
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/184 , B60W10/20 , B60W50/06 , B60W2050/0012 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： A drive/brake force operation control input of the k-th wheel(s) as one or more particular wheels among a plurality of wheels of a vehicle is decided so as to satisfy the required condition concerning the road surface reaction force operating from the road surface on the k-th wheel(s) in accordance with detected values or estimated values of the sideway skid angle and the friction feature of the k-th wheel(s), a feedback control input concerning the drive/brake force of the k-th wheel(s) for making the difference between the vehicle state amount and the regulated state amount approach 0, and the relationship between the drive/brake force feed forward control input based on the drive operation amount by a vehicle driver and the drive/brake force operation control input of the k-th wheel(s). Thus, it is possible to appropriately control the actual vehicle movement into a desired movement while appropriately considering the feature of the road surface reaction force operating from the road surface on the wheels.
摘要翻译： 确定作为车辆的多个车轮中的一个或多个特定车轮的第k个车轮的驱动/制动力操作控制输入以满足关于从道路操作的路面反作用力的所需条件 根据检测到的值或侧向滑动角度的估计值和第k个车轮的摩擦特征，在第k个车轮上产生与第k个车轮的表面相关的反馈控制输入， 用于使车辆状态量和调节状态量之差接近0的车轮和基于车辆驾驶员的驱动操作量的驱动/制动力前馈控制输入与驱动/ 第k个车轮的制动力操作控制输入。 因此，可以在适当考虑从车轮上的路面操作的路面反作用力的特征的同时，适当地将实际车辆运动控制为期望的运动。
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公开(公告)号：EP1967432B1
公开(公告)日：2010-09-08
申请号：EP06835096.6
申请日：2006-12-21
IPC分类号： B60T8/58
CPC分类号： B62D6/003 , B60T8/1755 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： An FB distribution rule (20) decides an actual actuator operation control input and a vehicle model operation control input so that a difference (state amount difference) between a regulated state amount decided by a vehicle model (16) and an actual state amount of an actual vehicle (1) approaches 0 and the actuator device (3) of the actual vehicle (1) and the vehicle model (16) are operated according to the control inputs. In the FB distribution rule (20), when the actual vehicle side feedback requirement amount based on the state amount difference exists in a non-detectable band, the actual vehicle actuator operation control input is decided by using the required amount as a predetermined value. The vehicle model operation control input is decided so that the state amount difference approaches 0 without depending on whether the actual vehicle side feedback requirement amount exists in the non-detectable band. Thus, it is possible to increase the linearity of the control system, performs actuator operation control appropriate for the actual vehicle behavior, and increase the robust feature against an external turbulence or its change.
摘要翻译： FB分配规则（20）决定实际的致动器操作控制输入和车辆模型操作控制输入，使得由车辆模型（16）确定的调节后的状态量与由车辆模型（16）确定的实际状态量之间的差值（状态量差值） 实际车辆（1）接近0，并且根据控制输入来操作实际车辆（1）和车辆模型（16）的致动装置（3）。 在FB分配规则（20）中，当基于状态量差的实际车辆侧反馈要求量处于不可检测的带中时，通过使用所需量作为预定值来判定实际车辆致动器操作控制输入。 车辆模型操作控制输入被确定为使得状态量差异接近0而不依赖于实际车辆侧反馈要求量是否存在于不可检测的频带中。 因此，可以增加控制系统的线性度，执行适合于实际车辆行为的执行器操作控制，并且增加针对外部湍流或其变化的鲁棒特征。
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公开(公告)号：EP1958839B1
公开(公告)日：2010-03-03
申请号：EP06835095.8
申请日：2006-12-21
IPC分类号： B60W30/02 , B60R16/02 , B60T8/174 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/12 , B60W10/18 , B60W30/00 , B60W40/10 , B62D6/00 , F02D29/00 , F02D29/02
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/18 , B60W40/10 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20 , B60W2530/20 , B62D6/003
摘要： A basic required operation amount Mfbdmd_a is decided according to a state amount difference which is a difference between a movement state amount of an actual vehicle (1) and a predetermined state amount. According to the basic required operation amount, wheel drive/brake force operation control input Fxfbdmd_n is decided. Here, a change of the drive/brake force operation control input Fxdmd_n of front wheels and rear wheels of a particular set is made proportional to a change of the basic required operation amount Mfbdmd_a and a ratio of the Fxdmd_n with respect to the change of Mfbdmd_a is changed in accordance with a gain adjusting parameter such as sideway skid angles βf_act and βr_act. This enables appropriate operation of the road surface reaction force operating on the vehicle front wheels and the road surface reaction force operating on the rear wheels so as to appropriately control movement of an actual vehicle top a desired movement.
摘要翻译： 根据作为实际车辆（1）的运动状态量与预定状态量之间的差值的状态量差来确定基本要求操作量Mfbdmd_a。 根据基本要求操作量，决定车轮驱动/制动力操作控制输入Fxfbdmdn。 这里，使特定组的前轮和后轮的驱动/制动力操作控制输入Fxdmd_n的变化与基本所需操作量Mfbdmd_a的变化以及Fxdmd_n与 对于Mfbdmd的变化a根据增益调整参数如横向滑动角度βfact和βraction进行变化。 由此，能够适当地对在车辆前轮上动作的路面反力以及在后轮上动作的路面反作用力进行操作，能够适当地控制实际的车辆顶部的期望的动作。
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