Vehicle motion control device

• US 8,510,007 B2
• Filed: 12/11/2008
• Issued: 08/13/2013
• Est. Priority Date: 12/12/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Mori, Katsuyuki, Sawada, Mamoru, Matsumoto, Toshiki, Sada, Takeshi
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US12/316,384
• Publication Number:
  US 20090157246A1
• Time in Patent Office: 1,706 Days
• Field of Search: 701/1, 701/36, 701/37, 701/48, 701/69, 701/70, 701/72, 701/74, 701/75, 701/82, 701/84, 701/89, 701/90, 701/93, 701/94, 180/65.21, 180/65.25, 180/65.26, 180/65.265, 180/65.275, 180/65.285, 180/197, 180/65.22, 280/5.507, 280/5.513, 280/5.515
• US Class Current: 701/69
• CPC Class Codes: B60K 6/48 Parallel type
• CPC Class Codes: B60K 6/52 Driving a plurality of drive axles, e.g. four-wheel drive
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/441 Speed
• CPC Class Codes: B60L 2240/443 Torque
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2240/549 Current
• CPC Class Codes: B60L 2260/28 Four wheel or all wheel drive
• CPC Class Codes: B60L 2260/44 by parameter estimation
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: B60L 50/16 with provision for separate direct mechanical propulsion
• CPC Class Codes: B60L 50/61 by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/11 using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance utilising navigation and traffic information in the control strategy B60W20/12
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2540/10 : Accelerator pedal position
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 2710/0666 : Engine torque
• CPC Class Codes: B60W 2720/30 : Wheel torque
• CPC Class Codes: B60W 30/045 : Improving turning performance
• CPC Class Codes: B60W 30/20 : Reducing vibrations in the driveline
• CPC Class Codes: B60W 40/10 : related to vehicle motion
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A vehicle motion control device adjusts vibrations occurring in components of a vehicle so as to control the motion of a vehicle having independent drive assemblies for front wheels and for rear wheels. The vehicle motion control device includes a base request torque calculation unit that calculates first and second base request torques in response to a request made by the driver of a vehicle. A correction torque calculation unit calculates first and second correction torques used to adjust vibrations in a low-frequency band and in a high-frequency band of the vibrations of the components of the vehicle. An internal combustion engine control unit and a motor generator control unit control an internal combustion engine and a motor generator so that the first and second base request torques are corrected with the first and second correction torques.

Claims

1. A vehicle running control device mounted in a four-wheel-drive vehicle, the vehicle running control device controlling running operation of the four-wheel-drive vehicle having:

a first drive assembly including an internal combustion engine generating a first torque in a first output shaft coupled to a first pair of wheels;

a second drive assembly including a motor generating a second torque in a second output shaft coupled to a second pair of wheels, the second drive assembly independent of the first drive assembly; and

means for detecting states of components of the vehicle, the vehicle running control device comprising;

a base request torque calculation unit calculating a first base request torque for the first drive assembly and a second base request torque for the second drive assembly in response to a request received from a driver of the vehicle;

a correction torque calculation unit that estimates vibrational states of the components of the vehicle on the basis of the detected states of the components of the vehicle, and calculates a first correction torque for correcting the first base request torque, the first correction torque used to increase or decrease vibrations in a low-frequency band of vibration frequencies of up and down vibrations exerted to tires of the vehicle, and a second correction torque for correcting the second base request torque, the second correction torque used to increase or decrease vibrations in a high-frequency band of the vibration frequencies of the up and down vibrations; and

first and second control units that control the internal combustion engine and motor, respectively, so that the first base request torque and the second base request torque are corrected with the first correction torque and the second correction torque, respectively, to provide a first base corrected request torque and a second base corrected request torque which are to be outputted from the first drive assembly and the second drive assembly, respectively.

2. The vehicle running control device according to claim 1, wherein the correction torque calculation unit calculates the first correction torque on the basis of a low-frequency band model modeling low-frequency band vibrations of the components of the vehicle, and calculates the second correction torque on the basis of a high-frequency band model modeling high-frequency band vibrations of the components of the vehicle.

3. The vehicle running control device according to claim 2, wherein the low-frequency band model includes a first spring-mass model modeling vibrations associated with a vehicle body accommodating occupants.

4. The vehicle running control device according to claim 3,

wherein the first drive assembly applies the first torque to the first output shaft coupled to the first pair of wheels, which are front wheels of the vehicle, to increase or decrease vibrations of the vehicle, and

the correction torque calculation unit calculates the first correction torque that causes a vibration, which occurs in a wheel on a side of a turning direction of the pair of front wheels, to decrease and that causes a vibration, which occurs in a wheel on a side opposite to the side of the turning direction of the pair of front wheels, to increase, when the vehicle is turned, thereby to control a turning motion of the vehicle.

5. The vehicle running control device according to claim 2, wherein the high-frequency band model includes a second spring-mass model modeling a chassis frame bearing a vehicle body and tires joined to the chassis frame.

6. The vehicle running control device according to claim 5, wherein

the second drive assembly applies the second torque to the second output shaft coupled to the second pair of wheels, which are rear wheels of the vehicle, to increase or decrease vibrations of the chassis frame and the tires joined to the chassis frame, and

the correction torque calculation unit calculates the second correction torque that causes a vibration, which occurs in a wheel on a side of a turning direction of the pair of rear wheels, to decrease and that causes a vibration, which occurs in a wheel on a side opposite to the side of the turning direction of the pair of rear wheels, to increase, when the vehicle is turned, thereby to control a turning motion of the vehicle.

7. The vehicle running control device according to claim 1, wherein the four-wheel-drive vehicle includes a power storage unit connected to and feeding power to the motor, and a generator that uses the first torque of the first output shaft to generate electricity to charge the power storage unit, the generator having a relatively higher frequency response than the internal combustion engine.

8. The vehicle running control device according to claim 7, further comprising a generator request torque calculation unit that calculates a required torque, as a third base request torque, required by the generator for generating a first amount of the electricity necessary to retain a second amount of stored power at a predetermined reference level on the basis of the second amount of stored power and a power generation efficiency factor of the generator, wherein:

the first control unit controls the internal combustion engine so that the first base request torque will be corrected with the third base request torque.

9. The vehicle running control device according to claim 8, wherein the generator request torque calculation unit calculates an excess torque which the internal combustion engine can induce in the first output shaft in addition to the first base request torque, the third base request torque being the smaller of the excess torque and the required torque.

10. The vehicle running control device according to claim 9, wherein when the second amount of stored power falls below the reference value, the first control unit performs correction of the first base request torque using the third base request torque with a higher priority than performing correction of the first base request torque using the first correction torque.