VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

Abstract

A vehicle control device according to one aspect of the invention comprises a control unit designed to derive a target torque by adding a cyclically fluctuating fluctuation torque to a requested torque corresponding to an acceleration request, and to control the torque of a motor based on the derived target torque. The control unit is designed to modify one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle, and a fluctuation torque waveform based on any of the following values: vehicle speed, vehicle longitudinal acceleration, vehicle body slip angular velocity, vehicle restoring torque, road surface friction coefficient, vehicle cornering condition, and a torsional resonance frequency of a wheel of the vehicle.

Description

Technical field

[0001] The invention relates to a vehicle control device for attachment to a vehicle and a vehicle control method. State of the art

[0002] Various techniques have been proposed for the safe operation of a vehicle (see, for example, patent literature 1 and 2). List of literature on patent literature Patent Literature 1: Unexamined Japanese patent application publication JP 2017-55618A Patent Literature 2: Unexamined Japanese patent application publication JP 2011-205799A Brief description of the invention

[0003] One aspect of the invention provides a vehicle control device designed to control a vehicle driven by an engine. The vehicle control device includes a control unit designed to derive a target torque by adding a cyclically fluctuating fluctuation torque to a requested torque corresponding to an acceleration request, and to control the engine torque based on the derived target torque.The control unit is further designed to change one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle and a fluctuation torque waveform based on any of the values ​​of a vehicle speed, a vehicle longitudinal acceleration, a vehicle body slip angle velocity, a vehicle restoring torque, a road surface friction coefficient, a vehicle cornering condition and a torsional resonance frequency of a wheel of the vehicle.

[0004] One aspect of the invention provides a vehicle control method for controlling a vehicle driven by an engine. The vehicle control method comprises the following two actions: (1) Deriving a target torque by adding a cyclically fluctuating fluctuation torque to a requested torque corresponding to an acceleration request and controlling a torque of the motor on the basis of the derived target torque. (2) Changing one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle and a fluctuation torque waveform based on any of the values ​​of a vehicle speed, a vehicle longitudinal acceleration, a vehicle body slip angular velocity, a vehicle restoring torque, a road surface friction coefficient, a vehicle cornering condition and a torsional resonance frequency of a wheel of the vehicle. Brief description of the drawings

[0005] The accompanying drawings serve to improve understanding of the invention and are an integral part of this description. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention.

[0006] The drawings show in: Fig. 1 A representation of an example of a functional block of a vehicle with a vehicle control device according to an embodiment of the invention. Fig. 2. A representation of an example of a process for deriving a target torque in a vehicle control device according to Fig. 1. Fig. 3. A representation of an example of a process for deriving a fluctuation torque in step S104 in Fig. 2. Fig. 4 (A) a representation of an example of a waveform of a requested torque. Fig. 4 (B) a representation of an example of a waveform of fluctuating torque. Fig. 4 (C) a representation of an example of a waveform of the target torque. Fig. 5 (A) a representation of an example of the waveform of the requested torque. Fig. 5 (B) a representation of an example of the waveform of the fluctuating torque. Fig. 5 (C) a representation of an example of the waveform of the target torque. Fig. 6. A representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 7 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 8 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 9 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 10 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 11 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 12 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 13 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 14 (A) a representation of an example of the waveform of the requested torque. Fig. 14 (B) a representation of an example of the waveform of the fluctuating torque. Fig. 14 (C) a representation of an example of the waveform of the target torque. Fig. 15 a representation of a modification example for the vehicle's functional block according to Fig. 1. Fig. 16 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 17 a representation of a modification example for the process for deriving the fluctuation torque in step S104 in Fig. 2. Fig. 18 a representation of a schematic configuration example for a vehicle control system according to an application example of the invention. Fig. 19 a representation of an example of a functional block of a vehicle according to Fig. 18. Fig. 20 a representation of an example of a functional block of a server setup according to Fig. 18. Embodiments of the invention

[0007] In a vehicle powered by an engine, the driving experience is smoother than with a combustion engine, making it difficult for the driver to detect wheel slip. Consequently, the driver may not be able to recognize the possibility of wheel slip, thus exposing the vehicle to risk. It is therefore desirable to specify a vehicle control device and a vehicle control procedure that enable a driver to detect the possibility of wheel slip.

[0008] Below, some exemplary embodiments of the invention are described in detail with reference to the accompanying drawings. It should be noted that the following description is intended to illustrate the invention and is not to be understood as limiting the invention. Factors including, without limitation, numerical values, shapes, materials, components, positions of the components, and the manner in which the components are connected are intended only for illustration and are not to be understood as limiting the invention.

[0009] Furthermore, in the following exemplary embodiments, elements not listed in a most general independent claim of the invention are optional and may be included as needed. The drawings are schematic and not to scale. Throughout this description and the drawings, elements with essentially the same function and configuration are designated by the same reference numerals, and redundant descriptions thereof are omitted. Furthermore, elements not directly related to any embodiment of the invention are not shown in the drawings. 1. Example of an embodiment configuration

[0010] Fig. Figure 1 represents a schematic configuration example of a vehicle 1 with a control unit 20 according to an embodiment of the invention. The control unit 20 corresponds to a specific example of a "control unit" according to the invention. The vehicle 1 is designed to be driven by a motor. As shown in Figure 1, the vehicle 1 is designed to be propelled by a motor. Fig. As shown in Figure 1, the vehicle 1 has, for example, a sensor unit 10, a control unit 20 and a motor 30.

[0011] Sensor unit 10 has various sensors attached to vehicle 1. As shown in Fig. As shown in Figure 1, the sensor unit 10 includes, for example, an accelerator pedal position sensor 11, a vehicle speed sensor 12, an acceleration sensor 13, an angular velocity sensor 14, a steering angle sensor 15, a steering torque sensor 16, and a road surface friction coefficient sensor 17. The sensor unit 10 can also include any sensors other than those described above.

[0012] The accelerator pedal position sensor 11 is designed to detect an accelerator pedal position based on the degree of actuation of the accelerator pedal. The accelerator pedal position sensor 11 is designed to output time series data (accelerator pedal position data) about the detected accelerator pedal position to the control unit 20.

[0013] The vehicle speed sensor 12 is designed to detect the speed (vehicle speed) of vehicle 1. The vehicle speed sensor 12 is designed to output time-series data (vehicle speed data) about the detected vehicle speed to the control unit 20. The acceleration sensor 13 is designed to detect acceleration exerted on vehicle 1. The acceleration sensor 13 is designed to output time-series data (acceleration data) about the accelerations detected in three directions to the control unit 20. The angular velocity sensor 14 is designed to detect the angular velocity of vehicle 1.The angular velocity sensor 14 is designed to output time series data (angular velocity data) about the three detected angular velocities (a yaw angular velocity, a roll angular velocity and a pitch angular velocity) to the control unit 20.

[0014] The steering angle sensor 15 is designed to detect the steering angle of the vehicle 1's steering wheel. The steering angle sensor 15 is designed to output time-series data (steering angle data) about the detected steering angle to the control unit 20. The steering torque sensor 16 is designed to detect the steering torque generated by a steering maneuver performed by the driver. The steering torque sensor 16 is designed to output time-series data (steering torque data) about the detected steering torque to the control unit 20.

[0015] The road surface friction coefficient sensor 17 is designed to estimate, for example, the friction coefficient of a road surface in front of the vehicle 1. The road surface friction coefficient sensor 17 includes, for example, a non-contact sensor, such as a camera that captures images in front of the vehicle 1, a temperature sensor (an ambient air temperature sensor or a road surface temperature sensor), a near-infrared sensor, or a laser light sensor (time-of-flight sensor). The road surface friction coefficient sensor 17 is designed to estimate the road surface friction coefficient, for example, based on a detection result from the non-contact sensor.The road surface friction coefficient sensor 17 is designed to output time series data (road surface friction coefficient data) about the road surface friction coefficient obtained through estimation to the control unit 20. The road surface friction coefficient sensor 17 can, for example, be a road surface sensor that directly measures the road surface friction coefficient.

[0016] The control unit 20 is designed to control the vehicle 1 as a whole. The control unit 20 is, for example, an ECU (electronic control unit) and has, for example, one or more processors and one or more memory modules. The control unit 20 can, for example, have a CPU (central processing unit). The control unit 20 is designed to control the vehicle 1 as a whole, for example, by executing a program stored in memory.

[0017] The control unit 20 is designed to control the vehicle 1, which is driven by a motor. The control unit 20 includes, for example, a driving control device 21, as shown in Fig. Figure 1 shows the vehicle control unit 21. It is designed to control the movement of the vehicle 1 (e.g., the torque of the motor 30).

[0018] As in Fig. As shown in Figure 1, the driving control unit 21 includes, for example, a unit 22 for deriving requested torques, a fluctuation torque derivation unit 23 and an engine torque control unit 24.

[0019] The unit 22 for deriving requested torques is designed to derive a requested torque corresponding to an acceleration request. The acceleration request refers to actuation of the accelerator pedal or a change in the degree of actuation of the accelerator pedal. The acceleration request can be made by the driver in manual driving mode or by the vehicle control unit 21 in automated driving mode. The unit 22 for deriving requested torques is designed to derive a torque to be generated by the motor 30 (the requested torque) based on the accelerator pedal position data received from the accelerator pedal position sensor 11.

[0020] The fluctuating torque derivation unit 23 is designed to derive the cyclically fluctuating fluctuating torque. The fluctuating torque is intended to cause the driver to recognize a potential slippage of the vehicle 1 by selectively altering its behavior. The fluctuating torque derivation unit 23 is designed to ensure that the fluctuation range, cycle, and waveform of the fluctuating torque remain constant, independent of the requested torque value.

[0021] The fluctuation torque derivation unit 23 is designed to modify one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on the vehicle speed data obtained from the vehicle speed sensor 12 attached to the vehicle 1. For example, the fluctuation torque derivation unit 23 is designed to specify the fluctuation range of the fluctuation torque as zero or a small value when the possibility of vehicle 1 slip is low, and to specify the fluctuation range of the fluctuation torque as a large value when the possibility of vehicle 1 slip is high.

[0022] In one example, the fluctuation torque derivation unit 23 is designed to specify the fluctuation cycle of the fluctuation torque as a large value when the possibility of vehicle 1 slip is low, and to specify the fluctuation cycle of the fluctuation torque as a small value when the possibility of vehicle 1 slip is high. In another example, the fluctuation torque derivation unit 23 is designed to specify the waveform of the fluctuation torque as a smooth waveform (e.g., a sine wave) when the possibility of vehicle 1 slip is low, and to specify the waveform of the fluctuation torque as a rectangular shape (e.g., a pulsed shape) when the possibility of vehicle 1 slip is high.

[0023] The motor torque control unit 24 is designed to derive the target torque by adding the fluctuating torque to the requested torque and to control the torque of the motor 30 based on the derived target torque. The motor 30 is designed to drive the steered wheels of the vehicle 1 and to drive the steered wheels of the vehicle 1 according to the target torque input from the motor torque control unit 24.

[0024] The control unit 20 further comprises a control device for an electric power steering (EPS) system. The vehicle 1 also comprises an EPS motor coupled to the EPS control device. The EPS motor is designed to apply a steering assist torque to a steering shaft, corresponding to a drive signal output by the EPS control unit. The EPS control device derives the steering assist torque, which is designed to assist the steering torque generated by the steering maneuver performed by the driver, and outputs an EPS torque corresponding to the derived steering assist torque. The EPS control device outputs the control signal to the EPS motor in such a way that the output torque of the EPS motor becomes the specified EPS torque. Operation

[0025] Next, the operation of the vehicle control unit 21 will be described with reference to Fig. 2 described. Fig. Figure 2 is a representation of an example of a process for deriving the target torque.

[0026] The vehicle control unit 21 detects the acceleration request from the accelerator pedal position sensor 11 (step S101). Next, once the acceleration request has been detected by the accelerator pedal position sensor 11 (step S102), the vehicle control unit 21 derives the fluctuation torque (step S104) if the detected acceleration request is a request to accelerate or a request to decelerate (step S103: YES).

[0027] If the detected acceleration request is neither a request for acceleration nor a request for deceleration (step S103: NO), or if the fluctuation torque is derived in step S104, the vehicle control unit 21 derives the target torque (step S105). If the detected acceleration request is neither a request for acceleration nor a request for deceleration, the vehicle control unit 21 specifies the requested torque corresponding to the acceleration request as the target torque.

[0028] Once the fluctuating torque has been derived in step S104, the vehicle control unit 21 derives the target torque by adding the cyclically fluctuating fluctuating torque to the requested torque corresponding to the acceleration request. The vehicle control unit 21 then controls the torque of the motor 30 based on the derived target torque. In doing so, the vehicle control unit 21 modifies one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque based on the vehicle speed obtained from the vehicle speed sensor 12 attached to the vehicle 1. Furthermore, the vehicle control unit 21 ensures that one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque remain constant, independent of the requested torque value.

[0029] Next, a method for deriving the fluctuation torque in step S104 is described. Fig. Figure 3 is a representation of an example of a process for deriving the fluctuation torque in step S104.

[0030] First, the vehicle control unit 21 detects the vehicle speed v (the vehicle speed data) from the vehicle speed sensor 12 (step S201). Next, if the vehicle speed v is 10 km / h (step S202: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the vehicle speed v = 10 km / h (step S203). If the vehicle speed v is 100 km / h (step S202: NO and step S204: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the vehicle speed v = 100 km / h (step S205).

[0031] To derive the fluctuating torque, a mathematical function with the vehicle speed v as a variable can be used, or tabular data can be used in which the fluctuating torque is assigned to each vehicle speed v. A method for deriving the fluctuating torque is not limited to the one in Fig. The 3 methods shown are limited. Effect

[0032] Next, an effect of the control unit 20 according to an embodiment of the invention will be described.

[0033] In the present embodiment, the target torque is derived by adding the cyclically fluctuating fluctuation torque to the requested torque corresponding to the acceleration requirement, and the torque of the motor 30 is controlled based on the derived target torque. One or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque are modified based on the vehicle speed obtained from the vehicle speed sensor 12 attached to the vehicle 1. Thus, the steered wheels of the vehicle 1 are driven according to the target torque, and the behavior of the vehicle 1 is varied according to the target torque.

[0034] Fig. Figure 4 (A) shows an example of a waveform of the requested torque. Fig. Figure 4 (B) shows an example of the waveform of the fluctuating torque. Fig. Figure 4(C) shows an example of a target torque waveform. If the requested torque ta assumes a value A (a constant value) at a certain time, a square wave is generated as the fluctuating torque tb corresponding to the vehicle speed v, and the target torque tc is generated with a waveform in which the fluctuating torque tb is added to the requested torque ta.

[0035] The vehicle control unit 21 outputs the target torque tc with the in Fig. The waveform shown in Figure 4C is transmitted to the motor 30. Accordingly, the motor 30 drives the steered wheels of the vehicle 1 according to the target torque tc input by the vehicle control unit 21. Consequently, the behavior of the vehicle 1 varies according to the target torque tc, so that the driver can perceive the varying behavior of the vehicle 1.

[0036] The addition of the fluctuation torque (i.e., the change in the behavior of vehicle 1) is implemented when the possibility of vehicle 1 slipping increases. This makes it possible to alert the driver to the possibility of vehicle 1 slipping by causing the driver to perceive the change in the vehicle 1's behavior.

[0037] Fig. Figure 5 (A) shows an example of the waveform of the requested torque. Fig. Figure 5 (B) shows an example of the waveform of the fluctuating torque. Fig. Figure 5 (C) shows an example of the waveform of the target torque. Fig. 5 (B) provides an example of the fluctuation torque tb to be generated when the vehicle speed v is higher than the vehicle speed v according to Fig. 4 (B). A peak value of the in Fig. The fluctuation torque tb shown in 5 (B) is greater than a peak value of the in Fig. 4 (B) shown fluctuation torque tb.

[0038] Thus, the change in the behavior of vehicle 1, which is due to the in Fig. 5 (C) shows the target torque tc occurring, which is greater than the change in the behavior of vehicle 1 resulting from the Fig. The target torque tc shown in Figure 4(C) occurs. Accordingly, it can easily be caused that the driver perceives the varying behavior of vehicle 1 when vehicle 1 is moving at high speed and the possibility of vehicle 1 slippage is increased.

[0039] In the present embodiment, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are constant, independent of the requested torque value. Accordingly, the driver can be made to recognize the possibility of vehicle 1 slippage even on road surfaces where the likelihood of slippage is increased (e.g., on snow or ice), even when the requested torque is low. Modification examples

[0040] Even though the invention has been described with reference to one embodiment, the invention is not limited to that embodiment, and various modifications can be made. Modification example A

[0041] In the embodiment described above, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also be configured to modify one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on longitudinal acceleration instead of vehicle speed. Longitudinal acceleration is acceleration exerted in a front-to-rear direction by the vehicle 1. The vehicle control unit 21 (the fluctuation torque derivation unit 23) derives the longitudinal acceleration based on the acceleration data received from the acceleration sensor 13.

[0042] Fig. Figure 6 is a representation of an example of a process for deriving the fluctuation torque in step S104. First, the vehicle control unit 21 derives the longitudinal acceleration a based on the acceleration data obtained from the acceleration sensor 13 (step S301). Next, when the longitudinal acceleration a reaches the value 1 m / s², the vehicle control unit 21 derives 2 has (step S302: YES), which has a longitudinal acceleration a = 1 m / s² 2 The corresponding fluctuation torque is applied (step S303). If the longitudinal acceleration a is 5 m / s² 2 (Step S302: NO and Step S304: YES), the vehicle control unit 21 directs the longitudinal acceleration a = 5 m / s². 2 corresponding fluctuation torque (step S305).

[0043] For the derivation of the fluctuating torque, a mathematical function with the longitudinal acceleration *a* as a variable can be used, or tabular data can be used in which the fluctuating torque is assigned to each longitudinal acceleration. A method for deriving the fluctuating torque is not limited to the one described in [reference to be added]. Fig. The procedures shown are limited to 6.

[0044] In the present modification example, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are changed based on the acceleration obtained from the accelerometer 13 attached to the vehicle 1. Thus, the steered wheels of the vehicle 1 are driven according to the target torque, and the behavior of the vehicle 1 varies accordingly. Consequently, it is possible to make the driver perceive the varying behavior of the vehicle 1. The addition of the fluctuating torque (i.e., the change in the behavior of the vehicle 1) is performed when the possibility of slippage of the vehicle 1 is increased. Therefore, it is possible to make the driver aware of the possibility of slippage of the vehicle 1 by causing the driver to perceive the change in the vehicle 1's behavior. Modification example B

[0045] In the embodiment described above, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also be configured to change one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on a body slip angle velocity instead of the vehicle speed. The body slip angle velocity can be derived, for example, using the following equation. The vehicle control unit 21 (the fluctuation torque derivation unit 23) derives the body slip angle velocity, for example, based on the angular velocity data obtained from the angular velocity sensor 14, the acceleration data obtained from the acceleration sensor 13, and the velocity data obtained from the vehicle speed sensor 12. b=γ−Ay / v b: Body slip angle speed Ay: Lateral acceleration γ: Yaw rate v: Vehicle speed 1

[0046] Fig. Figure 7 is a representation of an example of a process for deriving the fluctuation torque in step S104. First, the vehicle control unit 21 derives the body slip angular velocity b based on the angular velocity data obtained from the angular velocity sensor 14, the acceleration data obtained from the acceleration sensor 13, and the velocity data obtained from the vehicle speed sensor 12 (step S401).

[0047] Next, if the body slip angle b has a value of 0.1 rad / s (step S402: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the body slip angle b = 0.1 rad / s (step S403). If the body slip angle b has a value of 0.5 rad / s (step S402: NO and step S404: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the body slip angle b = 0.5 rad / s (step S405).

[0048] For the derivation of the fluctuation torque, a mathematical function with the body slip angular velocity b as a variable can be used, or tabular data can be used in which the fluctuation torque is assigned to each body slip angular velocity b. A method for deriving the fluctuation torque is not limited to the one in Fig. The 7 described procedures are limited.

[0049] In the present modification example, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are changed based on the angular velocity, acceleration, and velocity obtained from the angular velocity sensor 14, the acceleration sensor 13, and the vehicle speed sensor 12, respectively, which are mounted on the vehicle 1. Thus, the steered wheels of the vehicle 1 are driven according to the target torque, and the behavior of the vehicle 1 is varied according to the target torque.

[0050] Consequently, it is possible to make the driver perceive the varying behavior of vehicle 1. This is achieved by adding the fluctuation torque (i.e., the change in the behavior of vehicle 1) when the possibility of vehicle 1 slipping increases. Thus, it is possible to make the driver aware of the possibility of vehicle 1 slipping by causing the driver to perceive the change in the vehicle 1's behavior. Modification example C

[0051] In the embodiment described above, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also be configured to modify one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on a restoring torque instead of the vehicle speed. The vehicle control unit 21 (the fluctuation torque derivation unit 23) is configured to derive the restoring torque based on any value of the steering angle, steering torque, and power steering torque.

[0052] The restoring torque refers to a restoring force generated in a steering mechanism when the wheels rotate. The vehicle control unit 21 (the fluctuation torque derivation unit 23) derives the restoring torque, for example, based on the steering angle data obtained from the steering angle sensor 15, the steering torque data obtained from the steering torque sensor 16, and the power steering torque derived from the EPS control unit.

[0053] Fig. Figure 8 illustrates an example process for deriving the fluctuation torque in step S104. First, the vehicle control unit 21 derives the restoring torque c based on the steering angle data obtained from the steering angle sensor 15, the steering torque data obtained from the steering torque sensor 16, and the power steering torque derived from the EPS control unit (step S501). Next, if the restoring torque c has a value of 1 Nm (step S502: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the restoring torque c = 1 Nm (step S503). If the restoring torque c has a value of 2 Nm (step S502: NO and step S504: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the restoring torque c = 2 Nm (step S505).

[0054] To derive the fluctuating torque, a mathematical function with the restoring torque c as a variable can be used, or tabular data can be used in which the fluctuating torque is assigned to each restoring torque c. A method for deriving the fluctuating torque is not limited to the one in Fig. The 8 procedures shown are limited.

[0055] In the present modification example, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are changed based on the restoring torque. Thus, the steered wheels of vehicle 1 are driven according to the target torque, and the behavior of vehicle 1 varies depending on the target torque. Consequently, it is possible to make the driver perceive the varying behavior of vehicle 1. The addition of the fluctuating torque (i.e., the change in the behavior of vehicle 1) is implemented when the possibility of vehicle 1 slip is increased. Therefore, it is possible to make the driver aware of the possibility of vehicle 1 slip by causing the driver to perceive the change in the vehicle 1's behavior. Modification example D

[0056] In the embodiment described above, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also be designed to modify one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on the road surface friction coefficient instead of the vehicle speed. The vehicle control unit 21 (the fluctuation torque derivation unit 23) derives the road surface friction coefficient, for example, based on a detection result from the road surface friction coefficient sensor 17.

[0057] Fig. Figure 9 illustrates an example of a process for deriving the fluctuating torque in step S104. First, the vehicle control unit 21 derives the road surface friction coefficient µ based on the detection result of the road surface friction coefficient sensor 17 (step S601). Next, if the road surface friction coefficient µ has a value of 0.9 (step S602: YES), the vehicle control unit 21 derives the fluctuating torque corresponding to a road surface friction coefficient µ = 0.9 (step S603). If the road surface friction coefficient µ has a value of 0.2 (step S602: NO and step S604: YES), the vehicle control unit 21 derives the fluctuating torque corresponding to a road surface friction coefficient µ = 0.2 (step S605).

[0058] For the derivation of the fluctuating torque, a mathematical function with the road surface friction coefficient µ as a variable can be used, or tabular data can be used in which the fluctuating torque is assigned to each road surface friction coefficient µ. A method for deriving the fluctuating torque is not limited to the one described in Fig. The 9 described procedures are limited.

[0059] In the present modification example, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are changed based on the road surface friction coefficient obtained from the road surface friction coefficient sensor 17 attached to vehicle 1. Thus, the steered wheels of vehicle 1 are driven according to the target torque, and the behavior of vehicle 1 varies depending on the target torque. Consequently, it is possible to make the driver perceive the varying behavior of vehicle 1. The addition of the fluctuating torque (i.e., the change in the behavior of vehicle 1) is performed when the possibility of vehicle 1 slip is increased. Therefore, it is possible to make the driver aware of the possibility of vehicle 1 slip by causing the driver to perceive the change in the vehicle 1's behavior. Modification example E

[0060] In the embodiment described above, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also be configured to modify one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on a cornering condition of the vehicle 1 instead of the vehicle speed. The vehicle control unit 21 (the fluctuation torque derivation unit 23) can be configured to modify one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque, for example, based on a lateral acceleration that is one of the indicators of the cornering condition of the vehicle 1. The vehicle control unit 21 (the fluctuation torque derivation unit 23) derives the lateral acceleration, for example, based on the detection result of the acceleration sensor 13.

[0061] Fig. Figure 10 is a representation of an example of a process for deriving the fluctuation torque in step S104. First, the vehicle control unit 21 derives the lateral acceleration d based on the detection result of the acceleration sensor 13 (step S701). Next, when the lateral acceleration d reaches the value 1 m / s², the vehicle control unit 21 derives 2 has (step S702: YES), which has a lateral acceleration d = 1 m / s² 2 The corresponding fluctuation torque is applied (step S703). If the lateral acceleration d is 5 m / s² 2 (Step S702: NO and Step S704: YES), the vehicle control unit 21 directs the lateral acceleration d = 5 m / s². 2 corresponding fluctuation torque (step S705).

[0062] To derive the fluctuating torque, a mathematical function with the lateral acceleration d as a variable can be used, or tabular data can be used in which the fluctuating torque is assigned to the respective lateral acceleration d. A method for deriving the fluctuating torque is not limited to the one in Fig. The 10 procedures shown are limited.

[0063] In the present modification example, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can be designed to change one or more values ​​of the fluctuation range, cycle and waveform of the fluctuation torque, e.g., based on the steering angle, which is one of the indices for the cornering condition of the vehicle 1.

[0064] In the present modification example, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can be designed to change one or more values ​​of the fluctuation range, cycle and waveform of the fluctuation torque, e.g., based on the yaw rate, which is one of the indices for the cornering condition of the vehicle 1.

[0065] In the present modification example, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are changed based on the cornering condition of vehicle 1. Thus, the steered wheels of vehicle 1 are driven according to the target torque, and the behavior of vehicle 1 varies accordingly. Consequently, it is possible to make the driver perceive the varying behavior of vehicle 1.

[0066] The addition of the fluctuation torque (i.e., the change in the behavior of vehicle 1) is implemented when the possibility of vehicle 1 slipping increases. This makes it possible to alert the driver to the possibility of vehicle 1 slipping by causing the driver to perceive the change in the vehicle 1's behavior. Modification example F

[0067] In the embodiment described above, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also be configured to change one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuation torque based on a torsional resonance frequency of the wheels of the vehicle 1 instead of the vehicle speed. The vehicle control unit 21 (the fluctuation torque derivation unit 23) detects the torsional resonance frequency, for example, by reading the torsional resonance frequency of the wheels of the vehicle 1 from a memory in the control unit 20.

[0068] Fig. Figure 11 presents an example of a process for deriving the fluctuation torque in step S104. First, the vehicle control unit 21 acquires the torsional resonance frequency f of the wheels of vehicle 1, e.g., from the memory of the control unit 20 (step S801). Next, if the instruction to add the fluctuation torque to the requested torque is given (step S802: YES), the vehicle control unit 21 derives the fluctuation torque corresponding to the torsional resonance frequency f (step S803). For example, the vehicle control unit 21 specifies the fluctuation torque cycle as the inverse of the torsional resonance frequency f. If the fluctuation torque cycle is equal to the inverse of the torsional resonance frequency f, the behavior (fluctuation) of vehicle 1 will be more pronounced than if the fluctuation torque cycle is derived from the inverse of the torsional resonance frequency f.

[0069] In the present modification example, one or more values ​​of the fluctuation range, cycle, and waveform of the fluctuating torque are changed based on the torsional resonance frequency f specified in the vehicle control unit 21. Thus, the steered wheels of vehicle 1 are driven according to the target torque, and the behavior of vehicle 1 varies accordingly. Consequently, it is possible to make the driver perceive the varying behavior of vehicle 1. The addition of the fluctuating torque (i.e., the change in the behavior of vehicle 1) is performed when the possibility of vehicle 1 slip is increased. Therefore, it is possible to make the driver aware of the possibility of vehicle 1 slip by causing the driver to perceive the change in the vehicle 1's behavior.

[0070] In the present modification example, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can, for example, specify the fluctuation torque cycle as a value derived from the reciprocal of the torsional resonance frequency f, as shown in Fig. 12 shown (step S903 in Fig. 12) The vehicle control unit 21 (the fluctuation torque derivation unit 23) can, for example, bring the fluctuation torque cycle close to or away from the inverse of the torsional resonance frequency f. Even in such a case, it is possible to make the driver aware of the possibility of slippage of the vehicle 1 by causing the driver to perceive the change in the behavior of the vehicle 1. Modification example G

[0071] In the embodiment described above and its modification examples, the vehicle control unit 21 (the fluctuation torque derivation unit 23) can also further correct the fluctuation torque according to the value of the requested torque.

[0072] Fig. Figure 13 presents an example of a process for deriving the fluctuating torque in step S104. The vehicle control unit 21 derives the fluctuating torque using any of the methods described in the embodiment and its modification examples above. If the requested torque assumes the value A (a constant value) (step S1001: YES), the vehicle control unit 21 performs the correction of the derived fluctuating torque corresponding to the requested torque A (step S1002). If the requested torque assumes the value B (a constant value) (step S1003: YES), the vehicle control unit 21 performs the correction of the derived fluctuating torque corresponding to the requested torque B (step S1004).

[0073] For correcting the fluctuating torque, a mathematical function with the requested torque as a variable can be used, or tabular data can be used where a correction coefficient is assigned to each requested torque. A method for correcting the fluctuating torque is not limited to the one described in Fig. The 13 procedures shown are limited.

[0074] In the present modification example, the fluctuating torque is corrected according to the value of the requested torque. In this case, for example, it can be ensured that the driver recognizes the possibility of vehicle 1 slipping even on road surfaces where the likelihood of slipping is increased (e.g., on snow or ice), even when the requested torque is small. Modification example H

[0075] In the embodiment described above and its modification examples, the waveform of the fluctuation torque tb can be, for example, as in Fig. Figure 14 (B) shows that it can also be a sine wave. The waveform of the target torque tc is, for example, as shown in Fig. Figure 14 (C) also shows a sine wave. In this case too, it is possible to make the driver recognize the possibility of vehicle 1 slipping. Modification example I

[0076] In the embodiment described above and its modification examples, the vehicle 1 can further, for example, be configured as shown in Fig. Figure 15 shows that the vehicle also has a mode generator 40. The mode generator 40 is a user interface that receives input from the driver specifying a driving mode. The mode generator 40 may, for example, have a touch panel. The mode generator 40 is designed to output data about the received driving mode to the vehicle control unit 21. The vehicle control unit 21 is designed to specify the fluctuating torque based on the driving mode input from the mode generator 40. The vehicle control unit 21 may be designed to determine, according to the driving mode, whether the fluctuating torque should be added to the requested torque.

[0077] Fig. Figure 16 presents an example of a process for deriving the fluctuating torque in step S104. First, the vehicle control unit 21 detects the driving mode e from the mode generator 40 (step S1101). Next, the vehicle control unit 21 determines whether the detected driving mode e is a mode in which the fluctuating torque should be added to the requested torque (step S1102).

[0078] If the detected driving mode e is the mode in which the fluctuating torque is to be added to the requested torque (step S1102: YES), the driving control unit 21 specifies the fluctuating torque corresponding to driving mode e (step S1103). If the detected driving mode e is not the mode in which the fluctuating torque is to be added to the requested torque (step S1102: NO), the driving control unit 21 specifies the requested torque as the target torque.

[0079] Fig. Figure 17 presents an example of a process for deriving the fluctuating torque in step S104. First, the vehicle control unit 21 detects the driving mode e from the mode generator 40 (step S1201). Next, if the detected driving mode e is a normal mode (step S1202: YES), the vehicle control unit 21 specifies the fluctuating torque corresponding to the normal mode (step S1203). The vehicle control unit 21 can, for example, specify the requested torque as the target torque. If the detected driving mode e is a sport mode (step S1202: NO and step S1204: YES), the vehicle control unit 21 specifies the fluctuating torque corresponding to the sport mode (step S1205). The vehicle control unit 21 can derive the target torque, for example, by adding the fluctuating torque to the requested torque.

[0080] In the present modification example, the fluctuating torque corresponding to the driving mode is specified. Specifically, it is determined according to the driving mode whether the fluctuating torque should be added to the requested torque. In such a case, adding the fluctuating torque to the requested torque, e.g., in Sport mode, which assumes high-speed movement, can cause the driver to recognize the possibility of vehicle slippage. 3. Application example

[0081] Next, an application example of the control unit 20 according to the embodiment described above and modification examples thereof will be described. Fig. Figure 18 shows a schematic configuration example of a vehicle control system 100 according to an application example of the invention. The vehicle control system 100 comprises several vehicles 1 and a server unit 2. The vehicles 1 and the server unit 2 are connected via a network NW.

[0082] The network NW is, for example, a communication network that uses a communication protocol commonly used on the internet (TCP / IP). The network NW can also be, for example, a secure network that uses a communication protocol specific to that network.

[0083] Vehicles 1 are each designed to communicate with server facility 2 via the NW network. As in Fig. As shown in Figure 19, the vehicles 1 each have, for example, the sensor unit 10, the control unit 20, the motor 30, and a communicator 50. The communicator 50 is a communication interface for communication with the server unit 2 via the network NW. For example, the communicator 50 exchanges data with the server unit 2 via the network NW. The communicator 50 sends, for example, various types of sensor data received from the sensor unit 10 to the server unit 2 via the network NW. The communicator 50 receives, for example, the data received from the server unit 2 via the network NW. The communicator 50 outputs, for example, the received fluctuation torque data to the control unit 20.

[0084] As in Fig. As shown in Figure 20, server equipment 2 includes, for example, a communicator 210, a control unit 220, and a memory 230. The communicator 210 is a communication interface for communication with each of the vehicles 1 via the network NW. The communicator 210 exchanges data with each of the vehicles 1 via the network NW. The communicator 210 receives, for example, various types of sensor data from the vehicles 1 via the network NW. The communicator 210 then outputs the received sensor data to the control unit 220.

[0085] Memory 230 stores a program 231 to be executed by the control unit 220. Memory 230 includes, for example, RAM (random access memory), ROM (read-only memory), and a secondary storage device (such as a hard disk). Program 231 causes the control unit 22 to execute a series of processes of the unit 22 for deriving requested torques and the fluctuation torque derivation unit 23.

[0086] The control unit 220, for example, has a CPU (central processing unit) and executes, for example, the program 231 stored in the memory 230. As in Fig. As shown in Figure 20, the control unit 220 includes, for example, the unit 22 for deriving requested torques and the fluctuation torque derivation unit 23. The control unit 220 executes a series of processes of the unit 22 for deriving requested torques and the fluctuation torque derivation unit 23. The control unit 220 outputs, for example, the derived fluctuation torque data to the vehicle 1 via the communicator 210.

[0087] In the present application example, the target torque is derived by adding the fluctuating torque derived from server device 2 to the requested torque corresponding to the acceleration request, and the torque of motor 30 is controlled based on the derived target torque. Thus, the steered wheels of vehicle 1 are driven according to the target torque, and the behavior of vehicle 1 varies depending on the target torque. Consequently, the behavior of vehicle 1 varies according to the target torque tc in such a way that the driver can perceive the varying behavior of vehicle 1. Accordingly, it is possible to induce the driver to recognize the possibility of vehicle 1 slippage.

[0088] The effects described here are merely examples, and the effects of the invention are not limited to those described here. Accordingly, the invention can also achieve other effects.

[0089] Furthermore, the invention may have the following aspects: (1) Vehicle control device for controlling a vehicle driven by an engine, the vehicle control device comprising: a control unit designed to derive a target torque by adding a cyclically fluctuating fluctuation torque to a requested torque corresponding to an acceleration request, and to control a motor torque based on the derived target torque, wherein the control unit is designed to change one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle and a fluctuation torque waveform based on any value of a vehicle speed, a vehicle longitudinal acceleration, a vehicle body slip angular velocity, a vehicle restoring torque, a road surface friction coefficient, a vehicle cornering condition and a torsional resonance frequency of a wheel of the vehicle. (2) Vehicle control device according to point (1), wherein the control unit is designed to ensure that the fluctuation range of the fluctuation torque, the cycle of the fluctuation torque and the waveform of the fluctuation torque are constant regardless of the value of the requested torque. (3) Vehicle control device according to point (1), wherein the control unit is designed to correct the fluctuation range of the fluctuation torque, the cycle of the fluctuation torque and the waveform of the fluctuation torque according to the value of the requested torque. (4) Vehicle control device according to any of points (1) to (3), wherein the control unit is designed to determine, on the basis of a driving mode, whether the fluctuation torque should be added to the requested torque. (5) Vehicle control device according to any one of points (1) to (4), wherein the control unit is designed to derive the restoring torque on the basis of any one of the values ​​of a steering angle, a steering torque and a power steering torque. (6) Vehicle control device according to any one of points (1) to (4), wherein the cornering condition includes any of the values ​​of a steering angle, a lateral acceleration or a yaw rate. (7) Vehicle control method for controlling a vehicle driven by an engine, wherein the vehicle control method comprises: Deriving a target torque by adding a cyclically fluctuating fluctuation torque to the requested torque corresponding to an acceleration request, and controlling the engine torque based on the derived target torque; and Changing one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle, and a fluctuation torque waveform based on any of the values ​​of a vehicle speed, a vehicle longitudinal acceleration, a vehicle body slip angle velocity, a vehicle restoring torque, a road surface friction coefficient, a vehicle cornering condition, and a torsional resonance frequency of a wheel of the vehicle. (8) Vehicle control procedure as described in point (7), which further includes the following measure: To ensure that the fluctuation range of the fluctuating torque, the cycle of the fluctuating torque, and the waveform of the fluctuating torque are constant regardless of the value of the requested torque. (9) Vehicle control procedure as described in point (7), which further includes the following measure: Correcting the fluctuation range of the fluctuating torque, the cycle of the fluctuating torque, and the waveform of the fluctuating torque according to the value of the requested torque. (10) Vehicle control procedure according to any of points (7) to (9) which includes the following measure: Determine, based on a driving mode, whether the fluctuating torque should be added to the requested torque. (11) Vehicle control procedure in accordance with any of points (7) to (10) which further includes the following measure: Bringing the fluctuation torque cycle close to or away from an inverse of the torsional resonance frequency of the wheel attached to the vehicle based on any of the values ​​of the vehicle speed, the vehicle longitudinal acceleration, the vehicle body slip angular velocity, the vehicle restoring torque, the road surface friction coefficient, and the vehicle's cornering condition.

[0090] The in the Fig. 1 and Fig. The control unit 20 shown in Figure 15 can be implemented by a circuit arrangement comprising at least one integrated semiconductor circuit, such as at least one processor (e.g., a central processing unit (CPU)), at least one application-specific integrated circuit (ASIC), and / or at least one field-programmable gate array (FPGA). At least one processor can be configured to execute all or part of the functions of the control unit 20 by reading instructions from at least one machine-readable, non-volatile, physical medium. Fig. 1 and Fig. to carry out the control unit 20 shown in 15.

[0091] Such a medium can take many forms, including but not limited to any type of magnetic media, such as a hard drive; any type of optical media, such as a CD and a DVD; any type of semiconductor memory (i.e., semiconductor circuits), such as volatile memory and non-volatile memory. The volatile memory may include DRAM and SRAM, and the non-volatile memory may include ROM and NVRAM. The ASIC is an integrated circuit (IC) designed to perform all or some of the functions of the Fig. 1 and Fig. 15 to carry out the control unit 20 shown, and the FPGA is an integrated circuit designed so that, once manufactured, it can perform all or some of the functions of the Fig. 1 and Fig. to carry out the control unit 20 shown in 15. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2017- 55 618 A

[0002] JP 2011- 205 799 A

[0002]

Claims

[1] Vehicle control device designed to control a vehicle driven by an engine, wherein the vehicle control device comprises the following: - a control unit designed to derive a target torque by adding a cyclically fluctuating fluctuation torque to a requested torque corresponding to an acceleration request, and to control a motor torque based on the derived target torque, wherein the control unit is further designed to change one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle and a fluctuation torque waveform based on any value of a vehicle speed, a vehicle longitudinal acceleration, a vehicle body slip angular velocity, a vehicle restoring torque, a road surface friction coefficient, a vehicle cornering condition and a torsional resonance frequency of a wheel of the vehicle. [2] Vehicle control device according to claim 1, wherein the control unit is designed to cause the fluctuation range of the fluctuation torque, the cycle of the fluctuation torque and the waveform of the fluctuation torque to be constant regardless of the value of the requested torque. [3] Vehicle control device according to claim 1, wherein the control unit is designed to correct the fluctuation range of the fluctuation torque, the cycle of the fluctuation torque and the waveform of the fluctuation torque according to the value of the requested torque. [4] Vehicle control device according to claim 1, wherein the control unit is designed to determine, on the basis of a driving mode, whether the fluctuation torque should be added to the requested torque. [5] Vehicle control device according to claim 1, wherein the control unit is designed to derive the restoring torque based on any value of a steering angle, a steering torque and a power steering torque. [6] Vehicle control device according to claim 1, wherein the cornering driving state comprises any of the values ​​of a steering angle, a lateral acceleration or a yaw rate. [7] Vehicle control method that controls a vehicle which is driven by an engine, wherein the vehicle control method comprises: - Deriving a target torque by adding a cyclically fluctuating fluctuation torque to the requested torque corresponding to an acceleration request and controlling a motor torque based on the derived target torque; and - Changing one or more values ​​of a fluctuation range of the fluctuation torque, a fluctuation torque cycle, and a fluctuation torque waveform based on any of the values ​​of a vehicle speed, a vehicle longitudinal acceleration, a vehicle body slip angular velocity, a vehicle restoring torque, a road surface friction coefficient, a vehicle cornering condition, and a torsional resonance frequency of a wheel of the vehicle. [8] Vehicle control method according to claim 7, further comprising the following measure: - Ensure that the fluctuation range of the fluctuating torque, the cycle of the fluctuating torque, and the waveform of the fluctuating torque are constant regardless of the value of the requested torque. [9] Vehicle control method according to claim 7, further comprising the following measure: - Correcting the fluctuation range of the fluctuating torque, the cycle of the fluctuating torque and the waveform of the fluctuating torque according to the value of the requested torque. [10] Vehicle control method according to claim 7, comprising the following measure: - Determine, based on a driving mode, whether the fluctuating torque should be added to the requested torque. [11] Vehicle control method according to claim 7, further comprising the following measure: - Bringing the fluctuation torque cycle close to or away from an inverse of the torsional resonance frequency of the wheel attached to the vehicle based on any value of the vehicle speed, the vehicle longitudinal acceleration, the vehicle body slip angular velocity, the vehicle restoring torque, the road surface friction coefficient, and the vehicle's cornering condition.

Images