Vehicle control system
The vehicle control device addresses torque correction issues in vehicle control systems by summing torques and prohibiting rate processing during transitions between vibration suppression functions, ensuring stable and smooth vehicle operation.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2024-10-25
- Publication Date
- 2026-05-13
AI Technical Summary
Existing vehicle control systems face issues where continuous torque corrections for vibration suppression can lead to undesired torque corrections due to overlapping rate processes during transitions between different torque corrections.
A vehicle control device that performs multiple vibration suppression functions, prohibiting rate processing when one function is turned OFF and another is turned ON, and sums torques to ensure desired torque corrections are achieved.
Ensures desired torque corrections are maintained even during consecutive torque corrections by preventing overlapping rate processes, thereby improving vehicle stability and reducing passenger discomfort.
Smart Images
Figure 2026077362000001_ABST
Abstract
Description
Technical Field
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[0001] The present disclosure relates to a vehicle control device.
Background Art
[0002] As a technology for suppressing the disturbance of vehicle behavior as much as possible and realizing smooth vehicle control that does not give the passengers a sense of discomfort, a vehicle control device described in Patent Document 1 below is known. The vehicle control device described in Patent Document 1 below includes a first information acquisition unit that acquires vehicle state information including state information of a brake device and a power plant device and information on the front wheel steering angle, a determination unit that determines the presence or absence of abnormality related to turning performance improvement control, a deceleration force calculation unit that calculates a required deceleration force to be generated on the vehicle based on the vehicle state information, and a coordinated control unit that performs coordinated control to adjust the distribution of ESB braking torque and PP braking torque based on the required deceleration force and the state information of the brake device and the power plant device. When the determination unit determines that there is an abnormality related to the turning performance improvement control, the coordinated control unit performs coordinated control to degenerate the sum of the ESB braking torque and the PP braking torque in accordance with a predetermined time change rate.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] In Patent Document 1, when different torque corrections for vibration suppression are continuously performed, if a degenerate process (rate process) is performed during the previous torque correction, it may be added to the correction amount of the next torque correction, and the desired torque correction may not be performed.
[0005] ]> An object of the present disclosure is to perform a desired torque correction even when different torque corrections for vibration suppression are continuously performed. [Means for solving the problem]
[0006] This disclosure relates to a vehicle control device that performs multiple vibration suppression functions having rate processing, which generates multiple vibration suppression function requests based on the state of the vehicle, and when at least one vibration suppression function is turned OFF and transitions to rate processing, and then another vibration suppression function is turned ON, the rate processing of the OFF vibration suppression function is prohibited, and the torques of the multiple vibration suppression functions are added together to perform control. [Effects of the Invention]
[0007] According to this disclosure, the desired torque correction is achieved even when different vibration suppression torque corrections are performed consecutively. [Brief explanation of the drawing]
[0008] [Figure 1] Figure 1 is a block diagram of the vehicle control device according to this embodiment. [Figure 2] Figure 2 is a flowchart illustrating the operation of the vehicle control device shown in Figure 1. [Figure 3] Figure 3 is a flowchart illustrating the operation of the vehicle control device shown in Figure 1. [Figure 4] Figure 4 is a diagram illustrating the operation of the vehicle control device shown in Figure 1. [Modes for carrying out the invention]
[0009] This embodiment will now be described with reference to the attached drawings. To facilitate understanding of the explanation, the same reference numerals are used for identical components in each drawing whenever possible, and redundant explanations are omitted.
[0010] As shown in Figure 1, the vehicle control device 2 includes an accelerator request torque generation unit 21, a torque arbitration unit 22, a vibration suppression torque addition unit 23, a vehicle information unit 24, a vibration suppression request generation unit 25, and a vibration suppression function processing unit 26. The vehicle control device 2 receives an accelerator request signal corresponding to the operation of the accelerator 41. The vehicle control device 2 receives motor rotation speed from the motor 42. The vehicle control device 2 receives drive wheel rotation information from the drive wheels 43.
[0011] The accelerator request torque generation unit 21 is the part that generates the accelerator request torque in response to the accelerator request signal. The accelerator request torque generation unit 21 outputs the generated accelerator request torque to the torque arbitration unit 22 and the vehicle information unit 24.
[0012] The vehicle information unit 24 aggregates vehicle-related information, such as accelerator request torque and drive wheel rotation information, as well as system information. The vehicle information unit 24 outputs system information to the torque arbitration unit 22, for example. The vehicle information unit 24 also outputs information necessary for vibration suppression to the vibration suppression request generation unit 25, for example. The information necessary for vibration suppression includes, for example, sensor signals that determine when vibration suppression is needed, brake requests, and system information.
[0013] The torque arbitration unit 22 performs torque arbitration based on the accelerator request torque and system information, and outputs the arbitrated torque information to the vibration suppression torque addition unit 23.
[0014] The vibration suppression request generation unit 25 is the part that generates vibration suppression function requests based on the information output from the vehicle information unit 24. If there are two or more vibration suppression functions required depending on the type of vibration and driving scene, the vibration suppression request generation unit 25 generates multiple vibration suppression function requests. When generating multiple vibration suppression function requests, the vibration suppression request generation unit 25 sets a priority order. The vibration suppression request generation unit 25 outputs the generated vibration suppression function requests to the vibration suppression function processing unit 26. When multiple vibration suppression function requests are generated, the vibration suppression request generation unit 25 outputs the generated vibration suppression function requests along with their priority order to the vibration suppression function processing unit 26.
[0015] The vibration suppression function processing unit 26 is the part that generates vibration suppression torque based on the vibration suppression function request and motor rotation speed output from the vibration suppression request generation unit 25. The vibration suppression torque is the amount of torque used to suppress vibration. The vibration suppression function processing unit 26 outputs the generated vibration suppression torque to the vibration suppression torque addition unit 23.
[0016] The vibration suppression function processing unit 26 adds rate processing to smooth vehicle behavior when switching the vibration suppression torque from ON to OFF or OFF to ON. Rate processing, for example, involves damping the torque when switching the vibration suppression torque from ON to OFF. Rate processing, for example, involves amplifying the torque from 0 when switching the vibration suppression torque from OFF to ON.
[0017] When multiple vibration suppression function requests are input, the vibration suppression function processing unit 26, based on the ON / OFF state of each vibration suppression function request, prohibits rate processing of vibration suppression torque when a vibration suppression function request is ON. The vibration suppression function processing unit 26 does not prohibit processing for individual ON / OFF states when the multifunction is OFF. The vibration suppression function processing unit 26 sums the vibration suppression torques generated based on the multiple vibration suppression function requests and generates a vibration suppression torque for output.
[0018] The vibration suppression torque addition unit 23 is the part that generates a torque command by adding the vibration suppression torque output from the vibration suppression function processing unit 26 to the torque information output from the torque arbitration unit 22. The vibration suppression torque addition unit 23 outputs the generated torque command to the motor 42.
[0019] Next, the operation of the vehicle control device 2 will be explained with reference to Figures 2 and 3. In step S01, the vehicle information unit 24 reads vehicle information. The vehicle information unit 24 outputs the read vehicle information to the vibration suppression request generation unit 25.
[0020] In step S02 following step S01, the vibration suppression requirement generation unit 25 generates a vibration suppression function requirement using vehicle information. When the vibration suppression requirement generation unit 25 generates a plurality of vibration suppression function requirements, it also generates priorities. The vibration suppression requirement generation unit 25 outputs the generated vibration suppression function requirement to the vibration suppression function processing unit 26. When generating a plurality of vibration suppression function requirements, the vibration suppression requirement generation unit 25 outputs the generated vibration suppression function requirements together with the priorities to the vibration suppression function processing unit 26.
[0021] In step S03 following step S02, the vibration suppression function processing unit 26 determines whether there is a vibration suppression function requirement. If there is a vibration suppression function requirement (step S03: YES), the process proceeds to step S04. If there is no vibration suppression function requirement (step S03: NO), the process ends.
[0022] In step S04, the vibration suppression function processing unit 26 determines whether the vibration suppression function requirement is singular. If the vibration suppression function requirement is singular (step S04: YES), the process proceeds to step S05. If the vibration suppression function requirement is not singular (step S04: NO), the process proceeds to step S11 (Figure 3).
[0023] In step S05, the vibration suppression function processing unit 26 generates a vibration suppression torque based on the vibration suppression function requirement output from the vibration suppression requirement generation unit 25. In step S06 following step S05, the vibration suppression function processing unit 26 adds a rate process to smooth the vehicle behavior when switching the vibration suppression torque from ON to OFF or from OFF to ON.
[0024] In step S07, the vibration suppression function processing unit 26 generates a vibration suppression torque and outputs it to the vibration suppression torque addition unit 23. The vibration suppression torque addition unit 23 is a part that generates a torque command by adding the vibration suppression torque output from the vibration suppression function processing unit 26 to the torque information output from the torque arbitration unit 22. The vibration suppression torque addition unit 23 outputs the generated torque command to the motor 42.
[0025] Step S11 in Figure 3 is the process when it is determined in step S11 of Figure 2 that there is more than one vibration suppression function requirement. In this embodiment, as an example of a case where there is more than one vibration suppression function requirement, we will explain an example in which there are two vibration suppression function requirements, vibration damping control A and vibration damping control B. Furthermore, we will explain it assuming that vibration damping control A has a higher priority than vibration damping control B.
[0026] In step S11, the vibration suppression function processing unit 26 calculates the torque amount corresponding to vibration damping control A and the torque amount corresponding to vibration damping control B. In step S12, following step S11, the vibration suppression function processing unit 26 adds rate processing corresponding to vibration damping control A and adds rate processing corresponding to vibration damping control A.
[0027] In step S13, following step S12, the vibration suppression function processing unit 26 calculates the vibration suppression torque corresponding to vibration control A and the vibration suppression torque corresponding to vibration control B based on the processing results of steps S11 and S12.
[0028] In step S14, following step S13, the vibration suppression function processing unit 26 executes vibration damping control A and outputs the generated vibration suppression torque to the vibration suppression torque addition unit 23.
[0029] In step S15, following step S14, the vibration suppression function processing unit 26 determines whether to turn off vibration damping control A and proceed to rate processing. If it decides to turn off vibration damping control A and proceed to rate processing (step S15: YES), the process proceeds to step S16. If it decides not to turn off vibration damping control A and proceed to rate processing (step S15: NO), the process continues the processing in step S14.
[0030] In step S16, the vibration suppression function processing unit 26 performs rate processing for vibration damping control A and outputs the rate-processed vibration suppression torque to the vibration suppression torque adder 23. In step S17, following step S16, the vibration suppression function processing unit 26 determines whether to turn on vibration damping control B and proceed to rate processing. If it is decided to turn on vibration damping control B and proceed to rate processing (step S17: YES), the process proceeds to step S18. If it is decided not to turn on vibration damping control B and proceed to rate processing (step S17: NO), the process repeats the decision in step S17.
[0031] In step S18, the vibration suppression function processing unit 26 stops the rate processing of vibration damping control A. In step S19, following step S18, the vibration suppression function processing unit 26 executes vibration damping control B.
[0032] Figure 4 is a diagram that shows a comparison between a case where the arbitration of the multiple vibration damping controls described above is not performed and a case where the arbitration of vibration damping control A and vibration damping control B in this disclosure is performed, as a comparative example. In Figure 4, vibration damping control A is executed preferentially, vibration damping control A is turned OFF at time t1 and the process moves to rate processing, and vibration damping control B is turned ON at time t2 and the process moves to rate processing.
[0033] In the comparative example, since no mediation of multiple vibration damping controls is performed, vibration damping control A is executed including OFF rate processing. On the other hand, vibration damping control B is also executed including ON rate processing. During a predetermined time period from time t2 onward, the OFF rate processing of vibration damping control A and the ON rate processing of vibration damping control B overlap, so the correction amounts of the two functions are added together, and neither vibration damping control A nor vibration damping control B can perform the desired torque correction.
[0034] On the other hand, in this disclosure, since vibration control B is turned ON while vibration control A is turned OFF and transitioning to rate processing, the processes from step S16 to step S19 in Figure 3 are executed, and after the rate processing of vibration control A is prohibited, the ON rate processing of vibration control B is started. Therefore, the OFF rate processing of vibration control A and the ON rate processing of vibration control B do not overlap, and both vibration control A and vibration control B can perform the desired torque correction.
[0035] The control unit (ECU) and method described herein may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. Alternatively, the control unit (ECU) and its method described herein may be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit (ECU) and its method described herein may be implemented by one or more dedicated computers configured by a combination of a processor and memory programmed to perform one or more functions and a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium.
[0036] The embodiments have been described above with reference to specific examples. However, this disclosure is not limited to these specific examples. Modifications made to these specific examples by those skilled in the art are also included within the scope of this disclosure, as long as they retain the features of this disclosure. The elements, their arrangement, conditions, shapes, etc., of each of the aforementioned specific examples are not limited to those illustrated and can be modified as appropriate. The elements of each of the aforementioned specific examples can be combined in different ways as appropriate, as long as no technical inconsistencies arise.
[0037] [Note] [Note 1] A vehicle control device that performs multiple vibration suppression functions having rate processing, Based on the vehicle's condition, multiple vibration suppression function requests are generated. If at least one vibration suppression function (for example, vibration control A) is turned OFF and the process transitions to rate processing, and then another vibration suppression function (for example, vibration control B) is turned ON, The rate processing of the vibration suppression function (for example, vibration control A) that has been turned OFF is prohibited. The control is executed by summing the torques of multiple vibration suppression functions (for example, vibration control A and vibration control B).
[0038] According to Note 1, the ON rate processing of vibration damping control B begins after the rate processing of vibration damping control A is prohibited. Therefore, the OFF rate processing of vibration damping control A and the ON rate processing of vibration damping control B do not overlap, and both vibration damping control A and vibration damping control B can perform the desired torque correction. [Explanation of Symbols]
[0039] 2: Vehicle control system 21: Accelerator-requested torque generation unit 22: Torque adjustment unit 23: Vibration suppression torque addition unit 24: Vehicle Information Department 25: Vibration suppression request generation section 26: Vibration suppression function processing unit 41: Accelerator 42: Motor 43: Drive wheels
Claims
[Claim 1] A vehicle control device that performs multiple vibration suppression functions having rate processing, Based on the vehicle's condition, multiple vibration suppression function requests are generated. If at least one vibration suppression function is turned OFF and the system transitions to rate processing, and then another vibration suppression function is turned ON, The rate processing of the vibration suppression function, which is turned OFF, is prohibited. A vehicle control device that performs control by summing the torques of multiple vibration suppression functions.