PROBLEM TO BE SOLVED: To provide a slope auxiliary device which can make a vehicle travel down on a slope at high reliability when the vehicle is stuck or stopped on the slope.SOLUTION: A slope auxiliary device comprises: a state determination part 171 which determines whether or not a vehicle is in a prescribed stop state related to the stuck or stop of the vehicle on a slope; a travel-down determination part 172 which determines whether or not the vehicle is in a travel-down state; a gradient vector calculation part 173 which calculates a gradient vector related to a sum of a fore-and-aft vector and a left-and-right vector of the vehicle; a turning direction calculation part 174 which calculates a turning direction of the vehicle at which a detection value of a second acceleration sensor 93 becomes small when the vehicle travels down on the slope on the basis of the gradient vector; and a control part 177 which performs auxiliary control for controlling at least either of a brake force and a steering angle of a wheel of the vehicle so that the vehicle turns to a turning direction when the vehicle travels down on the slope when the vehicle is in the prescribed stop state and the travel-down state.SELECTED DRAWING: Figure 5
【課題】車両が坂道でのスタック又は停車に関する状態になった場合に、車両を高い安全性で降坂させることができる坂道補助装置を提供する。【解決手段】車両が坂道でのスタック又は停車に関する所定停車状態であるか否かを判定する状態判定部171と、車両が降坂状態であるか否かを判定する降坂判定部172と、車両の前後方向ベクトルと左右方向ベクトルの和に関する勾配ベクトルを演算する勾配ベクトル演算部173と、勾配ベクトルに基づいて車両が降坂した場合に第二加速度センサ93の検出値が小さくなる車両の旋回方向を演算する旋回方向演算部174と、車両が所定停車状態で且つ降坂状態である場合、車両が降坂した場合に車両が旋回方向に旋回するように、車両の車輪の制動力及び操舵角のうち少なくとも一方を制御する補助制御を実行する制御部177と、を備える。【選択図】図5
SLOPE AUXILIARY DEVICE
坂道補助装置
18.05.2017
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Europäisches Patentamt | 2020
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