PROBLEM TO BE SOLVED: To accurately estimate a road gradient even when a tire slides, and quickly settle to target speed using the road gradient estimation value.SOLUTION: A road gradient estimation device used for correcting target acceleration in ACC control, calculates second acceleration, based on actuation states of an engine control device 7 and a brake control device 8, in addition to first acceleration calculated based on wheel speed of a drive wheel, and third acceleration detected by a cross acceleration sensor. Then the road gradient estimation device calculates a first jerk based on the first acceleration, calculates a second jerk based on the second acceleration, then, when an absolute value of difference of first acceleration and third acceleration is equal to or higher than a threshold, determines slide of the wheel according to the first jerk and the second jerk, then if the slide is determined, the road gradient estimation device performs restriction processing of the first acceleration, and estimates a road gradient based on the first acceleration and third acceleration.SELECTED DRAWING: Figure 3
【課題】たとえ、タイヤがスリップしても道路勾配を精度良く推定し、該道路勾配推定値を用いて適切に素早く目標速度に収束する。【解決手段】ACC制御で目標加速度の補正に用いる道路勾配推定値は、駆動輪の車輪速度に基づき算出した第1の加速度と、前後加速度センサで検出した第3の加速度に加え、エンジン制御装置7、ブレーキ制御装置8の作動状態から第2の加速度を算出する。そして、第1の加速度に基づいて第1のジャークを算出し、第2の加速度に基づいて第2のジャークを算出し、第1の加速度と第3の加速度の差の絶対値が閾値以上の場合に、第1のジャークと第2のジャークとに応じて車輪のスリップを判定し、スリップを判定した場合、第1の加速度を制限処理し、第1の加速度と第3の加速度を基に推定する。【選択図】図3
ROAD GRADIENT ESTIMATION DEVICE AND TRAVEL CONTROL DEVICE FOR VEHICLE
道路勾配推定装置、及び、車両の走行制御装置
2017-12-14
Patent
Electronic Resource
Japanese
IPC: | 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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / F16H Getriebe , GEARING / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
ROAD SURFACE GRADIENT ESTIMATION DEVICE AND VEHICLE CONTROL DEVICE
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