IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0923317
(2010-09-14)
|
등록번호 |
US-8332118
(2012-12-11)
|
우선권정보 |
JP-2009-214722 (2009-09-16) |
발명자
/ 주소 |
- Niwa, Satoshi
- Namikiri, Tatsuya
- Takeda, Masayoshi
- Hanzawa, Masatoshi
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
0 인용 특허 :
1 |
초록
▼
A control request arbitration apparatus of a vehicle includes respective sections for selecting one of a plurality of position control requests generated by control request apparatuses, for converting the selected position control request to a converted speed control request, for selecting one of a
A control request arbitration apparatus of a vehicle includes respective sections for selecting one of a plurality of position control requests generated by control request apparatuses, for converting the selected position control request to a converted speed control request, for selecting one of a plurality of speed control requests including the converted speed control request, for converting the selected speed control request to a converted acceleration control request, and for selecting one of a plurality of acceleration control requests including the converted acceleration control request. Since position/acceleration and speed/acceleration conversion sections become unnecessary in control request apparatuses, the total of these sections becomes independent of the number of control request apparatuses.
대표청구항
▼
1. A control request arbitration apparatus, disposed in a vehicle equipped with an acceleration control apparatus for controlling acceleration of the vehicle by variation of an acceleration control quantity, and equipped with a plurality of control request apparatuses variously generating position c
1. A control request arbitration apparatus, disposed in a vehicle equipped with an acceleration control apparatus for controlling acceleration of the vehicle by variation of an acceleration control quantity, and equipped with a plurality of control request apparatuses variously generating position control requests expressing respective requested vehicle position values, speed control requests expressing respective requested vehicle speed values and acceleration control requests expressing respective requested vehicle acceleration values; wherein the control request arbitration apparatus comprises:a position control request section configured for receiving a plurality of the position control requests and for selecting one of the received position control requests in accordance with predetermined criteria;a position control request conversion section configured for converting the selected position control request to a first converted control request, the first converted control request being determined as one of a speed control request and an acceleration control request in accordance with a destination thereof;a speed control request arbitration section configured for receiving a plurality of speed control requests and for selecting one of the received speed control requests in accordance with predetermined criteria,a speed control request conversion section configured for converting the selected speed control request to a second converted control request, the second converted control request being determined as one of a position control request and an acceleration control request in accordance with a destination thereof;an acceleration control request arbitration section configured for receiving a plurality of acceleration control requests and for selecting one of the received acceleration control requests in accordance with predetermined criteria; andan acceleration control request conversion section configured for converting the selected acceleration control request to a motion control request expressing a requested value of the acceleration control quantity. 2. A control request arbitration apparatus according to claim 1, wherein the position control request arbitration section receives a plurality of position control requests from respective ones of the control request apparatuses,the first converted control request is produced by the position control request conversion section as a speed control request and is inputted to the speed control request arbitration section together with at least one speed control request produced by a control request apparatuses, andthe second converted control request is produced by the speed control request conversion section as an acceleration control request and is inputted to the acceleration control request arbitration section together with at least one acceleration control request produced by a control request apparatus. 3. A control request arbitration apparatus according to claim 1, wherein the position control request arbitration section receives a plurality of position control requests from respective ones of the control request apparatuses,the first converted control request is produced by the position control request conversion section as an acceleration control request,the speed control request arbitration section receives a plurality of speed control requests from respective ones of the control request apparatuses,the second converted control request is produced by the speed control request conversion section as an acceleration control request, andthe acceleration control requests produced by the position control request conversion section and by the speed control request conversion section are inputted to the acceleration control request arbitration section together with at least one acceleration control request produced by a control request apparatus. 4. A control request arbitration apparatus according to claim 1, wherein the acceleration control quantity comprises an amount of torque applied to wheel axles of the vehicle, and wherein the motion control request expresses one of a requested drive torque value and a requested braking torque value. 5. A control request arbitration apparatus according to claim 1, wherein the acceleration control apparatus produces achievable motion control range information indicative of a range of achievable values of the acceleration control quantity, andat least one of the position control request arbitration section, the speed control request arbitration section and the acceleration control request arbitration section, is configured to limit a control value expressed by a currently selected control request, for maintaining the requested value of the acceleration control quantity to be within the achievable range of values of the acceleration control quantity. 6. A control request arbitration apparatus according to claim 5, comprising an acceleration range conversion section configured for converting the achievable motion control range information to achievable acceleration range information expressing a currently achievable range of acceleration of the vehicle,a speed range conversion section configured for converting the achievable acceleration range information to achievable speed range information expressing a currently achievable range of speed of the vehicle, anda position range conversion section configured for converting the achievable speed range information to achievable position range information expressing a currently achievable range of positions of the vehicle;whereinthe position control request arbitration section is configured to be responsive to the achievable position range information for limiting a requested position, expressed by the selected position control request, to be within the currently achievable range of positions,the speed control request arbitration section is configured to be responsive to the achievable speed range information for limiting a requested speed, expressed by the selected speed control request, to be within the currently achievable range of speeds, andthe acceleration control request arbitration section is configured to be responsive to the achievable acceleration range information for limiting a requested acceleration, expressed by the selected position control request, to be within the currently achievable acceleration range. 7. A control request arbitration apparatus according to claim 6, wherein the acceleration control quantity is an amount of torque applied to wheel axles of the vehicle, and wherein the achievable motion control range information expresses an achievable range of values of wheel axle torque. 8. A control request arbitration apparatus according to claim 7, wherein at each of successive control timings, the acceleration control apparatus generates updated achievable torque range information expressing a range of values of wheel axle torque that can be applied during a succeeding control period extending to a succeeding control timing,the acceleration range conversion section is configured to derive updated achievable acceleration range information corresponding to the updated achievable torque range information at each control timing, as a maximum achievable value of acceleration and a minimum achievable value of acceleration that can be respectively attained during the succeeding control period by applying the maximum achievable value of wheel axle torque and the minimum achievable value of wheel axle torque respectively during the control period,the speed range conversion section is configured to derive updated achievable speed range information corresponding to the updated achievable acceleration range information at each control timing, as a maximum achievable value of speed and a minimum achievable value of speed that can be respectively attained in the succeeding control period by applying the maximum achievable value of acceleration and the minimum achievable value of acceleration respectively during the control period, andthe position range conversion section is configured to derive updated achievable position range information corresponding to the updated achievable speed range information at each control timing, comprising a maximum achievable position, obtained as a current position of the vehicle incremented by a displacement amount corresponding to applying the maximum achievable speed throughout the succeeding control period, and a minimum achievable position, obtained as the current position of the vehicle incremented by a displacement amount corresponding to applying the minimum achievable speed during the succeeding control period. 9. A control request arbitration apparatus according to claim 1, wherein the plurality of control requests comprise more than four control requests each of which is a speed control request or a position control request. 10. A control request arbitration apparatus according to claim 1, wherein each of the position control request arbitration section, the speed control request arbitration section and the acceleration control request arbitration section is configured to distinguish a control request having a predetermined character, and to perform the arbitration by assigning a higher priority to the control request having the predetermined character than to other ones of a plurality of control requests. 11. A control request arbitration apparatus according to claim 1, wherein the control request having a predetermined character comprises a control request whose implementation would result in the vehicle being brought closer to a halted condition than would implementation of any other of the plurality of control requests. 12. A control request arbitration apparatus according to claim 1, wherein the selection of a position control request, of a speed control request and of a selected acceleration control request are each performed at fixed periodic intervals, andeach of the position control request arbitration section, the speed control request arbitration section and the acceleration control request arbitration section is configured to detect a condition whereby a difference between a requested control value expressed by a currently selected control request and a requested control value expressed by a precedingly selected control request exceeds a predetermined threshold, and to initiate predetermined smoothing processing when the condition is detected;the smoothing processing being applied to adjust respective control values expressed by successively selected control requests, in a manner for effecting a gradual variation of the control values expressed by the successively selected control values. 13. A control request arbitration apparatus, disposed in a vehicle equipped with an acceleration control apparatus and a plurality of control request apparatuses, the control request arbitration apparatus being configured for supplying a torque control request expressing a requested value of torque to the acceleration control apparatus, the torque control request being derived based upon position control requests expressing respective requested vehicle position values, speed control requests expressing respective requested vehicle speed values and acceleration control requests expressing respective requested vehicle acceleration values, variously generated by the control request apparatuses; wherein the control request arbitration apparatus comprises:a position control request arbitration section configured for selecting a position control request from a plurality of the position control requests in accordance with predetermined criteria,a position control request conversion section configured for converting the selected position control request to a speed control request,a speed control request arbitration section configured for receiving the speed control request derived by the position control request conversion section and at least one speed control request generated by a control request apparatus, and for selecting a speed control request from the received speed control requests in accordance with predetermined criteria,a speed control request conversion section configured for converting the selected speed control request to a converted acceleration control request,an acceleration control request arbitration section configured for receiving the converted acceleration control request and at least one acceleration control request generated by a control request apparatus, and for selecting an acceleration control request from the received acceleration control requests in accordance with predetermined criteria, andan acceleration control request conversion section configured for converting the selected acceleration control request to the torque control request, and supplying the torque control request to the acceleration control apparatus. 14. A control request arbitration apparatus according to claim 13, wherein each of the position control requests further expresses an allowable range of speed, and the position control request conversion section is configured to convert a requested position value expressed by the selected position control request to a requested speed value that is within the allowable range of speed expressed by the selected position control request, andeach of the speed control requests further expresses an allowable range of acceleration, and the speed control request conversion section is configured to convert a requested speed value expressed by the selected speed control request to a requested acceleration value that is within the allowable range of acceleration expressed by the selected speed control request. 15. A control request arbitration apparatus according to claim 13, wherein the torque control request expresses one of a requested value of drive torque and a requested value of braking torque. 16. A control request arbitration apparatus according to claim 13, wherein the acceleration control apparatus produces information indicative of a currently achievable range of values of torque, andat least one of the position control request arbitration section, the speed control request arbitration section and the acceleration control request arbitration section is configured to limit a control value expressed by a control request value produced thereby, for maintaining the requested value of torque within the currently achievable range of torque. 17. A control request arbitration apparatus disposed in a vehicle equipped with an acceleration control apparatus and a plurality of control request apparatuses, the control request arbitration apparatus being configured for supplying a torque control request to the acceleration control apparatus based upon position control requests expressing respective requested vehicle position values, speed control requests expressing respective requested vehicle speed values and acceleration control requests expressing respective requested vehicle acceleration values, variously generated by the control request apparatuses; wherein the control request arbitration apparatus comprises:a position control request arbitration section configured to derive a selected position control request from a plurality of the position control requests,a position control request conversion section configured for converting the selected position control request to a first converted acceleration control request,a speed control request arbitration section configured to select a speed control request from a plurality of the speed control requests,a speed control request conversion section configured for converting the selected speed control request to a second converted acceleration control request,an acceleration control request arbitration section configured for arbitrating the first converted acceleration control request, the second converted acceleration control request and at least one acceleration control request generated by a control request apparatus, to obtain a selected acceleration control request, andan acceleration control request conversion section configured for converting the selected acceleration control request to the torque control request and supplying the torque control request to the acceleration control apparatus. 18. A control request arbitration apparatus according to claim 17, wherein the torque control request expresses one of a requested value of drive torque and a requested value of braking torque. 19. A control request arbitration apparatus according to claim 1, wherein control requests are outputted to the acceleration control apparatus only from the acceleration control request conversion section.
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