Bremskraft-/Antriebskraftsteuersystem für ein Fahrzeug und Bremskraft-/Antriebskraftsteuerverfahren für ein Fahrzeug

Eine Bremskraft-/Antriebskraftsteuerung, die in einem Fahrzeug mit einem Bremskraft-/Antriebskraft-Erzeugungsmechanismus, der bewirkt, dass Fahrzeugräder Antriebskräfte oder Bremskräfte unabhängig voneinander erzeugen, und einem Aufhängungsmechanismus, der jedes ungefederte Rad mit einer gefederten Fahrzeugkarosserie verkoppelt, den Bremskraft-/Antriebskraft-Erzeugungsmechanismus so steuert, dass die Räder veranlasst werden, Antriebskräfte oder Bremskräfte unabhängig voneinander zu erzeugen, beinhaltet: Erfassen eines von einem Fahrer bewirkten Betriebszustands, mit dem das Fahrzeug zum Fahren gebracht werden soll; Erfassen eines Bewegungszustands der Fahrzeugkarosserie während das Fahrzeug fährt; Berechnen einer Soll-Längsantriebskraft, mit der das Fahrzeug zum Fahren gebracht werden soll, und von Bewegungszustandsbeträgen zum Steuern eines Fahrzeugkarosserieverhaltens auf Basis des erfassten Betriebszustands und des erfassten Bewegungszustands; und Berechnen von Antriebskräften oder Bremskräften ...

Antriebskraftsteuerungssystem

Vorgesehen ist ein Antriebskraftsteuerungssystem, das eine Laufstabilität und eine Fahrleistung eines Fahrzeugs (Ve) selbst im Fall eines Fehlers eines der Motoren (4Fr, 4Fl, 4Rr, 4Rl) sicherstellt. Das Antriebskraftsteuerungssystem bestimmt, dass einer aus dem rechten Motor (4Fr, 4Rr) und dem linken Motor (4Fl, 4Rl) ein erforderliches Drehmoment aufgrund eines Fehlers nicht erzeugen kann. Im Fall eines Fehlers eines der Motoren erzeugt das Antriebskraftsteuerungssystem ein Drehmoment anhand des ordnungsgemäß arbeitenden anderen Motors und steuert das Drehmomentübertragungsvermögen (C*) der Kupplung (25F, 25R) derart, dass das Ausgangsdrehmoment des ordnungsgemäß arbeitenden Motors dem Rad (1Fr, 1Fl, 3Rr, 3Rl), das mit dem fehlerhaften Motor gekoppelt ist, zugeführt wird.

Fahrzeugsteuerungsystem

A control system and method for controlling a torque generator

DRIVE UNIT WITH OPTIMIZED COOLING

PROCEDURES FOR THE FAIL SAFE OPERATION OF A HYBRID VEHICLE FOR CONTROLLED CAUSING OF A FAIL-SAFE OF THE VEHICLE MAKING POSSIBLE SPARE MEASURE AND DEVICE TO WOULD DRIVE THROUGH THIS PROCEDURE

Electrically driven vehicle

Provided is an electrically driven vehicle such that slippage to drive wheels is suppressed without causing large pitching vibration of the vehicle. The electrically driven vehicle has an electric motor (1,4), a drive wheel (3,6) driven by the electric motor, and an electric motor control device (40) that reduces the torque of the electric motor when drive wheel slippage has occurred and restores the torque after the slippage has been stopped. The electrically driven vehicle has a pitching detection device (26) that detects the amplitude of pitching vibration of the vehicle. The amount of torque of the electric motor that the electric motor control device restores over a given amount of time after slippage has stopped is caused to be different in the case that an amplitude (A) detected by the pitching detection device is less than or equal to an assessment value (A1) and in the case that the amplitude (A) exceeds the assessment value (A1).

Electrically driven dump truck

In the present invention, a vehicle control apparatus (50), a controller (100), an inverter control apparatus (30), and a steering control apparatus (32) constitute a control apparatus for executing control in which a yaw moment is applied to a vehicle body (1) such that the vehicle body (1) weaves with trolley lines (3L, 3R) as the center thereof on the basis of image information obtained from a camera (15). This control apparatus also executes control in which the image obtained by the camera (15) is converted into coordinates information, at least one representative point of the vehicle body (1) and at least one target point positioned on the trolley lines (3L, 3R) are calculated on the basis of the coordinates information, a fluctuation point that fluctuates with the target point as the reference point thereof is set, and a yaw moment is applied to the vehicle body (1) such that the representative point comes near the fluctuation point. With this apparatus, a slider can be prevented ...

Electrically driven vehicle

Provided is an electrically driven vehicle such that slippage to drive wheels is suppressed without causing large pitching vibration of the vehicle. The electrically driven vehicle has an electric motor (1,4), a drive wheel (3,6) driven by the electric motor, and an electric motor control device (40) that reduces the torque of the electric motor when drive wheel slippage has occurred and restores the torque after the slippage has been stopped. The electrically driven vehicle has a pitching detection device (26) that detects the amplitude of pitching vibration of the vehicle. The amount of torque of the electric motor that the electric motor control device restores over a given amount of time after slippage has stopped is caused to be different in the case that an amplitude (A) detected by the pitching detection device is less than or equal to an assessment value (A1) and in the case that the amplitude (A) exceeds the assessment value (A1).

REGENERATION CONTROL SYSTEM

A regeneration control system permits highly efficient regeneration while a vehicle is traveling stably. The regeneration control system includes a total regeneration amount determiner for determining the total regeneration amount of a first electric motor connected to front wheels and a second electric motor connected to rear wheels, a regeneration amount allocation determiner for determining regeneration amount allocation to each electric motor, a determination value calculator for calculating a determination value based on a steering angle and a yaw rate, and a determiner for determining whether a determination value lies within a predetermined range. The system further includes a selector that selects a current regeneration amount allocation if the determination value lies within the predetermined range, and a regeneration command issuer that issue regeneration amount commands to the electric motors on the basis of the selected regeneration amount allocation.

TRUCK

The present invention relates to a truck, in particular to a bulk goods dump truck of the so-called large dump truck type, having a chassis with wheels of which a plurality of wheels each have a single wheel drive and having a control device for the control of the speed and/or of the torque of the single wheel drives. In order also to be able to operate the vehicle in the optimal wheel slip range under difficult ground conditions, provision is made for the control device to have a separate controller train for each single wheel drive and to divide a desired torque set by the operator to the controller trains, with each controller train having a differential controller which corrects the divided desired torque in dependence on a steering angle and provides a correspondingly corrected desired torque as well as having a wheel slip controller which corrects the divided desired torque or the desired torque value corrected by the differential controller in dependence on its wheel slip and provides a corresponding single wheel drive desired torque value. A simple expansion to more than two drives is possible by the provision of separate control trains. In this connection, the desired torque is first divided to the single drives by the operator, then corrected by the differential control and the wheel slip control and finally transmitted to a frequency inverter as a desired torque.

VEHICLE

Provided is a vehicle that can improve vehicle posture control or operation performance during accelerating turn. A vehicle (10) is provided with: a left drive wheel (36a) and a right drive wheel (36b) connected to a motor (16, 18); a required drive power amount input device (64) for inputting a required drive power amount; and a required turn amount input device (62) for inputting a required turn amount. The vehicle (10) further includes a turn control device (28) that adjusts a power difference (?T) between the left drive wheel (36a) and the right drive wheel (36b) on the basis of a time derivative value of the required drive power amount in addition to the required turn amount.

CHILDREN'S RIDE-ON VEHICLE WITH INDEPENDENTLY DRIVEN AND REVERSIBLE WHEELS

A children's ride-on vehicle is provided with a chassis (12) formed at least in part of molded plastic, a seat (14) mounted to the chassis (12) and configured to accommodate a driver, and first and second driven wheels (16, 18) mounted to the chassis (12) on opposite sides of the seat (14). A motive power source for the wheels (16, 18), including a battery (38) and two electric motors (112, 114) is mounted to the chassis (12) and is operable to drive each wheel (16, 18) selectively in a forward direction or a reverse direction under control of a foot-pedal (74), power/braking switch and two armrest-mounted joysticks (20, 22).

METHOD OF OPERATION OF VEHICLE

For the four-wheel independent driving of a motor vehicle turning control method and system

SYSTEM AND PROCESS OF ORDER OF the EFFORTS BRACKETS TO the NOSE GEARS ETARRIERE Of a HYBRID MOTOR VEHICLE HAVE FOUR DRIVING WHEELS

L'invention porte sur un système de commande des efforts appliqués aux trains avant (6) et arrière (7) d'un véhicule automobile (1) hybride à quatre roues motrices (2, 3, 4, 5), le train avant (6) étant entraîné par un moteur thermique (8) et le train arrière (7) par une machine électrique (9) alimentée en énergie électrique par un élément de stockage d'énergie électrique lorsqu'elle fonctionne en moteur, et étant apte à fournir de l'énergie électrique à l'élément de stockage lorsqu'elle fonctionne en générateur. Le système comprend des moyens de commande (13) aptes à commander les efforts appliqués au train arrière du véhicule, lesdits moyens de commande (13) étant adaptés pour limiter les efforts appliqués au train arrière (7) à une valeur de limitation prédéterminée (fsat) lorsque le résultat d'un test est positif. Ledit test vérifie si l'effort longitudinal (Fxav) appliqué au train avant (6) est compris entre deux valeurs prédéterminées (seuil1, seuil2) et si l'effort longitudinal ( ...

CONTROL SYSTEM FOR AN INDUCTION MACHINE AND ELECTRIC VEHICLE

Il est prévu un système de commande pour une machine à induction capable de réguler, de manière appropriée, deux rotors uniformément en négociant un virage. A cet effet, il est divulgué un système de commande pour une machine à induction. Le système de commande comprend, en tant qu'organe de commande, une ECU (5). L'ECU (5) calcule des couples cibles pour les deux rotors (22, 23) respectifs, qui prennent en sandwich un stator (21) d'un moteur (2), sur la base d'une répartition de couple pour les deux rotors (22, 23), et un couple total que le moteur (2) doit développer ; et sélectionne, en tant qu'une fréquence de la vitesse synchrone du moteur (2), une fréquence de régulation commune aux deux rotors (22, 23) sur la base des couples cibles et des vitesses rotationnelles des deux rotors (22, 23) respectifs. There is provided a control system for an induction machine capable of appropriately regulating two rotors evenly by negotiating a turn. For this purpose, it is disclosed a control system for an induction machine. The control system comprises, as a control member, an ECU (5). The ECU (5) calculates target torques for the two respective rotors (22, 23), which sandwich a stator (21) of a motor (2), based on a torque distribution for both rotors (22, 23), and a total torque that the motor (2) must develop; and selects, as a frequency of the synchronous speed of the motor (2), a common control frequency to both rotors (22, 23) based on the target torques and rotational speeds of the two rotors (22, 23) respectively.

전륜의 상하롤링 제어가 가능한 3WAY 전동카

... 본 발명은 전륜의 상하롤링 제어가 가능한 3WAY 전동카에 관한 것으로, 보다 상세하게는 배터리에서 공급된 전원에 의해 자동으로 구동되도록 차체 프레임과 조향장치가 관절로 연결되고, 핸들의 조작을 통해 출발과 정지 및 속도를 간편하게 제어할 수 있을 뿐만 아니라, 안장 부분의 접철 구조를 통해 보드와 스쿠터로의 듀얼모드 전환이 가능한 전륜의 상하롤링 제어가 가능한 3WAY 전동카에 관한 것이다. 본 발명에 따른 전륜의 상하롤링 제어가 가능한 3WAY 전동카는, 배터리에서 인가되는 전원에 의해 자동으로 구동되는 전동카에 있어서, 한 쌍의 전륜과 하나의 후륜이 장착되는 바디프레임과; 상기 바디프레임의 상부에 설치되는 시트부와; 상기 바디프레임의 전방으로 위치되게 결합되는 핸들부를; 포함하되, 상기 바디프레임은, 상기 시트부의 양측에서 전후방으로 소정 폭만큼 연장되는 발받침부가 구비되고, 상기 시트부는, 승하강구동수단을 통해 상하 회전되며 접철되는 시트가 구비되어 상기 시트가 상승되는 경우 스쿠터로의 기능을 하고, 상기 시트가 하강하는 경우 보드로의 기능을 할 수 있도록 하는 것을 특징으로 한다.

HYBRID VEHICLE BATTERY LIFE EVALUATING APPARATUS

A hybrid vehicle battery life evaluating apparatus 1 includes an actual traveling measuring section 2 measuring, for each driving pattern, actual gasoline mileage data on a hybrid vehicle equipped with a battery as a power source, a test traveling storage section 3a storing test gasoline mileage data set for each driving pattern on the basis of a traveling test on the vehicle, a battery life evaluating section 5 comparing the measured actual gasoline mileage data with the test gasoline mileage data on the corresponding driving pattern to evaluate a degradation level of the battery on the basis of a value of a decrease in gasoline mileage set for each degradation level of the battery and transmitting information on battery degradation to a battery life display section 6, and the battery life display section 6 displaying the information on battery degradation.

Способ управления индивидуальным тяговым электроприводом ведущих колес многоколесного транспортного средства

Изобретение относится к способу для управления тяговой системой транспортных средств с электротягой. Способ управления тяговыми электродвигателями для индивидуального электропривода ведущих колёс транспортного средства, заключающийся в том, что получают данные от датчиков, согласно которым блок управления задает величины регулируемых по определенному алгоритму параметров тяговых электродвигателей. Осуществляют функцию импульсного подавления автоколебаний для тягового и тормозного режимов работы индивидуального тягового электрического привода как при прямолинейном, так и при криволинейном движении по сигналам от датчиков угловых скоростей вращения колёс, угла поворота рулевого колеса, положения педали хода и силы тока в любых двух фазах тяговых электродвигателей. Технический результат заключается в повышении энергоэффективности, безопасности и надёжности индивидуального тягового электропривода колеса. 11 ил.

УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ, СПОСОБ УПРАВЛЕНИЯ ДВИЖЕНИЕМ И ЭНЕРГОНЕЗАВИСИМЫЙ НОСИТЕЛЬ ДАННЫХ

FIELD: hybrid vehicles.SUBSTANCE: inventions group relates to control systems for hybrid vehicles. A motion control device installed on a vehicle containing an electric motor and an internal combustion engine as a power source comprises a generating unit, an evaluating unit and a determining unit. In this case, the generating unit is configured to create a speed profile in which the vehicle speed is predicted at each moment of time. The estimation unit is configured to approximate the velocity profile using a given approximation model and to estimate the predicted value of the recuperative energy based on the approximation result. The determining unit is configured to determine the power source to be used for driving based on the predicted amount of recuperative energy. Also claimed are a motion control method and a nonvolatile storage medium that stores a motion control program.EFFECT: invention improves the fuel efficiency of a hybrid vehicle.11 cl, 9 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 749 742 C1 (51) МПК B60W 20/11 (2016.01) B60W 20/20 (2016.01) B60L 15/20 (2006.01) B60L 7/10 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК B60W 20/11 (2021.02); B60W 20/20 (2021.02); B60L 15/2045 (2021.02); B60L 7/10 (2021.02) (21)(22) Заявка: 2020136849, 10.11.2020 (24) Дата начала отсчета срока действия патента: Дата регистрации: (73) Патентообладатель(и): ТОЙОТА ДЗИДОСЯ КАБУСИКИ КАЙСЯ (JP) 16.06.2021 (56) Список документов, цитированных в отчете о поиске: US 9637111 B2, 02.05.2017. WO 2014158846 A1, 02.10.2014. WO 2018104850 A1, 14.06.2018. RU 2653944 C1, 15.05.2018. 12.11.2019 JP 2019-205032 (45) Опубликовано: 16.06.2021 Бюл. № 17 2 7 4 9 7 4 2 R U (54) УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ, СПОСОБ УПРАВЛЕНИЯ ДВИЖЕНИЕМ И ЭНЕРГОНЕЗАВИСИМЫЙ НОСИТЕЛЬ ДАННЫХ (57) Реферат: Группа изобретений относится к системам оценивания прогнозируемой величины управления для гибридных транспортных средств. рекуперативной энергии на ...

Verfahren zum Betreiben eines Fahrzeugs

Die Erfindung betrifft ein Verfahren zum Betreiben eines Fahrzeugs mit mindestens einer gelenkten und mindestens einer angetriebenen Achse, wobei mindestens die angetriebene Achse mindestens zwei Radnabenelektromotoren besitzt, welche in das jeweilige Antriebsrad integriert sind. Weiterhin ist eine elektronische Steuerung für die Radnabenmotoren unter Bildung eines elektronischen Differentials vorhanden. Sensoren erfassen Signale, die den Fahrvorgaben entsprechen. Erfindungsgemäß wird mittels eines Interface-Moduls aus den Sensorsignalen, der Stellung des Fahrfußhebels bzw. eines Gasgriffs und des Lenkwinkels eine Ermittlung von Korrekturfaktoren für Vorgabewerte zur Steuerung der Radnabenmotoren vorgenommen und an die diesbezüglichen Motorsteuerungen weitergeleitet.

Verfahren und Steuereinheit zur Ansteuerung von Aktoren eines Fahrzeugs in einem Notbetrieb

Das erfindungsgemäße Verfahren betrifft eine Ansteuerung von Aktoren eines Fahrzeugs in einem Notbetrieb, das Fahrzeug umfassend einen Antriebsenergiespeicher (HVB) zur Zusammenwirkung mit einer elektrischen Antriebsmaschine (M), wobei die elektrische Antriebsmaschine in einem Motorbetrieb und/oder in einem Generatorbetrieb betreibbar ist, das Fahrzeug umfassend eine Mehrzahl von elektrisch aktuierbaren Aktoren, umfassend folgende Schritte: a) ermitteln eines Ausfalls des Antriebsenergiespeichers (HVB); b) aktivieren des Generatorbetriebs der Antriebsmaschine (M) in Folge des Ausfalls; b) bestimmen eines aktuellen Fahrzustands des Fahrzeugs; c) bestimmen von zur Herstellung eines sicheren Betriebszustands des Fahrzeugs erforderlichen Aktoren und deren jeweils erforderliche Aktorendynamik auf Basis des aktuellen Fahrzustands des Fahrzeugs; d) ermitteln eines zur Herstellung des sicheren Betriebszustands erforderlichen Bedarfs an elektrischer Energie für einen jeweiligen erforderlichen Aktor ...

MOTORSTEUERVERFAHREN, MOTORSTEUERSYSTEM UND ELEKTRISCHES SERVOLENKSYSTEM

Ein Motorsteuerverfahren ist bereitgestellt, das folgende Schritte aufweist: einen Schritt zum Erfassen zumindest eines Messdrehmomentwinkels und zweier Schätzungsdrehmomentwinkel; einen Schritt zum Finden aller Kombinationen von zwei Drehmomentwinkeln, die in Bezug auf eine Gruppe kombiniert werden können, die aus zumindest einem Messdrehmomentwinkel und zwei Schätzdrehmomentwinkeln gebildet ist, und Ausführen einer Berechnung zum Bestimmen des Fehlers in jeder der Kombinationen; einen Schritt zum Auswählen eines Steuermodus für einen Motor aus einer Mehrzahl von Steuermodi, die einen Sensormodus, einen sensorlosen Modus und einen Abschaltmodus umfassen, wobei die Auswahl durchgeführt wird durch Berücksichtigen einer Tabelle, die Beziehungen zwischen der Mehrzahl von Steuermodi und einer Mehrzahl von Referenzmustern darstellt, die sich auf berechnete Fehlergruppen beziehen; und einen Schritt zum Steuern eines Motors gemäß dem ausgewählten Steuermodus.

Fahrzeugpositionierung für induktive Energieübertragung

Verfahren zum Annähern eines Fahrzeugs (6) an eine fahrzeugexterne Primärladeeinheit (2) zum induktiven Laden des Fahrzeugs, wobei das Fahrzeug eine Sekundärladeeinheit, ein Kamerasystem und eine Anzeigevorrichtung umfasst,mit den Schritten:d) Aufnahme eines Echtzeitbildes (1) des Fahrzeugumfelds mit dem Kamerasystem, wobei die Primärladeeinheit von dem Echtzeitbild erfasst ist,e) Anzeigen des Echtzeitbildes in der Anzeigevorrichtung,f) Einblenden von zumindest einer Führungslinie (3a, 3b) in das Echtzeitbild, wobei- die Richtung und/oder Krümmung der Führungslinie mit einem Lenkwinkeleinschlag des Fahrzeugs derart zusammenfällt, dass die Führungslinie der Trajektorie des Fahrzeugs bei dem Lenkwinkeleinschlag entspricht, und wobei- die Position der Überblendung der Führungslinie in dem Echtzeitbild des Fahrzeugumfelds so gewählt ist, dass die Führungslinie die Bewegungskurve Tder Sekundärladeeinheit des Fahrzeugs anzeigt,d) Wiederholen der Schritte a) bis c), um in Abhängigkeit von einer ...

Engine shut off system for a hybrid electric vehicle

Vehicle controller and method of controlling a vehicle

WHEELCHAIR

Method and apparatus for controlling a vehicle

A system and a method for determining a relative pose between a primary winding structure and a secondary winding structure of a system for inductive power

A relative pose between a primary winding structure 2 and a secondary winding structure 3 of a system 1 for inductive power transfer to a vehicle 7 is determined. A first radio direction finding system has at least one transmitting device 8 and at least two receiving devices 5a, 5b for receiving a position signal transmitted from the transmitting device. A first relative pose is determined using a model-based determination, wherein input values of the model-based determination are provided at least by: output values generated by the receiving devices, upon reception of a position signal transmitted from the transmitting device; and at least one motion value of the vehicle (e.g. velocity, driving direction or steering wheel angle of the vehicle). The model-based determination may determine state variables based on the input values, with the first relative pose determined as at least one state variable. A Kalman filer may be used to determine the relative pose. A further relative pose may ...

WHEEL MODULE

Children's ride-on vehicle with independently driven and reversible wheels

Electrically driven dump truck

In the present invention, a vehicle control apparatus (50), a controller (100), an inverter control apparatus (30), and a steering control apparatus (32) constitute a control apparatus for executing control in which a yaw moment is applied to a vehicle body (1) such that the vehicle body (1) weaves with trolley lines (3L, 3R) as the center thereof on the basis of image information obtained from a camera (15). This control apparatus also executes control in which the image obtained by the camera (15) is converted into coordinates information, at least one representative point of the vehicle body (1) and at least one target point positioned on the trolley lines (3L, 3R) are calculated on the basis of the coordinates information, a fluctuation point that fluctuates with the target point as the reference point thereof is set, and a yaw moment is applied to the vehicle body (1) such that the representative point comes near the fluctuation point. With this apparatus, a slider can be prevented ...

VEHICLE

Provided is a vehicle which is capable of improving operation performance and attitude control of the vehicle during turning. This vehicle (10) is provided with a rotational speed acquisition means (76) which acquires the rotational speed of a rotating electric machine (70) which applies a steering force or a supplemental steering force to the steering system. On the basis of the rotational speed of the rotating electric machine (70), a drive control device (38) controls the left-right drive force difference originating from the drive device (48).

Electrically driven dump truck

METHOD AND SYSTEM FOR CONTROLLING AN ELECTRIC AXLE OF A TRAILER OR SEMI-TRAILER

L’invention concerne un procédé de pilotage d’un essieu électrique (2) d’un véhicule tracté (1) par un véhicule tracteur (1c) pour former un convoi, ledit essieu (2) étant associé à au moins un moteur électrique (9) pour fournir une assistance à la traction au convoi lors d’une traction par le véhicule tracteur (1c), consistant à déterminer une consigne de couple (C) pour le moteur électrique (9) en utilisant une donnée d’effort se rapportant à l’effort de traction exercé par le véhicule tracteur (1c), consistant à utiliser des capteurs de disposés sur le convoi pour fournir des données mesurées se rapportant au dit convoi, utiliser un capteur inertiel disposé sur le véhicule tracté (1) pour fournir des données mesurées ou calculées se rapportant à l’accélération du convoi, effectuer une fusion des données issues des capteurs présents sur le convoi, ladite fusion des données se basant sur l’utilisation d’au moins un algorithme de calcul, et estimer par calcul l’effort de traction. Figure pour l’abrégé : Fig 2. The invention relates to a method of controlling an electric axle (2) of a vehicle towed (1) by a towing vehicle (1c) to form a convoy, said axle (2) being associated with at least one electric motor ( 9) to provide traction assistance to the convoy during traction by the towing vehicle (1c), consisting in determining a torque setpoint (C) for the electric motor (9) using force data relating to to the tractive force exerted by the towing vehicle (1c), consisting in using sensors arranged on the convoy to provide measured data relating to said convoy, using an inertial sensor arranged on the towed vehicle (1) to provide measured or calculated data relating to the acceleration of the convoy, merge the data from the sensors present on the convoy, said merge of the data being based on the use of at least one calculation algorithm, and estimate by calculation the tractive effort. Figure for the abstract: Fig 2.

VEHICLE HAVING AN ELECTRONICALLY CONTROLLED VEHICLE DEVICE THAT CAN BE OPERATED BY A DRIVER

The invention relates to a vehicle (10) having a cab (11) for a driver. An electronically controlled vehicle device, in particular a current collector, can be operated by the driver. For this purpose, an operating device (30) has input means for the input of an operating command by the driver and output means for the output of a status indication to the driver. A control device (22) arranged outside the cab (11) is designed to produce a control signal for the vehicle device from the operating command and to produce the status indication from a status signal of the vehicle device. The control device (22) is connected to the vehicle device and the operating device (30) by means of a network (13) for the purpose of data transmission. The operating device (30) is designed to be portable, can be fixed in a retaining device (14), which has a network interface (15) and is arranged in the cab (11), for operation during travel, and can be detached from the retaining device (14) in order to be carried ...

Wheelchair

A wheelchair having a pair of electrically driven drive wheels, a pair of power-operated swivel steering wheels which rotate about a vertical steering axis, and a manually-actuated lever. Each steering wheel has its own motor for adjusting the steering angle of the steering wheel. The steering lever connects to a mechanical-electrical steering angle generator which produces an electrical signal which is dependent on the angular position of the steering lever. The signal is fed into an electrical device which controls both steering wheel motors to adjust the steering angle of the steering wheels. The electrical device produces two adjustment signals, one for each wheel, which are inversely proportional to the radius of the turning curve. The steering angle can be set at any angle to up to 360° thereby providing substantial maneuverability for the wheelchair. The steering angles are precisely controlled to satisfy the laws of steering so that a lateral jamming of the steering wheels and increased ...

DRIVING FORCE CONTROL SYSTEM FOR VEHICLE

A driving force control system for a vehicle is provided to control an output torque of a prime mover and a torque split ratio to right and left wheels to improve stability of the vehicle. A controller is calculates target torques delivered to the right wheel and the left wheel based on a required drive torque and data relating to an attitude of the vehicle, and corrects the target torques based on slip ratios of the wheels. The drive motor is control based on a first current value calculated based on a total torque of the corrected target torques to be delivered the wheels, and the differential motor is controlled based on a second current value calculated based on a difference between the corrected target torques to be delivered to the wheels.

BRAKE CONTROL DEVICE AND BRAKE CONTROL METHOD

A brake control device mounted to a vehicle that comprises a pair of driving wheels and a pair of non-driving wheels controls an upstream brake pressure generated by a master cylinder and downstream brake pressures generated by brake actuators so that, during regenerative braking, the downstream brake pressures to brake devices corresponding to the driving wheels are reduced to be lower than the upstream brake pressure, and the downstream brake pressures to brake devices corresponding to the non-driving wheels are increased to be higher than the upstream brake pressure.

ELECTRIC VEHICLE SAFETY CONCEPT USING DISTRIBUTED VEHICLE CONTROL UNITS

Systems of an electrical vehicle and the operations thereof are provided. Embodiments include an electric vehicle, rechargeable electric vehicle, and/or hybrid-electric vehicle and associated systems. The electric vehicle includes redundant vehicle control systems that monitor each other to prevent a dangerous reduction or change in torque to the electric motor(s). By monitoring each other, the redundant VCUs can ensure that a failure of the opposite VCU does not endanger the vehicle and may be shut down when the opposite VCU when the VCU's behavior is outside acceptable operating circumstances. 120-. (canceled)21. A vehicle , comprising:a first motor;a first vehicle control unit (VCU) in communication with the first motor to control a first function of the first motor; anda second VCU in communication with the first motor and the first VCU, wherein the second VCU controls the first motor if the first VCU fails by determining an incorrect amount of torque to command from the first motor.22. The vehicle of claim 21 , further comprising a first power electronics unit (PEU) electrically connected to the first motor and in communication with the first VCU and second VCU claim 21 , wherein the first PEU provides power input to the first motor based on commands from the first VCU or second VCU.23. The vehicle of claim 22 , wherein the first VCU receives a signal from the first PEU indicating a first amount of torque provided by the first motor claim 22 , wherein the first VCU determines a second amount of torque required by the first motor claim 22 , wherein the first VCU compares the first amount of torque and the second amount of torque to determine if a failure has occurred with the first motor or the first PEU.24. The vehicle of claim 23 , wherein the second VCU receives a first signal from the first VCU indicating a second amount of torque determined by the first VCU for the first motor claim 23 , wherein the second VCU determines a third amount of torque required by ...

HYBRID AND ELECTRIC VEHICLE BATTERY PACK MAINTENANCE DEVICE

The present invention includes a battery pack maintenance device for performing maintenance on battery packs of hybrid and/or electrical vehicles (referred herein generally as electric vehicles). In various embodiments, the device includes one or more loads for connecting to a battery pack for use in discharging the battery pack, and/or charging circuitry for use in charging the battery pack. Optional input/output circuitry can be provided for communicating with circuitry of in the battery pack and/or circuitry of the vehicle. 1. A maintenance device for coupling to a battery of an electric vehicle and performing maintenance on the battery , comprising:a device housing;a controller in the housing configured to control operation of the maintenance device;a plurality of wire loading coils configured to apply a discharge load to the battery; andload control circuitry configured to selectively couple at least two of the plurality of wire loading coils to the battery in response to an output from the controller.2. The apparatus of including a junction box configured to couple the controllable load to the battery pack.3. The apparatus of including communication circuitry configured to couple to a databus of the electric vehicle.4. The apparatus of including communication circuitry configured to couple to a battery pack of the electric vehicle.5. The apparatus of including power supply circuitry configured to be powered by a 12 volt source.6. The apparatus of including a shut off switch configured to be actuated by an operator.7. The apparatus of including an insulated gate bipolar transistor coupled to the load.8. The apparatus of including a junction box configured to couple the controller to a databus of the vehicle.9. The apparatus of including a bridge circuit configured to couple to the battery pack and wherein a voltage difference across the bridge circuit is indicative of electrical current leakage from the battery pack to electrical ground.10. The apparatus of ...

Riding lawn mower

A riding lawnmower includes left and right wheels, at least one caster wheel, a lawnmower blade or reel, and a control section. The left and right wheels are independently driven by electric rotary machines to travel. The lawnmower blade or reel is driven for mowing. The control section, in response to turn instruction input by a turn operator, controls the left and right wheels according to preset standard setting conditions, or according to deceleration setting conditions which differ from the standard setting conditions, under which at least one of a vehicle movement speed and vehicle turning speed is decelerated more than under standard setting conditions. The riding lawnmower includes a section designating either standard setting conditions or deceleration setting conditions. In a riding lawnmower, left and right wheels are caused to turn around a turn center position corresponding to a turn instruction according to designated setting conditions.

ПРИВОДНОЕ УСТРОЙСТВО ДЛЯ БЕЗРЕЛЬСОВОГО СУХОПУТНОГО ТРАНСПОРТНОГО СРЕДСТВА

Приводное устройство для сухопутного безрельсового транспортного средства с по меньшей мере одним приводным колесом 1,7 по обе стороны продольной оси транспортного средства включает двигатель внутреннего сгорания 13, приводимое от двигателя внутреннего сгорания генераторное устройство 11, по одному электромотору 9 для каждого из приводных колес 1,7 и электронное устройство 15,19,21, регулирующее электрическую мощность, подаваемую к отдельным электромоторам 9 генераторным устройством 11. Управляющее устройство 15,19,21 регулирует величину и распределение приводных моментов на отдельные колеса 1,7 таким образом, что регулируется автоматическая управляемость транспортного средства с помощью производства момента рыскания, например в зависимости от поперечного ускорения транспортного средства или в зависимости от величины ветрового момента, производимого боковым воздушным потоком. С помощью измерения нагрузки колеса отдельных приводимых колес регистрируются пределы сцепления колес и регулируются ...

Antriebseinheit mit optimierter Kühlung

Die Erfindung betrifft eine elektrische Antriebseinheit mit einem Lenkmotor und einem Fahrmotor, welche koaxial zueinander angeordnet sind und welche ein Fahrzeugrad lenken bzw. im Sinne einer Fahrbewegung antreiben. Ein erster Motor (1) besitzt eine hohle Antriebswelle (2), durch welche eine zweite Antriebswelle (3) des zweiten Motors (4) hindurchragt. Die zweite Antriebswelle (3) ragt weiterhin durch eine Außenwand (5) der Antriebseinheit hindurch und ist auf der Außenseite (6) mit einem Lüfterrad (7) drehfest verbunden, durch welches Luft zum Kühlen außen am Gehäuse der Antriebseinheit entlang geblasen wird.

Control of drive unit of hybrid vehicle with IC engine and motor-generator set with recuperative braking system

The drive system for a car using an IC engine has a motor-generator set coupled to the gearbox output shaft for conversion of braking energy at the wheels back into electrical energy. There is a battery to store this recovered energy. There is a sensor to determine the operational state of the car and a control unit for the operation of the gearbox and motor-generator according to the sensor signal. The unit permits the motor-generator to generate when car braking is detected and switches the gearbox into a gear between the existing one and another with a higher gear ratio so that the recoverable braking energy is maximised.

Vehicle controller and method of controlling a vehicle

ELECTRIC VEHICLE AS WELL AS DEVICE AND PROCEDURE FOR THE SLIP REGULATION FOR IT

System and apparatus for a multiple input and dual output electric differential motor transmission device

Fluid-cooled, high power switched reluctance motor

Trolley-driven machine record and playback automation

A system and method for automatically guiding an off-highway truck having a pantograph over a route having at least one trolley-powered section. While the off- highway truck is operated over the route by a human operator, its position and the state of the pantograph at each position are recorded to produce a recorded sequence. The recorded sequence is retrieved and the off-highway truck is automatically controlled to sequentially match each position and each pantograph state at the associated position.

For control of the vehicle on the method of driving

Power device

Vehicle positioning for inductive energy transmission

ELECTRICALLY DRIVEN VEHICLE

In an electrically driven vehicle having a controller, the vehicle has a steering angle sensor for outputting a detected value of a steering angle of the vehicle, the controller includes a first torque order pattern along which a torque order for a first electric motor is determined and a second torque order pattern along which a torque order for a second electric motor is determined, and the first and second torque order pattern are modified on the basis of the detected value of the steering angle so that the torque order determined along the second torque order pattern is greater than the torque order determined along the first torque order pattern under the identical velocity when the vehicle turns to the left, and the torque order determined along the first torque order pattern is greater than the torque order determined along the second torque order pattern under the identical velocity when the vehicle turns to the right.

ELECTRICALLY DRIVEN DUMP TRUCK

A vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device 200 which executes control to give a yaw moment to a vehicle body 1 to make the vehicle body 1 travel while tracing a trolley wire 3R, 3L based on image information detected by a camera 15. The control device 200 converts an image acquired by the camera 15 into coordinate information, calculates at least one representative point of the vehicle body 1 and at least one target point situated on the trolley wire 3R, 3L based on the coordinate information, and executes the control to give a yaw moment to the vehicle body 1 so that the representative point approaches the target point. With this configuration, an electrically driven dump truck capable of lightening the operating load on the driver during the trolley traveling is provided.

Vehicle with golf improvements

A SEGWAY adapted with a mechanism to manually override the rider detection mechanical sensors to allow a golfer to choose to ride or not ride the SEGWAY while playing golf. A handle attachment extends outwardly enabling the golfer to manually steer and thus control the speed and direction of the SEGWAY while not riding the SEGWAY. The golfer can ride, walk, or run as desired in unison with the improved SEGWAY. A wireless controller and steering mechanism allow the golfer to remotely operate and control the speed and direction of the SEGWAY.

Vehicle

When two motors are in a locked state in which electric current is flowed in a concentrated manner in a specific phase in the two motors, a lock protection control is performed to rotate the two motors to change over a phase in which electric current is flowed in a concentrated manner in the two motors. The lock protection control rotates the two motors such that a vehicle is turned.

Movement control device for vehicle

A movement control device for a vehicle comprises a yaw-acceleration calculation portion to calculate a target yaw acceleration of the vehicle, a turn-back steering determination portion to determine whether a turn-back steering of the vehicle is conducted or not, and a drive-force control portion to a drive force of the vehicle. The control of the drive-force control portion is configured such that when the turn-back steering is not conducted, the amount of drive-force decreasing is increased with a specified increasing rate as the target yaw acceleration increases, the specified increasing rate becoming smaller as the target yaw acceleration increases, and when the turn-back steering is conducted, the drive force is increased in a case in which an absolute value of a steering angle of the vehicle decreases.

УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖУЩЕЙ СИЛОЙ ДЛЯ ТРАНСПОРТНОГО СРЕДСТВА С НЕЗАВИСИМЫМ ПРИВОДОМ МОДУЛЕЙ КОЛЕС

FIELD: transport. SUBSTANCE: invention relates to vehicles with wheels driven by independent drives. Proposed device comprises n motor generators, wheel drive module, drive circuit, drive and motor generator power supply and switching mechanism. Switching mechanism allows switching the state of one of n motor generators whereat the latter and drive circuit are connected together into that whereat m of n motor generators and drive circuit are connected together. In compliance with second version, proposed device comprises additionally a control device. Said control device comprises first drive device intended for driving m of n motor generators and second drive device for driving one of n motor generators by drive circuit. In compliance with third version, is additionally comprises n circuits if switches to connect/disconnect drive circuit and n motor generators, respectively. Control device controls drive circuit to selectively switch one or m of n switch circuits into "connected" state for motor generator to generate propellant force. EFFECT: higher-efficiency electric drive. 7 cl, 8 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) 2 389 617 (13) C2 (51) МПК B60L 11/00 (2006.01) B60W 20/00 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ, ПАТЕНТАМ И ТОВАРНЫМ ЗНАКАМ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21), (22) Заявка: 2008126227/11, 29.11.2006 (24) Дата начала отсчета срока действия патента: 29.11.2006 (43) Дата публикации заявки: 10.01.2010 (45) Опубликовано: 20.05.2010 Бюл. № 14 (56) Список документов, цитированных в отчете о поиске: JP 9093714 А, 04.04.1997. DE 4133060 А1, 08.04.1993. RU 2070857 С1, 27.12.1996. US 5788003 А, 04.08.1998. 2 3 8 9 6 1 7 R U (86) Заявка PCT: JP 2006/324323 (29.11.2006) C 2 C 2 (85) Дата перевода заявки PCT на национальную фазу: 30.06.2008 (87) Публикация PCT: WO 2007/064025 (07.06.2007) Адрес для переписки: 129090, Москва, ул.Б.Спасская, 25, стр.3, ООО "Юридическая фирма Городисский и Партнеры", пат.пов. А.В.Мицу, рег.№ ...

СПОСОБ И УСТРОЙСТВО КОНТРОЛЯ-УПРАВЛЕНИЯ ЗАПУСКОМ ДВИГАТЕЛЯ ВНУТРЕННЕГО СГОРАНИЯ ГИБРИДНОГО ТРАНСПОРТНОГО СРЕДСТВА

... 1. Способ контроля-управления запуском двигателя (1) внутреннего сгорания гибридного транспортного средства, содержащего по меньшей мере один электрический двигатель (2), отличающийся тем, что включает в себя следующие этапы, на которых:включают псевдо-цикл запуска двигателя (1) внутреннего сгорания, используя пусковую батарею (4),измеряют и регистрируют изменение во времени по меньшей мере одного параметра пусковой батареи (4), включающего в себя данные силу тока и напряжение на клеммах указанной пусковой батареи,выявляют, достигает или нет изменение во времени указанного или указанных параметров заранее определенного значения, характеризующего состояние пусковой батареи, достаточное или нет для запуска двигателя (1) внутреннего сгорания, в течение данного интервала времени,если достаточное состояние пусковой батареи (4) выявлено, запускают двигатель (1) внутреннего сгорания, используя пусковую батарею (4),если достаточное состояние пусковой батареи (4) не выявлено, подают команду на разрешение ...

УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖУЩЕЙ СИЛОЙ ДЛЯ ТРАНСПОРТНОГО СРЕДСТВА С НЕЗАВИСИМЫМ ПРИВОДОМ МОДУЛЕЙ КОЛЕС

... 1. Устройство управления движущей силой транспортного средства с независимым приводом модулей колес, содержащее: ! n двигателей-генераторов (MGL, MGR), каждый из которых соединен с модулем привода колеса и приводится в движение независимо друг от друга, причем n представляет собой натуральное число, равное, по меньшей мере, двум; ! схему (1) привода, выполненную с возможностью совместного ее использования упомянутыми n двигателями-генераторами (MGL, MGR) и выполненную с возможностью получения электроэнергии от источника (B) питания для привода упомянутых n двигателей-генераторов (MGL, MGR); и ! механизм (SWL, SWR) переключения, выполненный с возможностью выборочного переключения состояния, в котором один из упомянутых n двигателей-генераторов (MGL, MGR) и схема (1) привода соединены вместе, в состояние, в котором m из упомянутых n двигателей-генераторов (MGL, MGR) и схема (1) привода соединены вместе, причем m представляет собой натуральное число, равное, по меньшей мере, двум и не превышающее ...

Transportfahrzeug

Zweiachsiges Transportfahrzeug (100) mit vier Rädern (1) und einer Lenkpolachse (A) und einem Lenksollwertgeber (2), wobei ein Lenkpol (O), auf welchen die Achsen (P) der Räder bei einer Kurvenfahrt ausgerichtet sind, durch Betätigung des Lenksollwertgebers (2) entlang der Lenkpolachse (A) verlagert wird,mit mindestens einer ungelenkten Achse (E) mit zwei Antriebsrädern (3, 3'), von denen jedes ungelenkt und mit einem eigenen elektrischen Antriebsmotor (4, 4') angetrieben istund mit mindestens einer gelenkten Achse (F) mit mindestens zwei nicht angetriebenen, lenkbaren Lasträdern (5, 5'), von denen jedes von einer Position, in der seine Achse (6, 6') parallel zur Achse (7) der Antriebsräder (8, 8') verläuft in eine Position lenkbar ist, in der seine Achse (6, 6') auf einen zwischen den Antriebsrädern (4, 4') liegenden Lenkpol (O) ausgerichtet ist,mit einer Vorrichtung (9) zur Erfassung des Lenkwinkels von mindestens einem Lastrad (5, 5'),wobei eine elektronische Steuereinrichtung (10) vorgesehen ...

ELEKTRISCHE HILFSAGGREGATE FÜR EINEN VIERRADANTRIEB

Batteriesatz-Wartungsvorrichtung für Hybrid- und Elektrofahrzeuge

Die Erfindung weist eine Batteriewartungsvorrichtung (100) zur Wartungsdurchführung an Batteriesätzen (104) von Hybrid- und/oder Elektrofahrzeugen (102) (hier allgemein Elektrofahrzeuge genannt) auf. In verschiedenen Ausführungsformen verfügt die Vorrichtung über eine oder mehrere Lasten (170) zum Verbinden mit einem Batteriesatz (104) zum Gebrauch beim Entladen des Batteriesatzes (104) und/oder einen Ladeschaltungsaufbau zum Gebrauch beim Laden des Batteriesatzes (104). Ein Eingabe/Ausgabe-Schaltungsaufbau (162) kann zum Kommunizieren mit einem Schaltungsaufbau des Batteriesatzes (104) und/oder einem Schaltungsaufbau des Fahrzeugs (102) vorgesehen sein.

ELECTRICAL AUXILIARY AGGREGATES FOR A FOUR-WHEEL DRIVE

System and method for controlling traction

A traction control system for a machine (100) having an electric drive (102) configuration is disclosed. The traction control system includes an electric motor (116, 118) associated with at least one wheel (105. 106) and adapted to provide braking torque to the wheel (105, 106). The control system further includes a controller configured to determine a rotational speed of the at least one wheel (105, 106), compare the rotational speed to an allowable slide threshold, and adjust the braking torque to the at least one wheel (105, 106) during retarding if the speed is less than the allowable slide threshold.

Regenerative brake system reset feature and adaptive calibration for hybrid and electric vehicles

In a vehicle equipped for regenerative and non-regenerative braking, regenerative braking only is applied to predetermined wheels in response to braking demand when the driver attempts to slow the vehicle at a first rate (< D ...

Electrically driven dump truck

This control device (200) is configured by a vehicle control device (50), a controller (100), an inverter control device (30) and a steering control device (32). This control device (200) performs control to apply a yaw moment to a vehicle main body (1) such that the vehicle main body (1) travels following a first trolley line (3L ...

CONNECTED HELMET SYSTEM AND METHOD OF OPERATING THE SAME

A helmet (20) for communicating with a vehicle function controller (16) and method for operating the same has a first memory (512), a first transmitter (532), a first receiver (530) and a first controller (510) in communication with the first memory (512), the first transmitter (532) and the first receiver (530). The first receiver (530) receives a plurality of vehicle (10) function settings. The first memory (512) stores the vehicle (10) function settings within a memory (512) of the helmet (20). The first transmitter (532) communicates the vehicle (10) function settings from the first memory (512) to the vehicle function controller (16). A system including a helmet (20) and a vehicle (10) is also configured to enable the vehicle to start in response to an identifier communicated by the helmet (20) to a vehicle controller (610).

VEHICLE

Provided is a vehicle which is capable of improving operation performance and attitude control of the vehicle during turning. A drive control device (38) of this vehicle (10) controls the left-right drive force difference originating from a drive device (48) on the basis of the rotational speed of a rotating electric machine (70) which applies a steering force or a supplemental steering force to the steering system. Further, the drive control device (38) prohibits or suppresses control of the left-right drive force difference, which is based on the aforementioned rotational speed, if the vehicle (10) deviates from, or is in danger of deviating from, the travel path (200), or if an avoidance support means (90) generates a notification operation or applies a deviation avoidance support steering force or a deviation avoidance support steering supplemental force.

REGENERATIVE BRAKING REGULATION IN AUTOMOTIVE VEHICLES

The invention relates to a self-learning regenerative control system that adapts to the user's driving style. The system receives as input a signal that is indicative of the friction brake usage and adapts the degree of regenerative braking accordingly. When the friction brake usage is high, the system will make the regenerative braking more aggressive such that when the user lifts-off the foot from the accelerator pedal, the degree of regenerative braking will be higher, thus reducing the need to use friction brakes. The system continuously adapts the regenerative braking intensity based on driving style, road conditions, etc.

Method for the failsafe operation of a hybrid vehicle for initiating, in a controlled manner, a substitute measure allowing an emergency operation of the vehicle and device for carrying out said method

The invention relates to a method for the failsafe operation of a hybrid vehicle (1) comprising an internal combustion engine (2), an electric motor (3) and additional vehicle units, a substitute measure allowing an emergency operation of the vehicle being initiated when one of the vehicle units fails. The method according to the invention is characterized by detecting an operating variable that is characteristic of the drive-dynamic situation the vehicle is in before the substitute measure is initiated and said variable is compared with at least one threshold value, the substitute measure being initiated when exceeding or falling below the threshold value. The invention also relates to a device comprising means for carrying out said method.

Control device for hybrid vehicle power transmitting apparatus

The vehicle motion control system, the vehicle, and the vehicle motion control method

Creep mode propulsion for stop-start hybrid vehicles

METHOD AND MONITORING AND CONTROL DEVICE FOR STARTING A HEAT ENGINE OF A HYBRID VEHICLE.

ELECTRIC VEHICLE USABLE IN PARTICULAR LIKE MACHINE Of ATTRACTION OR HANDLING

Véhicule électrique utilisable notamment comme engin d'attraction dans les fêtes foraines, ou comme engin de manutention. Le véhicule comprend deux roues motrices 5 associées à un dispositif d'appui complémentaire, et disposées coaxialement suivant un axe perpendiculaire à la direction d'avancement du véhicule; un moteur 9 d'entraînement est associé à chaque roue 5 et est alimenté électriquement par l'intermédiaire d'une chaîne de commande électronique comprenant des convertisseurs de tension réglables, qui permettent de commander la vitesse de rotation de chaque roue de façon indépendante. Ce véhicule, utilisé comme auto-tamponneuse dans les manèges, peut se déplacer à une vitesse variable. Dans ses applications comme engin de manutention, il a l'avantage de pouvoir pivoter sur place dans un espace minimum. Electric vehicle which can be used in particular as an attraction device in fairgrounds, or as a handling device. The vehicle comprises two driving wheels 5 associated with a complementary support device, and arranged coaxially along an axis perpendicular to the direction of travel of the vehicle; a drive motor 9 is associated with each wheel 5 and is supplied electrically by means of an electronic control chain comprising adjustable voltage converters, which make it possible to control the speed of rotation of each wheel independently. This vehicle, used as a bumper car on merry-go-rounds, can move at a variable speed. In its applications as a handling machine, it has the advantage of being able to pivot on site in a minimum space.

MOTOR CONTROL DEVICE FOR ELECTRIC AUTOMOBILE

An inverter device (22) or an ECU (21) is provided with a magnetic force estimation means (38) that estimates the magnetic force of a permanent magnet of the rotor of a motor (6), a determination means (39) therefor, and a demagnetization-adapting timing-changing means (40). In accordance with a prescribed rule, the magnetic force estimation means (38) estimates the magnetic force on the basis of at least two signals detected from the rotational frequency of the motor, the motor voltage, and the motor current. The determination means (39) determines whether demagnetization has occurred. In response to a determination by the determination means (39) that demagnetization has occurred, the demagnetization-adapting timing-changing means (40) changes the timing at which the maximum current flows with respect to the rotor phase so as to increase the reluctance torque of the motor when the motor is driven by the inverter device (22).

Vehicle wheel system

A wheel assembly for a vehicle includes a rotatable wheel having a selectively adjustable steering angle. A steering actuator is operatively connected to the wheel and is configured to selectively adjust the steering angle of the wheel and not any other wheels. The wheel assembly allows independent control of the steering angle of the wheel. The wheel assembly also facilitates modular construction of vehicles by enabling the packaging of mechanical steering components in a preassembled wheel module with simple electrical connections to a vehicle chassis ...

Vehicle braking control apparatus

A vehicle braking control apparatus is configured to suppress the effect on the vehicle behavior when braking torque is reassigned between the wheels. The distribution of braking torques is reassigned between the front and rear wheels so as to increase the amount of braking carried out by regenerative braking while maintaining a constant total braking torque. When the frictional braking of the one pair of wheels is reassigned to the regenerative braking of the other pair of wheels, the amount reassigned to left and right of the wheels is adjusted in accordance with the steering angle.

Wheelchair

A wheelchair having a pair of electrically driven drive wheels, a pair of power-operated swivel steering wheels which rotate about a vertical steering axis, and a manually-actuated lever. Each steering wheel has its own motor for adjusting the steering angle of the steering wheel. The steering lever connects to a mechanical-electrical steering angle generator which produces an electrical signal which is dependent on the angular position of the steering lever. The signal is fed into an electrical device which controls both steering wheel motors to adjust the steering angle of the steering wheels. The electrical device produces two adjustment signals, one for each wheel, which are inversely proportional to the radius of the turning curve. The steering angle can be set at any angle to up to 360 DEG thereby providing substantial maneuverability for the wheelchair. The steering angles are precisely controlled to satisfy the laws of steering so that a lateral jamming of the steering wheels and ...

Electrically driven dump truck

A vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device 200 which executes control to give a yaw moment to a vehicle 1 to make the vehicle 1 travel while tracing a trolley wire 3R, 3L based on image information detected by a camera 15. The control device 200 converts an image acquired by the camera 15 into coordinate information, calculates at least one representative point of the vehicle 1 and at least one target point situated on the trolley wire 3R, 3L based on the coordinate information, and executes the control to give a yaw moment to the vehicle 1 so that the representative point approaches the target point. With this configuration, an electrically driven dump truck capable of lightening the operating load on the driver during the trolley traveling is provided.

CONTROLLER OF POWER TRANSMISSION SYSTEM FOR HYBRID VEHICLE

PROBLEM TO BE SOLVED: To provide a controller in a power transmission system for a hybrid vehicle, which suppresses degradation of startability of an engine, due to change of a kind of fuel when such change of fuel supplied to the engine is made. SOLUTION: Based on a kind of fuel used for driving an engine 8 identified by a fuel identification means 86, reaction force control for controlling reaction force torque of a second motor M2 against the rotational resistance of the engine 8 in engine starting is changed. Thus, a second motor torque (reaction force torque) TM2 that increases an engine rotational speed NE in engine starting is adjusted according to the kind of the fuel, a temperature of a fuel compressed and expanded in the engine 8 is increased up to an ignitable temperature, and the startability of the engine 8 is prevented from degrading when a kind of fuel supplied to the engine 8 is changed. COPYRIGHT: (C)2009,JPO&INPIT ...

СИСТЕМА УПРАВЛЕНИЯ ПОЛНОПРИВОДНЫМ ЭЛЕКТРОМОБИЛЕМ

Изобретение относится к управлению тяговой системой транспортных средств с электротягой. Система управления полноприводным электромобилем содержит тормозную систему, асинхронные электродвигатели, блоки разделения крутящего момента и блоки управления тягой и стабилизацией. По крайней мере, два асинхронных тяговых электродвигателя интегрированы в колеса транспортного средства по принципу мотор-колеса. Блоки разделения крутящего момента, блок управления тягой и стабилизацией интегрированы в контроллеры асинхронных электродвигателей и количество таких контроллеров соответствует количеству применяемых электродвигателей. Причем один из контроллеров выполнен мастер-контроллером, обрабатывающим данные с положения рулевой колонки, педалей скорости и тормоза, со всех контроллеров электродвигателей и выдающим сигналы управления на контроллеры электродвигателей. Причем мастер-контроллер выполнен с возможностью перевода в ручном переключении на режим бездорожья, принудительно вводя электродвигатели ...

Antriebsanordnung für ein Kraftfahrzeug

A drive system for a motor vehicle having at least one driven wheel (1, 7) on each side of the longidudinal axis of the vehicle comprises an internal combustion engine (13), an electric generator (11) driven by the internal combustion engine (13), an electric motor (9) for each driven wheel (1, 7) and an electronic control system (15, 19, 21) that controls the amount of electric power supplied by the generator (11) to the individual electric motors (9). The control system (15, 19, 21) controls the power and the distribution of the driving torques to the individual wheels (1, 7) so that the roll steer effect of the vehicle is controlled by conferring a yawing moment that depends for example on the transverse acceleration of the vehicle or on the extent of a yawing moment generated by a side wind. By measuring the wheel pressure of the individual driven wheels, the road grip limits of the wheels may be detected and the electric motors may be controlled in order to improve traction.

ANTRIEBSKRAFT-STEUERUNG FÜR FAHRZEUGE

Eine Antriebskraft-Steuerung (100) für Fahrzeuge ist in einem Fahrzeug (1) angebracht, das mit einer Vielzahl von Antriebsquellen (11, 12) und mit einer Vielzahl von Kraftübertragungsmechanismen (13, 14) ausgestattet ist, die zum Übertragen von Kraft von der Vielzahl der Antriebsquellen (11, 12) zu einer Vielzahl von Rädern (2, 3) oder einer Vielzahl von Rädersätzen (2, 3) ausgebildet ist. Die Antriebskraft-Steuerung (100) für Fahrzeuge weist Folgendes auf: eine Verhältnis-Bestimmungseinheit (21) und eine Befehlseinheit (22). Die Verhältnis-Bestimmungseinheit (21) bestimmt ein Zielverhältnis, mit dem eine auf das Fahrzeug (1) aufgebrachte, angeforderte Antriebskraft auf die Vielzahl von Rädern (2, 3) oder die Vielzahl von Rädersätzen (2, 3) zu verteilen ist. Die Befehlseinheit (23) weist die Vielzahl von Antriebsquellen (11, 12) zum derartigen Abgeben von Kraft an, dass die in Abhängigkeit von dem Zielverhältnis verteilte Antriebskraft an der Vielzahl von Rädern (2, 3) oder der Vielzahl ...

ANTRIEBSKRAFT-STEUERUNG FÜR FAHRZEUGE

Antriebskraft-Steuerung (100) für Fahrzeuge, die in einem Fahrzeug (1) mit einer Vielzahl von Antriebsquellen (11, 12) sowie mit einer Vielzahl von Kraftübertragungsmechanismen (13, 14) angebracht ist, die zum Übertragen von Kraft von der Vielzahl von Antriebsquellen (11, 12) zu einer Vielzahl von Rädern (2, 3) oder einer Vielzahl von Rädersätzen (2, 3) ausgebildet sind, wobei die Antriebskraft-Steuerung (100) für Fahrzeuge Folgendes aufweist:- eine Verhältnis-Bestimmungseinheit (21), die zum Bestimmen eines Zielverhältnisses ausgebildet ist, mit dem eine auf das Fahrzeug (1) aufgebrachte, angeforderte Antriebskraft auf die Vielzahl von Rädern (2, 3) oder die Vielzahl von Rädersätzen (2, 3) zu verteilen ist, und- eine Befehlseinheit (22), die dazu ausgebildet ist, die Vielzahl von Antriebsquellen (11, 12) zum Abgeben von Kraft in einer derartigen Weise anzuweisen, dass die in Abhängigkeit von dem Zielverhältnis verteilte Antriebskraft an der Vielzahl von Rädern (2, 3) oder der Vielzahl ...

Abtriebskraftsteuerungsgerät für ein Fahrzeug, das Radeinheiten unabhängig antreibt

Antriebskraftsteuerungsgerät für ein Fahrzeug, das Radeinheiten unabhängig antreibt, mit n Motorgeneratoren (MGL, MGR), die jeweils mit einer Antriebsradeinheit gekoppelt sind und unabhängig voneinander antreibbar sind, wobei n eine natürliche Zahl von zumindest 2 ist, einer Antriebsschaltung (1), die gemeinsam für die n Motorgeneratoren (MGL, MGR) vorgesehen ist und eingerichtet ist, elektrische Energie aus einer Energieversorgung (B) zum Antrieb der n Motorgeneratoren (MGL, MGR) zu empfangen, und einem Schaltmechanismus (SWL, SWR) zum wahlweisen Schalten eines Zustands, in dem einer der n Motorgeneratoren (MGL, MGR) und die Antriebsschaltung (1) miteinander verbunden sind, und eines Zustands, in dem m der n Motorgeneratoren (MGL, MGR) und die Antriebsschaltung (1) miteinander verbunden sind, wobei m eine natürliche Zahl von zumindest 2 und höchstens n ist.

Fahrzeugkarosserieschwingungssteuervorrichtung für ein Fahrzeug

Es wird eine Fahrzeugkarosserieschwingungssteuervorrichtung (10) für ein Fahrzeug geschaffen, die eine Berechnungseinheit (20) für eine verlangte Antriebskraft aufweist, die eine vom Fahrer verlangte Antriebskraft berechnet, eine Antriebseinheit (16), die einen Elektromotor (EM) aufweist und eine Antriebskraft auf ein Fahrzeug (12) ausübt, eine Antriebskraftsteuereinheit (22), die die Antriebseinheit auf der Grundlage einer befohlenen Antriebskraft steuert, und einen Kerbfilter (24), der ein Signal empfängt, das die verlangte Antriebskraft anzeigt, das Signal so verarbeitet, das er eine Frequenzkomponente einer Schwingung einer Fahrzeugkarosserie verringert und das verarbeitete Signal an die Antriebskraftsteuereinheit als ein Signal ausgibt, das die befohlene Antriebskraft anzeigt. Die Fahrzeugkarosserieschwingungssteuervorrichtung (10) umfasst weiterhin eine Kerbfiltersteuereinheit (26), die einen Kerbgrad des Kerbfilters auf der Grundlage einer Schaltposition oder eines Fahrmodus variabel ...

Method for optimization of operation of electric motor-driven vehicle, involves determining state of charge of energy accumulator and driving strategy of vehicle for certain sections of route by using trip planning

The method involves automatically determining a prospective travel distance depending on the travel distances driven from a vehicle (10) and creating a travel planning for the travel distances. The trip planning determines a state of charge of an energy accumulator (5) and a driving strategy of the vehicle for certain sections of the route. The vehicle comprises a drive unit for driving the vehicle, where the drive unit has an internal combustion engine (3). An independent claim is included for an apparatus for optimization of the operation of a vehicle.

Vehicle controller and method of controlling a vehicle

A control system and method for controlling a torque generator

Vehicle steering control

An electric hybrid vehicle ]

Four-wheel drive assist for electric machines

Traction speed recovery based on steer wheel dynamic

Method and system for controlling a traction motor (264) of a materials handling vehicle (10), that includes receiving steering command signals (278); generating an output value proportional to a rate of change of the steering command signals (320); determining whether the output value is greater than or equal to a predetermined threshold (324); determining a raw target steering angle value for controlling the traction motor of the materials handling vehicle; and calculating the current target steering angle value (330) based on:whether the output value is greater than or equal to a predetermined threshold (324), and whether the raw target position value is less than or equal to a previously calculated target steering angle value (322), calculating a traction setpoint based on the target steering angle value and controlling the traction motor based on the traction setpoint.

TRANSPORT VEHICLE

The invention relates to a two-axle transport vehicle (100) with four wheels (1) and a steering pole axis (A) and a steering target value transmitter (2), wherein a steering pole (O), to which the axes (P) of the wheels are oriented during cornering, is displaced along the steering pole axis (A) when the steering target value transmitter (2) is actuated; with at least one non-steered axle (E) with two drive wheels (3, 3'), each of which is driven non-steered and with a separate electric drive motor (4, 4') and with at least one steered axle (F) with at least two non-driven, steerable load wheels (5, 5'), each of which can be steered from a position in which the axis (6, 6') of the load wheel runs parallel to the axis (7) of the drive wheels (8, 8') to a position in which the axis (6, 6') of the load wheel is oriented to a steering pole (O) lying between the drive wheels (4, 4'); with a device (9) for detecting the steering angle of at least one load wheel (5, 5'), wherein an electronic ...

CONTROL DEVICE FOR HYBRID VEHICLE

Provided is a control device for a hybrid vehicle, which makes it possible to manually select a degree of acceleration in tune with user's preferences and user's intended running quality. Provided is a control device for a hybrid vehicle 1 including an engine and a motor for assisting the engine with power, in which an ECU 20 is provided with a first changing unit, which prepares to increase the assist amount of the motor 12 in response to a user depressing a Plus Sport mode switch 30, and subsequently increases the assist amount of the motor 12 in response to the user pressing an accelerator pedal to cause a variation .DELTA.AP in an accelerator position to be at least a predetermined value.

Riding work vehicle

The present invention provides a riding work vehicle that includes a vehicle body having a driver seat; a driving wheel unit supporting the vehicle body; a working electric motor that drives a work unit having a work device; an electric motor controller controlling an operation of the working electric motor in a steady mode or a power saving mode in which consumed power is smaller than the steady mode; and a work load evaluator that evaluates load of the working electric motor. In the riding work vehicle, the electric motor controller operates the working electric motor in the power saving mode in a case where the load of the working electric motor evaluated by the work load evaluator is low load lower than a threshold value.

Vehicle drive system

According to one embodiment, a vehicle drive system includes a left-wheel drive unit having a first motor and a first transmission and a right-wheel drive unit having a second motor and a second transmission. When a left and right opposite torque control in which a first motor and a second motor produce torque in opposite directions is executed by controlling one motor of the first motor and the second motor to produce forward torque or backward torque and the other motor to produce backward torque or forward torque that is opposite to the torque produced by the one motor, the motor control unit controls the one motor based on a target revolution state quantity of the one motor, while the motor control unit controls the other motor based on a target torque state quantity of the other motor.

Method and Control Unit for Activating Actuators of a Vehicle During Emergency Operation

A method includes determining failure of a drive energy store of a vehicle and activating generator operation of a electric main engine as a result of the failure. The method includes determining a current driving condition of the vehicle, what actuators are necessary in order to put the vehicle into a safe operating condition, and what each of the necessary actuator dynamics are based on the current driving condition of the vehicle. The method includes determining a demand for electrical energy that is necessary for a particular necessary actuator to attain the safe operating condition, and regulating a proportionate generator operation of the electric main engine, taking into consideration electrical energy of the necessary actuators required for carrying out each of the necessary actuator dynamics. The method includes activating the actuators necessary for achieving the safe operating condition with the determined actuator dynamics until the safe operating condition is achieved.

VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD

An object of the present invention is to provide a vehicle control apparatus capable of stabilizing a behavior of a vehicle when a regenerative braking force is generated. To achieve this object, a vehicle control apparatus according to one aspect of the present invention includes an electric motor configured to provide a regenerative braking force to left and right drive wheels that are one of front wheels and rear wheels, a friction braking device configured to provide a friction braking force to left and right trailer wheels that are the other of the front wheels and the rear wheels, and a behavior estimation unit configured to estimate a behavior of a vehicle. The vehicle control apparatus reduces the regenerative braking force and increases the friction braking force provided by the friction braking device, if the behavior estimation unit estimates a preset behavior when the regenerative braking force is generated. 1. A vehicle control apparatus comprising:an electric motor configured to provide a regenerative braking force to left and right drive wheels that are one of front wheels and rear wheels;a friction braking device configured to provide a friction braking force to left and right trailer wheels that are the other of the front wheels and the rear wheels; anda behavior estimation unit configured to estimate a behavior of a vehicle,wherein the vehicle control apparatus reduces the regenerative braking force and increases the friction braking force provided by the friction braking device, if the behavior estimation unit estimates a preset behavior when the regenerative braking force is generated.2. The vehicle control apparatus according to claim 1 , wherein the behavior estimation unit estimates an understeer tendency when the vehicle is turned.3. The vehicle control apparatus according to claim 2 , wherein the behavior estimation unit estimates a lateral acceleration that can be generated on the vehicle claim 2 , based on a vehicle state claim 2 , and the ...

Vehicle controller for avoiding collision and method thereof

A vehicle controller for avoiding a collision of a vehicle and a method thereof are provided. The vehicle controller includes a drive motor that supplies electric power for a behavior of a vehicle, sensors that obtain information outside the vehicle and information inside the vehicle, and a controller that estimates, when detecting evasive steering of a driver in a collision situation based on the information outside the vehicle and the information inside the vehicle, a front wheel slip angle and a rear wheel slip angle, and controls the drive motor based on the front wheel slip angle and the rear wheel slip angle.

ELECTRIC VEHICLE

Provided is an electric vehicle, including: left and right rear wheels, which are suspended from a vehicle body by suspensions that elastically allow displacements in a longitudinal direction of the vehicle with respect to the vehicle body, the rear wheels being capable of being driven by corresponding motors independently of each other; and a control device configured to control driving forces of the rear wheels. Target driving forces Ti for the left and right rear wheels are calculated during traveling, a value ΔG relevant to a difference between relative displacement amounts of the rear wheels in a longitudinal direction of the vehicle with respect to the vehicle body is calculated, and the target driving forces are corrected based on the value relevant to the difference between the relative displacement amounts so that a magnitude of the value relevant to the difference between the relative displacement amounts becomes smaller. 1. An electric vehicle , comprising:left and right rear wheels, which are suspended from a vehicle body by suspensions that elastically allow the left and right rear wheels to be displaced in a longitudinal direction of the electric vehicle with respect to the vehicle body, the left and right rear wheels being capable of being driven by corresponding motors independently of each other,a control device configured to calculate target driving forces for the left and right rear wheels and to control driving forces of the left and right rear wheels based on the target driving forces; andan acquisition device configured to acquire, when the electric vehicle is traveling, a value relevant to a difference between relative displacement amounts of the left and right rear wheels in the longitudinal direction of the electric vehicle with respect to the vehicle body,wherein the control device is configured to correct the target driving forces for the left and right rear wheels based on the value relevant to the difference between the relative ...

FOUR MOTOR DIRECT DRIVING SYSTEM

A driving system for electric vehicles. The driving system may have two or more electric motors, each with voltage inputs, which are connected to the axles and tires of the vehicle. A variable input control may provide a signal that indicates its current operation position to a vehicle control unit. The vehicle control unit receives the information from the variable input control and determines how much power to send to each of the electric motors' voltage inputs. 1. A vehicle driving system comprising:a steering wheel with a corresponding steering angle;four electric motors, wherein each of the four electric motors has a voltage input;a variable input control configured to provide a signal indicating an operational position of the variable input control, wherein the operational position of the variable input control is related to the steering angle;four wheels, each of the four wheels connected to one of the four electric motors by an axle; and receive information indicating the operational position of the variable input control;', a first voltage input is determined for a first electric motor coupled with a front inside turning wheel;', 'a second voltage input is determined for a second electric motor coupled with a front outside turning wheel;', 'a third voltage input is determined for a third electric motor coupled with a rear inside turning wheel;', 'a fourth voltage input is determined for a fourth electric motor coupled with a rear outside turning wheel;', 'wherein each of the first voltage input, the second voltage input, the third voltage input, and the fourth voltage input are different from each other; and', 'wherein the first voltage input is less than the second voltage input, the third voltage input is less than the fourth voltage input, the third voltage input is less than the first voltage input, and the fourth voltage input is less than the second voltage input; and, 'determine the voltage inputs for the four electric motors based on the received ...

METHOD OF STABLY DRIVING IN-WHEEL MOTOR VEHICLE

A method of stably driving an in-wheel motor vehicle having two drive motors mounted on an axle of the in-wheel motor vehicle between a left wheel and a right wheel of the in-wheel motor vehicle and configured to be drivable independently of each other for driving the left wheel and the right wheel respectively, may include detecting failure of one among the two drive motors or failure of one of two inverters electrically connected to and configured for driving the two drive motors, respectively; measuring each speed of the left wheel and the right wheel of the in-wheel motor vehicle and determining a speed difference between the speed of the left wheel and the speed of the right wheel; and controlling torque of a drive motor that operates normally among the two drive motors when the determined speed difference between the speed of the left wheel and the speed of the right wheel falls out of a preset range. 1. A method of driving an in-wheel motor vehicle having two drive motors mounted on an axle of the in-wheel motor vehicle between a left wheel and a right wheel of the in-wheel motor vehicle and configured to be drivable independently of each other for driving the left wheel and the right wheel respectively , the method comprising:determining, by a controller electrically-connected to two inverters, failure of one among the two drive motors or failure of one of the two inverters electrically connected to and configured for driving the two drive motors, respectively;determining, by the controller, each speed of the left wheel and the right wheel of the in-wheel motor vehicle and determining a speed difference between the speed of the left wheel and the speed of the right wheel; andcontrolling, by the controller, torque of a drive motor that operates normally among the two drive motors when the determined speed difference between the speed of the left wheel and the speed of the right wheel falls out of a preset range.2. The method according to claim 1 , wherein ...

Powered ride-on vehicle

A powered ride-on vehicle having a frame supported by a first drive wheel, a second drive wheel and at least one non-driven support wheel. The vehicle has a first motor connected to the first drive wheel, a second motor connected to the second drive wheel, a steering wheel, a plurality of movement selectors, a dance selector, and one or more controllers operably electrically connected to the motors, the plurality of movement selectors, and the dance selector. The controllers operate to manipulate the motors to cause movements of the vehicle for a set period of time upon depression of one of the plurality of movement selectors independent of an angular location of the steering wheel. The controllers further operate to manipulate the motors to cycle through at least four different dances based on subsequent depression of the dance selector.

Methods, Systems, and Products for Charging Batteries

Methods, systems, and products charge a battery in a vehicle. A charging station and the vehicle negotiate charging parameters. When the vehicle receives electrical power from the charging station, the vehicle checks the electrical power for the parameters. Should the electrical power fail to exhibit the parameters, charging is terminated. 1. A method , comprising:receiving, by a controller, a cellular identifier associated with a mobile device;generating, by the controller, a security credential based on the cellular identifier associated with the mobile device;establishing, by the controller, a communication with a charging station for an electric vehicle; andauthenticating, by the controller, an electrical power provided by the charging station to the electric vehicle according to the security credential based on the cellular identifier associated with the mobile device.2. The method of claim 1 , further comprising receiving the electrical power provided by the charging station.3. The method of claim 1 , further comprising sending the security credential based on the cellular identifier to the charging station.4. The method of claim 1 , further comprising processing an electronic payment associated with the electrical power provided by the charging station.5. The method of claim 1 , further comprising delivering the electrical power provided by the charging station.6. The method of claim 1 , further comprising determining a frequency of the electrical power provided by the charging station. The method of claim 1 , further comprising charging a battery in the electric vehicle with the electrical power provided by the charging station8. A system claim 1 , comprising:a hardware processor; anda memory device, the memory device storing executable instructions which, responsive to being executed by the hardware processor, causes the hardware processor to perform operations comprising:receiving a cellular identifier associated with a mobile device;generating a security ...

Vehicle Control Apparatus and Vehicle Control Method

An object of the present invention is to provide a vehicle control apparatus and a vehicle control method capable of improving traceability when a speed reduction torque is applied. A vehicle control apparatus according to the present invention is configured to calculate the speed reduction torque to be generated on a vehicle based on an accelerator operation state and a front wheel slip angle. More specifically, when being brought into a turning state while a coasting torque is applied, the vehicle control apparatus makes a correction so as to reduce an absolute value of the coasting torque, thereby improving the traceability and the drivability.

Apparatus and method for controlling vehicle

An apparatus for controlling a vehicle includes a vehicle additional yaw moment calculator that calculates, based on a yaw rate of a vehicle, a vehicle additional yaw moment to be applied to the vehicle independently of a steering system, a slipping condition determiner that makes a determination as to a slipping condition of the vehicle, and an adjustment gain calculator that calculates an adjustment gain to adjust the vehicle additional yaw moment so as to reduce the vehicle additional yaw moment additional yaw moment when the vehicle is determined to be in the slipping condition, and increases the adjustment gain in accordance with a degree of a slip of the vehicle when the vehicle is determined to recover from the slipping condition.

VEHICLE DRIVING FORCE CONTROL APPARATUS

A vehicle driving force control apparatus is mounted in a vehicle provided with a plurality of drive sources, and a plurality of power transmission mechanisms configured to transmit power from the plurality of drive sources to a plurality of wheels or a plurality of sets of wheels. The vehicle driving force control apparatus includes: a ratio determination unit and a command unit. The ratio determination unit determines a target ratio at which a required driving force applied to the vehicle is to be distributed to the plurality of wheels or the plurality of sets of wheels. The command unit commands the plurality of drive sources to output power such that driving force distributed in accordance with the target ratio is generated in the plurality of wheels or the plurality of sets of wheels. 1. A vehicle driving force control apparatus mounted in a vehicle provided with a plurality of drive sources , and a plurality of power transmission mechanisms configured to transmit power from the plurality of drive sources to a plurality of wheels or a plurality of sets of wheels , the vehicle driving force control apparatus comprising:a ratio determination unit configured to determine a target ratio at which a required driving force applied to the vehicle is to be distributed to the plurality of wheels or the plurality of sets of wheels; anda command unit configured to command the plurality of drive sources to output power such that driving force distributed in accordance with the target ratio is generated in the plurality of wheels or the plurality of sets of wheels,wherein the ratio determination unit comprises a reference determining module configured to determine a reference ratio that serves as a reference for a distribution ratio of the required driving force, an allowable range setting module configured to set an allowable range in which a predetermined allowable width is added to the reference ratio, and a ratio selecting module capable of selecting, from the allowable ...

METHODS AND SYSTEM FOR TORQUE VECTORING

Methods and systems are provided for operating a vehicle during operating conditions where wheel slip may occur. In one example, a torque vectoring electric machine torque output is adjusted to direct propulsion torque from one wheel to a different wheel. Additionally, the propulsive torque is adjusted responsive to a driver demand wheel torque. 1. A vehicle operating method , comprising:adjusting torque output of a torque vectoring electric machine via a controller in response to a speed difference between an actual wheel speed and a natural wheel speed.2. The method of claim 1 , where the actual wheel speed is determined via a wheel speed sensor.3. The method of claim 1 , where the natural wheel speed is determined via a steering wheel angle.4. The method of claim 3 , where the natural wheel speed is further determined via a lookup table.5. The method of claim 1 , where the torque vectoring electric machine is arranged in parallel with a propulsive force electric machine.6. The method of claim 5 , further comprising adjusting torque output of the propulsive force electric machine based on a driver demand wheel torque.7. The method of claim 1 , where torque output of the torque vectoring electric machine is delivered to an open differential or a planetary gear set.8. The method of claim 1 , further comprising deactivating the torque vectoring electric machine when the speed difference is less than a threshold amount.9. A vehicle operating method claim 1 , comprising:adjusting torque output of a torque vectoring electric machine to a torque that is based on a derivative of a speed difference between an actual wheel speed and a natural wheel speed via a controller in response to the speed difference between the actual wheel speed and the natural wheel speed exceeding a threshold.10. The method of claim 9 , further comprising multiplying the derivative of the speed difference by a scalar.11. The method of claim 10 , further comprising adding a predetermined value to ...

Electrical power steering apparatus

A motor control circuit includes a power relay, a converter division, a smoothing condenser, a control circuit and a motor drive circuit, and is connected to a battery as high voltage power and to an electrical motor. The battery is connected with a driving battery having the high voltage such as 288V etc. A step down circuit reduces the high voltage to a low voltage such as 36V etc., charges a low voltage charge device and supplies drive power to the motor drive circuit. When the vehicle collision is occurred, the control circuit detects the collision by a value of detected acceleration, a power change relay is turned on to change to the power source from the low voltage charge device after voltage of the smoothing condenser is reduced, thereby connecting the low voltage to the motor drive circuit.

ELECTRIC VEHICLE

An electric vehicle includes drive systems, a control apparatus that controls the drive systems, and wheels. Each drive system includes a motor and an inverter coupled by wires. The wires of the drive systems are coupled by first bypass lines. Each inverter converts direct current power supplied from a corresponding power supply into alternating current power and supplies the alternating current power to the corresponding motor. Each motor drives the corresponding wheel. When an abnormality occurs in the supply of the alternating current power from the inverter to the motor in one drive system, the control apparatus performs control (i) to stop the supply of the alternating current power from the inverter of the one drive systems, and (ii) to supply the alternating current power supplied from the inverter to the motor in another drive system, to the motor of the one drive system via the first bypass lines. 1. An electric vehicle comprising:a plurality of drive systems;a control apparatus configured to control the drive systems; andwheels, wherein a motor, and', 'an inverter, the motor and the inverter being coupled to each other by wires,, 'each drive system comprises'}the wires of the plurality of drive systems are coupled to each other by first bypass lines,each inverter is configured to convert direct current power supplied from a corresponding power supply into alternating current power and supply the alternating current power to the corresponding motor,each motor is configured to drive the corresponding wheel, and to stop the supply of the alternating current power from the inverter of the one of the drive systems, and', 'to supply the alternating current power, which is supplied from the inverter to the motor in another one of the drive systems, to the motor of the one of the drive systems via the first bypass lines., 'when an abnormality occurs in the supply of the alternating current power from the inverter to the motor in one of the drive systems, the ...

HYBRID AND ELECTRIC VEHICLE BATTERY PACK MAINTENANCE DEVICE

The present invention includes a battery maintenance device for performing maintenance on battery packs of hybrid and/or electrical vehicles (referred herein generally as electric vehicles). In various embodiments, the device includes one or more loads for connecting to a battery pack for use in discharging the battery pack, and/or charging circuitry for use in charging the battery pack. Input/output circuitry can be provided for communicating with circuitry of in the battery pack and/or circuitry of the vehicle. 119- (canceled)20. A maintenance device for coupling to an electric vehicle and performing maintenance on an electrical system of the electric vehicle , comprising:a device housing;a controller in the housing configured to control operation of the maintenance device;a charging source which is controlled by the controller;low voltage input/output circuitry coupled to the controller;a bus outside of the housing coupled to the low voltage input/output circuitry;a low voltage junction box coupled to the bus outside of the housing, the junction box having a databus connection configured to couple to a databus of the electric vehicle to thereby receive outputs from sensors of the electric vehicle and communicate with a controller of the electric vehicle; anda high voltage junction box having a high voltage connection configured to couple the charging source to a high voltage battery pack of the electrical system of the vehicle.21. The maintenance device of including communication circuitry configured to couple to the databus of the electric vehicle.22. The maintenance device of including communication circuitry configured to couple to the battery pack of the electric vehicle.23. The maintenance device of including power supply circuitry configured to be powered by a 12 volt source of the vehicle.24. The maintenance device of including a shut off switch configured to be actuated by an operator to disconnect the controllable load from the battery pack.25. The ...

CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ELECTRIC MOTOR

The invention relates to a control system for controlling a torque generator of a vehicle. The control system is configured to receive one or more electrical signals indicative of a surface indicator; receive one or more electrical signals indicative of a deceleration demand; select a surface type from a plurality of predetermined surface types based on said one or more electrical signals indicative of a surface indicator; determine a target vehicle deceleration in dependence on the selected surface type; determine, based on said one or more electrical signals indicative of a deceleration demand, a requirement to decelerate the vehicle; and in dependence on determining said requirement, output a control signal to the torque generator. The control signal is configured to cause the torque generator to provide the target vehicle deceleration. 1. A control system for controlling an electric motor of a vehicle , the electric motor for providing a regenerative braking torque , the control system being configured to:receive one or more electrical signals indicative of a surface indicator providing information relating to surface drag;receive one or more electrical signals indicative of a deceleration demand;determine a target vehicle deceleration in dependence on the surface indicator such that in the case of relatively high drag surface the target vehicle deceleration is reduced compared with the case of relatively low surface drag;determine, based on said one or more electrical signals indicative of a deceleration demand, a requirement to decelerate the vehicle; andin dependence on determining said requirement, output a control signal to the electric motor, wherein the control signal is configured to cause the electric motor to provide the target vehicle deceleration.2. A control system according to claim 1 , comprising one or more controllers individually or collectively comprising:means for receiving said one or more electrical signals indicative of a surface indicator ...

Movement control device for vehicle

A movement control device for a vehicle comprises a yaw-acceleration calculation portion to calculate a target yaw acceleration of the vehicle, a turn-back steering determination portion to determine whether a turn-back steering of the vehicle is conducted or not, and a drive-force control portion to a drive force of the vehicle. The control of the drive-force control portion is configured such that when the turn-back steering is not conducted, the amount of drive-force decreasing is increased with a specified increasing rate as the target yaw acceleration increases, the specified increasing rate becoming smaller as the target yaw acceleration increases, and when the turn-back steering is conducted, the drive force is increased in a case in which an absolute value of a steering angle of the vehicle decreases.

Four motor direct driving system

A driving system for electric vehicles. The driving system may have two or more electric motors, each with voltage inputs, which are connected to the axles and tires of the vehicle. A variable input control may provide a signal that indicates its current operation position to a vehicle control unit. The vehicle control unit takes the information from the variable input control and determines how much power to send to each of the electric motors' voltage inputs.

Steering System for In-Wheel Motor Vehicle

The present invention provides a steering system for an in-wheel motor vehicle capable of controlling driving torques and speeds of in-wheel motors mounted in left and right wheels to be different from each other at the time of curve driving of the vehicle to generate a steering angle of the wheel for the curve driving, and performing a steering angle control of sensing the generated steering angle and fixing the steering angle to a desired steering angle. 1. A steering system for an in-wheel motor vehicle , the steering system comprising:a steering wheel steering angle sensor configured to sense a steering angle of a steering wheel;a controller configured to control driving speeds of in-wheel motors mounted at left and right wheels to be different from each other according to the steering angle of the steering wheel sensed by the steering wheel steering angle sensor; anda steering control module configured to sense a steering angle of left and right wheels generated due to a difference between speeds of the left and right wheels resulting from the difference between the driving speeds of the in-wheel motors and to adjust the steering angle of the left and right wheels to a steering angle corresponding to the steering angle of the steering wheel by a steering angle adjustment signal of the controller.2. The steering system of claim 1 , wherein the steering control module comprises:a strut shaft fastened to a knuckle arm connected to the left and right wheels, the strut shaft rotating at the same steering angle when the steering angle of the left and right wheels is generated;an angle sensor mounted on the strut shaft, the angle sensor configured to sense a rotational angle of the strut shaft as the steering angle, and to transmit the sensed angle to the controller;a damping device connected between a yoke mounted on an upper end portion of the strut shaft and a housing mounted in a vehicle body; andan electronic steering brake mounted on the strut shaft in the ...

Travel control device, travel control method, and non-transitory storage medium

A travel control device that is mounted on a vehicle including an electric motor and an internal combustion engine as a power source includes an electronic control unit configured to create a speed profile in which a speed of the vehicle at each time is predicted, approximate the speed profile with a predetermined approximation model and estimate a predicted amount of regenerative energy based on an approximation result, the regenerative energy being energy that is recoverable by regenerative braking of the electric motor, and determine the power source used for traveling based on the predicted amount of the regenerative energy.

System and method of controlling braking of electric vehicle

The present disclosure provides a method of controlling braking of an electric vehicle in which friction braking force generated by a friction braking unit is applied to front wheels and regenerative braking force generated by a motor is applied to rear wheels includes: determining driver's request braking force by a controller based on a driver's braking-input value; detecting driving information and state information of the vehicle by a detection unit; and determining a braking mode of the vehicle that satisfies the driver's request braking force by the controller based on the detected information and information of running state of the vehicle obtained from the detected information. In addition, the present disclosure provides a system of controlling braking of an electric vehicle.

ELECTRIC VEHICLE

In an electric vehicle including a motor for traveling, when an accelerator is switched from an on-state to an off-state, the motor is controlled such that a vehicle torque is varied more gradually toward a requested torque on a brake side (requested torque in the off-state) in turning than in traveling straight. Thereby, when the accelerator is switched from the on-state to the off-state in turning, drivability of the driver can be restrained from deteriorating. 1. An electric vehicle comprising:a motor for traveling; anda control apparatus that controls the motor such that a vehicle torque is varied more gradually toward a requested torque on a brake side in turning than in traveling straight, when an accelerator is switched from an on-state to an off-state.2. The electric vehicle according to claim 1 , wherein:the control apparatus sets a transient torque by performing rate processing using a rate value on the requested torque when the accelerator is switched from the on-state to the off-state, and controls the motor such that the transient torque acts on the vehicle; andthe control apparatus sets the rate value to be smaller in turning than in traveling straight, when the accelerator is switched from the on-state to the off-state.3. The electric vehicle according to claim 2 , wherein the control apparatus sets the rate value to be smaller when an absolute value of a steering angle or an acceleration in a transverse direction of the vehicle is large than when the absolute value of the steering angle or the acceleration in the transverse direction of the vehicle is small claim 2 , when the accelerator is switched from the on-state to the off-state in turning.4. The electric vehicle according to claim 2 , wherein the control apparatus sets the rate value to be smaller when the requested torque on a brake side is large than when the requested torque on a brake side is small or to be smaller when a requested deceleration of the vehicle based on the requested torque ...

Fuzzy logic based traction control for electric vehicles

Fuzzy-logic based traction control for electric vehicles is provided. The system detects a wheel slip ratio for each wheel. The system receives an input torque command. The system determines a slip error for each wheel based on the wheel slip ratio for each wheel and a target wheel slip ratio. The system, using the fuzzy-logic based control selection technique, selects a traction control technique from one of a least-quadratic-regulator, a sliding mode controller, a loop-shaping based controller, or a model predictive controller. The system generates a compensation torque value for each wheel. The system generates the compensation torque value based on the traction control technique selected via the fuzzy-logic based control selection technique and the slip error for each wheel. The system transmits commands to actuate drive units of the vehicles based on the compensation torque value.

Control system for an all-wheel drive electric vehicle

Electric vehicles and, more particularly, a control system for an all-wheel drive electric vehicle.

Automated Steering Control Mechanism and System for Wheeled Vehicles

An approach for automated differentially steering either three-wheeled or four-wheeled vehicles in response to input data collected from sensors associated with characteristics of vehicular movement is suitable for vehicles that travel at speeds about or exceeding 15 miles/hour. An automated differential vehicular steering system comprising such an approach includes a drive control computer including a closed loop vehicular motional controller, a plurality of sensing systems comprised of one or more wheel sensors, one or more inertial sensors measuring vehicular movement, and software for modeling a response to outputs from the plurality of sensing systems. The design of the differential vehicular steering system enables improvements in autonomous or unmanned driving, as no user input is needed for steering.

MOTOR CONTROL METHOD, MOTOR CONTROL SYSTEM, AND ELECTRIC POWER STEERING SYSTEM

A motor control method includes acquiring at least one measured torque angle and two estimated torque angles, obtaining all combinations of two torque angles that are combinable with respect to a set of the at least one measured torque angle and the two estimated torque angles and performing an arithmetic operation to determine an error for each combination, selecting a control mode of the motor from control modes including a sensor mode, a sensorless mode, and a shutdown mode, the selecting being performed by referring to a table representing a relationship between the control modes and reference patterns relating to the calculated error group, and controlling the motor in accordance with the selected control mode. 18-. (canceled)9: A motor control method comprising:acquiring at least one measured torque angle based on at least one measured rotor angle measured by at least one position sensor and two estimated torque angles based on two sensorless control algorithms;obtaining all combinations of two torque angles that are combinable with respect to a set of the at least one measured torque angle and the two estimated torque angles and performing an arithmetic operation to determine an error for each combination;selecting a control mode of the motor from a plurality of control modes including a sensor mode, a sensorless mode, and a shutdown mode;the selecting step being performed by referring to a table representing a relationship between the plurality of control modes and a plurality of reference patterns relating to the calculated error group; andcontrolling the motor in accordance with the selected control mode; whereinthe sensor mode is a mode in which motor control is performed using the at least one measured rotor angle;the sensorless mode is a mode in which the motor control is performed using at least one of the two estimated rotor angles that are estimated using the two sensorless control algorithms; andthe shutdown mode is a mode in which the motor control ...

Motor control device for electric automobile

A magnetic force estimating unit ( 38 ) for estimating the magnetic force of a permanent magnet of a rotor of a motor ( 6 ), a determining unit ( 39 ), and a demagnetization responsive timing changing unit ( 40 ) are provided in an inverter device ( 22 ) or an electric control unit ( 21 ). The magnetic force estimating unit ( 38 ) performs a determination of the magnetic force with a predetermined rule from detection signals of at least two of the motor rotation number, motor voltage and motor current. The determining unit ( 39 ) determines whether or not a demagnetization occurs. In response to the result of determination by the determining unit ( 39 ), the demagnetization responsive timing changing unit ( 40 ) changes the timing, at which the maximum electric current relative to the phase of the rotor is fed, so that with respect the motor drive by the inverter device the reluctance torque of the motor may be increased.

TRACTION SPEED RECOVERY BASED ON STEER WHEEL DYNAMIC

Calculating a current target position value for controlling a traction speed of a materials handling vehicle, that includes receiving steering command signals; generating an output value proportional to a rate of change of the steering command signals; determining whether the output value is greater than or equal to a predetermined threshold; determining a raw target position value for controlling the traction speed of the materials handling vehicle; and calculating the current target position value based on: whether the output value is greater than or equal to a predetermined threshold, and whether the raw target position value is less than or equal to a previously calculated target position value for controlling the traction speed. 1. A computer-implemented method for controlling a traction motor of a materials handling vehicle , the method comprising:receiving, by a processor, steering command signals from a steering control input sensor of the materials handling vehicle;generating, by the processor, a current output value proportional to a rate of change of the steering command signals;determining, by the processor, a raw target angle value; the current output value compared to a predetermined threshold, and', 'the raw target angle value compared to a previously calculated target angle value;, 'calculating, by the processor, a current target angle value based oncalculating, by the processor, a traction speed limit based on the calculated current target angle value;calculating, by the processor, a traction setpoint based on the traction speed limit; andcontrolling the traction motor of the materials handling vehicle based on the traction setpoint.2. The method of claim 1 , wherein the calculated current target angle value equals the raw target angle value when the raw target angle value is greater than the previously calculated target angle value.3. The method of claim 1 , wherein the calculated current target angle value equals the previously calculated target ...

METHOD AND SYSTEM FOR CONTROLLING VEHICLE WITH FOUR-WHEEL DRIVE AND VEHICLE

A method and a system for controlling a vehicle () with four-wheel drive are provided. The method includes: acquiring a vehicle condition information parameter by a vehicle condition information collector; obtaining a radius of turning circle to be reduced from a driver by a turning circle receiver (); obtaining a controlling yaw moment corresponding to the radius of turning circle to be reduced according to the vehicle condition information parameter and the radius of turning circle to be reduced by a turning circle controller (); and distributing the controlling yaw moment to four wheels () of the vehicle () according to an intensity level of the radius of turning circle to be reduced and the vehicle condition information parameter by the turning circle controller (), such that the vehicle () turns circle. 1. A method for controlling a vehicle with four-wheel drive , comprising:acquiring a vehicle condition information parameter by a vehicle condition information collector;obtaining a radius of turning circle to be reduced from a driver by a turning circle receiver;obtaining a controlling yaw moment corresponding to the radius of turning circle to be reduced according to the vehicle condition information parameter and the radius of turning circle to be reduced by a turning circle controller; anddistributing the controlling yaw moment to four wheels of the vehicle according to an intensity level of the radius of turning circle to be reduced and the vehicle condition information parameter by the turning circle controller, such that the vehicle turns circle.2. The method of claim 1 , wherein the vehicle comprises four electric motors claim 1 , the four electric motors correspond to the four wheels respectively claim 1 , and each electric motor is configured to drive or brake back the corresponding wheel.3. The method of claim 1 , whereinthe four wheels comprises a front inner wheel, a front outer wheel, a rear inner wheel and a rear outer wheel,the intensity level of ...

Control device for electric vehicle and control method for electric vehicle

Provided are a control device for an electric vehicle and a control method for an electric vehicle capable of appropriately suppressing a vibration. In the control device for an electric vehicle according to the present invention, when a torque is controlled that is generated by a motor configured to generate a torque for braking or driving a drive wheel via a speed reduction mechanism and a drive shaft coupled to the speed reduction mechanism, the torque generated by the motor is controlled based on a rotational torque command value based on an accelerator operation or a brake operation by a driver, and a vibration suppression control torque command value for suppressing a vibration component caused by a resonance of the vehicle. Then, when a predetermined condition is satisfied, the torque generated by the motor is reduced.

Method for operating an electrical charging device and driving recommendation for an electrically driveable motor vehicle and electric charging device and motor vehicle

A method for operating an electric charging device for an electrically drivable motor vehicle. The electric charging device has a ground unit for positioning in the ground and for generating an alternating magnetic field for an electric charging operation. The method includes sensing a motor vehicle within a predefined perimeter surrounding the ground unit; sensing a driving parameter value of at least one driving parameter of the sensed motor vehicle at at least one respective predefinable point in time; storing the at least one driving parameter value if an electric charging operation is carried out for the detected motor vehicle; determining a driving recommendation on the basis of the at least one sensed and stored driving parameter value; and transmitting the driving recommendation if another motor vehicle is sensed within the predefined perimeter surrounding the ground unit.

ELECTRIC VEHICLE CHARGING INTERFACE

Systems and methods for enabling fast charging of an electric vehicle at a charging station. An electric vehicle in positioned in a given location for charging and/or discharging. A charging arm comprising a plurality of charging brushes is then positioned relative to the position of the electric vehicle. The plurality of charging brushes on the charging arm is positioned to contact a charging interface of the electric vehicle. The charging brushes are moved relative to the charging interface such that a portion of the charging brushes is removed as a result of the movement. 116-. (canceled)17. A charging interface of an electric vehicle , comprising:at least one charge-receiving electrode configured to engage with a charging electrode of a charging unit when the electric vehicle connects with the charging unit for charging; anda contact surface configured to rub against and remove a portion of the charging electrode, to recondition the charging electrode, when the electric vehicle connects with the charging unit for charging.18. The charging interface of claim 17 , wherein the contact surface includes one or more structural filing features.19. The charging interface of claim 17 , wherein the contact surface includes a plurality of grooves.20. The charging interface of claim 19 , wherein the plurality of grooves include multiple grooves arranged parallel to each other.21. The charging interface of claim 20 , wherein the multiple groves are aligned at an angle with respect to a direction of travel of the electric vehicle.22. The charging interface of claim 21 , wherein the multiple groves are aligned at an angle between 20 and 60 degrees with respect to the direction of travel.23. The charging interface of claim 17 , wherein the at least one charge-receiving electrode includes at least two charge-receiving electrodes.24. The charging interface of claim 17 , wherein the at least one charge-receiving electrode is positioned on a roof of the electric vehicle.25. The ...

Battery state of charge target based on predicted regenerative energy

A hybrid vehicle includes an engine; a traction battery; and a controller or a vehicle control system having a controller. The controller is programmed to respond to a state of charge (SOC) of the traction battery. When the SOC is greater than a predicted SOC the controller is programmed to decrease a SOC threshold at which the engine is shut down to reduce the SOC. The SOC threshold is defined by a difference between a maximum SOC and an expected change in the SOC associated with predicted regenerative energy for a drive cycle.

SLIP CONTROL DEVICE

The present invention includes: a PI/PID controller that generates a torque compensation value Kthrough PI control or PID control, from a deviation between an allowable rotation speed and a rotation speed of a wheel; an adder that adds the torque compensation value to a torque command input value received from a higher-order controller, thereby obtaining a torque command output value; and a dead time compensator that has a control target model including a dead time and that applies a dead time compensation in generation of the torque compensation value by the Smith method. An input to the dead time compensator is an output of a P compensation or a PD compensation excluding an I compensation from a PI compensation or a PID compensation. 1. A slip control device for inhibiting a tire slip of an automobile in which each wheel serving as a drive wheel is driven by an electric motor , the slip control device comprising:an allowable rotation speed calculator configured to calculate an allowable rotation speed of the wheel from vehicle-state information including a vehicle speed and a steering angle;a PI/PID controller configured to generate a torque compensation value through PI control or PID control, from a deviation between the allowable rotation speed and a rotation speed of the wheel;an adder configured to add the torque compensation value to a torque command input value received from a higher-order controller, thereby obtaining a torque command output value; anda dead time compensator which has a control target model including a dead time and which is configured to apply a dead time compensation in generation of the torque compensation value by the Smith method, whereinan input to the dead time compensator is an output of P compensation or PD compensation excluding I compensation from PI compensation or PID compensation.2. The slip control device as claimed in claim 1 , whereinthe input to the dead time compensator does not include the torque command input value ...

STABILITY CONTROL SYSTEM AND METHOD FOR FOUR-WHEEL DRIVE ELECTRIC VEHICLE, AND ELECTRIC VEHICLE

The embodiments of the present application disclose a stability control system and a stability control method for a four-wheel drive electric vehicle and the four-wheel drive electric vehicle. In the stability control system, when the lateral acceleration is equal to or greater than an acceleration threshold, at least one of a first braking force signal, a second braking force signal, a first logic signal and a second logic signal is obtained. When the first logic signal is obtained, the body of the electric vehicle is controlled to keep stable. When the first braking force signal and the second logic signal are obtained, a motor is controlled to apply braking force to an outside front wheel. When the second braking force signal and the second logic signal are obtained, motors are controlled to apply braking force to the outside front wheel and an inside rear wheel. 1. A stability control system for a four-wheel drive electric vehicle , comprising a vehicle controller and a signal detection sensor , wherein the vehicle controller comprises a first stability control unit and a second stability control unit;the signal detection sensor is configured to detect lateral acceleration signals;the first stability control unit is configured to continuously determine whether the lateral acceleration is less than a preset acceleration threshold, until the lateral acceleration is equal to or greater than the acceleration threshold;the first stability control unit is further configured to calculate a lateral load transfer ratio according to the lateral acceleration signals when the lateral acceleration is equal to or greater than the acceleration threshold, and to determine the state of the vehicle according to the lateral load transfer ratio to obtain at least one of a first braking force signal, a second braking force signal, a first logic signal and a second logic signal;the second stability control unit is configured to control the body of the electric vehicle to keep stable ...

CONTROL OF REGENERATIVE BRAKING IN AN ELECTRIC OR HYBRID VEHICLE

A method controls regenerative braking for a vehicle equipped with regenerative brakes and with a separate braking apparatus. The vehicle includes at least one first wheel and at least one second wheel. The separate braking apparatus is applied to the at least one first wheel and to the at least one second wheel. The regenerative brakes are applied to the at least one first wheel only. The method includes receiving a speed value of the first wheel and a speed value of the second wheel, estimating a value of a parameter representing a slip associated with the regenerative braking as a function of the speed value of the first wheel and as a function of the speed value of the second wheel, and forming a regenerative braking setpoint value as a function of the estimated value of the parameter representing slip associated with the regenerative braking. 110-. (canceled)11. A method for controlling regenerative braking for a vehicle equipped with a first , regenerative , braking means and with a second braking means separate from the first braking means , the vehicle comprising at least one first wheel and at least one second wheel , the second braking means being applied to said at least one first wheel and to said at least one second wheel , and the first braking means being applied to said at least one first wheel only , the method comprising:receiving a speed value of the first wheel and a speed value of the second wheel;estimating a value of a parameter representing a slip associated with the regenerative braking as a function of the speed value of the first wheel and as a function of the speed value of the second wheel; andforming a regenerative braking setpoint value as a function of the estimated value of the parameter representing slip associated with the regenerative braking12. The method as claimed in claim 11 , further comprising:comparing the parameter value representing the slip associated with the regenerative braking with a slip threshold; andwhen the ...

CONTROL SYSTEM FOR AN ALL-WHEEL DRIVE ELECTRIC VEHICLE

Electric vehicles and, more particularly, a control system for an all-wheel drive electric vehicle. 1. (canceled)2. An electric vehicle drive system comprising:first and second electric motors;first and second torque limiters for the first and second electric motors, respectively, the first and second torque limiters configured to generate respective first and second maximum torques; anda torque splitter configured to receive first input that includes at least a total torque request for the first and second electric motors and the first and second maximum torques, the torque splitter further configured to process the first input and to generate at least respective first and second torque requests for the first and second electric motors.3. The electric vehicle drive system of wherein the torque splitter generates a zero second torque request if a motor speed of the first electric motor exceeds a threshold.4. The electric vehicle drive system of wherein the threshold is greater than or equal to a first electric motor base speed.5. The electric vehicle of wherein the second electric motor is an AC induction motor.6. The electric vehicle of wherein the first electric motor is not an AC induction motor.7. The electric vehicle drive system of wherein the torque splitter is configured to direct a torque request to the second motor only if the first maximum torque is less than a threshold.8. The electric vehicle drive system of wherein the threshold is 95% or less of the first maximum torque at a first motor speed of 1000 rpm.9. The electric vehicle drive system of wherein the second electric motor is an AC induction motor.10. The electric vehicle drive system of wherein the first electric motor is not an AC induction motor.11. The electric vehicle drive system of wherein the threshold is greater than or equal to a vehicle speed.12. An electric vehicle drive system comprising:a primary electric motor;an assist electric motor;a first torque limiting unit configured to ...

METHOD FOR OPERATING A MOTOR VEHICLE, CONTROL UNIT AND MOTOR VEHICLE

A method for operating a motor vehicle having multiple drive wheels and multiple drive machines, each drive machines being an electric machine and being allocated to a drive wheel. The method includes: acquiring a total setpoint drive torque; acquiring a current vehicle driving speed, a current steering angle, and optionally, the wheel loads of all drive wheels; determining wheel-individual movement speeds of the drive wheels over the roadway based on the current vehicle driving speed, the current steering angle, a known chassis geometry of the motor vehicle, and optionally, the wheel loads; determining a setpoint wheel speed for each drive wheel based on the determined movement speeds, and distributing the total setpoint drive torque to all drive wheels such that an actual curve path deviates from a setpoint curve path specified by the steering angle; actuating each drive machine to adjust the setpoint wheel speed at the respective drive wheel. 110-. (canceled)11. A method for operating a motor vehicle , which has multiple drive wheels and multiple drive machines , each of the drive machines being an electric machine , being allocated to a respective drive wheel of the drive wheels , the method comprising the following steps:acquiring a total setpoint drive torque;acquiring a current vehicle driving speed and a current steering angle;determining wheel-individual movement speeds of the drive wheels over a roadway as a function of the current vehicle driving speed, the current steering angle, and a known chassis geometry of the motor vehicle;determining a setpoint wheel speed for each of the drive wheels as a function of the determined movement speeds, and distributing the total setpoint drive torque to all of the drive wheels such that an actual curve path deviates from a setpoint curve path specified by the steering angle; andactuating each of the drive machines to adjust a setpoint wheel speed at the respective drive wheel.12. The method as recited in claim 11 , ...

CONTROL SYSTEM AND METHOD FOR CONTROLLING A TORQUE GENERATOR

The invention relates to a control system for controlling a torque generator of a vehicle. The control system is configured to receive one or more electrical signals indicative of a surface indicator; receive one or more electrical signals indicative of a deceleration demand; select a surface type from a plurality of predetermined surface types based on said one or more electrical signals indicative of a surface indicator; determine a target vehicle deceleration in dependence on the selected surface type; determine, based on said one or more electrical signals indicative of a deceleration demand, a requirement to decelerate the vehicle; and in dependence on determining said requirement, output a control signal to the torque generator. The control signal is configured to cause the torque generator to provide the target vehicle deceleration. 1. A control system for controlling a torque generator of a vehicle , the control system configured to:receive one or more electrical signals indicative of a surface indicator;receive one or more electrical signals indicative of a deceleration demand;select a surface type from a plurality of predetermined surface types based on the one or more electrical signals indicative of the surface indicator;determine a target vehicle deceleration in dependence on the selected surface type;determine, based on the one or more electrical signals indicative of the deceleration demand, a requirement to decelerate the vehicle; andin dependence on determining the requirement to decelerate the vehicle, output a control signal to the torque generator, wherein the control signal is configured to cause the torque generator to provide the target vehicle deceleration.2. The control system according to claim 1 , comprising one or more controllers individually or collectively configured to:receive the one or more electrical signals indicative of the surface indicator;select the surface type;receive the one or more electrical signals indicative of the ...

DRIVE DEVICE FOR A MOTOR VEHICLE, MOTOR VEHICLE

The invention relates to a drive device () for a motor vehicle () having two drivable wheels () on a wheel axle (), said drive device comprising an electric machine (), which is designed as an asynchronous machine and which has at least one stator () and at least one rotor (), wherein the rotor () is or can be operatively connected to at least one of the wheels () in order to drive said wheel. According to the invention, the electric machine () has two rotors (), which can rotate independently of one another, each of which is or can be operatively connected to one wheel () of the wheel axle (), and a device for varying the electric rotor resistance of at least one of the rotors (). 2222314151112. The drive device as claimed in claim 1 , wherein the device () comprises at least one semiconductor switch () claim 1 , said semiconductor switch being connected in series to one phase (P) of a winding ( claim 1 , ) of the rotor ( claim 1 , ) claim 1 , said winding comprising multiple phases claim 1 , and said semiconductor switch being controllable so as to change the electrical resistance of the phase (P).39101112. The drive device as claimed in claim 1 , wherein the electrical machine () comprises only one stator () that cooperates with the two rotors ( claim 1 , ).4910101112. The drive device as claimed in claim 1 , wherein the electrical machine () comprises in each case a stator (′ claim 1 , ″) for each of the rotors ( claim 1 , ).5821101010. The drive device as claimed in claim 4 , wherein the drive device () comprises only one inverter () for operating the stators ( claim 4 , ′ claim 4 , ″).61010. The drive device as claimed in claim 1 , wherein the stators (′ claim 1 , ″) are connected in series.71010. The drive device as claimed in claim 1 , wherein the stators ( claim 1 , ″) are connected in parallel to one another.81112101010. The drive device as claimed in claim 1 , wherein the rotors ( claim 1 , ) together with the respective stator ( claim 1 , ′ claim 1 , ″) ...

METHOD FOR OPERATING A MOTOR VEHICLE, CONTROL UNIT AND MOTOR VEHICLE

A method for operating a motor vehicle, which includes driven wheels and driving machines, each driven wheel being assigned a driving machine, respectively, the method including determining a setpoint total drive torque; measuring a current vehicle traveling speed, a current steering angle and, optionally, the wheel loads of all of the driven wheels; determining individual wheel speeds of motion of the driven wheels over the roadway as a function of the current vehicle traveling speed, the current steering angle, a chassis geometry of the motor vehicle and, optionally, the wheel loads; determining a setpoint rotational speed for each driven wheel as a function of the determined speeds of motion, and distributing the setpoint total drive torque to all driven wheels so that spinning of the specific driven wheel on the roadway is prevented; and controlling each driving machine to set the setpoint rotational speed at the specific driven wheel. 1. A method for operating a motor vehicle , which includes a plurality of driven wheels and a plurality of driving machines , each of the driven wheels being assigned a respective driving machine of the driving machines , the driving machines being electrical machines , the method comprising:determining a setpoint total drive torque;measuring a current vehicle traveling speed, and current steering angle;determining individual wheel speeds of motion of the driven wheels over the roadway as a function of the current vehicle traveling speed, the current steering angle, and a known chassis geometry of the motor vehicle;determining a respective setpoint rotational speed for each of the driven wheels as a function of the determined speeds of motion, and distributing the setpoint total drive torque to all of the driven wheels in such a manner, that spinning of the specific driven wheel on the roadway is prevented; andcontrolling each of the driving machines to set the respective setpoint rotational speed at the respective driven wheel.2. ...

Electric motor control device and method of electric motor control

An electric motor control device includes a target torque setting unit setting target torque for each of a right-side control circuit and a left-side control circuit, and a failure occurrence determination unit determining whether there is a failure occurrence in at least one of the two control circuits. The target torque setting unit sets, in response to there being a failure occurrence in a failure control circuit that is one of the two control circuits and there being a no failure occurrence in a normal control circuit that is the other of the two control circuits, fail-safe torque which is lower than a normal value of the target torque as the target torque for the failure control circuit, and sets failure-time target torque which is lower than the normal value of the target torque and being higher than the fail-safe torque as the target torque for the normal control circuit.

Electric Motorcycle, Vehicle Controller and Vehicle Control Method

An electric motorcycle includes a driving command detecting device, a state value detecting device, an electric motor driving a drive wheel, a control unit for executing a non-normal mode causing output of the electric motor in a non-normal mode to differ from the output of the electric motor in a normal mode, the control unit configured to shift the electric motorcycle from one of the normal or non-normal modes to the other normal or non-normal mode, when the state value satisfies a predetermined shift condition, in one of the normal and non-normal modes, and a cornering determiner unit for determining cornering status, wherein the control unit causes a change in the output of the electric motor to be less, when the electric motorcycle is cornering and the shift condition is satisfied than when the cornering determiner unit determines the electric motorcycle is not cornering and the shift condition is satisfied.

Electric vehicle

An electric vehicle includes: a first inverter circuit; a second inverter circuit; an inverter control device that outputs first switching signals to the first inverter circuit and second switching signals to the second inverter circuit; first signal lines that transfer the first switching signals to the first inverter circuit; second signal lines that transfer the second switching signals to the second inverter circuit; and a signal blocking circuit inserted in the first signal lines and the second signal lines, the signal blocking circuit being configured to output to the first inverter circuit first OFF signals in place of the first switching signals, and outputting to the second inverter circuit second OFF signals in place of the second switching signals, when receiving at least one of the first abnormality signal and the second abnormality signal.

ELECTRIC VEHICLE AND ACTIVE SAFETY CONTROL SYSTEM AND METHOD THEREOF

The present disclosure discloses an electric vehicle and an active safety control system and method thereof. The system includes: a wheel speed detection module configured to detect a wheel speed to generate a wheel speed signal; a steering wheel rotation angle sensor and a yaw rate sensor module, configured to detect state information of the electric vehicle; a motor controller; and an active safety controller configured to receive the wheel speed signal and state information, obtain state information of a battery pack and state information of four motors, obtain a first side slip signal or a second side slip signal according to the wheel speed signal, the state information, the battery pack and the four motors, and according to the first side slip signal or the second side slip signal, control four hydraulic brakes of the electric vehicle and control the four motors by using the motor controller. 1. An active safety control system of an electric vehicle , comprising:a wheel speed detection module, configured to detect a wheel speed of the electric vehicle to generate a wheel speed signal;a steering wheel rotation angle sensor and a yaw rate sensor module, configured to detect state information of the electric vehicle;a motor controller, configured to connect to four motors of the electric vehicle, respectively;an active safety controller, configured to communicate with the motor controller mutually, to communicate with the steering wheel rotation angle sensor and the yaw rate sensor module, and to connect to each hydraulic brake of the electric vehicle, and receive the wheel speed signal sent by the wheel speed detection module and the state information of the electric vehicle sent by the steering wheel rotation angle sensor and the yaw rate sensor module, obtain state information of a battery pack of the electric vehicle and state information of the four motors, obtain a first side slip signal or a second side slip signal according to the wheel speed signal, the ...

VEHICLE CONTROL DEVICE OF FOUR-WHEEL INDEPENDENT DRIVE VEHICLE FOR WHEN ONE WHEEL IS LOST

A target longitudinal force sum/yaw moment setting section is provided which is configured to determine and set a target longitudinal force sum to be exerted on drive wheels by drive sources and a target yaw moment of a vehicle. A failure detection section is provided which is configured to detect occurrence of a failure in the drive source of each of the drive wheels and a drive system including a control system of the drive source. A one-wheel-failure control section is provided which is configured to, when a failure of one of the wheels is detected by the failure detection section, drive the drive sources of all the remaining sound wheels so as to minimize a sum of squares of load factors of the sound wheels and to be matched with the target longitudinal force sum and the target yaw moment that are set. 1. A one-wheel-failure vehicle control device for a four-wheel independent drive vehicle including drive sources configured to independently drive respective four drive wheels serving as left and right front wheels and left and right rear wheels , the one-wheel-failure vehicle control device comprising:a target longitudinal force sum/yaw moment setting section configured to calculate and set a longitudinal force sum that is a present target sum of longitudinal forces to be exerted on drive wheels by the corresponding drive sources and a present target yaw moment of the vehicle;a failure detection section configured to detect an occurrence of a failure in the drive source of each of the drive wheels and a failure in a drive system including a control system of the drive source; anda one-wheel-failure control section configured to, when a failure of one of the wheels is detected by the failure detection section, drive the drive sources of all sound wheels except for the one wheel in which the failure is detected, so as to minimize a sum of squares of load factors of all the sound wheels and so as to be matched with the target longitudinal force sum and the target ...

Power reception apparatus, vehicle, power transmission apparatus, power transmission and reception system, and control method

A power reception apparatus includes a secondary coil which receives electric power in a non-contact manner from a primary coil which is disposed on a plane defined by a front-rear direction and a left-right direction which are at right angles to each other, a drive part which can change a relative position on the plane of the secondary coil relative to the primary coil, a display unit, and a processing unit for processing an image to be displayed on the display unit. In an event that the secondary coil is included in the target zone in relation to the left-right direction, the processing unit displays the relative position and the gradient of the secondary coil on the display unit, and changes display modes of displaying the relative position on the display unit according to a change in the relative position in the front-rear direction.

Operation Control System for Vehicle, Vehicle, and Program

The present invention improves emergency evasion performance. An operation control system for a vehicle that is provided with a risk-potential determining unit that determines the risk potential of a vehicle on the basis of external environment information and/or vehicle information, a friction braking unit that applies friction braking force to the vehicle, and a regenerative braking device that applies regenerative braking force to the vehicle, the operation control system being provided with a control value determining unit that determines a first control value that is for determining the size of the friction braking force and determines a second control value that is for determining the size of the regenerative braking force. The control value determining unit determines at least the first control value on the basis of the risk potential determined by the risk-potential determining unit.

VEHICLE DRIVE SYSTEM

A vehicle drive system includes a left-wheel drive unit having a first motor and a first transmission, a right-wheel drive unit having a second motor and a second transmission, and a motor control unit. Each of the first and second transmissions has a first to third rotational elements. The first motor is connected to the first rotational element of the first transmission. The second motor is connected to the first rotational element of the second transmission. The left wheel is connected to the second rotational element of the first transmission. The right wheel is connected to the second rotational element of the second transmission. The third rotational element of the first transmission and the third rotational element of the second transmission are coupled to each other. Each of the first and second transmissions has a fourth rotational element which is supported to revolve around by the second rotational element. 1. A vehicle drive system , including: a first motor for driving a left wheel of a vehicle and', 'a first transmission that is provided on a power transmission line between the first motor and the left wheel;, 'a left-wheel drive unit having'} a second motor for driving a right wheel of the vehicle and', 'a second transmission that is provided on a power transmission line between the second motor and the right wheel; and', 'a motor control unit for controlling the first motor and the second motor,, 'a right-wheel drive unit having'}wherein the first and second transmissions each has a first to third rotational elements,wherein the first motor is connected to the first rotational element of the first transmission,wherein the second motor is connected to the first rotational element of the second transmission,wherein the left wheel is connected to the second rotational element of the first transmission,wherein the right wheel is connected to the second rotational element of the second transmission,wherein the third rotational element of the first ...

SYSTEMS AND METHODS OF ADAPTIVE REGENERATIVE BRAKING AND COLLISION AVOIDANCE FOR ELECTRICALLY POWERED VEHICLES

Electrically powered vehicles may be equipped with both mechanical braking systems and regenerative braking systems. Regenerative braking systems improve vehicle efficiency by returning a portion of the energy lost in deceleration to the battery of the electrically powered vehicle. An electrically powered vehicle controller that provides collision avoidance functionality can maximize the energy returned to the battery of the electrically powered vehicle by maximizing the use of regenerative braking for collision avoidance. A first braking mode can include only regenerative braking for objects greater than the minimum regenerative stopping distance. A second braking mode can include composite braking using both mechanical and regenerative braking. The electrically powered vehicle controller determines the maximum regenerative braking level at least based on data provided battery charge level or battery state sensors. 123-. (canceled)24. A system comprising:a processor;a sensor coupled to the processor; and determine a minimum regenerative stopping distance achievable using only a regenerative braking system of a vehicle;', 'determine an obstruction threshold distance that is equal to or greater than the determined minimum regenerative stopping distance at least partially based on the minimum regenerative stopping distance;', 'responsive to receipt of a signal indicative of at least one object in a travel path from the sensor, determine a distance to the at least one object; and', 'responsive to a determination that the distance to the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance, instruct the regenerative braking system to decelerate the vehicle., 'a memory coupled to the processor and having processor-executable instructions that, when executed by the processor, cause the processor to25. The system of claim 24 , wherein the instructions further cause the ...

Vehicle

A vehicle is equipped with a rotational velocity acquisition unit that acquires a rotational velocity of a rotary electric machine that imparts a steering force or a steering additive force to a steering system. A drive control device controls a left and right driving force difference by a driving device on the basis of a rotational velocity of the rotary electric machine.

Control method for vehicle, vehicle system, and vehicle controller

A control method for a vehicle has: a step of determining whether a turning operation of a steering system including a steering wheel 6 and the like is performed on the basis of a steering angle that is detected by a steering angle sensor 8 ; a step of causing a motor generator 4 to generate regenerative power and adding deceleration to a vehicle 1 so as to control a vehicle posture when it is determined that the turning operation of the steering system is performed; and a step of increasing the deceleration, which is added to the vehicle 1 in order to control the vehicle posture, to be higher when the deceleration generated on the vehicle 1 has a first value than when the deceleration generated on the vehicle 1 has a second value that is lower than the first value.

VEHICLE CONTROL METHOD AND VEHICLE SYSTEM

A method of controlling a vehicle () in which rear road wheels () are driven by a prime mover (). This vehicle control method comprises: a basic torque setting step of setting, based on a driving state of the vehicle, a basic torque to be generated by the prime mover; an incremental torque setting step of setting an incremental torque such that the basic torque is increased in accordance with an increase in steering angle of a steering device () equipped in the vehicle; and a torque generation step of controlling the prime mover to generate a torque which is determined by increasing the basic torque based on the incremental torque. 1. A method of controlling a vehicle in which rear road wheels among a set of road wheels are driven by a prime mover , comprising:a basic torque setting step of setting a basic torque to be generated by the prime mover, based on a driving state of the vehicle;an incremental torque setting step of setting an incremental torque such that the basic torque is increased in accordance with an increase in steering angle of a steering device equipped in the vehicle; anda torque generation step of controlling the prime mover to generate a torque which is determined by increasing the basic torque based on the incremental torque.2. The method according to claim 1 , wherein the prime mover is an internal combustion engine comprising an injector claim 1 , and wherein the torque generation step includes controlling a fuel injection amount of the injector claim 1 , such that the internal combustion engine generates the torque which is determined by increasing the basic torque based on the incremental torque.3. The method according to claim 2 , wherein the internal combustion engine further comprises a throttle valve claim 2 , and wherein the torque generation step includes controlling an opening angle of the throttle value claim 2 , such that the internal combustion engine generates the torque which is determined by increasing the basic torque based on ...

VEHICLE CONTROL METHOD AND VEHICLE SYSTEM

A method of controlling a vehicle () in which rear road wheels () are driven by a prime mover (). This vehicle control method comprises: a basic torque setting step of setting, based on a driving state of the vehicle, a basic torque to be generated by the prime mover; a decremental torque setting step of setting a decremental torque such that the basic torque is reduced in accordance with a decrease in steering angle of a steering device () equipped in the vehicle; and a torque generation step of controlling the prime mover to generate a torque which is determined by reducing the basic torque based on the decremental torque. 1. A method of controlling a vehicle in which rear road wheels among a set of road wheels are driven by a prime mover , comprising:a basic torque setting step of setting a basic torque to be generated by the prime mover, based on a driving state of the vehicle;a decremental torque setting step of setting a decremental torque such that the basic torque is reduced in accordance with a decrease in steering angle of a steering device equipped in the vehicle; anda torque generation step of controlling the prime mover to generate a torque which is determined by reducing the basic torque based on the decremental torque.2. The method according to claim 1 , wherein the prime mover is an internal combustion engine comprising an injector claim 1 , and wherein the torque generation step includes controlling a fuel injection amount of the injector claim 1 , such that the internal combustion engine generates the torque which is determined by reducing the basic torque based on the decremental torque.3. The method according to claim 2 , wherein the internal combustion engine further comprises a throttle valve claim 2 , and wherein the torque generation step includes controlling an opening angle of the throttle value claim 2 , such that the internal combustion engine generates the torque which is determined by reducing the basic torque based on the decremental ...

Control and coordination of driverless fuel replenishment for autonomous vehicles

Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computing software, including autonomy applications, image processing applications, etc., computing systems, and wired and wireless network communications to facilitate autonomous control of vehicles, and, more specifically, to systems, devices, and methods configured to control driverless vehicles to facilitate coordination of driverless fuel replenishment. In some examples, a method may include monitoring an amount of fuel relative to a threshold, predicting fuel expenditure of an autonomous vehicle, identifying a candidate time frame, transmitting electronic messages from the autonomous vehicle to reserve a replenishment station, and activating the autonomous vehicle to drive autonomously to receive a fuel replenishment from the reserved replenishment station.

The automatic straight travel type driving method of two wheeled self balancing motor scooter in spite of the external force

본 발명은 외력 발생시 직진 주행이 유지되는 투휠 셀프밸런싱 스쿠터의 주행방법에 관한 것으로서, 그 구체적인 주행방법은 다음과 같다. 전원을 인가하는 주행 준비단계(S10)와, 탑승자가 몸을 전방 또는 후방으로 기울이면서 각도에 따른 주행속도 및 전후진 주행방향을 설정하여 주행하는 주행단계(S20)와, 한쪽 바퀴의 펑크시 펑크난 바퀴의 회전수를 향상시키는 사고 바퀴 급속회전단계(S30)와, 사고 바퀴의 회전수에 맞추어 정상 바퀴의 회전수를 저감하는 정상 바퀴 감속회전단계(S40)와, 사고 바퀴의 회전수와 정상 바퀴의 회전수를 동일하게 조절하는 양쪽 바퀴 회전수 맞춤단계(S50)와, 상기 양쪽 바퀴 회전수 맞춤단계(S50)를 반복하면서 주행하는 회전수 반복 맞춤 주행단계(S60)가 포함된다. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling method of a two-wheel self-balancing scooter in which a straight running is maintained when an external force is generated. (S20) in which the occupant sets the traveling speed and forward / backward traveling direction according to the angle while tilting the body forward or backward, and runs (S20) (S30) for increasing the number of revolutions of the wheels; a normal wheel decelerating step (S40) for reducing the number of revolutions of the normal wheel in accordance with the number of revolutions of the accident wheel; (S50) for adjusting the number of revolutions of the wheel equally (S50), and a step S60 for repeating the number of revolutions to travel while repeating the both-wheel rotation number fitting step (S50).

车辆的控制装置及车辆的控制方法

本发明提供能够在切换低μ路的控制和高μ路的控制的情况下，可靠地抑制产生于驱动系统的振荡，并且更快地进行对应于高μ路的转弯辅助控制的恢复的车辆的控制装置及车辆的控制方法。车辆的控制装置(200)具备：车体附加横摆力矩计算部(232)，其基于车辆的横摆角速度计算独立于转向系统而附加于车体的车体附加横摆力矩(Mg)；滑移状态判定部，其判定车辆的滑移状态；低μ判定输出增益计算部(234)，其在被判定为车辆处于滑移状态的情况下，计算以使车体附加横摆力矩降低的方式调整车体附加横摆力矩(Mg)的调整增益，并在被判定为车辆从滑移状态恢复的情况下，根据车辆的滑移的程度使调整增益增加。

電動車両の制御装置

【課題】左右独立の走行モータを有する電動車両において旋回走行から直線走行へ切り替わる際に、車両の操縦性が低下することを抑制できる電動車両の制御装置を提供する。【解決手段】左右の駆動輪（２ａ、２ａ）の動力をそれぞれ出力する左走行モータ（２２）及び右走行モータ（２２）を有する電動車両（１）に搭載される電動車両の制御装置（３０）である。要求トルクに追従する左右の指示トルクを計算する指示トルク計算部（３２）と、左右の指示トルクの各上限変化レートを調整する変化レート調整部（３３）とを備える。そして、変化レート調整部（３３）は、操舵部による舵角の戻し操作に基づいて、舵角の戻し前に内輪側だった方の上限変化レートを、舵角の戻し前に外輪側だった方の上限変化レートよりも小さくする。【選択図】図１

Apparatus for controlling autonomous driving of independent driving electric vehicle and method thereof

독립구동 전기자동차의 자율 주행 제어 장치 및 그 방법이 개시된다. 본 발명의 일 측면에 따른 독립구동 전기자동차의 자율 주행 제어 장치는, 차량의 주행정보를 측정하는 측정부, 상기 차량의 경로정보 및 상기 주행정보에 기초하여 예견점(Look ahead point)을 추종하기 위한 조향각을 산출하고, 상기 조향각에 따라 상기 차량을 제어하는 조향각 제어부, 상기 경로정보 및 주행정보에 기초하여 상기 차량의 횡오차 및 각도오차를 산출하고, 상기 횡오차 및 각도오차에 기초하여 제어 모멘트를 생성하며, 상기 제어 모멘트에 기초하여 각 모터의 모터토크를 제어하는 토크 벡터링 제어부를 포함한다.

Moving direction controller and computer program

Provided is a moving direction controller and a computer program which can control the moving direction of a unicycle precisely by simple configuration. The angle of rotation in the yaw direction of the body is controlled using the reaction torque incident to rotation of the rotor. Designation of the yaw angle of wheels is received for the target of moving direction, and the information concerning a frictional torque is acquired. A rotational angular acceleration in the yaw direction is calculated based on the designated yaw angle, and the reaction torque is calculated based on the calculated angular acceleration in the yaw direction. An operation command of a yaw motor is created based on the calculated reaction torque and the acquired information concerning the frictional torque.

Movement direction control apparatus and computer program

In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.

Four-wheel non-steering mechanism distributed drive automobile anti-skid control method and device

本发明提供一种四轮无转向机构分布式驱动汽车防滑控制方法、装置，首先，根据方向盘转角进行行驶工况判断，行驶工况分为直线行驶和转向行驶；之后，实时计算每个车轮的当前滑移率Si，并与当前行驶工况下的门限值滑移率S0进行对比，判断是否打滑，当Si≥S0时判断为发生打滑，若发生打滑，则启动驱动防滑控制；通过当前滑移率与设定的滑移率S0的差值的变化率实时进行PID调节得到修正扭矩；最后，将发生打滑的车轮扭矩修正后的扭矩减少量分配到其他车轮上进行扭矩补偿，使得驾驶员驾驶意图得到最大限度的实现。本发明将打滑车轮扭矩修正后的扭矩减少量分配到其他车轮上进行扭矩补偿，极大提高了驱动防滑效果、车辆操作稳定性和安全性。

mowing machine

Selectable four-wheel drive system

A drive system for a vehicle having a pair of front wheels and a pair of rear wheels is disclosed having a rear drive assembly having a first pair of axles extending from opposite sides of the vehicle, each axle of the first pair of axles drivingly engaged to one of the pair of rear wheels, a prime mover drivingly engaged to the rear drive assembly, a power source disposed on the vehicle, a front drive assembly in selective electrical communication with the power source and having a second pair of axles extending from opposite sides of the vehicle, each axle of the second pair of axles is drivingly engaged to one of the pair of front wheels and has a pivotable segment along its length, a steering mechanism in communication with the pivotable segment of each of the second pair of axles, an accelerator mechanism in communication with the rear drive assembly and the front drive assembly, a selector switch having a first position which prevents electrical communication between the front drive assembly and the power source and a second position which places the front drive assembly in electrical communication with the power source, where the rear drive assembly can power the vehicle when the selector switch is in the first position, and both the rear drive assembly and the front drive assembly can power the vehicle when the selector switch is in the second position.

Riding lawn mower

Control method of the three-wheel electric vehicle

본 발명에 따른 세바퀴 전기 자동차의 제어방법은, 스키드(skid) 조향되는 좌측 앞바퀴와 우측 앞바퀴, 및 액커만(ackermann) 조향되는 뒷바퀴를 포함하는 세바퀴 전기 자동차 제어방법이고, 조향핸들의 회전각, 및 가속 페달 또는 브레이크 페달의 눌림정도를 입력받는 입력단계를 포함한다. 자동차의 속도를 측정하는 속도측정단계를 포함한다. 조향핸들의 회전각, 및 가속 페달 또는 브레이크 페달의 눌림정도에 따라 자동차의 선회중심을 결정하고, 가속 페달 또는 브레이크 페달의 눌림정도에 비례하여 가속도를 결정하는 결정단계를 포함한다. 또한, 결정된 자동차의 선회중심 및 가속도에 따라 좌측 및 우측 앞바퀴의 토크와 뒷바퀴의 조향각을 제어하는 제어단계를 포함한다. 자동차의 속도가 소정속도 이하일 때는, 조향핸들의 회전각의 뒷바퀴의 조향각에 대한 비인 조향비는 소정비에 도달할 때까지 자동차의 속도에 비례하여 증가하고, 자동차의 속도가 소정속도 이상일 때는, 조향비는 소정비로 고정될 수 있다. A control method of a three-wheel electric vehicle according to the present invention is a three-wheel electric vehicle control method including a left front wheel and a right front wheel that are skid-steered, and a rear wheel that is steered by an ackermann, And an input step of receiving the degree of depression of the accelerator pedal or the brake pedal. And a speed measuring step of measuring the speed of the automobile. A turning angle of the steering wheel and a degree of depression of the accelerator pedal or the brake pedal to determine the turning center of the automobile and determining the acceleration in proportion to the degree of depression of the accelerator pedal or the brake pedal. And a control step of controlling the left and right front wheel torque and the steering angle of the rear wheel according to the determined turning center and acceleration of the car. When the speed of the vehicle is less than the predetermined speed, the steering ratio of the steering wheel to the steering angle of the rear wheel of the rotational angle of the steering wheel increases in proportion to the speed of the vehicle until reaching the predetermined ratio. The ratio can be fixed at a predetermined ratio.

Vehicle with a steering wheel

本发明提供进行与减速时等的行驶状态对应的姿态控制的车辆。本发明的能够借助驾驶员的动作力而推进的车辆(100)的前轮部和后轮部中的至少一方由左右一对车轮(101、102)构成，该车辆能够进行车辆(100)的状态的检测，并响应于该检测而对一对车轮(101、102)的每个车轮的旋转力彼此独立地进行控制，对一对车轮(101、102)的每个车轮能够产生同步且均等的制动力。

Coaxial two-wheel vehicle and method of controlling the same

본 발명은 하차를 용이하게 행할 수 있고, 안전성이 높은 동축 이륜차 및 그 제어방법을 제공한다. 본 발명에 관한 동축 이륜차(10)는, 발을 얹는 발판부(11L, 11R)와, 전후로의 이동을 조작 가능한 핸들(15)을 가지고, 탑승자를 태워 이동하는 것이다. 당해 동축 이륜차(10)의 제어장치(46)는, 하차 스위치(38) 등에 의하여 탑승자가 하차를 행하는 것을 검출하면, 탑승자의 하차방향에 대한, 발판부(11L, 11R)의 경사각도를 증가시키는 하차 보조제어를 실행한다. The present invention provides a coaxial two-wheeled vehicle that can easily get off and has high safety and a control method thereof. The coaxial two-wheeled vehicle 10 according to the present invention has a footrest portion 11L, 11R on which a foot is placed, and a handle 15 that can operate back and forth, and rides a passenger. The control device 46 of the coaxial two-wheeled vehicle 10 increases the inclination angles of the footrest portions 11L and 11R with respect to the getting off direction of the occupant when detecting that the occupant is getting off by the getting off switch 38 or the like. Get off the secondary control.

In-vehicle display device

【課題】蓄電池の電力の残量を考慮して充電器と給電装置との位置合わせの案内を行うことにより、運転に伴う精神的な負担の軽減と、充電効率の低下の防止との両立を図ること。 【解決手段】車載用表示装置１００は、地上の給電装置より非接触方式で充電される蓄電池１０３を動力源とする車両に搭載される。充電器１０２は、給電装置に近接することにより蓄電池１０３を充電する。カメラ１０８は、車両の移動方向の画像を撮影する。表示部１１１は、カメラ１０８により撮影した画像を表示する際に、受電部１０１を給電装置と近接する位置へ誘導するガイド線を併せて表示する。制御部１０５は、蓄電池１０３の電力の残量が少ないほど、表示部１１１に表示されるガイド線の線幅を狭くする。 【選択図】図１

A kind of distribution method and electric car of driving torque

本发明提供一种驱动扭矩的分配方法及电动汽车，解决电动汽车不能根据具体路况对前后轴扭矩进行合理分配的问题。本发明包括：获取选择的地形模式；在与地形模式对应的扭矩关系表中，获取与电动汽车当前的第一运行参数信息对应的第一输出扭矩，扭矩关系表中保存有按照对应关系存储的第一运行参数信息和输出扭矩；将第一输出扭矩与第二输出扭矩进行比较，确定目标输出扭矩，第二输出扭矩为电动汽车的最大输出扭矩；根据电动汽车的第二运行参数信息及所述第二运行参数信息与扭矩分配系数的对应关系，对目标输出扭矩进行分配处理，得到电动汽车的前轴扭矩和后轴扭矩，实现根据地形模式合理的分配前后轴扭矩，使得电动汽车在越野路况下更加稳定可靠。

Drive device for a motor vehicle, motor vehicle

本发明涉及一种用于机动车（1）的驱动装置（8），该机动车在车桥（3）上具有两个可驱动的车轮（6、7），所述驱动装置具有电机（9），该电机构造为异步电机并且具有至少一个定子（10）和至少一个转子（11、12），其中所述转子（11、12）与所述车轮（6、7）中的至少一个车轮为了该车轮的驱动是可有效连接的/有效连接。规定，所述电机（9）具有：两个能相互独立地旋转的转子（11、12），这两个转子分别与所述车桥（3）的一个车轮（6、7）有效连接/是可有效连接的；和用于改变所述转子（11、12）中的至少一个转子的转子电阻的装置（22）。

Novel portable electric vehicle and driving control method thereof

本发明涉及一种新型便携式电动车，包括两个前后折叠机构、左右折叠机构、操作机构；用于支撑驾驶者的两个前后折叠机构分别设置在电动车下边的左右两侧，所述前后折叠机构的后端均设有驱动轮机构，所述前后折叠机构的前端均设有转动轮机构；带动两个前后折叠机构相互靠拢的左右折叠机构的两端分别与两个前后折叠机构相接；控制电动车行驶的操作机构安装在左右折叠机构上。本发明还涉及一种新型便携式电动车驱动的控制方法，利用Arduino电路板控制电动车的行驶，具有良好的驾驶体验，且体积小，重量轻，折叠方便，操作简单，属于电动车技术领域。

Traction speed recovery based on steer wheel dynamics

자재 취급 차량(10)의 견인 모터(265)를 제어하기 위한 방법 및 시스템은, 스티어링 명령 신호들을 수신하고(278); 스티어링 명령 신호들의 변경 레이트에 비례하여 출력값을 생성하고(320); 출력값이 미리 결정된 임계값 이상인지의 여부를 결정하고(324); 자재 취급 차량의 견인 모터를 제어하기 위해 원래의 타깃 스티어링 각도값을 결정하고; 출력값이 미리 결정된 임계값 이상인지의 여부(324) 및 원래의 타깃 위치값이 이전에 계산된 타깃 스티어링 각도값 이하인지의 여부(322)에 기초하여 현재의 타깃 스티어링 각도값을 계산하고(330), 타깃 스티어링 각도값에 기초하여 견인 설정값을 계산하고 견인 설정값에 기초하여 견인 모터를 제어하는 것을 포함한다. A method and system for controlling a traction motor 265 of a material handling vehicle 10 includes receiving ( 278 ) steering command signals; generate ( 320 ) an output value proportional to the rate of change of the steering command signals; determine ( 324 ) whether the output value is greater than or equal to a predetermined threshold; determine an original target steering angle value for controlling a traction motor of the material handling vehicle; Calculate (330) a current target steering angle value based on whether the output value is above a predetermined threshold (324) and whether the original target position value is below a previously calculated target steering angle value (322); , calculating a traction setpoint based on the target steering angle value and controlling the traction motor based on the traction setpoint.

Method for Advanced Inertia Drive Control of Vehicle

본 발명의 차량(1)의 관성주행제어방법은 도로 주행시 검출된 감속 이벤트에서 도로에 대한 도로 유형과 차선의 구분이 이루어진 후 IC(Junction, 분기점) 또는 JC(Inter Change,나들목)의 진출로 진입을 위한 차선변경에 맞춰진 차로변경 관성주행제어안내/실시 모드, 과속 카메라 또는 톨게이트(Tollgate)의 통과를 위한 차선유지에 맞춰진 차로유지 관성주행제어안내/실시 모드로 구분된 어드밴스 관성주행제어가 포함됨으로써 관성주행제어 영역을 고속도로와 고속화도로의 도로유형 및 2차로 이상의 차로로 확장하고, 특히 어드밴스 관성주행제어로 IC/JC의 진출로 진입과 과속 카메라/톨게이트의 통과시 자차 주변의 후방/인접 차량에 끼치는 주행방해영향을 최소화하면서 과도한 감속이나 이른 제어시작으로 운전자에게 이질감을 주지 않는 특징이 구현된다. In the inertial driving control method of the vehicle 1 of the present invention, after the road types and lanes for the road are classified in a deceleration event detected during road driving, IC (Junction) or JC (Inter Change) entry into the exit road By including advanced inertial driving control, which is divided into lane change inertial driving control guidance/execution mode tailored to lane change for lane change and lane maintenance inertia driving control guidance/execution mode tailored to lane maintenance for passing speed cameras or tollgates, The inertial driving control area is expanded to road types such as highways and expressways and lanes with more than two lanes. While minimizing the impact on driving, there is a feature that does not give the driver a sense of difference due to excessive deceleration or early start of control.

Vehicle control unit of pure electric vehicle driven by two-wheel hub motor and control method

本发明公开了一种两轮轮毂电机驱动纯电动汽车整车控制器，它的信号采集模块用于采集电子换挡器信号、轮毂电机差扭控制开关信号、油门踏板状态信号、制动踏板状态信号和制动踏板开度信号；CAN通讯模块用于各车轮轮速信号、方向盘转角信号、车速信号、动力电池SOC值、ABS触发信号、电池管理系统工作状态信号发送给MCU；运动学参数模块用于将差扭控制所需的横摆角速度信号和三轴向车辆加速度信号发送给MCU；MCU进行驾驶员驾驶意图的识别、差扭横摆力矩控制、驱动防滑控制、制动能量回收控制。本发明能满足轮毂电机控制条件，体现出差扭控制优势。

vehicle

Electric vehicle

【課題】ユーザの要望に応じた電気自動車を容易に構成する。 【解決手段】電気自動車１１は、車体フレームを含むボディ１３と、車体フレームに着脱可能なサブフレーム、駆動輪、サブフレームに装着されて駆動輪に駆動力を付与するモータを備え、電気自動車の発進または加速を行う駆動装置２９、サブフレームに装着される駆動輪用懸架装置３０、および電気自動車１１の停止または減速を行う駆動輪用制動装置３１等を含む駆動モジュール２２と、車体フレームにサブフレームが装着された際に、ボディ１３と駆動モジュール２２との相対的な位置関係を保持し、ボディ１３と駆動モジュール２２とを信号線５７ｂ等で接続する接続部５２と、接続部５２で接続された信号線５７ｂ等を介してボディ１３側から入力された入力信号により駆動モジュール２２を制御する制御部５３とを備える。 【選択図】図５

For the method for the noise modulation and lower noise of electro-motor

本发明涉及一种用于电动马达的噪音调制的方法，其中电动马达是三相的同步马达，所述同步马达利用借助于马达控制设备(12)进行向量调节来驱动，其中在受控系统中得到旋转的电流分量id和iq的实际值，其中id对应于同步马达的磁化电流以及iq对应于同步马达的形成转矩的电流，并且其中将实际值与预设的指令变量(iq_soll，id_soll)比较，其中实际值与指令变量之间的差经由第一控制器(18)和第一变换级(20)在PWM发电机的占空比中换算为控制变量，以便将实际值(iq，id)调整到指令变量(iq_soll，id_soll)，并且其中根据由测量装置(15)测量并且借助于信号输出端(16)转发到马达控制设备(12)上的声学状态，将形成磁化电流的电流分量(id)借助于声学控制器(22，28)匹配于期望的声学状态。

Self-propelled vehicle, and device and method for controlling same

一种自走车，包括：车身；左右一对的车轮；驱动左右一对的车轮的一者的第一马达和驱动另一者的第二马达；输入第一马达的马达电流指令值而调节第一马达的马达电流的单元；输入第一马达的马达电流指令值和实际动作量而计算负载在第一马达上的扰动转矩的单元；根据该扰动转矩修正马达电流指令值的单元；输入第二马达的马达电流指令值而调节通电给第二马达的马达电流的单元；输入第二马达的马达电流指令值和实际动作量而计算负载在第二马达上的扰动转矩的单元；根据该扰动转矩修正第二马达的马达电流指令值的单元。该自走车在负载有扰动转矩的情况下也能够继续正确地行驶。

Controller of vehicle and control method for vehicle

提供一种车辆控制装置，该车辆控制装置能够使产生再生制动力时的车辆行为稳定。为了达到上述目的，在本发明的车辆控制装置中，具备：电动马达，其对前轮或后轮中一方的左右驱动轮施加再生制动力；摩擦制动装置，其对另一方的左右从动轮施加摩擦制动力；行为推定部，其推定车辆的行为；若在产生再生制动力时，利用行为推定部推定出事先设定的行为，则使再生制动力降低，并使摩擦制动装置的摩擦制动力增加。

A kind of motor compensating control method applied to pilotless automobile

一种应用于无人驾驶汽车的电机补偿控制方法，其方法如下，控制器根据规划路径获得汽车下一个转向动作参数，包括转向角度u，和完成时间t；控制器向车况数据库请求此时电机状态及传动系统状态；控制器根据电机状态向车况数据库请求确定电机补偿系数a；根据传动系统状态向车况数据库请求确定传动系统补偿系数b；其中车况数据库包括检修数据库和出厂数据库，检修数据库中的电机补偿系数a1和传动系统补偿系数b1根据最新一次检修记录更新，出厂数据库中的电机补偿系统A1和传动系统补偿系数B1与行驶时间的对应关系出厂前标定；本发明通过改进转向电机控制方法，从而对自动驾驶中的转向角度偏差进行补偿,从而达到更好的自动驾驶效果。

Electric motor coach wheel edge rear drive control system

本发明公开了一种电动客车轮边后驱控制系统，包括：后轮轮边驱动系统、整车驱动控制器、车辆状态感知系统，后轮轮边驱动系统包括后轮轮毂、减速机构、轮边电机和电机控制器；两套后轮轮边驱动系统分别设置于电动客车的两个后轮的内侧；车辆状态感知系统包括加速踏板开度传感器、制动踏板开度传感器、方向盘转角传感器、挡位传感器、前轮轮速传感器、车辆横摆角速度传感器；所述后轮轮边驱动系统、车辆状态感知系统分别与整车驱动控制器连接。本发明针对电动客车轮边后驱控制设计了应对策略，具体包含了轮边后驱动电控系统的各个方面，涵盖电动轮边后驱车辆正常运行的核心功能，具有功能简单、实用高效、可推广应用的特点。

The automatic straight travel type driving method of two wheeled self balancing motor scooter in spite of the external force

본 발명은 외력 발생시 직진 주행이 유지되는 투휠 셀프밸런싱 스쿠터의 주행방법에 관한 것으로서, 그 구체적인 주행방법은 다음과 같다. 전원을 인가하는 주행 준비단계(S10)와, 탑승자가 몸을 전방 또는 후방으로 기울이면서 각도에 따른 주행속도 및 전후진 주행방향을 설정하여 주행하는 주행단계(S20)와, 한쪽 바퀴의 펑크시 펑크난 바퀴의 회전수를 향상시키는 사고 바퀴 급속회전단계(S30)와, 사고 바퀴의 회전수에 맞추어 정상 바퀴의 회전수를 저감하는 정상 바퀴 감속회전단계(S40)와, 사고 바퀴의 회전수와 정상 바퀴의 회전수를 동일하게 조절하는 양쪽 바퀴 회전수 맞춤단계(S50)와, 상기 양쪽 바퀴 회전수 맞춤단계(S50)를 반복하면서 주행하는 회전수 반복 맞춤 주행단계(S60)가 포함된다.

METHOD AND SYSTEM FOR DRIVING AN ELECTRIC AXLE OF A TRAILER OR SEMI-TRAILER

L’invention concerne un procédé de pilotage d’un essieu électrique (2) d’un véhicule tracté (1) par un véhicule tracteur (1c) pour former un convoi, ledit essieu (2) étant associé à au moins un moteur électrique (9) pour fournir une assistance à la traction au convoi lors d’une traction par le véhicule tracteur (1c), consistant à déterminer une consigne de couple (C) pour le moteur électrique (9) en utilisant une donnée d’effort se rapportant à l’effort de traction exercé par le véhicule tracteur (1c), consistant à utiliser des capteurs de disposés sur le convoi pour fournir des données mesurées se rapportant au dit convoi, utiliser un capteur inertiel disposé sur le véhicule tracté (1) pour fournir des données mesurées ou calculées se rapportant à l’accélération du convoi, effectuer une fusion des données issues des capteurs présents sur le convoi, ladite fusion des données se basant sur l’utilisation d’au moins un algorithme de calcul, et estimer par calcul l’effort de traction. Figure pour l’abrégé : Fig 2. The invention relates to a method for controlling an electric axle (2) of a vehicle towed (1) by a towing vehicle (1c) to form a convoy, said axle (2) being associated with at least one electric motor ( 9) to provide traction assistance to the convoy during traction by the towing vehicle (1c), consisting in determining a torque setpoint (C) for the electric motor (9) using force data relating to the traction force exerted by the towing vehicle (1c), consisting in using sensors arranged on the convoy to provide measured data relating to said convoy, using an inertial sensor arranged on the towed vehicle (1) to provide measured or calculated data relating to the acceleration of the convoy, merge the data from the sensors present on the convoy, said merge of the data being based on the use of at least one calculation algorithm, and estimate by calculation the tractive effort. Figure for the abstract: Fig 2.

METHOD AND UNIT FOR CONTROLLING ACTUATORS OF A VEHICLE IN EMERGENCY OPERATION

Procédé de commande d'actionneurs d'un véhicule dans un fonctionnement d'urgence, par détermination d'une panne de l'accumulateur (HVB), activation du fonctionnement en génératrice du moteur (M) de traction, détermination d'un état présent de marche du véhicule, détermination des actionneurs nécessaires à la production d'un état de fonctionnement sûr du véhicule, détermination d'un besoin en énergie électrique, nécessaire à la production de l'état de fonctionnement sûr, d'un actionneur nécessaire respectif, réglage de la proportion de fonctionnement en génératrice du moteur de traction, en tenant compte de l'énergie électrique dont on a besoin, nécessaire respectivement pour effectuer la dynamique nécessaire des actionneurs, des actionneurs nécessaires et commande des actionneurs nécessaires à la production de l'état de fonctionnement sûr. Method for controlling actuators of a vehicle in an emergency operation, by determining a failure of the accumulator (HVB), activation of the generator operation of the motor (M) of traction, determination of a present state of the vehicle, determination of the actuators necessary for the production of a safe operating state of the vehicle, determination of a need for electrical energy, necessary for the production of the safe operating state, of a respective required actuator, adjustment of the operating proportion in generator of the traction motor, taking into account the electrical energy that is needed, necessary respectively to perform the necessary dynamics of the actuators, the necessary actuators and controls actuators necessary for the production of the safe operating condition.

METHOD FOR MANAGING A HYBRID DRIVE OF A MOTOR VEHICLE

Procédé de gestion d'un entraînement hybride (52) de véhicule automobile (50) avec une machine électrique (58) pour le premier essieu (54), et un moteur à combustion interne (50) pour le second essieu (56), Partant d'un état de fonctionnement avec seule la machine électrique (58), on vérifie si le moteur à combustion interne (60) a été démarré le second essieu (56), avec un premier jeu de conditions pour un démarrage par roulage, tenant compte des premiers critères et un second jeu de conditions pour le démarrage par démarreur tenant compte des second critères. A method of managing a hybrid drive (52) of a motor vehicle (50) with an electric machine (58) for the first axle (54), and an internal combustion engine (50) for the second axle (56), Starting of a state of operation with only the electric machine (58), it is checked whether the internal combustion engine (60) was started the second axle (56), with a first set of conditions for a rolling start, taking into account first criteria and a second set of conditions for starting by starter taking into account the second criteria.

Method and device for monitoring and control of hybrid vehicle internal combustion engine start

FIELD: engines and pumps. SUBSTANCE: method for monitoring and control start of an internal combustion engine of a hybrid vehicle includes pseudocycle of engine start a starting battery. Then, the change in current rate time and voltage at the terminals of the starting battery is measured and recorded. Determining whether the change of said parameters reaches a predetermined value indicating the state of the battery and sufficient to start the engine during the given time interval. If a sufficient state of the battery is detected, the internal combustion engine is started by the battery. If a sufficient battery state is not detected, an electric motor is allowed to operate to move the hybrid vehicle and a notification on sufficient state of the starting battery was not detected is sent to a driver. EFFECT: excluded restart of electronic control units and loss of control at poor state of the battery. 10 cl, 5 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 636 190 C2 (51) МПК B60K 6/26 (2007.10) B60L 11/18 (2006.01) B60W 20/00 (2006.01) B60W 50/02 (2012.01) F02N 11/00 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21)(22) Заявка: 2015116818, 01.10.2013 (24) Дата начала отсчета срока действия патента: 01.10.2013 Дата регистрации: (73) Патентообладатель(и): РЕНО С.А.С. (FR) Приоритет(ы): (30) Конвенционный приоритет: 09.10.2012 FR 1259611 (56) Список документов, цитированных в отчете о поиске: WO 2005085630 A1, 15.09.2005. US 2011266865 A1, 03.11.2011. US 2004099234 A1, 27.05.2004. DE 102007047619 A1, 09.04.2009. RU 2340475 C2, 10.12.2008. (45) Опубликовано: 21.11.2017 Бюл. № 33 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 12.05.2015 (86) Заявка PCT: FR 2013/052332 (01.10.2013) (87) Публикация заявки PCT: 2 6 3 6 1 9 0 (43) Дата публикации заявки: 10.12.2016 Бюл. № 34 R U 21.11.2017 (72) Автор(ы): НГУЭН Хоанг-Зянг (FR), КЕТФИ-ШЕРИФ Ахмед (FR), ДАН Кристоф (FR), ВАН-ФРАНК Жан (FR), ЛОРЭН Эммануэль (FR) ...

Autonomous seagoing power replenishment watercraft

Methods, systems, and computer-readable media that implement autonomous seagoing power replenishment watercraft. An example system includes a plurality of marine vessels; a plurality of watercraft, each watercraft of the plurality of watercraft including a rechargeable electrical power supply and being configured to operate in: a first mode in which the watercraft awaits an assignment to provide electrical energy to a marine vessel of the plurality of marine vessels; a second mode in which the watercraft performs operations including keeping station with an assigned marine vessel and providing electrical energy to the assigned marine vessel from the power supply; and a third mode in which the watercraft recharges the power supply from a charging station. The system includes a controller configured to perform operations comprising: transmitting, to a first watercraft, an instruction indicating an assignment of the first watercraft to provide electrical energy to a first marine vessel.

ENERGY REGENERATING METHOD OF HYBRID VEHICLE MOTOR POWERTRAIN

L'invention concerne un procédé régénératif d'énergie de véhicule hybride permettant d'améliorer la quantité d'énergie pouvant être récupérée lors de l'intervention d'un assistant électronique de trajectoire. Lorsqu'un moyen de freinage récupératif (MELAR) est contraint par une commande de couple émanant d'un assistant électronique de trajectoire, le procédé permet de commander un deuxième moyen de freinage récupératif (MELAV) pour récupérer la variation de couple de freinage. L'invention s'applique aux véhicules hybrides disposant au moins de deux moyens de freinage récupératif. The invention relates to a regenerative hybrid vehicle energy method for improving the amount of energy that can be recovered during the intervention of an electronic trajectory assistant. When a recuperative braking means (MELAR) is constrained by a torque command from an electronic path assistant, the method makes it possible to control a second regenerative braking means (MELAV) to recover the variation of the braking torque. The invention applies to hybrid vehicles having at least two recuperative braking means.