田代 勉

In order to improve fuel consumption, conventional HV (Hybrid Vehicle) control has intended to reduce exhaust heat power from engine and transform fuel into driving power as much as possible. However it causes deterioration of fuel consumption when engine exhaust heat is necessary like the condition that engine is warming up or heat power for cabin is supplying in winter. In this paper, engine and MG (Motor & Generator) driving power control of HV in engine warm-up period avoiding fuel economy deterioration and reducing warm-up time by balancing coolant temperature and SOC (State Of Charge) of battery is proposed. The principle of control is predictive control with HV model including engine, MG, battery and coolant characteristics. Engine and MG power, control manipulation value, are decided as minimizing cost function including warm-up time and fuel amount. As a result of verification with simulation, the proposed control achieves notable effect especially at the condition that small SOC margin is remained for its upper limit. In such a condition, conventional control keeps engine working until warm-up is completed in order not to stop supplying heat power for coolant, however the proposed control stops it as needed based on the balance of SOC and coolant temperature, and reduce warm-up time and fuel consumption.

In this paper, vehicle steering control following target trajectory by MPC (Model Predictive Control) is proposed. First, vehicle turning characteristic is modeled. Here, the model is mainly composed of vehicle rotation model and steering model. Next, MPC controller is derived from quadratic cost function. This controller instructs vehicle rotation radius directly translated into steering angle. It minimizes difference of the position between target trajectory and the predicted when their moving directions are equal. And finally the controller is verified with simulation. © 2013 IEEE.

In this paper, we propose new controls and their design methods of driving force and Electric Power Steering (EPS). These controls enable to improve a vehicle lateral motion characteristics. First, Kinetic equations including characteristics of EPS system, vehicle lateral and longitudinal motions are clarified. Control-design policies are derived from their frequency responses. Then, we find that compensations of external disturbances and characteristics valiations are important, so driving force controller which compensates longiudinal and vertical disturbances at wheels and EPS controller which compensates vehicle lateral motion variations and lateral disturbances at wheels are designed based on H-infinity control theory. Finaly, their effectivenesses are shown by simulations and vehicle experimentations.