Automatic test object driving device, automatic test object driving method, and test object testing system

Patent metadata

Field	Value
Publication number	US-11866045-B2
Application number	US-202117918056-A
Country	US
Kind code	B2
Filing date	Feb 24, 2021
Priority date	Apr 10, 2020
Publication date	Jan 9, 2024
Grant date	Jan 9, 2024

Abstract

The present invention is intended to make it possible to automatically drive a test object without performing pre-learning for a running performance map for each vehicle. There is provided an automatic test object driving device that automatically drives a test vehicle based on a command vehicle speed, and that includes a driving actuator for performing driving operation of the test vehicle, and a driving control unit for controlling the driving actuator. The driving control unit includes a first accelerator map and a second accelerator map each of which indicates a relationship among a vehicle-speed-related value, an acceleration-related value, and an accelerator-depression-amount-related value. The driving control unit uses the first accelerator map to determine an accelerator depression amount corresponding to the command vehicle speed, and uses the second accelerator map to correct the accelerator depression amount by feeding back a vehicle speed and an acceleration of the test vehicle.

First claim

The invention claimed is:

1. An automatic test object driving device configured to automatically drive a test object that is a test vehicle or a part of the test vehicle based on a command vehicle speed, the device comprising:
a driving control unit configured to control the test object based on the command vehicle speed,
wherein the driving control unit includes a first accelerator map and a second accelerator map each of which indicates a relationship among a vehicle-speed-related value, an acceleration-related value, and an accelerator-depression-amount-related value, and the driving control unit is configured to:
use the first accelerator map to determine an accelerator-depression-amount-related value corresponding to the command vehicle speed; and
use the second accelerator map to correct the accelerator-depression-amount-related value by feeding back a vehicle-speed-related value or an acceleration-related value of the test object.

2. The automatic test object driving device according to claim 1 , wherein the driving control unit is configured to:
determine the accelerator-depression-amount-related value corresponding to the command vehicle speed through feedforward control in which the first accelerator map is used; and
correct the accelerator-depression-amount-related value corresponding to the command vehicle speed through feedback control in which the second accelerator map is used.

3. The automatic test object driving device according to claim 1 , wherein the first accelerator map is a standard map that is common to vehicle models, and the second accelerator map is a standard map that is common to vehicle models in an initial state.

4. The automatic test object driving device according to claim 1 , wherein the driving control unit includes a map update section configured to update the second accelerator map based on the command vehicle speed, the corrected accelerator-depression-amount-related value, and the vehicle-speed-related value or the acceleration-related value of the test object.

5. The automatic test object driving device according to claim 1 , wherein the driving control unit includes a feedforward control section configured to perform differentiation of a command vehicle speed after a predetermined look-ahead time, and input an acceleration-related value obtained by the differentiation to the first accelerator map.

6. The automatic test object driving device according to claim 5 , wherein the feedforward control section is configured to change the look-ahead time based on the command vehicle speed, the corrected accelerator-depression-amount-related value, and the vehicle-speed-related value or the acceleration-related value of the test object.

7. The automatic test object driving device according to claim 1 , wherein the driving control unit includes a first brake map and a second brake map each of which indicates a relationship between a deceleration-related value and a brake-depression-amount-related value, and the driving control unit is configured to:
use the first brake map to determine a brake-depression-amount-related value corresponding to the command vehicle speed; and
use the second brake map to correct the brake-depression-amount-related value by feeding back the vehicle-speed-related value or the acceleration-related value of the test object.

8. The automatic test object driving device according to claim 1 , further comprising:
a driving actuator configured to perform driving operation of the test object,
wherein the driving control unit is configured to control the test object by controlling the driving actuator.

9. A test object testing system comprising:
a chassis dynamometer configured to perform a running test of a test object that is a test vehicle or a part of the test vehicle; and
the automatic test object driving device according to claim 1 .

10. An automatic test object driving method of automatically driving a test object that is a test vehicle or a part of the test vehicle based on a command vehicle speed, the method comprising:
using a first accelerator map and a second accelerator map each of which indicates a relationship among a vehicle-speed-related value, an acceleration-related value, and an accelerator-depression-amount-related value, the using including:
using the first accelerator map to determine an accelerator-depression-amount-related value corresponding to the command vehicle speed; and
using the second accelerator map to correct the accelerator-depression-amount-related value by feeding back a vehicle-speed-related value or an acceleration-related value of the test object; and
controlling the test object based on the corrected accelerator-depression-amount-related value.

Assignees

• Horiba Ltd

Inventors

• Ando Yoshitake
• Saito Takashi

Classifications

• B60W30/18109 Primary

  Braking · CPC title

• G01C21/3859

  Differential updating map data · CPC title

• B60W2510/104

  Output speed · CPC title

• B60W2510/182

  Brake pressure, e.g. of fluid or between pad and disc · CPC title

• G01M17/0074 Primary

  Details, e.g. roller construction, vehicle restraining devices · CPC title