JP3433485B2 - Vehicle drive system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION The present invention relates to a door extending substantially in the vehicle width direction.
Equipped with motor connected to wheels via live shaft
The motor is configured to rotationally drive wheels.
And a vehicle drive device. [0002] 2. Description of the Related Art Conventionally, an auxiliary driving force source other than an engine is used.
Vehicle drive using a hydraulic motor or an electric motor
Motion devices are known. For example, JP-A-4-24362
No. 7 has an electric motor as the auxiliary driving force source.
The disclosed vehicle drive device is disclosed. In such a vehicle drive device,
One of the rear wheels is driven by the engine and the other is
Data driven. And this motor
Is generally provided for each of the left and right wheels, and
Rotate and drive each wheel via an extended drive shaft
It has become. [0004] Each of the above motors is provided on a vehicle body.
The support rigidity is sufficiently secured.
On the other hand, each of the above motors and their peripheral members
It is desired to simplify the structure for attaching the vehicle to the vehicle body. The present invention has been made in view of such circumstances.
A vehicle drive device having a motor.
To ensure sufficient rigidity for supporting the motor to the vehicle body.
Simplifies the mounting structure of the motor and its surrounding members to the vehicle body.
To provide a vehicle drive device capable of
Is what you do. [0006] A drive for a vehicle according to the present invention.
The device is designed by devising the motor mounting structure, etc.
It is intended to achieve the above object. That is, the present invention extends substantially in the vehicle width direction.
Equipped with a motor connected to wheels via a drive shaft
And the motor is configured to rotationally drive the wheels.
It is assumed that the vehicle drive device has beenClaim
Item 1. The invention according to Item 1, wherein the motor for driving the left wheel and the right wheel
The driving motor is a rotary drive shaft of each of the motors.
Are substantially aligned with each other, and
Are connected to each other at
Motor mount bracket that supports the motor on the vehicle body
The motor mount bracket
Are substantially point-symmetric with respect to the rotary drive shaft.
It is characterized by being provided. [0008] Even if the above "motor" is a hydraulic motor,
Or an electric motor. [0009] Function and Effect of the InventionAs shown in the above configuration,
In the invention described in Item 1, the motor for driving the left wheel is provided. Ta and right
The motors for driving the wheels are the rotary drive shafts of these motors.
Are substantially aligned with each other, and
Are connected to each other at
Motor mount bracket that supports the motor on the vehicle body
A pair of models
Despite the fact that the data
Motor stiffness can be obtained.
Data mount bracket is approximately
Are arranged in a symmetrical relationship.
The drive reaction force during motor rotation drive is
Can be efficiently received at the support point of the bracket.
Wear. [0010]Therefore, according to the first aspect of the present invention,
For example, while ensuring sufficient rigidity for supporting the motor to the vehicle body,
Simplifies the mounting structure of the motor and its surrounding members to the vehicle body.
Can be The above “substantially point symmetry” means point symmetry, that is, both points.
The angle formed by the motor mount bracket is 180 degrees
Of course, even at smaller angles
Each of these motor mounts
Can be efficiently received at the support points of the bracket
The angle may be within a range. [0012] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
ExampleAnd reference examplesWill be described. FIG. 1 shows a vehicle drive device according to the present invention.No.
1 Reference exampleFIG. As shown, a vehicle drive according to this embodiment is shown.
The main drive of the front wheels 1FL and 1FR by the engine 2
Driven as wheels, and the rear wheels 1RL, 1RR are
This device is driven by L and MR as auxiliary driving wheels.
Thus, the hydraulic motors ML and MR and the peripheral members
This is a characteristic of
Before the explanation, first, the hydraulic mode is described with reference to FIGS.
The drive system of the data ML and MR will be described. Explanation of hydraulic system, etc. (FIG. 1) In FIG. 1, 1FL is a front left wheel, 1FR is a front right wheel, 1R.
L is a left rear wheel, and 1RR is a right rear wheel. In front of the car body
The engine 2 is arranged, and the driving force of the engine 2
Luk is a manual transmission with 3 clutches, 5 forwards and 1 reverse
4 to a differential 5. And the differential
From the left front wheel 1F via the drive shaft 6L.
L to the drive shaft 6R
The engine driving force is transmitted to the right front wheel 1FR via the. Left and right front wheels 1FL, 1FR to be steered wheels
Are linked by a steering link 7 such as a tie rod.
The steering link 7 and the steering wheel 8 are
It is linked via a lock-and-pinion mechanism 9. The left and right rear wheels 1RL, 1RR are
Separately from the left and right pair of hydraulic motors ML, MR
Is driven to rotate. That is,
The left rear wheel 1RL is hydraulically driven via a drive shaft 11L.
The right rear wheel 1RR is driven to rotate by the motor ML.
Rotated by the hydraulic motor MR via the eve shaft 11R.
It is driven to roll. The hydraulic motor ML (MR) is a turbine type
(Impeller type), the first connection port La (Ra) and the second connection port La (Ra).
A connection port Lb (Rb), from La (Ra) to Lb
Rotation in the forward direction when high-pressure oil flows to (Rb)
When the high-pressure oil flows in the opposite direction,
The rotation is set to the backward direction. Then, the hydraulic motors ML and MR
Are the same as each other, and the maximum torque
The measured value is 1/3 to 1/2 of the maximum generated torque of the engine 2.
Degree. In this embodiment, the hydraulic motors ML, M
Rear wheel drive by R is only performed under certain conditions described later.
Is what is done. That is, left and right by the engine 2
Even when the front wheels 1FL and 1FR are driven, the left and right rear
Wheels 1RL and 1RR are driven by hydraulic motors ML and MR
Not always. P is a pump as a hydraulic pressure generating source.
The pump P is of a variable capacity type, and the output shaft 2 of the engine 2 is
a, the drive pulley 13, the belt 14, the rear wheel pulley
15 is driven. Pon from reservoir tank 16
The high-pressure oil pumped by the pump P is a check valve
17 is discharged to the connected high-pressure line 18. This high
Check valve 10 or 32 is connected from pressure line 18.
First and second hydraulic supply lines connected in parallel to each other
31A and 31B are derived. Also, the reservoir
A release line 23 extends from the tank 16.
Furthermore, each connection port La, Lb of the hydraulic motor ML (MR)
From (Ra, Rb), the parallel lines 20L, 2L,
1L (20R, 21R) is derived. The lines 20L and 21L of the hydraulic motor ML are
Are connected to the switching valve VVA and the lines 19 and 19L in parallel with each other.
And lines 22, 22L and switching valves VVB · L, VVE
L, using the first supply line 31A and the release line
23 can be selectively connected. As well
The lines 20R and 21R of the hydraulic motor MR are switched
The valve VVA is connected to the lines 19, 19R and
22 and 22R, and switching valves VVB / R and VVE / R
Utilizing the first supply line 31A and the release line 23,
Can be selectively connected to. The second common supply line 31B has a
On the downstream side of the check valve 32, a switching valve VVI is further provided.
On the downstream side, a flow dividing valve 34 is connected. Split valve 3
4, one branch supply line 33L branched into two
Is connected to the line 19L, and the other branch supply line 33
R is connected to line 19R. The high pressure line 18 stores a high pressure hydraulic pressure.
An accumulator 41 for storing is connected. This
Line 20L (20R) for the high pressure line 18
Are connected by a passage 42L (42R). This
The check valve 43L (43R) is provided in the passage 42L (42R).
R), the switching valve VVF · L (VVF · R) is connected.
You. The passages 42L and 42R are parallel to each other,
Valves VVA, VVB · L (VVB · R), VVE · L (V
VE / R), VVI, the bypass valve 34, etc.
You. The line 20L (20R) and the line 21
L (21R) is communicated with the communication passage 51L (51R).
Through the communication passage 51L (51R).
VVC · L (VVC · R). The left and right hydraulic motors ML and MR are connected to each other.
It is connected by a passage 71, and this communication passage 71 is opened and closed.
Valve VVD is connected. The release line 23 is connected to the high pressure line 18.
On the upstream side (pump P side) of the check valve 17
Connected via a load / unload valve VVH
And a safety valve downstream of the check valve 17.
It is connected via VVG. Explanation of control mode (Table 1) In this embodiment, a total of seven types of control are performed as described later.
Mode, and each of the aforementioned modes when each mode is executed
The operating states of the valves are summarized in Table 1 below. This table
, The symbols “L” and “R” for identifying left and right
Omitted. Note that the loading / unloading is not shown in Table 1.
The mode valve VVH is configured so that the pressure in the high pressure line 18 is lower and upper limits.
Open / close control is performed so as to be within a predetermined pressure range between
It is. [0028] [Table 1] In each control mode shown in Table 1, the main
The operating state of the valve that performs the essential functions is described in detail below.
It is as follows. (1) Independent mode The independent mode includes, as will be described in detail later, left and right rear wheels 1RL.
1RP and target rotation speeds set independently of each other
Drive control of the hydraulic motors ML and MR so that
Therefore, two types of drive (forward drive) and reverse drive (braking)
is there. In this independent mode, the switching valves VVE · L,
The VVE / R differential mode is as shown in FIG.
The switching valve VVA is set to the center switching position and the first supply line 31
A is shut off. The switching valve VVI is set to the open position and the second
This is a hydraulic supply mode using the supply line 31B. This
In the state described above, the switching valves VVB · L and VVB · R are controlled,
Switching of hydraulic supply direction according to forward drive or reverse drive (oil
Pressure motors ML and MR in forward and reverse directions) and hydraulic motor
The supply flow rates to the data ML and MR are controlled. In the reverse drive, a hydraulic lock described later is used.
To obtain a larger deceleration than the lock mode, but of course
However, the rear wheels 1RL and 1RR move in the traveling direction of the vehicle.
Giving a large driving force that rotates in the opposite direction.
Not. (2) LSD mode In the LSD mode, the operation limiting function is obtained, and the switching valve V
VB · L (VVB · R) is the line 20L, 21L (20
R, 21R) are closed together and the hydraulic motor ML (MR) is closed.
The supply / discharge of hydraulic pressure to this is completely shut off. Soshi
Then, the on-off valve VVD is opened, and both hydraulic motors ML and MR are opened.
Communicate with each other in the closed left and right hydraulic paths
A large rotation difference occurs between the right hydraulic motors ML and MR
To prevent them from In this LSD mode, the variable
The orifice VVC ・ L (VVC ・ R) is fully closed
You. (3) Hydraulic lock mode In the hydraulic lock mode, the passage resistance, that is, the variable orifice V
The deceleration force using the throttle resistance of VC ・ L (VVC ・ R)
What you get. In this hydraulic lock mode, the switching valve V
VB · L (VVB · R) is in the center switching position,
20L, 21L (20R, 21R) are shut off, and
The on-off valve VVD is closed. And the variable orifice
VVC L (VVC R) is opened. In this state
Means that the oil liquid is changed according to the rotation of the hydraulic motor ML (MR).
Formed including variable orifice VVC ・ L (VVC ・ R)
Will be circulated through the closed hydraulic circuit
Is a variable orifice VVC · L through which the oil liquid passes during circulation.
(VVC · R) throttle resistance gives deceleration force to the vehicle
Will be. Then, the variable orifice VVC · L (VV
The degree of opening of (CR) decreases as the deceleration of the vehicle increases.
(Variable orifice V according to deceleration
The VC / L and VVC / R opening degrees are set in step E of FIG.
37). (4) Accumulation mode The pressure accumulation mode is a mode in which the rear wheels 1RL and 1RR are
The hydraulic motors ML and MR are driven by
The motors ML and MR function as pumps to accumulate
The accumulator 41 accumulates the pressure. In this pressure accumulation mode
Is connected to the reservoir tank 16 by the line 21L (21R).
While the on-off valve VVF ・ L (VVF ・ R) is open.
As a result, the oil liquid in the reservoir tank 16 is supplied to the motor ML (M
R) and is accumulated in the accumulator 41
Is done. (5) Stop mode In stop mode, the parking brake is not activated.
In the state, the hydraulic motor ML to stop the vehicle,
Drive control of the MR (when the vehicle speed reaches the target vehicle speed 0)
Control of the hydraulic motors ML and MR as described above).
In this case, the hydraulic supply line is the second supply line 31B.
The supply and discharge control of the hydraulic pressure is performed by the switching valve VVB · L (VV
BR). (6) Parking mode Parking mode is activated when the parking brake is activated.
And increase the effect of trying to maintain parking
is there. That is, in the parking mode, the switching valve VVB · L
(VVB · R) is the closed position of the center switching position and the hydraulic pressure
The supply / discharge line is shut off. (7) F / S mode F / S mode is a fail-safe mode.
Is abnormal, for example, the high pressure line 18 is abnormally high.
When the hydraulic pressure reaches the pressure, the hydraulic motors ML and MR operate normally.
When a valve has become stuck,
If the oil temperature has risen above a certain temperature,
Means that the safety valve VVG is opened and the hydraulic pressure
To be released. Explanation of control system (FIG. 2) FIG. 2 shows a control system according to the present invention. Figure
U1, U2 and U3 each have a microcomputer
A control unit configured using the control unit U1
Is the main control unit that controls the valves VVA and the like described above.
It is. The control unit U2 performs ABS control (
Control unit U3).
For traction control. Also, S1 to S13 are
These are sensors or switches, respectively. The sensors S1 to S4 are provided for each wheel 1FL to 1R.
For independently detecting the rotation speed of R, that is, the wheel speed
The wheel speed detected by each of the sensors S1 to S4 is controlled.
Transmission from control unit U2 to control units U1 and U3
Is done. The sensor S5 detects the vehicle speed.
Is to detect ground speed (absolute vehicle speed
detection). The sensor S6 determines the shift position of the transmission 4, that is, the gear.
This is to detect the position. The sensor S7 detects the engine
The number of turns is detected. Sensor S8 is steering angle
Is to be detected. The sensor S9 detects the accelerator opening.
It will be issued. The sensor S10 is used to depress the brake pedal.
This is to detect the inset amount. Switch S11 is
It is a nishon switch. Switch S12 is Parkin
This is to detect whether the brake is operated. The sensor S13 detects a rough road (uneven road).
Things. For example, the sensor S13 detects a bad road.
As detecting the vertical stroke of the spence,
Strokes of a specified amount or more are generated a specified number of times within a specified time
The control unit U1 determines that the vehicle has a bad road as a bad road. Ma
In addition, the vertical G (acceleration) acting on the vehicle body using the sensor S13 is
As an object to be detected, a vertical G equal to or more than a predetermined
The control unit U determines that the road is bad when a predetermined number of times occur.
1 may be determined. The bad road
Is determined by any of the above thresholds for rough road determination.
It may be performed by changing one or more. Each sensor or switches S5 to S13
The signal is input to the control unit U1,
U1 controls the above-described valves VVA to VVJ. Mochi
Of course, the control unit U2 locks the wheels during braking.
From the control unit U2.
Are brakes for adjusting the brakes of each wheel independently.
The rake hydraulic pressure adjusting means 81 is controlled. Also, the control unit
To U3, the front left and right wheels 1FL, which are always driving wheels during acceleration,
When the slip on the road surface of 1FR becomes excessive,
At least the engine output (torque generated by engine 2)
To reduce, for example, the throttle valve of the engine 2.
Torque adjustment for adjusting opening, ignition timing, fuel injection amount, etc.
The means 82 is controlled. From control unit U2 to control unit U1
Is the wheel speed signal detected by the sensors S1 to S4, and A
ABS signal indicating that BS control is being executed and road surface
A μ signal indicating μ (coefficient of friction) is transmitted. Also control
The wheel speed signal is sent from the unit U2 to the control unit U3.
Transmitted. Further, the control unit U3
To U1, it indicates that the traction control is being executed.
In addition to the TRC signal,
Torque reduction signal and road indicating the engine torque reduction
The plane μ signal is transmitted. The detection of road μ is performed by the control unit.
It can also be performed by the unit U1, and the sensors S1 to S
Each wheel speed detected in step 4 is directly input to the control unit U1.
You may make it force. Description of flowchart (FIG. 3) Next, referring to the flowchart of FIG.
The control content of the knit U1 will be described. In addition, the following
In the description, D, E, W, and Z indicate steps, respectively. First, in the main flowchart of FIG.
Thus, signals from the sensors and the like were input at D1.
Later, at D1, the ignition switch is turned on.
Is determined. When the determination of D2 is NO
In D3, the safety valve VVG is opened and the high-pressure line
The pressure of the valve 18 is released. In addition, D2
If the determination is YES, at D4, the safety valve VVG is
Closed, high pressure hydraulic pressure is supplied to the high pressure line 18
State. At D5, the vehicle speed (ground vehicle speed) is substantially
It is determined whether it is 0 or not. YES in the determination of D5
At D6, the gear position of the transmission 4 is shifted to the neutral position.
Is determined. YES in the determination of D6
The parking brake is actuated in D7
It is determined whether or not there is. When YES is determined in D7
In D8, the control of the parking mode is executed. D
If the determination in Step 7 is NO, in D9, the stop mode
Control is executed. When the determination in D5 is NO, and when the determination in D6 is
Otherwise, in the case of NO, the transmission 4
It is determined whether or not the gear position is the reverse position. D1
If NO in the determination of 0, the current stack is
It is determined whether or not the operation is being performed. Is this stack
The determination of whether or not the accelerator pedal is depressed
And the vehicle speed is almost 0 and the left and right front wheels 1FL, 1FR
When the rolling speed is high enough compared to the vehicle speed,
Can be determined. When the determination of D11 is NO
In D12, the parking mode and the stop
It is determined whether to execute another control mode other than the car mode.
You. If the determination in D10 is YES, the process proceeds to D15.
In this case, driving assistance using the hydraulic motors ML and MR is actually performed.
In this case, the reverse drive is performed in the independent mode.
(Drive the rear wheels 1RL and 1RR in the reverse direction). Ma
If the determination in D11 is YES, in D14,
Driving assistance using the hydraulic motors ML and MR is executed.
However, in this case, the target vehicle speed is set to a low vehicle speed (for example, a stack solution).
About 10 km / h, which is the removal condition)
The positive drive in the vertical mode is performed. Explanation of flowchart (FIGS. 4 to 9) Details of D12 in FIG. 3 are shown in the flowcharts of FIGS.
Shown in the chart. First, at E23 in FIG.
Whether traction control is being performed by the control unit U3
Is determined. If NO in E23, then go to E24
It is determined whether the vehicle is currently running on a rough road.
If the determination in E24 is NO, in E25, the road
It is determined whether or not the surface is low μ. N in the determination of E25
In the case of O, at E26, whether or not the vehicle is currently going straight
Is determined. The determination of whether the vehicle is going straight or not
In the example, the lateral G is calculated from the steering angle and the vehicle speed,
When the lateral G is equal to or smaller than a predetermined value, it is determined that the vehicle is traveling straight.
It is like that. If the determination in E26 is YES,
The processing of E39 is performed.
In addition, it is assumed that the vehicle is going straight. And finally
In addition, the positive drive (E28) in the independent mode,
Reverse drive (E35), pressure accumulation mode (E33, E39)
Or the control condition to execute the hydraulic lock mode (E31, E37)
It is determined whether the condition is satisfied. The degree of acceleration and the degree of deceleration are known.
In various ways. For example, the degree of acceleration
Increased accelerator pedal speed and accelerator pedal depression
Either a large amount or body acceleration obtained by differentiating the vehicle speed
Know by one or any combination of multiple
Can be. The degree of deceleration is determined, for example, by releasing the accelerator.
Speed magnitude, brake depression speed magnitude, brake
Body deceleration obtained by differentiating the amount of stepping-in and the vehicle speed
Etc. or any combination of two or more
You can know. However, in the embodiment, at least
Also when the accelerator return speed is fast (the accelerator release speed is
Early), the slower deceleration for the hydraulic lock mode
It is determined that the deceleration is upward. If the determination at E26 in FIG. 4 is NO,
FIG. 5 shows a good road, a high μ road, and
It is assumed that the vehicle is turning. And finally, independent
Forward drive (E42) and reverse drive (E44) in mode
Is the control condition for LSD mode (E45) satisfied?
It is determined whether or not. When the determination at E25 in FIG.
6 is performed. In FIG. 6, first, E5
At 1, it is determined whether or not the vehicle is traveling straight. This E
If the determination at 51 is YES, the processing at E52 to E59 is
This is based on good roads, low μ roads and straight ahead
Is processed. And finally, in independent mode
Forward drive (E55) and reverse drive (E57), hydraulic lock mode
(E54), control conditions for LSD mode (E59)
It is determined whether or not is satisfied. When NO is determined in E51 of FIG. 6, FIG.
The processing shown in the following is performed.
In addition, the processing is performed on the premise of turning. And finally
In addition, the positive drive in the independent mode (E62), the hydraulic lock mode
(E65), control conditions for LSD mode (E66)
It is determined whether or not is satisfied. If YES in the determination of E24 in FIG.
In E71 of FIG. 8, it is determined whether or not the road is extremely bad.
You. If the determination in E71 is NO, E71 to E86
Of the control mode on a rough road
Judgment. If the determination in E71 is YES,
The processing after E91 of 9 is performed, but this is
The control mode is determined. Description of flowchart (FIG. 10) FIG. 10 shows details of the positive drive control in the independent mode. First, at Z1, data is input.
Later, at Z2, the accelerator opening and the shift position of the transmission 4
Is set as a parameter, the target vehicle speed VTR is set. Next, at Z3, the target vehicle speed VTR
Minus actual wheel speed VBL of left rear wheel 1RL
Is higher than the predetermined speed V1. This
When the determination of Z3 is NO, the drive assist by the forward drive is
In Z14, the left rear wheel
The normal driving is stopped. The processing of Z3 and Z14 is performed after the right
Wheel 1RR is also performed separately and independently from left rear wheel 1RL.
It is. Note that the predetermined speed V1 is a slip enough for acceleration.
The speed is set to indicate the amount of stop
Set as a variable value so that it increases as VA increases
You can also. When the determination of Z3 is YES, the determination of Z4
It is determined whether or not the accelerator is fully open, and the determination of Z4 is made.
Is YES, the drive using the hydraulic motors ML and MR
It is determined that motion assistance is not necessary, and the process proceeds to Z14.
(In this case, the left and right rear wheels 1RL, 1RR are simultaneously driven positively.
Discontinued). If the determination in Z4 is NO, the determination in Z5
And acts on the vehicle body based on the vehicle speed VA and the steering angle.
Is calculated. Thereafter, in Z6, the correction
Numbers K1 and K2 are set. And in Z7, right
It is determined whether or not the vehicle is turning. In this determination of Z7, YE
In the case of S, in Z9, the target wheel speed of the left rear wheel 1RL
VTRL is equal to the target vehicle speed VTR determined in Z2.
It is calculated by multiplying the correction coefficient K1.
The target wheel speed VTRR of the right rear wheel 1RR is equal to the target vehicle speed V
Calculated by multiplying TR by a correction coefficient K2.
It is. If NO in Z7, Z8
The respective target wheel speeds of the left and right rear wheels 1RL, 1RR are calculated.
You. The processing of Z6 to Z9 is, at the end, a turning outer wheel.
Side target wheel speed, slower target wheel speed on the turning inner wheel side
Corresponding to the process of However, when traveling straight ahead, Z7
Is NO and the process moves to Z8.
Since the coefficient is 1 (the horizontal G is 0 or almost 0
The target wheel speed of the left and right rear wheels 1RL, 1RR
Become equal. After Z8 or Z9, Z10
From the target wheel speed VTRL (VTRR) to the rear wheel 1RL
(1RR) actual wheel speed VBL (VBR) is subtracted
Oil supplied to the hydraulic motor ML (MR) according to the value
The quantity Q is determined. This oil liquid amount Q is determined by the left and right hydraulic motors.
Determined independently for ML and MR
You. Then, in Z11, the determined oil liquid amount Q is actualized.
As shown, the switching valves VVB · L and VVB · R are individually
It is controlled upright. At Z12, the left rear wheel is determined based on the vehicle speed VA.
The value obtained by subtracting the actual wheel speed VBL of 1 RL is the predetermined speed.
It is determined whether the degree is smaller than “−V2”. This Z
The determination at 12 is that the actual wheel speed VBL of the left rear wheel 1RL is
What determines whether the speed is too high compared to the vehicle speed VA
Then, if the determination in Z12 is YES, in Z13,
The supply flow rate Q is adjusted so that the rear wheel maintains a predetermined slip value.
Correction to make smaller is performed. The processing of Z12 and Z13
The same applies to the right rear wheel 1RR. Z12
If the determination is NO, the reset is performed without passing through Z13.
Turned. Description of flowchart (FIG. 11) FIG. 11 shows details of the reverse drive in the independent mode. First, data is input at Z21.
Later, in Z22, it is determined whether the reverse drive flag is 1 or not.
Is determined. If the determination in Z22 is NO, Z30
, The steering angle and the vehicle speed VA are used as parameters.
Confirms where the current status is in the set area
Will be Thereafter, in Z31, the current state is Z30.
In the hatched C area in the area shown in
Is determined. If the determination in Z31 is YES, Z3
After the reverse drive flag is set to 1 in 2, Z 21
Returning to the above, if the determination of Z31 is NO, the process goes through Z32.
Return to Z21. After passing through Z32, the determination of Z22 is YE
S, in which case the ABS system is currently set in Z23.
It is determined whether or not the vehicle is being operated. In the determination of Z23, N
In the case of O, the brake depression amount is large in Z24.
It is determined whether or not it is. When the determination of Z25 is NO
Is a low vehicle whose vehicle speed VA is equal to or less than a predetermined value V3 in Z25.
It is determined whether the vehicle is running fast. If the determination in Z25 is NO, the process goes to Z26.
And the vehicle speed VA and the shift position of the transmission 4 as parameters.
Then, the supply flow rate Q for the hydraulic motors ML and MR is determined.
Is done. After this, in Z27, it was determined in Z26.
The flow rate Q is supplied to the left and right hydraulic motors ML and MR.
Then, the switching valves VVB · L and VVB · R are controlled. Z2
7, the processing of Z28 and Z29 is performed.
Corresponds to the processing of Z12 and Z13 in FIG.
This is a process for correcting that the driving force becomes too large. Any of Z23, Z24 and Z25
If the determination is YES, the reverse drive control is medium in Z33.
After stopping, the reverse drive flag is reset to 0 in Z34.
Is Flow chart (FIG. 12) FIG. 12 is performed when the determination in E23 of FIG. 4 is YES.
Traction control by control unit U3
Using the hydraulic motors ML and MR when the
Drive assist (right and left independent positive drive) control.
You. First, after data is input in Z41,
In Z42, traction control of the control unit U3
Of the torque applied to the front wheels 1FL and 1FR caused by the
Decrease amount, that is, decrease amount TF of generated torque in engine 2
Is read based on a signal from the control unit U3.
You. Thereafter, in Z43, the torque reduction amount TF is
The corresponding vehicle speed reduction amount VC is determined. In Z44, the oil is reduced according to the vehicle speed reduction amount VC.
The supply liquid amount Q to be supplied to the pressure motors ML and MR is determined.
You. This supply flow rate Q is the sum of the hydraulic motors ML and MR.
The generated torque becomes the same as the generated torque reduction amount of the engine 2.
Is determined as follows. Then, at Z45, the track
It is determined whether the application control has been stopped. Z45's
When the determination is NO, the processing of Z46 to Z52 is performed.
You. The processing of Z46 to Z52 is performed by correcting the correction coefficients F1 and F2.
, The supply flow rate QTRL, QTR for the left and right rear wheels
R, that is, the torque distribution ratio is determined. Than
Specifically, when turning, the torque distribution amount on the turning outer wheel is turned.
Make it larger than the torque distribution to the pronation wheel (Z49, Z5
1) When traveling straight, the torque distribution ratio to the right and left rear wheels is equal.
(Z52). After Z49, Z51 or Z52, Z
The process of transition to 53 is performed.
Since it corresponds to 11 to Z13, its duplicate description
Is omitted. Description of flowchart (FIG. 13) FIG. 13 shows the control contents of the stop mode in D9 of FIG.
It is shown. First, data is input in Z61.
After that, in Z62, the accelerator pedal is depressed.
Is determined. When the determination of Z62 is NO
Indicates that the target vehicle speed VTR is set to 0 in Z63.
Then, in Z64, the actual left and right rear wheels 1RL, 1RR
Wheel speeds VBL and VBR become the target vehicle speed VTR, respectively.
The supply flow rates to the hydraulic motors ML and MR are
Feedback control is performed (left and right independent control). By the way, the transmission 4 is an automatic transmission.
(In this case, the clutch 3 is a torque converter
) Step on the accelerator, so called creep
Extremely low speed operation is performed even if no operation is performed.
ing. In order to obtain this creep, the target vehicle speed VTR
Is set to, for example, 5 km / h or the like,
Always maintain a constant creep speed, regardless of slope
be able to. Then, the target vehicle speed VTR is set to, for example, a manual.
There is a continuously variable type in the range of 0 to 15 km / h in the Al type
Or steplessly selectable (e.g.
No creep when the vehicle speed is 0). Layout of hydraulic motor and its peripheral members
G Figures 14 and 15First reference exampleVehicle drive device according to the present invention
Hydraulic motors ML and MR and their peripheral members
15 is a cross-sectional view of the layout of FIG.
XIV line cross-section) and a cross-sectional view showing this from the rear
FIG. 15 is a sectional view taken along line XV-XV in FIG. 14. As shown in these figures, the floor panel 1
02 with the wheel apron 104 at both ends in the vehicle width direction.
On the lower surface of the joint, rear side frames 106 are respectively in front of the vehicle body.
Extending rearward, these two rear side frames
Between 106, these are connected and floor panel
A cross member 108 for supporting 102 is provided.
You. The rear side frame 106 and the cross member
Both the bars 108 have a closed sectional structure. The rear side frame 106 is closed.
Suspension via a support plate 110 having a planar structure
A cross member 112 is attached. This suspend
Of the drive shaft 11
L, a pair of front and rear extending in the vehicle width direction before and after 11R.
The horizontal members 114 and 116 are connected to each other.
A vertical member 118 extending in the longitudinal direction of the vehicle body
At both ends of the lateral members 114 and 116
It is attached to the side frame 106. The suspension cross member 112
As shown in FIG. 16, each of the horizontal members 114, 1
16 has a tapered closed cross-section structure, and a vertical member 118 has a central portion.
The part has a constricted closed cross-section structure,
As shown in FIG.
A cylindrical member 120 inscribed in the constricted portion is provided.
You. The longitudinal direction of each of the lateral members 114 and 116
On the inside, a pair of left and right suspenders extending in the vehicle width direction
Link 122L, 124L and right suspension
Link 122R and 124R are provided.
Each suspension link has a vertical
It is connected to the front end and the rear end of the bar 118. Soshi
And left suspension links 122L and 124L
The outer end in the width direction is a wheel support of the left rear wheel 1RL (see FIG.
(Not shown) before and after the wheel center Cw
Car with right suspension links 122R and 124R
The outer end in the width direction is used for the wheel support of the right rear wheel 1RR.
Connected before and after the wheel center Cw (not shown)
You. A pair of left and right drive shafts 11L, 11
R denotes rear wheels 1RL, 1RR and hydraulic motors ML, MR
Are connected by a universal joint. The hydraulic motors ML and MR are composed of vertical members.
The vertical member 1 in a state where the members are distributed to the left and right at the boundary of 118
18 attached. These hydraulic motors ML, M
R is attached to the vertical member 118 by a pair of motor mounts.
Vertical member 11 through the brackets 126L and 126R.
This is done for eight constricted parts. That is, each
The motor mount brackets 126L and 126R are shown in FIG.
7, the hydraulic motor ML, the opposite side of the MR mounting surface
U-shaped recesses are formed on the surface of the
The surface where the vertical member 118 is formed is sandwiched between
Butt and bolted together,
The hydraulic motors ML and MR are mounted on the vertical member 118.
It has become. At that time, as shown in FIG.
In addition, a pair of motor mount brackets 126L, 126
Rubber 128 is interposed between R and vertical member 118
And vertically mount the motor mount brackets 126L and 126R.
The member 118 is rubber-mounted. The suspension cross member 112
An exhaust pipe 130 extends in the front-rear direction immediately below the vertical member 118.
Are arranged. This exhaust pipe 130 is
Rear left side of the rear cross member 112
Connected to muffler 132 attached to frame 106
Have been. As described in detail above, in this embodiment,
Are hydraulic motors M for driving the left and right wheels, respectively.
Motor mount bracket at the inner end in the vehicle width direction of L and MR
126L and 126R are provided.
Data mount brackets 126L and 126R
By connecting to each other with the bar 118
The structure is such that the pair of hydraulic motors ML and MR are supported by the vehicle body.
The motor mounting brackets 126
L and 126R are simply connected to each other.
The pressure motors ML and MR can be mounted on the vehicle body.
You. Therefore, according to the present embodiment, the hydraulic motor
While ensuring sufficient support rigidity of the
Mounting the hydraulic motors ML, MR and their peripheral members on the vehicle body
The attachment structure can be simplified. Further, in this embodiment, the motor mouse
Brackets 126L and 126R are attached to the vertical member 118.
Rubber-mounted, each hydraulic
Data ML, buffer for MR and each hydraulic motor ML,
The amount of drive vibration transmitted from the MR to the vehicle body can be reduced.
Wear. Next, the present inventionFirst embodimentExplain
You. FIGS. 18 and 19 show a vehicle according to this embodiment.
Hydraulic motors ML, MR and their
Sectional view showing the layout of the peripheral members of
19 XVIII-XVIII line cross-section)
FIG. 19 is a sectional view (a sectional view taken along line XIX-XIX in FIG. 18). As shown in these figures, in this embodiment,
The hydraulic motor ML for driving the left wheel and the hydraulic motor ML for driving the right wheel
The hydraulic motor MR is a component of each of the hydraulic motors ML and MR.
Each of the hydraulic motors M is set so that the rotary drive shaft is substantially linear.
L and MR are connected to each other at the inner end in the vehicle width direction (direct connection).
Is). Each of these hydraulic motors ML and MR has:
At each one of the positions, a motor
Und brackets 134L and 134R are provided.
You. The connection between the hydraulic motors ML and MR is
The data mount brackets 134L and 134R rotate as described above.
A positional relationship that is substantially point-symmetric with respect to the drive shaft (in this embodiment,
In other words, the angle is about 150 degrees.
(See FIG. 20). Further, the suspension clutch in this embodiment is
The loss member 112 is formed in an inverted U-shaped cross section,
Attachment of both ends to the rear side frame 106
Has a closed cross-sectional structure extending in the front-rear direction. The above oil
Pressure motors ML, MR and drive shaft 11L, 1
1R is the reverse U of the suspension cross member 112.
The motor mount bracket is
134L and 134R, the bracket 136 and
138 respectively. Bracket 136
Is an inverted U-shaped cross section of the suspension cross member 112
It is joined to the outer surface 112e of the chamfer at the upper front.
The bracket 138 is a suspension cross member
112 so that the lower part in the inverted U-shaped cross section is connected to the front and rear.
And a motor mount bracket at the rear end.
134R mounting holes are formed (see FIG. 21). The suspension machine in this embodiment
The structure is a lateral link 140 and a trailing link
142 is provided. And lateral link 1
The vehicle body side connection point of the suspension cross member 1
Step-up portion at the end in the vehicle width direction at the lower portion in the inverted U-shaped cross section of 12
1 joined to a bottom plate 144 connecting the front and rear
46 is set. In addition, the suspension cross
The upper right part of the lower part in the inverted U-shaped section of the member 112 in the vehicle width direction is
An exhaust pipe 130 extends in the front-rear direction near the lower part of the
It is arranged. As described in detail above, in this embodiment,
Are the hydraulic motor ML for driving the left wheel and the oil for driving the right wheel.
The pressure motor MR is used to rotate the hydraulic motors ML and MR.
Each hydraulic motor M
L and MR are connected to each other at the inner ends in the vehicle width direction.
And each of these hydraulic motors ML and MR has its own
A motor mount for supporting the motor on the vehicle body at one location
Since the brackets 134L and 134R are provided,
The supporting position of the pair of hydraulic motors ML and MR on the vehicle body is
It is necessary to obtain sufficient motor support rigidity
Can be. Moreover, in this embodiment, these modes are used.
The mount brackets 134L and 134R are
Be arranged in a positional relationship that is approximately point-symmetric with respect to the dynamic axis.
, The driving reaction force during motor rotation
Support of each motor mount bracket 134L, 134R
In terms of efficiency. Therefore, according to this embodiment, the hydraulic motor
While ensuring sufficient support rigidity of the
Mounting the hydraulic motors ML, MR and their peripheral members on the vehicle body
The attachment structure can be simplified. Next, the present inventionSecond reference exampleExplain
You. FIGS. 22, 23 and 24 relate to the present embodiment.
Hydraulic motors ML, MR and
Cross section showing the layout of components and their surroundings as viewed from above
Figure (cross-sectional view taken along the line XXII-XXII in FIG. 23).
(A cross-sectional view taken along line XXIII-XXIII in FIG. 22)
A cross-sectional view showing this from the left (line XXIV-XXIV in FIG. 22)
FIG. As shown in these figures, in this embodiment,
However, the suspension cross member 112 is
The hydraulic motor is formed in this inverted U-shaped cross section.
ML, MR and drive shafts 11L, 11R
It is arranged. In this embodiment, each hydraulic motor M
A pair of motor mount brackets provided before and after L and MR, respectively.
Rackets 148L, 150L and 148R, 150R
At the inner end of the hydraulic motors ML and MR in the vehicle width direction.
That are mounted on the car body
You. Mounting to this vehicle body requires a pair of motor mount brackets.
Racket 148L, 150L / 148R, 150R,
Suspension cross member formed in inverted U-shaped cross section
Front and back from front 112b and rear 112c of 112
Front portion 112b and rear portion 11
Attached to brackets 152 and 154 joined to 2c
It is done by doing. The front part 112b and
Motor mount bracket is inserted
Openings 156 and 158 are formed. The suspension cross member 112
On the upper surface of the bracket 152 joined to the front portion 112b
Are further provided with a pair of damper support brackets 160L, 16L.
0R are joined, and these damper support brackets 1
60L and 160R have suspensions for left and right wheels.
Pension dampers 162L and 162R are connected (pi
Bot). The suspension mechanism in this embodiment is as follows.
A pair of lower lateral links 164, 166, upper
Lateral link 168 and said upper lateral link 1
Trailing link 170 rigidly connected to the intermediate portion 68
It is equipped with. And the lower laterallin on the front side
164 is connected to the suspension cross
The upper step in the vehicle width direction at the lower part in the inverted U-shaped cross section of the bar 112 is
Suspension cross
Set to bottom plate bracket 172 joined to member 112
The rear lateral link 166 on the vehicle body side
The connection point is behind the suspension cross member 112.
It is set on the arranged cross member 174,
The vehicle-side connection point of the lateral link 168 is
Extension of the outer end of the vehicle cross member 112 in the vehicle width direction
Set in the Narita, the car of the trailing link 170
The body side connection point is set on the rear side frame 106
I have. The middle part of the trailing link 170
Is connected to the upper end of the suspension link 176. This
Suspension link 176 is connected to the rear side frame 106.
A link rotatably supported by the combined bracket 178
The lower end is connected to one end of the plate 180.
You. Then, the other end of the link plate 180
The suspension damper 162L (162R) is connected.
Have been. The suspension cross member 112
Step-up part at the right end in the vehicle width direction at the lower part in the inverted U-shaped cross section of
An exhaust pipe 130 extends in the front-rear direction near the lower part.
Have been. As described in detail above, in this embodiment,
Is a wheel 1R driven by a hydraulic motor ML (MR).
L (1RR) suspension damper 162L (162
R) is a motor motor provided in the hydraulic motor ML (MR).
Damper support bracket on und bracket 148L (148R)
Racket 160L (160R) and bracket 152
Is connected via the
New connection point for vehicle damper 162L (162R)
It can be set without using a simple member. Therefore, according to this embodiment, the hydraulic motor
While ensuring sufficient support rigidity of the
Mounting the hydraulic motors ML, MR and their peripheral members on the vehicle body
The attachment structure can be simplified. Next, the present inventionThird reference exampleExplain
You. FIGS. 25 and 26 show a vehicle according to this embodiment.
Hydraulic motors ML, MR and their
Sectional view showing the layout of the peripheral members of
26 XXV-XXV line cross-section)
FIG. 26 is a front view (sectional view taken along the line XXVI-XXVI of FIG. 25). As shown in these figures, in this embodiment,
However, the suspension cross member 112 is
The hydraulic motor is formed in this inverted U-shaped cross section.
ML, MR and drive shafts 11L, 11R
It is arranged. On the other hand, in the present embodiment, the left wheel drive
Hydraulic motor ML for movement and hydraulic motor MR for right wheel drive
Are connected at the inner ends in the vehicle width direction of these motors.
They are connected to each other via a member 182. That is,
Each of the hydraulic motors ML and MR has a connecting portion at the inner end in the vehicle width direction.
Bolted against the opposite end faces of the material 182
You. The connecting member 182 is a suspension
Center position in the vehicle width direction of front part 112b of loss member 112
Projecting forward from an opening 184 formed in
A pair of damper support brackets 16 are provided on the upper surface of the front protrusion.
0L and 160R are joined. And these Dan
The left and right wheel support brackets 160L and 160R have
And suspension dampers 162L, 162 for the right wheel
R are connected (pivot connection). To the body of the pair of hydraulic motors ML and MR
Of the hydraulic motors ML and MR
And a pair of motor mount brackets at the rear
186L, 188L / 186R, 188R
Upper surface portion 112a and rear surface of shock cross member 112
The brackets 190 and 192 joined to the portion 112c.
It is done by attaching. The suspension cross member 112
In the lower part of the inverted U-shaped cross-section,
Is provided. This bottom plate 19
4 is provided as a pair of left and right, the center in the vehicle width direction between them
In the position, the exhaust pipe 130 is disposed so as to extend in the front-rear direction.
I have. The suspension mechanism in this embodiment is as follows.
Second reference exampleSame as, but with a lower lateral link
A connection point 164 is set on the bottom plate 194,
The rear side link 166 has a suspension connection point on the vehicle body side.
Set on the rear part 112c of the pension cross member 112
It is connected to the car body side of the apparterial link 168.
Bracket 1 with points joined to wheel apron 104
The difference is that the number is set to 96. As described in detail above, in this embodiment,
Are the hydraulic motor ML for driving the left wheel and the oil for driving the right wheel.
A pressure motor MR is provided at the inner end in the vehicle width direction of each of these motors.
Are connected to each other via a connecting member 182,
A suspension damper for each wheel is attached to this connecting member 182.
162L and 162R are connected,
The connecting member 182 has a high degree of shape freedom as shown in the figure.
Therefore, the suspension dampers 162L and 162R
Out-degree of freedom can also be increased. Therefore, according to this embodiment, the hydraulic motor
While ensuring sufficient support rigidity of the
Mounting the hydraulic motors ML, MR and their peripheral members on the vehicle body
The attachment structure can be simplified. In this embodiment, the hydraulic motors ML, M
R is supported on the vehicle body by the hydraulic motors ML and MR.
A pair of motor mount brackets provided at the top and rear
Rackets 186L, 188L / 186R, 188R
It is done by the way, but instead of doing this
In addition, it is supported on the vehicle body via the connecting member 182.
By doing so, the connecting member 1
82 is a suspension damper support member and a motor support member
And can also be used for

Block diagram showing a control system in the first overall configuration diagram showing a reference example FIG. 2 the first reference example of a vehicle drive device according to BRIEF DESCRIPTION OF THE DRAWINGS [Figure 1] The present invention Figure 3 first The contents of the hydraulic motor control in the reference example are shown.
The contents of the hydraulic motor control in to the flowchart FIG. 4 the first reference example shows
The contents of the hydraulic motor control in to the flowchart Fig. 5 the first reference example shows
The contents of the hydraulic motor control in to the flowchart Fig. 6 the first reference example shows
The contents of the hydraulic motor control in to the flowchart FIG. 7 first reference example shows
The contents of the hydraulic motor control in to the flowchart FIG. 8 first reference example shows
The contents of the hydraulic motor control in to the flowchart FIG. 9 first reference example shows
Flowchart [Fig. 10] The contents of hydraulic motor control in the first reference example
FIG. 11 shows the contents of hydraulic motor control in the first reference example.
FIG. 12 shows the contents of hydraulic motor control in the first reference example.
FIG. 13 shows the contents of hydraulic motor control in the first reference example.
The cross-section shown as viewed from the layout rear of the hydraulic motor and its peripheral member in the flow chart 14 is a sectional view showing a look at the layout of the hydraulic motor and its peripheral members from above in the first reference example [15] The first reference example shown FIG. 16 is a perspective view showing the suspension cross member in the first reference example as a single item. FIG. 17 is a perspective view showing the motor mount bracket in the first reference example as a single item. shows a first embodiment, cross-sectional view showing a look at the layout of the hydraulic motor and its peripheral members from the left side in the same Figure 19 the first embodiment and FIG. 15 and FIG. 20 1 pair in the first embodiment according to a perspective view showing separately the suspension cross member [22] the present invention in a perspective view in a hydraulic motor coupled state [21] first embodiment Shows a second reference example of the dual drive system, showing the second reference example 23 shows a view similar to FIG. 14, similar to FIG. FIG. 24 and FIG. 15 shows a second reference example, similar to FIG. 19 FIG. 25 is a view similar to FIG. 14, showing a third reference example of the vehicle drive device according to the present invention. FIG. 26 is a view similar to FIG. 15, showing the third reference example . Left rear wheel 1RR Right rear wheel ML, MR Hydraulic motor 11L, 11R Drive shaft 112 Suspension cross member 118 Vertical member (body frame) 126L, 126R Motor mount bracket 130 Exhaust pipe 132 Muffler 134L, 134R Motor mount bracket 148L, 148R, 150L , 150R Motor mount brackets 152, 154 Brackets 160L, 160R Damper support brackets 162L, 162R Pension damper 182 connecting member 186L, 186R, 188L, 188R motor mount bracket

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B60K 17/04-17/14 B60K 17/356

Claims (1)

(57) [Claim 1] A drive shaft extending substantially in the vehicle width direction.
Motor connected to the wheels via
Vehicle drive device configured to rotationally drive the wheels
The left wheel driving motor and the right wheel driving motor
The rotation drive shaft of each of these motors is almost straight
Thus, the motors are connected to each other at the inner ends in the vehicle width direction.
The motor is connected to one of these motors.
A motor mount bracket to support the body is provided.
And these motor mount brackets
Are arranged in a point-symmetrical relationship with respect to
A vehicle drive device characterized by the following.