# US 10,308,250 B2 · Digital filter and vehicle driving force control apparatus

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- Number: US 10,308,250 B2
- Document ID: US10308250B2
- Status: Granted
- Kind: B2
- Application number: 15/229,742
- Filed: 2016-08-05
- Published: 2017-03-02
- Granted: 2019-06-04
- Earliest claimed: 2015-08-26
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Tomohiro Naruse
- Web page: https://patentgrep.com/patent/US10308250B2

## CPC

- B60W 30/18: Propelling the vehicle
- B60K 6/44: Series-parallel type
- B60W 10/04: including control of propulsion units
- B60W 10/06: including control of combustion engines
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 10/10: including control of change-speed gearings
- B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)}
- B60W 20/15: Control strategies specially adapted for achieving a particular effect
- B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
- H03H 17/0201: {Wave digital filters}
- H03H 17/025: {Notch filters}
- H03H 17/0291: {Digital and sampled data filters}
- H03H 21/0021: {Notch filters}
- B60W 20/10: Controlling the power contribution of each of the prime movers to meet required power demand
- B60W 2050/0052: {Filtering, filters}
- B60W 2510/22: Suspension systems
- B60W 2520/10: Longitudinal speed
- B60W 2520/16: Pitch
- B60W 2520/18: Roll
- B60W 2540/10: Accelerator pedal position
- B60W 2710/06: Combustion engines, Gas turbines
- B60W 2710/0666: Engine torque
- B60W 2710/083: Torque
- Y02T 10/62: Hybrid vehicles
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- H03H: IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS (waveguides, resonators, lines or other devices of the waveguide type H01P)
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

To suppress an unstable operation of a device caused by filtering, an output selection unit is configured to acquire an unfiltered value representing an input signal (signal before filtering) stored in an input holding unit, a filtered value representing a signal acquired by filtering the input signal by a filtering unit, and a previous output value representing an output signal output at a previous time, select a middle value out of the filtered value, the unfiltered value, and the previous output value, and set the selected middle value as a current output value of an output signal.

## Claims

### Claim 1

A digital filter, which is configured to output an output signal acquired by reducing a specific frequency component from a digital signal input to the digital filter, and which is to be used for a system in which an operation of a device is controlled depending on an output value of the output signal, the digital filter comprising:
filtering means for applying filtering to the digital signal input; and
output value setting means for acquiring an unfiltered value represented by the digital signal input, a filtered value represented by a signal acquired by filtering the digital signal input by the filtering means, and a previous output value represented by a previously output signal output at a previous time as a current output value, selecting a middle value of the unfiltered value, the filtered value, and the previous output value, and setting the current output value of a current output signal based on the selected middle value.

### Claim 2 (depends on 1)

The digital filter according to claim 1, wherein the output value setting means is configured to set the selected middle value as the current output value of the current output signal.

### Claim 3 (depends on 2)

A vehicle driving force control apparatus comprising the digital filter according to claim 2, wherein the vehicle driving force control apparatus comprises:
required driving force calculation means for calculating a driver required driving force, and outputting a required driving force signal representing the calculated driver required driving force;
a notch filter constructed by the digital filter, and configured to input the required driving force signal, and to use the filtering means to apply the filtering to the required driving force signal so as to reduce a vibration frequency component of a vehicle body; and
driving force control means for controlling a driving force to be generated in a vehicle travel driving device based on an output value of an output signal of the notch filter.

### Claim 4 (depends on 3)

The vehicle driving force control apparatus according to claim 3, wherein:
the vehicle travel driving device comprises a hybrid driving device comprising an engine and a motor/generator; and
the driving force control means is configured to control the driving force of the hybrid driving device depending on the output value of the output signal of the notch filter, and to switch between a driving state and a non-driving state of the engine.

### Claim 5 (depends on 3)

The vehicle driving force control apparatus according to claim 3, wherein:
the vehicle travel driving device comprises a driving device comprising an engine and an automatic transmission; and
the driving force control means is configured to control the driving force of the engine and shift a gear position of the automatic transmission depending on the output value of the output signal of the notch filter.

### Claim 6 (depends on 1)

The digital filter according to claim 1, wherein the output value setting means is configured to:
carry out, when the selected middle value is the previous output value, at least one of increase correction processing of increasing the selected middle value by a predetermined amount for correction and setting the increased selected middle value as the current output value when the filtered value is more than the unfiltered value, or decrease correction processing of decreasing the selected middle value by a predetermined amount for correction and setting the decreased selected middle value as the current output value when the filtered value is less than the unfiltered value; and
set the selected middle value as the current output value of the current output signal when the selected middle value is not the previous output value.

### Claim 7 (depends on 6)

A vehicle driving force control apparatus comprising the digital filter according to claim 6, wherein the vehicle driving force control apparatus comprises:
required driving force calculation means for calculating a driver required driving force, and outputting a required driving force signal representing the calculated driver required driving force;
a notch filter constructed by the digital filter, and configured to input the required driving force signal, and to use the filtering means to apply the filtering to the required driving force signal so as to reduce a vibration frequency component of a vehicle body; and
driving force control means for controlling a driving force to be generated in a vehicle travel driving device based on an output value of an output signal of the notch filter.

### Claim 8 (depends on 7)

The vehicle driving force control apparatus according to claim 7, wherein:
the vehicle travel driving device comprises a hybrid driving device comprising an engine and a motor/generator; and
the driving force control means is configured to control the driving force of the hybrid driving device depending on the output value of the output signal of the notch filter, and to switch between a driving state and a non-driving state of the engine.

### Claim 9 (depends on 7)

The vehicle driving force control apparatus according to claim 7, wherein:
the vehicle travel driving device comprises a driving device comprising an engine and an automatic transmission; and
the driving force control means is configured to control the driving force of the engine and shift a gear position of the automatic transmission depending on the output value of the output signal of the notch filter.

### Claim 10 (depends on 1)

A vehicle driving force control apparatus comprising the digital filter according to claim 1, wherein the vehicle driving force control apparatus comprises:
required driving force calculation means for calculating a driver required driving force, and outputting a required driving force signal representing the calculated drive required driving force;
a notch filter constructed by the digital filter, and configured to input the required driving force signal, and to use the filtering means to apply the filtering to the required driving force signal so as to reduce a vibration frequency component of a vehicle body; and
driving force control means for controlling a driving force to be generated in a vehicle travel driving device based on an output value of an output signal of the notch filter.

### Claim 11 (depends on 10)

The vehicle driving force control apparatus according to claim 10, wherein:
the vehicle travel driving device comprises a hybrid driving device comprising an engine and a motor/generator; and
the driving force control means is configured to control the driving force of the hybrid driving device depending on the output value of the output signal of the notch filter, and to switch between a driving state and a non-driving state of the engine.

### Claim 12 (depends on 10)

The vehicle driving force control apparatus according to claim 10, wherein:
the vehicle travel driving device comprises a driving device comprising an engine and an automatic transmission; and
the driving force control means is configured to control the driving force of the engine and shift a gear position of the automatic transmission depending on the output value of the output signal of the notch filter.