JP5540686B2 - Vehicle control system - Google Patents

Description

  The present invention relates to a vehicle control system.

  In recent vehicle control, for example, as disclosed in Patent Document 1, the driver's request is based on the vehicle speed and the accelerator operation amount (accelerator opening, pedal effort, etc.) when the driver operates the accelerator pedal. A so-called torque demand control is performed in which a target acceleration that is an acceleration to be determined is determined, and, for example, an engine throttle opening, a fuel injection amount, an ignition timing, and the like are controlled based on the determined target acceleration. In the torque demand control, the target acceleration is determined based on the vehicle speed and the accelerator operation amount.

JP-A-63-025342

  Here, the characteristics of the acceleration that can be generated vary depending on the state of a realization system (drive system) such as an automatic transmission that realizes the required acceleration requested by the driver. For example, in an automatic transmission, a realizable acceleration range is determined according to a gear ratio. As in the case of torque demand control, a method for setting the required acceleration based on the accelerator operation by the driver has not been sufficiently studied.

  The present invention has been made in view of the above, and an object of the present invention is to provide a vehicle control system capable of determining an appropriate required acceleration according to the state of an automatic transmission.

The vehicle control system according to the present invention includes an acceleration generation device that generates acceleration in a vehicle, an acceleration operation amount corresponding to an accelerator operation by a driver, and a required acceleration based on a vehicle speed of the vehicle. A vehicle control system comprising: a vehicle control system comprising: a power source; and an automatic transmission that transmits power between the power source and the drive wheels of the vehicle. The vehicle control device changes the required acceleration within a range of acceleration that can be realized by the power output from the power source at the current speed ratio based on the current speed ratio of the automatic transmission. The vehicle control device changes the required acceleration to a value on the low acceleration side when the current speed ratio is small, compared with the case where the current speed ratio is large, and The degree of change of the required acceleration to changes in gear ratio of speed machine is reduced, the vehicle control device, the accelerator constant during acceleration defined by the relationship between the velocity and acceleration at a certain time of the accelerator operation amount, the idle The required acceleration determined on the condition of the minimum acceleration, which is the acceleration when is switched from on to off, is further changed based on the current gear ratio .

The vehicle control system according to the present invention includes an acceleration generation device that generates acceleration in a vehicle, an acceleration operation amount corresponding to an accelerator operation by a driver, and a required acceleration based on a vehicle speed of the vehicle. A vehicle control system comprising: a vehicle control system comprising: a power source; and an automatic transmission that transmits power between the power source and the drive wheels of the vehicle. The vehicle control device changes the required acceleration within a range of acceleration that can be realized by the power output from the power source at the current speed ratio based on the current speed ratio of the automatic transmission. The vehicle control device changes the required acceleration to a value on the low acceleration side when the current speed ratio is small, compared with the case where the current speed ratio is large, and To reduce the degree of the demand acceleration change relative to the change in speed machine speed ratio of the vehicle control device, in the high speed side gear ratio above a predetermined, that it does not alter the required acceleration to changes in the speed ratio Features.

In the vehicle control system according to the present invention, the vehicle control device changes the required acceleration within the range of acceleration that can be realized by the power output from the power source at the current gear ratio, based on the current gear ratio of the automatic transmission. Let Further, the vehicle control device changes the required acceleration to a value on the low acceleration side when the current gear ratio is small compared to the case where the current gear ratio is large, and responds to a change in the gear ratio of the automatic transmission. Reduce the degree of change in required acceleration. In addition, the vehicle control device determines on the condition that the acceleration is constant when the accelerator operation amount is constant and the minimum acceleration that is the acceleration when the idling is switched from on to off. The requested acceleration is further changed based on the current gear ratio . Therefore, there is an effect that it is possible to determine an appropriate required acceleration according to the state of the automatic transmission.

FIG. 1 is a diagram illustrating a schematic configuration example of a vehicle control system according to the embodiment. FIG. 2 is a diagram showing the relationship between the required acceleration and the accelerator opening when the vehicle speed is constant. FIG. 3 is a diagram illustrating an example of the relationship between the gear stage and the generated acceleration. FIG. 4 is a diagram for explaining the acceleration control based on the required acceleration. FIG. 5 is a diagram showing the relationship between acceleration and vehicle speed at a constant accelerator opening.

  Hereinafter, an embodiment of a vehicle control system according to the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same. The acceleration in the following embodiment includes not only the acceleration in the direction of accelerating the vehicle but also the acceleration in the direction of decelerating the vehicle.

(Embodiment)
The embodiment will be described with reference to FIGS. 1 to 5. The present embodiment relates to a vehicle control system. FIG. 1 is a diagram illustrating a schematic configuration example of a vehicle control system according to the embodiment. FIG. 2 is a diagram showing the relationship between the required acceleration and the accelerator opening when the vehicle speed is constant.

  The vehicle control system according to the present embodiment includes an acceleration generation device based on a required acceleration based on an acceleration generation device that generates acceleration in the vehicle, an accelerator operation amount according to an accelerator operation by a driver, and a vehicle speed of the vehicle. A vehicle control device (see reference numeral 6 in FIG. 1) to be controlled. The acceleration generator includes a power source (see reference numeral 4 in FIG. 1), and an automatic transmission (see reference numeral 5 in FIG. 1) that transmits power between the power source and the drive wheels of the vehicle. The device changes the required acceleration based on the current transmission ratio of the automatic transmission.

  The ECU 6 as a vehicle control device performs acceleration control (driving force control) of the vehicle so as to realize the required acceleration corresponding to the driver's accelerator operation. Here, in a conventional vehicle in which the relationship between the accelerator opening (accelerator operation amount) and the throttle opening is one-to-one, the generated acceleration decreases with an increase in gear ratio. A driver accustomed to such vehicle characteristics may drive in anticipation of a reduction in the generated acceleration after the upshift, so there is no reduction in the generated acceleration before and after the upshift because an equal driving force shift is performed. , May feel uncomfortable. In addition, in a vehicle that performs equal driving force shift, there is a possibility that the acceleration after the upshift may decrease or increase with respect to the before the upshift due to variations in the realization system. There is a possibility that the driver's sensitivity to the feeling of being pushed out (feeling of popping out) when the acceleration is excessive is higher than the feeling of strangeness when the acceleration after the upshift falls.

  In the present embodiment, as described below, the required acceleration is changed based on vehicle gear information, thereby improving the controllability of acceleration and reducing the dead zone. First, the vehicle control system 1 and the calculation method of the required acceleration Gx will be described.

As shown in FIG. 1, at least a vehicle control system 1 is mounted on a vehicle on which the driver is boarded (hereinafter simply referred to as “vehicle CA”). The vehicle control system 1 includes an accelerator sensor 2, a vehicle speed sensor 3, an engine 4, a transmission (hereinafter simply referred to as “T / M”) 5, and an ECU 6. The vehicle control system 1 uses the accelerator operation amount output from the accelerator sensor 2 and the vehicle speed v output from the vehicle speed sensor 3 as input values to determine a required value in the ECU 6, and based on the determined required value, the engine 4 and T / M5 are controlled to cause the vehicle CA to generate an acceleration G [m / s ² ] corresponding to the required value. That is, the vehicle control system 1 performs request value demand control. Here, the vehicle control system 1 determines the required value using the accelerator operation amount and the vehicle speed v as input values, and determines the required value using the positional relationship between the vehicle 1 and surrounding vehicles and obstacles as input values. There is nothing. Further, in the embodiment, the required value is the required acceleration Gx [m / s ² ], but is not limited to this, and any value corresponding to the acceleration G generated in the vehicle CA may be used. Fo [N] may be used. The vehicle control system 1 does not determine the requested vehicle speed using the accelerator operation amount and the vehicle speed v [km / h] as input values.

The accelerator sensor 2 detects the amount of accelerator operation according to the operation of the accelerator by the driver. In the embodiment, the accelerator sensor 2 detects an accelerator opening degree Pa [%] corresponding to an operation of an accelerator pedal (not shown) operated by the driver. The accelerator sensor 2 is connected to the ECU 6, a signal related to the accelerator opening Pa is output to the ECU 6, and the accelerator opening Pa is acquired by the ECU 6 as an input value. The acquired accelerator opening degree Pa is used when determining the required acceleration Gx [m / s ² ].

  The vehicle speed sensor 3 detects the vehicle speed v of the vehicle CA. The vehicle speed sensor 3 is connected to the ECU 6, a signal related to the vehicle speed v is output to the ECU 6, and the vehicle speed v is acquired by the ECU 6 as an input value. The acquired vehicle speed v is used when determining the required acceleration Gx. Here, the vehicle speed sensor 3 is not limited to a wheel speed sensor attached to each wheel of the vehicle CA, a sensor that detects the number of rotations of a rotating body in a route from the engine 4 to a driving wheel (not shown), and is represented by GPS. The sensor etc. which detect the position data of vehicle CA to be performed may be sufficient. In this case, the ECU 6 calculates the vehicle speed v based on the output position data.

  The engine 4 constitutes an acceleration generator that generates an acceleration G in the vehicle CA. The engine 4 is a power source, is a heat engine that converts the energy of the fuel into mechanical work by burning the fuel, and is a piston reciprocating engine. The engine 4 includes a fuel injection device (not shown), a throttle valve provided in an intake system (not shown) of the engine 4, a spark plug provided in a combustion chamber (not shown) of the engine 4, various sensors, and the like. Controlled by An output shaft (not shown) of the engine 4 is connected to an input shaft of the T / M5, and mechanical power (engine torque T) output from the engine 4 is transmitted to drive wheels (not shown) via the T / M5. An acceleration G is generated in the vehicle CA. The engine torque T output from the engine 4 is controlled based on the target engine torque To determined based on the required acceleration Gx determined by the ECU 6. The engine 4 is provided with a crank angle sensor (not shown) that detects the rotational angle position of the output shaft (hereinafter referred to as “crank angle”), and a signal related to the crank angle is output to the ECU 6 to thereby detect the crank angle. Is acquired by the ECU 6 as an input value.

  T / M5 constitutes an acceleration generator that generates an acceleration G in the vehicle CA. The T / M 5 is provided between the engine 4 and the drive wheels, and includes an automatic transmission 51 that transmits mechanical power generated by the engine 4 to the drive wheels and converts the engine torque T. It is a power transmission mechanism. The T / M 5 includes a torque converter (not shown), an automatic transmission 51, various sensors, and the like, and these devices are controlled by the ECU 6. An output shaft (not shown) of T / M5 is connected to the drive wheels. The gear ratio γ of the automatic transmission 51 of T / M5 is controlled based on the target gear ratio γo determined based on the required acceleration Gx determined by the ECU 6. The engine torque T transmitted to T / M5 is converted according to the transmission gear ratio γ and transmitted to the drive wheels, so that the acceleration G generated in the vehicle CA changes according to the transmission gear ratio γ. Here, the automatic transmission 51 may be either a stepped transmission or a continuously variable transmission. In the case of a stepped transmission, the target gear ratio γo is the target gear stage. In the following description, a case where the automatic transmission 51 is a stepped transmission capable of six-speed shifting will be described as an example.

  The ECU 6 is a vehicle control device that controls the engine 4 and the T / M 5 that are acceleration generation devices based on the accelerator operation amount according to the accelerator operation by the driver and the vehicle speed v of the vehicle CA. That is, the ECU 6 functions as an engine ECU and a transmission ECU. The ECU 6 outputs an injection signal, an ignition signal, an opening signal, etc. to the engine 4 based on the calculated target engine torque To, and the fuel supply amount and injection timing of the fuel supplied to the engine 4 by these output signals. Such as fuel injection control, ignition plug ignition control, throttle valve opening control, etc. not shown. Further, the ECU 6 outputs various hydraulic control signals and the like to the T / M 5 based on the calculated target speed ratio γo, and the transmission control of the automatic transmission 51 of the T / M 5 is performed by these output signals. The hardware configuration of the ECU 6 mainly includes a CPU (Central Processing Unit) that performs arithmetic processing, a memory that stores programs and information (RAM such as SRAM, ROM (Read Only Memory) such as EEPROM), and an input / output interface. Since the configuration is the same as that of an ECU mounted on a known vehicle, detailed description thereof is omitted.

  In the embodiment, the ECU 6 determines the required acceleration Gx based on the accelerator opening degree Pa and the vehicle speed v of the vehicle CA, and determines the dynamic required acceleration Gy based on the determined required acceleration Gx. The required driving force Fo is determined based on the dynamic required acceleration Gy, the target engine torque To and the target speed ratio γo are determined based on the determined required driving force Fo, and the determined target engine torque To and the target speed ratio are determined. The engine 4 and the T / M 5 are controlled based on γo. The ECU 6 includes a static required acceleration calculation unit 61, a dynamic required acceleration calculation unit 62, a required driving force calculation unit 63, and a target value calculation unit 64.

  The static required acceleration calculation unit 61 sets the acceleration when the accelerator operation amount is constant determined by the relationship between the speed v and the acceleration G when the accelerator operation amount is constant (hereinafter, simply referred to as “vG relationship”). The required acceleration Gx is determined based on the relationship between the accelerator operation amount and the required value. The static required acceleration calculating unit 61 requests the accelerator opening Pa and the request based on the accelerator constant-time acceleration Gx1 determined by the v-G relationship in the constant accelerator opening Pa1 based on the accelerator opening Pa and the vehicle speed v. Based on the relationship with the acceleration Gx (hereinafter simply referred to as “Pa-Gx relationship”), the required acceleration Gx, which is a static required acceleration, is calculated and output to the dynamic required acceleration calculation unit 62. FIG. 5 is a diagram showing the relationship between acceleration and vehicle speed at a constant accelerator opening. In the embodiment, the vG relationship at the constant accelerator opening degree Pa1 can be designed as shown by a solid line in FIG. The one-dot chain line in the figure is a v-G relationship at a constant accelerator opening degree Pa1 when the Weber-Feffner law described later is applied to the entire accelerator opening degree Pa (referred to as "entire WF region"). The static required acceleration calculating unit 61 is based on an accelerator opening degree Pa, a vehicle speed v, and an exponential function based on Weber-Fechner's law (hereinafter simply referred to as “WF exponential function”). The required acceleration Gx is calculated. The WF index function is defined such that when the accelerator opening degree Pa is a constant accelerator opening degree Pa1 at an arbitrary vehicle speed v, the acceleration constant acceleration Gx1 at the arbitrary vehicle speed v is calculated as the required acceleration Gx. Therefore, the static required acceleration calculation unit 61 calculates the same acceleration constant acceleration Gx1 as the required acceleration Gx when the vehicle speed v is the same and the accelerator opening degree Pa1 is constant. That is, the Pa-Gx relationship according to the embodiment has a predetermined characteristic that the required acceleration Gx is calculated based on the WF index function. Further, the Pa-Gx relationship according to the embodiment has a predetermined characteristic in which the acceleration constant acceleration Gx1 determined by the v-G relationship at the constant accelerator opening Pa1 is calculated as the required acceleration Gx at the constant accelerator opening Pa1. . The constant accelerator opening degree Pa1 is 60% in the embodiment, but is not limited to this, and is set as appropriate according to various conditions such as the vehicle type, the configuration of the mounted acceleration generator, and the specifications of the vehicle CA. Is. The constant accelerator opening degree Pa1 is preferably a large accelerator opening degree Pa that does not approach the maximum accelerator opening degree Pamax. This is because the slope of the relationship line X2 described later increases as the constant accelerator opening degree Pa1 approaches the maximum accelerator opening degree Pamax.

  Here, the Pa-Gx relationship is based on the condition that the acceleration is constant acceleration Gx1 and the minimum acceleration Gx0 that is the acceleration G when the idle is switched from on to off. Here, “idle on” means that the accelerator opening degree Pa is 0%, that is, the state of the fully closed accelerator opening degree Pa0 (accelerator is off), and “idle off” means a state other than the fully closed accelerator opening degree Pa0 (accelerator). Is on). The WF exponent function is defined such that the minimum acceleration Gx0 is calculated as the required acceleration Gx when the idling is on, that is, when the fully closed accelerator opening degree Pa0. In the embodiment, the minimum generated acceleration Gxmin that is the acceleration G that can be generated by the engine 4 and the T / M 5 that are the acceleration generating devices when the idling is switched from on to off, or a value that is determined according to the vehicle speed v, that is, the set minimum One of the accelerations Gx0 ′ is determined as the minimum acceleration Gx0. The minimum generated acceleration Gxmin is the current vehicle speed v, the gear ratio γ, and the lockup engagement state when the lockup is provided, the fuel flow learning value, the feedback correction amount for the fuel flow rate, and the correction amount at the start for the fuel flow rate. , Fuel cut state, engine water temperature, air compressor load, alternator load (electric load), catalyst warm-up correction amount provided in exhaust system for fuel flow rate, engine stop avoidance correction amount for fuel flow rate, correction amount for purge for fuel flow rate, It is calculated based on factors such as a deceleration transient correction amount with respect to the fuel flow rate. The set minimum acceleration Gx0 ′ is set in advance in relation to the vehicle speed v. For example, as shown in FIG. 5, the set minimum acceleration Gx0 ′ is set to decrease as the vehicle speed v increases.

  In the embodiment, the static required acceleration calculating unit 61 determines the set minimum acceleration Gx0 ′ as the minimum acceleration Gx0 when the idling is on, and when the idling is switched from on to off when the idling is switched from on to off. When the set minimum acceleration Gx0 ′ is different from the calculated minimum generated acceleration Gxmin, the minimum generated acceleration Gxmin is determined as the minimum acceleration Gx0. maintain. That is, when idling is on, that is, when the accelerator opening degree Pa is other than the fully closed accelerator opening degree Pa0, the minimum generated acceleration Gxmin is set as the minimum generated acceleration Gx0.

  Further, when the accelerator opening degree Pa is at least a region larger than the constant accelerator opening degree Pa1, in the embodiment, the boundary accelerator opening degree Pa2 (>) where the accelerator opening degree Pa is larger than the constant accelerator opening degree Pa1. If it exceeds Pa1), the maximum generated acceleration Gxmax, which is the acceleration G that can be generated by the engine 4 and T / M5 when the accelerator opening Pa is 100% of the maximum (accelerator operation amount maximum), that is, at the maximum accelerator opening Pamax, Condition. The static required acceleration calculation unit 61 calculates the boundary calculated based on the arbitrary vehicle speed v, the boundary accelerator opening Pa2, and the WF exponential function when the accelerator opening Pa exceeds the boundary accelerator opening Pa2 at an arbitrary vehicle speed v. The required acceleration Gx is calculated by complementing the required acceleration Gx2 based on the maximum generated acceleration Gxmax at an arbitrary vehicle speed v. Specifically, the static required acceleration calculation unit 61 calculates the required acceleration Gx by performing linear interpolation based on the boundary required acceleration Gx2 and the maximum generated acceleration Gxmax. Here, when the accelerator opening degree Pa is the maximum accelerator opening degree Pamax at an arbitrary vehicle speed v, the static required acceleration calculating unit 61 calculates the maximum generated acceleration Gxmax at the arbitrary vehicle speed v as the required acceleration Gx. That is, the Pa-Gx relationship is determined such that the required acceleration Gx becomes the maximum generated acceleration Gxmax when the maximum accelerator opening degree Pamax is reached. Therefore, as shown in FIG. 2, the Pa-Gx relationship is a relationship line X1 (a relationship line based on the WF index function) between the accelerator opening degree Pa including the acceleration constant acceleration Gx1 and the required acceleration Gx, regardless of the vehicle speed v. And a relationship line X2 between the accelerator opening degree Pa including the maximum generated acceleration Gxmax and the required acceleration Gx (a relationship line for linearly interpolating between the boundary required acceleration Gx2 and the maximum generated acceleration Gxmax). The required acceleration Gx is calculated on the basis of a WF exponent function with the accelerator opening Pa being 0, that is, the acceleration Gx1 and the minimum acceleration Gx0 when the idling is on, and the accelerator opening Pa is at least constant. When the region is larger than the degree Pa1, the maximum generated acceleration Gmax is supplemented in consideration of the maximum output characteristic of the acceleration generating device. That is, the Pa-Gx relationship according to the embodiment has a predetermined characteristic that the required acceleration Gx is complemented by the maximum generated acceleration Gmax when the accelerator opening degree Pa is at least a region larger than the constant accelerator opening degree Pa1. Further, the Pa-Gx relationship according to the embodiment has a predetermined characteristic that the maximum generated acceleration Gxmax becomes the required acceleration Gx at the maximum accelerator pedal opening Pamax. The boundary accelerator opening degree Pa2 is set to 80% in the embodiment, but is not limited to this. The boundary accelerator opening degree Pa2 is appropriately set according to various conditions such as the vehicle type, the configuration of the mounted acceleration generator, and the specifications of the vehicle CA. The The complementing method is not limited to linear interpolation, and other polynomial interpolation may be used.

The required acceleration Gx when the accelerator opening degree Pa is equal to or less than the boundary accelerator opening degree Pa2 is calculated based on, for example, the following formulas (1) to (3).
Gx1 = A × e ^{B · v} (1)
Here, A is greater than 0 and determines the required acceleration Gx when the vehicle speed v is 0. B is smaller than 0 and defines the degree of deceleration of the required acceleration Gx accompanying the increase in the vehicle speed v.

C (v) = (Gx1-Gx0) / Pa1 ^k (2)
Gx = C (v) Pa ^k + Gx0 (3)
Here, k is a Weber ratio.

Further, the required acceleration Gx when the accelerator opening degree Pa exceeds the boundary accelerator opening degree Pa2 is calculated based on, for example, the above formula (2) and the following formulas (4) and (5).
^{Gx2 = C (v) Pa2 k} + Gx0 ... (4)
Gx = (Gxmax−Gx2) / (Pamax−Pa2) Pa + Gx2 (5)

  Here, the required acceleration Gx calculated by the above formulas (1) to (5) may be calculated as a value outside the acceleration range that can be generated by the engine 4 and the T / M 5 that are acceleration generators. . In the present embodiment, the required acceleration Gx changes based on the current gear position of the automatic transmission 51. FIG. 3 is a diagram illustrating an example of the relationship between the gear position of the automatic transmission 51 and the generated acceleration.

  In FIG. 3, the horizontal axis represents the vehicle speed v, and the vertical axis represents the acceleration that can be generated by the acceleration generator. The gear stage that generates the maximum generated acceleration Gxmax varies depending on the speed region. In the lowest speed region V1, the maximum generated acceleration Gxmax can be generated at the first gear stage. Reference numerals V2, V3, V4, V5, and V6 indicate speed regions in which the acceleration generating device generates the maximum generated acceleration Gxmax at the second, third, fourth, fifth, and sixth gears, respectively. Thus, there is an upper limit corresponding to the vehicle speed v in the maximum generated acceleration Gxmax, and there is a limit to the acceleration that can be generated by the acceleration generator according to the gear stage even in the same speed range. For this reason, when the static required acceleration Gx exceeds the maximum generated acceleration Gxmax, the static required acceleration calculation unit 61 determines the required acceleration Gx to a value equal to or less than the maximum generated acceleration Gxmax corresponding to the vehicle speed v. In other words, the ECU 6 as the vehicle control device changes the required acceleration Gx within a range of acceleration that can be realized by the power output from the engine 4 as the power source at the current gear ratio. As a result, it is possible to suppress the required acceleration Gx from being set outside the acceleration range that can be generated by the acceleration generator, and to realize improvement in acceleration controllability and reduction in dead zone. Further, the static required acceleration calculation unit 61, based on the current gear stage and the vehicle speed v, when the required acceleration Gx exceeds the upper limit of acceleration that can be generated by the acceleration generator at the current gear stage, The required acceleration Gx may be regulated at the upper limit of the acceleration.

  The static required acceleration calculation unit 61 changes the required acceleration Gx to a value equal to or higher than the lower limit when the required acceleration Gx falls below, for example, the lower limit of the acceleration range that can be generated by the acceleration generator. Also good. When the requested acceleration Gx is an acceleration within an acceleration range that can be generated by the acceleration generator, the requested acceleration Gx may not change based on the gear stage.

  Further, the static required acceleration calculation unit 61 of the present embodiment corrects the required acceleration Gx to the low acceleration side according to the gear position of the automatic transmission 51. In this correction, when the current gear stage is the high speed gear stage (the current gear ratio is small), the static required acceleration calculating unit 61 is the low speed gear stage (the current gear ratio is The required acceleration Gx is changed to a value on the low acceleration side as compared with the case of large). As a result, as described below, it is possible to suppress the occurrence of a feeling of being pushed out during the upshift.

  FIG. 4 is a diagram for explaining acceleration control based on the required acceleration Gx. In FIG. 4, the horizontal axis indicates time, and the vertical axis indicates acceleration G generated in the vehicle CA. Reference numeral 101 denotes a required acceleration Gx before correction based on the gear stage (hereinafter simply referred to as “required acceleration before correction”), and reference numeral 102 denotes a required acceleration Gx after correction based on the gear stage (hereinafter referred to as “required acceleration Gx”). Simply described as “required acceleration after correction”). Reference numeral 201 indicates a generated acceleration when the acceleration generating device is controlled so as to realize the required acceleration Gx (101) before correction, and reference numeral 202 indicates the required acceleration Gx (102) after correction. Thus, the generated acceleration when the acceleration generator is controlled is shown. Reference sign T1 indicates the timing at which the automatic transmission 51 is upshifted. When an upshift is performed, the generated accelerations 201 and 202 decrease during the shift (see reference numerals 201a and 202a). The required acceleration Gx (101) before correction is continuous before and after the upshift, and changes linearly. In this case, in the acceleration control based on the required acceleration Gx (101) before correction, the generated acceleration 201 greatly increases after the upshift, as indicated by reference numeral 201b. For example, the generated acceleration 201b after the shift is increased to the same extent as the generated acceleration 201 before the shift, and a feeling of being pushed out is generated. In addition, the driving force step immediately after the shift becomes large.

  On the other hand, in the present embodiment, the corrected required acceleration Gx (102) is corrected to the low acceleration side with respect to the required acceleration Gx (101) before correction according to the gear stage. Further, when the current gear stage is the high speed side gear stage, the corrected required acceleration Gx is determined to be a lower acceleration side value than when the current gear stage is the low speed side gear stage. As a result, the corrected required acceleration Gx (102b) after the upshift is reduced stepwise with respect to the corrected required acceleration Gx (102a) before the upshift.

The static required acceleration calculation unit 61 corrects the required acceleration Gx using, for example, the following formulas (6) and (7).
α = r + (1−r) γc / γ1 (6)
Where α: acceleration correction coefficient, r: constant (0 <r <1), γc: current gear ratio, γ1: first gear ratio Gx after correction = Gx before correction × α ... (7)

  When the constant r = 1 in the above formula (6), the required acceleration Gx after correction becomes the required acceleration Gx before correction, and constant driving force shift is achieved. On the other hand, when the constant r = 0, the engine torque shift is equal. In the present embodiment, the constant r is set to (0 <r <1), and the higher the gear stage (the gear stage having a smaller gear ratio) with respect to the same required acceleration Gx before correction, the corrected request. The acceleration Gx becomes a small value. Since the corrected required acceleration Gx (102b) after the upshift is lower than the corrected required acceleration Gx (102a) before the upshift, the driving force step immediately after the shift can be suppressed. Moreover, the feeling of being pushed out after the upshift can be suppressed. For example, it is possible to suppress the generation of excessive driving force after the shift due to the accuracy of the realization system that generates acceleration. Therefore, it is possible to suppress the driver from feeling uncomfortable and to improve drivability.

The dynamic required acceleration calculation unit 62 determines the dynamic required acceleration Gy [m / s ² ]. The dynamic required acceleration calculator 62 calculates the dynamic required acceleration Gy based on the required acceleration Gx calculated by the static required acceleration calculator 61 and outputs the dynamic required acceleration Gy to the required driving force calculator 63. The dynamic required acceleration calculation unit 62 determines a change (curve) until the acceleration G generated in the vehicle CA reaches the determined required acceleration Gx using a dynamic filter. Therefore, the dynamic required acceleration calculating unit 62 can change the response of the throttle opening Sa that affects the acceleration G with respect to the accelerator opening Pa. For example, when the vehicle CA starts, the dynamic required acceleration Gy is calculated by increasing the degree of smoothing using a dynamic filter so that the response of the acceleration G becomes low, thereby enabling a smooth start. In addition, when the accelerator operation speed by the driver is high, the dynamic required acceleration Gy is calculated by reducing the degree of smoothing with a dynamic filter so that the response of the acceleration G is high, and the throttle of the engine 4 is throttled. The valve is temporarily opened excessively, and a highly responsive acceleration is generated in the vehicle CA. That is, the ECU 6 provides the static required acceleration calculation unit 61 and the dynamic required acceleration calculation unit 62 separately, so that the throttle opening degree nonlinear with respect to the accelerator opening degree determined by the static required acceleration calculation part 61, that is, The nonlinearity of the acceleration G with respect to the accelerator opening and the response of the throttle opening with respect to the accelerator opening determined by the dynamic required acceleration calculating unit 62, that is, the response of the acceleration G with respect to the accelerator opening can be separated.

  The required driving force calculation unit 63 determines the required driving force Fo. The required driving force calculation unit 63 calculates the required driving force Fo based on the dynamic required acceleration Gy calculated by the dynamic required acceleration calculation unit 62 and outputs it to the target value calculation unit 64. The required driving force Fo is calculated based on the specifications of the vehicle CA and the running resistance. The required driving force calculation unit 63 calculates, for example, a driving force obtained by adding a driving force based on the dynamic required acceleration Gy and the mass of the vehicle CA and a driving force based on the running resistance as the required driving force Fo.

  The target value calculation unit 64 determines a target value for controlling the acceleration generator. The target value calculator 64 calculates the target engine torque To and the target gear ratio γo based on the required driving force Fo calculated by the required driving force calculator 63, and outputs the target engine torque To and the target gear ratio γo to the engine 4 and T / M5, respectively.

  As described above, in the vehicle control system 1 according to the embodiment, the required acceleration Gx changes based on the current gear stage (speed ratio) of the automatic transmission 51. Thereby, acceleration control based on an appropriate required acceleration Gx according to the state of the automatic transmission 51 becomes possible. When the required acceleration Gx is corrected to the low acceleration side according to the gear stage of the automatic transmission 51 and the current gear stage is the high speed side gear stage, it is compared with the case of the low speed side gear stage. Thus, the required acceleration Gx is determined to be a value on the lower acceleration side. As a result, the driving force step immediately after the shift can be reduced, and the feeling of being pushed out during the shift can be suppressed. Note that the method for determining the required acceleration Gx before correction is not limited to the method described in the embodiment. The required acceleration Gx before correction may be determined by another method based on the accelerator operation amount corresponding to the accelerator operation by the driver and the vehicle speed v. Further, in the embodiment, the required acceleration Gx before correction based on the accelerator operation amount and the vehicle speed v is corrected according to the gear stage, and the corrected required acceleration Gx is determined. Instead, the accelerator operation amount is determined. The required acceleration Gx may be directly determined based on the vehicle speed v and the gear stage.

  When T / M 5 has a lock-up clutch, the lock-up clutch also constitutes an acceleration generator. This is because the engine torque T generated by the engine 4 transmitted to the downstream side of the lockup clutch changes depending on the clutch state of the lockup clutch, and the acceleration G generated in the vehicle CA changes.

(First Modification of Embodiment)
A first modification of the embodiment will be described. In the above embodiment, the acceleration correction coefficient α is determined based on the ratio between the current gear ratio γc and the first gear ratio γ1. Instead, the acceleration correction coefficient β of the present modified example is the gear ratio γc of the current gear stage and the gear stage that can generate the maximum acceleration among the gear stages that can be set as the target gear stage under the current driving conditions. It is determined based on the ratio with the gear ratio γm. The static required acceleration calculation unit 61 changes the required acceleration Gx according to the ratio of the current speed ratio to the speed ratio at which the maximum acceleration can be generated among the speed ratios that can be set as the target speed ratio under the current driving conditions, When the ratio is small, the required acceleration Gx is changed to a value on the low acceleration side as compared with the case where the ratio is large. As a result, the degree of correction for the requested acceleration Gx can be determined based on the gear stage that generates the maximum generated acceleration Gxmax under the current traveling conditions. Therefore, it is possible to suppress the drive force from being excessively reduced while reducing the drive force step immediately after the shift and suppressing the feeling of being pushed out during the shift.

The static required acceleration calculation unit 61 calculates the corrected required acceleration Gx by the following equations (8) and (9).
β = r + (1-r) γc / γm (8)
However, β: acceleration correction coefficient, γm; gear ratio of gear stage capable of generating the maximum acceleration among gear stages that can be set as the target gear stage under the current traveling condition Gx after correction = Gx before correction × X β ( 9)

  The gear ratio γm of the gear stage that can generate the maximum acceleration among the gear stages that can be set as the target gear stage under the current traveling condition is determined based on the vehicle speed v, for example. In the example shown in FIG. 3, when traveling at the vehicle speed v in the speed region indicated by reference sign V2, the gear stage capable of generating the maximum acceleration is the second gear stage, and the gear ratio of the second gear stage is γm. Become.

(Second Modification of Embodiment)
A second modification of the embodiment will be described. In the automatic transmission 51, the higher the gear speed, the smaller the gear ratio difference between adjacent gear speeds and the smaller the driving force level difference between the gear speeds. For this reason, the necessity of the control which correct | amends the request | requirement acceleration Gx to the low-acceleration side according to a gear stage falls, so that it is a high gear stage. For this reason, the required acceleration Gx may be less likely to change with respect to a change in the gear ratio in the high gear stage than in the low gear stage. In the present modification, the static required acceleration calculation unit 61 is configured to change the required acceleration with respect to the change in the speed ratio of the automatic transmission 51 when the current speed ratio is small, compared to when the current speed ratio is large. Reduce the degree of change. For example, in the above equation (6), when the constant r is variable according to the gear stage, and the gear ratio γc of the current gear stage is the high speed side gear stage, it is compared with the low speed side gear stage. Thus, the constant r is increased. As a result, in the high-speed gear stage, the degree of decrease in the acceleration correction coefficient α is small with respect to the change in the gear ratio, compared to the low-speed gear stage. Even in this case, it is desirable that the acceleration correction coefficient α of the gear stage on the high speed side does not become larger than the acceleration correction coefficient α of the gear stage on the low speed side. Similarly, in the first modified example, the required acceleration Gx can be made less likely to change with respect to the change in the gear ratio in the high-speed gear stage than in the low-speed gear stage.

  Further, at a gear stage on the higher speed side than a predetermined value, the required acceleration Gx may not be changed even if the gear stage (gear ratio) changes. For example, from the first gear to the fourth gear, the required acceleration Gx is decreased according to the change in the gear ratio, and the required acceleration Gx for the fifth gear or higher is the same as the required acceleration Gx for the fourth gear. And so on. Thereby, it is possible to suppress excessive reduction of the driving force by applying the correction of the required acceleration Gx corresponding to the gear stage up to the high gear stage.

  As described above, the vehicle control system according to the present invention is useful for a vehicle control system for a vehicle including an automatic transmission, and is particularly suitable for determining an appropriate required acceleration in accordance with the state of the automatic transmission. ing.

DESCRIPTION OF SYMBOLS 1 Vehicle control system 2 Accelerator sensor 3 Vehicle speed sensor 4 Engine 5 T / M
6 ECU
51 Automatic Transmission 61 Static Required Acceleration Calculation Unit 62 Dynamic Required Acceleration Calculation Unit 63 Required Driving Force Calculation Unit 64 Target Value Calculation Unit G Acceleration Gx Required Acceleration (Static Required Acceleration)
Gx0 Minimum acceleration Gx1 Accelerator constant acceleration Gx2 Boundary required acceleration Gxmin Minimum generated acceleration Gxmax Maximum generated acceleration Gy Dynamic required acceleration Fo Required driving force Pa Accelerator opening Pa0 Fully closed accelerator opening Pa1 Constant accelerator opening Pa2 Boundary accelerator opening Pamax Maximum accelerator opening T Engine torque α, β Acceleration correction coefficient γ Gear ratio γ1 First gear gear ratio γc Current gear gear ratio γo Target gear ratio

Claims (2)

An acceleration generator for generating acceleration in the vehicle;
A vehicle control device for controlling the acceleration generating device based on a requested acceleration based on an accelerator operation amount according to an accelerator operation by a driver and a vehicle speed of the vehicle;
A vehicle control system comprising:
The acceleration generator includes a power source, and an automatic transmission that transmits power between the power source and the drive wheels of the vehicle,
The vehicle control device changes the required acceleration within a range of acceleration realizable by the power output from the power source at the current gear ratio based on a current gear ratio of the automatic transmission,
When the current speed ratio is small, the vehicle control device changes the required acceleration to a value on the low acceleration side as compared with the case where the current speed ratio is large, and the speed ratio of the automatic transmission Reducing the degree of change in the required acceleration with respect to changes in
The vehicle control device is determined on the condition that the acceleration at a constant time determined by the relationship between the speed and acceleration at a fixed time of the accelerator operation amount and a minimum acceleration that is an acceleration when the idling is switched from on to off. A vehicle control system characterized in that the requested acceleration is further changed based on the current gear ratio . An acceleration generator for generating acceleration in the vehicle;
A vehicle control device for controlling the acceleration generating device based on a requested acceleration based on an accelerator operation amount according to an accelerator operation by a driver and a vehicle speed of the vehicle;
A vehicle control system comprising:
The acceleration generator includes a power source, and an automatic transmission that transmits power between the power source and the drive wheels of the vehicle,
The vehicle control device changes the required acceleration within a range of acceleration realizable by the power output from the power source at the current gear ratio based on a current gear ratio of the automatic transmission,
When the current speed ratio is small, the vehicle control device changes the required acceleration to a value on the low acceleration side as compared with the case where the current speed ratio is large, and the speed ratio of the automatic transmission Reducing the degree of change in the required acceleration with respect to changes in
The vehicle control system according to claim 1, wherein the requested acceleration is not changed with respect to a change in the speed ratio at a speed ratio on a higher speed side than a predetermined speed .

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