CN101495737B

CN101495737B - Vehicle drive force control device

Info

Publication number: CN101495737B
Application number: CN2007800287071A
Authority: CN
Inventors: 大竹宏忠
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2006-07-31
Filing date: 2007-07-31
Publication date: 2011-11-30
Anticipated expiration: 2027-07-31
Also published as: JP4404219B2; CN101495737A; JP2008031945A

Abstract

To effectively reduce a vehicle drive force while avoiding temperature rise in exhaust gas and deterioration in exhaust gas purifying catalysts due to this by using retard angle at ignition timing or reduction in fuel supply amount as effectively as possible and by preventing retard angle at ignition timing or reduction in fuel supply amount from being contined for a long time when reduction in a vehicle drive force is required. When a vehicle drive force is excessive, a target drive force Fxt is computed; when an index value SAa indicating a requirement level for reducing a drive force is at least a first reference value SAa1, a throttle opening is reduced so that a vehicle drive fore is reduced at a rate gentler than a change rate at which the target drive force Fxt is reduced; and when an index value SAa is at least a second reference value SAa2 larger than the first reference value SAa1, an ignition timing is retarded in addition to a reduction in a throttle opening so that a vehicle drive force is reduced quicker than when only a throttle opening is reduced.

Description

Driving-force control apparatus for vehicle

Technical field

The present invention relates to driving-force control apparatus for vehicle, the driving-force control apparatus of the driving force of vehicle is controlled in the control that relates to the control of the throttle opening by motor and ignition timing in more detail.

Background technique

In being equipped with the vehicles such as automobile of spark ignition engines, control one of the driving-force control apparatus of the driving force of vehicle as the control of the control of the throttle opening by motor and ignition timing, the known driving-force control apparatus that following formation is arranged, that is: when the driving slippage of driving wheel increases, control the output that reduces motor by the full cut-off control of closure and the delay of ignition timing, thereby reduce the driving force of vehicle, when the driving slippage of driving wheel reduces, at first finish the delay control of ignition timing, finish the full cut-off control of closure then.This device for example is documented in the special fair 7-84850 communique of Japanese documentation.

In the control of spark ignition engines, in case ignition timing is postponed, then can responsiveness reduce the output of motor well, therefore can responsiveness reduce the driving force of vehicle well.But in case ignition timing is postponed, then the temperature of the waste gas of motor can rise, and causes the exhaust gas purifying catalyst deterioration thus, therefore can not make ignition timing continue to postpone, and carries out the time of the delay control of ignition timing and must limit at short notice.

To this, control by the full cut-off of closure that temperature that the output that reduces motor can not cause the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst that accompanies with it, therefore can proceed the full cut-off control of closure.But the control of the full cut-off by closure can not responsiveness reduces the output of motor well, therefore can not responsiveness reduces the driving force of vehicle well.

Like this, in the driving-force control apparatus that the special fair 7-84850 communique of above-mentioned Japanese documentation is put down in writing, do not consider the time of implementation of the delay control of ignition timing, the deterioration of the exhaust gas purifying catalyst that therefore might cause the temperature of the waste gas of motor to rise and cause thus can't satisfy the problem that strict in recent years waste gas limits benchmark by the driving-force control apparatus that the fair 7-84850 communique of above-mentioned spy is put down in writing thereby exist.

In addition, the Japanese documentation spy opens the confined driving-force control apparatus of time of implementation that flat 10-264801 communique records the delay control of ignition timing.But, the delay control of carrying out ignition timing is restricted to the regular time in the moment of reducing motor output beginning from controlling by the reduction of throttle opening, therefore in all running condition of vehicle, for the temperature of the waste gas that prevents motor rises, the time of implementation of the delay control of ignition timing must be restricted to the extremely short time, therefore exists and controls the also confined problem of the effect that reduces vehicle drive force by the delay of ignition timing.For example, after the vehicle ground zero, produce the driving slippage of driving wheel, begin the reduction control of throttle opening and the delay control of ignition timing in order to tackle this situation, finish the delay control of ignition timing in the moment of having passed through the regular hour, even the driving slippage that produces driving wheel continuously then, also can't carry out the delay control of ignition timing, thereby can't reduce the driving slippage effectively by exporting by the delay control reduction motor of ignition timing.

In addition, even by reducing to motor supplied fuel supply, although can be identical with the situation that the delay of ignition timing is controlled, reduce the output of motor well than the reduction control response of throttle opening, but in case reduce to motor supplied fuel supply, then the situation with the delay of ignition timing control is identical, the temperature that can produce the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst that causes thus, so the time of implementation of the reduction of fuel duty also must be restricted to the extremely short time.

Summary of the invention

Main purpose of the present invention is to reduce under the situation of driving force of vehicle time of implementation that delay by preventing ignition timing or fuel duty reduce at needs effectively to utilize the delay of ignition timing or the reduction of fuel duty in elongated as far as possible, the deterioration of the exhaust gas purifying catalyst of avoiding the temperature of the waste gas of motor to rise and causing thus, and reduce the driving force of vehicle effectively.

According to the present invention, a kind of driving-force control apparatus for vehicle can be provided, comprising: the throttle opening control unit, control the throttle opening of motor at least according to driver's driving operation amount; Motor output reduces the unit, the ignition timing by postponing motor or reduce the output that reduces motor to motor supplied fuel supply; And driving force reduction control unit, judge the necessary degree that the driving force of vehicle reduces according to the travelling state of vehicle, when necessary degree is high, reduce the output of motor at least by control throttle opening control unit; Described driving-force control apparatus for vehicle is characterised in that,

When described necessary degree during more than or equal to first reference value, driving force reduces control unit and reduces the throttle opening of being controlled by the throttle opening control unit, when described necessary degree more than or equal to than big second reference value of first reference value the time, driving force reduces control unit except reducing the throttle opening by the control of throttle opening control unit, also reduces the output that the unit reduces motor by motor output.

According to this formation, judge the necessary degree that the driving force of vehicle reduces according to the travelling state of vehicle, when necessary degree during more than or equal to first reference value, reduction is by the throttle opening of throttle valve control unit control, when necessary degree more than or equal to than big second reference value of first reference value the time, except reducing throttle opening by the control of throttle opening control unit, also reduce the output that the unit reduces motor, therefore can be only under necessary degree that the driving force of vehicle the reduces situation very high, reduce the output that the unit reduces motor by motor output more than or equal to second reference value by motor output.

Therefore, the necessary degree that reduces when the driving force of vehicle is more than or equal to first reference value during less than second reference value, can prevent to reduce the output that the unit reduces motor by motor output, thereby the temperature that prevents the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst that causes thus, and under necessary degree that the driving force of vehicle the reduces situation very high, except reducing throttle opening, also reduce the output of unit reduction motor by motor output more than or equal to second reference value, thus can be reliably and reduce the output of motor effectively, thus can be reliably and reduce the driving force of vehicle effectively.

In addition, the necessary degree that reduces when the driving force of vehicle is during more than or equal to second reference value, by reducing throttle opening and reducing unit reduction motor by motor output and export the output that the two reduces motor, can reduce the driving force of vehicle thus effectively, therefore the necessary degree that reduces of driving force promptly reduces, thus carry out by motor output reduce the unit reduce time of motor output can be not long.

In the above-described configuration, also can be in the following way: driving-force control apparatus has the unit that calculates the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, driving force reduce control unit according to described necessary degree more than or equal to two target drive force that front and back calculated of first reference value calculate than the reduction between described two target drive force change reduce reposefully target drive force that the control by the throttle opening control unit that changes obtains and than the reduction between described two target drive force change the reduction that reduces the target drive force that changes and obtain than control reposefully by the throttle opening control unit change promptly reduce change reduce the target drive force that the control of unit obtains by throttle opening control unit and motor output, the deviation of the target drive force that obtains more than or equal to second reference value and by the control of throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and motor output when described necessary degree is during more than or equal to deviation judgment standard value, and driving force reduces control unit and reduces the output that the unit reduces motor by motor output.

According to this formation; Can calculate reduction between two target drive force that calculate more than or equal to the front and back of first reference value than the necessary degree that reduces in the driving force of vehicle change reduce reposefully target drive force that the control by the throttle opening control module that changes obtains and than the reduction between two target drive force change the reduction that reduces reposefully the target drive force that changes and obtain than the control by the throttle opening control module change promptly reduce change reduce the target drive force that the control of unit obtains by throttle opening control module and engine output; The deviation of the target drive force that obtains more than or equal to second a reference value and by the control of throttle opening the control module target drive force that obtains and the control that is reduced the unit by throttle opening control module and engine output when described necessary degree reduces the output that the unit reduces engine by engine output during more than or equal to deviation judgment standard value.

Therefore, when the reduction amount of the target drive force of vehicle big, necessary degree is more than or equal to the deviation of second reference value and described two target drive force during more than or equal to deviation judgment standard value, by reducing throttle opening and reducing the unit by motor output and reduce motor output, can be reliably and reduce the output of motor effectively, when the deviation of necessary degree described two target drive force during less than deviation judgment standard value more than or equal to second reference value, prevent to reduce the output that the unit reduces motor by motor output, only reduce motor output, can prevent reliably thus because the temperature that reduces the waste gas of the motor that output that the unit reduces motor causes by motor output rises and the deterioration of the exhaust gas purifying catalyst that causes thus by reducing throttle opening.

In addition, in general, if reduce the output of motor by retarded spark timing, then compare with the situation of aperture by reducing closure, the output meeting of motor sharply reduces, also can sharply reduce through the driving force of overdrive system from motor thus to the driving wheel transmission, therefore according to the running condition of vehicle sometimes driving wheel can produce whirling vibration, the whirling vibration state of driving wheel can worsen sometimes.

Therefore, in the above-described configuration, also can be in the following way: driving force reduces control unit and comprises: whirling vibration state judging unit, judge owing to reduce the possibility that output that the unit reduces motor makes the whirling vibration state deteriorating of driving wheel by motor output; Forbid the unit, even if described necessary degree more than or equal to second reference value, and when going out the whirling vibration state deteriorating that might make driving wheel by whirling vibration state judgment unit judges, also no thoroughfare, and motor output reduces the output that the unit reduces motor.

According to this formation, even if described necessary degree is more than or equal to second reference value, and when going out the whirling vibration state deteriorating that might make driving wheel by whirling vibration state judgment unit judges, also can no thoroughfare motor output reduce the output that the unit reduces motor, therefore in the time might making the whirling vibration state deteriorating of driving wheel, can prevent to reduce the output of motor reliably by motor output reduction unit owing to reduce the unit to reduce the output of motor by motor output.

Therefore, the necessary degree that reduces when the driving force of vehicle is more than or equal to first reference value during less than second reference value, can prevent to reduce the output that the unit reduces motor by motor output, thereby the temperature that prevents the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst that causes thus, and under necessary degree that the driving force of vehicle the reduces situation very high more than or equal to second reference value, except reducing throttle opening, also reduce the output that the unit reduces motor by motor output, thus can be reliably and reduce the output of motor effectively, thereby can be reliably and reduce the driving force of vehicle effectively, and then can prevent reliably owing to reduce the whirling vibration state deteriorating that output that the unit reduces motor makes driving wheel by motor output.

In general, when reducing the unit and reduce the output of motor by motor output the whirling vibration state deteriorating of driving wheel when driving wheel has produced to a certain degree whirling vibration or with about the big situation of the difference of friction factor on the corresponding road surface of wheel under particularly remarkable, therefore can by judge driving wheel whether produced to a certain degree whirling vibration or judgement and about the difference of friction factor on the corresponding road surface of wheel whether big, judge whether to make the whirling vibration state deteriorating of driving wheel.

Therefore, in the above-described configuration, also can be in the following way: whirling vibration state judging unit comprises the unit of the whirling vibration that detects driving wheel, and when the degree of the whirling vibration of driving wheel when being used for reference value that whirling vibration judges, whirling vibration state judgment unit judges might make the whirling vibration state deteriorating of driving wheel; Perhaps, whirling vibration state judging unit comprise detect with about the unit of friction factor on the corresponding road surface of driving wheel, and when with about the difference of friction factor on the corresponding road surface of driving wheel when being used for to the reference value judged along separate routes, whirling vibration state judgment unit judges might make the whirling vibration state deteriorating of driving wheel.

According to these formations, when the degree of the whirling vibration of driving wheel judge when being used for reference value that whirling vibration judges the whirling vibration state deteriorating that might make driving wheel or when with about the difference of friction factor on the corresponding road surface of driving wheel judge the whirling vibration state deteriorating that might make driving wheel when being used for to the reference value judged along separate routes, therefore can judge whether reliably because the output that reduces unit reduction motor by motor output makes the whirling vibration state deteriorating of driving wheel.

In addition, in the above-described configuration, also can be in the following way: driving-force control apparatus has the unit that calculates the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, driving force reduce control unit according to described necessary degree more than or equal to two target drive force that front and back calculated of first reference value calculate than the reduction between described two target drive force change reduce reposefully target drive force that the control by the throttle opening control unit that changes obtains and than the reduction between described two target drive force change the reduction that reduces the target drive force that changes and obtain than control reposefully by the throttle opening control unit change promptly reduce change reduce the target drive force that the control of unit obtains by throttle opening control unit and motor output, the deviation of the target drive force that obtains more than or equal to second reference value and by the control of throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and motor output when described necessary degree is during more than or equal to deviation judgment standard value, driving force reduces control unit and reduces the output that the unit reduces motor by motor output, even if the deviation of the target drive force that described necessary degree obtains more than or equal to second reference value and by the control of throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and motor output is more than or equal to deviation judgment standard value, and when going out the whirling vibration state deteriorating that might make driving wheel, forbid the unit also no thoroughfare that motor output reduces the output that the unit reduces motor by whirling vibration state judgment unit judges.

According to this formation, even if the deviation of the target drive force that necessary degree obtains more than or equal to second reference value and by the control of throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and motor output is more than or equal to deviation judgment standard value, and when going out the whirling vibration state deteriorating that might make driving wheel by whirling vibration state judgment unit judges, the output of also no thoroughfare motor reduces the output that the unit reduces motor, even if reduce the output of unit reduction motor by motor output therefore also can prevent from reliably to reduce output that the unit reduces motor and work as the whirling vibration state deteriorating that might make driving wheel by motor output the time and the whirling vibration state deteriorating of the driving wheel that causes thus.

In addition, in the above-described configuration, also can be in the following way: when the rotating speed of motor is low, set deviation judgment standard value changeably according to the rotating speed of motor than mode at the rotating speed Gao Shixiao of motor according to deviation judgment standard value.

In general, the flow velocity of in-engine air or mixed gas etc. when the rotating speed of motor is low than low when the rotating speed of motor is high, thus owing to the step-down that underspeeds that reduces the motor output that throttle opening causes, in order to reduce motor output effectively, by motor output reduce necessity that the unit reduces motor output when the rotating speed of motor is low than rotating speed Gao Shigao at motor.

According to above-mentioned formation, can set deviation judgment standard value in the mode of the rotating speed Gao Shixiao of motor changeably according to the rotating speed of motor according to deviation judgment standard value ratio when the rotating speed of motor hangs down, therefore when can be at the rotating speed of motor low than the deviation of when the rotating speed of motor is high, judging described two target drive force easily more than or equal to deviation judgment standard value, can reduce the unit by motor output easily thus and reduce motor output.

In addition, in the above-described configuration, also can be in the following way: the target drive force that obtains according to the control by the throttle opening control unit reduces the slope that changes and reduce the slope that changes than setting the target drive force that the control by the throttle opening control unit obtains in the mode of the rotating speed Gao Shixiao of motor changeably according to the rotating speed of motor when the rotating speed of motor is low.

According to this formation, the target drive force that can obtain according to the control by the throttle opening control unit reduces the slope that changes and reduce the slope that changes than setting the target drive force that the control by the throttle opening control unit obtains in the mode of the rotating speed Gao Shixiao of motor changeably according to the rotating speed of motor when the rotating speed of motor is low, therefore when can be at the rotating speed of motor low than the deviation that when the rotating speed of motor is high, strengthens described two target drive force, the deviation of described two target drive force can reduce the unit by motor output and reduce motor output thus easily easily more than or equal to deviation judgment standard value.

In addition, in the above-described configuration, also can be in the following way: the throttle opening control unit be controlled throttle opening according to the target drive force that the control by the throttle opening control unit obtains.

According to this formation, therefore the target drive force that can obtain according to the control by the throttle opening control unit is controlled throttle opening, can change the reduction that corresponding mode is controlled throttle opening according to the reduction of the target drive force that obtains with control by the throttle opening control unit.

In addition, in the above-described configuration, also can be in the following way: the deviation that motor output reduces the target drive force that the unit obtains according to the control by the throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and motor output reduces the output of motor.

According to this formation, the deviation of the target drive force that the target drive force that can obtain according to the control by the throttle opening control unit and the control that is reduced the unit by the output of throttle opening control unit and motor obtain reduces the output of motor, therefore can change the reduction that corresponding mode is controlled throttle opening according to the reduction of the target drive force that obtains with control, and can change corresponding mode according to the reduction of the target drive force that obtains with the control that reduces the unit by motor output and reduce the output that the unit reduces motor by motor output by the throttle opening control unit.

In addition, in the above-described configuration, also can be in the following way: when described necessary degree more than or equal to the rotating speed of second reference value and motor during smaller or equal to engine speed judgment standard value, driving force reduces control unit and reduces the output that the unit reduces motor by motor output.

As mentioned above, the flow velocity of in-engine air or mixed gas etc. when the rotating speed of motor is low than low when the rotating speed of motor is high, thus owing to the step-down that underspeeds that reduces the motor output that throttle opening causes, in order to reduce motor output effectively, preferably when the rotating speed of motor hangs down, reduce the unit and reduce motor output reliably by motor output.

According to above-mentioned formation, when described necessary degree more than or equal to the rotating speed of second reference value and motor during smaller or equal to engine speed judgment standard value, reduce the output that the unit reduces motor by motor output, reduce the unit by motor output in the time of therefore can hanging down and reduce motor output reliably at the rotating speed of motor.In addition, if necessary degree more than or equal to the situation of second reference value under the rotating speed of motor smaller or equal to engine speed judgment standard value, then can begin to reduce the reduction of the motor output of carrying out the unit immediately by motor output, therefore the reduction of the motor output of carrying out the unit can be earlier begun to reduce than the situation of the formation of aforesaid way 2 to 6, the driving force of vehicle can be reduced thus earlier by motor output.

In addition, in the above-described configuration, also can be in the following way: when described necessary degree more than or equal to the rotating speed of second reference value and motor during smaller or equal to engine speed judgment standard value, driving force reduces control unit and reduces the output that the unit reduces motor by motor output, even if described necessary degree more than or equal to the rotating speed of second reference value and motor smaller or equal to engine speed judgment standard value, and when going out the whirling vibration state deteriorating that might make driving wheel, forbid the unit also no thoroughfare that motor output reduces the output that the unit reduces motor by whirling vibration state judgment unit judges.

As mentioned above, the flow velocity of in-engine air or mixed gas etc. when the rotating speed of motor is low than low when the rotating speed of motor is high, thus owing to the step-down that underspeeds that reduces the motor output that throttle opening causes, in order to reduce motor output effectively, preferably when the rotating speed of motor hangs down, reduce the unit and reduce motor output reliably by motor output, but in the time might making the whirling vibration state deteriorating of driving wheel, no matter the rotating speed of motor is how, the preferred output that does not reduce unit reduction motor by motor output.

According to above-mentioned formation, even if necessary degree more than or equal to the rotating speed of second reference value and motor smaller or equal to engine speed judgment standard value, and when judging the whirling vibration state deteriorating that might make driving wheel, the output of also no thoroughfare motor reduces the output that the unit reduces motor, even if reduce the output of unit reduction motor by motor output therefore can prevent from reliably to reduce output that the unit reduces motor and work as the whirling vibration state deteriorating that might make driving wheel by motor output the time and the deterioration of the whirling vibration state of the driving wheel that causes thus.

In addition, in the above-described configuration, also can be in the following way: driving-force control apparatus has the unit that calculates the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, will be poor more than or equal to the difference of two target drive force that front and back calculated of first reference value as the datum target driving force in described necessary degree, according to engine speed judgment standard value when datum target driving force difference is big than setting engine speed judgment standard value changeably according to datum target driving force difference in a datum target driving force difference hour big mode.

In general, ratio is also big in the reduction amount of the driving force of the datum target driving force difference hour actual vehicle that must reduce when datum target driving force difference is big, therefore the height that underspeeds of preferred engine output, therefore by motor output reduce necessity that the unit reduces motor output when datum target driving force difference is big than hour high in datum target driving force difference.

According to above-mentioned formation, according to engine speed judgment standard value when datum target driving force difference is big than setting engine speed judgment standard value changeably according to datum target driving force difference in a datum target driving force difference hour big mode, engine speed when datum target driving force difference is big than can reducing the unit by motor output easily thus and reduce motor output easily smaller or equal to engine speed judgment standard value in datum target driving force difference hour.

In addition, in the above-described configuration, also can be in the following way: set second reference value changeably according at least one of the transverse acceleration of the frictional behavior on road surface, vehicle and the speed of a motor vehicle.

According to this formation, can set second reference value changeably according at least one of the transverse acceleration of the frictional behavior on road surface, vehicle and the speed of a motor vehicle, with second reference value is that the situation of steady state value is compared, can be rightly the delay by ignition timing reduces motor output according to the travelling state of vehicle.

In addition, in the above-described configuration, also can be in the following way: when the rotating speed of motor is low, set second reference value changeably according to the rotating speed of motor than mode at the rotating speed Gao Shixiao of motor according to second reference value.

According to this formation, can set second reference value in the mode of the rotating speed Gao Shixiao of motor changeably according to the rotating speed of motor according to second reference value ratio when the rotating speed of motor hangs down, therefore when the rotating speed of motor is low, judge described necessary degree more than or equal to second reference value, can reduce the unit by motor output easily thus and reduce motor output than easier when the rotating speed of motor is high.

In addition, in the above-described configuration, also can be in the following way: driving force reduces control unit according to judging described necessary degree based at least one of the friction factor on the degree of the driving slippage of the amount of lowering the requirement of the target drive force of the vehicle of the motion state of travelling of vehicle, driving wheel and road surface.

According to this formation, can be according to judging the necessary degree that the driving force of vehicle reduces based at least one of the friction factor on the degree of the driving slippage of the amount of lowering the requirement of the target drive force of the vehicle of the motion state of travelling of vehicle, driving wheel and road surface, therefore can reduce the target drive force of vehicle rightly, with driving slippage that suitably reduces driving wheel and the motion of travelling of guaranteeing vehicle stabilization.

In addition, in the above-described configuration, also can be in the following way: driving force reduces control unit by calculating the target drive force that the control by throttle valve control unit obtains to changing the calculating of carrying out filtration treatment by very first time constant in necessary degree more than or equal to the reduction of the target drive force between two target drive force that front and back calculated of first reference value, and the reduction of the target drive force between two target drive force changed to calculate by throttle valve control unit and motor output by the calculating of carrying out filtration treatment than very first time constant second time constant greatly reduces the target drive force that the control of unit obtains.

In addition, in the above-described configuration, also can be in the following way: driving-force control apparatus has the unit that calculates the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, driving force reduce control unit according to calculate more than or equal to two target drive force that front and back calculated of first reference value in necessary degree than the reduction between two target drive force change reduce reposefully target drive force that the control by throttle valve control unit that changes obtains and than the reduction between two target drive force change the reduction that reduces the target drive force that changes and obtain than control reposefully by throttle valve control unit change promptly reduce change reduce the target drive force that the control of unit obtains by throttle valve control unit and motor output, when necessary degree during more than or equal to described first reference value, the throttle opening control unit is controlled throttle opening according to the target drive force that the control by throttle valve control unit obtains.

In addition, in the above-described configuration, also can be in the following way: when necessary degree during more than or equal to second reference value, target drive force that the ignition timing control unit obtains according to the control by throttle valve control unit and the output that reduces motor by the deviation that throttle valve control unit and motor output reduce the target drive force that the control of unit obtains.

In addition, in the above-described configuration, also can be in the following way: it be the ignition timing control unit that motor output reduces the unit, driving force reduces control unit and changes and promptly reduce the target drive force that the control by throttle opening control unit and ignition timing control unit that changes obtains according to calculating to change to reduce target drive force that the control by the throttle opening control unit that changes obtains reposefully and change the reduction that reduces the target drive force that changes and obtain than the control by the throttle opening control unit reposefully than the reduction between described two target drive force than the reduction between described two target drive force more than or equal to two target drive force that front and back calculated of first reference value in described necessary degree, and the deviation of the target drive force that obtains of the target drive force that obtains more than or equal to second reference value and by the control of throttle opening control unit when described necessary degree and control by throttle opening control unit and ignition timing control unit postpones the ignition timing by the control of ignition timing control unit during more than or equal to deviation judgment standard value.

In addition, in the above-described configuration, also can be in the following way: when described necessary degree during more than or equal to second reference value, the target drive force that the ignition timing control unit obtains according to the control by the throttle opening control unit postpones to revise ignition timing with the deviation of the target drive force that the control by throttle opening control unit and ignition timing control unit obtains.

In addition, in the above-described configuration, also can be in the following way: it be that fuel duty reduces the unit that motor output reduces the unit, driving force reduce control unit according to described necessary degree more than or equal to two target drive force that front and back calculated of first reference value calculate than the reduction between described two target drive force change reduce reposefully target drive force that the control by the throttle opening control unit that changes obtains and than the reduction between described two target drive force change the reduction that reduces the target drive force that changes and obtain than control reposefully by the throttle opening control unit change promptly reduce change reduce the target drive force that the control of unit obtains by throttle opening control unit and fuel duty, and the deviation of the target drive force that obtains more than or equal to second reference value and by the control of throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and fuel duty when described necessary degree reduces the unit by fuel duty and reduces to motor supplied fuel supply during more than or equal to deviation judgment standard value.

In addition, in the above-described configuration, also can be in the following way: when described necessary degree during more than or equal to second reference value, the deviation that fuel duty reduces the target drive force that the unit obtains according to the control by the throttle opening control unit target drive force that obtains and the control that is reduced the unit by throttle opening control unit and fuel duty reduces to motor supplied fuel supply.

In addition, in the above-described configuration, also can be in the following way: the mode than the friction factor Gao Shixiao on road surface be set second reference value changeably according to the friction factor on road surface when low according to the friction factor of second reference value on the road surface.

In addition, in the above-described configuration, also can be in the following way: according to second reference value when the size of the transverse acceleration of vehicle is big than variable size ground setting second reference value of hour little mode of the size of the transverse acceleration of vehicle according to the transverse acceleration of vehicle.

In addition, in the above-described configuration, also can be in the following way: according to second reference value when the speed of a motor vehicle is high when lower than the speed of a motor vehicle little mode set second reference value changeably according to the speed of a motor vehicle.

In addition, in the above-described configuration, also can be in the following way: vehicle has the motion control device that travels that makes the motion stabilization that travels of vehicle by the braking and drive force of control vehicle or wheel, judges the necessary degree that the driving force of vehicle reduces according to the amount of lowering the requirement of the target drive force of the vehicle that the control of the braking and drive force of vehicle or wheel is accompanied with the motion control device that travels.

In addition, in the above-described configuration, also can be in the following way: even if necessary degree is more than or equal to second reference value, and when going out the whirling vibration state deteriorating that might make at least one driving wheel, forbid the unit also no thoroughfare that motor output reduces the output that the unit reduces motor by whirling vibration state judgment unit judges.

In addition, in the above-described configuration, also can be in the following way: the unit that detects the whirling vibration of driving wheel comprises the unit of the wheel velocity that detects driving wheel, and detects the whirling vibration of driving wheel according to the cyclical swing of the wheel velocity of driving wheel.

In addition, in the above-described configuration, also can be in the following way: according to be used for to the reference value judged along separate routes with about the low person's of friction factor the friction factor on the corresponding road surface of driving wheel set changeably according to described low person's friction factor than the mode of described low person's friction factor Gao Shixiao when low and be used for the reference value judged along separate routes.

Description of drawings

Figure 1A is first embodiment's of the driving-force control apparatus for vehicle among expression rear wheel drive vehicle applied the present invention brief configuration figure, and Figure 1B is first embodiment's of this driving-force control apparatus of expression the block diagram of control system;

Fig. 2 is the flow chart that is illustrated in the target drive force calculation routine of the vehicle of finishing by braking force control device among first embodiment;

Fig. 3 is the flow chart that is illustrated in the Correction and Control routine of the target drive force of the vehicle of finishing by braking force control device among first embodiment and ignition timing;

Fig. 4 is the flow chart that is illustrated in the control routine of the throttle opening finished by engine controlling unit among first embodiment and ignition timing;

The plotted curve of the example that the reduction of target drive force Fxt1 that Fig. 5 is the target drive force Fxt of expression among first embodiment, obtained by the reduction control of throttle opening and the target drive force Fxt2 that obtained by the delay control of the reduction control of throttle opening and ignition timing changes;

To be expression calculate the figure of the mapping of usefulness based on the second reference value SAa2 of the coefficientoffriction on the absolute value of the lateral acceleration G y of vehicle velocity V b, vehicle and road surface to Fig. 6;

Fig. 7 is the mapping of usefulness is calculated in expression based on the deviation judgment standard value Fxt3 of engine speed Ne figure;

Fig. 8 is that the lower the requirement delay of flag F th and ignition timing of judgement, the throttle opening in the step 315,345,355 of presentation graphs 3 requires the sequential chart of example of the variation of flag F ig;

Fig. 9 is a flow chart of representing in a second embodiment the Correction and Control routine of the target drive force of the vehicle finished by braking force control device and ignition timing;

The plotted curve of the example that the reduction of target drive force Fxt1 that Figure 10 is the target drive force Fxt of expression among second embodiment, obtained by the reduction control of throttle opening and the target drive force Fxt2 that obtained by the delay control of the reduction control of throttle opening and ignition timing changes;

Figure 11 is the flow chart that is illustrated in the Correction and Control routine of the target drive force of the vehicle of finishing by braking force control device among the 3rd embodiment and ignition timing;

Figure 12 is that the reference value Ne3 of the deviation delta Fxt of expression based target driving force calculates the figure of the mapping of usefulness;

Figure 13 is that the lower the requirement delay of flag F th and ignition timing of judgement, the throttle opening in the step 315,345,365 of expression Figure 11 requires the sequential chart of example of the variation of flag F ig;

Figure 14 is the flow chart that is illustrated in the Correction and Control routine of the target drive force of the vehicle of finishing by braking force control device among the 4th embodiment of the driving-force control apparatus for vehicle among the present invention who constitutes as first embodiment's correction example and ignition timing;

Figure 15 is the flow chart that is illustrated in the Correction and Control routine of the target drive force of the vehicle of finishing by braking force control device among the 5th embodiment of the driving-force control apparatus for vehicle among the present invention who constitutes as second embodiment's correction example and ignition timing;

Figure 16 is the flow chart that is illustrated in the Correction and Control routine of the target drive force of the vehicle of finishing by braking force control device among the 6th embodiment of the driving-force control apparatus for vehicle among the present invention who constitutes as the 3rd embodiment's correction example and ignition timing.

Embodiment

Followingly describe several preferred embodiment of the present invention in detail with reference to accompanying drawing.

First embodiment

Figure 1A is first embodiment's of the driving-force control apparatus for vehicle among expression rear wheel drive vehicle applied the present invention brief configuration figure, and Figure 1B is first embodiment's of this driving-force control apparatus of expression the block diagram of control system.

In Fig. 1, driving-force control apparatus 10 is carried on vehicle 12, comprising: braking force control device 14, control the motion of travelling of vehicle by the braking and drive force of control vehicle and wheel; And engine controlling unit 18, control spark ignition engines 16.The driving force of motor 16 passes to transmission shaft 26 via the automatic transmission 24 that comprises torque converter 20 and speed changer 22.The driving force of transmission shaft 26 passes to left rear wheel axletree 30L and off hind wheel axletree 30R by differential mechanism 28, can drive thus as trailing wheel 32RL about driving wheel and the rotation of 32RR.

Front-wheel 32FL and 32FR about one side are followers, and be deflecting roller, this front-wheel 32FL and 32FR by in response to the driver to the handling maneuver of steering wheel and driven rack pinion formula power steering gear turns to known main points via steering tie rod, Fig. 1 does not illustrate this power steering gear.

The suction air quantity of motor 16 is set at throttle valve 36 controls on the inlet air pathway 34, and throttle valve 36 is comprised that the throttle actuator 38 of motor drives.The aperture of throttle valve 36, be throttle opening, control via throttle actuator 38 by engine controlling unit 18 according to the amount of treading in by accelerator position sensor 40 detected accelerator pedals 42.In addition, be provided with the sparger 44 of injection such as fuel such as gasoline at the air supply opening of each cylinder of the inlet air pathway 34 of motor 16, the fuel injection amount of sparger 44, promptly to motor 16 supplied fuel supplys according to controlling by engine controlling unit 18 by the suction air quantity Ra that does not have illustrated Air flow meter to detect, control the increase and decrease of the output of motor thus.

Just as known in the art, the fuel that ejects by sparger 44 with enter air mixing, this mixed gas burns by the plug ignition that Fig. 1 does not illustrate, and produces the driving force of motor 16 thus.The discharge manifold that the waste gas that produces owing to combustion of mixed gas does not illustrate by Fig. 1 is discharged to outlet pipe 46, and by being arranged on after exhaust gas purifying catalyst 48 in the outlet pipe 46 purifies, the baffler that does not illustrate through Fig. 1 is discharged in the atmosphere.

From the tread in amount (accelerator opening Ap) of accelerator position sensor (AP sensor) 40 to engine controlling unit 18 input expression accelerator pedals 42, from the signal of throttle position sensor (TP sensor) to the aperture φ of engine controlling unit 18 input expression throttle valve 36, from the signal of engine rotation speed sensor (Ne sensor) to engine controlling unit 18 input expression engine speed Ne, in addition, the sensor of other that do not illustrate from figure is to the signal of needed other information of control of engine controlling unit 18 input expression motors.

By front-wheel 32FL, 32FR about controlling by the retardation pressure of the corresponding wheel cylinder 58FL of oil hydraulic circuit 56 control of braking device 54,58FR, 58RL, 58RR and about trailing wheel 32RL, the braking force of 32RR.Though do not illustrate, but oil hydraulic circuit 56 comprises storage, oil pump and various control valve units etc., pressure in each wheel cylinder, be that the retardation pressure of each wheel is controlled the pressure of trampling in the master cylinder 62 that operation drives of brake petal 60 according to the driver when common, and be controlled as the pressure high pressure interior by control oil hydraulic circuit 56 as required than master cylinder 62.

Shown in Figure 1B, from the signal of lateral acceleration sensor 64 to the lateral acceleration G y of braking force control device 14 input expression vehicles, from corresponding to about wheel and the friction factor sensor 66A that is provided with and 66B to the coefficientoffriction A on braking force control device 14 input expression road surfaces and the signal of μ B, from vehicle-wheel speed sensor 68i (i=FL, FR, RL, RR) to the wheel about braking force control device 14 input expressions and about the signal of wheel velocity Vwi (i=FL, FR, RL, RR) of trailing wheel.In addition, braking force control device 14, engine controlling unit 18, the gear change control device 70 of control that carries out the gear of automatic transmission 24 carry out necessary handshaking as required mutually.

In addition, braking force control device 14, engine controlling unit 18 and gear change control device 70 comprise CPU, ROM, RAM, input/output port device etc. in fact respectively, and these devices also can comprise microcomputer and the drive circuit by the interconnective known configurations of amphitropic common bus.When in addition, lateral acceleration sensor 64 turns left with vehicle the lateral acceleration G y that is just detecting vehicle.

Engine controlling unit 18 is according to accelerator opening Ap etc., by the known elementary object driving force Fxta that calculates vehicle that will get in the present technique field, and will represent that the signal of the elementary object driving force Fxta of vehicle exports to braking force control device 14.Braking force control device 14 is according to the travelling state of vehicle, especially the friction factor on road surface, the state of the driving slippage of driving wheel, the motion state of travelling of vehicle judges whether and need reduce the driving force of vehicle for travelling with making vehicle stabilization, when judging the driving force that needs the reduction vehicle, friction factor according to the road surface, the state of the driving slippage of driving wheel, the motion state of travelling of vehicle is calculated the target drive force Fxt that is used to make the vehicle that vehicle stabilization travels, and will represent that the signal of the target drive force Fxt of vehicle exports to engine controlling unit 18.Relative therewith, when braking force control device 14 is judged when need not to reduce the driving force of vehicle, the target drive force Fxt of vehicle is set at elementary object driving force Fxta, and will represents that the signal of the target drive force Fxt of vehicle exports to engine controlling unit 18.

Engine controlling unit 18 calculates the target shift speed shelves St and the target throttle valve φ t of automatic transmission 24 according to the target drive force Fxt of vehicle, and will represent that target shift speed shelves St signal exports to gear change control device 70.Gear change control device 70 control automatic transmission 24 are so that the gear of automatic transmission 24 becomes target shift speed shelves St.In addition, the Air flow meter detected suction air quantity Ra that do not illustrate according to Fig. 1 of engine controlling unit 18 and the engine speed Ne target degree of advance θ t that calculates ignition timing.

Especially in illustrated first embodiment, braking force control device 14 is according to the wheel velocity Vmi of each wheel that is detected by vehicle-wheel speed sensor 68i, calculate vehicle body speed (speed of a motor vehicle) Vb by well-known in the art will getting, and the driving slippage SArl, the SArr that calculate left and right sides trailing wheel according to the wheel velocity and the vehicle body speed Vb of left and right sides trailing wheel, the desired value of the necessary degree that the mean value SAa of driving slippage SArl, the SArr of left and right sides trailing wheel is reduced as the driving force of expression vehicle and calculating.

And, whether braking force control device 14 judge index value SAa are more than or equal to first reference value SAa1 (positive constant), as desired value SAa during less than first reference value SAa1, the throttle opening flag F th that lowers the requirement is changed to 0, and will represents that the throttle opening flag F th that lowers the requirement is that 0 signal is exported to engine controlling unit 18.

In addition, when desired value SAa when having become less than first reference value SAa1 more than or equal to first reference value SAa1, as shown in Figure 5, compare as changing with the reduction of target drive force Fxt, promptly change and compare the value that reduces variation more reposefully with the reduction of the target drive force Fxt (Fxtb) of the vehicle that will to desired value SAa is more than or equal to first reference value SAa1 after, and then calculate more than or equal to the target drive force Fxt (Fxta) of the vehicle that is calculated before the first reference value SAa1 from desired value SAa, braking force control device 14 for example calculates by the reduction of throttle opening by the filtration treatment of target drive force Fxt and controls the target drive force Fxt1 that obtains, and, as changing steadily than the reduction of target drive force Fxt and promptly reduce the value of variation than target drive force Fxt1, braking force control device 14 for example calculates the target drive force Fxt2 that the delay control by the reduction control of throttle opening and ignition timing obtains by the filtration treatment of target drive force Fxt.

At this moment; the responsiveness that the reduction of the driving force of the vehicle that the time constant of the filtration treatment during target drive force Fxt1 that calculating is obtained by the reduction of throttle opening control causes according to the reduction by the aperture of throttle valve 36 changes is set, and the reduction of the driving force of the vehicle that the reduction of the aperture by throttle valve 36 when changing general value when being vehicle driving with engine speed Ne according to this reductions is thus finished changes corresponding mode and calculates by the reduction of throttle opening and control the target drive force Fxt1 that obtains.； The response that the reduction of the driving force of the vehicle that the time constant of the filtration treatment during target drive force Fxt2 that calculating is obtained by the delay control of the reduction control of throttle opening and ignition timing obtains according to the delay control by the reduction control of throttle opening and ignition timing changes is set, and the corresponding mode of reduction variation of the driving force of the vehicle that the reduction control by throttle opening when changing general value when being Vehicle Driving Cycle with engine speed Ne according to this reductions thus and the delay control of ignition timing are finished is calculated by the reduction control of throttle opening and the delay of ignition timing and controlled the target drive force Fxt2 that obtains.

In addition, as desired value SAa during more than or equal to first reference value SAa1, braking force control device 14 calculates target throttle valve φ tb according to the target drive force Fxt1 that the control by throttle opening obtains, and the throttle opening flag F th that lowers the requirement is changed to 1, and will represents that target throttle valve φ tb and the throttle opening flag F th that lowers the requirement is that 1 signal is exported to engine controlling unit 18.

Lower the requirement flag F th when being 0 signal when receive the expression throttle opening from braking force control device 14, and engine controlling unit 18 control throttle actuator 38 are so that the aperture of throttle valve 36 becomes target throttle valve φ t.Relative therewith, when the signal that receives expression target throttle valve φ tb from braking force control device 14 and expression throttle opening lower the requirement flag F th when being 1 signal, engine controlling unit 18 control throttle actuator 38, so that the aperture of throttle valve 36 becomes target throttle valve φ tb, reduce the output of motor 16 thus.

In addition, when desired value SAa more than or equal to the second reference value SAa2 bigger than first reference value SAa1 (on the occasion of) time, braking force control device 14 judge the target drive force Fxt2 that target drive force Fxt1 that the reduction control by throttle opening obtains and delay control by the reduction control of throttle opening and ignition timing obtain deviation delta Fxt (=Fxt1-Fxt2) whether more than or equal to deviation judgment standard value Fxt3 (positive constant).Then, as the deviation delta Fxt of target drive force during more than or equal to deviation judgment standard value Fxt3, braking force control device 14 calculates the delay reduction value θ tb of ignition timing according to the deviation delta Fxt of target drive force, and require flag F ig to be changed to 1 the delay of ignition timing, it is that 1 signal is exported to engine controlling unit 18 that the delay of expression delay reduction value θ tb of ignition timing and ignition timing is required flag F ig.

In addition, when desired value SAa more than or equal to first reference value SAa1 during less than the second reference value SAa2 and the deviation delta Fxt of desired value SAa target drive force during less than deviation judgment standard value Fxt3 more than or equal to the second reference value SAa2, the delay reduction value θ tb of ignition timing is changed to 0, and requires flag F ig to be changed to 0 the delay of ignition timing.

Engine controlling unit 18 is in the delay that receives the expression ignition timing from braking force control device 14 when to require flag F ig be 0 signal, control distributor 72 according to the target degree of advance θ t before revising, the timing of the spark plug output initial firing current of control ignition timing thus, each cylinder of promptly not illustrating from 52 couples of Fig. 1 of distributor.Relative therewith, engine controlling unit 18 is in the delay that receives the expression ignition timing from braking force control device 14 when to require flag F ig be 1 signal, the target degree of advance θ t of ignition timing is postponed reduction value θ tb to postponing a side correction, control branch electricity 72 according to postponing revised target degree of advance θ ta (θ t-θ tb), thus by ignition timing being postponed reduce the output of motor 16.

The target drive force production routine of the vehicle of finishing by braking force control device 14 in first embodiment is described below with reference to flow chart shown in Figure 2.In addition, begin, carry out repeatedly every preset time based on the control of flow chart shown in Figure 2 closure by the ignition switch that do not illustrate among the figure.And, also be the same for control based on other flow charts described later.

At first, in step 210, read expression by signal of the detected wheel velocity Vwi of vehicle-wheel speed sensor 68i etc., in step 220, whether become to worsen to be spin states or drifting state etc. by the travel situations of judging vehicle of will getting well-known in the art, when having carried out negative evaluation, advance to step 250, when having carried out affirmative determination, in step 220, be calculated as the target drive force Fxt that the travel situations that makes vehicle is stablized needed vehicle by well-known in the art will getting.

The driving slippage SArl, the SArr that in step 225, calculate left and right sides trailing wheel, and the desired value SAa of the necessary degree that the mean value calculation of driving slippage SArl, the SArr of left and right sides trailing wheel is reduced as the driving force of expression vehicle according to wheel velocity VwRL, VwRR and the vehicle body speed Vb of left and right sides trailing wheel.

In step 230 judge index value SAa whether more than or equal to first reference value SAa1, promptly judging whether need be based on the reduction control of the output torque of the motor 16 of the control of throttle opening, when having carried out negative evaluation, advance to step 240, when having carried out affirmative determination, in step 235, be calculated as the target drive force Fxt that reduces the needed vehicle of driving slippage of left and right sides trailing wheel by well-known in the art will getting according to desired value SAa.

In step 240 as calculating the coefficientoffriction on road surface by the mean value of the coefficientoffriction A on friction factor sensor 66A and the detected road surface of 66B and μ B, and whether the coefficientoffriction of judging the road surface is smaller or equal to reference value μ o (positive constant), whether the driving slippage of promptly judging left and right sides trailing wheel might be excessive, when having carried out negative evaluation, advance to step 250, when having carried out affirmative determination, in step 245, to get the target drive force Fxt that has been calculated as the excessive needed vehicle of possibility of the driving slippage that reduces left and right sides trailing wheel by well-known in the art according to the coefficientoffriction on road surface.

In step 250, the target drive force Fxt1 of vehicle is set at the elementary object driving force Fxta of vehicle, and in step 255, the target drive force Fxt of the vehicle that will calculate in step 220,235,245 or 250 exports to engine controlling unit 18.

Below with reference to flow chart shown in Figure 3 the target drive force of the vehicle of finishing by braking force control device 14 and the Correction and Control routine of ignition timing are described in first embodiment.

At first, in step 310, read the signal of the desired value SAa that calculates in the target drive force calculation routine that is illustrated in vehicle shown in Figure 2 etc., in step 315 judge index value SAa whether more than or equal to first reference value SAa1, promptly judging whether need be based on the reduction control of the output torque of the motor 16 of the control of throttle opening, when having carried out affirmative determination, advance to step 325, when having carried out negative evaluation, the flag F th that in step 320 throttle opening lowered the requirement is changed to 0, advances to step 380 then.

In step 325, as than changing the value that reduces variation reposefully to desired value SAa more than or equal to the reduction of the target drive force Fxt of the vehicle of the target drive force Fxt of the vehicle that and then calculates first reference value SAa1 after more than or equal to the target drive force Fxt of the vehicle that calculates before the first reference value SAa1 from desired value SAa, for example calculate by the reduction of throttle opening and control the target drive force Fxt1 that obtains by the filtration treatment of target drive force Fxt, and, for example calculate the target drive force Fxt2 that the delay control by ignition timing obtains by the filtration treatment of target drive force Fxt as changing steadily than the reduction of target drive force Fxt and promptly reducing the value of variation than target drive force Fxt1.

The throttle opening flag F th that lowers the requirement is changed to 1 in step 335, and calculate the target throttle valve φ tb that the driving force that is used to make vehicle becomes target drive force Fxt1 according to the target drive force Fxt1 that obtains by the reduction of throttle opening control with from the information of the gear of the automatic transmission 24 of gear change control device 70 inputs, in step 340, calculate the second reference value SAa2 relevant by mapping graph shown in Figure 6 with desired value SAa according to the lateral acceleration G y of vehicle velocity V b, vehicle, the coefficientoffriction and the engine speed Ne on road surface.At this moment, as shown in Figure 6, calculate the second reference value SAa2 according to low more then more little, the low more then more little mode of engine speed Ne of the big more coefficientoffriction then more little, the road surface of absolute value of the lateral acceleration G y of high more then more little, the vehicle of vehicle velocity V b.

In step 345 judge index value SAa whether more than or equal to the second reference value SAa2, promptly judging whether need be based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing, when having carried out negative evaluation, advance to step 380, when having carried out affirmative determination, advance to step 350.

In step 350,, come calculation deviation judgment standard value Fxt3 by mapping graph shown in Figure 7 according to engine speed Ne according to the more little mode of the low more then deviation of engine speed Ne judgment standard value Fxt3.

Whether the deviation delta Fxt that judges the target drive force Fxt2 that target drive force Fxt1 that the control by throttle opening obtains and delay control by ignition timing obtain in step 355 is more than or equal to deviation judgment standard value Fxt3, promptly judge whether it is the situation of permission based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing, when having carried out affirmative determination, advance to step 385, when having carried out negative evaluation, the delay of ignition timing requires flag F ig to be changed to and closes (off) in step 380, and the delay reduction value θ tb of ignition timing is set at 0, advances to step 390 then.

The delay of ignition timing requires flag F ig to be changed to 1 in step 385, and calculate the delay reduction value θ t of ignition timing according to the target drive force Fxt2 that the delay control by ignition timing obtains according to the mode that the delay reduction value θ t that is controlled the more little then ignition timing of target drive force Fxt2 that obtains by the delay of ignition timing is big more, in step 390, will represent the throttle opening flag F th that lowers the requirement, target throttle valve φ stb, the delay of ignition timing requires flag F ig, and the signal of the delay reduction value θ t of ignition timing exports to engine controlling unit 18, turns back to step 310 then.

Below with reference to flow chart shown in Figure 4 the throttle opening finished by engine controlling unit 18 and the control routine of ignition timing are described in first embodiment.

At first, in step 410, read the signal of the target drive force Fxt that represents vehicle etc., in step 415, to get the target shift speed shelves St that calculates automatic transmission 24 by well-known in the art, and will represent that the signal of target shift speed shelves St exports to gear change control device 70 according to target drive force Fxt.

Calculate target throttle valve φ t according to target drive force Fxt1 by well-known in the art will getting in step 420, basis is calculated the target degree of advance θ t of ignition timing by Air flow meter detected suction air quantity Ra and engine speed Ne in step 425.

Judge in step 430 whether the throttle opening flag F th that lowers the requirement is 1, promptly judges whether to reducing the situation of throttle opening, when having carried out negative evaluation, the mode that becomes target throttle valve φ t according to the aperture that makes throttle valve 36 in step 435 is controlled throttle actuator 38, when having carried out affirmative determination, the mode that becomes the target throttle valve φ tb that has reduced according to the aperture that makes throttle valve 36 in step 440 is controlled throttle actuator 38.

Whether the delay of judging ignition timing in step 445 requires flag F ig to be 1, promptly to judge whether to answering the situation of retarded spark timing, when having carried out negative evaluation, in step 445, control distributor 72 according to the target degree of advance θ t before revising, when having carried out affirmative determination, in step 450, control distributor 72 according to postponing revised target degree of advance θ ta (=θ t-θ tb).

Like this, according to illustrated first embodiment, in the target drive force calculation routine of vehicle shown in Figure 2, when friction factor according to the road surface, when the state of the driving slippage of driving wheel and the motion state of travelling of vehicle are judged and are need not to reduce the driving force of vehicle for travelling with making vehicle stabilization, the target drive force Fxt of vehicle is set to the elementary object driving force Fxta that calculates according to accelerator opening Ap etc., when friction factor according to the road surface, when the state of the driving slippage of driving wheel and the motion state of travelling of vehicle were judged and needed to reduce the driving force of vehicle for travelling with making vehicle stabilization, the target drive force Fxt of vehicle was according to the friction factor on road surface, the state of the driving slippage of driving wheel and the motion state of travelling of vehicle are calculated the target drive force Fxt that is used to make the vehicle that vehicle stabilization travels.

In addition, the desired value SAa of the necessary degree that reduces by the driving force of in the step 315 of the Correction and Control routine of the target drive force of the vehicle shown in Fig. 3 and ignition timing, judging the expression vehicle, be the mean value of driving slippage SArl, SArr of left and right sides trailing wheel whether more than or equal to first reference value SAa1, judging whether need be based on the reduction control of the output torque of the motor 16 of the control of throttle opening.

Then, when in step 315, having carried out affirmative determination, in step 330, reduce the value that changes more reposefully as changing to compare with the reduction of target drive force Fxt, the corresponding mode of responsiveness that reduces according to the driving force of the vehicle that causes with reduction control by the throttle opening of reality is calculated the target drive force Fxt1 that the reduction control by throttle opening obtains, and change and promptly reduce the value of variation as changing to compare to reduce more reposefully, the corresponding mode of responsiveness that reduces according to driving force and calculate the target drive force Fxt2 that the delay control by the reduction control of throttle opening and ignition timing obtains with the vehicle of the delay control of the reduction control of the throttle opening of reality and actual ignition timing than target drive force Fxt1 with the reduction of target drive force Fxt.

In addition, whether need based on the reduction control of delay output torque control, motor 16 of ignition timing, whether target drive force Fxt1 that obtains by the control of judging in step 355 by throttle opening and the deviation delta Fxt of the target drive force Fxt2 that the delay control by ignition timing obtains judge whether to be in the situation of permission based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing more than or equal to deviation judgment standard value Fxt3 by judge index value SAa in step 345 if judging whether more than or equal to the second reference value SAa2.

Then, when in step 340,345,355, having carried out affirmative determination, by step 335,385 and Fig. 4 shown in the throttle opening and the

step

440 and 450 of the control routine of ignition timing carry out based on the reduction control of the output torque of the motor 16 of the reduction control of throttle opening with based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing.Relative therewith, carried out affirmative determination when in

step

345 or 355, having carried out negative evaluation or in step 330,345,355 and when in

step

370 or 375, having carried out affirmative determination when in step 330, having carried out affirmative determination, the

step

440 and 455 of the control routine by throttle opening shown in step 380 and Fig. 4 and ignition timing is only carried out the reduction control based on the output torque of the motor 16 of the control of throttle opening, not retarded spark timing and controlling as usually.

Therefore, according to this first embodiment, can be only big at desired value SAa, under the very high situation of the necessary degree that the output torque of motor 16 reduces, carry out based on the reduction control of the output torque of the motor 16 of the reduction of throttle opening control with based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing, therefore can reduce the driving force of vehicle and its necessary degree is not to prevent retarded spark timing under the very high situation at needs, thereby the temperature that prevents the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst 48 that causes thus, reduce throttle opening and retarded spark timing under the situation that the necessary degree that reduces by the driving force at vehicle is very high in addition, and can be reliably and reduce the output of motor effectively, thereby reliably and effectively reduce the driving force of vehicle.

As shown in Figure 8, for example by increase and decrease desired value SAa, the judgement of step 315 becomes affirmative determination at moment t1, and t10 becomes negative evaluation in the moment, the moment t2 of the judgement of step 345 after leaning on than moment t1 becomes affirmative determination, becomes negative evaluation at the moment t6 more forward than moment t10.In addition, the moment t3 of the judgement of step 355 after leaning on than moment t2 becomes affirmative determination, become negative evaluation and affirmative determination respectively at moment t4 and the t5 more forward than moment t6, moment t7 after leaning on than moment t6 becomes negative evaluation, and becomes affirmative determination and negative evaluation respectively at moment t8 and the t9 more forward than moment t10.

In this case, the flag F th that lowers the requirement from moment t1 to moment t10 throttle opening becomes 1, and the delay from moment t3 to moment t4 with from moment t5 to moment t6 ignition timing requires flag F ig to become 1.Therefore reduce throttle opening from moment t1 to t10, and retarded spark timing is from moment t3 to moment t4 and the time from moment t5 to moment t6.

In general, the flow velocity of air in the motor 16 or mixed gas etc. is ratio step-down when engine speed Ne is high when engine speed Ne is low, the step-down that underspeeds of the motor output that causes based on the reduction of throttle opening thus, therefore in order to reduce motor output effectively, when engine speed Ne is low, compare the necessity height of retarded spark timing when high with engine speed Ne.

Especially according to illustrated first embodiment, in step 350 based on mapping graph shown in Figure 7 according to the more little mode of the low more then deviation of engine speed Ne judgment standard value Fxt3, set deviation judgment standard value Fxt3 changeably according to engine speed Ne, therefore compare when high when engine speed Ne is low with engine speed Ne, the deviation delta Fxt that is judged as target drive force easily is more than or equal to deviation judgment standard value Fxt3, even if it is therefore low at engine speed Ne, owing to the reduction throttle opening causes under the low situation that underspeeds of motor output, also can reduce motor output effectively, can reduce the driving force of vehicle thus effectively by retarded spark timing.

Second embodiment

Fig. 9 is a flow chart of representing the Correction and Control routine of the target drive force of the vehicle finished by braking force control device 14 among second embodiment of driving-force control apparatus for vehicle in the present invention and ignition timing.In addition, in Fig. 9, give the step mark and the number of steps identical number of steps that among Fig. 3 mark identical with the step shown in Fig. 3.

In the present embodiment, carry out each step of the control routine of the target drive force calculation routine of vehicle and throttle opening and ignition timing in the same manner with above-mentioned first embodiment's situation.In addition, also the step 310 of Correction and Control routine of carrying out the target drive force of vehicle of present embodiment and ignition timing in the same manner with above-mentioned first embodiment's situation to 320, step 335 to 345 and step 355 to 390, but omit with above-mentioned first embodiment in the corresponding step of step 350.

As shown in Figure 9, in case in step 315, carried out affirmative determination, the target drive force Fxt2 that in step 330, calculates the target drive force Fxt1 that obtains by the reduction of throttle opening control in the same manner and obtain then by the delay control of ignition timing with above-mentioned first embodiment's situation, but, set the reduction slope of the target drive force Fxt1 that the reduction control by throttle opening obtains changeably more than or equal to the engine speed Ne in the moment of first reference value SAa1 according to desired value SAa as shown in figure 10 according to the more little mode of reduction slope of the low more target drive force Fxt1 that then obtains by the reduction of throttle opening control of engine speed Ne.In addition, the situation that the reduction slope of the driving force of the low more vehicle that is then obtained by the reduction control of throttle opening of this variable setting and engine speed Ne is more little is corresponding.

Like this, according to illustrated second embodiment, identical with above-mentioned first embodiment's situation, can be only big at desired value SAa, under the very high situation of the necessary degree that the output torque of motor 16 reduces, carry out based on the reduction control of the output torque of the motor 16 of the reduction of throttle opening control with based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing, therefore can reduce the driving force of vehicle and its necessary degree is not to prevent retarded spark timing under the very high situation at needs, thereby the temperature that prevents the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst that causes thus, reduce throttle opening and retarded spark timing under the situation that the necessary degree that reduces by the driving force at vehicle is very high in addition, and can be reliably and reduce the output of motor effectively, thereby reliably and effectively reduce the driving force of vehicle.

And, according to this second embodiment, according to the more little mode of reduction slope of the low more target drive force Fxt1 that then obtains by the reduction of throttle opening control of engine speed Ne, set the reduction slope of the target drive force Fxt1 that the reduction control by throttle opening obtains changeably more than or equal to the engine speed Ne in the moment of first reference value SAa1 according to desired value SAa.Therefore, the deviation delta Fxt of the low more then target drive force of engine speed Ne is big more, in step 355, carry out affirmative determination thus easily, therefore identical with above-mentioned first embodiment's situation, even if it is low at engine speed Ne, owing to reducing under the low situation that underspeeds that throttle opening causes motor output, also can reduce motor output effectively, can reduce the driving force of vehicle thus effectively by retarded spark timing.

The 3rd embodiment

Figure 11 is a flow chart of representing the Correction and Control routine of the target drive force of the vehicle finished by braking force control device 14 among the 3rd embodiment of driving-force control apparatus for vehicle in the present invention and ignition timing.In addition, in Figure 11, give the step mark and the number of steps identical number of steps that among Fig. 3 mark identical with the step shown in Fig. 3.

In the present embodiment, also carry out each step of the control routine of the target drive force calculation routine of vehicle and throttle opening and ignition timing in the same manner with above-mentioned first embodiment's situation.In addition, also with above-mentioned first embodiment's situation carry out in the same manner the target drive force of vehicle of present embodiment and ignition timing the Correction and Control routine step 310 to 345 and step 380 to 390, but replace

step

350 and 355 and execution in

step

360 and 365 respectively among above-mentioned first embodiment.

Execution in step 360 when in step 345, having carried out affirmative determination, calculating desired value SAa in step 360 will be more than or equal to the target drive force Fxt (Fxta) and the deviation delta Fxt of desired value SAa more than or equal to the target drive force Fxt (Fxtb) of the vehicle that and then calculates after the first reference value SAa1 of the vehicle that calculates before the first reference value SAa1, and calculates the reference value Ne3 relevant with engine speed Ne according to the deviation delta Fxt of target drive force by mapping graph shown in Figure 12.At this moment, as shown in figure 12, calculate reference value Ne3 according to the big more then big more mode of deviation delta Fxt of target drive force.

Judge that in step 365 engine speed Ne is whether smaller or equal to reference value Ne3, promptly judge whether to be in the situation of permission based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing, when having carried out affirmative determination, advance to step 385, when having carried out negative evaluation, advance to step 380.

Like this, according to illustrated the 3rd embodiment, identical with above-mentioned first embodiment's situation, under the very high situation of the necessary degree that output torque can be only big at desired value SAa, motor 16 reduces, carry out based on the reduction control of the output torque of the motor 16 of the reduction of throttle opening control with based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing

And, according to illustrated the 3rd embodiment, underspeeding of the motor output that causes owing to the reduction throttle opening under the low situation of engine speed Ne is low more, the easy more reduction of carrying out based on the output torque of the motor 16 of the delay of ignition timing control, therefore identical with above-mentioned first and second embodiments' situation, even under the low situation that underspeeds that causes motor to be exported owing to the reduction throttle opening, also can reduce the output of motor effectively, thereby reduce the driving force of vehicle effectively by the delay of ignition timing.

In addition, according to illustrated the 3rd embodiment, desired value SAa more than or equal to the second reference value SAa2, in

step

315 and 345, carry out under the situation of affirmative determination, if engine speed Ne is smaller or equal to reference value Ne3, then begin the delay of ignition timing, earlier begin the delay of ignition timing than above-mentioned first and second embodiments' situation, can earlier finish the reduction of motor output and the reduction of the driving force of the vehicle that causes thus.

For example Figure 13 show engine speed Ne smaller or equal to the situation of reference value Ne3 under the example of the variation of mark Fth and Fig under the situation of desired value SAa and Fig. 8 situation about changing in the same manner.As shown in figure 13, under the situation that is this 3rd embodiment, therefore the judgement of step 365 becomes affirmative determination at moment t2, and flag F ig becomes 1 at moment t2 thus, can earlier begin the delay of ignition timing than flag F ig becomes 1 above-mentioned first and second embodiments at moment t3 situation.In addition, the end of the delay of ignition timing is not shown in Figure 13, but as desired value SAa during less than the second reference value SAa2 or engine speed Ne when bigger than reference value Ne3, flag F ig becomes 0, thus the delay of end ignition timing.

Especially according to illustrated the 3rd embodiment, as shown in figure 12, calculate the reference value Ne3 relevant according to the big and big more more mode of the deviation delta Fxt of target drive force with engine speed Ne, therefore the deviation delta Fxt of target drive force is big more, necessity reduction amount of the driving force of vehicle is big more, thereby the easy more reduction of carrying out based on the output torque of the motor 16 of the delay of ignition timing control, with reference value Ne3 is that the situation of steady state value is compared, and can measure the delay control that judges whether to carry out ignition timing rightly according to necessity reduction of the driving force of vehicle.

The 4th embodiment

Figure 14 is the flow chart that is illustrated in the Correction and Control routine of the target drive force of the vehicle of finishing by braking force control device among the 4th embodiment of the driving-force control apparatus for vehicle among the present invention who constitutes as first embodiment's correction example and ignition timing.In addition, in Figure 14, give the step mark and the number of steps identical number of steps that among Fig. 3 mark identical with the step shown in Fig. 3.

In the 4th embodiment, braking force control device 14 is at the deviation delta Fxt that judges target drive force during more than or equal to deviation judgment standard value Fxt3, amplitude A wRL, the AwRR of trailing wheel 32RL about calculating according to wheel velocity VwRL, VwRR and the whirling vibration of 32RR as the trailing wheel about driving wheel, and judge that whether amplitude A wRL, AwRR are more than or equal to being used for the reference value Awo (positive constant) that whirling vibration is judged.

In addition, braking force control device 14 certain in judging amplitude A wRL and AwRR is when being used for reference value Awo that whirling vibration judges, calculate the coefficientoffriction A on road surface and the difference Δ μ of μ B, and whether the absolute value of judgement difference Δ μ is more than or equal to the reference value Δ μ o (positive constant) that is used for judging along separate routes.

Then, when the deviation delta Fxt of target drive force more than or equal to deviation judgment standard value Fxt3, and the amplitude A wRL of the whirling vibration of left and right sides trailing wheel and AwRR are all less than the absolute value of the coefficientoffriction A that is used for reference value Awo that whirling vibration judges and road surface and the difference Δ μ of μ B during smaller or equal to the reference value Δ μ o that is used for judgement along separate routes, braking force control device 14 calculates the delay reduction value θ tb of ignition timing according to the deviation delta Fxt of target drive force, and require flag F ig to be changed to 1 the delay of ignition timing, and the delay that will represent the delay reduction value θ tb of ignition timing and ignition timing to require flag F ig be that 1 signal is exported to engine controlling unit 18.

Relative therewith, when desired value SAa more than or equal to first reference value SAa1 during less than the second reference value SAa2, as the deviation delta Fxt of desired value SAa target drive force during less than deviation judgment standard value Fxt3 more than or equal to the second reference value SAa2, when desired value SAa more than or equal to the amplitude A wRL of deviation delta Fxt whirling vibration of left and right sides trailing wheel of the second reference value SAa2 and target drive force and among the AwRR certain more than or equal to deviation judgment standard value Fxt3 more than or equal to the absolute value of the coefficientoffriction A that is used for reference value Awo that whirling vibration judges or road surface and the difference Δ μ of μ B than being used for reference value Δ μ o to judgement along separate routes when big, braking force control device 14 is changed to 0 with the delay reduction value θ tb of ignition timing, delay with ignition timing simultaneously requires flag F ig to be changed to 0, and the delay that will represent ignition timing to require flag F ig be that 0 signal is exported to engine controlling unit 18.

Below, with reference to flow chart shown in Figure 14 the target drive force of the vehicle of finishing by braking force control device 14 and the Correction and Control routine of ignition timing are described in the 4th embodiment.In addition, with each step of the control routine of the target drive force calculation routine of above-mentioned first embodiment's the identical execution vehicle of situation and throttle opening and ignition timing.

Carry out in the same manner with above-mentioned first embodiment's situation step 310～355 and step 380～390, but in step 355, when having carried out negative evaluation, advance to step 380, when having carried out affirmative determination, advances to step 370.

In step 370, according to about wheel velocity VwRL, the VwRR of the trailing wheel trailing wheel 32RL about calculating and amplitude A wRL, the AwRR of the whirling vibration of 32RR, and whether at least one that judge amplitude A wRL, AwRR be more than or equal to being used for reference value Awo that whirling vibration judges, promptly judging as at least one of the left and right sides trailing wheel of driving wheel whether can produce whirling vibration, when having carried out affirmative determination, advance to step 380, when having carried out negative evaluation, advance to step 375.

At this moment, the amplitude A wRL of whirling vibration, AwRR can obtain by any main points well-known in the art, the oscillating component of wheel velocity VwRL, VwRR is extracted in the processing that for example can carry out band-pass filter by wheel velocity VwRL, the VwRR to left and right sides trailing wheel, the vibrational waveform of halftime of this oscillating component part is calculated the poor of the maximum value of wheel velocity and minimum value, obtain amplitude A wRL, the AwRR of whirling vibration thus.

In step 375, calculate the coefficientoffriction A on road surface and the difference Δ μ of μ B, and the absolute value of judging difference Δ μ whether more than or equal to be used for to the reference value Δ μ o that judges along separate routes, promptly judging with about whether big, the road of travelling of the difference of friction factor on the corresponding road surface of driving wheel whether be so-called to along separate routes, when having carried out negative evaluation, advance to step 385, when having carried out affirmative determination, the delay of ignition timing requires flag F ig to be changed to close in step 380, and the delay reduction value θ tb of ignition timing is set to 0, advances to step 390 then.

Like this, according to illustrated the 4th embodiment, whether at least one that judge left and right sides trailing wheel according to wheel velocity VwRL, the VwRR of left and right sides trailing wheel in step 370 can produce whirling vibration, judge that in step 375 whether the road of travelling is so-called to along separate routes, judge whether it is the situation that to forbid for the deterioration of the whirling vibration state that prevents left and right sides trailing wheel based on the reduction of the output torque of the motor 16 of the delay control of ignition timing thus.

Then, when in step 330,345,355, having carried out affirmative determination and in

step

370 and 375, carried out negative evaluation, by step 335,385 and Fig. 4 shown in the throttle opening and the

step

440 and 450 of the control routine of ignition timing carry out based on the reduction control of the output torque of the motor 16 of the reduction control of throttle opening and based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing.

Relative therewith, when in

step

370 or 375, having carried out affirmative determination when in

step

345 or 355, having carried out negative evaluation or when in step 330,345,355, having carried out affirmative determination when in step 330, having carried out affirmative determination, the

step

Therefore, according to the 4th embodiment, even the necessary degree that output torque can be only big at desired value SAa, motor 16 reduces is very high carries out reduction based on the output torque of the motor 16 of the delay control of ignition timing and also can not cause under the situation of deterioration of whirling vibration state of left and right sides trailing wheel, carry out based on the reduction control of the output torque of the motor 16 of the reduction control of throttle opening with based on the reduction control of the output torque of the motor 16 of the delay control of ignition timing.

In other words, can reduce the driving force of vehicle but its necessary degree is not to prevent retarded spark timing under the very high situation at needs, thereby the temperature that prevents the waste gas of motor rises and the deterioration of the exhaust gas purifying catalyst 48 that causes thus, and under the very high situation of necessary degree that the driving force of vehicle reduces, by reducing throttle opening and retarded spark timing, can be reliably and reduce the output of motor effectively, thereby reliably and effectively reduce the driving force of vehicle, though and the necessary degree that the output torque of working as motor 16 reduces is very high, if but carry out that delay control by ignition timing reduces the output torque of motor 16 then might worsen the whirling vibration state of the left and right sides trailing wheel time, prevent retarded spark timing, can prevent reliably thus owing to control the whirling vibration state deteriorating that the output torque that reduces motor 16 makes left and right sides trailing wheel by the delay of ignition timing.

The 5th embodiment

Figure 15 is the flow chart of the Correction and Control routine of the target drive force of the vehicle finished by braking force control device among the 5th embodiment of the driving-force control apparatus for vehicle among the present invention of constituting as second embodiment's correction example of expression and ignition timing.In addition, in Figure 15, give the step mark and the number of steps identical number of steps that among Fig. 9 mark identical with the step shown in Fig. 9.

In this 5th embodiment, carry out each step of the control routine of the target drive force calculation routine of vehicle and throttle opening and ignition timing in the same manner with above-mentioned first embodiment's situation.And with above-mentioned second embodiment's situation execution in step 310～355 and step 380～390 in the same manner, but in step 355, when having carried out negative evaluation, advance to step 380, when having carried out affirmative determination, advance to step 370.Then with above-mentioned the 4th embodiment's situation execution in

step

370 and 375 in the same manner.

Therefore according to this 5th embodiment, except accessing the action effect identical, can also obtain the action effect identical with above-mentioned the 4th embodiment's action effect with above-mentioned second embodiment's action effect.

The 6th embodiment

Figure 16 is the flow chart of the Correction and Control routine of the target drive force of the vehicle finished by braking force control device among the 6th embodiment of the driving-force control apparatus for vehicle among the present invention of constituting as the 3rd embodiment's correction example of expression and ignition timing.In addition, in Figure 16, give the step mark and the number of steps identical number of steps that among Figure 11 mark identical with the step shown in Figure 11.

In this 6th embodiment, also carry out each step of the control routine of the target drive force calculation routine of vehicle and throttle opening and ignition timing in the same manner with above-mentioned first embodiment's situation.And with above-mentioned the 3rd embodiment's situation execution in step 310～365 and step 380～390 in the same manner, but in step 365, when having carried out negative evaluation, advance to step 380, when having carried out affirmative determination, advance to step 370.Then with above-mentioned the 4th embodiment's situation execution in

step

370 and 375 in the same manner.

Therefore according to this 6th embodiment, except accessing the action effect identical, can also obtain the action effect identical with above-mentioned the 4th embodiment's action effect with above-mentioned the 3rd embodiment's action effect.

In addition, according to the various embodiments described above, when being not limited to the reduction control beginning of driving force of vehicle based on the reduction control of the output torque of the motor 16 of the delay of ignition timing control, its time of implementation is not limited to the regular hour after the reduction control beginning of driving force of vehicle, therefore even it is excessive once more to have carried out the driving slippage of reduction control back driving wheel of output torque of motor 16 in the delay control of control by throttle opening and ignition timing, also can control reliably and reduce effectively the output torque of motor 16, thereby reliably and effectively reduce the driving slippage of driving wheel by the control of throttle opening and the delay of ignition timing.

And, in the above-described embodiments, as desired value SAa during more than or equal to the second reference value SAa2, the two reduces motor output the reduction by throttle opening and the delay of ignition timing, can reduce the driving force of vehicle thus effectively, therefore desired value SAa promptly reduces, thereby the delay of ignition timing can not continue too much for a long time.

In addition, according to the foregoing description, in step 340, as shown in Figure 6, high more then more little according to vehicle velocity V b, the absolute value of the lateral acceleration G y of vehicle is big more then more little, and the low more then more little mode of the coefficientoffriction on road surface, according to vehicle velocity V b, the lateral acceleration G y of vehicle and the coefficientoffriction on road surface are set the second reference value SAa2 changeably, therefore be that the situation of steady state value is compared with the second reference value SAa2, can be according to vehicle velocity V b, the lateral acceleration G y of vehicle and the coefficientoffriction on road surface, in other words basis is because the possibility of the instabilityization of the motion of travelling of the excessive vehicle that causes of driving force of vehicle judges whether to carry out the delay control of ignition timing rightly.

In addition, according to the foregoing description, in step 340, as shown in Figure 6, set the second reference value SAa2 according to the low more then more little mode of engine speed Ne changeably according to engine speed Ne, therefore no matter compare with the situation that the height second reference value SAa2 of engine speed Ne is steady state value, even Ne is low in engine speed, can't promptly reduce by the reduction of throttle opening under the situation of motor output, also can be reliably and promptly reduce motor output, on the contrary in engine speed than higher, can come by the reduction of throttle opening more promptly to reduce under the situation of motor output, can prevent unnecessarily retarded spark timing, the temperature that can reduce waste gas thus reliably rises and the possibility of the deterioration of the exhaust gas purifying catalyst that causes thus.

In addition, according to the various embodiments described above, the target drive force Fxt2 that in

step

325 or 330, calculates target drive force Fxt1 that the reduction control by throttle opening obtains and obtain by the delay control of ignition timing, when reducing throttle opening, in step 440, control the aperture of throttle valve 36, make the aperture of throttle valve 360 become corresponding target throttle valve φ tb, therefore can prevent to reduce too early or the day after the fair the aperture of throttle valve 36 reliably with target drive force Fxt1.

Similarly, when retarded spark timing, control ignition timing in step 450, so that ignition timing becomes the ignition timing that the corresponding delay reduction value of deviation delta Fxt by the target drive force Fxt2 that obtains with the target drive force Fxt1 that is obtained by the reduction of throttle opening control and delay control by the reduction control of throttle opening and ignition timing has postponed to revise, can prevent reliably that therefore ignition timing from postponing prematurely or postpone the day after the fair.

Particularly according to above-mentioned the 4th to the 6th embodiment, whether at least one that judge left and right sides trailing wheel according to wheel velocity VwRL, the VwRR of left and right sides trailing wheel in step 370 can produce whirling vibration, in step 375, whether be so-called to judging whether the whirling vibration state of left and right sides trailing wheel might worsen along separate routes by the judgement road of travelling, therefore compare with one situation of determining step 370 only or 375, can be reliably and prevent effectively because the delay control by ignition timing reduces the whirling vibration state deteriorating that the output torque of motor 16 makes left and right sides trailing wheel.

More than understand the present invention in detail at certain embodiments, but the invention is not restricted to the foregoing description, obviously can implement with other various embodiments within the scope of the invention for a person skilled in the art.

For example, in the various embodiments described above, the motor output that reduces the output of motor reduces the unit reduces motor by the ignition timing that postpones motor output, both can be but motor output reduces the unit by having reduced the output that reduces motor to motor supplied fuel supply, the two reduces the output of motor also can and to reduce fuel duty by retarded spark timing.

Especially, when motor output reduces the unit by reducing when motor supplied fuel supply reduces the output of motor, the target drive force that target drive force Fxt2 in the various embodiments described above obtains as the reduction control by the reduction control of throttle opening and fuel duty and being calculated, and control the reduction amount of fuel duty according to the deviation delta Fxt of target drive force Fxt1 and target drive force Fxt2.

Similarly, when motor output reduction unit reduces the output of motor by retarded spark timing and reduction fuel duty, the target drive force that target drive force Fxt2 in the various embodiments described above obtains as the reduction control by the delay control of the reduction control of throttle opening, ignition timing and fuel duty and being calculated, and come the delay reduction value of control ignition timing and the reduction amount of fuel duty according to the deviation delta Fxt of target drive force Fxt1 and target drive force Fxt2.

In addition, in the various embodiments described above, carry out step 215,230,240 judgement, when the behavior of travelling of vehicle worsens, as desired value SAa during more than or equal to first reference value SAa1, and the coefficientoffriction on road surface is during smaller or equal to reference value μ o, calculate target drive force Fxt for the excessive needed vehicle of possibility of the driving slippage that reduces left and right sides trailing wheel, but also can omit step 215,230, certain of 240 judges, and also the judgement that whether needs to reduce the driving force of vehicle can be modified to according to the running information of other vehicles and judge.

In addition, in the various embodiments described above, the reference value SAa1 of the judgement of step 230 is identical with the reference value SAa1 of the judgement of step 315, but the reference value of these judgements also can be mutually different value.In addition, the reference value SAa1 of

step

230 and 315 judgement is a constant, but at least one of the reference value of the judgement of

step

230 and 315 also can be modified to according to the low more then more little mode of engine speed Ne and set changeably according to engine speed Ne.

In addition, in the various embodiments described above, different with the elementary object driving force Fxt that calculates by engine controlling unit 18, calculate the target drive force Fxt of vehicle by driving-force control apparatus 14, calculate the target shift speed shelves St and the target throttle valve φ t of automatic transmission 24 according to target drive force Fxt, but when not needing to reduce the driving force of vehicle, also can be modified to identical with the situation of general vehicle, according to control throttle opening φ such as accelerator opening Ap, according to the gear of throttle opening φ and speed of a motor vehicle control automatic transmission 24.

In addition, in the various embodiments described above, as desired value SAa during more than or equal to first reference value SAa1, calculating is controlled the target drive force Fxt1 that obtains by the reduction of throttle opening, calculate target throttle valve φ tb according to target drive force Fxt1, according to target throttle valve φ tb control throttle opening φ, but throttle opening φ for example also can be modified into according to desired value SAa and reduces correction.

Equally, as desired value SAa during more than or equal to the second reference value SAa2, also calculate by the reduction control of throttle opening and the delay of ignition timing and control the target drive force Fxt2 that obtains, calculate the delay reduction value θ tb of ignition timing according to the deviation delta Fxt of target drive force Fxt1 and target drive force Fxt2, delay reduction value θ tb according to ignition timing comes retarded spark timing, but ignition timing for example also can be modified into according to desired value SAa and postpones.

In addition, in the various embodiments described above, except the judgement of step 345, also carry out the judgement of

step

355 or 365, when these are judged as affirmative determination, retarded spark timing, but also can be modified to the judgement of omitting

step

355 or 365, retarded spark timing when in step 345, having carried out affirmative determination.

In addition, in the various embodiments described above, in step 340, calculate the second reference value SAa2 relevant by mapping graph shown in Figure 6 with desired value SAa according to the lateral acceleration G y of vehicle velocity V b, vehicle and the coefficientoffriction on road surface, but also can omit certain parameter in the coefficientoffriction on the lateral acceleration G y of vehicle velocity V b, vehicle and road surface, and also the second reference value SAa2 can be set at steady state value.

In addition, in the above-mentioned first and the 4th embodiment, in step 350, set deviation judgment standard value Fxt3 changeably according to engine speed Ne according to the more little mode of the low more then deviation of engine speed Ne judgment standard value Fxt3, but also can omit step 350, Fxt3 is set at steady state value with deviation judgment standard value.

Similarly, in the above-mentioned the 3rd and the 6th embodiment, in step 360, set reference value Ne3 changeably according to the deviation delta Fxt of target drive force according to the big more mode of the big more then reference value of the deviation delta Fxt Ne3 of target drive force, but also can omit step 360, Ne3 is set at steady state value with reference value.

In addition, in above-mentioned the 4th to the 6th embodiment, in step 370, whether at least one that judge left and right sides trailing wheel according to wheel velocity VwRL, the VwRR of left and right sides trailing wheel produces whirling vibration, judge in step 375 whether the road of travelling is so-called to along separate routes, still also can omit certain judgement of

step

370 or 375.

In addition, in above-mentioned the 4th to the 6th embodiment, the reference value Δ μ o of the reference value Awo of the judgement in the step 370 and the judgement in the step 375 is a constant, but for example the low more delay by ignition timing of the friction factor on road surface reduces the whirling vibration that motor output is easy to generate driving wheel more, therefore reference value Awo also can be modified into friction factor according to the road surface when low friction factor than the road surface of the mode basis of the friction factor Gao Shixiao on road surface set changeably, reference value Δ μ o also can be modified into according to the coefficientoffriction A on road surface and the low value among the μ B when low than the mode of this low value Gao Shixiao and set changeably according to that lower value among the coefficientoffriction A on road surface and the μ B.

In addition, in the various embodiments described above, vehicle is the rear wheel drive car, but use vehicle of the present invention and can be front wheel drive car or four-wheel drive vehicle, in addition, automatic transmission 24 is the multistage automatic transmission that comprises torque-converters 20, but the speed changer of using vehicle of the present invention also can be stepless speed variator.

Claims

1. driving-force control apparatus for vehicle comprises: the throttle opening control unit, control the throttle opening of motor at least according to driver's driving operation amount; Motor output reduces the unit, the ignition timing by postponing described motor or reduce the output that reduces described motor to described motor supplied fuel supply; And driving force reduces control unit, judges the necessary degree that the driving force of vehicle reduces according to the travelling state of vehicle, when described necessary degree is high at least by controlling the output that described throttle opening control unit reduces described motor; Described driving-force control apparatus for vehicle is characterised in that,

When described necessary degree during more than or equal to first reference value, described driving force reduces control unit and reduces the throttle opening of being controlled by described throttle opening control unit, when described necessary degree more than or equal to than big second reference value of described first reference value the time, described driving force reduces control unit except reducing the throttle opening by described throttle opening control unit control, also reduces the output that the unit reduces described motor by described motor output;

Described driving-force control apparatus also comprises:

Calculate the unit of the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, described driving force reduces the control unit basis in two target drive force that front and back calculated of described necessary degree more than or equal to described first reference value, calculate with described two target drive force between reduction change to compare and reduce the target drive force that the control by described throttle opening control unit that changes obtains more reposefully, and with described two target drive force between reduction change compare the reduction that reduces the target drive force that changes and obtain with control more reposefully by described throttle opening control unit change compare more promptly reduce change reduce the target drive force that the control of unit obtains by described throttle opening control unit and the output of described motor, when described necessary degree more than or equal to described second reference value and the target drive force that obtains by the control of described throttle opening control unit and when reducing deviation between the target drive force that the control of unit obtains by described throttle opening control unit and the output of described motor more than or equal to deviation judgment standard value, reduce the output that the unit reduces described motor by described motor output.

2. driving-force control apparatus for vehicle as claimed in claim 1 is characterized in that,

Described driving force reduces control unit and comprises: whirling vibration state judging unit, judge the possibility that makes the whirling vibration state deteriorating of driving wheel owing to the output that reduces described motor by described motor output reduction unit; Forbid the unit, even if described necessary degree is more than or equal to described second reference value, when going out the whirling vibration state deteriorating that might make described driving wheel by described whirling vibration state judgment unit judges, also no thoroughfare, and described motor output reduces the output that the unit reduces described motor.

3. driving-force control apparatus for vehicle as claimed in claim 2 is characterized in that,

Described whirling vibration state judging unit comprises the unit of the whirling vibration that detects described driving wheel, and when reference value that the degree of the whirling vibration of described driving wheel is judged more than or equal to whirling vibration, described whirling vibration state judgment unit judges is for making the whirling vibration state deteriorating of described driving wheel.

4. driving-force control apparatus for vehicle as claimed in claim 2 is characterized in that,

Described whirling vibration state judging unit comprise detect with about the unit of friction factor on the corresponding road surface of driving wheel, and the difference of the friction factor on the road surface that the driving wheel about described is faced is more than or equal to the reference value judged along separate routes the time, and described whirling vibration state judgment unit judges is for making the whirling vibration state deteriorating of described driving wheel.

5. as each described driving-force control apparatus for vehicle in the claim 2 to 4, it is characterized in that,

Described driving-force control apparatus has the unit that calculates the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, described driving force reduces the control unit basis in two target drive force that front and back calculated of described necessary degree more than or equal to described first reference value, calculate with described two target drive force between reduction change to compare and reduce the target drive force that the control by described throttle opening control unit that changes obtains more reposefully, and with described two target drive force between reduction change compare the reduction that reduces the target drive force that changes and obtain with control more reposefully by described throttle opening control unit change compare more promptly reduce change reduce the target drive force that the control of unit obtains by described throttle opening control unit and the output of described motor, when described necessary degree more than or equal to described second reference value and the target drive force that obtains by the control of described throttle opening control unit and when reducing deviation between the target drive force that the control of unit obtains by described throttle opening control unit and the output of described motor more than or equal to deviation judgment standard value, reduce the output that the unit reduces described motor by described motor output

Even if the target drive force that described necessary degree obtains more than or equal to described second reference value and by the control of described throttle opening control unit and reduce deviation between the target drive force that the control of unit obtains more than or equal to described deviation judgment standard value by described throttle opening control unit and the output of described motor, when going out the whirling vibration state deteriorating that might make described driving wheel, describedly forbid the unit also no thoroughfare that described motor output reduces the output that the unit reduces described motor by described whirling vibration state judgment unit judges.

6. as claim 1 or 5 described driving-force control apparatus for vehicle, it is characterized in that,

Set described deviation judgment standard value changeably according to the rotating speed of described motor, make described deviation judgment standard value when the rotating speed of described motor hangs down, compare rotating speed Gao Shixiao at described motor.

7. as claim 1 or 5 described driving-force control apparatus for vehicle, it is characterized in that,

Set the target drive force that the control by described throttle opening control unit obtains changeably according to the rotating speed of described motor and reduce the slope that changes, make described slope when the rotating speed of described motor is low than rotating speed Gao Shixiao at described motor.

8. driving-force control apparatus for vehicle as claimed in claim 5 is characterized in that,

Described throttle opening control unit is controlled throttle opening according to the target drive force that the control by described throttle opening control unit obtains.

9. driving-force control apparatus for vehicle as claimed in claim 5 is characterized in that,

The output of described motor reduces the output that deviation between the target drive force that target drive force that the unit obtains according to the control by described throttle opening control unit and control by described throttle opening control unit and described motor output reduction unit obtains reduces described motor.

10. driving-force control apparatus for vehicle as claimed in claim 1 is characterized in that,

When described necessary degree more than or equal to the rotating speed of described second reference value and described motor during smaller or equal to engine speed judgment standard value, described driving force reduces control unit and reduces the output that the unit reduces described motor by described motor output.

11. as each described driving-force control apparatus for vehicle in the claim 2 to 4, it is characterized in that,

When described necessary degree more than or equal to the rotating speed of described second reference value and described motor during smaller or equal to engine speed judgment standard value, described driving force reduces control unit and reduces the output that the unit reduces described motor by described motor output,

Even if described necessary degree more than or equal to the rotating speed of described second reference value and described motor smaller or equal to described engine speed judgment standard value, when going out the whirling vibration state deteriorating that might make described driving wheel, describedly forbid the unit also no thoroughfare that described motor output reduces the output that the unit reduces described motor by described whirling vibration state judgment unit judges.

12. driving-force control apparatus for vehicle as claimed in claim 10 is characterized in that,

Described driving-force control apparatus has the unit that calculates the target drive force of vehicle according to the travelling state of driver's driving operation amount and vehicle, will be poor more than or equal to the difference of two target drive force that front and back calculated of described first reference value as the datum target driving force in described necessary degree, set described engine speed judgment standard value changeably according to described datum target driving force difference, make described engine speed judgment standard value when described datum target driving force difference is big than big in described datum target driving force difference hour.

13. driving-force control apparatus for vehicle as claimed in claim 1 is characterized in that,

Set described second reference value changeably according at least one of the transverse acceleration of the frictional behavior on road surface, vehicle and the speed of a motor vehicle.

14. driving-force control apparatus for vehicle as claimed in claim 1 is characterized in that,

Set described second reference value changeably according to the rotating speed of described motor, make described second reference value when the rotating speed of described motor hangs down, compare rotating speed Gao Shixiao at described motor.

15. driving-force control apparatus for vehicle as claimed in claim 1 is characterized in that,

Described driving force reduces control unit according to judging described necessary degree based at least one of the friction factor on the degree of the driving slippage of the amount of lowering the requirement of the target drive force of the vehicle of the motion state of travelling of vehicle, driving wheel and road surface.