CN103228514A - Vehicle control device and vehicle control method - Google Patents

Vehicle control device and vehicle control method Download PDF

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Publication number
CN103228514A
CN103228514A CN2011800414478A CN201180041447A CN103228514A CN 103228514 A CN103228514 A CN 103228514A CN 2011800414478 A CN2011800414478 A CN 2011800414478A CN 201180041447 A CN201180041447 A CN 201180041447A CN 103228514 A CN103228514 A CN 103228514A
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CN
China
Prior art keywords
vehicle
driving engine
control
braking
wheel
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Granted
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CN2011800414478A
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Chinese (zh)
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CN103228514B (en
Inventor
桥本阳介
大森阳介
森雪生
武田政义
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Advics Co Ltd
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Advics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18054—Propelling the vehicle related to particular drive situations at stand still, e.g. engine in idling state
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D17/00—Controlling engines by cutting out individual cylinders; Rendering engines inoperative or idling
    • F02D17/04—Controlling engines by cutting out individual cylinders; Rendering engines inoperative or idling rendering engines inoperative or idling, e.g. caused by abnormal conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N11/00—Starting of engines by means of electric motors
    • F02N11/08—Circuits or control means specially adapted for starting of engines
    • F02N11/0814—Circuits or control means specially adapted for starting of engines comprising means for controlling automatic idle-start-stop
    • F02N11/0818—Conditions for starting or stopping the engine or for deactivating the idle-start-stop mode
    • F02N11/0833—Vehicle conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N11/00—Starting of engines by means of electric motors
    • F02N11/10—Safety devices
    • F02N11/108—Safety devices for diagnosis of the starter or its components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N2200/00—Parameters used for control of starting apparatus
    • F02N2200/04—Parameters used for control of starting apparatus said parameters being related to the starter motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N2200/00—Parameters used for control of starting apparatus
    • F02N2200/08—Parameters used for control of starting apparatus said parameters being related to the vehicle or its components
    • F02N2200/0805—Detection of vehicle emergency state, e.g. from ABS, ESP, external sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

A vehicle control device including a first control unit (55, S12, S13) and a second control unit (55) is provided. The first control unit permits the automatic stop of an engine (12) when a stop condition of the engine (12) is satisfied, and permits the restart of the engine (12) when a restart condition of the engine (12) is satisfied. The second control unit (55, S32, S33) performs first braking control for increasing braking force for wheels (FR, FL, RR, RL) when detecting that the start of the engine (12) is in a bad condition after the restart of the engine (12) is permitted. Then, the second control unit performs second braking control for holding the braking force for the wheels (FR, FL, RR, RL). The first control unit (55, S12, S13, S31, S34) prohibits the restart of the engine (12) during the execution of the first braking control, and permits the restart of the engine (12) during the execution of the second braking control.

Description

Controller of vehicle and control method for vehicle
Technical field
The present invention relates to a kind of controller of vehicle and a kind of control method for vehicle, it allows driving engine auto-stop and allow driving engine to reset when the halt condition of the driving engine of vehicle satisfies when the condition of resetting of driving engine satisfies.
Background technology
In recent years; development with controller of vehicle of so-called idle stop function has been pushed into so that improve the fuel efficiency of vehicle, and wherein the idle stop function is: when vehicle stops or being right after and making automatic engine stop before stopping and by the start-up function as the chaufeur that triggers driving engine is reset automatically.For example; in the control setup of the vehicle of in patent documentation 1, describing; under the automatic engine stop state; driving engine is reset in permission when detecting the brake operating of being carried out by chaufeur; in this brake operating, the negative pressure in the power-assisted/blwr of auxiliary braking operation becomes littler than predetermined threshold.Servo-unit is connected to induction maniflod, and in this induction maniflod, negative pressure produces when driving driving engine.Servo-unit utilizes the negative pressure and the difference of pressure between the bar pressure that produce in the induction maniflod that the operating effort of the brake pedal that is applied by chaufeur is doubled.
If if the Starting motor that starts when being installed in the little or fire an engine of the charging power of the battery on vehicle fault then needs the time, up to finishing resetting of driving engine, and driving engine may not can be reset.This state is also referred to as " the starting failure state of driving engine ".
When driving engine was in the starting failure state, chaufeur repeated the pressing operation and releasing operation the resetting with the promotion driving engine of brake pedal.The pressing operation of brake pedal and releasing operation repeat to have reduced the negative pressure in the servo-unit, and reduce about the braking force of wheel shortage owing to negative pressure in the servo-unit.Therefore, if vehicle location on the mountain, then vehicle may be run counter to the intention of chaufeur and begin to move.
When making automatic engine stop when making vehicle slack-off, the negative pressure in the servo-unit may be owing to chaufeur be regulated the operational ton of brake pedal in order to regulate the car body deceleration/decel after engine shutdown and is reduced.In this case, the negative pressure in the servo-unit may be right after vehicle and reduces before stopping.Thereby, if vehicle location on the mountain, then the shortage of the braking force on the vehicle wheel that may cause owing to the shortage because of the negative pressure in the servo-unit intention of running counter to chaufeur does not stop.
In the control setup of describing in patent documentation 1, when detecting the starting failure state of driving engine, the pump of brake actuator is activated, thereby increases the braking force on the wheel.Therefore, suppressed to run counter to the motion of vehicle of the intention of chaufeur.Thereby, under the situation of the safety of so guaranteeing vehicle, carry out the control that is used to reset driving engine.
The prior art document
Patent documentation
Patent documentation 1: Japanese Laid-Open Patent Publication No.2003-13768
Summary of the invention
Problem to be solved by this invention
In the control setup of the vehicle described in the patent documentation 1, when detecting the starting failure state of driving engine, allow driving engine to reset, even also be like this during the braking force on increasing wheel.Thereby the control of braking that might be used to increase the braking force on the wheel is overlapping in time with the control meeting that is used to reset driving engine.In this case, electric power is supplied to from battery and is activated with the pump of the brake actuator that increases the braking force on the wheel and is activated Starting motor with fire an engine, thereby the load of battery may increase.
The purpose of this invention is to provide a kind of controller of vehicle and a kind of control method for vehicle, described control setup and control method can guaranteed to reset under the situation of safety driving engine, reduce to be installed in the load of the battery on the vehicle simultaneously.
The means of dealing with problems
In order to address the above problem, according to an aspect of the present invention, provide a kind of control setup of vehicle, it comprises: first control unit (55, S12, S13) and second control unit (55).Described first control unit when the halt condition of the driving engine (12) of described vehicle satisfies (55, S12, S13) allows described driving engine (12) auto-stop, and described first control unit (55, S12, S13) allows described driving engine (12) to reset when the condition of resetting of described driving engine (12) satisfies.Second control unit (55) is regulated the braking force on the wheel (FR, FL, RR, RL) that is arranged in the described vehicle.When allowing described driving engine (12) to detect the starting failure of described driving engine (12) after resetting, described second control unit (55, S32, S33) execution first control of braking to increase described wheel (FR, FL, RR, RL) thus on braking force described vehicle is stopped.After this, described second control unit (55, S32, S33) is carried out second control of braking to keep the braking force on the described wheel (FR, FL, RR, RL).Described first control unit (55, S12, S13, S31, S34) forbids that described driving engine (12) resets and allow described driving engine (12) to reset during the execution of described second control of braking during the execution of described first control of braking.
According to above-mentioned configuration, when detecting the starting failure of driving engine, driving engine be under an embargo reset and wheel on braking force increase so that vehicle stops.Then, when the braking force on the wheel was held, driving engine was allowed to reset.In other words, the time-interleaving of the control of braking of avoiding being used to increase the braking force on the wheel and the control that is used to reset driving engine.In addition, even the negative pressure in the servo-unit reduces, driving engine is still reset under the braking force that vehicle is stopped to be applied to the situation of wheel.Therefore, driving engine can be reset under the situation of the safety of guaranteeing vehicle, reduces to be installed in the load of the battery on the vehicle simultaneously.
Preferably, when the operational ton that detects the brake pedal (15) that is arranged in the described vehicle during the execution of described second control of braking reduces or during the non-operating state of described brake pedal (15), described second control unit (55, S32, S33, S37) is carried out the 3rd control of braking to reduce the braking force on the described wheel (FR, FL, RR, RL) and to allow described vehicle to move.
Following consideration: the operational ton of brake pedal reduces or the no longer operated situation of brake pedal allows vehicle corresponding because of the situation of the motion of inertia with chaufeur.In the present invention, under the situation about stopping of the vehicle that keeps by second control of braking when the operational ton that detects brake pedal reduces or when detecting brake pedal and no longer being operated, reduce the motion of braking force on the wheel and permission vehicle because of inertia.Then, if vehicle location on mountain for example the time, vehicle along inclined direction moves down.In other words, even under the starting failure state of driving engine, the behavior of the vehicle still intention with chaufeur is consistent.
Preferably, described the 3rd control of braking is following control, and the braking force that this controls to adjust on the described wheel (FR, FL, RR, RL) makes the body speed of vehicle (VS) of described vehicle become less than predefined permission a reference value (VSth).
When driving engine is in the starting failure state, the possibility height that the negative pressure in the servo-unit reduces.In this case, impassabitity is applied to enough big braking force on the wheel by the operation of the brake pedal of chaufeur execution.In the present invention, in the 3rd control of braking, the braking force on the wheel is conditioned, and makes body speed of vehicle become less than the permission a reference value.Thereby, become too high owing to can suppress the body speed of vehicle of vehicle, can under the situation of the safety of guaranteeing vehicle, reset driving engine.
Preferably, described vehicle comprises wheel cylinder (32a, 32b, 32c, 32d) and brake actuator (31), described wheel cylinder (32a, 32b, 32c, 32d) will be applied on the described wheel (FR, FL, RR, RL) with the cooresponding braking force of fluid pressure that produces in the described wheel cylinder, and described brake actuator (31) is regulated the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d).Described brake actuator (31) comprises pump (42,43) and control cock (35a, 35b), described pump (42,43) is activated to increase the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d), and described control cock (35a, 35b) is activated to regulate the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d).Described permission a reference value is set at the value that is less than or equal to control threshold value (VSth), and described control threshold value (VSth) allows to implement the control of braking of the startup that includes described pump (42,43).
Preferably, described second control unit (55, S32, S33, S37) is carried out described first control of braking when the operational ton that detects described brake pedal (15) during the execution of described the 3rd control of braking increases.
According to above-mentioned configuration, even during the 3rd control of braking, increase if detect the operational ton of brake pedal, then the braking force on the wheel also increases so that vehicle stops.Increase if detect the operational ton of brake pedal, then make the judgement that chaufeur has the intention that stops vehicle.In addition, the resetting of time durations driving engine of being implemented to increase the braking force on the wheel at first control of braking is under an embargo.Therefore, vehicle can stop according to the intention of chaufeur, reduces to be installed in the load of the battery on the vehicle simultaneously.
Preferably, even when become more than or equal to number of times a reference value of setting (CTth) or described driving engine (12) is reset not yet when allowing the elapsed time of described driving engine (12) when resetting to become more than or equal to the time reference value (Tth) set situation from the execution number of times of resetting that allows the described driving engine (12) of described driving engine (12) when resetting under, described first control unit (55, S12, S13, S31, S34) detects the starting failure of described driving engine (12).
Preferably, described control setup also comprises: body speed of vehicle acquiring unit (55, S24), described body speed of vehicle acquiring unit (55, S24) obtains the body speed of vehicle (VS) of described vehicle.Even under the situation that described driving engine (12) is reset not yet when the body speed of vehicle (VS) that is allowing described driving engine (12) to be obtained by described body speed of vehicle acquiring unit (55, S24) after resetting becomes more than or equal to body speed of vehicle threshold value (VSth), described first control unit (55, S12, S13, S31, S34) detects the starting failure of described driving engine (12).
According on the other hand, a kind of control method of vehicle is provided, it comprises: shut down step (S12) and reset step (S13).Described shutdown step (S12) allows driving engine (12) auto-stop when the halt condition of described driving engine (12) satisfies of described vehicle.The described step (S13) of resetting allows described driving engine (12) to reset (S13) when the condition of resetting of described driving engine (12) satisfies.The described step (S13) of resetting comprising: first step (S31, S32) and second step (S33, S34).Described first step (S31, S32) when allowing described driving engine (12) to detect the starting failure of described driving engine (12) after resetting, forbid described driving engine (12) reset and increase on the wheel (FR, FL, RR, RL) that is arranged in the described vehicle braking force so that described vehicle stop.Described second step (S33, S34) keeps the braking force on the described wheel (FR, FL, RR, RL) and allows described driving engine (12) to reset after the execution of described first step (S31, S32).
According to above-mentioned configuration, can obtain operation and advantage identical operations and advantage with the control setup of vehicle discussed above.
Description of drawings
Fig. 1 is the block scheme that shows an example of vehicle, and the control setup according to an embodiment of the invention is installed on this vehicle.
Fig. 2 is the block scheme of an example that shows the brake equipment of Fig. 1.
Fig. 3 is the mapping graph that shows the example of the relation between number of times a reference value and the gradient equivalence value.
Fig. 4 is a diagram of circuit of having described the idle stop process procedures.
Fig. 5 has illustrated that driving engine resets the diagram of circuit of process procedures (first half).
Fig. 6 has illustrated that driving engine resets the diagram of circuit of process procedures (latter half).
Fig. 7 is the sequential chart that shows the variation aspect engine speed, body speed of vehicle, number of times Counter Value and target hydraulic.
Fig. 8 is the mapping graph that shows according to the example of the time reference value of another embodiment and the relation between the gradient equivalence value.
The specific embodiment
To be described implementing an embodiment of the invention according to Fig. 1 to Fig. 7 hereinafter.In the following description of being done in this manual, the working direction of vehicle (moving forward direction) is described to front side (front side of vehicle).
The vehicle of present embodiment has so-called idle stop function; this idle stop function is: make automatic engine stop when satisfying predetermined halt condition during vehicle is advanced; and after this; when satisfying predetermined starting conditions, reset driving engine automatically, thereby improve fuel efficiency performance and emission behavior.Thereby in this vehicle, by the brake operating of being carried out by chaufeur, driving engine is between deceleration period or the stopping period auto-stop.
To an example of vehicle with idle stop function be described now.
As shown in Figure 1, vehicle is so-called f-w-d vehicle, wherein, front-wheel FR, FL is as the drive wheel of a plurality of (being four in the present embodiment) wheel (off front wheel FR, the near front wheel FL, off hind wheel RR and left rear wheel RL).This vehicle comprises propulsive effort generation device 13 and propulsive effort transfer device 14, wherein propulsive effort generation device 13 comprises driving engine 12, driving engine 12 be used to produce with chaufeur to the cooresponding propulsive effort of the operational ton of acceleration pedal 11, and propulsive effort transfer device 14 is used for and will be passed to front-wheel FR, FL by the propulsive effort that propulsive effort generation device 13 produces.This vehicle also comprises brake equipment 16, and brake equipment 16 is used for brake activation power on each wheel FR, FL, RR, RL, and this braking force is corresponding to the operational ton of brake pedal 15 with chaufeur.
Propulsive effort generation device 13 comprises Fuel Injection Device (not shown), and this Fuel Injection Device is arranged near the admission port (not shown) of driving engine 12, and this Fuel Injection Device comprises the eductor that is used to inject fuel into driving engine 12.This propulsive effort generation device 13 is based on including the CPU(central process unit), the ROM(read-only memory (ROM)), the RAM(random access memory) and the Engine ECU 17(of allied equipment (not shown) be also referred to as " engine electronic control unit ") and drive.Accelerator-pedal operation amount sensor SE1 is electrically connected to Engine ECU 17, this accelerator-pedal operation amount sensor SE1 is arranged near the acceleration pedal 11, and this accelerator-pedal operation amount sensor SE1 detects the operational ton of chaufeur to acceleration pedal 11, that is, and and acceleration operation amount.Engine ECU 17 is calculated accelerator-pedal operation amount based on the detection signal from accelerator-pedal operation amount sensor SE1, and waits controlling and driving force generating apparatus 13 based on the accelerator-pedal operation amount of calculating.
Propulsive effort transfer device 14 comprises automatic transmission with hydraulic torque converter 18, differential gear 19 and AT ECU(automatic transmission with hydraulic torque converter electronic control unit) (not shown), wherein differential gear 19 is used for the propulsive effort from the output shaft transmission of automatic transmission with hydraulic torque converter 18 is suitably distributed and this propulsive effort is passed to front-wheel FR, FL, and AT ECU is used to control automatic transmission with hydraulic torque converter 18.Automatic transmission with hydraulic torque converter 18 comprises fluid type propulsive effort transmission mechanism 20 and the variable-ratio mechanism 21 that has as the torque converter 20a of fluid coupling.
Because torque converter 20a is arranged on driving engine 12 from the vehicle of present embodiment to the torque transmission paths of drive wheel (front-wheel FR, FL), therefore crawl takes place.Crawl is such phenomenon: promptly, when shifter bar is arranged in the activation point of the vehicle with automatic transmission with hydraulic torque converter 18, even acceleration pedal 11 is not pressed, vehicle still slowly moves forward, even and this phenomenon take place owing to torque converter 20a during the idling of driving engine 12 will small propulsive effort be passed to front-wheel FR, FL.The small power that is passed to front-wheel FR, FL is called as " wriggling moment of torsion ".
As depicted in figs. 1 and 2, brake equipment 16 comprise have master cylinder 25, the fluid pressure generation device 28 of servo-unit 26 and receiver 27 and having among the brake actuator 31(Fig. 2 in two fluid pressure loops 29,30 illustrates with the chain long and two-short dash line).Each fluid pressure loop 29,30 all is connected to the master cylinder 25 of fluid pressure generation device 28.The wheel cylinder 32a of off front wheel FR and the wheel cylinder 32d of left rear wheel RL are connected to first fluid pressure circuit 29, and the wheel cylinder 32c of the wheel cylinder 32b of the near front wheel FL and off hind wheel RR is connected to the second fluid pressure loop 30.
In fluid pressure generation device 28, servo-unit 26 is connected to induction maniflod (not shown), and in this induction maniflod, negative pressure produces when driving engine 12 drives.Servo-unit 26 utilizes the operating effort of the brake pedal 15 that the negative pressure that produces in the induction maniflod and the pressure official post between the bar pressure apply by chaufeur to double.
Master cylinder 25 produces master cylinder pressure (hereinafter being also referred to as " MC pressure "), and this master cylinder pressure is used as and operation (hereinafter be also referred to as " brake operating ") the cooresponding fluid pressure of chaufeur to brake pedal 15.Therefore, the brake fluid as fluid supplies to the wheel cylinder 32a to 32d via fluid pressure loop 29,30 from master cylinder 25.Then, with wheel cylinder 32a to 32d in the cooresponding braking force of pressure of wheel braking cylinder (being also referred to as " WC pressure ") be applied on wheel FR, FL, RR, the RL.
In brake actuator 31, fluid pressure loop 29,30 is connected to master cylinder 25 by coupling path 33,34 respectively.Open type linear solenoid valve (control cock) 35a, 35b are separately positioned on the coupling path 33,34. Linear solenoid valve 35a, 35b comprise valve seat, valve body, magnet coil and biasing member (for example, coil spring), and this biasing member is used to make valve body along the direction biasing away from valve seat.Displacement that valve body is according to size of current---that is, being supplied to the current value of magnet coil from the braking ECU55 that will describe subsequently---.In other words, the WC pressure of wheel cylinder 32a to 32d remain on about the cooresponding fluid pressure of the current value of linear solenoid valve 35a, 35b place.
In in coupling path 33,34 any (being coupling path 33 in the present embodiment), be used for pressure sensor SE8 that the MC pressure to master cylinder 25 detects and be arranged on than linear solenoid valve 35a more near the part place of master cylinder 25.Export braking ECU55 with the cooresponding detection signal of MC pressure that is produced to from pressure sensor SE8.
The off front wheel path 36a that is connected to wheel cylinder 32a is formed in the first fluid pressure circuit 29 with the left rear wheel path 36d that will be connected to wheel cylinder 32d.The near front wheel path 36b that is connected to wheel cylinder 32b is formed in the second fluid pressure loop 30 with the off hind wheel path 36c that will be connected to wheel cylinder 32c.Path 36a to 36d comprises pressure charging valve 37a, 37b, 37c, 37d and reducing valve 38a, 38b, 38c, 38d, wherein said pressure charging valve 37a, 37b, 37c, 37d are normal-open electromagnetic valve, the pressure of the WC pressure of described normal-open electromagnetic valve in restriction wheel cylinder 32a to 32d starts when strengthening, described reducing valve 38a, 38b, 38c, 38d are the closed type electromagnetic valve, and described closed type electromagnetic valve starts when reducing WC pressure.
The pump 42,43 that is used for receiver 39,40 that the brake fluid that flows out via reducing valve 38a to 38d from wheel cylinder 32a to 32d is stored temporarily and starts based on the rotation of motor (M) 41 is connected to fluid pressure loop 29,30. Receiver 39,40 is connected to pump 42,43 by suction passage 44,45, and is connected in the coupling path 33,34 than linear solenoid valve 35a, 35b more near the part of master cylinder 25 by master stream 46,47. Pump 42,43 is connected to pressure charging valve 37a to 37d and the connecting bridge between linear solenoid valve 35a, the 35b 50,51 in the fluid pressure loop 29,30 by supply stream 48,49.When motor 41 rotation, pump 42,43 sucks brake fluids and brake fluid is discharged to the supply stream 48,49 from receiver 39,40 and master cylinder 25 by suction passage 44,45 and master stream 46,47.
The braking ECU55(that uses description to that now the driving of brake actuator 31 is controlled is also referred to as " braking electronic control unit ").
As shown in Figure 2, be used for the input side interface that wheel speed sensors SE3, SE4, SE5, SE6 that the wheel speed to each wheel FR, FL, RR, RL detects and acceleration pick-up (being also referred to as " G the sensor ") SE7 that is used for that the acceleration/accel on the fore-and-aft direction of vehicle is detected are electrically connected to braking ECU55.Be arranged near the brake pedal 15 whether operated brake switch SW1 and pressure sensor SE8 also are electrically connected to the input side interface of braking ECU55 to detect brake pedal 15.Each valve 35a, 35b, 37a to 37d, 38a to 38d, motor 41 and allied equipment are electrically connected to the outgoing side interface of braking ECU55.When the center of gravity of vehicle when rear side moves, acceleration pick-up SE7 output get on the occasion of signal, and when the center of gravity of vehicle during towards preceding side shifting, acceleration pick-up SE7 exports and gets the signal of negative value.
Braking ECU55 comprises by the digital computer of structure such as CPU, ROM, RAM (not shown), is used to the motor drive circuit (not shown) that starts the valve-driving circuit (not shown) of each valve 35a, 35b, 37a to 37d and 38a to 38d and be used for starter motor 41.The ROM of digital computer stores various types of control processs (the idle stop process that will be described later etc.), various types of mapping graph (mapping graph shown in Fig. 3 etc.), various threshold values etc. in advance.Various types of information that the ignition lock (not shown) that RAM is stored in vehicle suitably rewrites when connecting etc.
In the vehicle of present embodiment, a plurality of ECU that include Engine ECU 17 and braking ECU55 are connected to each other can transmit and receive various types of information and various types of order, as shown in Figure 1 by bus 56.For example, the information that Engine ECU 17 will be relevant with the acceleration aperture of acceleration pedal 11, information and the similar information relevant with the failure/success of resetting of driving engine 12 suitably transfer to braking ECU55.Braking ECU55 will circulate a notice of to allow that shutdown grant commands, the circular of driving engine 12 auto-stops allow that driving engine 12 resets automatically resets grant commands and circulate a notice of and forbid that the decretum inhibitorium of resetting that driving engine is reset transfers to Engine ECU 17.
To be described the various types of mapping graphs among the ROM that is stored in braking ECU55 based on Fig. 3 now.
Even when attempting to reset driving engine 12 automatically, driving engine 12 is also owing to be installed in the fault of battery (not shown) under-charge on the vehicle, Starting motor (not shown) and similar former thereby may not can reset.In this case, the control that is used to reset driving engine 12 is repeated to carry out.Even, then make the judgement that driving engine 12 is in the starting failure state if driving engine 12 still can not be reset after the control of resetting driving engine 12 is carried out continuously.
Mapping graph shown in Fig. 3 be used for number of times a reference value CTth set for its on be positioned with the example of mapping graph of the cooresponding value of the ground-surface gradient of vehicle, wherein this number of times a reference value CTth judges with acting on whether driving engine 12 is in a reference value of starting failure state.Number of times a reference value CTth is a higher limit of carrying out the number of times of the control process that is used to reset driving engine 12 in the Engine ECU 17 continuously.Gradient equivalence value Ag be with its on be positioned with the cooresponding value of the ground-surface gradient of vehicle.In other words, when gradient equivalence value Ag was essentially " 0(zero) ", the road surface that is positioned with vehicle on it was the road surface substantially parallel with horizontal surface.When gradient equivalence value Ag be on the occasion of the time, the road surface has uphill slope, and when gradient equivalence value Ag was negative value, the road surface had downhill slope.
As shown in Figure 3, in the present embodiment, when number of times a reference value CTth sets on the ground-surface slope to the gentle slope when being the abrupt slope on the slope bigger value.For example, when gradient equivalence value Ag was " 0 ", number of times a reference value CTth for example set maxim CTmax(for, five times).When gradient equivalence value Ag is worth Ag1(＜0(zero less than " 0 " and greater than first)) time, it is more little that number of times a reference value CTth sets the more little number of times a reference value of gradient equivalence value Ag CTth for.Similarly, when gradient equivalence value Ag is worth Ag2(＞0(zero greater than " 0 " and less than second)) time, it is more little that number of times a reference value CTth sets the big more number of times a reference value of gradient equivalence value Ag CTth for.When gradient equivalence value Ag is less than or equal to the first value Ag1 and as gradient equivalence value Ag during more than or equal to the second value Ag2, number of times a reference value CTth for example sets minimum value CTmin(for, twice).The absolute value of the second value Ag2 equals the absolute value of the first value Ag1.
To be described the idle stop process procedures that the braking ECU55 by present embodiment carries out based on the diagram of circuit shown in Fig. 4.The idle stop process procedures is the process procedures that is used to set the timing that allows driving engine 12 auto-stops and allows the timing that driving engine 12 resets automatically.
Braking ECU55 carries out the idle stop process procedures in predefined each predetermined period (for example, 0.01 second cycle).In the idle stop process procedures, braking ECU55 obtains the MC pressure P mc(step S10 of master cylinder 25 based on the detection signal from pressure sensor SE8).Then, braking ECU55 judges based on the information that receives from Engine ECU 17 whether driving engine 12 shuts down (step S11).
If judged result is then braked ECU55 and is carried out engine shutdown process (step S12) owing to driving engine 12 is driven for negating.In other words; when the body speed of vehicle of vehicle (for example is less than or equal to predefined predetermined speed; 20km/h) and the MC pressure P mc that in step S10, obtains when being used to judge whether to allow the judgment value of driving engine 12 auto-stops, braking ECU55 determines that chaufeur has the intention that stops vehicle.Braking ECU55 will shut down grant commands and transfer to Engine ECU 17.Therefore, in the present embodiment, step S12 is corresponding with the shutdown step of the auto-stop that allows driving engine 12 when satisfying the halt condition of driving engine 12.After this, braking ECU55 once stops the idle stop process procedures.
If the judged result of step S11 is then braked ECU55 because driving engine is carried out in driving engine 12 shutdown and is reset process (step S13) for certainly.Reset in the process at driving engine, be conditioned, and reset grant commands or reset decretum inhibitorium and transfer to Engine ECU 17, as subsequently with specifically described about the braking force of wheel FR, FL, RR, RL.In this, in the present embodiment, step S13 with when satisfy driving engine 12 reset condition the time allow driving engine 12 reset automatically to reset step corresponding.Braking ECU55 is as first control unit.After the execution driving engine was reset process, braking ECU55 stopped the idle stop process procedures.
To reset process (driving engine is reset process procedures) to driving engine based on the diagram of circuit shown in Fig. 5 and Fig. 6 and the sequential chart shown in Fig. 7 now is described.Sequential chart when Fig. 7 travels on the mountain for vehicle.
Reset in the process procedures at driving engine, braking ECU55 judges that whether the MC pressure that obtains is than predefined MC pressure reference value Pmcth little (step S20) in step S10.MC pressure reference value Pmcth is used to judge whether the judgment value that allows driving engine 12 to reset, and MC pressure reference value Pmcth sets for than the littler value of judgment value that is used to judge whether to allow driving engine 12 auto-stops.MC pressure reference value Pmcth can set for its on be positioned with the cooresponding value of the ground-surface gradient of vehicle.
If the judged result of step S20 is for negating (Pmc 〉=Pmcth), then brake the number of times Counter Value CT that ECU55 can will will describe subsequently because the condition of resetting of driving engine 12 not have to satisfy and reset " 0(zero) " (step S21), and the termination driving engine is reset process procedures.If the judged result of step S20 is certainly (Pmc＜Pmcth) then brakes ECU55 and can will reset grant commands because the condition of resetting of driving engine 12 satisfies and transfer to Engine ECU 17(step S22).Reception is reset the Engine ECU 17 of grant commands and is carried out the control that is used for fire an engine 12.Engine ECU 17 exports the information relevant with the failure/success of resetting of driving engine 12 to braking ECU55.
Subsequently, braking ECU55 judges reset whether fail (the step S23) of driving engine 12 based on the information that receives from Engine ECU 17 after resetting the grant commands transmission.If, then braking ECU55 for negative, judged result can march to aforesaid step S21 owing to the success of resetting of driving engine 12.If the judged result of step S23 is then braked reset the body speed of vehicle VS(step S24 that failure obtain vehicle of ECU55 meeting owing to driving engine 12 for certainly).Particularly, braking ECU55 calculates the wheel speed of each wheel FL, FR, RL, RR based on the detection signal from each wheel speed sensors SE3 to SE6, and by at least one the wheel speed seeking time differential in the wheel speed of wheel FL, FR, RL, RR is obtained wheel acceleration.The body speed of vehicle that braking ECU55 obtains about previous time is quadratured to wheel acceleration, and adopts integral result as body speed of vehicle VS.Therefore, in the present embodiment, braking ECU55 is also as the body speed of vehicle acquiring unit.
Whether than predefined speed of a motor vehicle threshold value and as the body speed of vehicle a reference value VSth(of control threshold value for example braking ECU55 judges the body speed of vehicle VS obtain in step S24,7km/h) littler (step S25).Body speed of vehicle a reference value VSth is a reference value that is used to judge whether to allow to carry out control of braking, and in this control of braking, the pump 42,43 of brake actuator 31 is activated.Electronic stability control) and similar control the example of control of braking that includes the startup of pump 42,43 comprises the moving control of anti-locking, anti-skidding control (ESC:.
If the judged result of step S25 is for negating (VS 〉=VSth), then brake ECU55 and march to the step S31 that will describe subsequently.If the judged result of step S25 is for (VS＜VSth), then braking ECU55 can increase " 1 " (step S26) with number of times Counter Value CT, and this number of times Counter Value CT is that driving engine 12 is reset the observed reading of the number of times of failure in succession certainly.Then, braking ECU55 obtains acceleration/accel (hereafter is " car body acceleration ") the G(step S27 on the fore-and-aft direction of vehicle based on the detection signal from acceleration pick-up SE7).Braking ECU55 is by obtaining body speed of vehicle differential value (actual acceleration of vehicle) DVS(step S28 to the body speed of vehicle VS seeking time differential that obtains in step S24).The wheel acceleration that braking ECU55 obtains in the time of can adopting processing in step S24 is as body speed of vehicle differential value DVS.
Then, the car body acceleration G that braking ECU55 calculates from step S27 deducts the body speed of vehicle differential value DVS that calculates among the step S28, and adopts and subtract each other the result as gradient equivalence value Ag(step S29).Based on from the detection signal of acceleration pick-up SE7 and the car body acceleration G that calculates comprise vehicle the actual acceleration component and with its on the travel cooresponding component of acceleration of the ground-surface gradient of vehicle." the actual acceleration component of vehicle " is body speed of vehicle differential value DVS---this body speed of vehicle differential value DVS is the differential value of body speed of vehicle VS, and gradient equivalence value Ag obtains by the actual acceleration component of removing vehicle from car body acceleration G.Therefore, in the present embodiment, braking ECU55 is also as gradient equivalence value acquiring unit.
Braking ECU55 sets and the cooresponding number of times a reference value of the gradient equivalence value Ag CTth that obtains in step S29 based on the mapping graph shown in Fig. 3.Whether the number of times Counter Value CT that upgrades among the braking ECU55 determining step S26 is more than or equal to the number of times a reference value CTth(step S30 that sets).If judged result is for negating (CT＜CTth), then brake ECU55 and march to above-mentioned steps S22.If the judged result of step S30 is for affirming (CT 〉=CTth), then brake ECU55 and judge that driving engine 12 is in the starting failure state, and march to subsequently with the step S31 that describes.
In step S31, braking ECU55 will reset decretum inhibitorium and transfer to Engine ECU 17.Reception is reset the Engine ECU 17 of decretum inhibitorium and is not carried out the control that is used to reset driving engine 12.Then, pump 42,43(that braking ECU55 carry out to start brake actuator 31 promptly, motor 4) and the first control of braking process (step S32) of linear solenoid valve 35a, 35b.Therefore, in the present embodiment, step S31, S32 constitute first step.Braking ECU55 stops vehicle thereby described braking ECU55 carries out first control with the braking force that increases on wheel FR, FL, RR, the RL also as second control unit.
After finishing the first control of braking process, braking ECU55 carries out the second control of braking process to keep the WC pressure P wn(step S33 of each wheel cylinder 32a to 32d).Particularly, braking ECU55 makes the pump 42,43 of brake actuator 31 stop and starting linear solenoid valve 35a, 35b to keep the WC pressure P wc of each wheel cylinder 32a to 32d.Subsequently, braking ECU55 stops the startup of pump 42,43, makes braking ECU55 then will reset grant commands and transfers to Engine ECU 17(step S34).Reception is reset the Engine ECU 17 of grant commands and is suitably carried out the control that is used to reset driving engine 12.Therefore, in the present embodiment, step S33, S34 constitute second step.
Shown in the sequential chart of Fig. 7, when driving engine 12 first constantly during t1 place auto-stop, engine speed Ne significantly reduces.In addition, because the wriggling moment of torsion is not passed to front-wheel FR, FL as drive wheel, so the rate of change of body speed of vehicle VS becomes big.When become at body speed of vehicle VS than body speed of vehicle a reference value VSth littler (more specifically, vehicle stops) second constantly t2 satisfy at place driving engine 12 reset condition the time, the control that execution is used to reset driving engine 12.
Yet, if driving engine 12 reset failure, number of times Counter Value CT increases " 1 ".Than described second the 3rd more late t3 place constantly of t2 constantly, the control that is used to reset driving engine 12 is carried out less than body speed of vehicle a reference value VSth once more owing to body speed of vehicle VS.If this time resetting once more of driving engine 12 failed, then number of times Counter Value CT increases " 1 " once more.In this case, when number of times Counter Value CT becomes more than or equal to number of times a reference value Ctth, make the judgement that driving engine 12 is in the starting failure state, and forbid resetting of driving engine 12.When number of times Counter Value CT less than number of times a reference value Ctth, do not make the judgement that driving engine 12 is in the starting failure state at the moment.
Repeat the control that is used for resetting driving engine 12 and mean that the MC pressure P mc of master cylinder 25 reduces, that is, the braking force on wheel FR, FL, RR, the RL reduces.This is because the condition that allows driving engine 12 to reset comprises that MC pressure P mc sees Fig. 5 less than MC pressure reference value Pmcth().Thereby, be the downhill path if be positioned with the road surface of vehicle on it, then may vehicle can be owing to moving forward by the wheel FR, the FL that reduce to cause of MC pressure P mc, the shortage of braking force on RR, the RL.In addition, be uphill road if be positioned with the road surface of vehicle on it, then may can move backward by vehicle.
As the body speed of vehicle VS of vehicle because vehicle when becoming more than or equal to body speed of vehicle a reference value VSth because of the motion of inertia, resetting of driving engine 12 be under an embargo (the 4th t4) constantly.This is because when body speed of vehicle VS becomes more than or equal to body speed of vehicle a reference value VSth, the control of braking that the pump 42,43 of permission execution brake actuator 31 is activated.In other words, there is such possibility: promptly, be used to reset the control of driving engine 12 and comprise that the control of braking of the startup of pump 42,43 may be overlapping in time.
When resetting of driving engine 12 is under an embargo, pump 42,43 and linear solenoid valve 35a, the 35b of brake actuator 31 are activated (first control of braking), make WC pressure P wc(Fig. 7 of the wheel cylinder 32a to 32d be used for wheel FR, FL, RR, RL be shown in broken lines) become target hydraulic Pwcth(first control of braking).In other words, the braking force on wheel FR, FL, RR, the RL increases so that vehicle stops.
After this, control of braking the WC of wheel cylinder 32a to 32d pressure P wc become with target hydraulic Pwcth same degree the 5th constantly the t5 place switch to second control of braking from first control of braking.Then, in brake actuator 31, stop the startup of pump 42,43, and the startup by linear solenoid valve 35a, 35b keeps the braking force (second control of braking) on wheel FR, FL, RR, the RL.Then, allow driving engine 12 to reset.If under this state, satisfy the condition of resetting of driving engine 12, then can carry out the control (the 6th moment t6) that is used to reset driving engine 12.
Get back to the diagram of circuit of Fig. 6, after resetting grant commands transmission (step S34), braking ECU55 judges the whether success (step S35) of resetting of driving engine 12 based on the information that receives from Engine ECU 17.If judged result, is then braked ECU55 for certainly and can be reset and march to above-mentioned steps S21 owing to driving engine 12.If the judged result of step S35 is then braked the ECU55 meeting owing to driving engine 12 does not reset to judge whether brake switch SW1 closes as yet for negating, that is, whether the operation of brake pedal 15 is released (step S36).If judged result is then braked ECU55 and can be marched to above-mentioned steps S35 for negating (SW1 connection).
Can judge that chaufeur allows the motion of vehicle because of inertia if the judged result of step S36, is then braked ECU55 for affirming (SW1 closes), and can carry out the 3rd control of braking process (step S37).Particularly, even vehicle moves by inertia, braking ECU55 still regulates the WC pressure P wc of wheel cylinder 32a to 32d, makes the body speed of vehicle VS of vehicle not become more than or equal to body speed of vehicle a reference value VSth.In other words, braking ECU55 is not activated pump 42,43, and regulates the current value about linear solenoid valve 35a, 35b.
In this case, it is big more to be configured to be positioned with on it steep more then this current value of the ground-surface gradient of vehicle about the current value of linear solenoid valve 35a, 35b.That is, in the 3rd control of braking, the braking force on the wheel can reduce but will can not increase.Therefore, in the present embodiment, body speed of vehicle a reference value VSth also is the permission a reference value.Thereby even the braking force on wheel FR, FL, RR, the RL reduces, vehicle still can not move according to the ground-surface gradient.
After the processing of step S37, braking ECU55 then judges based on the information that receives from Engine ECU 7 whether resetting of driving engine 12 is success (step S38).If judged result, is then braked ECU55 for certainly and can be reset and march to above-mentioned steps S21 owing to driving engine 12.If the judged result of step S38 is then braked the ECU55 meeting owing to driving engine 12 does not reset to judge whether brake switch SW1 connects as yet for negating, that is, whether brake pedal 15 is by operation (step S39) once more.If judged result is then braked ECU55 and can be marched to above-mentioned steps S38 for negating (SW1 closes).If the judged result of step S39 is then braked ECU55 and can be marched to above-mentioned steps S31 for affirming (SW1 connection).In other words, resetting of driving engine 12 is under an embargo (step S31), and after this, carries out to be used to the first control of braking process (step S32) that vehicle is stopped.Vehicle become stop after, carry out the second control of braking process (step S33), and allow driving engine 12 to reset (step S34).
If by second control of braking or the 3rd control of braking and under the situation of brake activation power on wheel FR, FL, RR, the RL, reset driving engine 12, then brake ECU55 and can reduce current value (see figure 7) gradually about linear solenoid valve 35a, 35b.
Therefore, present embodiment has the following advantages.
(1) when detecting the starting failure of driving engine 12, the resetting of driving engine 12 is under an embargo and wheel FR, FL, RR, RL on braking force increase so that vehicle stops.After this, after the braking force on wheel FR, FL, RR, RL is held, allow driving engine 12 to reset.In other words, avoided being used for increasing the time-interleaving of control of braking and the drive controlling of the propulsive effort generation device 13 that is used to reset driving engine 12 of the brake actuator 31 of the braking force on wheel FR, FL, RR, the RL.In addition, even the negative pressure in the servo-unit 26 reduces, driving engine 12 is still reset under the braking force that vehicle is stopped to be applied to situation on wheel FR, FL, RR, the RL.Therefore, driving engine 12 can be reset under the situation of the safety of guaranteeing vehicle, reduces to be installed in the load of the battery (not shown) on the vehicle simultaneously.
(2) in order to utilize brake actuator 31 to increase braking force on wheel FR, FL, RR, the RL, pump 42,43(promptly, motor 41) need be activated.When pump 42,43 was activated, the power consumption in the brake actuator 31 increased.If attempt resetting of driving engine 12 in this state, then the load meeting of the battery of vehicle becomes very big.Especially, one of driving engine 12 reason of entering faulty condition is that the charge capacity of battery reduces.Thereby, if during the control of braking of primer pump 42,43, carry out the drive controlling of the propulsive effort generation device 13 be used for resetting driving engine 12, then possibly can't fully guarantee about being activated delivery with the Starting motor (not shown) of fire an engine 12.In other words, can be unnecessarily consuming cells charge capacity and may be difficult to reset driving engine 12.
In this, in the present embodiment, during the control of braking that pump 42,43 is activated, there is not to carry out the control that is used to reset driving engine 12.Thereby, can reduce the load of battery.When resetting driving engine 12, electric power can supply to Starting motor fully, and driving engine 12 can be reset rapidly.
(3) when detecting brake pedal 15 and no longer be operated under the situation about stopping of the vehicle that keeps by second control of braking, make judgement: chaufeur allows vehicle owing to inertia moves.Then, the braking force on wheel FR, FL, RR, the RL reduces.Then, if vehicle location on the mountain, then vehicle along inclined direction moves down.In other words, even driving engine 12 is in the starting failure state, the behavior of vehicle still can be consistent with the intention of chaufeur.
(4) when driving engine 12 is in the starting failure state, the negative pressure in the very possible servo-unit 26 reduces.In this case, can not make the MC pressure P mc in the master cylinder 25 fully high, thereby, can not abundant big braking force be applied on wheel FR, FL, RR, the RL by the operation of the brake pedal 15 carried out by chaufeur.In the present embodiment, regulate the braking force on wheel FR, FL, RR, the RL, make that when the 3rd control of braking, body speed of vehicle VS does not become more than or equal to body speed of vehicle a reference value VSth.Thereby, become too high owing to can suppress the body speed of vehicle VS of vehicle, can under the situation of the safety of guaranteeing vehicle, carry out the control that is used to reset driving engine 12.
According to the road surface that is positioned with vehicle on it, even carry out the 3rd control of braking, vehicle still can not move." vehicle is because of the motion of inertia " related in the present embodiment is such notion: promptly, described notion comprises the motion when the vehicle that takes place when being applied on the vehicle that is positioned on the mountain with the cooresponding power of the gradient (being also referred to as " gradient acceleration/accel ").
(5) in the present embodiment, pump 42,43 is not activated when the 3rd control of braking, thereby allows driving engine 12 to reset.Thereby, might understand by the release of the operation of brake pedal 15 being reset by driving engine 12 as the chaufeur that triggers.In other words, driving engine 12 can not feel that the moment when ging wrong is reset at chaufeur.
(6) even when still detecting the operation of the brake pedal of being carried out by chaufeur 15 during the 3rd control of braking, the braking force on wheel FR, FL, RR, the RL increases so that vehicle stops.This is because when brake pedal 15 is operated, and makes chaufeur and has the judgement that makes the intention that vehicle stops.Thereby vehicle can stop according to the intention of chaufeur.
(7) when the braking force on increase wheel FR, FL, RR, the RL, resetting of driving engine 12 is under an embargo.Thereby, suppressed the increase of cell load.
(8) number of times a reference value CTth set for be positioned with vehicle thereon the ground-surface slope during for the gentle slope when being the abrupt slope on the slope bigger value.Thereby when the acceleration of vehicle is difficult to carry out, that is, as gradient equivalence value Ag during near " 0(zero) ", the number of times of attempting resetting driving engine 12 increases.Even this be because the braking force on wheel FR, FL, RR, the RL since the negative pressure of servo-unit 26 reduce diminish, if gradient equivalence value Ag near " 0(is zero) ", then body speed of vehicle VS still can not become at a high speed.Thereby, if can guarantee the safety of vehicle, then can postpone the judgement whether relevant driving engine 12 is in the starting failure state as much as possible.In other words, before first control of braking was carried out, the possibility that driving engine 12 can be reset can increase.
(9) in the present embodiment, even number of times Counter Value CT is less than a reference value CTth that gathers, but when the body speed of vehicle VS of vehicle became more than or equal to body speed of vehicle a reference value VSth, the resetting of driving engine 12 still can be under an embargo and brake actuator 31 is actuated to increase braking force on wheel FR, FL, RR, the RL.This is because when the body speed of vehicle VS of vehicle becomes more than or equal to body speed of vehicle a reference value VSth, the execution of control of braking that comprises the startup of pump 42,43 is allowed to, and makes control of braking and the control that is used to reset driving engine 12 have the time and goes up overlapping possibility.Thereby present embodiment helps to reduce the control of braking and the overlapping in time possibility of control that is used to reset driving engine 12 of the startup that comprises pump 42,43.
Present embodiment can be modified as different embodiment as described below.
In embodiment, revolution a reference value CTth can be the predefined value (for example, 3) of irrelevant gradient equivalence value Ag size.
Can not use the number of times of the failure of resetting of driving engine 12, that is, and number of times Counter Value CT.In this case, repeat the failure of resetting of driving engine 12 simultaneously more than or equal to body speed of vehicle a reference value VSth, then make the judgement that driving engine 12 is in the starting failure state when body speed of vehicle VS becomes.
In embodiment,, then can obtain gradient equivalence value Ag from homing advice if the grade information relevant with the ground-surface gradient (that is, the information of relevant gradient equivalence value Ag) is stored in the homing advice that is installed on the vehicle.
In embodiment, can measure from satisfy driving engine 12 reset condition the time (in the present embodiment for from step S20 for certainly the time) elapsed time, even and if driving engine 12 after the elapsed time becomes more than or equal to the time reference value, still do not reset, judge that then driving engine 12 is in the starting failure state.In this case, the mapping graph shown in the preferred set-up dirgram 8.This mapping graph is to be used for setting time reference value Tth for gradient equivalence value Ag cooresponding value.When in other words, time reference value Tth sets on the ground-surface slope to the gentle slope when being the abrupt slope on the slope bigger value.
When vehicle is mobile backward, utilized the control of braking of brake actuator 31 not to be performed usually.In this vehicle, can when vehicle is mobile backward, save the deterministic process of step S25.Equally for this configuration, comprise that the control of braking of startup of the pump 42,43 of brake actuator 31 can avoid temporal overlapping with the drive controlling of the propulsive effort generation device 13 that is used for resetting driving engine 12.
In embodiment, can judge whether the operational ton of brake pedal 15 reduces in step S36.The operational ton of brake pedal 15 estimates that based on the fluctuation of MC pressure P mc MC pressure P mc calculates based on the detection signal from pressure sensor SE8.
Similarly, can judge in step S39 whether the operational ton of brake pedal 15 increases.
In embodiment, can regulate the braking force on wheel FR, FL, RR, the RL, make the body speed of vehicle VS of vehicle become and be less than or equal to the permission a reference value, described permission a reference value is set for than the body speed of vehicle a reference value in the 3rd control of braking (control threshold value) value that VSth is littler.
The 3rd control of braking the term of execution, the ground-surface gradient of the vehicle that travels on it may change.Especially, when the ground-surface gradient become than the 3rd control of braking time opening the point place the steeper gradient of the gradient time, the body speed of vehicle VS of vehicle becomes at a high speed.This be because about the current value of linear solenoid valve 35a, 35b by the 3rd control of braking time opening the point place the ground-surface gradient set.Thereby, when body speed of vehicle VS the 3rd control of braking the term of execution when becoming more than or equal to body speed of vehicle a reference value VSth, no matter whether chaufeur operate brake pedal 15, reset that decretum inhibitorium can transfer to Engine ECU 17 and the first control of braking process can be performed.According to this configuration, comprise that the control of braking of startup of the pump 42,43 of brake actuator 31 can avoid temporal overlapping with the drive controlling of the propulsive effort generation device 13 that is used for resetting driving engine 12.
When body speed of vehicle VS the 3rd control of braking the term of execution when becoming more than or equal to body speed of vehicle a reference value VSth, brake actuator 31 can be driven, and makes body speed of vehicle VS become littler than body speed of vehicle a reference value VSth.Yet, between the driver stage of brake actuator 31, preferably forbid resetting of driving engine 12.
In embodiment, when chaufeur was released during second control of braking operating in of brake pedal 15, the braking force on wheel FR, FL, RR, the RL can be assumed to " 0(zero) ".After this, when body speed of vehicle VS becomes more than or equal to body speed of vehicle a reference value VSth, can carry out first control of braking.When the braking force on wheel FR, FL, RR, the RL is " 0(zero) ", can allow resetting of driving engine 12.
In embodiment, body speed of vehicle VS can obtain from the homing advice that is installed on the vehicle.
In embodiment, in the first control of braking process, target hydraulic Pwcth can set for when gradient equivalence value Ag is big than at Ag hour higher pressure of gradient equivalence value.
In embodiment, when the judged result of affirming (SW1 connection) of the step S39 that triggers by conduct is carried out the first control of braking process and the second control of braking process, resetting grant commands can become in the elapsed time when second control of braking starts and transfer to Engine ECU 17 afterwards more than or equal to the predefined schedule time (for example, 10 seconds).In this case, do not have to consume the electric power charge in the battery that is used for resetting driving engine 12, and can increase the charge capacity of battery on a small quantity at the predetermined time period when carrying out second control of braking.Thereby, increased the possibility of the starting failure state that can solve the driving engine 12 that the shortage by the charge capacity of battery causes by the charge capacity that increases battery.
If vehicle comprises electric parking and braking device, then can use this electric parking and braking device to replace brake actuator 31, use brake actuator 31 and electric parking and braking device in each that perhaps can be in first to the 3rd control of braking process.
Description of reference numerals
12 driving engines
15 brake pedals
31 brake actuators
32a to 32d wheel cylinder
35a, 35b are as the linear solenoid valve of control cock
42,43 pumps
55 braking ECU as first control unit, second control unit and body speed of vehicle acquiring unit
FR, FL, RR, RL wheel
CT is as the number of times Counter Value of number of executions
CTth several a reference value
Tth time reference value
The VS body speed of vehicle
VSth is as the body speed of vehicle a reference value of permission a reference value, body speed of vehicle threshold value and control threshold value
Claims (according to the modification of the 19th of treaty)
1. the control setup of a vehicle comprises:
First control unit (55, S12, S13), described first control unit when the halt condition of the driving engine (12) of described vehicle during described vehicle ' satisfies (55, S12, S13) allows described driving engine (12) auto-stop, and described first control unit (55, S12, S13) allows described driving engine (12) to reset when the condition of resetting of described driving engine (12) during described vehicle ' satisfies; And
Second control unit (55), described second control unit (55) is regulated the braking force on the wheel (FR, FL, RR, RL) that is arranged in the described vehicle; Wherein
When after the described driving engine of permission (12) is reset, detecting the starting failure of described driving engine (12), described second control unit (55, S32, S33) carry out first control of braking to increase described wheel (FR, FL, RR, RL) thus on braking force the described vehicle in travelling is stopped, and after this carry out second control of braking to keep described wheel (FR, FL, RR, RL) braking force on, and reduce or carry out the 3rd control of braking to reduce described wheel (FR during the non-operating state of described brake pedal (15) when the operational ton that during the execution of described second control of braking, detects the brake pedal (15) that is arranged in the described vehicle further, FL, RR, RL) braking force on and allow described vehicle to move; And
Described first control unit (55, S12, S13, S31, S34) forbids that described driving engine (12) resets and allow described driving engine (12) to reset during the execution of described second control of braking and described the 3rd control of braking during the execution of described first control of braking.
2. the control setup of vehicle according to claim 1, wherein, described the 3rd control of braking is following control, the braking force that this controls to adjust on the described wheel (FR, FL, RR, RL) makes the body speed of vehicle (VS) of described vehicle become less than predefined permission a reference value (VSth).
3. the control setup of vehicle according to claim 2, wherein
Described vehicle comprises wheel cylinder (32a, 32b, 32c, 32d) and brake actuator (31), described wheel cylinder (32a, 32b, 32c, 32d) will be applied on the described wheel (FR, FL, RR, RL) with the cooresponding braking force of fluid pressure that produces in the described wheel cylinder, and described brake actuator (31) is regulated the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d);
Described brake actuator (31) comprises pump (42,43) and control cock (35a, 35b), described pump (42,43) is activated to increase the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d), and described control cock (35a, 35b) is activated to regulate the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d); And
Described permission a reference value is set at the value that is less than or equal to control threshold value (VSth), and described control threshold value (VSth) allows to implement the control of braking of the startup that includes described pump (42,43).
4. according to the control setup of each described vehicle in the claim 1 to 3, wherein, described second control unit (55, S32, S33, S37) is carried out described first control of braking when the operational ton that detects described brake pedal (15) during the execution of described the 3rd control of braking increases.
5. according to the control setup of each described vehicle in the claim 1 to 4, wherein, even when become from the execution number of times of resetting that allows the described driving engine (12) of described driving engine (12) when resetting under more than or equal to number of times a reference value of setting (CTth) or described driving engine (12) is reset not yet when allowing the elapsed time of described driving engine (12) when resetting to become more than or equal to the time reference value (Tth) set situation, described first control unit (55, S12, S13, S31, S34) detect the starting failure of described driving engine (12).
6. according to the control setup of each described vehicle in the claim 1 to 5, also comprise:
Body speed of vehicle acquiring unit (55, S24), described body speed of vehicle acquiring unit (55, S24) obtains the body speed of vehicle (VS) of described vehicle; Wherein
Even under the situation that described driving engine (12) is reset not yet when the body speed of vehicle (VS) that is allowing described driving engine (12) to be obtained by described body speed of vehicle acquiring unit (55, S24) after resetting becomes more than or equal to body speed of vehicle threshold value (VSth), described first control unit (55, S12, S13, S31, S34) detects the starting failure of described driving engine (12).
7. the control method of a vehicle comprises:
Shut down step (S12), described shutdown step (S12) allows driving engine (12) auto-stop when the halt condition of described driving engine (12) satisfies of described vehicle; And
Reset step (S13), the described step (S13) of resetting allows described driving engine (12) to reset (S13) when the condition of resetting of described driving engine (12) satisfies; Wherein
The described step (S13) of resetting comprising:
First step (S31, S32), described first step (S31, S32) when allowing described driving engine (12) to detect the starting failure of described driving engine (12) after resetting, forbid described driving engine (12) reset and increase on the wheel (FR, FL, RR, RL) that is arranged in the described vehicle braking force so that described vehicle stop
Second step (S33, S34), described second step (S33, S34) keep the braking force on the described wheel (FR, FL, RR, RL) and allow described driving engine (12) to reset after the execution of described first step (S31, S32), and
Third step, described third step is used for detecting the brake pedal (15) that is arranged on described vehicle during described second step operational ton reduces or reduces the braking force on the described wheel (FR, FL, RR, RL) and allow described vehicle to move during the non-operating state of described brake pedal (15), and allows described driving engine (12) to reset continuously.

Claims (8)

1. the control setup of a vehicle comprises:
First control unit (55, S12, S13), described first control unit when the halt condition of the driving engine (12) of described vehicle satisfies (55, S12, S13) allows described driving engine (12) auto-stop, and described first control unit (55, S12, S13) allows described driving engine (12) to reset when the condition of resetting of described driving engine (12) satisfies; And
Second control unit (55), described second control unit (55) is regulated the braking force on the wheel (FR, FL, RR, RL) that is arranged in the described vehicle; Wherein
When after the described driving engine of permission (12) is reset, detecting the starting failure of described driving engine (12), described second control unit (55, S32, S33) carry out first control of braking to increase described wheel (FR, FL, RR, RL) thus on braking force described vehicle is stopped, and after this carry out second control of braking to keep the braking force on the described wheel (FR, FL, RR, RL); And
Described first control unit (55, S12, S13, S31, S34) forbids that described driving engine (12) resets and allow described driving engine (12) to reset during the execution of described second control of braking during the execution of described first control of braking.
2. the control setup of vehicle according to claim 1, wherein, when the operational ton that detects the brake pedal (15) that is arranged in the described vehicle during the execution of described second control of braking reduces or during the non-operating state of described brake pedal (15), described second control unit (55, S32, S33, S37) is carried out the 3rd control of braking to reduce the braking force on the described wheel (FR, FL, RR, RL) and to allow described vehicle to move.
3. the control setup of vehicle according to claim 2, wherein, described the 3rd control of braking is following control, the braking force that this controls to adjust on the described wheel (FR, FL, RR, RL) makes the body speed of vehicle (VS) of described vehicle become less than predefined permission a reference value (VSth).
4. the control setup of vehicle according to claim 3, wherein
Described vehicle comprises wheel cylinder (32a, 32b, 32c, 32d) and brake actuator (31), described wheel cylinder (32a, 32b, 32c, 32d) will be applied on the described wheel (FR, FL, RR, RL) with the cooresponding braking force of fluid pressure that produces in the described wheel cylinder, and described brake actuator (31) is regulated the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d);
Described brake actuator (31) comprises pump (42,43) and control cock (35a, 35b), described pump (42,43) is activated to increase the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d), and described control cock (35a, 35b) is activated to regulate the fluid pressure in the described wheel cylinder (32a, 32b, 32c, 32d); And
Described permission a reference value is set at the value that is less than or equal to control threshold value (VSth), and described control threshold value (VSth) allows to implement the control of braking of the startup that includes described pump (42,43).
5. according to the control setup of each described vehicle in the claim 2 to 4, wherein,
Described second control unit when the operational ton that detects described brake pedal (15) during the execution of described the 3rd control of braking increases (55, S32, S33, S37) is carried out described first control of braking.
6. according to the control setup of each described vehicle in the claim 1 to 5, wherein, even when become from the execution number of times of resetting that allows the described driving engine (12) of described driving engine (12) when resetting under more than or equal to number of times a reference value of setting (CTth) or described driving engine (12) is reset not yet when allowing the elapsed time of described driving engine (12) when resetting to become more than or equal to the time reference value (Tth) set situation, described first control unit (55, S12, S13, S31, S34) detect the starting failure of described driving engine (12).
7. according to the control setup of each described vehicle in the claim 1 to 6, also comprise:
Body speed of vehicle acquiring unit (55, S24), described body speed of vehicle acquiring unit (55, S24) obtains the body speed of vehicle (VS) of described vehicle; Wherein
Even under the situation that described driving engine (12) is reset not yet when the body speed of vehicle (VS) that is allowing described driving engine (12) to be obtained by described body speed of vehicle acquiring unit (55, S24) after resetting becomes more than or equal to body speed of vehicle threshold value (VSth), described first control unit (55, S12, S13, S31, S34) detects the starting failure of described driving engine (12).
8. the control method of a vehicle comprises:
Shut down step (S12), described shutdown step (S12) allows driving engine (12) auto-stop when the halt condition of described driving engine (12) satisfies of described vehicle; And
Reset step (S13), the described step (S13) of resetting allows described driving engine (12) to reset (S13) when the condition of resetting of described driving engine (12) satisfies; Wherein
The described step (S13) of resetting comprising:
First step (S31, S32), described first step (S31, S32) when allowing described driving engine (12) to detect the starting failure of described driving engine (12) after resetting, forbid described driving engine (12) reset and increase on the wheel (FR, FL, RR, RL) that is arranged in the described vehicle braking force so that described vehicle stop, and
Second step (S33, S34), described second step (S33, S34) keep the braking force on the described wheel (FR, FL, RR, RL) and allow described driving engine (12) to reset after the execution of described first step (S31, S32).
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