CN104653766B - The shift control method of vehicle bend and system - Google Patents
The shift control method of vehicle bend and system Download PDFInfo
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- CN104653766B CN104653766B CN201510126274.XA CN201510126274A CN104653766B CN 104653766 B CN104653766 B CN 104653766B CN 201510126274 A CN201510126274 A CN 201510126274A CN 104653766 B CN104653766 B CN 104653766B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
- F16H59/58—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on signals from the steering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
- F16H2061/163—Holding the gear for delaying gear shifts under unfavorable conditions, e.g. during cornering
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The shift control method of the vehicle bend of a kind of automatic gearbox gearshift control field and system, left direction modulating signal is obtained by CAN signal resolves, right direction modulating signal, steering wheel angle signal, the near front wheel wheel speed signal, off-front wheel wheel speed signal, left rear wheel wheel speed signal judges to show that entrance is entered curved intention by vehicle with off hind wheel wheel speed signal integrated logic, bend process, after going out to bend through the arbitrary operating mode in journey or straight travel state, in advance the upshift signal of gearshift MAP is carried out selectively masking, realize the lifting to power performance Yu driving safety；It is curved that the present invention can enable vehicle go out rapidly when going out curved, when many bends road conditions, it is to avoid the too fast heating of clutch, promotes power performance, safety and driving experience further.
Description
Technical field
The present invention relates to the technology of a kind of automatic gearbox gearshift control field, be specifically related to the double clutch of a kind of loading certainly
The automobile of dynamic variator shift control method under bend operating mode and system, when pilot control vehicle is turned, become automatically
Speed device will forbid upshift.
Background technology
Double-clutch automatic gearbox (Double Clutch Transmission) is one clutch of increase on the basis of AMT,
Two the most corresponding odd even gears of clutch.In shift process, target gear can be put into gear in advance, then by two clutches
Mutual and motor torque realize unpowered shock-free gearshift with rotating speed shift control.From cost, DCT is higher than AMT
With MT, it but is below AT and steel band type CVT；From transmission efficiency, DCT inherits the high efficiency of MT Yu AMT；
For from shift quality, DCT can realize the gearshift without impact with power failure-free.All in all, DCT has transmission efficiency
The advantage high, moderate cost is good with shift quality.It addition, the control technology of DCT can control technically to connect from ripe AMT
Continue and development, be the automatic transmission of a applicable China's national situation.
During entering bend, according to general driving habits, driver understands accelerator releasing, touches on the brake so that speed declines
So that safety pass through bend.But during vehicle deceleration, if carrying out upshift according to gearshift MAP, go out at vehicle
The situation that dynamic property is not enough is inevitably resulted in during curved.During it addition, travel on the road of many bends, rise downshift behaviour frequently
Work can make clutch heating too fast, the safety that impact is driven.
Through the retrieval of prior art is found, Chinese patent literature CN103939599A, open (bulletin) day
2014.07.23, disclose a kind of automatic transmission shift control method, Apparatus and system, relate to technical field of automobile control, for
The problem solving the security performance of automobile.Described automatic transmission shift control method includes: turning according to two front vehicle wheels obtained
The rotating speed of speed and two rear wheels obtains the speed discrepancy between speed discrepancy and two rear wheels between two front vehicle wheels, when two front trucks
When the speed discrepancy between speed discrepancy and two rear wheels between wheel is respectively greater than corresponding setting value, there is true turning in output vehicle
Signal；Calculate and obtain car load speed discrepancy and car load turning rate, obtain car load speed and car load turn duration；When car load car
When speed, car load turn duration and car load turning rate are respectively greater than corresponding setting value, the control of variator upshift is forbidden in output
Information processed, makes variator enter and forbids upshift pattern.
But the insurmountable technical problem of this technology includes:
1) cannot anticipation driver enter curved intention, this will cause before difference in wheel occurs in vehicle wheel speed, and automatic transmission is just
It is complete upshift operation.
2) speed discrepancy that existing technical limit spacing arrives is relevant to the size of speed, is determining the wheel speed making variator forbid upshift information
During difference limen value, obtain necessarily about a series of interpolation of speed.So can cause at each speed point, staking-out work personnel
To mark a corresponding difference in wheel threshold value accordingly；And speed point selection is the most, the control precision of threshold value will be the highest, car
Speed point selection the fewest, the control accuracy of threshold value will be the lowest.
Japanese documentation JP2004116752A, open (bulletin) day 2004.4.15, discloses a kind of changing automatic speed-variator
Gear control method, Apparatus and system, relate to technical field of automobile control.Described automatic transmission shift control method includes: gather
To the wheel speed of four wheels of wheel, it is calculated average wheel speed, and by the difference of trailing wheel wheel speed and average wheel speed as forbidding upshift
Control condition.Utilization orientation dish angular signal is calculated the speed discrepancy threshold value forbidding upshift.Difference when trailing wheel wheel speed Yu average wheel speed
When value is more than threshold value, obtain forbidding upshift signal.But due to rear wheel wheel speed produce difference moment can than vehicle start turn time
Carving and want evening, there is delay mechanically in the moment that the moment that vehicle starts to turn in addition starts action than steering wheel, therefore this technical controlling
Mode has certain hysteresis quality, and i.e. can not be judged to vehicle before speed discrepancy occurs in wheel the most in advance will turn.Existing control
Method just may can play its control action after vehicle upshift.
Summary of the invention
The present invention is directed to deficiencies of the prior art, propose shift control method and the system of a kind of vehicle bend, make car
Entering before bend (before difference in wheel occurs), it becomes possible to forbid that automatic transmission upshifts；(car after vehicle enters bend
There is difference in wheel), utilize the threshold value of three turning radius it may determine that automatic transmission is the need of forbidding upshift；Can distinguish
Negotiation of bends operating mode and straight-line travelling operating mode.The present invention is achieved by the following technical solutions:
The present invention relates to the shift control method of a kind of vehicle bend, by gather a pair steering indicating light signal, steering wheel angle signal,
A pair front-wheel wheel speed signal and pair of rear wheels wheel speed signal integrated logic judge to draw vehicle entrance is entered curved intention, bend process,
After going out to bend through the arbitrary operating mode in journey or straight-line travelling, in advance the upshift signal of gearshift MAP is carried out selectively masking, it is achieved
Lifting to power performance Yu driving safety.
Described collection refers to: turned by parsing acquisition left direction modulating signal, right direction modulating signal, steering wheel in CAN signal
Angle signal, the near front wheel wheel speed signal, off-front wheel wheel speed signal, left rear wheel wheel speed signal and off hind wheel wheel speed signal.
Described logical judgment refers to:
1) under straight travel state, when meeting the condition into curved intention operating mode, then enter into curved intention operating mode；
1.1) under entering curved intention operating mode, when meeting the condition to bend through journey operating mode, then straight-line travelling operating mode is entered；
1.2) under entering curved intention operating mode, when meeting the condition of bend process operating mode, then bend process operating mode is entered；
1.2.1) under bend process operating mode, when meeting the condition to bend through journey operating mode, then enter out and bend through journey operating mode；
1.2.1.1) under going out to bend through journey operating mode, when meeting the condition of straight travel state, then straight-line travelling operating mode is entered；
1.2.1.2) under going out to bend through journey operating mode, when meeting the condition of bend process operating mode, then bend process operating mode is entered.
The described condition entering curved intention operating mode, refers to meet one of following two condition:
A) within the judgement cycle, when steering indicating light signal is that high level and front-wheel wheel speed rate of change are more than bend wheel speed rate of change threshold value；
B) within the judgement cycle, when steering wheel angle signal is taken turns more than bend more than steering wheel angle threshold value and front-wheel wheel speed rate of change
During speed rate of change threshold value.
The condition of described bend process operating mode refers to: within the judgement cycle, when by the calculated vehicle of trailing wheel wheel speed signal
Radius of turn less than curved inside radius threshold value time, it is judged that for operating mode during bend；
The radius of turn of described vehicle is calculated in the following manner:Wherein: R is radius of turn,
V is current vehicle speed, VLFor rear left wheel wheel speed, VRFor right rear wheel wheel speed, L is left and right wheels wheelspan.
The described condition going out to bend through journey operating mode refers to: within the judgement cycle, when by the calculated vehicle of trailing wheel wheel speed signal
Radius of turn when being more than curved radius threshold, it is judged that for go out curved during operating mode.
Described straight travel state refers to: within the judgement cycle, when the turning by the calculated vehicle of trailing wheel wheel speed signal
When radius is more than straight line wheel speed rate of change threshold value more than straight-line travelling threshold value and front-wheel wheel speed rate of change, it is judged that for straight-line travelling operating mode.
Described shielding refers to: do not export the upshift signal produced by gearshift MAP.
Described selectivity refers to: when judging operating mode for entering curved intention, shield upshift signal；When judging that operating mode is bend process
Time middle, shield upshift signal；When judge operating mode for go out curved during time, do not shield upshift signal；When judging that operating mode is normal driving
Time, do not shield upshift signal.
The present invention relates to a kind of system realizing said method, including: radius of turn computing module, front-wheel wheel speed rate of change calculate
Module, enter curved intention conditional judgment module, bend process condition judge module, go out to bend through journey conditional judgment module, straight-line travelling bar
Part judge module with forbid upshift conditional judgment module, wherein: radius of turn computing module respectively with bend procedure module, go out to bend through
Journey module, straight-line travelling module are connected and transmit radius of turn information；Front-wheel wheel speed rate of change computing module respectively with enter curved intention bar
Part judge module, straight-line travelling conditional judgment module are connected and transmit front-wheel wheel speed rate of change information；Enter curved intention conditional judgment module,
Bend process condition judge module, go out to bend through journey conditional judgment module, straight-line travelling conditional judgment module and forbid upshift conditional judgment
Module is connected and transmission state transitional information；Forbid that upshift conditional judgment module is connected with external system and transmits and forbid that upshift is believed
Breath.
Technique effect
Compared with prior art, trailing wheel wheel speed signal can be converted into closely related with rear wheel rotation speed difference and current vehicle speed by the present invention
Radius of turn；Can judge into curved intention according to steering indicating light and steering wheel angle signal；Bend mistake can be distinguished according to radius of turn
Journey, go out to bend through journey；Straight-line travelling operating mode can be distinguished according to radius of turn and front-wheel wheel speed rate of change and go out curved operating mode；Can foundation
Front-wheel wheel speed rate of change ignores the judgement entering curved intention operating mode forgetting that closedown steering indicating light causes.
Accompanying drawing explanation
Fig. 1 is principle of the invention schematic diagram；
Fig. 2 is the inventive method schematic flow sheet；
Fig. 3 is embodiment 1 schematic flow sheet；
Fig. 4 is embodiment 1 signal timing diagram；
Fig. 5 is embodiment 1 radius of turn signal timing diagram；
Fig. 6 is that embodiment 1 enters curved judgement sequential chart.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention,
Give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
Steering wheel angle signal that the present embodiment gathers according to real vehicle and front and back wheel wheel speed signal, SIMULINK simulated environment.Base
In above-mentioned environment, as shown in Figures 2 and 3, the present embodiment comprises the following steps:
1, the judgement of curved intention is entered
Owing to everyone driving habits is different, for ensureing general driving situation, the present invention does not use steering indicating light, and uses
Steering wheel angle and front-wheel wheel speed carry out judging into curved intention.In 0.1 second, when having, steering indicating light signal and front-wheel wheel speed rate of change are big
In 3 time, shield upshift signal；Within 0.1 second a period of time, when steering wheel angle, more than 35 and the fluctuation of front-wheel wheel speed is more than 3
Time, shield upshift signal.
2, the judgement of bend process
Vehicle is when bend process, and trailing wheel left and right speed is inevitable different, is calculated the radius of turn of vehicle by difference in wheel.At one section
In 0.03 second time, when radius of turn is less than 80, it is judged that vehicle is in bend process, shield upshift signal.
3, go out to bend through the judgement of journey
Within a period of time 0.3 second, when radius of turn is more than 85, it is judged that vehicle is in out and bends through journey, do not shield upshift letter
Number.
4, the judgement of normal driving
Within 0.03 second a period of time, when radius of turn, more than 100 and front-wheel wheel speed rate of change is less than 2, it is judged that vehicle is in
Normal driving process, does not shield upshift signal.
Compared with prior art, the performance indications of the present embodiment, technique effect specifically embody below figure:
As shown in Figure 4, in figure, Figure 1 is vehicle front-wheel wheel speed；Figure 2 is vehicle rear wheel wheel speed；Figure 3 is for turning
To dish corner；Figure 4 is for forbidding upshift signal.As can be seen from Figure, before vehicle front and back wheel produces difference in wheel, forbid
Upshift signal has enabled, and shows that the present invention has bend anticipation function；Curved intention can be entered with steering wheel angle signal anticipation.
As shown in Figure 6, Curves Case=0 in figure, show that vehicle is in straight-line travelling；Curves Case=1, shows vehicle
It is in into curved intention；Curves Case=2, shows that vehicle is in bend process；Curves Case=3, shows that vehicle is in out and bends through
Journey.Fig. 5 with Fig. 6 shows, this method can be distinguished bend process according to radius of turn, go out to bend through journey；Can be according to radius of turn
And front-wheel wheel speed rate of change distinguishes straight-line travelling operating mode and go out curved operating mode.
Claims (9)
1. the shift control method of a vehicle bend, it is characterised in that by gathering a pair steering indicating light signal, steering wheel angle
Signal, a pair front-wheel wheel speed signal judge to show that entrance is entered curved intention, bend by vehicle with pair of rear wheels wheel speed signal integrated logic
Process, go out to bend through the arbitrary operating mode in journey or straight travel state after, in advance to gearshift MAP upshift signal carry out selectivity
Shielding, it is achieved the lifting to power performance Yu driving safety；
Described collection refers to: obtain left direction modulating signal, right direction modulating signal, steering wheel angle letter by resolving in CAN signal
Number, the near front wheel wheel speed signal, off-front wheel wheel speed signal, left rear wheel wheel speed signal and off hind wheel wheel speed signal；
Described logical judgment refers to:
1) under straight travel state, when meeting the condition into curved intention operating mode, then enter into curved intention operating mode；
1.1) under entering curved intention operating mode, when meeting the condition to bend through journey operating mode, then straight-line travelling operating mode is entered；
1.2) under entering curved intention operating mode, when meeting the condition of bend process operating mode, then bend process operating mode is entered；
1.2.1) under bend process operating mode, when meeting the condition to bend through journey operating mode, then enter out and bend through journey operating mode；
1.2.1.1) under going out to bend through journey operating mode, when meeting the condition of straight travel state, then straight-line travelling operating mode is entered；
1.2.1.2) under going out to bend through journey operating mode, when meeting the condition of bend process operating mode, then bend process operating mode is entered.
The shift control method of vehicle bend the most according to claim 1, is characterized in that, described enters curved intention operating mode
Condition refers to: meet one of following two condition
A) within the judgement cycle, when steering indicating light signal is high level and front-wheel wheel speed rate of change is more than bend wheel speed rate of change threshold value；
B) within the judgement cycle, when steering wheel angle signal is more than bend wheel speed more than steering wheel angle threshold value and front-wheel wheel speed rate of change
During rate of change threshold value.
The shift control method of vehicle bend the most according to claim 1, is characterized in that, described bend process operating mode
Condition refers to: within the judgement cycle, when being less than curved inside radius threshold value by the radius of turn of the calculated vehicle of trailing wheel wheel speed signal
Time, it is judged that for operating mode during bend.
The shift control method of vehicle bend the most according to claim 1, is characterized in that, described goes out to bend through journey operating mode
Condition refers to: within the judgement cycle, when being more than curved radius threshold by the radius of turn of the calculated vehicle of trailing wheel wheel speed signal
Time, it is judged that for go out curved during operating mode.
The shift control method of vehicle bend the most according to claim 1, is characterized in that, described straight travel state is
Refer to: within the judgement cycle, when being more than straight-line travelling threshold value and front-wheel by the radius of turn of the calculated vehicle of trailing wheel wheel speed signal
When wheel speed rate of change is less than straight line wheel speed rate of change threshold value, it is judged that for straight-line travelling operating mode.
6., according to the shift control method of the vehicle bend described in claim 3 or 4 or 5, it is characterized in that, described vehicle
Radius of turn is calculated in the following manner:Wherein: R is radius of turn, V is current vehicle speed, VLFor a left side
Rear wheel wheel speed, VRFor right rear wheel wheel speed, L is left and right wheels wheelspan.
The shift control method of vehicle bend the most according to claim 1, is characterized in that, described shielding refers to: the most defeated
Go out the upshift signal produced by gearshift MAP.
The shift control method of vehicle bend the most according to claim 1, is characterized in that, described selectivity refers to: when
When judging operating mode for entering curved intention, shield upshift signal；When judging that operating mode is during bend, shield upshift signal；Work as judgement
Operating mode for go out curved during time, do not shield upshift signal；When judging that operating mode is normal driving, do not shield upshift signal.
9. one kind realizes the system of method described in any of the above-described claim, it is characterised in that including: radius of turn computing module,
Front-wheel wheel speed rate of change computing module, enter curved intention conditional judgment module, bend process condition judge module, go out curved process condition and sentence
Disconnected module, straight-line travelling conditional judgment module and forbid upshift conditional judgment module, wherein: radius of turn computing module is respectively with curved
Road procedure module, go out curved procedure module, straight-line travelling module is connected and transmits radius of turn information；Front-wheel wheel speed rate of change calculates mould
Block respectively with enter curved intention conditional judgment module, straight-line travelling conditional judgment module is connected and transmits front-wheel wheel speed rate of change information；Enter
Curved intention conditional judgment module, bend process condition judge module, go out to bend through journey conditional judgment module, straight-line travelling conditional judgment mould
Block is connected and transmission state transitional information with forbidding upshift conditional judgment module；Forbid upshift conditional judgment module and external system
It is connected and transmits and forbid upshift information.
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| CN201510126274.XA CN104653766B (en) | 2015-03-23 | 2015-03-23 | The shift control method of vehicle bend and system |
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| CN201510126274.XA CN104653766B (en) | 2015-03-23 | 2015-03-23 | The shift control method of vehicle bend and system |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105179675B (en) * | 2015-08-11 | 2017-07-18 | 上海汽车变速器有限公司 | The optimization upshift control method of wet dual clutch transmission |
| CN109532714B (en) * | 2017-09-21 | 2020-10-23 | 比亚迪股份有限公司 | Method and system for acquiring vehicle bottom image and vehicle |
| CN109058450B (en) * | 2018-09-12 | 2020-02-18 | 一汽解放汽车有限公司 | Bend identification and gear shifting control method for mechanical automatic transmission of commercial vehicle |
| CN110356252B (en) * | 2019-08-07 | 2022-04-12 | 奇瑞新能源汽车股份有限公司 | Driving control method and device and computer readable storage medium |
| CN112229418B (en) * | 2020-12-11 | 2021-04-09 | 北京晶众智慧交通科技股份有限公司 | Vehicle positioning system based on OBD box |
| CN113619584B (en) * | 2021-08-27 | 2024-06-14 | 中国第一汽车股份有限公司 | Electronic control rear wheel steering method and device, electronic equipment and storage medium |
| CN113700850A (en) * | 2021-09-29 | 2021-11-26 | 宜宾凯翼汽车有限公司 | Gear control method of vehicle automatic transmission control unit |
| CN114135659A (en) * | 2021-11-30 | 2022-03-04 | 东风商用车有限公司 | Heavy truck AMT curve gear selection method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5691900A (en) * | 1994-07-28 | 1997-11-25 | Kelsey-Hayes Company | Method and system for turning detection |
| JP3979908B2 (en) * | 2002-09-30 | 2007-09-19 | 本田技研工業株式会社 | Control method of automatic transmission |
| JP4726058B2 (en) * | 2005-09-22 | 2011-07-20 | 本田技研工業株式会社 | Automatic transmission control device |
| JP4640224B2 (en) * | 2006-03-15 | 2011-03-02 | 日産自動車株式会社 | VEHICLE TRAVEL BENDING DETECTING DEVICE AND VEHICLE ACTION RESPONSE |
| JP2009156434A (en) * | 2007-12-27 | 2009-07-16 | Aisin Aw Co Ltd | Control apparatus for automatic transmission |
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