CN105984466A

CN105984466A - Driving force control system for vehicle

Info

Publication number: CN105984466A
Application number: CN201610147061.XA
Authority: CN
Inventors: 山中聪; 桑原清二
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2015-03-17
Filing date: 2016-03-15
Publication date: 2016-10-05
Anticipated expiration: 2036-03-15
Also published as: KR20160111856A; JP2016173177A; KR101860192B1; JP6222194B2; CN105984466B

Abstract

A driving force control system of a vehicle installed with an automatic transmission that transmits torque generated by an engine to drive wheels while changing the speed is provided for controlling driving force based on the vehicle speed and the accelerator operation amount. In the driving force control, an acceleration characteristic that defines the relationship between re-acceleration-time acceleration as a control index used when the vehicle travels while being re-accelerated after deceleration traveling, and the vehicle speed, is stored, and the re-acceleration-time acceleration corresponding to the current vehicle speed is obtained (step S3), based on traveling data of the vehicle obtained before the deceleration traveling, and the acceleration characteristic. Then, the speed ratio of the automatic transmission which can realize the obtained re-acceleration-time acceleration is set, before the re-acceleration traveling is started (step S4).

Description

Traction control system for vehicle

Technical field

The present invention relates to a kind of Traction control system for vehicle, described Traction control system is by vehicle just The speed ratio changing automatic transmission during Reduced Speed Now controls the driving force of vehicle.

Background technology

In Japanese Patent Application No.2007-170444 (JP 2007-170444 A), illustrate a kind of for car Traction control system, described Traction control system perform when the accelerator pedal of vehicle is quickly released for The control of suppression upshift, and perform to include the deceleration auxiliary of the control for performing downshift when applying braking to vehicle suddenly Control.In above-mentioned JP 2007-170444 A explanation Traction control system be configured to running environment based on vehicle and Transport condition determines the condition of deceleration assist control as above.Such as, this system is according to such as vehicle and above The driving tendency of distance, road surface gradient and/or driver between vehicle determines whether to perform deceleration assist control and execution The control level used during deceleration assist control.A control example of explanation in above-mentioned JP 2007-170444 A In, when the driving of driver be inclined to be motion travel tendency time, automatic transmission can perform quilt during deceleration assist control Downshift is to lower gear.It is to give the bigger value of the power performance of vehicle or importance and need vehicle that motion travels tendency Driver behavior is made quickly response driving tendency.

In Japanese Patent Application No.2003-211999 (JP 2003-211999 A), illustrate that a kind of traveling is controlled System processed, described drive-control system makes vehicle automatically follow vehicle above.JP 2003-211999 A says In bright drive-control system, during being travelled by the vehicle of operator, to the instruction behavior of vehicle, running environment, drive Sail the running data sampling of operation etc., and the driving obtaining driver by running data carries out multiple regression analysis is inclined To (multivariate regression coefficients).Then, this system is configured to by making based on driving tendency target setting acceleration/deceleration Vehicle automatically follows vehicle above.

And, the driving force of explanation in Japanese Patent Application No.2002-139135 (JP 2002-139135 A) Control system is configured to running environment based on road and calculates recommendation speed ratio, changes speed ratio based on recommending speed ratio, driver It is intended to and actual speed ratio calculates optimum speed ratio, and to be come by rate of change determined by the difference recommended between speed ratio and actual speed ratio Change optimum speed ratio.

As it has been described above, in JP 2007-170444 A in the control system of explanation, during vehicle travels, presumption is driven The driving tendency of member.Then, such as, when vehicle is at the front reduction gear of bend or crossing, it is that motion driving is inclined when driving tendency Xiang Shi, with drive tendency be not motion drive tendency situation compared with, automatic transmission by downshift to lower gear.By The downshift so performed during deceleration, can improve acceleration when vehicle further accelerates after braking.

Meanwhile, in JP 2007-170444 A, whether the control system of explanation according to the driving tendency of driver is Tendency is driven in motion and point before bend or crossing as one man sets gear during being in deceleration, and perform downshift with Set up the gear of so setting.And, the driving tendency as presumed value is necessarily included the presumption of individual diversity XOR by mistake Difference.Therefore, the gear set up after downshift or speed ratio may be insufficient or inappropriate.Such as, if dropped Gear is inadequate, then can perform further to drop when driver steps on accelerator pedal with accelerating vehicle after turning Gear.That is, the driving force that reality produces is probably inadequate for the required driving force that driver wants.As a result, drive The person of sailing can feel strange or uncomfortable, or can feel that acceleration or acceleration feel bad.

Summary of the invention

Having made the present invention in view of above-mentioned technical problem, the present invention provides a kind of and is being provided with the vehicle of automatic transmission The Traction control system of middle use, described system sets reflection driver in the situation that vehicle is further accelerated after slowing down Intention and drive tendency suitable gear (speed ratio) so that vehicle further accelerates traveling.

According to an aspect of the present invention, it is provided that a kind of Traction control system for vehicle, described vehicle includes sending out Motivation, driving wheel and automatic transmission, described automatic transmission transmits torque between electromotor and driving wheel.Driving force controls System includes controller.Controller is configured to: (i) speed based on vehicle and accelerator operation amount control the driving of vehicle Power, (ii) stores acceleration characteristic, and described acceleration characteristic limits the relation between brief acceleration and speed that further accelerates, described again Accelerate brief acceleration be the Con trolling index used when vehicle further accelerates traveling after Reduced Speed Now, (iii) based on The running data of the vehicle obtained before Reduced Speed Now and acceleration characteristic, it is thus achieved that corresponding with current vehicle speed adds when further accelerating Speed, and (iv) is before starting to further accelerate traveling, sets the permissible of automatic transmission based on the brief acceleration that further accelerates obtained Realize this speed ratio further accelerating brief acceleration.

In Traction control system as above, controller may be configured to: (i) is based on before Reduced Speed Now Give it the gun period obtain running data, deduce driver want during further accelerating traveling realize desired speed, (ii) based on current vehicle speed and the desired speed deduced, it is thus achieved that corresponding with current vehicle speed further accelerates brief acceleration.

In Traction control system as above, controller may be configured to: (i) stores multiple acceleration characteristic Line, determines according to speed on the plurality of acceleration characteristic line and further accelerates brief acceleration, and (ii), based on desired speed, selects institute State an acceleration characteristic line in multiple acceleration characteristic line, and (iii) is based on current vehicle speed, desired speed and selected One acceleration characteristic line, it is thus achieved that corresponding with current vehicle speed further accelerates brief acceleration.

In Traction control system as above, controller may be configured to: (i) further accelerates traveling starting Time, storage speed and acceleration, and (ii) renewal acceleration characteristic line.

In Traction control system as above, controller may be configured to: (i) by use the past repeatedly The meansigma methods further accelerating brief acceleration further accelerated in traveling performed or the meansigma methods of desired speed, it is thus achieved that accelerate when further accelerating Degree, and the speed ratio further accelerating brief acceleration that can realize being obtained of (ii) setting automatic transmission.

In Traction control system as above, controller may be configured to never set vehicle the described phase The time point hoping speed and the max. speed that recorded before the traveling that reduces speed now are set as desired speed.

According in the Traction control system for vehicle of the present invention, when vehicle is further accelerated after slowing down, Before starting to further accelerate traveling, set and allow the vehicle to further accelerate brief acceleration (the i.e. desired acceleration of driver with above-mentioned Degree) the automatic transmission speed ratio (or gear) that accelerates.Further accelerating brief acceleration is to further accelerate the traveling phase after Reduced Speed Now Between use Con trolling index, and be by driver want during further accelerating traveling realize acceleration or by driver's institute's phase The presumed value of the acceleration hoped.Based on the acceleration characteristic stored in advance and the traveling number of vehicle obtained before Reduced Speed Now According to, it is thus achieved that further accelerate brief acceleration.Area definition can be shifted to an earlier date and further accelerate the acceleration of the relation between brief acceleration and speed Characteristic.The running data of vehicle can include that physical quantity, such as speed, acceleration, the speed ratio of automatic transmission and electromotor turn Speed, these physical quantitys represent the travel conditions of vehicle.

Therefore, by means of the Traction control system for vehicle of the present invention, when vehicle is further accelerated after slowing down Time, can complete before starting further accelerating traveling to allow the vehicle to further accelerate what brief acceleration accelerated with described for setting The automatic transmission shift of speed ratio controls.And, in the manner described above from the running data obtained before Reduced Speed Now and car Acceleration characteristic obtain further accelerate brief acceleration；Therefore, further accelerate brief acceleration can serve as gearshift control control refer to Mark, that reflects the intention of driver, drives tendency etc..Therefore, when starting to further accelerate traveling after Reduced Speed Now, The speed ratio further accelerating necessary driving force can be provided through setting in automatic transmission.And, presumption now sets The acceleration that speed ratio allows the acceleration wanted with driver of vehicle or driver to be asked accelerates.

Such as, when the vehicle is turning, stage of bend is entered to vehicle in stage of turning driving at vehicle from vehicle During Reduced Speed Now, automatic transmission can shift to an earlier date downshift makes vehicle further accelerate row in the stage that vehicle comes off the curve to being suitable to The speed ratio (gear) sailed, or downshift is to further accelerating brief acceleration.Therefore, when vehicle enters bend and when turning, and vehicle is permissible Suitably slow down, thus perform suitable turning driving, keep the state that can obtain relatively large driving force simultaneously.Then, car is worked as When coming off the curve and start to further accelerate, automatic transmission by downshift to the state that can obtain relatively large driving force.

Thus, according to the Traction control system for vehicle of the present invention, prevent from further accelerating after Reduced Speed Now Perform further downshift during traveling, thus make up the driving force caused due to the insufficient downshift during Reduced Speed Now and lack Weary, and vehicle can suitably accelerate.Therefore, driver the most maybe can not feel strange or uncomfortable or vibrations, And the acceleration of vehicle can be improved and accelerate sensation.

Accompanying drawing explanation

The following drawings illustrate the feature of the exemplary embodiment of the present invention, advantage and technology and industrial significance, The element that the most identical reference instruction is identical, and wherein:

Fig. 1 shows by the vehicle controlled according to the Traction control system being used for vehicle of the present invention and control system The view of one example of the configuration of system；

Fig. 2 is for explaining that the basic driver power performed by the Traction control system for vehicle of the present invention controls The flow chart of one example；

Fig. 3 is the view for explaining the dependency between " further accelerating brief acceleration " and speed, it is thus achieved that described dependency To calculate " desired speed " and " further accelerating brief acceleration " in controlling at the driving force of the present invention；

Fig. 4 is the view for explaining the relation line (proximal line) representing the dependency shown in Fig. 3；

Fig. 5 is the view for explaining control figure example, and described control figure is for the driving force control in the present invention System obtains " further accelerating brief acceleration "；

Fig. 6 be for explain the driving force of the present invention control in for obtaining " attainable acceleration " and can provide It is somebody's turn to do the view of the control of the gear (speed ratio) of " attainable acceleration "；

Fig. 7 A and Fig. 7 B is for explaining that the characteristic of vehicle (such as speed, adds when the driving force performing the present invention controls Speed and engine speed) view；

Fig. 8 is the frame of the configuration of the controller for explaining the Traction control system for vehicle constituting the present invention Figure；

Fig. 9 A and Fig. 9 B is for explaining that the driving force performing the present invention on the vehicle be provided with buncher controls Time vehicle the view of characteristic (such as speed, acceleration and engine speed)；

Figure 10 be for explain perform on the vehicle being provided with buncher the present invention driving force control time another One view controlling example；

Figure 11 A and Figure 11 B is the view of another control example during for explaining the driving force control performing the present invention；

Figure 12 A and Figure 12 B is the view of another control example during for explaining the driving force control performing the present invention；

Figure 13 is the view of another control example during for explaining the driving force control performing the present invention；

Figure 14 is the view of another control example during for explaining the driving force control performing the present invention；

Figure 15 is the view of another example for explaining the control figure shown in Fig. 5；

Figure 16 is the view of another example for explaining the control figure shown in Fig. 5；

Figure 17 is another for explaining that the driving force performed by the Traction control system for vehicle of the present invention controls The flow chart of one example；

Figure 18 is for explaining acquisition " desired speed " under the driving force according to the flow chart shown in Figure 17 controls The time diagram of one example；

Figure 19 is another for explaining that the driving force performed by the Traction control system for vehicle of the present invention controls The flow chart of one example；

Figure 20 is for explaining that the driving force performed by the Traction control system for vehicle of the present invention controls again The flow chart of one example；

Figure 21 is for explaining that combination is for and " accelerating when further accelerating with acquisition " desired speed " running data weighting Degree " control calculate the view of a kind of method of proximal line of running data；

Figure 22 is the view of the effect of the weighting for explaining running data；

Figure 23 is for explaining that coming one of control coefrficient (slope) by study in the driving force of the present invention controls shows The view of example, described coefficient (slope) is specified and is used for obtaining " desired speed " and the relation line of " further accelerating brief acceleration "；

Figure 24 is to carry out another of control coefrficient (slope) by study for explanation in the driving force of the present invention controls The view of example, described coefficient (slope) is specified and is used for obtaining " desired speed " and the relation line of " further accelerating brief acceleration "；With

Figure 25 is for explaining that the driving force performed by the Traction control system for vehicle of the present invention controls again The flow chart of one example.

Detailed description of the invention

It follows that one embodiment of the present of invention is described with reference to the accompanying drawings.The vehicle that can apply the present invention is provided with certainly Dynamic variator, electromotor the power produced can be delivered to driving wheel while changing speed by described automatic transmission. The automatic transmission of the vehicle of the application present invention can be buncher, such as, and belt CVT or anchor ring CVT (toroidal CVT), it can change speed ratio continuously.The present invention can also be applied to include the motor vehicle driven by mixed power of distributing means for power supply, institute State distributing means for power supply combination and distribution by power produced by electromotor and motor.That is, included in motor vehicle driven by mixed power Distributing means for power supply play the function of so-called electrically variable transmission, and electrically variable transmission may be considered basis One type of the automatic transmission of the present invention.

As an example of the vehicle that can apply the present invention, Fig. 1 shows configuration and the control system thereof of vehicle, Described vehicle is provided with on the outlet side of electromotor automatic transmission.Vehicle Ve shown in Fig. 1 have front-wheel 1 and after Wheel 2.In the drawings in the example shown in 1, vehicle Ve is configured to rear wheel drive vehicle, in the rear in wd vehicle, by sending out The power that motivation (ENG) 3 produces is passed to trailing wheel 2 via automatic transmission (AT) 4 and differential gear set 5, thus produces and drive Power.The vehicle Ve that can apply the present invention can be f-w-d vehicle, in described f-w-d vehicle, by electromotor 3 The power produced is passed to front-wheel 1, thus produces driving force.Vehicle Ve can also be four-wheel drive vehicle, at described four-wheel Drive in vehicle, electromotor 3 power produced is passed to front-wheel 1 and trailing wheel 2, thus produces driving force.

Electromotor 3 includes the most electronically controlled air throttle or electronically controlled fuel injection device and includes that air-flow passes Sensor, the flow of described pneumatic sensor detection air inlet.In example shown in FIG, electromotor 3 includes electronic throttle 6 With pneumatic sensor 7.It is therefoie, for example, come described electronics by the data detected based on accelerator pedal position sensor 9 Air throttle 6 carries out electric control operation, it is possible to automatically control the output of electromotor 3, described accelerator pedal position be will be described later Sensor 9.

Automatic transmission 4 is arranged on the outlet side of electromotor 3, for defeated change electromotor 3 while speed Go out torque to transmit towards driving wheel.Automatic transmission 4 is traditional automatic transmission, its have two or more gears and It is made up of epicyclic train and clutch mechanism and stopper mechanism.By controlling clutch mechanism and the behaviour of stopper mechanism Make, the gear (or speed ratio) set up or set can be automatically controlled in automatic transmission 4.

Controller 8 is for controlling output and the gearshift of automatic transmission 4 of electromotor 3.Such as, controller 8 is electronics control Unit processed (ECU), it is mainly made up of microcomputer.Electromotor 3 is connected to controller 8, in order to makes electromotor 3 and controls Device 8 can be with communication with one another, in order to control electromotor 3.And, automatic transmission 4 connects via hydraulic control system (not shown) To controller 8, in order to make automatic transmission 4 and the controller 8 can be with communication with one another, to control variator 4.Although showing at Fig. 1 Example is provided with a controller 8, but two or more controllers are can be arranged for corresponding device or equipment, Or such as can be arranged for controlling content accordingly.

Controller noted above 8 be configured to receive from the various sensors in the corresponding component of vehicle Ve detection signal and Information signal from the device that various vehicles are installed.Such as, controller 8 is configured to add from said flow sensor 7, detection Speed device operational ton or the accelerator pedal position sensor 9 of pedal position, detection brake pedal volume under pressure brake sensing Device (or brake switch) 10, the engine speed sensor 11 of rotating speed of output shaft 3a of detection electromotor 3, detection fluid drive The output shaft speed sensor 12 of the rotating speed of the output shaft 4a of device 4 and the rotating speed by the corresponding wheel 1,2 of detection obtain speed Vehicle speed sensor 13 receives detection signal.Then, controller 8 is configured to the data etc. using received data, storing in advance Perform calculating, and export control command signal based on result of calculation.

When vehicle Ve configured as above further accelerates after slowing down, can step in response to driver as mentioned above Accelerator pedal and perform downshift.If automatic transmission 4 not by suitably downshift, is then driven when further accelerating during slowing down Power becomes not enough, and will perform downshift to set up lower gear (or increasing speed ratio) when vehicle Ve starts to further accelerate. As a result, driver can feel strange or uncomfortable, or will can not get preferably accelerating sensation.And, the intention of driver and Drive tendency to change according to the individual variation between driver, running environment etc..If while it is true, as the above Like that automatic transmission 4 during slowing down by as one man (uniformly) downshift, then when vehicle Ve starts to further accelerate, by nothing Method obtains driving force and the acceleration that driver wants.

Thus, controller 8 is configured through that vehicle Ve is performed driving force and controls will pass through control to reflect driver Intention and drive tendency, thus enable that vehicle Ve suitably further accelerates.More specifically, controller 8 is configured to " to further accelerate Brief acceleration " be defined as vehicle Ve slow down after further accelerate time use Con trolling index, and vehicle Ve start by The speed ratio of automatic transmission 4 is set as before further accelerating being capable of the speed ratio of " further accelerating brief acceleration " of so determining. " further accelerating brief acceleration " as the Con trolling index used when further accelerating after slowing down at vehicle Ve is to be added at vehicle Ve again Driver's desired or desired estimated acceleration during speed.Acceleration characteristic based on vehicle Ve and running data obtain " further accelerate brief acceleration ".Store in advance with the form of arithmetical expression or mapping determine " further accelerating brief acceleration " and speed it Between the acceleration characteristic of relation.The running data of vehicle Ve includes the physical quantity indicating the transport condition of vehicle Ve, such as car Speed, acceleration, the speed ratio of automatic transmission 4 and engine speed, and the running data of vehicle Ve is from front deceleration traveling The running history before obtained is extracted.If controller 8 is configured to when ignition switch (or main switch) disconnects remove travel Data, then the running history before front deceleration travels is to connect ignition switch and following for current driving from vehicle Ve The history controlling the running data that the time up till now time when starting for the first time obtains that will illustrate with reference to Fig. 2.

The control content that by controller 8 perform below be will be described in closer detail.Fig. 2 is for explaining the one of basic controlling The flow chart of example.At the beginning, it is determined that whether giving it the gun of vehicle Ve is over, i.e. judge that vehicle Ve is the completeest Become to give it the gun (step S1).For example, it is possible to based on vehicle speed sensor 13 or the detection of longitudinal acceleration sensor (not shown) Whether value judges to give it the gun is over.In step sl, when rear vehicle Ve just given it the gun at judgement vehicle Ve When acceleration becomes equal to 0, or when vehicle Ve have been switched to acceleration become equal to or less than 0 Reduced Speed Now time, sentence Fixed " giving it the gun of vehicle Ve is over ".When brake switch 10 is connected, make identical judgement.Therefore, except with All in the case of other beyond upper situation, make negative in step sl and judge (no).Such as, make in a case where no Fixed judgement (no): control to start the most not give it the gun with rear vehicle from this；Vehicle Ve gives it the gun；Or vehicle Ve is just With steady statue or constant speed drive.

If giving it the gun of vehicle Ve is over and makes in step sl judgement (YES), then controller 8 certainly Proceed to step S2.In step s 2, calculate and update expectation vehicle velocity V exp and gradient factor K.Accelerating more specifically, read The running data of the vehicle Ve travelling (judge to give it the gun end in step sl) period storage (such as, starts when accelerating Speed and the peak acceleration of period of giving it the gun), and update expectation vehicle velocity V exp and gradient factor K based on running data. As operator vehicle Ve, it is assumed that driver drives vehicle with given speed for target all the time.Performed by controller 8 Control in, " desired speed " is defined as the speed desired by the target vehicle speed of driver or the driver of supposition.Generally, in phase Under same running environment, when the tendency of driving of driver becomes than normally more emphasizing that the traveling of power performance or cornering ability is inclined During tropism (motion travels tendency), " desired speed " is higher.On the contrary, become than normally more emphasizing when the driving tendency of driver During traveling tendentiousness (the economy run tendency) of fuel economy or efficiency, " desired speed " is relatively low.Can be based on vehicle Ve Running history obtain desired speed Vexp, in described running history, record such as speed, longitudinal acceleration, transverse acceleration, Steering angle, road surface gradient and the data of vehicle attitude.Gradient factor K represents the relation line of use when determining " desired speed " Slope or gradient, this will be described hereinafter.Desired speed Vexp and gradient factor K are described in more detail below.

If making negative in step sl to judge (no), then controller 8 proceeds to step S3.In step s3, keep Desired speed Vexp and the last value of gradient factor K.That is, before end of currently giving it the gun, the last time is kept to accelerate The desired speed Vexp calculated at the end of traveling and store and gradient factor K.If vehicle does not also have after this controls to start Give it the gun, then be continually maintained in connect for current driving ignition switch and this control circulation initially starting time storage Desired speed Vexp and gradient factor K.Desired speed Vexp and the layout of gradient factor K is being removed when ignition switch disconnects In scheme, read the preset initial value of Vexp and K when ignition switch, and the preset initial value of Vexp and K is stored For expectation vehicle velocity V exp and gradient factor K.Therefore, if vehicle Ve does not the most give it the gun, then after this controls to start Keep desired speed Vexp and the corresponding initial value of gradient factor K as mentioned above.Breaking when ignition switch When opening in the arrangement of storage expectation vehicle velocity V exp and gradient factor K, if vehicle does not also have after this controls to start Give it the gun, read the most as mentioned above and continue to keep being stored when ignition switch disconnects for the last time Desired speed Vexp and gradient factor K.

In above step S2, once update expectation vehicle velocity V exp and gradient factor K or in above step S3, keep expectation Vehicle velocity V exp and the last value of gradient factor K, then controller 8 proceeds to step S4.In step s 4, it is thus achieved that when further accelerating Acceleration Gexp.When vehicle Ve slows down in the case of non-stop, vehicle Ve switches to add after completing Reduced Speed Now again The transport condition of speed.Such as, when vehicle Ve turns, vehicle Ve generally point before bend enters curved while slowing down Road.In bend, vehicle Ve is slowing down or is turning while constant speed drive.Then, when vehicle comes off the curve, vehicle Further accelerated.Thus, when vehicle Ve is further accelerated after slowing down, it can be assumed that driver makes vehicle Ve towards desired speed Vexp accelerates.Therefore, if it is desired to speed difference Δ V (Δ V=Vexp-Vcur) between vehicle velocity V exp and current vehicle speed Vcur is relatively Greatly, then driver requested bigger acceleration is speculated to reduce speed difference Δ V and making vehicle Ve with required acceleration Further accelerate.

Based on above-mentioned it is assumed that in step s 4, obtain from the speed difference Δ V between desired speed Vexp and current vehicle speed Vcur Brief acceleration Gexp (acceleration realized when it is expected to further accelerate) must be further accelerated as driver.Such as, such as Fig. 3 and Fig. 4 Shown in, recognize from the result travelling experiment, emulation etc., between above-mentioned " further accelerating brief acceleration " and speed, there is negative correlation Property.Represent that speed when further accelerating traveling beginning and y-axle represent acceleration (maximum ground acceleration) now at x-axle In the case of, it is possible to obtain the relation line (proximal line) of the linear function being expressed as " y=a × x+b " in Fig. 4.Can also be for Every kind of driving tendency of driver obtains relation line, such as the dotted line f in Fig. 3₁、f₂、f₃As instruction.

As it has been described above, " desired speed " is defined as the target vehicle speed that driver needs to realize in period of giving it the gun.Cause This, when speed reaches " desired speed ", vehicle Ve need not be further accelerated；As a result, estimated acceleration is equal to 0.Therefore, X-intercept (-b/a) that " desired speed " can be equal at 0 by calculating the acceleration on y-axle obtains.

Such as, above-mentioned ground acceleration can be obtained for output shaft speed sensor 12 or the detection of vehicle speed sensor 13 The differential value of data.Although acceleration can be obtained by the acceleration transducer being arranged on vehicle Ve, but due to vehicle The attitude of Ve and the impact of road surface gradient, noise may be comprised in the detection data of acceleration.Therefore, control at this In, use the ground acceleration obtained as mentioned above from speed probe.

By using the dependency between " further accelerating brief acceleration " and speed as above, can will " add again in advance Speed brief acceleration " and speed between relation be defined to the acceleration characteristic of vehicle Ve, and store it in controller 8.Profit With the acceleration characteristic of the function being defined as speed, can calculate corresponding with above-mentioned " desired speed " and " current vehicle speed " " further accelerate brief acceleration ".

The driving force that controller 8 performs controls to make it possible to store running data and more when vehicle starts to be further accelerated The acceleration characteristic of the relation between " further accelerating brief acceleration " the most as defined above and speed.Store in this case Running data includes when vehicle Ve starts speed and the acceleration of vehicle Ve when being further accelerated.Such as, accelerate as above Degree characteristic is stored as acceleration characteristic line, and described acceleration characteristic line sets " further accelerating brief acceleration " according to speed.More Body ground, acceleration characteristic line is the relation line (proximal line) being expressed as " y=a × x+b " in the diagram.

And, for example, it is possible to obtain corresponding with " desired speed " and " current vehicle speed " from control figure as shown in Figure 5 " further accelerating brief acceleration ".That is, use from front once give it the gun period running history or driving information obtain " again Accelerate brief acceleration " and speed between above-mentioned dependency, the relation between " further accelerating brief acceleration " and speed is limited in advance It is set to the acceleration characteristic of vehicle Ve, and control figure as shown in Figure 5 can be stored as in controller 8.

In Figure 5, straight line f instruction limits the acceleration characteristic of the relation between " further accelerating brief acceleration " and speed, and And it is corresponding with above-mentioned relation line " y=a × x+b ".Slope instruction gradient factor K of this straight line f.On straight line f, ground is accelerated Degree becomes equal to the speed at 0, i.e. the x-intercept of line f is " desired speed ".Therefore, in Figure 5, brief acceleration is further accelerated Gexp can by by current vehicle speed Vcur substitute into by by above step S2 obtain desired speed Vexp straight line f and The relational expression of gradient factor K instruction obtains.

And, as it has been described above, for each " desired speed " or according to driving tendency, can be set two or more straight The straight line fs and straight line fm of instruction in line f, such as Fig. 5.In this case, once give it the gun what period obtained based on front Running history, selects some straight line f from two or more lines and is defined as relation line.Meanwhile, " expectation car Speed " the obtained x-intercept for selected line f.It is thus based in " expectation determined by the history of front period of once giving it the gun Speed " reflect before once give it the gun period showed driving tendency.Then, such as, based in the manner " desired speed " that obtain and " current vehicle speed " that obtain the detected value for vehicle speed sensor 13, it is thus achieved that " acceleration when further accelerating Degree ".As shown in Figure 5, the difference between " desired speed " and " current vehicle speed " is the biggest, and " further accelerating brief acceleration " is the biggest. And, travel tendency as a kind of motion driving tendency type the strongest, " desired speed " that provided the highest straight is just provided Line fs, and based on this line fs acquisition " further accelerating brief acceleration " is the biggest.On the contrary, as driven tendency type as another kind Economy run tendency the strongest, just select the straight line fm that " desired speed " that provided is the lowest, and based on this line fm acquisition " further accelerate brief acceleration " the least.

Obtain the most in step s 4 and further accelerate brief acceleration Gexp, then obtain automatic transmission 4 can realize this gear further accelerating brief acceleration Gexp (step S5).I.e., it is thus achieved that be set for automatic transmission 4 Good gear so that vehicle Ve travels to further accelerate brief acceleration Gexp.Fig. 6 shows one of method for obtaining gear Example.At the beginning, attainable acceleration Gable is set.Attainable acceleration Gabl can be by expression formula calculated below Calculate: Gabl=(Te_max× g-R)/W, wherein Te_maxBeing the maximum of the output torque of electromotor 3, R is running resistance, and W is The weight of vehicle, and g is gear ratio.As shown in Figure 6, each gear for automatic transmission 4 calculates attainable Acceleration Gable.

Fig. 6 shows that automatic transmission 4 is an example of the forward direction eight speed automatic transmission with eight forward range.At figure In example shown in 6, relative to " further accelerating brief acceleration " of obtaining from " desired speed " and " current vehicle speed ", from can be real The gear of existing " further accelerating brief acceleration " (in the example of fig. 6 for second, third, the 4th and the 5th speed) among select the highest Speed threshold (being the 5th speed in the example of fig. 6).I.e., in figure 6, further accelerate brief acceleration Gexp to be expressed as by expectation Cross point between relation line and the straight line of instruction current vehicle speed Vcur of vehicle velocity V exp.Instruction further accelerates brief acceleration Gexp's O'clock between attainable acceleration Gabl and the attainable acceleration Gabl of the 6th speed of the 5th speed.This meaning, When electromotor 3 produces torque capacity, if automatic transmission 4 is placed in gear (the 6th speed equal to or higher than the 6th speed Degree, the 7th speed and the 8th speed) in any one in, then can not realize further accelerating brief acceleration Gexp.Therefore, in figure 6 In shown example, select the 5th speed, described 5th speed be automatic transmission 4 can realize further accelerate brief acceleration Gexp and equal to or less than the 5th speed gear (from the 5th speed to second speed) among maximum speed.

If calculating the gear (speed that can realize further accelerating brief acceleration Gexp of automatic transmission 4 in step s 5 Than), then judge the most positive Reduced Speed Now (step S6) of vehicle Ve.Such as, sense based on vehicle speed sensor 13 or longitudinal acceleration The operation signal etc. of the detected value of device (not shown), such as brake switch 10, it is possible to determine that the most positive Reduced Speed Now of vehicle Ve.As Really vehicle Ve does not slow down and makes negative in step s 6 and judges (no), then controller 8 terminates this flow process at once, and not Perform control subsequently.

On the other hand, if vehicle Ve is slowing down and makes judgement (YES) certainly in step s 6, then controller 8 enters Row is to step S7.In the step s 7, it is determined that whether the current gear set up in automatic transmission 4 is that ratio is in above step S5 The higher gear of gear speed calculated, i.e. judge whether the speed ratio of current shift is less than the speed ratio of the gear calculated.As Really current shift is to have the gear of lower speed than the gear calculated and make negative judgement (no) in the step s 7, then Controller 8 is immediately finished this flow process, and is not performing control subsequently.

If on the other hand current shift is than the higher gear of gear speed calculated and to obtain in the step s 7 Certainly judge (YES), then controller 8 proceeds to step S8, in described step S8, automatic transmission 4 by downshift to calculating Gear.Then, controller 8 understands the flow process terminating Fig. 2.

Fig. 7 A and Fig. 7 B shows at desired speed equal to V_ASituation and desired speed equal to than V_ALittle V_BSituation this In the case of two kinds when vehicle Ve positive Reduced Speed Now the image of the operation of vehicle Ve.As shown in Figure 7A, respectively with expectation car Speed V_A、V_BShifting points (being indicated by black circles) on corresponding relation line performs downshift.Fig. 7 B instruction is by converting Fig. 7 A Shown in shifting points and the engine speed that obtains.Approx, respectively with desired speed V_A、V_BThe corresponding range of speeds Downshift is performed in A, B.

The concrete configuration of the controller 8 performing control as mentioned above during Reduced Speed Now is shown in the block diagram of Fig. 8. As an example, as shown in Figure 8, controller 8 by acceleration calculation unit B 1, desired speed computing unit B2, further accelerate Brief acceleration computing unit B3, attainable acceleration calculation unit B 4, target gear computing unit B5 and gearshift output judge Unit B 6 is constituted.

Acceleration calculation unit B 1 detection based on output shaft speed sensor 12 data calculate the acceleration of vehicle Ve.Add Speed calculation unit B 1 can also utilize the detection data of vehicle speed sensor 13 to calculate the acceleration of vehicle Ve.Desired speed meter Calculate unit B 2 detection based on the acceleration information calculated in acceleration calculation unit B 1 and vehicle speed sensor 13 data to count Calculate desired speed Vexp.Further accelerate brief acceleration computing unit B3 based on the expectation car calculated in desired speed computing unit B2 Speed between speed Vexp and current vehicle speed Vcur obtained by the detection data of vehicle speed sensor 13 is poor_ΔV calculates and further accelerates Brief acceleration Gexp.On the other hand, the calculating of attainable acceleration calculation unit B 4 detection based on pneumatic sensor 7 data is right Should be in each gear (or each speed ratio) the attainable acceleration Gabl of automatic transmission 4.Target gear computing unit B5 base In above-mentioned further accelerate brief acceleration computing unit B3 calculates further accelerate brief acceleration Gexp and attainable accelerometer The attainable acceleration Gabl that calculation unit B 4 calculates is to calculate the target gear (or goals ratio) of automatic transmission 4.So After, gearshift exports target gear, the accelerator pedal position that identifying unit B6 calculates based on above-mentioned target gear computing unit B5 The detection data of the detection data and brake switch 10 of putting sensor 9 make the judgement of the gearshift order about automatic transmission 4. More specifically, it is determined that automatic transmission 4 is the need of downshift.

Although automatic transmission 4 is that forward direction eight speed with eight forward range becomes in the example of Fig. 6, Fig. 7 A and Fig. 7 B Speed device, but present invention could apply to variable v-belt drive or anchor ring formula buncher or in motor vehicle driven by mixed power Electric stepless variable-speed mechanism.When automatic transmission 4 is the electronic nothing of buncher as above or motor vehicle driven by mixed power During level gear, calculate the speed ratio that can realize " further accelerating brief acceleration " of automatic transmission 4, and based on calculating Transmission Ratio Control automatic transmission 4.Such as, as illustrated in figure 9 a, can realize " again from " current vehicle speed " and " desired speed " acquisition Accelerate brief acceleration " speed ratio γ, and based on speed ratio γ control automatic transmission 4.Show in figures 9 b and 9 in this situation Under the characteristic of engine speed.

When automatic transmission 4 be the electric stepless variable-speed mechanism of buncher as above or motor vehicle driven by mixed power also And during Reduced Speed Now when the rear vehicle continuation performing the downshift for increasing speed ratio is slowed down, can be by engine speed (solid line) controls as providing reduction in the range of " further accelerating brief acceleration " according to speed, more specifically, can send out Motivation rotating speed (solid line) controls as not getting lower than can provide " when further accelerating in Figure 10 according to speed in engine speed Acceleration " rotating speed (dotted line) in the range of reduce.As such, it is possible to provide suitably deceleration to driver during Reduced Speed Now Sensation.

When vehicle Ve is as mentioned above based on " desired speed " and " further accelerating brief acceleration " Reduced Speed Now, engine speed Can be controlled such that the region of used engine speed changes according to the size of " desired speed ".Such as, such as figure Shown in 11A, Figure 11 B, when vehicle at desired speed equal to V_cSituation and desired speed equal to than V_cLow V_dSituation this two In the case of Zhong slow down time, from mapping as illustrated in figure 11A obtain respectively with these desired speeds V_c、V_dCorresponding minimum Motivation rotating speed.In this case minimum engine speed is limit engine rotating speed, it should be ensured that described limit engine turns Speed to make vehicle Ve with " further accelerating brief acceleration " acceleration when vehicle accelerates after slowing down.Then, as shown in Figure 11 B, In the case of minimum engine speed obtained as above is set to lower limit, during Reduced Speed Now, perform downshift.Though So in the example of Figure 11 B, automatic transmission 4 is to have the forward direction eight speed automatic transmission of eight forward range, but Figure 11 is A, 11B Shown in the control performed during Reduced Speed Now to can apply to automatic transmission 4 be buncher or hybrid electric vehicle The situation of electric stepless variable-speed mechanism.By the above control so performed, automatic transmission 4 can during slowing down with A certain degree of regular downshift, and good traveling can be provided to feel to driver when downshift.

Although automatic transmission 4 is set to lower limit in predetermined minimum engine speed in the example of Figure 11 A, 11B In the case of during Reduced Speed Now downshift, but maximum engine rotation speed can be set as the upper limit, and automatic transmission 4 Downshift in the case of maximum engine rotation speed is set to the upper limit can be controlled so as to.Such as, as shown in Figure 12 A, 12B, As vehicle Ve at desired speed equal to V_eSituation and desired speed equal to than V_eLow V_fSituation both of these case under slow down Time, from mapping as shown in figure 12a obtain respectively with desired speed V_e、V_fCorresponding maximum engine rotation speed.In this feelings Maximum engine rotation speed under condition is the upper limit engine speed in engine speed range, it should be ensured that the described upper limit is started Machine rotating speed, to make vehicle Ve accelerate with " further accelerating brief acceleration " when vehicle accelerates after Reduced Speed Now.Maximum or the upper limit Engine speed is set so that engine speed the most excessively increases when downshift during Reduced Speed Now.Such as institute in Figure 12 B Show, automatic transmission 4 in the case of the maximum engine rotation speed so obtained is set to the upper limit during Reduced Speed Now quilt Downshift.Although automatic transmission 4 is to have the forward direction eight speed automatic transmission of eight forward range in the example of Figure 12 B, but with As control shown in Figure 11 A, 11B, the control performed during Reduced Speed Now shown in Figure 12 A, 12B can apply to Automatic transmission 4 is the situation of the electric stepless variable-speed mechanism of buncher or motor vehicle driven by mixed power.

In the above-described embodiments, automatic transmission 4 is controlled so as to during Reduced Speed Now based on " desired speed " and " current Speed " and " further accelerating brief acceleration " downshift of obtaining from " desired speed " and " current vehicle speed ".But, such as in Figure 13 Shown in, automatic transmission 4 can be controlled so as to during Reduced Speed Now carry out downshift using predetermined time period t as interval.At this In the case of Zhong, time period t can be inclined to according to the driving of driver and set in advance.Such as, when drive tendency be that motion traveling is inclined Xiang Shi, performs downshift using given time period t as interval, and described time period t is not that motion travels tendency than driving tendency In the case of time period short.And, in this case, the interval of downshift be set at be capable of as mentioned above based on In the range of the gear (speed ratio) of " the attainable acceleration " that " further accelerate brief acceleration " and obtain.That is, gear (speed ratio) is set In fixed such scope, within the range, when vehicle is further accelerated after downshift, vehicle Ve can be always " to further accelerate Brief acceleration " accelerate.Being controlled by this, during Reduced Speed Now, automatic transmission 4 can be with certain regular downshift. Furthermore, it is possible to the opportunity of prediction downshift.Therefore, good traveling can be provided to feel to driver when downshift.

When as in above-mentioned each embodiment automatic transmission 4 during Reduced Speed Now based on " desired speed ", " current Speed " and " further accelerating brief acceleration " by downshift time, obtain " further accelerating brief acceleration " time time and actual start gearshift Time time between produce inevitable operating lag.If operating lag is relatively big, the opportunity of actual downshift and driver The opportunity of the downshift wanted or predict does not mates, and driver can feel strange or uncomfortable.Thus, as example, such as figure Shown in 14, it is possible to use shift to an earlier date section reading preset time relative to " current vehicle speed " (dotted line) obtained by actual vehicle speed " prediction speed " (solid line) to perform downshift before normal opportunity.Such as, " prediction speed " can be by adding vehicle Ve Speed (more specifically, deceleration) is multiplied by the time of the reading in advance acquisition obtained by experiment or emulation.In the drawings 14, also show that The present engine rotating speed (dotted line) corresponding with " current vehicle speed " and the prediction electromotor corresponding with " prediction speed " Rotating speed (solid line).Thus, the above-mentioned control in each of the above embodiment is performed based on the speed read the most in advance, Such that it is able to eliminate as mentioned above due to the operating lag of downshift and the problem that causes.As a result, it is possible to improve the traveling of vehicle Ve Sensation.

Can calculate from the detection data of output shaft speed sensor 12 as above or vehicle speed sensor 13 and be used for obtaining Obtain the deceleration of the vehicle Ve of above-mentioned " prediction speed ".Can also be from the detection number of the acceleration transducer being arranged on vehicle Ve According to obtaining deceleration.Furthermore, it is possible to detection data based on the brake-pressure sensor being arranged in brakes calculate and subtract Speed.

Although indicating the phase of the relation between " further accelerating brief acceleration " and speed in the control figure of Fig. 5 as above Close the form that line is the line representing linear function, but as instruction the most by way of example, relation line can Being nonlinear." further accelerate brief acceleration " and the line of dependency between speed is not limited to as in the above-described embodiments Linear function, but such as can be represented by quadratic function or exponential function.In which case it is possible to use institute in Figure 15 The nonlinear Control figure shown is to perform the control in above-mentioned each embodiment.

When controlling when using the control figure shown in above-mentioned Fig. 5 or Figure 15 to perform, by driver during further accelerating traveling Request or desired acceleration there are in fact the upper limit.If setting the gear (speed ratio) by producing the acceleration higher than the upper limit And automatic transmission 4 is by downshift to this gear, then selected gear (or selected speed lower than the gear that driver imagines Speed ratio than more than driver's imagination), and driver can feel strange or uncomfortable.Therefore, at the control figure of Fig. 5 or Figure 15 In, substantially need not " further accelerating brief acceleration " that more desired than driver " further accelerating brief acceleration " is big.It is therefoie, for example, The control figure of Fig. 5 can replace with the control figure being provided with " expectation upper limit acceleration " as shown in Figure 16.So, by with The acceleration that determines in view of the intention of driver or expected value is set in the control figure determine " further accelerating brief acceleration " The upper limit, it is possible to make automatic transmission 4 suitably downshift, and prevent from setting as described above will be beyond driver simultaneously The gear (speed ratio) of imagination.

In the flow chart of Figure 17, it is shown that an amendment of the control illustrated in the flowchart of fig. 2 as mentioned above is shown Example.In control example shown in the flow chart of Figure 17, only determine engine speed get lower than given upper limit threshold it Rear execution downshift, in order to make engine speed the most excessively increase when downshift during Reduced Speed Now.In the flow chart of Figure 17, The control content of step S11 and step S12 is added to the flow chart of Fig. 2.Therefore, the control shown in the flow chart with Fig. 2 Equally, in the control example shown in the flow chart of Figure 17, step S1 to step S5 calculates desired speed Vexp, adds again Speed brief acceleration Gexp, attainable acceleration Gabl and the gear (speed ratio) of Gabl of attainable acceleration can be provided. And, in step s 6, it is determined that the most positive Reduced Speed Now of vehicle Ve.If making negative in step s 6 to judge (no), then control Device 8 processed is immediately finished this flow process, and does not perform control subsequently.On the other hand, if the positive Reduced Speed Now of vehicle Ve and Make in step s 6 and certainly judge (YES), then controller 8 proceeds to step S7.

In the step s 7, it is determined that whether the current gear set up in automatic transmission 4 is to fall into a trap than in above step S5 The higher gear of gear speed calculated.Namely it is decided that whether the speed ratio of current shift is less than the speed ratio of the gear calculated.If Current shift is the gear lower than the gear speed calculated and makes negative judgement (no), then controller in the step s 7 8 understand this flow process of end, and do not perform control subsequently.On the other hand, if current shift is than the gear calculated The higher gear of speed and make in the step s 7 and certainly judge (YES), then controller 8 proceeds to step S11.

In step s 11, engine speed Ne1 corresponding with the gear (speed ratio) calculated is calculated.I.e., it is thus achieved that presumption Engine speed Ne1 that will reach when automatic transmission 4 is by downshift to gear (speed ratio) calculated.

Calculate engine speed Ne1 the most in step s 11, decide that whether engine speed Ne1 is less than upper limit threshold Value (step S12).The upper limit threshold used in this case is the higher limit of engine speed, described engine speed Higher limit is determined to be so that during Reduced Speed Now, engine speed the most excessively increases when downshift.

If engine speed Ne1 is still equal to or is higher than upper limit threshold and makes negative judgement in step s 12 (no), then controller 8 repeats the control of step S12 and does not proceed to step subsequently.That is, the control of step S12 is by repeatedly Perform, until engine speed Ne1 gets lower than upper limit threshold.

Then, if engine speed Ne1 gets lower than upper limit threshold and makes judgement certainly in step s 12 (YES), then controller 8 proceeds to step S8.In step s 8, automatic transmission 4 by downshift to the gear (speed ratio) calculated. Hereafter, controller 8 is immediately finished this program.

In the above described manner, during Reduced Speed Now, automatic transmission 4 downshift is made based on engine speed so that driver is not Maybe may can not feel very much strange or uncomfortable situation that engine speed excessively increases when downshift.Therefore, it can Improve the vehicle Ve traveling sensation when downshift during Reduced Speed Now.

In the above-described embodiments, such as, " desired speed " is obtained from control figure as shown in Figure 5.That is, use " adds again Speed brief acceleration " and speed between dependency obtain " desired speed ".As it has been described above, according to the present invention, " desired speed " quilt It is defined as the target vehicle speed that driver wants to reach when vehicle accelerates.From this definition it can be assumed that, when speed is being given it the gun When period reaches " desired speed ", acceleration become equal to 0 and vehicle will not further speed up.Therefore, as Figure 18 time Between shown in figure, can by front once giving it the gun (i.e. discussed further accelerate the Reduced Speed Now travelled before starting before Once give it the gun) period vehicle Ve recorded max. speed (i.e. travel during acceleration become equal to 0 speed) set It is set to " desired speed ".Before once give it the gun and refer to time in time also not setting " desired speed " to subtracting that this circulates Speed travels giving it the gun of time execution when starting.Such as, if controller 8 is configured in ignition switch (or main switch) Remove " desired speed " during disconnection, then before once to give it the gun be when the ignition switch connecting vehicle Ve for current driving Time up till now time time period during perform give it the gun.

In the flow chart of Figure 19, it is shown that as described above the period of giving it the gun in the past is reached Max. speed is set as a control example of " desired speed ".In basic controlling shown in the above-mentioned flow chart of Fig. 2, as It negates the corresponding of judgement (no), the most in step s3 holding desired speed Vexp and gradient factor K that fruit is made in step sl A upper value.On the other hand, under this driving force controlling example controls, controller 8 can perform in the flow chart of Figure 19 The control of step S3 in the flow chart of shown control rather than execution Fig. 2.

Such as, if the basic controlling illustrated in the flowchart of fig. 2 being made negative in step sl judge (no), then Controller 8 proceeds to step S21 in the flow chart of Figure 19.In the step s 21, it is determined that vehicle Ve the most just gives it the gun.As Really vehicle Ve does not accelerate and makes negative in the step s 21 to judge (no), then controller 8 proceeds to step S22.

In step S22, keep desired speed Vexp and gradient factor K goes up a value accordingly.This controls content Similar with the control content of step S3 in the flow chart of Fig. 2 as above.That is, if judging in step sl vehicle Ve's Give it the gun and be not over or be also not carried out giving it the gun after controlling to start, then desired speed Vexp and gradient factor A upper value of K is desired speed Vexp and gradient factor K of the storage when connecting ignition switch for current driving.

Therefore, if controller 8 is configured to when ignition switch disconnects remove desired speed Vexp and gradient factor K, In step S22, then it is maintained at when connecting ignition switch for current driving the desired speed Vexp and gradient reading and storing The corresponding initial value of COEFFICIENT K.If controller 8 is configured to storage expectation vehicle velocity V exp and gradient when ignition switch disconnects COEFFICIENT K, then the desired speed Vexp stored when being continually maintained in the disconnection of ignition switch last time and gradient factor K.

Desired speed Vexp and a upper value of gradient factor K, then controller is kept if as discussed above in step S22 Step S4 in 8 flow charts proceeding to Fig. 2 and perform the control similar with content as above.If in step S21 In make and certainly judge (YES), then controller 8 proceeds to step S23.

In step S23, it is determined that whether current vehicle speed Vcur is higher than the current desired speed Vexp set.If current vehicle Speed Vcur is equal to or less than desired speed Vexp and makes negative in step S23 and judges (no), then on controller 8 proceeds to State step S22 and perform the control identical with control as above.

On the other hand, if current vehicle speed Vcur higher than desired speed Vexp and makes judgement certainly in step S23 (YES), then controller 8 proceeds to step S24.In step s 24, expectation vehicle velocity V exp is updated.In this case, owing to working as Front speed Vcur becomes to be above the desired speed Vexp as the max. speed in the giving it the gun of past, so current vehicle speed Vcur becomes new max. speed.Therefore, new max. speed is set to up-to-date desired speed Vexp.Such as, in step In S24, as in step S22 as above, gradient factor K remains a value.As it has been described above, in step S24 In, controller 8 updates expectation vehicle velocity V exp, and is not directly used in the acceleration in the running data of period acquisition of giving it the gun And the dependency between speed or relation line.Accordingly, as the slope of relation line or gradient gradient factor K in step s 24 Remain a value and be not updated.

Update expectation vehicle velocity V exp the most in step s 24, keep with in above step S22 Desired speed Vexp is the same with the situation going up a value accordingly of gradient factor K, and controller 8 proceeds in the flow chart of Fig. 2 Step S4, and perform control according to content as above.

In control shown in the flow chart of Figure 19, when controller 8 updates " desired speed ", spy can not performed It is readily available " desired speed " in the case of not complicated calculating.Therefore, it can reduce the load of controller 8.It is additionally, since The chance of renewal " desired speed " is also provided in period of giving it the gun, so the renewal frequency of " desired speed " increases, and Presumption accuracy can be improved.

In basic controlling shown in the flow chart of Fig. 2 as above, if vehicle Ve's gives it the gun end also And make judgement (YES) certainly in step sl, the most in step s 2 based on the vehicle stored in upper period of once giving it the gun The running data of Ve updates expectation vehicle velocity V exp and gradient factor K.On the other hand, control at the driving force performed by controller 8 Under, the flow process controlling rather than performing Fig. 2 as above shown in the flow chart of Figure 20 that will be described below can be performed The control of step S2 in figure.That is, under the driving force performed by controller 8 controls, can show according in the flow chart of Figure 20 The control example gone out obtains " desired speed ".

If step S1 of the basic controlling terminating and illustrating in the flowchart of fig. 2 of giving it the gun of vehicle Ve is done Go out and certainly judge (YES), then step S31 during controller 8 proceeds to the flow chart of Figure 20.In step S31, calculate expectation car Speed Vexp and gradient factor K.By with step S2 of the flow chart of Fig. 2 as above in the way of identical mode, in step Traveling based on the vehicle Ve stored in (end it has been determined that this gives it the gun in step sl) period of giving it the gun in S31 Data (accelerating speed when starting, the peak acceleration etc. of period of giving it the gun) calculate and set desired speed Vexp and gradient COEFFICIENT K.

As the desired speed Vexp calculated in step S31, it is possible to use further accelerate row be performed a plurality of times in the past The meansigma methods of the desired speed Vexp set by during sailing.Such as, calculate include the last time further accelerate traveling several times Further accelerate the meansigma methods of the desired speed Vexp of traveling, and in step S31, this meansigma methods is set as up-to-date expectation car Speed Vexp.

In step S31, once set desired speed Vexp, then judge whether the desired speed Vexp so set is higher than A upper value (step S32) of desired speed Vexp.A upper value of desired speed Vexp is in the upper once circulation of flow process The up-to-date desired speed Vexp updated.If the desired speed Vexp set in step S31 is equal to or less than desired speed The upper value of Vexp and make negative in step s 32 and judge (no), then controller 8 proceeds to step S33.

In step S33, keep desired speed Vexp and gradient factor K goes up a value accordingly.This controls content The control content of step S3 being similar in the flow chart of Fig. 2 and the control of step S22 in being similar to the flow chart of Figure 19 Content.In this case, vehicle Ve is in the state just terminated of giving it the gun of vehicle Ve.Therefore, in this case, A upper value of desired speed Vexp and gradient factor K be front once give it the gun at the end of the desired speed that calculates and store Vexp and gradient factor K.

On the other hand, if the desired speed Vexp set in above step S31 is higher than upper the one of desired speed Vexp Individual value and make in step s 32 and certainly judge (YES), then controller 8 proceeds to step S34.In step S34, regeneration period Hope vehicle velocity V exp and gradient factor K.That is, the desired speed Vexp recalculating and setting in this step S31 circulated and Gradient factor K is set to up-to-date desired speed Vexp and gradient factor K.

In step S34, once update as mentioned above expectation vehicle velocity V exp and gradient factor K, then with in above step S33 Middle holding desired speed Vexp is the same with the situation of a upper value of gradient factor K, and controller 8 proceeds in the flow chart of Fig. 2 Step S4, and perform the control similar with foregoing.Namely be based in step S33 keep desired speed Vexp and Upper one of gradient factor K is worth or based on up-to-date desired speed Vexp more newly obtained in step S34 and gradient factor K, Calculating further accelerates brief acceleration Gexp.

As above-mentioned desired speed Vexp, be performed a plurality of times in the past further accelerate traveling during set add when further accelerating What the meansigma methods of speed Gexp can serve as calculating in step s 4 further accelerates brief acceleration Gexp.Such as, calculating includes The nearly meansigma methods further accelerating brief acceleration Gexp further accelerating traveling several times once further accelerating traveling, and by this meansigma methods It is set as up-to-date further accelerating brief acceleration Gexp.

In the control shown in flow chart in fig. 20, based on up-to-date desired speed Vexp with in upper once circulation The desired speed Vexp updated, after end of giving it the gun, sets the desired speed Vexp of the most updated twice.At another In individual example, set expectation based in the meansigma methods further accelerating the desired speed Vexp obtained during traveling being performed a plurality of times in the past Vehicle velocity V exp.Then, brief acceleration Gexp is further accelerated based on the desired speed Vexp setting set by this way.Can also base In be performed a plurality of times in the past further accelerate traveling during obtain further accelerate brief acceleration Gexp meansigma methods set further accelerate time Acceleration Gexp.Therefore, according to the control shown in the flow chart of Figure 20, can suppress or reduce for calculating " expectation car Speed " running data in the impact of mistake, and presumption " desired speed " and the standard of " further accelerating brief acceleration " can be improved Exactness.

In the above-described embodiments, such as, obtain from relation line as shown in Figure 4 or from control figure as shown in Figure 5 " desired speed ".Running data based on the period of giving it the gun in the past sets shown in the relation line shown in Fig. 4 and Fig. 5 Control figure.If the running data in the past used in this case is accumulated simply, then data volume becomes very large. And, even in the case of running environment or driving tendency change, if excessively emphasizing running data in the past, then use The running data that running environment or driving tendency obtain before changing；As a result, presumption " desired speed " can be reduced and " when further accelerating Acceleration " accuracy.Thus, under the driving force performed by controller 8 controls, to being used for obtaining the traveling of " desired speed " Data perform weighting.

Running data as above weighting is implemented by the running data in past being multiplied by given weight coefficient.? In another example, implement weighting in the following manner: from the whole history of running data, select some running data, and Selected data is used to calculate " desired speed ".For example, it is possible to by setting being used in the relation line shown in Fig. 4 or Fig. 5 The running data in the past of shown control figure is multiplied by weight coefficient w (w < 1) running data is performed weighting.Show at another In example, only use the nearest running data that the given number of times back counted from nearest running data travels to set Fig. 4 Shown relation line, in order to running data weighting can be performed.

Such as, as indicated by the chart of Figure 21, on chart, wherein mark and draw the point of given running data It is point (x₀, y₀), and the proximal line obtained from the history of running data is " y=a × x+b ", point (x₀, y₀) error d express For d=(y₀-a×x₀-b).Square error (the w) × d obtained based on the weight coefficient w for weighting²It is expressed as (w) × d²= (w)×(y₀-a×x₀-b)².Therefore, proximal line " y=a × x+b " can make square error (w) × d by calculating²Minimize Coefficient a and coefficient b obtains.Make square error (w) × d²The coefficient a minimized and coefficient b is according to by below equation (1) and (2) The recurrence formula represented calculates.

a = \frac{Σ {(w)}^{n + 1 - k} Σ {(w)}^{n + 1 - k} x_{k} y_{k} - Σ {(w)}^{n + 1 - k} y_{k} Σ {(w)}^{n + 1 - k} x_{k}}{Σ {(w)}^{n + 1 - k} Σ {(w)}^{n + 1 - k} {x_{k}}^{2} - {(Σ {(w)}^{n + 1 - k} x_{k})}^{2}} ..... (1)

b = \frac{Σ {(w)}^{n + 1 - k} {x_{k}}^{2} Σ {(w)}^{n + 1 - k} y_{k} - Σ {(w)}^{n + 1 - k} x_{k} y_{k} Σ {(w)}^{n + 1 - k} x_{k}}{Σ {(w)}^{n + 1 - k} Σ {(w)}^{n + 1 - k} {x_{k}}^{2} - {(Σ {(w)}^{n + 1 - k} x_{k})}^{2}} ..... (2)

In above-mentioned equation (1) and (2), wherein x²The item of summation be expressed as A_n, and A_n-1And A_nBy similar such as the following The recurrence formula of formula (3) and (4) is expressed.

A_{n - 1} = Σ_{k = 1}^{n - 1} {(w)}^{(n - 1) + 1 - k} {x_{k}}^{2} ..... (3)

\begin{matrix} A_{n} = Σ_{k = 1}^{n} {(w)}^{n + 1 - k} {x_{k}}^{2} \\ = (w) (A_{n - 1} + {x_{n}}^{2}) \end{matrix} ..... (4)

About the x in the recurrence formula of above equation (1) and (2)²The item of summation, can be by by x²Currency (x_n ²) increase to the upper value (A of summation_n-1) and will increase after result be multiplied by weight coefficient w to obtain the current of summation Value (A_n).The item of this other summation being also applied in the recurrence formula of above equation (1) and (2).Therefore, for by with first-class Coefficient a that formula (1) and (2) are expressed and coefficient b, if a upper value of summation is known, then can obtain the current of summation Value.Therefore, even if the history of running data in the past is not fully stored, if a upper value of summation is stored Words, it is also possible to obtain the proximal line " y=a × x+b " weighted by weight coefficient w from a upper value and the currency of summation.

Add temporary when such as performing running data in the case of weight coefficient w is set to 0.7 (w=0.7), as at figure As indicated by 22, the latest data travelled from four acceleration reaches about the 75% of whole quantity of information.Thus, example As, by the above-mentioned weighting so performed, the significance level of latest data can be improved, and can remove what importance reduced Past data.If weight coefficient w is set to fixed value, then the change every time travelled in above-mentioned recurrence formula becomes permanent Fixed；As a result, it is possible to be readily available proximal line " y=a × x+b " by the calculating of above-mentioned recurrence formula.Therefore, by according to upper Mode of stating performs weighting to running data, it is possible to reduces the load of the memorizer of storage data and can reduce the computing interval Load, guarantees to estimate certain accuracy time " desired speed " and " further accelerating brief acceleration " simultaneously.

In control figure shown in Fig. 5 as above, gradient factor K specify for estimating from " desired speed " The straight line f " further accelerating brief acceleration ".Thus, update gradient factor K by study, it is possible to improve presumption and " further accelerate Brief acceleration " time accuracy.Such as, as shown in Figure 23, when the actual ground acceleration of vehicle Ve is less than from gradient factor K Straight line f deduce " further accelerating brief acceleration " time, " desired speed " keeps constant, and gradient factor K is learnt, in order to Actual ground acceleration is made to become equal to " further accelerating brief acceleration ".In example shown in fig 23, by study for less than K Gradient factor K ' change gradient factor K.When actual ground acceleration more than from the straight line f of gradient factor K deduce " again Accelerate brief acceleration " time, by learning to change into gradient factor K bigger value.Although can be based on the traveling once pass by Data perform gradient factor K as above study, but the data being referred to travel several times are to obtain gradient system The learning value of number K, in order to " further accelerating brief acceleration " can be deduced with the accuracy improved.

In the case of learning gradient factor K like that in above-described embodiment as shown in Figure 23, if gradient factor K mistake Greatly, then when having larger difference between " desired speed " and " current vehicle speed ", the presumed value of " further accelerating brief acceleration " became Greatly.As a result, select gear that gear more desired than driver is low (or speed ratio more desired than driver big speed ratio), and Driver can feel strange or uncomfortable.Thus, when learning gradient factor K in the manner described above, can be that learning value is arranged The upper limit.Such as, as shown in figure 24, when the actual ground acceleration of vehicle Ve is more than deducing from the straight line f of gradient factor K When " further accelerating brief acceleration ", gradient factor K initially " desired speed " keep constant while increase, in order to make actual ground Acceleration becomes equal to " further accelerating brief acceleration ".But, in this case, predetermined gradient factor K " be set on Limit.Even if if being increased to upper limit gradient factor K in gradient factor K " time actual ground acceleration the most not with deduce " again Accelerate brief acceleration " consistent, then " desired speed " changes to bigger value, and straight line f " it is set so that actual ground adds Speed becomes equal to " further accelerating brief acceleration ".

Thus, by the upper limit so to set, gradient factor K performed study, it is possible to deduce with higher accuracy " further accelerating brief acceleration ", the presumed value simultaneously preventing " further accelerating brief acceleration " is excessive.

Such as, as shown in the flow chart of Figure 25, perform to include the control learning gradient factor K as above System.By utilizing step S41 in the flow chart of Figure 25 to replace step S2 in the basic controlling shown in the flow chart of Fig. 2 to carry The control shown in flow chart for Figure 25.That is, in above-mentioned steps S2, based at the traveling number of period storage that gives it the gun According to, update expectation vehicle velocity V exp and gradient factor K, and in step S41, study gradient factor K in the manner described above, and base Learning value in gradient factor K obtains desired speed Vexp.

Once learning value based on gradient factor K as above updates expectation vehicle velocity V exp, then controller 8 proceeds to step Rapid S4.Then, in step S4 and step subsequently, perform the control similar with content as above.

Claims

1., for a Traction control system for vehicle, described vehicle includes electromotor, driving wheel and automatic transmission, described Automatic transmission transmits torque between described electromotor and described driving wheel, it is characterised in that described Traction control system Including:

Controller, described controller is configured to:

I () speed based on described vehicle and accelerator operation amount, control the driving force of described vehicle；

(ii) storage acceleration characteristic, described acceleration characteristic limits and further accelerates the relation between brief acceleration and described speed, The described brief acceleration that further accelerates is the Con trolling index used when described vehicle further accelerates traveling after Reduced Speed Now,

(iii) running data based on the described vehicle obtained before described Reduced Speed Now and described acceleration characteristic, it is thus achieved that Corresponding with the current vehicle speed brief acceleration that further accelerates, and

(iv) further accelerate before traveling starts described, set described automatic transmission based on the brief acceleration that further accelerates obtained Be capable of described in further accelerate the speed ratio of brief acceleration.

Traction control system the most according to claim 1, it is characterised in that described controller is configured to:

I running data that () obtained based on the period of giving it the gun before Reduced Speed Now, presumption driver wants further accelerating The desired speed realized during traveling；With

(ii) based on described current vehicle speed and the desired speed deduced, it is thus achieved that corresponding with described current vehicle speed further accelerates Brief acceleration.

Traction control system the most according to claim 2, it is characterised in that described controller is configured to:

I () stores multiple acceleration characteristic line, on the plurality of acceleration characteristic line according to speed determine described in further accelerate time Acceleration,

(ii) an acceleration characteristic line in the plurality of acceleration characteristic line is selected based on described desired speed；With

(iii) based on described current vehicle speed, described desired speed and selected acceleration characteristic line, it is thus achieved that work as with described Brief acceleration is further accelerated described in front speed is corresponding.

Traction control system the most according to claim 3, it is characterised in that described controller is configured to:

(i) when described further accelerate traveling start time, storage speed and acceleration, and

(ii) described acceleration characteristic line is updated.

5. according to the Traction control system according to any one of claim 2 to 4, it is characterised in that

Described controller is configured to:

I () is by using at the meansigma methods further accelerating brief acceleration further accelerating in traveling being performed a plurality of times in the past or desired speed Meansigma methods, it is thus achieved that described in further accelerate brief acceleration；With

(ii) speed ratio further accelerating brief acceleration being capable of being obtained of described automatic transmission is set.

6. according to the Traction control system according to any one of claim 2 to 5, it is characterised in that described controller is joined Being set to the time point that will never be set described desired speed by described vehicle and reduce speed now traveling before record To max. speed be set as described desired speed.