CN105984466B

CN105984466B - Traction control system for vehicle

Info

Publication number: CN105984466B
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: 2018-10-12
Anticipated expiration: 2036-03-15
Also published as: JP6222194B2; JP2016173177A; KR20160111856A; CN105984466A; KR101860192B1

Abstract

A kind of Traction control system for vehicle, for being based on speed and accelerator operation amount driving force, the vehicle is equipped with automatic transmission, the torque transfer that the automatic transmission generates engine while changing speed to driving wheel.In driving force control, store acceleration characteristic, and running data based on the vehicle obtained before Reduced Speed Now and the acceleration characteristic, which are obtained, corresponding with current vehicle speed further accelerates brief acceleration (step S3), wherein, the acceleration characteristic limits the relationship further accelerated between brief acceleration and speed, and the brief acceleration that further accelerates is that used Con trolling index when driving is further accelerated after vehicle is in Reduced Speed Now.Then, before starting to further accelerate traveling, the speed ratio (step S4) for further accelerating brief acceleration that may be implemented to be obtained of automatic transmission is set.

Description

Traction control system for vehicle

Technical field

The present invention relates to a kind of Traction control system for vehicle, the Traction control system by vehicle just Change the speed ratio of automatic transmission when Reduced Speed Now to control the driving force of vehicle.

Background technology

In Japanese Patent Application No.2007-170444 (JP 2007-170444 A), illustrate a kind of for vehicle Traction control system, the Traction control system executes when the accelerator pedal of vehicle is quickly released and is used for Inhibit the control of upshift, and execution includes the deceleration auxiliary of the control for executing downshift when applying braking to vehicle suddenly Control.The Traction control system illustrated in above-mentioned JP 2007-170444 A be configured to running environment based on vehicle and Transport condition determines the condition of auxiliary control as described above of slowing down.For example, the system is according to such as vehicle and front The driving tendency of the distance between vehicle, road surface gradient and/or driver, which determines whether to execute to slow down, to be assisted control and executes Auxiliary of slowing down used controlled level when controlling.The control example illustrated in above-mentioned JP 2007-170444 A In, when the driving of driver tendency is movement traveling tendency, automatic transmission can execute the auxiliary control period quilt that slows down Downshift is to lower gear.Movement travels the value that tendency is the power performance bigger for giving vehicle or importance and needs vehicle The driving tendency of quick response is made to driver behavior.

In Japanese Patent Application No.2003-211999 (JP 2003-211999 A), a kind of traveling control is illustrated System processed, the drive-control system make vehicle automatically follow the vehicle of front.It is said in JP 2003-211999 A In bright drive-control system, during the vehicle traveling operated by driver, to indicating the behavior of vehicle, running environment, driving The running data sampling of operation etc. is sailed, and is inclined to obtain the driving of driver by carrying out multiple regression analysis to running data To (multivariate regression coefficients).Then, which is configured to by being based on making by driving tendency setting aimed acceleration/deceleration Vehicle automatically follows the vehicle of front.

Moreover, the driving force illustrated in Japanese Patent Application No.2002-139135 (JP 2002-139135 A) Control system is configured to the running environment based on road and calculates recommendation speed ratio, changes speed ratio based on speed ratio, driver is recommended Be intended to and practical speed ratio calculation optimum speed ratio, and with the change rate determined by the difference between recommendation speed ratio and practical speed ratio Lai Change optimum speed ratio.

As described above, in the control system illustrated in JP 2007-170444 A, presumption during driving drives The driving tendency of member.Then, it is that movement driving is inclined when driving tendency for example, when front reduction gear of the vehicle in bend or intersection Xiang Shi is compared with movement drives the case where being inclined to driving tendency not, and automatic transmission is by downshift to lower gear.By The downshift so executed during deceleration can improve accelerating ability when vehicle further accelerates after braking.

At the same time, the control system that illustrates in JP 2007-170444 A according to driver driving tendency whether be Movement drive tendency and consistently set gear during deceleration at the point before bend or intersection, and execute downshift with Set up the gear so set.It is missed moreover, the driving tendency as presumed value is necessarily included the presumption of individual difference exclusive or Difference.Therefore, the gear or speed ratio set up after downshift may be insufficient or inappropriate.For example, if drop Gear is inadequate, then can execute further drop when driver steps on accelerator pedal with accelerating vehicle after turning Gear.That is, the driving force actually generated may be inadequate for the required driving force that driver wants.As a result, driving The person of sailing can feel strange or uncomfortable, or can feel that accelerating ability or acceleration feel bad.

Invention content

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

According to an aspect of the present invention, a kind of Traction control system for vehicle is provided, the vehicle includes hair Motivation, driving wheel and automatic transmission, the automatic transmission transmit torque between engine and driving wheel.Driving force controls System includes controller.Controller is configured to：(i) driving of the speed based on vehicle and accelerator operation amount control vehicle Power, (ii) store acceleration characteristic, and the acceleration characteristic limits the relationship further accelerated between brief acceleration and speed, it is described again It is to be further accelerated used Con trolling index, (iii) when driving after Reduced Speed Now in vehicle to be based on to accelerate brief acceleration The running data and acceleration characteristic of the vehicle obtained before Reduced Speed Now add when obtaining further accelerate corresponding with current vehicle speed Speed, and (iv) before starting to further accelerate traveling, based on acquisition further accelerate brief acceleration setting automatic transmission can be with Realize that this further accelerates the speed ratio of brief acceleration.

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

In Traction control system as described above, controller may be configured to：(i) multiple acceleration characteristics are stored Line further accelerates brief acceleration on the multiple acceleration characteristic line according to speed determination, and (ii) is based on desired speed, selects institute State an acceleration characteristic line in multiple acceleration characteristic lines, and (iii) is based on current vehicle speed, desired speed and selected One acceleration characteristic line, acquisition is corresponding with current vehicle speed to further accelerate brief acceleration.

In Traction control system as described above, controller may be configured to：(i) starting to further accelerate traveling When, speed and acceleration are stored, and (ii) updates acceleration characteristic line.

In Traction control system as described above, controller may be configured to：(i) by using multiple in the past The average value for further accelerating the average value for further accelerating brief acceleration or desired speed in traveling executed, acquisition accelerate when further accelerating Degree, and (ii) set the speed ratio for further accelerating brief acceleration that may be implemented to be obtained of automatic transmission.

In Traction control system as described above, controller may be configured to never setting vehicle into the phase It hopes the time point of speed and the max. speed being recorded before the traveling that reduces speed now is set as desired speed.

According to the present invention in the Traction control system of vehicle, when vehicle after deceleration when being further accelerated, Before starting to further accelerate traveling, setting allows the vehicle to further accelerate brief acceleration (the i.e. desired acceleration of driver with above-mentioned Degree) accelerate automatic transmission speed ratio (or gear).It is to further accelerate the traveling phase after Reduced Speed Now to further accelerate brief acceleration Between the Con trolling index that uses, and be the acceleration realized during further accelerating traveling to be wanted by driver or by driver's institute's phase The presumed value of the acceleration of prestige.Traveling number based on the acceleration characteristic stored in advance and the vehicle obtained before Reduced Speed Now According to acquisition further accelerates brief acceleration.The acceleration for the relationship that area definition further accelerates between brief acceleration and speed can be shifted to an earlier date Characteristic.The running data of vehicle may include physical quantity, such as the speed ratio of speed, acceleration, automatic transmission and engine turn Speed, these physical quantitys indicate the driving condition of vehicle.

Therefore, it by means of the Traction control system for vehicle of the present invention, is further accelerated after vehicle is in deceleration When, it can complete to allow the vehicle to further accelerate what brief acceleration accelerated with described for setting before further accelerating traveling and starting The automatic transmission shift of speed ratio controls.Moreover, in the manner described above from the running data and vehicle obtained before Reduced Speed Now Acceleration characteristic acquisition further accelerate brief acceleration；Therefore, further accelerate brief acceleration may be used as shift control control refer to Mark, that reflects the intentions of driver, driving tendency etc..Therefore, when starting to further accelerate when driving after Reduced Speed Now, The speed ratio for further accelerating necessary driving force can be provided through being set in automatic transmission.Moreover, what presumption was set at this time The acceleration or the requested acceleration of driver that speed ratio permission vehicle is wanted with driver accelerate.

For example, when the vehicle is turning, vehicle from vehicle enter stage of bend to vehicle turning driving stage During Reduced Speed Now, automatic transmission can shift to an earlier date downshift to suitable for making vehicle further accelerate row in the stage that vehicle comes off the curve The speed ratio (gear) or downshift sailed are to further accelerating brief acceleration.Therefore, when vehicle enters bend and in turning, vehicle can be with Suitably slow down, to execute turning driving appropriate, while keeping that the state compared with large driving force can be obtained.Then, work as vehicle When coming off the curve and start to further accelerate, automatic transmission is by downshift to the state that can be obtained compared with large driving force.

Thus, the Traction control system according to the present invention for vehicle prevents from further accelerating after Reduced Speed Now Further downshift is executed when driving, is lacked to make up driving force caused by insufficient downshift during Reduced Speed Now It is weary, and vehicle can suitably accelerate.Therefore, driver is less likely or can not possibly feel strange or uncomfortable or vibrations, And the accelerating ability of vehicle can be improved and accelerate to feel.

Description of the drawings

The following drawings illustrate the feature, advantage of exemplary embodiment of the present invention and technology and industrial significance, Identical reference numeral indicates identical element in the accompanying drawings, and wherein：

Fig. 1 is to show to be by the vehicle and control that are controlled by the Traction control system according to the present invention for vehicle One exemplary view of the configuration of system；

Fig. 2 is that the basic driver power that the Traction control system for vehicle for explaining by the present invention executes controls One exemplary flow chart；

Fig. 3 is the view for explaining the correlation of " further accelerating brief acceleration " between speed, obtains the correlation To calculate " desired speed " and " further accelerating brief acceleration " in the control of the driving force of the present invention；

Fig. 4 is for explaining the view for indicating the relation line (proximal line) of correlation shown in Fig. 3；

Fig. 5 is for explaining that control figure exemplary view, the control figure are used for the driving force control in the present invention " further accelerating brief acceleration " is obtained in system；

Fig. 6 is in driving force control for explaining the present invention for obtaining " achievable acceleration " and being capable of providing It is somebody's turn to do the view of the control of the gear (speed ratio) of " achievable acceleration "；

Fig. 7 A and Fig. 7 B be for explain execute the present invention driving force control when vehicle characteristic (such as speed, plus Speed and engine speed) view；

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

Fig. 9 A and Fig. 9 B are for explaining the driving force control for executing the present invention on the vehicle for be equipped with contiuously variable transmission When vehicle characteristic (such as speed, acceleration and engine speed) view；

Figure 10 is another in the driving force control for executing the present invention on the vehicle for be equipped with contiuously variable transmission for explaining One exemplary view of control；

Figure 11 A and Figure 11 B are for explaining another exemplary view of control when the driving force control for executing the present invention；

Figure 12 A and Figure 12 B are for explaining another exemplary view of control when the driving force control for executing the present invention；

Figure 13 is for explaining another exemplary view of control when the driving force control for executing the present invention；

Figure 14 is for explaining another exemplary view of control when the driving force control for executing the present invention；

Figure 15 is another exemplary view for control figure shown in explanation figure 5；

Figure 16 is another exemplary view for control figure shown in explanation figure 5；

Figure 17 is the another of the driving force control that the Traction control system for vehicle for explaining by the present invention executes One exemplary flow chart；

Figure 18 is to obtain " desired speed " in the case where being controlled according to the driving force of flow chart shown in Figure 17 for explaining One exemplary time diagram；

Figure 19 is the another of the driving force control that the Traction control system for vehicle for explaining by the present invention executes One exemplary flow chart；

Figure 20 is that the driving force that the Traction control system for vehicle for explaining by the present invention executes controls again One exemplary flow chart；

Figure 21 is to be combined for explaining for obtaining " desired speed " to running data weighting and " accelerating when further accelerating A kind of view of the method for controlling the proximal line to calculate running data of degree "；

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

Figure 23 is for explaining in the driving force control of the present invention by learning to show come one of control coefrficient (slope) The view of example, the coefficient (slope) specify the relation line for obtaining " desired speed " and " further accelerating brief acceleration "；

Figure 24 be for explain the present invention driving force control in by learn come control coefrficient (slope) another Exemplary view, the coefficient (slope) specify the relation line for obtaining " desired speed " and " further accelerating brief acceleration "；With

Figure 25 is that the driving force that the Traction control system for vehicle for explaining by the present invention executes controls again One exemplary flow chart.

Specific implementation mode

Next, illustrating one embodiment of the present of invention with reference to the accompanying drawings.The vehicle of the present invention can be applied to be equipped with certainly The power generated by engine can be transmitted to driving wheel by dynamic speed changer, the automatic transmission while changing speed. Automatic transmission using the vehicle of the present invention can be contiuously variable transmission, for example, belt CVT or anchor ring CVT (toroidal CVT), speed ratio can continuously be changed.The present invention can also be applied to the hybrid vehicle for including distributing means for power supply, institute State distributing means for power supply combination and the distribution power caused by engine and motor.That is, included in hybrid vehicle 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, the configuration and its control system of vehicle are shown in Fig. 1, Automatic transmission is installed on the outlet side of engine on the vehicle.Vehicle Ve shown in Fig. 1 has front-wheel 1 with after Wheel 2.In figure in 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 generates is passed to trailing wheel 2 via automatic transmission (AT) 4 and differential gear set 5, is driven to generate Power.It can be f-w-d vehicle that the vehicle Ve of the present invention, which can be applied, in the f-w-d vehicle, by engine 3 The power of generation is passed to front-wheel 1, to generate driving force.Vehicle Ve can also be four-wheel drive vehicle, in the four-wheel It drives in vehicle, the power generated by engine 3 is passed to front-wheel 1 and trailing wheel 2, to generate driving force.

Engine 3 includes for example electronically controlled air throttle or electronically controlled fuel injection device and includes that air-flow passes Sensor, the flow of the gas flow transducer detection air inlet.In the example shown in Figure 1, engine 3 includes electronic throttle 6 With gas flow transducer 7.Thus, for example, by the data that are detected based on accelerator pedal position sensor 9 come to the electronics Air throttle 6 carries out electric control operation, can automatically control the output of engine 3, the accelerator pedal position will be described later Sensor 9.

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

Controller 8 is used to control the shift of the output and automatic transmission 4 of engine 3.For example, controller 8 is electronics control Unit (ECU) processed, is mainly made of microcomputer.Engine 3 is connected to controller 8, to make engine 3 and control Device 8 can be with communication with one another, to control engine 3.Moreover, automatic transmission 4 is connected via hydraulic control system (not shown) To controller 8, to make automatic transmission 4 and controller 8 can be with communication with one another, to control speed changer 4.Although in showing for Fig. 1 Setting is there are one controller 8 in example, but two or more controllers to be can be arranged for corresponding device or equipment, Or it can for example be arranged for corresponding control content.

Above controller 8 be configured to receive the various sensors in the corresponding component from vehicle Ve detection signal and The information signal for the device installed from various vehicles.For example, controller 8 is configured to add from said flow sensor 7, detection The brake sensing of the accelerator pedal position sensor 9 of fast device operating quantity or pedal position, the volume under pressure of detection brake pedal Device (or brake switch) 10, detect engine 3 output shaft 3a rotating speed engine speed sensor 11, 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 detecting corresponding wheel 1,2 obtain speed Vehicle speed sensor 13 receives detection signal.Then, controller 8 is configured to using received data, the data etc. stored in advance Calculating is executed, and control command signal is exported based on result of calculation.

When vehicle Ve constructed as described above is further accelerated after deceleration, can be stepped on as described above in response to driver Accelerator pedal and execute downshift.If automatic transmission 4 not by suitably downshift, is driven during deceleration when further accelerating Power becomes insufficient, and will execute downshift when vehicle Ve starts to further accelerate to establish lower gear (or increasing speed ratio). As a result, driver can feel strange or uncomfortable, or cannot preferably accelerate to feel.Moreover, the intention of driver and It drives individual difference, running environment between tendency foundation driver etc. and changes.Nevertheless, if as the above Such automatic transmission 4 is during deceleration by consistently (uniformly) downshift, then when vehicle Ve starts to further accelerate, by nothing Method obtains the driving force and acceleration that driver wants.

Thus, controller 8 is configured to reflect driver by executing driving force control to vehicle Ve will pass through control Intention and drive tendency, thus enable that vehicle Ve is suitably further accelerated.More specifically, controller 8 is configured to " to further accelerate The Con trolling index that brief acceleration " uses when being determined as being further accelerated after slowing down in vehicle Ve, and vehicle Ve start by The speed ratio of automatic transmission 4 is set as to realize the speed ratio of " further accelerating brief acceleration " for so determining before further accelerating. " further accelerating brief acceleration " as the Con trolling index used when being further accelerated after slowing down in vehicle Ve is added again in vehicle Ve Driver is desired when fast or desired estimated acceleration.It is obtained based on the acceleration characteristic of vehicle Ve and running data " further accelerating brief acceleration ".Stored in advance in the form of arithmetic expression or mapping determine " further accelerating brief acceleration " and speed it Between relationship acceleration characteristic.The running data of vehicle Ve includes the physical quantity for the transport condition for indicating vehicle Ve, such as vehicle The speed ratio and engine speed of speed, acceleration, automatic transmission 4, and the running data of vehicle Ve is travelled from front deceleration The running history extraction obtained before.If controller 8 is configured to remove traveling when ignition switch (or master switch) disconnects Data, then the running history before front deceleration traveling is to connect ignition switch and following for current driving from vehicle Ve The history for the running data that time to the current time when control illustrated with reference to Fig. 2 is started for the first time obtains.

The control content executed by controller 8 will be described in closer detail below.Fig. 2 is for explaining control substantially one Exemplary flow chart.At the beginning, judge giving it the gun whether processing is over for vehicle Ve, that is, whether judgement vehicle Ve is complete At give it the gun (step S1).For example, detection that can be based on vehicle speed sensor 13 or longitudinal acceleration sensor (not shown) Value judges to give it the gun whether processing is over.In step sl, when the rear vehicle Ve's just to give it the gun in judgement vehicle Ve When acceleration becomes equal to 0, or when having been switched to acceleration in vehicle Ve becomes equal to or when Reduced Speed Now less than 0, sentence Fixed " giving it the gun for vehicle Ve is over ".When brake switch 10 is connected, identical judgement is made.Therefore, in addition to In the case of all other other than upper situation, negative judgement (no) is made in step sl.For example, making in a case where no Fixed judgement (no)：It is given it the gun not yet with rear vehicle since this control；Vehicle Ve is giving it the gun；Or vehicle Ve is just With stable state or constant speed drive.

If giving it the gun for vehicle Ve is over and makes in step sl judgement (YES) certainly, controller 8 Proceed to step S2.In step s 2, it calculates and updates desired vehicle velocity V exp and gradient factor K.Accelerating more specifically, reading The running data of the vehicle Ve stored during traveling (in step sl judgement give it the gun ends) is (for example, when starting acceleration The peak acceleration of speed and period of giving it the gun), and vehicle velocity V exp and gradient factor K it is expected based on running data update. When driver operates vehicle Ve, it is assumed that driver drives vehicle using given speed as target always.It is executed by controller 8 Control in, " desired speed " is defined as the desirable speed of driver of the target vehicle speed or hypothesis of driver.In general, in phase Under same running environment, when the driving tendency of driver becomes than normally more emphasizing that the traveling of power performance or cornering ability is inclined When tropism (movement traveling tendency), " desired speed " is higher.On the contrary, the driving tendency as driver becomes than normally more emphasizing When traveling tendentiousness (the economy run tendency) of fuel economy or efficiency, " desired speed " is relatively low.It can be based on vehicle Ve's Running history obtain desired speed Vexp, in the running history, record such as speed, longitudinal acceleration, transverse acceleration, The data of steering angle, road surface gradient and vehicle attitude.Gradient factor K indicates the relation line used at determination " desired speed " Slope or gradient, this will be described hereinafter.Desired speed Vexp and gradient factor K is described in more detail below.

If making negative judgement (no) in step sl, controller 8 proceeds to step S3.In step s3, it keeps The last value of desired speed Vexp and gradient factor K.That is, before current end of giving it the gun, keeps last and accelerate The desired speed Vexp and gradient factor K for calculating and storing at the end of traveling.If vehicle does not have also later since this control It gives it the gun, is then continually maintained in and connects ignition switch for current driving and when control loop initially starts stores Desired speed Vexp and gradient factor K.The arrangement for it is expected vehicle velocity V exp and gradient factor K is being removed when ignition switch disconnects In scheme, the preset initial value of Vexp and K is read in ignition switch, and the preset initial value of Vexp and K is stored It is expected vehicle velocity V exp and gradient factor K.Therefore, if vehicle Ve gives it the gun not yet later since this control, Keep it is expected the corresponding initial value of vehicle velocity V exp and gradient factor K as mentioned above.Break when ignition switch When opening storage it is expected vehicle velocity V exp and gradient factor K arrangement in, if vehicle since this control after not yet It gives it the gun, then read as mentioned above and continues to keep to be stored when ignition switch last time disconnects Desired speed Vexp and gradient factor K.

Once update it is expected vehicle velocity V exp and gradient factor K or keeps it is expected in above step S3 in above step S2 The last value of vehicle velocity V exp and gradient factor K, then controller 8 proceed to step S4.In step s 4, when acquisition further accelerates Acceleration Gexp.When vehicle Ve is in non-stop slow down, vehicle Ve is switched to after completing Reduced Speed Now to be added again The transport condition of speed.For example, when vehicle Ve turns, points of the vehicle Ve usually before bend enters curved while slowing down Road.In bend, vehicle Ve is in deceleration or to turn while constant speed drive.Then, when vehicle comes off the curve, vehicle It is further accelerated.Thus, when vehicle Ve after deceleration when being further accelerated, 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 compared with Greatly, then driver requested larger acceleration is speculated to reduce speed difference Δ V and to make vehicle Ve with required acceleration It further accelerates.

Based on above-mentioned it is assumed that in step s 4, the speed difference Δ V between desired speed Vexp and current vehicle speed Vcur is obtained Brief acceleration Gexp (its acceleration for it is expected to realize when further accelerating as driver) must be further accelerated.For example, such as Fig. 3 and Fig. 4 Shown in, recognize that above-mentioned " further accelerating brief acceleration " has negative correlation between speed from the result of traveling experiment, emulation etc. Property.Speed and y- axis when x- axis indicates to further accelerate traveling beginning indicate acceleration (maximum ground acceleration) at this time In the case of, the relation line (proximal line) of the linear function for being expressed as " y=a × x+b " in Fig. 4 can be obtained.It can also be directed to Each of driver drives tendency acquisition relation line, such as the dotted line f in Fig. 3₁、f₂、f₃As instruction.

As described above, " desired speed ", which is defined as driver, needs the target vehicle speed realized during 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, " desired speed " can be equal to the x- intercepts (- b/a) at 0 to obtain by the acceleration calculated on y- axis.

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

By using the correlation of " further accelerating brief acceleration " between speed as described above, can in advance will " again plus Relationship of the fast brief acceleration " between speed is limited to the acceleration characteristic of vehicle Ve, and stores it in controller 8.Profit With the acceleration characteristic for the function for being defined as speed, can calculate corresponding with above-mentioned " desired speed " and " current vehicle speed " " further accelerating brief acceleration ".

The driving force control that controller 8 executes makes it possible to store running data and more when vehicle starts to be further accelerated The new acceleration characteristic for limiting the relationship of " further accelerating brief acceleration " between speed as described above.It stores in this case Running data includes the speed and acceleration of the vehicle Ve when vehicle Ve starts to be further accelerated.For example, as described above accelerate Degree characteristic is stored as acceleration characteristic line, and the acceleration characteristic line sets " further accelerating brief acceleration " according to speed.More Body, acceleration characteristic line is the relation line (proximal line) for being expressed as " y=a × x+b " in Fig. 4.

Moreover, for example, can be obtained from control figure as shown in Figure 5 corresponding with " desired speed " and " current vehicle speed " " further accelerating brief acceleration ".That is, using from it is preceding it is primary give it the gun during running history or driving information obtain " again Above-mentioned correlation of the acceleration brief acceleration " between speed, the relationship of " further accelerating brief acceleration " between speed are 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 instructions limit the acceleration characteristic of the relationship of " further accelerating brief acceleration " between speed, and And it is corresponding with above-mentioned relation line " y=a × x+b ".The slope instruction gradient factor K of straight line f.On straight line f, ground accelerates Degree becomes equal to the speed at 0, that is, the x- intercepts of line f are " desired speeds ".Therefore, in Figure 5, brief acceleration is further accelerated Gexp can by by current vehicle speed Vcur substitute by the desired speed Vexp by being obtained in above step S2 straight line f and The relational expression of gradient factor K instructions obtains.

Moreover, as described above, for each " desired speed " or according to tendency is driven, it is straight that two or more can be set Line f, such as the straight line fs and straight line fm that are indicated in Fig. 5.In this case, based in preceding primary period acquisition of giving it the gun Running history selects some straight line f from two or more lines and is determined as relation line.Meanwhile " it is expected vehicle Speed " is obtained as the x- intercepts of selected line f.So " it is expected determined by the history of period based in preceding primary give it the gun Speed " the driving tendency that primary period of giving it the gun is showed before reflecting.Then, for example, based in the manner " desired speed " and acquisition obtained is " current vehicle speed " of the detected value of vehicle speed sensor 13, obtains and " accelerates when further accelerating Degree ".As shown in Figure 5, the difference between " desired speed " and " current vehicle speed " is bigger, and " further accelerating brief acceleration " is bigger. Moreover, it is stronger as a kind of movement traveling tendency driving tendency type, " desired speed " that is provided higher straight is just provided Line fs, and it is bigger based on " further accelerating brief acceleration " that line fs is obtained.On the contrary, as being inclined to type as another drive Economy run be inclined to stronger, the straight line fm for just selecting " desired speed " that is provided lower, and based on line fm acquisition " further accelerating brief acceleration " is just smaller.

Once obtaining in step s 4 further accelerate brief acceleration Gexp in the manner, then automatic transmission is obtained 4 may be implemented the gear (step S5) for further accelerating brief acceleration Gexp.It is set for automatic transmission 4 most that is, obtaining Good gear so that vehicle Ve is to further accelerate brief acceleration Gexp travelings.One of the method for obtaining gear is shown in Fig. 6 Example.At the beginning, achievable acceleration Gable is set.Achievable acceleration Gabl can pass through following calculation expression It calculates：Gabl=(Te_max× g-R)/W, wherein Te_maxIt is the maximum value of the output torque of engine 3, R is running resistance, and W is The weight of vehicle, and g is gear ratio.As shown in Figure 6, it is calculated for each gear of automatic transmission 4 achievable Acceleration Gable.

Fig. 6 shows that automatic transmission 4 is an example of the forward direction eight speed automatic transmission with eight forward ranges.Scheming In example shown in 6, relative to " the further accelerating brief acceleration " obtained from " desired speed " and " current vehicle speed ", from can be real Highest is selected among the gear (be in the example of fig. 6 second, third, the 4th and the 5th speed) of existing " further accelerating brief acceleration " Speed threshold (being in the example of fig. 6 the 5th speed).That is, in figure 6, further accelerating brief acceleration Gexp and being expressed as passing through expectation Crosspoint between the relation line and the straight line of instruction current vehicle speed Vcur of vehicle velocity V exp.Instruction further accelerates brief acceleration Gexp's Point is between the achievable acceleration Gabl and the achievable acceleration Gabl of the 6th speed of the 5th speed.This meaning, When engine 3 generates 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) any of in, then can not achieve and further accelerate brief acceleration Gexp.Therefore, in figure 6 Shown in example, select the 5th speed, the 5th speed be automatic transmission 4 may be implemented further accelerate brief acceleration Gexp and the maximum speed being equal to or less than among the gear (from the 5th speed to second speed) of the 5th speed.

If calculating the gear (speed that may be implemented to further accelerate brief acceleration Gexp of automatic transmission 4 in step s 5 Than), then judge the whether positive Reduced Speed Now (step S6) of vehicle Ve.For example, being sensed based on vehicle speed sensor 13 or longitudinal acceleration The detected value of device (not shown), such as the operation signal of brake switch 10, it is possible to determine that the whether positive Reduced Speed Now of vehicle Ve.Such as Fruit vehicle Ve does not slow down and makes negative judgement (no) in step s 6, then controller 8 terminates this flow at once, without Execute subsequent control.

On the other hand, if vehicle Ve slowing down and make in step s 6 certainly judgement (YES), controller 8 into Row arrives step S7.In the step s 7, whether the gear that judgement is currently established in automatic transmission 4 is than in above step S5 The calculated higher gear of gear speed, that is, judge whether the speed ratio of current shift is less than the speed ratio of calculated gear.Such as Fruit current shift is to make than gear of the calculated gear with lower speed and in the step s 7 negative judgement (no), then Controller 8 is immediately finished this flow, and is not executing subsequent control.

If another aspect current shift is gear more higher than calculated gear speed and obtains in the step s 7 Certainly judgement (YES), then controller 8 proceed to step S8, in the step S8, automatic transmission 4 is by downshift to calculated Gear.Then, controller 8 understands the flow for terminating Fig. 2.

Fig. 7 A and Fig. 7 B are shown is equal to V in desired speed_AThe case where and desired speed be equal to than V_ASmall V_BThe case where this In the case of two kinds when vehicle Ve positive Reduced Speed Now the operation of vehicle Ve image.As shown in Figure 7A, respectively with desired vehicle Fast V_A、V_BShifting points (being indicated by black circles) on corresponding relation line execute downshift.Fig. 7 B instructions are by converting Fig. 7 A Shown in shifting points and the engine speed that obtains.Approximatively, respectively with desired speed V_A、V_BThe corresponding range of speeds A, downshift is executed in B.

The specific configuration for the controller 8 for executing control during Reduced Speed Now as described above 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, achievable acceleration calculation unit B 4, target gear computing unit B5 and shift output judgement Unit B 6 is constituted.

Detection data of the acceleration calculation unit B 1 based on output shaft speed sensor 12 calculates the acceleration of vehicle Ve.Add Speed computing unit B1 can also calculate the acceleration of vehicle Ve using the detection data of vehicle speed sensor 13.Desired speed meter Unit B 2 is calculated to count based on the detection data of calculated acceleration information and vehicle speed sensor 13 in acceleration calculation unit B 1 Calculate desired speed Vexp.It further accelerates brief acceleration computing unit B3 and is based on calculated expectation vehicle in desired speed computing unit B2 Fast Vexp and by vehicle speed sensor 13 detection data obtain current vehicle speed Vcur between speed it is poor_ΔV further accelerates to calculate Brief acceleration Gexp.On the other hand, it can be achieved that detection data of the acceleration calculation unit B 4 based on gas flow transducer 7 calculate pair It should be in each gear (or each speed ratio) achievable acceleration Gabl of automatic transmission 4.Target gear computing unit B5 bases Calculated in brief acceleration computing unit B3 brief acceleration Gexp and achievable accelerometer are further accelerated in above-mentioned further accelerate The calculated achievable acceleration Gabl of unit B 4 is calculated to calculate the target gear (or goals ratio) of automatic transmission 4.So Afterwards, shift output judging unit B6 is based on the calculated target gears of above-mentioned target gear computing unit B5, accelerator pedal position The detection data of the detection data and brake switch 10 of setting sensor 9 makes the judgement of the shift order about automatic transmission 4. More specifically, whether judgement automatic transmission 4 needs downshift.

Although automatic transmission 4 is that eight speed of forward direction with eight forward ranges becomes in the example of Fig. 6, Fig. 7 A and Fig. 7 B Fast device, but present invention could apply to variable v-belt drive or anchor ring formula contiuously variable transmission or in hybrid vehicle Electric stepless variable-speed mechanism.When automatic transmission 4 is the electronic nothing of contiuously variable transmission or hybrid vehicle as described above When grade gear, the speed ratio that " further accelerating brief acceleration " may be implemented of automatic transmission 4 is calculated, and based on calculated Transmission Ratio Control automatic transmission 4.For example, as illustrated in figure 9 a, may be implemented " again from " current vehicle speed " and " desired speed " The speed ratio γ of acceleration brief acceleration ", and automatic transmission 4 is controlled based on speed ratio γ.It is shown in figures 9 b and 9 in such case Under engine speed characteristic.

When automatic transmission 4 be the electric stepless variable-speed mechanism of contiuously variable transmission or hybrid vehicle as described above simultaneously It, can be by engine speed and during Reduced Speed Now when the rear vehicle for executing the downshift for increasing speed ratio continues to slow down (solid line) control is reduces according to speed in the range of being capable of providing " further accelerating brief acceleration ", more specifically, can will send out Motivation rotating speed (solid line) control is being capable of providing " when further accelerating in engine speed does not get lower than Figure 10 according to speed It is reduced in the range of the rotating speed (dotted line) of acceleration ".In this way, can suitably slow down to driver's offer during Reduced Speed Now Feel.

When vehicle Ve is based on " desired speed " and " further accelerating brief acceleration " Reduced Speed Now as described above, engine speed The region of engine speed used in being controlled such that changes according to the size of " desired speed ".For example, as schemed Shown in 11A, Figure 11 B, when vehicle is equal to V in desired speed_cThe case where and desired speed be equal to than V_cLow V_dThe case where this two In the case of kind when slowing down, from mapping as illustrated in figure 11A obtain respectively with these desired speeds V_c、V_dCorresponding minimum hair Motivation rotating speed.In this case minimum engine speed is limit engine rotating speed, it should be ensured that the limit engine turns Speed when accelerating after slowing down in vehicle to make vehicle Ve accelerate with " further accelerating brief acceleration ".Then, as shown in Figure 11 B, In the case where the minimum engine speed obtained as described above is set to lower limit, downshift is executed during Reduced Speed Now.Though So automatic transmission 4 is the forward direction eight speed automatic transmission with eight forward ranges in the example of Figure 11 B, but Figure 11 A, 11B Shown in the control that is executed during Reduced Speed Now to can be applied to automatic transmission 4 be contiuously variable transmission or hybrid electric vehicle Electric stepless variable-speed mechanism the case where.By the above control so executed, automatic transmission 4 can during deceleration with A degree of regularity downshift, and can provide good traveling to driver in downshift and feel.

Although Figure 11 A, 11B example in automatic transmission 4 be set to lower limit in scheduled minimum engine speed In the case of during Reduced Speed Now downshift, but maximum engine rotation speed can be set as to the upper limit, and automatic transmission 4 It can be controlled so as to the downshift in the case where maximum engine rotation speed is set to the upper limit.For example, as shown in Figure 12 A, 12B, When vehicle Ve is equal to V in desired speed_eThe case where and desired speed be equal to than V_eLow V_fThe case where both of these case under slow down When, 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 upper limit is started Machine rotating speed, to make vehicle Ve accelerate with " further accelerating brief acceleration " when vehicle is in acceleration after Reduced Speed Now.The maximum or upper limit Engine speed is set so that engine speed does not increase excessively during Reduced Speed Now in downshift.Such as institute in Figure 12 B Show, the quilt during Reduced Speed Now in the case where the maximum engine rotation speed so obtained is set to the upper limit of automatic transmission 4 Downshift.Although automatic transmission 4 is the forward direction eight speed automatic transmission with eight forward ranges in the example of Figure 12 B, with It is controlled equally shown in Figure 11 A, 11B, the control executed during Reduced Speed Now shown in Figure 12 A, 12B can be applied to The case where automatic transmission 4 is the electric stepless variable-speed mechanism of contiuously variable transmission or hybrid vehicle.

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 obtained from " desired speed " and " current vehicle speed ".However, for example as in Figure 13 Shown, automatic transmission 4 can be controlled so as to carry out downshift using predetermined time period t as interval during Reduced Speed Now.At this In the case of kind, time period t can be inclined to according to the driving of driver and be set in advance.For example, being that movement traveling is inclined when driving tendency Xiang Shi, downshift is executed using given time period t as interval, and the time period t ratio is movement traveling tendency driving tendency not In the case of period it is short.Moreover, in this case, the interval of downshift is set at and can realize and be based on as described above In the range of the gear (speed ratio) for " the achievable acceleration " that " further accelerating brief acceleration " obtains.That is, gear (speed ratio) is set In fixed such range, in the range, when vehicle after downshift when being further accelerated, vehicle Ve can be always " to further accelerate Brief acceleration " accelerates.By this control, during Reduced Speed Now, automatic transmission 4 can be with certain regular downshift. Furthermore, it is possible to predict the opportunity of downshift.Therefore, good traveling can be provided to driver in downshift to feel.

When as in above-mentioned each embodiment automatic transmission 4 during Reduced Speed Now based on " desired speed ", " current When speed " and " further accelerating brief acceleration " are by downshift, time at acquisition " further accelerating brief acceleration " and actually start to shift gears When time between generate inevitable operating lag.If operating lag is larger, the opportunity of practical downshift and driver Want or the opportunity of the downshift of prediction mismatches, and driver can feel strange or uncomfortable.Thus, as an example, as schemed Shown in 14, it can use and shift to an earlier date given time period reading relative to " current vehicle speed " (dotted line) obtained by actual vehicle speed " prediction speed " (solid line) executes downshift before normal opportunity.For example, " prediction speed " can pass through adding vehicle Ve Speed (more specifically, deceleration) is multiplied by be obtained by testing or emulating the read access time in advance of acquisition.14 in figure, also show that Corresponding with " current vehicle speed " present engine rotating speed (dotted line) and prediction engine corresponding with " prediction speed " Rotating speed (solid line).Thus, the above-mentioned control in each of the above embodiment is executed based on the speed read in advance in this way, So as to eliminate as mentioned above due to problem caused by the operating lag of downshift.As a result, the traveling of vehicle Ve can be improved Feel.

It can be calculated from the detection data of output shaft speed sensor 12 as described above or vehicle speed sensor 13 for obtaining Obtain the deceleration of the vehicle Ve of above-mentioned " prediction speed ".It can also be from the testing number of the acceleration transducer on vehicle Ve According to acquisition deceleration.Furthermore, it is possible to be subtracted to calculate based on the detection data for the brake-pressure sensor being arranged in braking system Speed.

Although indicating the phase of the relationship of " further accelerating brief acceleration " between speed in the control figure of Fig. 5 as described above The form that line is the line for indicating linear function is closed, but as indicated by way of example in fig.15, relation line can To be nonlinear.The line of the correlation of " further accelerating brief acceleration " between speed is not limited to as in the above-described embodiments Linear function, but can for example be indicated by quadratic function or exponential function.In which case it is possible to use institute in Figure 15 The nonlinear Control figure shown executes the control in above-mentioned each embodiment.

When executing control using control figure shown in above-mentioned Fig. 5 or Figure 15, by driver during further accelerating traveling Request or desired acceleration there are in fact the upper limit.If setting will generate the gear (speed ratio) for the acceleration for being higher than the upper limit And automatic transmission 4 is by downshift to the gear, then selected gear (or selected speed lower than the gear that driver imagines Than the speed ratio imagined more than driver), and driver can feel strange or uncomfortable.Therefore, in the control figure of Fig. 5 or Figure 15 In, it substantially need not " the further accelerating brief acceleration " of " further accelerating brief acceleration " more desired than driver greatly.Thus, for example, The control figure of Fig. 5 can be replaced with the control figure for being equipped with " it is expected upper limit acceleration " as shown in Figure 16.In this way, by with The acceleration that setting is determined in view of the intention or desired value of driver in the control figure of determination " further accelerating brief acceleration " The upper limit can make the suitably downshift of automatic transmission 4, and prevent setting as described above from will exceed driver simultaneously The gear (speed ratio) of imagination.

In the flow chart of Figure 17, show that a modification of the control illustrated in the flowchart of fig. 2 as described above is shown Example.In the control example shown in the flowchart of Figure 17, only determine engine speed get lower than given upper limit threshold it After execute downshift, to make engine speed not increase excessively in downshift during Reduced Speed Now.In the flow chart of Figure 17, The control content of step S11 and step S12 are added to the flow chart of Fig. 2.Therefore, with the control shown in the flowchart of Fig. 2 Equally, in the control example shown in the flowchart of Figure 17, desired speed Vexp is calculated in step S1 to step S5, is added again The gear (speed ratio) of fast brief acceleration Gexp, achievable acceleration Gabl and the Gabl that achievable acceleration can be provided. Moreover, in step s 6, judging the whether positive Reduced Speed Now of vehicle Ve.If making negative judgement (no) in step s 6, control Device 8 processed is immediately finished this flow, and does not execute subsequent control.On the other hand, if the positive Reduced Speed Now of vehicle Ve and Judgement (YES) certainly is made in step s 6, then controller 8 proceeds to step S7.

In the step s 7, whether the gear that judgement is currently established in automatic transmission 4 is than falling into a trap in above step S5 The higher gear of gear speed of calculating.Namely it is decided that whether the speed ratio of current shift is less than the speed ratio of calculated gear.If Current shift is gear more lower than calculated gear speed and makes in the step s 7 to negate judgement (no), then controller 8 understand this flow of end, and do not execute subsequent control.On the other hand, if current shift is than calculated gear The higher gear of speed and make in the step s 7 certainly judgement (YES), then controller 8 proceed to step S11.

In step s 11, engine speed Ne1 corresponding with calculated gear (speed ratio) is calculated.That is, being estimated Will in automatic transmission 4 by downshift to calculated gear (speed ratio) when the engine speed Ne1 that reaches.

Once calculating engine speed Ne1 in step s 11, decide that whether engine speed Ne1 is less than upper limit threshold It is worth (step S12).Used upper limit threshold is the upper limit value of engine speed in this case, the engine speed Upper limit value is determined to be so that engine speed does not increase excessively in downshift during Reduced Speed Now.

If engine speed Ne1 be still equal to or higher than upper limit threshold and make in step s 12 negative judgement (no), then the control of the repetition step of controller 8 S12 is without proceeding to subsequent step.That is, the control of step S12 is by repeatedly It executes, until engine speed Ne1 gets lower than upper limit threshold.

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

In the above described manner, 4 downshift of automatic transmission is made based on engine speed during Reduced Speed Now so that driver is not May or it can not possibly feel strange or uncomfortable the case where engine speed excessively increases at downshift very much.It therefore, can be with Travelings of the vehicle Ve in downshift during Reduced Speed Now is improved to feel.

In the above-described embodiments, for example, being obtained " desired speed " from control figure as shown in Figure 5.That is, use " again plus Correlation of the fast brief acceleration " between speed obtains " desired speed ".As described above, according to the present invention, " desired speed " quilt It is defined as driver and wants the target vehicle speed reached when vehicle accelerates.It can be assumed that from this definition, when speed is being given it the gun When period reaches " desired speed ", acceleration becomes equal to 0 and vehicle will not be further speeded up.Therefore, such as Figure 18 when Between it is as shown in the figure, can once give it the gun preceding (i.e. before what is discussed further accelerates the Reduced Speed Now travelled before starting Primary give it the gun) during vehicle Ve recorded max. speed (during travelling acceleration become equal to 0 speed) set It is set to " desired speed ".Preceding primary give it the gun refers to subtracting to what this was recycled from time when not setting " desired speed " also What time when speed traveling starts executed gives it the gun.For example, if controller 8 is configured at ignition switch (or master switch) Remove " desired speed " when disconnection, then before it is primary give it the gun be from the ignition switch that vehicle Ve is connected for current driving when Time to the current time period during execute give it the gun.

In the flow chart of Figure 19, showing will give it the gun what period reached past as described above Max. speed is set as a control example of " desired speed ".In being controlled substantially shown in the above-mentioned flow chart of Fig. 2, such as Fruit makes negative judgement (no) in step sl, then keeps it is expected that vehicle velocity V exp's and gradient factor K is corresponding in step s3 A upper value.On the other hand, under the exemplary driving force control of this control, controller 8 can execute in the flow chart of Figure 19 Shown in control, rather than execute Fig. 2 flow chart in step S3 control.

For example, if making negative judgement (no) in step sl in the basic control shown in the flowchart of fig. 2, Controller 8 proceeds to the step S21 in the flow chart of Figure 19.In the step s 21, whether judgement vehicle Ve is just giving it the gun.Such as Fruit vehicle Ve does not accelerate and makes negative judgement (no) in the step s 21, then controller 8 proceeds to step S22.

In step S22, the corresponding upper value for it is expected vehicle velocity V exp and gradient factor K is kept.This control content It is similar with the control content of step S3 in the flow chart of Fig. 2 as described above.That is, if judging vehicle Ve's in step sl It gives it the gun to be not over or be also not carried out later since control and give it the gun, then desired speed Vexp and gradient factor A upper value of K is the desired speed Vexp stored when connecting ignition switch for current driving and gradient factor K.

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

Keep it is expected a upper value of vehicle velocity V exp and gradient factor K in step S22 if as discussed above, then controller 8 proceed to the step S4 in the flow chart of Fig. 2 and execute the control similar with content as described above.If in step S21 In make certainly judgement (YES), then controller 8 proceed to step S23.

In step S23, whether judgement current vehicle speed Vcur is higher than the desired speed Vexp currently set.If current vehicle Fast Vcur is equal to or less than desired speed Vexp and makes negative judgement (no) in step S23, then on controller 8 proceeds to It states step S22 and executes and control identical control as described above.

On the other hand, if current vehicle speed Vcur is higher than desired speed Vexp and makes judgement certainly in step S23 (YES), then controller 8 proceed to step S24.In step s 24, vehicle velocity V exp it is expected in update.In this case, due to working as Preceding speed Vcur becomes to be above the desired speed Vexp as the max. speed in past give it the gun, so current vehicle speed Vcur becomes new max. speed.Therefore, new max. speed is set to newest desired speed Vexp.For example, in step In S24, as in step S22 as described above, gradient factor K remains a value.As described above, in step S24 In, vehicle velocity V exp it is expected in the update of controller 8, without the acceleration being directly used in giving it the gun the running data that period obtains Correlation between speed or relation line.Therefore, in step s 24 as the slope of relation line or the gradient factor K of gradient A value is remained without being updated.

Once vehicle velocity V exp it is expected in update in step s 24 in the manner, kept in above step S22 As the case where a corresponding upper value of gradient factor K, controller 8 proceeds in the flow chart of Fig. 2 desired speed Vexp Step S4, and control is executed according to content as described above.

In the control shown in the flowchart of Figure 19, when controller 8 updates " desired speed ", spy can not executed It is not readily available " desired speed " in the case of complicated calculating.Therefore, the load of controller 8 can be reduced.Moreover, because The chance of update " desired speed " is also provided during giving it the gun, so the renewal frequency of " desired speed " increases, and Presumption accuracy can be improved.

In the basic control shown in the flowchart of Fig. 2 as described above, if vehicle Ve's gives it the gun end simultaneously And make judgement (YES) certainly in step sl, then in step s 2 based on the vehicle stored in upper primary period of giving it the gun Vehicle velocity V exp and gradient factor K it is expected in the running data update of Ve.On the other hand, in the driving force control executed by controller 8 Under, the control shown in the flowchart for the Figure 20 that will be described below can be executed, rather than executes the flow of Fig. 2 as described above The control of step S2 in figure.That is, under the driving force control executed by controller 8, it can be to show according to fig. 20 flow chart The control example gone out obtains " desired speed ".

If giving it the gun for vehicle Ve terminates and is done in the step S1 controlled substantially that shows in the flowchart of fig. 2 Go out judgement (YES) certainly, then controller 8 proceeds to the step S31 in the flow chart of Figure 20.In step S31, calculates and it is expected vehicle Fast Vexp and gradient factor K.In the identical mode of mode in the step S2 with the flow chart of Fig. 2 as described above, in step Traveling based on the vehicle Ve stored during giving it the gun and (having judged the end of giving it the gun in step sl) in S31 Data (speed, the peak acceleration etc. for period of giving it the gun when accelerating to start) calculate and set desired speed Vexp and gradient COEFFICIENT K.

As the calculated desired speed Vexp in step S31, it can use and further accelerate row what is be performed a plurality of times in the past The average value of desired speed Vexp set by during sailing.For example, calculate include the last time further accelerate traveling several times The average value of the desired speed Vexp of traveling is further accelerated, and the average value is set as newest expectation vehicle in step S31 Fast Vexp.

Once setting desired speed Vexp in step S31, 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 primary cycle of flow Newer newest desired speed Vexp.If the desired speed Vexp set in step S31 is equal to or less than desired speed A upper value of Vexp and make in step s 32 negative judgement (no), then controller 8 proceed to step S33.

In step S33, the corresponding upper value for it is expected vehicle velocity V exp and gradient factor K is kept.This control content Control content similar to the step S3 in the flow chart of Fig. 2 and similar to the control of the step S22 in 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 it is preceding it is primary 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 A value and make in step s 32 certainly judgement (YES), then controller 8 proceed to step S34.In step S34, regeneration period Hope vehicle velocity V exp and gradient factor K.That is, recalculated in step S31 of this cycle and the desired speed Vexp that sets and Gradient factor K is set to newest desired speed Vexp and gradient factor K.

Once as described above in step S34 update it is expected vehicle velocity V exp and gradient factor K, then in above step S33 As the case where middle upper value for keeping it is expected vehicle velocity V exp with gradient factor K, controller 8 proceeds in the flow chart of Fig. 2 Step S4, and execute the control similar with the above.Namely based on the desired speed Vexp that is kept in step S33 and A upper value of gradient factor K or based on the newest desired speed Vexp updated in step S34 and gradient factor K, Calculating further accelerates brief acceleration Gexp.

As above-mentioned desired speed Vexp, what is set during what is be performed a plurality of times in the past further accelerates traveling adds when further accelerating The average value of speed Gexp may be used as calculated in step s 4 further accelerating brief acceleration Gexp.For example, it includes most to calculate The nearly average value for further accelerating brief acceleration Gexp for further accelerating traveling several times for once further accelerating traveling, and by the average value It is set as newest and further accelerates brief acceleration Gexp.

In control shown in the flowchart in fig. 20, based on newest desired speed Vexp and in upper primary cycle Newer desired speed Vexp sets at least updated desired speed Vexp twice after end of giving it the gun.Another In a example, the average value based on the desired speed Vexp obtained during what is be performed a plurality of times in the past further accelerates traveling, which is set, it is expected Vehicle velocity V exp.Then, brief acceleration Gexp is further accelerated based on the desired speed Vexp settings set in this way.It can also base When the average value setting for further accelerating brief acceleration Gexp obtained during what is be performed a plurality of times in the past further accelerates traveling further accelerates Acceleration Gexp.Therefore, according to the control shown in the flowchart in Figure 20, it can inhibit or reduce " it is expected vehicle for calculating The influence of mistake in the running data of speed ", and the standard of presumption " desired speed " and " further accelerating brief acceleration " can be improved Exactness.

In the above-described embodiments, for example, being obtained from relation line as shown in Figure 4 or from control figure as shown in Figure 5 " desired speed ".It is set shown in relation line and Fig. 5 shown in Fig. 4 based on the running data during past give it the gun Control figure.If the past running data used in this case is simply accumulated, data volume becomes very large. Moreover, even, if excessively emphasizing past running data, being used in the case where running environment or driving tendency change Running environment drives the running data that tendency change obtains before；As a result, presumption " desired speed " can be reduced and " when further accelerating The accuracy of acceleration ".Thus, under the driving force control executed by controller 8, to being used to obtain the traveling of " desired speed " Data execute weighting.

Implement running data weighting as described above by the way that past running data is multiplied by given weighting coefficient. In another example, implement weighting in the following manner：Certain running datas are selected from the entire history of running data, and It is calculated " desired speed " using selected data.For example, can be by that will be used to set in relation line or Fig. 5 shown in Fig. 4 Shown in the past running data of control figure be multiplied by weighting coefficient w (w<1) come to execute weighting to running data.Show at another In example, set in Fig. 4 using only the nearest running data of the given number traveling back counted from nearest running data Shown in relation line, so as to execute running data weighting.

For example, as indicated by the chart of Figure 21, wherein marking and drawing the point of given running data on chart 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 expression For d=(y₀-a×x₀-b).Square error (the w) × d obtained based on the weighting 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 calculating²It minimizes Coefficient a and coefficient b are obtained.Make square error (w) × d²The coefficient a and coefficient b of minimum are according to by following equation (1) and (2) The recurrence formula of expression calculates.

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.

About the x in the recurrence formula of above equation (1) and (2)²Summation item, can be by by x²Current value (x_n ²) increase to the upper value (A of summation_n-1) and the result after increase is multiplied by weighting coefficient w to obtain the current of summation It is worth (A_n).This is also applied for the item of other summations in the recurrence formula of above equation (1) and (2).Therefore, for by with first-class Formula (1) and the coefficient a and coefficient b of (2) expression can obtain the current of summation if a upper value for summation is known Value.Therefore, even if the history of past running data is not stored fully, if a upper value for summation is stored Words, can also obtain the proximal line " y=a × x+b " weighted by weighting coefficient w from the upper value and current value of summation.

When for example executing running data weighting in the case where weighting coefficient w is set to 0.7 (w=0.7), such as scheming As indicated by 22, the latest data from four acceleration traveling reaches about the 75% of entire information content.Thus, example Such as, by the above-mentioned weighting so executed, the significance level of latest data can be improved, and importance reduction can be removed Past data.If weighting coefficient w is set to fixed value, the variation travelled every time in above-mentioned recurrence formula becomes permanent It is fixed；As a result, proximal line " y=a × x+b " can be readily available by the calculating of above-mentioned recurrence formula.Therefore, by according to upper It states mode and weighting is executed to running data, the load of the memory of storage data can be reduced and can reduce the computing interval Load, while ensuring certain accuracy when presumption " desired speed " and " further accelerating brief acceleration ".

In the control figure shown in Fig. 5 as described above, specified by gradient factor K for being estimated from " desired speed " The straight line f of " further accelerating brief acceleration ".Thus, gradient factor K is updated by learning, thus, it is possible to improve presumption " to further accelerate Accuracy when brief acceleration ".For example, 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 " when, " desired speed " is kept constant, and gradient factor K is learnt, so as to Actual ground acceleration is set to become equal to " further accelerating brief acceleration ".It is smaller than K by study in example shown in fig 23 Gradient factor K ' change gradient factor K.When actual ground acceleration be more than deduced from the straight line f of gradient factor K " again Accelerate brief acceleration " when, gradient factor K is changed into the value of bigger by study.Although primary past traveling can be based on Data execute the study of gradient factor K as described above, but be referred to the data travelled several times to obtain gradient system The learning value of number K, so as to be deduced " further accelerating brief acceleration " with improved accuracy.

In the case of learning gradient factor K like that in above-described embodiment as shown in Figure 23, if gradient factor K mistakes Greatly, then the presumed value for " further accelerating brief acceleration " when having larger difference between " desired speed " and " current vehicle speed " became Greatly.As a result, gear that more desired than the driver gear of selection is low (or speed ratio more desired than driver big speed ratio), and Driver can feel strange or uncomfortable.Thus, can be that learning value is arranged when learning gradient factor K in the manner described above The upper limit.For example, as shown in figure 24, being deduced from the straight line f of gradient factor K when the actual ground acceleration of vehicle Ve is more than When " further accelerating brief acceleration ", gradient factor K initially increases while " desired speed " is kept constant, to make actual ground Acceleration becomes equal to " further accelerating brief acceleration ".However, in this case, scheduled gradient factor K " is set to Limit.Even if when gradient factor K is increased to upper limit gradient factor K " actual ground acceleration also not with deduce " again Accelerate brief acceleration " unanimously, then " desired speed " changes the value to bigger, and straight line f " is set so that actual ground adds Speed becomes equal to " further accelerating brief acceleration ".

Thus, by executing study to gradient factor K with the upper limit so set, can be deduced with higher accuracy " further accelerating brief acceleration ", while preventing the presumed value of " further accelerating brief acceleration " excessive.

For example, as shown in the flowchart in Figure 25, execute include study gradient factor K as described above control System.Step S2 in the basic control illustrated instead of the flow of Fig. 2 by using the step S41 in the flow chart of Figure 25 is carried For the control shown in the flowchart of Figure 25.That is, in above-mentioned steps S2, based on the traveling number stored during giving it the gun According to, vehicle velocity V exp and gradient factor K it is expected in update, and in step S41, learn gradient factor K, and base in the manner described above Desired speed Vexp is obtained in the learning value of gradient factor K.

Once vehicle velocity V exp it is expected in the learning value update based on gradient factor K as described above, then controller 8 proceeds to step Rapid S4.Then, in step S4 and subsequent step, the control similar with content as described above is executed.

Claims

1. a kind of Traction control system for vehicle, the vehicle includes engine, driving wheel and automatic transmission, described Automatic transmission transmits torque between the engine and the driving wheel, which is characterized in that the Traction control system Including:

Controller, the controller are configured to：

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

(ii) acceleration characteristic is stored, the acceleration characteristic limits the relationship further accelerated between brief acceleration and the speed, The brief acceleration that further accelerates is that used Con trolling index when driving is further accelerated after the vehicle is in Reduced Speed Now,

(iii) acceleration of running data and storage based on the vehicle obtained before the Reduced Speed Now is special Property, acquisition is corresponding with current vehicle speed to further accelerate brief acceleration,

(iv) it is further accelerated before traveling starts described, described in the Con trolling index setting for further accelerating brief acceleration obtained Automatic transmission can realize the speed ratio for further accelerating brief acceleration；

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

(vi) based on the current vehicle speed and the desired speed deduced, further accelerate corresponding with the current vehicle speed is obtained Brief acceleration；

(vii) multiple acceleration characteristic lines are stored, on the multiple acceleration characteristic line according to speed determine described in further accelerate Brief acceleration,

(viii) an acceleration characteristic line in the multiple acceleration characteristic line is selected based on the desired speed；With

(iv) it is based on the current vehicle speed, the desired speed and a selected acceleration characteristic line, acquisition is worked as with described Brief acceleration is further accelerated described in preceding speed is corresponding.

2. Traction control system according to claim 1, which is characterized in that the controller is configured to：

(i) when it is described further accelerate traveling and start when, store speed and acceleration, and

(ii) the acceleration characteristic line is updated.

3. Traction control system according to claim 1, which is characterized in that

The controller is configured to：

(i) by using the average value or desired speed for further accelerating brief acceleration in further accelerating traveling what is be performed a plurality of times in the past Average value, further accelerate brief acceleration described in acquisition；With

(ii) set the automatic transmission can realize that is obtained further accelerates the speed ratio of brief acceleration.

4. Traction control system according to claim 1, which is characterized in that the controller is configured to will be by described The max. speed that the time point that vehicle never sets the desired speed starts and is recorded before the traveling that reduces speed now It is set as the desired speed.