JP2005249186A - Select assist mechanism for automatic transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an assist actuator from performing the assist operation of a select lever by inertia force of the select lever. <P>SOLUTION: This select assist mechanism of an automatic transmission comprises an input control force detecting means for detecting the control force generated by the operation of the select lever 2, the assist actuator 9 for adding the assist force for the operation assist of the select lever 2 to the select lever 2, and an assist force control means 22 for controlling the assist actuator 9 in a case when a value of the control force detected by the input control force detecting means 21 is more than a specified value, and starting the operation assist to the select lever 2. The assist force control means 22 stops the operation assist when the control force is less than the specified value or when the select lever 2 reaches a specific position, and then temporarily sets the specified value to a high value. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a select assist mechanism of an automatic transmission device that assists operation of a select lever operated by a driver.

  In an automatic transmission of a vehicle, the operation of a select lever (operating lever, shift lever) performed by a driver using a driving force such as a motor is assisted to reduce the operation load of the select lever and include a select lever. There has been proposed a select assist mechanism for an automatic transmission that achieves a short stroke of a shift device (see, for example, cited document 1).

In a general select assist mechanism, a torque sensor detects a torque value (operating force) applied to the select lever, and when the detected torque value is equal to or greater than a predetermined value, a motor or the like is activated to assist the operation of the select lever. It has a structure to do.
Japanese Patent Laid-Open No. 2003-4135

  However, in the select assist mechanism having the structure described above, the torque sensor detects the inertial force of the select lever even after the driver finishes the operation of the select lever and releases his hand. There is a problem that there is a risk of running continuously.

  Further, in the select assist mechanism including the above-described mechanism, the operation direction of the select lever that generally performs operation assist is obtained by calculating the operation displacement of the select lever. For this reason, even if the driver applies force to the select lever, the direction to perform the operation assist cannot be specified unless the select lever is actually moved and the operation displacement is calculated. There was no problem.

  The present invention has been made in view of the above problems, and a first problem of the present invention is that the torque sensor detects the inertial force of the select lever, and after the driver releases the hand from the select lever, The second object of the present invention is to provide a select lever even when the select lever is not displaced. It is an object of the present invention to provide a select assist mechanism for an automatic transmission that can perform an operation assist when a force is applied.

  In order to solve the above-described problems, a select assist mechanism of an automatic transmission according to the present invention includes an input operation force detection unit that detects an operation force generated by an operation of a select lever, and the select lever with respect to the select lever. An assist actuator for adding an assist force for performing the operation assist, and controlling the assist actuator when the value of the operation force detected by the input operation force detection means is a predetermined value or more, and an operation with respect to the select lever An assist force control means for starting assist, and the assist force control means stops the operation assist when the operation force is equal to or less than a predetermined value or the select lever has reached a predetermined position. The specified value is temporarily set to a high value.

  Further, after the assist force control means stops the operation assist when the operation force is less than a predetermined value or the select lever has reached a predetermined position, the assist force control means temporarily corresponds to the detected value of the operation force. A filter process using a low-pass filter may be performed, and the assist actuator may be controlled based on the operation force subjected to the filter process.

  Furthermore, the selection assist mechanism of the automatic transmission according to the present invention is configured to provide input operation force detection means for detecting an operation force generated by the operation of the select lever, and to assist the operation of the select lever with respect to the select lever. When the value of the operating force detected by the input operating force detecting means is equal to or greater than a first specified value, the operating position of the select lever is adjacent. It is determined that the position is moved to the position, the assist actuator is controlled to start the operation assist of the select lever in the one position direction, and the value of the operation force detected by the input operation force detection means is a second value. When the value is less than the specified value, the operation position of the select lever is located on the opposite side of the one position. Is determined to be moved into position, characterized in that by controlling the assist actuator and a assist force control means for starting the operation assist to the other position the direction of the select lever.

  According to the select assist mechanism of the automatic transmission according to the present invention, the assist force control means temporarily defines the operation assist after stopping the operation assist when the operation force is equal to or less than the specified value or the select lever reaches a predetermined position. By setting the value to a high value, even if the torque value temporarily increases due to the torque caused by inertia after the operation assist is finished, the value of the operating force becomes the specified value or more. Since it becomes difficult, it becomes possible to prevent that operation assistance is performed continuously easily.

  Further, after the assist force control means stops the operation assist when the operation force is less than a predetermined value or the select lever reaches a predetermined position, a low-pass filter is temporarily used for the detected operation force value. Since the operation force is reduced by performing the filtering process, it is difficult for the value of the operation force to exceed the specified value, and it is possible to prevent the operation assistance from being continuously executed easily.

  Further, according to the select assist mechanism according to the present invention, when the assist force control means has a value of the operation force equal to or greater than the first specified value, the operation position of the select lever is set to one adjacent position. When it is determined that it has been moved and operation assistance in the one position direction is started, and the value of the operation force becomes equal to or less than the second specified value, the operation position of the select lever is the reverse of the one position. Since it is determined that the position has been moved to another position located on the side and operation assist in the direction of the other position is started, operation force is applied to the select lever even when the select lever is not moving. If it is, the operation assist can be executed, and the stable operation assist reflecting the driver's will can be performed.

  Hereinafter, an automatic transmission provided with a select assist mechanism according to the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the automatic transmission 100 includes a select unit 1, a control cable 8, an assist actuator 9, a control cable 18, an automatic transmission unit 19, and an assist control unit (assist force control means) 22. It has.

    The select unit 1 has a select lever 2 that is operated by a driver, and is provided, for example, in a center cluster 3 beside the driver's seat. A select knob 4 is attached to the upper end of the select lever 2 so that the driver can hold it during a select operation. The select lever 2 is rotated around the fulcrum shaft 5.

  A push-pull control cable 8 is connected to the lower end of the select lever 2 via a select lever joint 7. As shown in FIG. 2, the control cable 8 is rotatably connected to the input lever 10 of the assist actuator 9 via the input lever joint 11. That is, the rotational movement of the select lever 2 is converted into a linear movement, and the operating force generated by the operation of the select lever 2 is transmitted to the input lever 10.

  The input lever 10 is connected to an output lever 13 via an output shaft 12 that is rotatably provided. The output shaft 12 is provided with a worm gear 14 that meshes with a motor output shaft 16 of an electric motor 15 having a speed reduction mechanism.

  A push-pull control cable 18 is connected to the output lever 13 via an output lever joint 17. The control cable 18 is connected to the control arm 20 of the automatic transmission unit 19. That is, the rotational movement of the output lever 13 is converted into a linear movement by the control cable 18, and the combined force of the driver's operating force and the driving force of the electric motor 15 is transmitted to the control arm 20 of the automatic transmission unit 19.

  The output shaft 12 is provided with a torque sensor (input operation force detection means) 21 that detects distortion (twist) generated between the input lever 10 and the worm gear 14. The operation force signal detected by the torque sensor 21 is amplified by an amplification amplifier (not shown) and transmitted to the assist control unit 22 via the wire harness 23. Based on the detection signal of the torque sensor 21, the operation force in the select lever operation can be estimated.

  A contact 24 for position detection is fixed to the worm gear 14. The contactor 24 rotates integrally with the worm gear 14 and makes electrical contact with a carbon resistor printed on a substrate (not shown), thereby outputting a voltage signal corresponding to the stroke angle of the select lever 2 to the assist control unit 22. To do. The contactor 24 and the carbon resistor constitute a potentiometer (operation position detecting means) 25.

  The potentiometer 25 detects the stroke angle of the select lever 2 at any time, using the angle when the select lever 2 is stopped at the P range position as the base point angle.

  The assist control unit 22 sets a target assist force based on the detected stroke angle of the select lever 2 and the operation force of the driver, and performs PWM control on the output duty ratio of the electric motor 15.

  FIG. 3 is a block diagram showing the configuration of the assist control unit 22. In the select unit 1, the stroke change of the select lever 2 for which the range switching operation has been performed is input to the potentiometer 25 of the assist actuator 9 via the control cable 8. The potentiometer 25 detects a stroke angle corresponding to the operation amount of the select lever 2 and outputs it to the assist control unit 22 as a stroke angle signal.

  Further, the operating force of the select lever 2 is input to the torque sensor 21 of the assist actuator 9 via the control cable 8. The torque sensor 21 detects the operation force of the select lever 2 and outputs it to the assist control unit 22 as an operation force signal.

  The position / operation start / direction discriminating block 33 determines the current stroke angle of the select lever 2 based on the stroke angle signal. Further, from the stroke angle signal, the differential value of the stroke angle signal, and the operation force signal, the operation start and operation direction (operation speed and operation acceleration as necessary) of the select lever 2 are determined, and the determination result is displayed as the FF compensation table 43. And output to the target table block 34 and the motor drive control block 45.

  Further, when the position / operation start / direction discriminating block 33 determines that an intermediate stop has occurred, it outputs an intermediate stop signal to the intermediate stop prevention control block 50.

  In the target table block 34, the target operation reaction force corresponding to the stroke angle of the select lever 2 is calculated from the stroke angle signal and the operation direction of the select lever 2 obtained by the position / operation start / direction determination block 33. It is output to the adder 35.

  Here, since the target operation reaction force varies depending on the stroke angle of the select lever 2, the target operation reaction force for each stroke angle is stored in a table in the target table block 34.

  The adder 35 calculates the deviation between the operation force signal and the target operation reaction force, and outputs the calculation result to the FB control unit 36.

  The FB control unit 36 includes a multiplier 37, an adder 38, a multiplier 39, and an integrator 40. The multiplier 37 outputs a value obtained by multiplying the deviation between the operation force signal and the target operation reaction force by a proportional gain to the adder 38 (proportional output). The multiplier 39 outputs a value obtained by multiplying the deviation between the operation force signal and the target operation reaction force by an integral gain to the integrator 40. The integrator 40 integrates the output of the multiplier 39 and outputs it to the adder 38 (integration output). The adder 38 outputs a feedback assist force that is the sum of the proportional output and the integral output to the adder 41.

  The FF control unit 42 includes an FF compensation table 43 and a multiplier 44. The FF compensation table 43 outputs preset values corresponding to the stroke angle signal, the operation speed, and the operation acceleration to the multiplier 44. The multiplier 44 outputs a value obtained by multiplying the FF assist force by the FF gain, that is, a feed forward assist force to the adder 41.

  The adder 41 outputs the output sum (feedback assist force + feed forward assist force) of the FB control unit 36 and the FF control unit 42, that is, the target assist force, to the motor drive control block 45.

  The motor drive control block 45 drives the electric motor 15 (deceleration mechanism) based on the target assist force.

  In the intermediate stop prevention control block 50, when the select lever 2 stops in the middle, the value and direction of the current that flows to the electric motor 15 to move the select lever 2 to the normal range position are calculated from the input signal. Calculate from the state and output.

  Next, the detent structure of the automatic transmission unit 19 will be described. As shown in FIG. 4, the control arm 20 of the automatic transmission unit 19 is provided with a rotation shaft 26, and a detent plate 27 is supported on the rotation shaft 26. At the upper end of the detent plate 27, a valley portion 27b corresponding to five ranges (P, R, N, D, and L) is formed between the cam peaks 27a. Then, the detent pin 29 formed at the tip of the spring plate 28 is engaged with the valley portion 27b and the selected range position is maintained, thereby preventing an unintended range select due to vehicle vibration or the like. Yes.

  That is, the rotating shaft 26 is rotated by the operating force of the select lever 2, and the detent plate 27 is moved relative to the detent pin 29 in accordance with the rotation. At this time, the detent pin 29 gets over the cam crest 27 a and engages with the valley portion 27 b corresponding to the adjacent range, and the engaged state is held by the elastic force of the spring plate 28. This elastic force becomes a main load force when the select lever 2 is operated.

  Note that one end of the parking pole 30 is rotatably connected to the detent plate 27. When the select lever 2 is moved to the P range, the parking pole 30 prevents rotation of the parking gear 32 via the cam-like plate 31 and locks driving wheels (not shown). Thereby, when the vehicle is parked on the slope road in the P range, a vehicle load is applied so as to lock the driving wheel according to the slope, and acts as a force for biting the parking pole 30.

  Next, the assist control processing of the select lever 2 executed by the assist control unit 22 will be described using the flowchart shown in FIG.

  In step S1, the assist control unit 22 reads the operation force by receiving the operation force signal of the torque sensor 21. Next, the assist control unit 22 reads the stroke angle by receiving the stroke angle signal of the potentiometer 25 in step S2. Thereafter, in step S3, the assist control unit 22 calculates the operation direction of the select lever 2 from the stroke angle of the select lever 2 and the difference between the stroke angles read in the previous control cycle.

  Next, in step S4, the assist control unit 22 calculates the operation speed of the select lever 2 from the stroke angle of the select lever 2 and the rate of change of the stroke angle read in the previous control cycle, and the differential value of the operation speed. Then, the operation acceleration of the select lever 2 is calculated, and the process proceeds to step S5.

  In step S5, the assist control unit 22 performs an FF compensation table reading process, and the optimum one is selected from a plurality of preset tables from the FF compensation table according to the stroke angle, the operation speed, and the operation acceleration. Select.

  Further, in step S6, the assist control unit 22 performs a target table reading process. After that, in step S7, the FF assist force is set (Fff setting) from the read FF compensation table, and the process proceeds to step S8.

  In step S8, the assist control unit 22 sets the FB assist force from the read target table (Ffb setting), and sets the target assist force from the sum of the set FF assist force and FB assist force in step S9. .

  Thereafter, in step S10, the assist control unit 22 controls the output duty ratio of the electric motor 15 in accordance with the target assist force. Then, the assist control unit 22 determines whether or not the select lever 2 is in the intermediate stop position because of the normal range position. When the select lever 2 is in the intermediate stop position, the assist control unit 22 returns the select lever 2 to the normal range position. Then, an intermediate stop prevention process for calculating the drive current and drive direction of the electric motor is performed, and the control is terminated.

  As described above, the assist control unit 22 can reduce the operation load of the select lever 2 by the driver by determining the range position of the select lever 2 and assisting the operation of the select lever 2.

  FIG. 6 is a diagram showing torque values detected by the torque sensor 21 when the select lever 2 is operated in the P → R position direction. When the select lever 2 is operated in the P → R direction, when the torque value exceeds a specified value (ConstThresh), operation assist of the select lever 2 by the assist actuator 9 is started. Due to the assist force by the assist actuator 9 and the operation force by the driver, the torque value gradually increases (arrow α in FIG. 6), and the detent pin 29 is moved to a position over the cam crest 27a of the detent plate 27. After the detent pin 29 has passed over the cam peak 27a, the detent pin 29 falls into the groove of the next cam peak 27a and is pulled in, so that an inertial force is generated and the torque value decreases rapidly (arrow β in FIG. 6). When the operating force becomes equal to or less than the specified value, the operation assist by the assist actuator 9 ends. The operation assist by the select actuator is also stopped when the select lever 2 reaches a predetermined position (R-position in FIG. 6).

  However, when the detent pin 29 falls into the groove of the next cam crest 27a, the detent pin 29 that has obtained the torque generated by the inertial force hits the end face of the next cam crest, so that the torque value temporarily increases ( This torque is referred to as “torque resulting from inertia”). As shown by the dotted line in FIG. 6, the torque value resulting from the inertia is equal to or greater than a specified value (ConstThresh). Therefore, in the conventional state, the assist actuator 9 executes the operation assist of the select lever 2. There is a risk that.

  For this reason, the assist control unit 22 generates torque due to inertia as indicated by a one-dot chain line in FIG. 6 after the operation force is less than a predetermined value or the select lever 2 reaches a predetermined position and the operation assist is stopped. In this case, the torque value at which the operation assist of the select lever 2 is temporarily started by the assist actuator 9 is made larger than a specified value (this torque value is set as a threshold (Thresh)), and then gradually the threshold ( Unnecessary operation assistance is prevented by lowering (Thresh).

Specifically, the assist control unit 22 stores the torque value detected by the torque sensor 21 as a variable Trq, as shown in step S100 of FIG. Next, in step S101, the assist control unit 22 obtains a threshold value (Thresh) obtained by changing the specified value (ConstThresh) using the arithmetic circuit shown in FIG. Specifically, using variables Delay, Temp, and constants a and b,
Temp = ConstThresh-Delay (1)
Thresh = Temp × b-Delay (Formula 2)
Delay = Delay + Temp × a Equation 3
A threshold value (Thresh) is obtained by substituting each value into the formula. Note that the variable Delay has an initial value set in advance, and q ⁻¹ shown in FIG. 8 represents a delay of one sample time.

  Thereafter, the assist control unit 22 compares Trq and Thresh in step S102. The assist control unit 22 returns the process to step S100 if Trq> Thresh, and starts assisting the operation of the select lever 2 by the assist actuator 9 in step S103 if Trq> Thresh. The process from step S100 to step S102 shows the process of “A: stop state” before the assist operation of the select lever 2 is performed by the assist actuator 9, as shown in FIG. By repeatedly executing the process of step S101 by the loop process of step S102, the threshold value is temporally reduced while the electric motor 15 is stopped.

  When Trq> Thresh, as shown in step S104, the assist control unit 22 determines that the position of the select lever 2 is a predetermined position, specifically, the detent pin 29 falls into the groove of the next cam crest 27a and the select lever 2 Until the position is surely moved from the P position to the R position, the assist actuator 9 continues to assist the operation of the select lever 2. The processing of step S103 to step S104 is the “B: assist state” processing shown in FIG. 9, and the specific processing content is to execute steps S1 to S11 shown in FIG.

When the position of the select lever 2 is moved to the R position, the assist control unit 22 ends the operation assist of the select lever 2 by the assist actuator 9 in step S105, and sets the value of Delay to 0 in step S106. Thereafter, the assist control unit 22 repeats the processing from step S100 again. At this time, since the value of Delay is 0, in step S101, Temp = ConstThresh is obtained using Equation 1.
From Equation 2, Thresh = Temp × b
= ConstThresh × b
As shown in FIG. 10, immediately after the position of the select lever 2 is moved to the R position, the value of the threshold (Thresh) suddenly rises to a value b times the specified value (ConstThresh), and torque caused by inertia Can be prevented from exceeding the threshold (Thresh) at which the assist actuator 9 starts assisting the operation of the select lever 2.

  On the other hand, the value of Delay approaches the specified value (ConstThresh) every a times of Temp by repeating the processing of Step S100 to Step S102, as apparent from Expression 3 Delay = Temp × a, and finally, Delay. = ConstThresh and Temp = 0, and the value of Thresh is equal to the value of ConstThresh. That is, the threshold value (Thresh) converges to a specified value (ConstThresh) at which the assist actuator 9 starts assisting the operation of the select lever 2. The processing in step S105 and step S106 shows the “C: stop preparation state” processing shown in FIG.

  Thus, when torque resulting from inertia occurs, the assist control unit 22 can prevent unnecessary operation assistance by temporarily increasing the threshold (Thresh). After that, when it is desired to move the gear of the automatic transmission to the next position by gradually lowering the threshold (Thresh), it is easily operated by applying a slightly large initial operating force by operating the select lever 2. An assist operation can be executed.

  Further, as shown in FIG. 11, the torque value detected by the torque sensor 21 is reduced by using a low-pass filter after the assist actuator 9 stops assisting the operation of the select lever 2, so that the torque caused by inertia becomes a specified value ( It is also effective to prevent the above (ConstThresh) or more.

  Specifically, as shown in step S200 of FIG. 12, the assist control unit 22 assigns 1 to a variable a as an initial value and 0 to a variable Delay. Thereafter, in step S201, the assist control unit 22 stores the torque value detected by the torque sensor 21 as a variable Trq. In step S202, the assist control unit 22 determines whether or not the value of the variable a is 1 or more. If a is smaller than 1, the assist control unit 22 determines that the variable a is a square value of a in step S203. When a is 1 or more, a value of 1 is substituted for variable a in step S204. Thereafter, in step S205, the assist control unit 22 performs a calculation in which a low-pass filter expressed by the following equation is applied to the torque value detected by the torque sensor 22.

Specifically, using the variable Delay, a and the variable Trq2 into which the filtered torque value is substituted,
Trq2 = Delay (Formula 4)
Delay = Delay + (Trq−Delay) × a Expression 5
Filtering is performed on the torque value detected by the above.

  According to Equation 5, the time required for increasing the variable Delay changes by changing the variable a, and as a result, the time constant in the low-pass filter changes.

  In step S206, the assist control unit 22 repeats the processes from step S201 to step S206 until Trq2 subjected to the filter process becomes a value larger than a specified value (ConstThresh).

In step S202, when the variable a is smaller than 1, the smaller the variable a, the longer it takes to increase the variable Delay, and the time constant in the low-pass filter becomes larger. On the other hand, when the variable a is larger than 1, by setting the value of the variable a to 1, from Equation 5,
Delay = Delay-Delay + Trq = Trq
As a result, from Equation 4,
Trq2 = Delay
Thus, since Trq and Trq2 have the same value Delay, the torque value detected by the torque sensor 21 is compared with the specified value (ConstThresh) without filtering.

  If Trq2 is larger than the specified value (ConstThresh), as shown in step S207, the assist actuator 9 starts assisting the operation of the select lever 2, and the position of the select lever 2 is set to a predetermined position as shown in step S208. The operation assist of the select lever 2 by the assist actuator 9 is continued until the detent pin 29 falls into the groove of the next cam crest 27a until it moves beyond the position.

  When the select lever 2 moves from a predetermined position and the operation force is less than a predetermined value or the select lever 2 reaches a predetermined position, the assist control unit 22 stops the operation assist of the select lever 2 as shown in step S209. In step S210, a sufficiently small constant a_const is substituted for the variable a, and the processing from step S201 is repeated. In step S210, by substituting a sufficiently small value for the variable a, it takes a long time to satisfy Trq2> ConstThresh by the processing of step S201 to step S206, so that the role as a low-pass filter is exhibited. Thus, it is possible to prevent continuous operation assist processing of the select lever 2 due to the inertial force of the select lever 2 immediately after the operation assist is stopped. Further, when a predetermined time elapses, a = 1 and the low-pass filter does not function. Therefore, after the temporarily increased torque value is converged, the filter process is not executed, and the filter is effective only while the inertia works. When it is desired to move the gear of the automatic transmission to the next position, a slightly large initial operating force is applied by operating the select lever 2 to define a filtered torque value. Since the value is exceeded, the operation assist can be easily executed.

  The automatic transmission apparatus 100 including the select assist mechanism according to the present invention has been described above with reference to the drawings. However, the select assist mechanism according to the present invention is not limited to the configuration described above. For example, in the present embodiment, the case where the position of the select lever 2 is changed from the P → R position in FIGS. 6 and 11 has been described as an example. Regardless of which method is used, the position of the select lever 2 is not limited to the P and R positions, and can be applied to movement between all positions.

  Hereinafter, the select assist mechanism according to the second embodiment will be described. The automatic transmission using the select assist mechanism in the second embodiment is different from the automatic transmission described in the first embodiment in that the assist control of the assist control unit is different. Since the components other than the assist control unit are the same as those in the first embodiment, the description will be made using the same reference numerals, and the description in the second embodiment will be omitted.

  FIG. 13 is a block diagram illustrating the assist control unit 22a according to the second embodiment. Unlike the assist control unit 22 described in the first embodiment, the assist control unit 22a is a PL direction activation operation force calculation unit 60, an LP direction activation operation force calculation unit 61, a PL direction activation operation force calculation unit 60, and a torque sensor. 21 includes a PL direction activation determination unit 62 that performs a comparison with the torque value detected by the engine 21 and an LP direction activation determination unit 63 that similarly performs a comparison with the torque value.

  The PL direction activation operation force calculation unit 60 is configured to assist the assist control unit 22a in the PL direction when an operation force from the P position direction to the L position direction (PL direction) is applied to the select lever 2. Is calculated and set as a first threshold value (first predetermined value) as a criterion for determining whether to start. On the other hand, when the operation force from the L position direction to the P position direction (LP direction) is applied to the select lever 2, the LP direction activation operation force calculation unit 61 moves the assist control unit 22 a to the LP direction. A second threshold value (second specified value) is calculated and set as a criterion for determining whether or not to start the operation assist.

  In the select assist mechanism according to the second embodiment, when the torque value detected by the torque sensor 21 exceeds the first threshold value (first predetermined value) set by the PL direction activation operation force calculation unit 60, the assist control unit 22a. Determines that the select lever 2 is being moved in the PL direction and starts operation assist in the PL direction, and similarly, the second set by the LP direction activation operation force calculation unit 61 is started. When the torque value exceeds the threshold value (second specified value), the assist control unit 22a determines that the select lever 2 is being operated in the LP direction and starts assisting the operation in the LP direction.

  In this embodiment, no operating force is applied to the select lever 2, and the operating force is applied in the P-L direction with the torque value in a state in which no operation assistance is performed as a reference (± 0). In this case, the torque value detected by the torque sensor 21 is a positive torque value, and the torque value detected by the torque sensor 21 when an operating force is applied in the L-P direction is a negative torque value. Give an explanation.

  FIG. 14 is a flowchart showing a process of assisting the operation of the select lever 2 by the assist control unit 22a, and FIG. 15 is a state transition diagram of the assist control unit 22a in the process shown in FIG. Hereinafter, the operation assist process of the assist control unit 22a will be described with reference to FIGS.

  First, the assist control unit 22a sets a threshold value for starting the operation assist using the PL direction activation operation force calculation unit 60 and the LP direction activation operation force calculation unit 61. Specifically, the first threshold value (positive value) for starting the operation assist in the PL direction when the select lever 2 is operated in the PL direction in the PL direction starting operation force calculation unit 60 is set. (Step S.301) After that, in the LP-direction activation operation force calculation unit 61, when the select lever is operated in the LP direction, the second threshold value (negative) for starting the operation assist in the LP direction. Is set (step S.302). The first threshold value and the second threshold value can be changed according to the selection position of the select lever 2 detected based on the stroke angle signal of the potentiometer 25 and the like.

  Next, the assist control unit 22a reads the torque value based on the operation force signal received from the potentiometer 21 (step S.303). Thereafter, the assist control unit 22a uses the PL direction activation determination unit 62 to determine whether or not the read torque value is equal to or greater than a first threshold value (step S.304). If the torque value is not equal to or greater than the first threshold value (NO in step S.304), the assist control unit 22a uses the LP direction activation determination unit 63 to determine whether the torque value is equal to or less than the second threshold value. Perform (step S.305). If the torque value is not less than or equal to the second threshold value (NO in step S.305), the torque value reading process is repeated (step S.303).

  The stop state 65 in the state transition diagram shown in FIG. 15 indicates a state in which no operation assistance is performed. In the stop state 65, the “1. start determination” process of the STOP effective process corresponds to the process of comparing the torque value with the first threshold value and the second threshold value (step S.304, step S.305). As described above, when the torque value is not more than the first threshold and not less than the second threshold, the stop state 65 is maintained.

  If the torque value is greater than or equal to the first threshold value (YES in step S.304), the assist control unit 22a determines that the select lever 2 has been moved in the PL direction, and assists the operation in the PL direction. Start (step S. 306). When the operation assist in the PL direction is started, the state transition of the assist control unit 22a moves from the stop state 65 in FIG. 15 to the PL assist state 66.

  FIG. 16 is a diagram illustrating a state in which an operating force is applied to the select lever 2 in the PL direction, and the torque value detected by the torque sensor 21 increases in the positive direction. When the operating force is applied to the select lever 2 to increase the torque value and exceed the first threshold value, the assist control unit 22a starts operation assist.

  Thereafter, the assist control unit 22a determines the moving position of the select lever 2 based on the stroke angle degree signal received from the potentiometer 25, and the select lever 2 is moved to a predetermined position adjacent to the PL direction. It is determined that the assist stop condition for the operation assist is satisfied (step S.307), and the operation assist is stopped (step S.308). In the state transition diagram shown in FIG. If it is determined that the assist stop condition is satisfied by the process of 307, the transition state moves to the PL stop preparation state 67.

  After stopping the operation assist (step S.308), the assist control unit 22a sets the first threshold value (positive value) again in the PL direction activation operation force calculation unit 60 (step S.309), and LP The direction activation operating force calculation unit 61 sets the second threshold value (negative value) (step S.310), and the torque value reading process (step S.303) is repeatedly performed at the moved position position.

  Step S. 309 and step S.E. In 310, the first threshold value and the second threshold value may be set by changing the threshold setting value in accordance with the moved position position or the like. This is because the value of may be temporarily changed to a high value or a low value.

  In the PL stop preparation state 67 of the state transition diagram shown in FIG. 308 corresponds, and “2. PL direction activation determination threshold setting” processing is performed in step S.308. 309 corresponds to “3. LP direction activation determination threshold setting” processing in step S.309. The process 310 corresponds to this. After these three processes (steps S308 to S.310) are completed, the transition state shifts to the stop state 65.

  If the torque value is equal to or smaller than the second threshold value (YES in step S.305), the assist control unit 22a determines that the select lever 2 has been moved in the L-P direction, and operates in the L-P direction. Assist is started (step S.311). Thereafter, the assist control unit 22a performs step S.1. 307-S. Similar to the processing described in 310, the stop condition determination for the operation assist is performed (step S.312). If the stop condition is satisfied, the operation assist is stopped (step S.313), and the second threshold is set (step S312). S.314), setting the first threshold value (step S.315), and repeatedly executing the torque value reading process (step S.303). Also in the transition state diagram, the state shifts to the LP assist state 68 (step S.311), and then goes through the LP stop preparation state 69 (steps S.313 to S.315) to the stop state 65 (step S.303). And migrate.

  As described above, when the assist control unit 22a obtains a torque value greater than or equal to the first threshold value (positive value) according to the torque value detected by the torque sensor 21, an operation force is applied in the PL direction. When the operation assist in the P-L direction is started and a torque value less than or equal to the second threshold value (negative value) is obtained, it is determined that the operating force is applied in the L-P direction. Since the operation assist in the L-P direction is started, the operation direction of the select lever 2 by the driver can be determined from the torque value, and the operation assist is reliably and stably performed in the direction in which the driver operates. Can be done.

  Next, the select assist mechanism according to Embodiment 3 will be described. In the select assist mechanism according to the second embodiment, two threshold values, a first threshold value and a second threshold value, are set according to the operation direction of the select lever 2, and the detected torque value is either the first threshold value or the second threshold value. The operation direction of the select lever 2 is determined based on whether or not the threshold value is exceeded. On the other hand, as described in the first embodiment, the torque value detected by the torque sensor 21 is pulled down by the detent pin 29 falling into the groove of the cam peak 27a at the next shift position as the select lever 2 moves. As a result, an inertial force is generated and rapidly decreases (β in FIG. 6). Thereafter, the detent pin 29 that has obtained the torque generated by the inertial force hits the end face of the next cam crest, and the torque value temporarily increases. (Torque resulting from inertia in FIG. 6). For this reason, in the first embodiment, by temporarily increasing the threshold value of the movement direction in which the operation assist is performed, the generation of the operation assist due to the torque caused by the inertia is prevented. However, as in the second embodiment, In the case where two threshold values are provided, there is a risk that operation assistance may occur due to a torque value that rapidly decreases due to inertia.

  A select assist mechanism capable of preventing the occurrence of operation assist in the direction opposite to the moving direction of the select lever 2 will be described in a third embodiment. Note that the select assist mechanism according to the third embodiment has the same configuration as the select assist mechanism described in the second embodiment, and thus description thereof will be omitted and description will be made using the same reference numerals.

  FIG. 17 is a flowchart illustrating a process in which the assist control unit 22a of the automatic transmission device using the select assist mechanism according to the third embodiment performs operation assist on the select lever 2. FIG. 18 is a state transition diagram of the system control unit 22 in the processing shown in FIG. Further, FIG. 19A shows the change over time in the torque value, which shows how the torque value detected by the torque sensor 21 increases when an operating force is applied to the select lever 2 in the P-L direction. FIG. 19B is a torque value time lapse showing a state in which an operating force is applied to the select lever 2 in the LP direction and the torque value detected by the torque sensor 21 decreases. It is the figure which showed the change. Hereinafter, the operation assisting process of the assist control unit 22a will be described with reference to FIGS.

  The assist control unit 22a sets a first threshold value (positive value) for starting operation assist in the PL direction (step S.301), and then starts operation assist in the LP direction. The second threshold value (negative value) is set (step S.302).

  Next, the assist control unit 22a performs threshold value calculation processing (step S.401) between the set first threshold value and second threshold value. This threshold value calculation process is a first threshold value temporarily set to a high value in the setting of a first threshold value and a second threshold value (steps S.402 to S.405) after stopping the operation assist described later, and temporarily low. The second threshold value set to the value is returned to the reference threshold value over a certain period of time, and the threshold value is gradually returned over time using the equations 1 to 3 described in the first embodiment. Process.

  Thereafter, the assist control unit 22a reads the torque value based on the operation force signal received from the potentiometer 21 (step S.303).

  Thereafter, the assist control unit 22a uses the PL direction activation determination unit 62 to determine whether or not the read torque value is equal to or greater than the first threshold value (step S.304). If the torque value is not equal to or greater than the first threshold value (NO in step S.304), the LP direction activation determination unit 63 is used to determine whether the torque value is equal to or less than the second threshold value (step S). .305). If the torque value is not less than or equal to the second threshold value (NO in step S.305), the process proceeds to threshold value calculation processing (step S.401).

  In the stop state of the state transition diagram shown in FIG. 18, the “1. start determination” process of the STOP execution process is a comparison process between the torque value, the first threshold value, and the second threshold value (step S.304, step S.305). “2. Activation determination threshold value calculation” indicates a threshold value calculation process (step S.401).

  If the torque value is greater than or equal to the first threshold value (YES in step S.304), the assist control unit 22a determines that the select lever has been moved in the PL direction, and starts assisting the operation in the PL direction. (Step S.306). When the operation assist in the PL direction is started, the state transition of the assist control unit 22a moves from the stop state 65 shown in the state transition diagram of FIG. 18 to the PL assist state 66.

  When an operating force is applied to the select lever 2 in the P-L direction and the torque value detected by the torque sensor 21 increases in the positive direction, the torque value increases as shown in FIG. Exceeds the first threshold, the assist control unit 22a starts the operation assist.

  Thereafter, the assist control unit 22a determines the moving position of the select lever 2 based on the stroke angle degree signal received from the potentiometer 25, and the select lever 2 is moved to a predetermined position adjacent to the PL direction. It is determined that the assist stop condition for the operation assist is satisfied (step S.307), and the operation assist is stopped (step S.308). In the state transition diagram shown in FIG. If it is determined that the assist stop condition is satisfied by the process of 307, the transition state moves to the PL stop preparation state 67.

  After stopping the operation assist (step S.308), the assist control unit 22a sets the first threshold value (positive value) again using the PL direction activation operation force calculation unit 60 (step S.402). Further, the second threshold value (negative value) is set using the LP direction activation operation force calculation unit 61 (step S.403). This step S.I. Since the threshold value is temporarily changed to a high value as shown in FIG. 19A by the first threshold value setting process in 402, as described in the first embodiment, the torque value is set by the torque caused by inertia. Even when the value is temporarily high, it is possible to prevent the operation assist from being started.

  Furthermore, step S.I. In the setting process of the second threshold value in 403, the assist control unit 22a uses the LP direction activation operation force calculation unit 61 to lower the second threshold value serving as a reference for the operation assist by K times (K is a constant, for example, twice). Set to value. Here, when the select lever is moved in the P-L direction and the detent pin 29 falls into the groove of the cam peak 27a at the next shift position and is pulled, the inertia force is generated and the torque value rapidly decreases ( Β, shown in FIG. 6, FIG. 20, and FIG. 21, the rate of this decrease is the rate at which the detent pin 29 that obtained torque generated by the inertial force subsequently hits the end face of the next cam crest and the torque value temporarily increases. (Torque due to inertia in FIG. 6, Γ shown in FIGS. 20 and 21). For this reason, when the second threshold value is decreased at the same rate as the increase rate of the first threshold value, as shown in FIG. 20, the torque value decreased after the operation assist is stopped is equal to or less than the second threshold value (torque value <second value). If the torque value is less than or equal to the second threshold value, the operation assist is started in the direction opposite to the operation direction of the select lever 2 (PL direction) (LP direction) and the selection is made. When the lever 2 is moved in the P-L direction, the driver may feel that the lever is caught. Therefore, step S.I. In 403, the assist control unit 22a sets the second threshold value to a value K times lower, so that the decreasing torque value does not become the second threshold value or less, as shown in FIG.

  In the PL stop preparation state 67 in the state transition diagram shown in FIG. 308 corresponds, and “2. PL direction activation determination threshold setting” processing is performed in step S.308. 402 corresponds to the process “3. LP direction activation determination threshold setting × K times”. The process of 403 corresponds. After these three processes (steps S308, S.402, and S.403) are completed, the transition state shifts to the stop state 65, and the assist control unit 22a executes the threshold value calculation process (step S.401) again.

  As described above, after the motion assist in the P-L direction is stopped, as shown in FIG. 19A, the first threshold value is set to a high value and the second threshold value is set to a low value. It is possible to prevent the operation assist from being performed again due to the increase in torque caused by the above and the rapid decrease in torque due to the inertial force. In particular, by setting the second threshold value to a value that is K times lower, it is possible to prevent the operation assist in the L-P direction being executed when the select lever is operated, and a feeling of being caught by the lever operation can be prevented.

  If the torque value is equal to or less than the second threshold value (YES in step S.305), the assist control unit 22a determines that the select lever 2 has been moved in the L-P direction, and moves in the L-P direction. The operation assist is started (step S.311). Thereafter, the assist control unit 22a performs step S.1. 307-S. Similar to the processing described in 310, the stop condition determination for the operation assist is performed (step S.312). If the stop condition is satisfied, the operation assist is stopped (step S.313), and the second threshold is set (step S312). S.404), the first threshold value is set (step S.405), and the threshold value calculation process (step S.401) is executed again. In step S405 as well, when the select lever 2 moves in the LP direction, the first threshold value is set to prevent operation assistance in the PL direction due to a rapid increase in torque due to the inertial force. Set to K times higher value.

  Also in the transition state diagram shown in FIG. 18, the state shifts from the stop state 65 to the LP assist state 68 (step S.311), and then passes through the LP stop preparation state 69 (steps S.313, S404, S.405), The process proceeds to the stop state 65 (step S.401).

  After the operation assist in the LP direction stops, as shown in FIG. 19 (b), the torque caused by inertia is set by setting the second threshold value to a low value and the first threshold value to a high value. It is possible to prevent the operation assist from being performed again due to the decrease in the torque and the rapid torque increase due to the inertial force. In particular, by setting the first threshold value to a value that is K times higher, it is possible to prevent the operation assist in the PL direction from being performed when the select lever 2 is operated, and the lever operation being caught. it can.

  As described above, since the first threshold value is set to a high value after the operation assist is stopped and the second threshold value is set to a low value, unnecessary operation assistance can be prevented. In this case, the driver is not given a sense of incongruity, and even when the select lever 2 is operated continuously, the driver does not get a sense of being caught when passing the position position.

  Since the first threshold value is set to a high value and the second threshold value is set to a low value after the operation assist is stopped, the torque fluctuation is caused by, for example, contact of the select lever with the gate or mechanical reaction during the operation of the select lever. Even if this occurs, the torque value does not easily exceed the first threshold value and the second threshold value, and it is possible to prevent unintended operation assistance from occurring.

  Furthermore, when the select lever 2 is operated to the next position after the operation of the select lever 2, the first threshold value is decreased and the second threshold value is gradually increased over time, and the threshold value changes continuously. The operation assist process does not cause unnaturalness.

  While the select assist mechanism according to the third embodiment has been described above, the assist select mechanism according to the present embodiment is not limited to the above-described one. For example, in this embodiment, the first threshold value set to a high value is gradually decreased and the second threshold value set to a low value is gradually increased. However, the threshold value is not necessarily changed gradually. There is no need. For example, until the predetermined time elapses, specifically, the first threshold value is increased until a period during which there is a possibility that the torque value is increased or decreased due to inertia and exceeds the first threshold value and the second threshold value. 2 The threshold value may be lowered, and the threshold value may be returned to the original value after the period has elapsed.

  Next, a select assist mechanism according to Embodiment 4 will be described.

  In a general select assist mechanism, a torque sensor detects a torque value (operating force) applied to the select lever, and when the detected torque value is equal to or greater than a predetermined value, a motor or the like is activated to assist the operation of the select lever. It has a structure to do. In general operation assistance, as shown in the first to third embodiments, the operation position of the select lever is detected by a potentiometer or the like, and the select lever is moved to a predetermined position (stop position) of the adjacent position. Is stopped by.

  However, when the select lever is located at the P position, the adjacent position is only the R position, and when the select lever is located at the L position, only the D position exists. . Therefore, when an operating force is applied from the P position to the wall side (opposite to the R position), or an operating force is applied from the L position to the wall (opposite the D position) There is a problem that it is impossible to use the control condition of “stop the operation assist when the select lever is moved to the stop position”.

  Here, in a general vehicle, in order to prevent unintended start of the vehicle or the like, if the driver does not operate the operation button provided on the select lever, the select lever positioned at the P position is moved to another position position ( Specifically, it is not possible to move to the adjacent R position. For this reason, when an operating force is applied to the select lever without operating the operating lever at the P position, there is a problem that operation assistance is performed within the P position and vibrations occur. However, the vibration at the P position is prevented by limiting the driving force of the motor to prevent the motor operation assist direction from reversing as in the invention disclosed in Japanese Patent Application No. 2004-200086. Technology is considered.

  On the other hand, if the select lever is operated vigorously from the D position position toward the L position position (in the direction of D-L) or the select lever located at the L position is pressed against the wall side, the select lever is moved to the L position. Torque is generated in the opposite direction of the wall (D position direction) by hitting the position wall, resulting in an operation assist from the L position position to the D position position (LD direction), and the select lever moves in the D position direction. There was a problem that there was a risk of being.

  The invention according to the fourth embodiment has been made in view of such a problem, and even when an operation force is applied to the select lever from the L position position toward the wall direction, the D position direction is applied. It is an object of the present invention to provide a select assist mechanism that can prevent operation assist from occurring and the select lever from moving in the D position direction.

  Since the select assist mechanism according to the fourth embodiment has the same configuration as that described in the first embodiment, the description thereof will be omitted and the same portions will be described using the same reference numerals.

  FIG. 22 is a flowchart illustrating an operation assist process performed by the assist control unit 22 of the automatic transmission using the select assist mechanism according to the fourth embodiment.

  The assist control unit 22 first performs step S.1. In 500, Stop is set in the variable State, and the activation threshold is set in the variable ConstThresh. Here, the variable State is a variable indicating the transition state in the state transition diagram shown in FIG. 23. When operation assist is not performed (stop state 70), Stop is set and the operation in the P-L direction is performed. When the assist is being performed (PL assist state 71), PL_Assist is set, and when the operation assist in the LP direction is being performed (LP assist state 72), LP_Assist is set. As described in the first embodiment, the activation threshold is a threshold serving as a reference for starting the operation assist, and is a value corresponding to, for example, 0.3 N · m.

  Next, the assist control unit 22 performs step S.1. In 501, the torque value of the operation force signal detected by the torque sensor 21 is substituted for the variable Trq, and the stroke angle signal detected by the potentiometer 25 is substituted for the variable Pos. Thereafter, the assist control unit 22 performs step S.1. In 502, it is determined whether or not the variable State is Stop. Here, step S.I. Since Stop is set in the variable State at 500, the assist control unit 22 determines YES and the process proceeds to step S.S. Move to 503.

Step S. In 503, a threshold value (Thresh) obtained by changing the specified value (ConstThresh) is obtained using the arithmetic circuit shown in FIG. Specifically, using Equations 1 to 3 described in Example 1, variables Delay, Temp, and constants a and b are as follows:
Temp = ConstThresh−Delay Equation 1
Thresh = Temp × b-Delay Equation 2
Delay = Delay + Temp × a (Formula 3)
The threshold value (Thresh) is obtained by substituting each value into the formula.

The first step S.P. In the process of 503, Delay is zero. The specified value (ConstThresh) is a preset value. FIG. 8 is a block diagram showing the configuration of an arithmetic unit that performs these calculations, and q ⁻¹ represents a delay of one sample time.

  Thereafter, the assist control unit 22 performs step S.1. In step 504, step S.E. In step S501, the torque value substituted for the variable Trq is changed to step S.E. It is determined whether or not the threshold value (Thresh) calculated in step 503 is larger. If NO in step S506, step S.506 is performed. 505.

  Step S. In step 505, step S.E. Step S.S. In 501, it is determined whether or not the torque value substituted for the variable Trq is smaller than the threshold value (−Thresh). If the process is larger (NO), the process proceeds to step S.507. Move to 501. In other words, the assist control unit 22 performs step S.3 while the threshold value (−Thresh) <torque value <threshold value (Thresh), specifically until the select lever 2 is sufficiently moved. 501-step S.E. The processing operation 505 is repeatedly executed.

  Step S. 501-step S.E. By repeatedly executing the process 505, it is possible to first set a large threshold value (Thresh) as shown in FIG. 6 and lower the value in a time constant to converge to a specified value (ConstThresh). Become. This is because if the detent pin 29 falls over the cam peak 27a and falls into the trough 27b when the select lever 2 is moved (turned), the detent pin 29 hits the end face of the next cam peak 27a due to inertial force. Therefore, as shown in FIG. 6, the torque value temporarily generated in the torque sensor 21 increases temporarily, and there is a possibility that the operation assist is executed again beyond the specified value (ConstThresh). It is a thing.

  When the torque value is increased by moving (selecting) the select lever 2 in the P-L direction and exceeds the threshold value (Thresh), step S.E. If YES in step 504, the process proceeds to step S.S. Move to 506. If the torque value is reduced by moving (turning) the select lever 2 in the L-P direction to be smaller than the threshold value (-Thresh), step S.E. In step 505, it is determined as YES, and the process proceeds to step S. Move to 507. Step S. 504, step S.E. Since the determination process in 505 is an initial stage in which the select lever 2 starts to rotate, the torque value generated in the torque sensor 21 does not increase rapidly as shown in FIG.

  For example, when the select lever 2 is moved in the P-L direction, the torque value generated in the torque sensor 21 increases as the select lever 2 moves (rotates), while step S. Since the threshold value (Thresh) obtained in 503 decreases, after a predetermined time (for example, several tens of milliseconds), step S.E. It is determined YES at 504. That is, step S.E. The torque value assigned to the variable Trq in 501 exceeds the threshold (Thresh) after a predetermined time.

  Step S. In step 506, the assist control unit 22 sets PL_Assist in the variable State, and the step S.E. From the stroke angle signal obtained in 501, the position position of the select lever 2, that is, the positions P, R, N, D, and L are obtained, and the obtained values of P, R, N, D, and L are substituted into the variable Position, The lower limit value of the duty of the motor drive control unit (motor drive control block) 45 is set to 5%.

  Similarly, when the select lever 2 is moved in the L-P direction, the torque value generated in the torque sensor 21 decreases as the select lever 2 moves (rotates), while step S . Since the threshold value (Thresh) obtained in 503 is increased, after a predetermined time (for example, several tens of milliseconds), step S.E. At 505, YES is determined. That is, step S.E. The torque value assigned to the variable Trq in 501 becomes equal to or less than the threshold value (Thresh) after a predetermined time.

  Step S. In step 507, the assist control unit 22 sets LP_Assist to the variable State, and the step S.E. From the stroke angle signal obtained in 501, the position position of the select lever 2, that is, the positions P, R, N, D, and L are obtained, and the obtained values of P, R, N, D, and L are substituted into the variable Position, The lower limit value of the duty of the motor drive control unit (motor drive control block) 45 is set to 5%.

  Step S. 506 or step S.E. After the process of 507, the assist control unit 22 performs step S.E. The processing is returned to 501 to acquire the latest operation force signal (torque value) and stroke angle signal.

  This embodiment is an invention for avoiding the occurrence of operation assistance in the opposite direction when an operation force directed in the wall direction is applied to the select lever 2 positioned at the L position. Since a force in the P-L direction is applied to step S. In step S504, YES is determined and step S.E. In 506, PL_Assist is set in the variable State, the value of L is substituted in the variable Position, and the lower limit value of the duty of the motor drive control unit (motor drive control block) 45 is set to 5%.

  Step S. In step 502, step S.E. Since the variable State is set to PL_Assist in step 506 and is not a stop, the assist select control unit 22 determines NO, and the process proceeds to step S.S. Go to 508.

  Step S. In 508, it is determined whether the variable State is LP_Assist. Here, step S.I. Since the variable State is set to PL_Assist at 506, the assist control unit 22 determines NO and the process proceeds to step S.S. 509.

  Step S. In 509, the assist control unit 22 determines whether or not the variable State is PL_Assist. Step S. Since the variable State is set to PL_Assist in 506, the assist control unit 22 determines YES and the process proceeds to step S.S. Move to 510.

  Step S. In 510, the position of the select lever 2 is determined. This is because the value (voltage value) of the array StopPL corresponding to the stop position preset for each position and the step S. The latest stroke angle signal acquired in 501 is compared, and it is determined whether or not a predetermined select lever position (stop position) for stopping the operation assist is exceeded. That is, if it exceeds the stop position, it is judged as YES and step S.E. The process proceeds to 511, and if it does not exceed, NO is determined and step S.E. The process proceeds to 512.

  As in this embodiment, when the select lever 2 at the L position is pressed against the wall and an operating force is applied in the direction of the wall, the shift lever 2 can be moved toward the wall from the L position. Therefore, the operation assist cannot be stopped under the condition that the shift lever exceeds the stop position. That is, step S.I. If YES is determined in the process of 510, the process is performed in S.S. There is no transition to 511. Therefore, the assist control unit 22 performs the process at step S.D. 512.

  When the shift lever 2 is located at a position other than the L position, and the select lever 2 is moved in the PL direction from this position, the assist control unit 22 performs the process at step S.E. 511, the variable State is set to Stop, the transition state is shifted to the stop state 70, the operation of the motor drive control unit 45 is stopped, the variable Delay is set to zero, and the process is performed in step S. Return to 501.

  Step S. In 512, step S.E. It is determined whether the torque value obtained in 501 is 0.2 N · m or less and the electric motor 15 is driven at a duty of 5%. When this condition is not satisfied (in the case of NO), the assist control unit 22 performs the process in step S.D. If the condition is satisfied (in the case of YES), the process proceeds to step S.513. 514.

  The assist control unit 22 performs step S.1. In step S513, the count value of the internal counter (Count) is set to zero. In 515, proportional control is executed to drive the electric motor 15 to execute operation assist processing. Return to 501.

  That is, when an operating force is applied to the select lever 2 in the L-side wall direction and the torque value detected by the torque sensor 21 is 0.2 N · m or more, or operation assist is performed and If the motor 15 does not have a duty of 5%, step S.E. After executing the operation assist processing of 515, step S.E. 501, S.M. 502, S.M. 508, S.M. 509, S.M. 510, S.E. 512, S.M. 513, S.M. The operation assist process is executed by repeating the process 515.

  However, when the electric motor 15 is driven in the direction in which the operation force is applied by the operation assist, the torque sensor 21 approaches a balanced state in which the twist is not generated by the driving of the electric motor 15. The detected torque value gradually approaches zero. However, even if the torque value decreases to 0.2 N · m or less, step S.E. In 512, the operation assist is continuously executed until the electric motor 15 is driven at the duty of 5%, and the operation assist toward the wall side of the L position is repeatedly executed.

  When the torque value becomes 0.2 N · m or less and the electric motor 15 is further driven with a duty of 5%, the process proceeds to step S.S. 512 to step S.E. 514.

  The assist control unit 22 performs step S.1. In step S514, “1” is substituted for the value of the internal counter. In step 516, it is determined whether or not the count value of the internal counter has become larger than “20”. If the process proceeds to 515 and is larger (in the case of YES), step S.E. 517.

  That is, when the operating force is applied by pressing the select lever 2 toward the wall side, step S.E. 500, S.M. 501, S.M. 502, S.M. 504, S.M. Step 506 is performed, and thereafter, until the torque value of the torque sensor_ is 0.2 N · m or less and the electric motor is driven with a duty of 5%, step S. 501, S.M. 502, S.M. 508, S.M. 509, S.M. 510, S.E. 512, S.M. 513, S.M. The process of 515 is repeated. That is, the operation assist is performed until the torque value of the torque sensor 21 is 0.2 N · m or less and the electric motor 15 is driven with a duty of 5%.

  When the select lever 2 hits the wall of the L position, the rotation of the select lever is restricted, and the torque value detected by the torque sensor 21 decreases as the electric motor 15 is driven, and the torque value becomes 0.2 N · m or less. When the motor 15 is driven at a duty of 5%, the assist control unit 22 performs the process in step S.D. 514, step S.E. In step 516, until the count value of the internal counter exceeds “20”, step S. 501, S.M. 502, S.M. 508, S.M. 509, S.M. 512, S.M. 514, S.M. 516, S.M. The operation assist process is continued by repeating the process 515.

  Step S. In 516, when the count value of the internal counter exceeds 20, the assist control unit 22 performs the process in step S.D. 517, the variable State is set to Stop, the operation of the motor drive control unit 45 is stopped, the variable Delay is set to zero, and the count value of the internal counter is set to zero. The process of 501 is repeatedly executed.

  The drive of the electric motor 15 is stopped by stopping the operation of the motor drive control unit 45, but the torque value of the torque sensor 21 becomes 0.2 N · m or less and the duty of the electric motor 15 becomes 5%. A certain time has elapsed until the operation is stopped. Specifically, the time until the count value of the internal counter reaches “20” (steps S.501, S.502, S.508, S.509, S.509, S.509). 510, S.512, S.514, S.516, and S.515, for example, if the processing time is 10 milliseconds, a total of 200 milliseconds has elapsed, and the driving force of the electric motor 15 has become very small. "When the electric motor 15 is stopped, the twist balance generated in the torque sensor 21 is lost and torque in the opposite direction is generated, and operation assistance is performed in the L-P direction." Inconvenience can be avoided.

  If the select lever 2 is moved in the L-P direction, step S.E. 500, S.M. 501, S.M. 503, S.M. 504, S.M. 505, S.M. The process proceeds to step S507. In step 507, LP_Assist is set in the variable State. 501, S.M. 502, S.M. The processing proceeds to step S503, and step S. In step S503, since the variable State is LP_Assist, the process proceeds to step S.S. 518 and step S.5. In 518, proportional control is executed until the select lever 2 reaches the stop position to drive the motor drive control unit 45 to perform operation assistance. The process proceeds to 520, the variable State is set to Stop, the transition state is shifted to Stop, the operation of the motor drive control unit 45 is stopped, the variable Delay is set to zero, and the process proceeds to step S.S. Return to 501.

  As described above, by using the select assist mechanism according to the present embodiment, even when an operating force is applied to the select lever 2 in the direction of the wall of the L range, the torque value and the electric motor Since the operation assist is stopped after the driving force is almost in the vicinity of the cell, it is possible to prevent the operation assist in the L-P direction from being executed due to a torque value increase toward the opposite side of the side wall.

It is the schematic which showed the structure of the automatic transmission. It is the perspective view which showed the detailed structure of the assist actuator. It is the block diagram which showed the assist control unit. It is the perspective view which showed the detent structure of the automatic transmission unit. It is the flowchart which showed the assist process of the select lever in the assist control unit. It is the figure which showed the time-dependent change of the torque value detected by a torque sensor, when a select lever is operated to a P-> R position. It is the flowchart which showed the process which changes a threshold value temporarily, when the torque resulting from an inertia generate | occur | produces. It is the figure which showed the arithmetic circuit which changes a threshold value temporarily, when the torque resulting from an inertia generate | occur | produces. It is the figure which showed the transition of the state in the flowchart shown in FIG. It is the figure which showed the time-dependent change of a threshold value. It is the figure which showed the time-dependent change of the value which performed the filter process to the torque value detected by a torque sensor, when a select lever is operated to a P-> R position. It is the flowchart which showed the process which performs a filter process to the torque value detected by a torque sensor, when the torque resulting from an inertia generate | occur | produces. It is the block diagram which showed the assist control unit in Example 2. FIG. 10 is a flowchart showing an operation assist process of the assist control unit in the second embodiment. FIG. 10 is a state transition diagram of the assist control unit in the second embodiment. 6 is a graph showing a change with time of a torque value in Example 2. 12 is a flowchart illustrating an operation assist process of the assist control unit according to the third embodiment. FIG. 10 is a state transition diagram of the assist control unit in the third embodiment. FIG. 6 is a graph showing a change with time in torque value in Example 3, where (a) shows a case where the torque value exceeds a first threshold value, and (b) shows a case where the torque value exceeds a second threshold value. Is shown. In Example 3, it is the graph which showed the time-dependent change of the torque value in the state which has not set the 2nd threshold value to K times. In Example 3, it is the graph which showed the time-dependent change of the torque value in the state which set the 2nd threshold value to the K times value. 10 is a flowchart illustrating an operation assist process of an assist control unit according to a fourth embodiment. FIG. 10 is a state transition diagram of the assist control unit in the fourth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Select unit 9 Assist actuator 19 Automatic transmission unit 21 Torque sensor (input operation force detection means)
22.22a Assist control unit (assist force control means)
25 Potentiometer (Operating position detection means)
100 automatic transmission

Claims (9)

An input operation force detecting means for detecting an operation force generated by the operation of the select lever;
An assist actuator for adding an assist force to assist the operation of the select lever with respect to the select lever;
An automatic transmission apparatus comprising: an assist force control unit that controls the assist actuator when the value of the operation force detected by the input operation force detection unit is equal to or greater than a predetermined value, and starts an operation assist for the select lever. A select assist mechanism,
The assist force control means temporarily sets the specified value to a high value after stopping the operation assist when the operating force is less than a specified value or when the select lever reaches a predetermined position. Selective assist mechanism for automatic transmission.   2. The assist force control means, wherein the specified value temporarily set to a high value is gradually decreased according to the elapsed time, and returned to the original specified value after a predetermined time has elapsed. Select assist mechanism of the automatic transmission described in 1. An input operation force detecting means for detecting an operation force generated by the operation of the select lever;
An assist actuator for adding an assist force to assist the operation of the select lever with respect to the select lever;
An automatic transmission apparatus comprising: an assist force control unit that controls the assist actuator when the value of the operation force detected by the input operation force detection unit is equal to or greater than a predetermined value, and starts an operation assist for the select lever. A select assist mechanism,
The assist force control means is a low-pass filter for temporarily detecting the operation force after stopping the operation assist when the operation force is less than a predetermined value or when the select lever reaches a predetermined position. A select assist mechanism for an automatic transmission, wherein the assist actuator is controlled based on the operation force that has been subjected to the filter process.   The assist force control means is configured to gradually filter the value of the operation force subjected to the filter process by changing a time constant of the operation force subjected to the filter process according to an elapsed time. 4. The select assist mechanism for an automatic transmission according to claim 3, wherein the filter processing is ended after a predetermined time has passed, and the value is close to a value of an operating force not present. An operation position detecting means for detecting an operation position of the select lever;
The assist force control means stops the operation assist by the assist actuator when the operation position detection means detects that the operation position of the select lever has been moved from one position to another adjacent position. The select assist mechanism for an automatic transmission according to any one of claims 1 to 4, wherein: An input operation force detecting means for detecting an operation force generated by the operation of the select lever;
An assist actuator for adding an assist force to assist the operation of the select lever with respect to the select lever;
When the value of the operation force detected by the input operation force detection means becomes a value equal to or greater than a first specified value, it is determined that the operation position of the select lever has been moved to an adjacent position, and the assist When the operation of the select lever in the direction of the one position is controlled by controlling the actuator, and the value of the operation force detected by the input operation force detection means becomes a value equal to or less than a second specified value. , Determining that the operation position of the select lever has been moved to another position located on the opposite side of the one position, and controlling the assist actuator to start assisting the operation of the select lever in the other position direction. Assist force control means for
A selection assist mechanism for an automatic transmission characterized by comprising:   The assist force control means temporarily sets the first specified value to a high value and sets the second specified value to a low value after stopping the operation assist by controlling the assist actuator. The select assist mechanism for an automatic transmission according to claim 6.   The assist force control means gradually decreases the first specified value set to a high value, returns it to the original first specified value after a predetermined time, and temporarily sets it to a low value. 8. The select assist mechanism for an automatic transmission according to claim 7, wherein the second specified value is gradually increased and returned to the original second specified value after a predetermined time has elapsed. An input operation force detecting means for detecting an operation force generated by the operation of the select lever;
An assist actuator for adding an assist force to assist the operation of the select lever with respect to the select lever;
When the value of the operation force detected by the input operation force detection means is a specified value or more, the assist actuator is controlled, and an assist force control means for starting an operation assist for the select lever, and an operation position of the select lever A selection assist mechanism of an automatic transmission device comprising an operation position detection means for detecting,
The assist force control means is a case where the operation lever detecting means determines that the select lever is in the L position, and the operation force is applied to the wall side of the select lever by the input operation force detecting means. If it is determined, the assist actuator is controlled to start operation assist in the wall side direction of the select lever, the torque value applied to the select lever by the operation force is reduced by the operation assist, A select assist mechanism for a dynamic transmission device, wherein the operation assist is terminated when a torque value and the assist force are close to zero.

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