JP2811510B2 - Drive braking control device for vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates to a driving brake control apparatus for a vehicle for controlling both the driving force and braking force of the vehicle.

[0002]

2. Description of the Related Art As shown in FIG. 2, a conventional vehicle is provided with a driving force control device and a braking force control device independently of each other. That is, the driving force control device 11 and the braking force control device 21 include first and second central processing units 12 and 22, respectively, and each of the central processing units 12 and 22 detects a wheel speed of a driving wheel. While detection signals are input from the driving wheel speed sensor 3 and the driven wheel speed sensor 4 for detecting the wheel speed of the driven wheel, control signals are respectively supplied to a driving means 5 such as a throttle valve and a fuel injection device and a braking means 6 such as a hydraulic circuit. Is output. Different target wheel speeds are set for each of the central processing units 12 and 22 during acceleration and deceleration. The first central processing unit 12 and 22 converge on the target wheel speed based on detection signals from the sensors 3 and 4. 12 outputs a driving force control signal to the driving means 5 by PID control, while the second central processing unit 22 outputs the braking means 6 by ON-OFF control.
To output a braking force control signal.

[0003]

Conventionally, the driving force control device 11 and the braking force control device 21 are provided with central processing units 12 and 22, respectively. Or, the braking force is controlled. However, the data from the drive wheel speed sensor 3 and the data from the driven wheel speed sensor 4 input to the central processing units 12 and 22 are the same. Also, JP-A-2-279
No. 452, "Vehicle Slip Prevention Method"
Detects that the engine has been activated, and outputs the engine output while the brake is operating.
Method of stopping control and starting brake control
Is disclosed. This method uses engine power control and
Eliminate overlap in rake control and reduce
Gram is simplified, but the engine output
Control and brake control, the actual slip
Calculation contents applied to the slip ratio error signal, that is, the control algorithm
The rhythm is completely different between acceleration and deceleration.
By applying different control algorithms,
Complex control algorithms are required and control algorithms
Issues such as the burden on the computer
Was something. Also, Japanese Unexamined Patent Publication No. Hei.
The two-wheel drive adjustment device includes an accelerator pedal and a deceleration pedal.
Are operated by a common electronic control unit.
An arrangement is disclosed. However, this device also accelerates
Control according to a common control algorithm during deceleration and deceleration
Control algorithm, and a complicated control algorithm
Mechanism is required, and the control algorithm
There was a problem that the burden could not be ignored. Ma
Also, Japanese Patent Application Laid-Open No. 62-32231, "Acceleration Slip System for Vehicles"
The control device includes an acceleration slip of the drive wheels that occurs when the vehicle is accelerating.
There is disclosed an apparatus that suppresses a pump. However
However, this device simply adds acceleration slip to the drive wheels.
Drive wheel speed sensor and follower to detect the occurrence
It is only equipped with a wheel speed sensor
That the rotation speed of the drive wheels begins to decrease with the occurrence of
Detected by the torque detection means to reduce the amount of rotation speed suppression and accelerate
With a configuration that does not impair performance , acceleration and deceleration
It is not possible to use the exact same control algorithm
Problems such as inevitable complication of the equipment configuration
Was something.

The present invention has been made in view of the above situation, and focuses on the fact that the inputs are the same. By switching the target wheel speeds during acceleration and braking, the acceleration force can be controlled by one central processing unit. It is an object of the present invention to provide a drive braking control device for a vehicle that can control both the braking force and the braking force.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a driving wheel speed detecting means for detecting a driving wheel speed, a driven wheel speed detecting means for detecting a driven wheel speed, and an acceleration detecting method. Acceleration detection means, deceleration detection means for detecting deceleration , and target wheel speeds of different values for acceleration and deceleration
Is set, and the acceleration detection means or the deceleration detection means detects
Switch and select the corresponding target wheel speed in response to a signal
The driving wheel speed detecting means and the driven wheel speed detecting means
The wheel speed calculated based on both detection signals and
The error signal from the selected target wheel speed
Performs calculations in accordance with a common control algorithm with high speed,
Driving force control signal or braking force for converging the error signal to zero
Drive braking control means for outputting the control signal as a control signal .

[0006]

According to the structure of the present invention, the acceleration and deceleration can be used.
Driving braking control means with different target wheel speeds set
Responds to the detection signal of the acceleration detection means or the deceleration detection means.
Switch the corresponding target wheel speed to select the drive wheel speed.
Based on both detection signals of the detection means and the driven wheel speed detection means
And the target wheel speed selected by switching
Control signal common to acceleration and deceleration
Performs an operation according to the algorithm and converges the error signal to zero.
Output as a driving force control signal or a braking force control signal.
You .

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.
explain. FIG. 1 shows one embodiment of a drive braking device for a vehicle according to the present invention.
FIG. 2 is a block diagram showing an embodiment, and FIG.
6 is a flowchart for explaining a control operation of U.

The driving force braking control device 1 has one central processing unit 2, which detects data from a driving wheel speed sensor 8 for detecting wheel speeds of driving wheels and wheel speeds of driven wheels. The data from the driven wheel speed sensor 4 is input, and based on the data, a driving force control signal is output to the driving means 5 such as a throttle valve and a fuel injection device by PID control so as to converge to the target wheel speed. A braking force control signal is output to a braking means 6 such as a device. The target wheel speed is set to a value that is different from at the time of acceleration and deceleration, the target wheel speed is switched in response to an input signal from the input signal or the brake pedal 8 from an accelerator pedal 7.

Next, the operation of the present invention having the above configuration will be described with reference to the flowchart shown in FIG.

With the detection data being input from the driving wheel speed sensor 3 and the driven wheel distance sensor 4 to the central processing unit 2, first, it is determined whether or not there is an input from the accelerator pedal 7 or the brake pedal 8 ( (STEP 101). When there is an input from the accelerator pedal 7 or the brake pedal 8, it is determined which signal the signal is (STE).
P102), the target value (vr (t)) is switched to the target wheel speed for driving force control or the target wheel speed for braking force control according to the signal difference (STEPs 103 and 104).
Then, the switched target wheel speed (vr)
Calculation is performed by PID control based on the detection data from the driving wheel speed sensor 3 and the driven wheel speed sensor 4 so as to converge to (t)) (STEP 105). And again,
It is determined whether the input signal is an input from the accelerator pedal 7 or an input from the brake pedal 8 (STEP 106).
The calculation result is output to the driving means 5 as a driving force control signal or to the braking means 6 as a braking force control signal according to the difference between the input signals (STEPs 107 and 108). Thereafter, the above operation is repeated.

FIG. 1 is a control block diagram of the present invention.
In the ID control, the central processing unit 2 has the transfer function of the inverse characteristic of the control target (vehicle) 1 so that the output (vw (t)) of the control target (vehicle) 1 matches the target value (vr (t)). It is in. That is, based on the difference (e (t)) between the target wheel speed (vr (t)) and the wheel speed (vw (t)), the operation amount (u ( t)) is determined by the control algorithm shown in the following equation.

U (t) = K [e (t) + 1 / TI · ＄ e (t) dt + TD · de (t) / dt ] e (t) = vr (t) −vw (t) where ＄ is Integral symbol.

In the above embodiment, the driving force and the braking force are used.
Is calculated by proportional operation (P), integral operation (I) and differential operation (D)
Using a common PID calculation algorithm that combines
However, instead of the PID calculation algorithm,
For example, O based on the result of the threshold value determination of the error signal e (t)
An N-OFF control algorithm may be used.
Force and braking force can be controlled according to the same control algorithm
Anything should do .

[0014]

As described above , according to the present invention,
Different target wheel speeds are set for acceleration and deceleration.
The driving / braking control means is used for detecting acceleration or deceleration.
Switch the corresponding target wheel speed in response to the gear detection signal
Drive wheel speed detecting means and driven wheel speed detecting means
Wheel speed and switching based on both detection signals
The error signal from the selected target wheel speed indicates acceleration and deceleration.
Performs an operation according to a common control algorithm at the time and
Driving force control signal or braking force control to converge the error signal to zero
Control signal is output, so acceleration and deceleration
And the control algorithm itself is not changed.
Give the error signal computed by the control algorithm
You only need to switch and select the target wheel speed.
Single central processing with single control algorithm
Position controls both driving force and braking force accurately and reliably
And therefore a dedicated center for driving force control and braking force control
Significant cost compared to conventional equipment that had a processing unit
Excellent effects such as reduction can be achieved.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a drive braking device for a vehicle according to the present invention .
It is a block block diagram.

FIG. 2 is for explaining a control operation of a CPU shown in FIG . 1;
It is a flowchart of FIG.

FIG. 3 is a block diagram showing an example of a conventional vehicle drive braking device.
FIG.

[Description of References in the Drawings]

 REFERENCE SIGNS LIST 1 drive braking control device 2 central processing unit 3 drive wheel speed sensor 4 driven wheel speed sensor 5 drive means 6 braking means 7 accelerator pedal 8 brake pedal

Claims (1)

(57) [Claims] 1. A driving wheel speed detecting unit for detecting a driving wheel speed, a driven wheel speed detecting unit for detecting a driven wheel speed, an acceleration detecting unit for detecting acceleration, a deceleration detecting unit for detecting deceleration, and an acceleration. Different target wheel speeds for time and deceleration
Is set, and the acceleration detection means or the deceleration detection means detects
Switch and select the corresponding target wheel speed in response to a signal
The driving wheel speed detecting means and the driven wheel speed detecting means
The wheel speed calculated based on both detection signals and
The error signal from the selected target wheel speed
Performs calculations in accordance with a common control algorithm with high speed,
Driving force control signal or braking force for converging the error signal to zero
A drive braking control device for a vehicle, comprising: a driving brake control unit that outputs a control signal .