JP4182912B2 - Vehicle deceleration control device - Google Patents

Description

  The present invention relates to a deceleration control device for a vehicle, and more particularly to deceleration of a vehicle by an operation of a braking device that generates a braking force on the vehicle and an operation of shifting an automatic transmission to a relatively low speed gear ratio or gear ratio. The present invention relates to a vehicle deceleration control device that performs control.

  As a technique for cooperatively controlling an automatic transmission and a brake, there is known a technique for operating a brake when the automatic transmission is manually shifted in a direction in which an engine brake is applied. As such an automatic transmission and brake cooperative control device, there is a technique disclosed in Japanese Patent No. 2503426 (Patent Document 1).

  In the above-mentioned Patent Document 1, in the case of a manual shift for operating an engine brake in an automatic transmission (A / T), an idle running in a neutral state from the start of the shift until the actual engine brake is activated is described as a brake of the vehicle. Techniques for preventing and activating are disclosed.

  Moreover, it is described in the said patent document 1 as follows. The engine negative torque peak value at the time of shifting determined from the type of shifting and the vehicle speed, etc., from the manual downshift gear shifting command time to the predetermined time or until the engine brake begins to work (the negative torque of the A / T output shaft increases) In response to this, the brake of the vehicle is operated. Since the brake of the vehicle is operated with a braking force corresponding to the negative A / T output shaft torque at the time of manual shift during the manual shift, the braking force is applied to the vehicle according to the magnitude of the engine brake during the manual shift. . A stable braking force is applied to the vehicle from the time when the manual shift is performed to the time when the gear shift is completed, and a highly responsive and stable braking force is obtained during the manual shift. During the neutral state of the automatic transmission, the brake of the vehicle is operated and the engine brake is not suddenly applied, so that the fluctuation of the braking force is reduced.

Japanese Patent No. 2503426

  In the above-mentioned Patent Document 1, a technique for operating a brake at the time of a manual downshift is disclosed, but examination of the control content of the brake is insufficient. The technique disclosed in Patent Document 1 has room for improvement in response until braking force is generated by the brake.

  The objective of this invention is providing the deceleration control apparatus of the vehicle which can improve the responsiveness until the braking force by a brake generate | occur | produces.

The vehicle deceleration control device according to the present invention performs deceleration control by the operation of a braking device that generates a braking force on the vehicle, and a gear shifting operation that shifts the transmission of the vehicle to a relatively low speed gear ratio or gear ratio. A vehicle deceleration control device that performs shift prediction means for predicting that the shift operation is performed, and idle running from when the braking device is started until the braking device actually generates braking force Based on the prediction result of the idle running reduction means for reducing the state and the shift prediction means, it is determined whether or not to operate the idle running reduction means in advance before the operation of the braking device is started. It is a feature.
In the vehicle deceleration control device according to the present invention, the idling reduction means is operated in advance before the operation of the braking device is started when the shift operation is predicted to be performed. .

  According to the present invention, it is possible to reduce the idling state until the braking device actually generates the braking force while suppressing the deterioration of the fuel consumption caused by operating the idling reduction means. In the present invention, in the deceleration control, the operation of the braking device (brake control) and the speed change operation (speed change control) can be performed simultaneously or concurrently.

The vehicle deceleration control device according to the present invention performs deceleration control by the operation of a braking device that generates a braking force on the vehicle, and a gear shifting operation that shifts the transmission of the vehicle to a relatively low speed gear ratio or gear ratio. A vehicle deceleration control device for performing driving orientation detection / estimation means for detecting or estimating whether or not the driver is oriented to a relatively high response of a braking operation by the braking device; and the braking a free running reduction means for reducing the idle running state from the operation of the apparatus is started up the braking device actually generate braking force on the basis of the detection or estimation result obtained by the driver's intention detecting and estimating means, wherein It is characterized in that it is determined in advance whether or not to operate the idling reduction means before the operation of the braking device is started .
Further, in the vehicle deceleration control device of the present invention, the operation of the braking device is started when it is detected or estimated that the driver is oriented to a relatively high response of the braking operation by the braking device. The idle running reduction means is actuated in advance before being operated.

  According to the present invention, it is possible to reduce the idling state until the braking device actually generates the braking force while suppressing the deterioration of the fuel consumption caused by operating the idling reduction means. For example, when it is determined that the driver's orientation is sports driving orientation, it is not particularly predicted that the gear shifting operation will be performed as a relatively high possibility, and the gear shifting operation (manual shift, The driver is directed to the high responsiveness of the braking operation by the braking device when any of the shift point control is performed).

  In the vehicle deceleration control device according to the present invention, the braking device generates a braking force by hydraulic pressure, and the operation of the idling reduction means is to increase the hydraulic pressure to be supplied to the braking device. It is a feature.

  As the operation of the idling reduction means, the source pressure is raised in advance by driving a pump motor for the hydraulic pressure source of the brake. Thereby, when the braking force should be generated, the rising of the hydraulic pressure can be made steep, the response of the braking operation can be improved, and the running performance can be improved. Further, as the operation of the idling reduction means, the pump motor can be driven in advance and a pressure can be applied to the brake piston. The application of pressure to the brake piston includes filling the piston chamber with brake oil and pre-stroke the brake piston against the biasing force of the return spring.

  In the vehicle deceleration control device according to the present invention, the braking device generates a braking force by a motor without using hydraulic pressure, and the operation of the idling reduction means is to drive the motor. .

  As an operation of the idling reduction means, a motor is driven in advance. As a result, when the braking force should be generated, the rising of the driving torque by the motor can be made steep, and the response of the braking operation can be improved. Further, as the operation of the idling reduction means, by supplying a predetermined driving current to the motor in advance, the break lining approaches the member integrally provided on the wheel against the urging force of the return spring. A predetermined amount is pushed in the direction. Thereby, when the braking force should be generated, the responsiveness of the braking operation can be further enhanced.

  In the vehicle deceleration control apparatus according to the present invention, the prediction that the speed change operation is performed is performed based on at least one of a curvature of a curve in front of the vehicle and a road surface gradient.

  In the vehicle deceleration control apparatus according to the present invention, the prediction that the shift operation is performed is performed based on a distance between the vehicle and an obstacle including a preceding vehicle ahead of the vehicle.

  It is predicted that the speed change operation is performed when the vehicle is in a state where the vehicle should follow the vehicle while maintaining a predetermined state with respect to the vehicle ahead of the vehicle.

  In the vehicle deceleration control apparatus according to the present invention, the prediction that the shift operation is performed is performed based on whether or not the shift switch is active.

  When a shift switch provided in the vicinity of the steering is active, it is predicted that a shift operation will be performed.

  In the vehicle deceleration control apparatus according to the present invention, the detection or estimation of whether or not the driver is oriented to a relatively high response of the braking operation by the braking device is based on the driving orientation of the driver. It is characterized by being performed.

  When the driver's driving preference is detected or estimated that the vehicle behavior is sensitive to vehicle operation, the driver is directed to the relatively high response of the braking operation by the braking device. It is detected or estimated.

  In the vehicle deceleration control apparatus according to the present invention, the detection or estimation of whether or not the driver is oriented to a relatively high responsiveness of the braking operation by the braking device is based on whether or not the shift switch is active. It is characterized by being performed based on

  When the shift switch is active, it is detected or estimated that the driver is oriented to a relatively high response of the braking operation by the braking device.

  According to the vehicle deceleration control device of the present invention, the response of the braking device is improved.

  Hereinafter, an embodiment of a vehicle deceleration control device of the present invention will be described in detail with reference to the drawings.

(First embodiment)
The first embodiment will be described with reference to FIGS. 1 to 8. The present embodiment relates to a vehicle deceleration control device that performs cooperative control of a braking device and an automatic transmission.

  In a commonly used brake system, for example, when operating as an automatic brake during inter-vehicle distance control, the hydraulic power source motor starts rotating only after the control conditions are met, so the rise of hydraulic pressure is delayed, There is a possibility that desired responsiveness may not be obtained in a situation where distance control is to be performed. On the other hand, when the motor is driven at all times, a problem occurs in the durability of the motor or the fuel consumption is deteriorated. In addition, it can be said that the brake system and the electronically controlled brake system (ECB) are commonly used. However, since the brake piston stroke requires a predetermined time (delay), the response of the brake is improved. Should be. An object of the present embodiment is to provide a vehicle deceleration control device that can improve the response until a braking force is generated by a brake.

  In the present embodiment, a cooperative control device between a braking device (brake device) and an automatic transmission (which may be stepped or continuously variable) when performing manual downshifting or downshifting by shift point control, When a need for shifting is anticipated, a means for reducing the idling state until the brake device actually generates braking force is provided. When the brake device brakes the wheel by hydraulic pressure, the idle running state until the brake device actually generates braking force is reduced by supplying hydraulic pressure in advance.

  In the above, the manual downshift means a downshift that is manually performed when the driver desires an increase in engine braking force. In addition, the shift point control is based on information such as traveling road information related to a road on which a vehicle including a corner R in front of the vehicle and a road surface gradient travels, and road traffic information related to traffic on a road including a distance between vehicles. Shifting.

  In FIG. 2, reference numeral 10 denotes an automatic transmission, 40 denotes an engine, and 200 denotes a brake device. The automatic transmission 10 is capable of five-speed shifting by controlling the hydraulic pressure by energization / non-energization of the solenoid valves 121a, 121b, and 121c. In FIG. 2, three electromagnetic valves 121a, 121b, and 121c are illustrated, but the number of electromagnetic valves is not limited to three. The solenoid valves 121a, 121b, and 121c are driven by a signal from the control circuit 130.

  The throttle opening sensor 114 detects the opening of the throttle valve 43 disposed in the intake passage 41 of the engine 40. The engine speed sensor 116 detects the speed of the engine 40. The vehicle speed sensor 122 detects the rotation speed of the output shaft 120c of the automatic transmission 10 that is proportional to the vehicle speed. The shift position sensor 123 detects the shift position. The pattern select switch 117 is used when instructing a shift pattern. The input shaft rotation speed sensor 124 detects the rotation speed of the input shaft (not shown) of the automatic transmission 10.

  The acceleration sensor 90 detects vehicle deceleration (deceleration acceleration). The manual shift determination unit 95 outputs a signal indicating the necessity of downshift (manual downshift) or upshift by the driver's manual operation based on the driver's manual operation. The relative vehicle speed detection / estimation unit 97 detects or estimates the relative vehicle speed between the host vehicle and the preceding vehicle. The inter-vehicle distance measuring unit 101 includes a sensor such as a laser radar sensor or a millimeter wave radar sensor mounted on the front of the vehicle, and measures the inter-vehicle distance from the preceding vehicle.

  The shift switch active switch 102 is a switch for setting a shift switch (paddle switch, steering shift switch, etc.) provided on the steering post or the steering or a sequential shift to be usable (active). The shift switch active switch 102 is turned on, for example, when the shift lever is laid sideways at the D position, and the shift switch is activated to enable shifting. Further, in the case of the sequential type, similarly, when the shift lever is laid down, the lever can move back and forth, and a shift can be made.

  The corner measurement / estimation unit 119 determines whether there is a corner in front of the vehicle based on road shape information obtained from a car navigation system mounted on the vehicle, a captured image of a camera mounted in front of the vehicle, and the like. Measure or estimate size.

  The road gradient measurement / estimation unit 118 can be provided as a part of the CPU 131. The road gradient measurement / estimation unit 118 can measure or estimate the road gradient based on the acceleration detected by the acceleration sensor 90. Further, the road gradient measuring / estimating unit 118 may store the acceleration on the flat road in the ROM 133 in advance and obtain the road gradient by comparing with the acceleration actually detected by the acceleration sensor 90.

  The driving orientation estimation unit 115 can be provided as a part of the CPU 131. The driving direction estimation unit 115 estimates the driving direction (sport driving direction or normal driving direction) of the driver based on the driving state of the driver and the driving state of the vehicle. Details of the driving orientation estimation unit 115 will be described later. Here, the term “sports driving orientation” refers to a direction that emphasizes power performance, an acceleration direction, or a preference for sports driving in which the response of the vehicle to the driver's operation is quick.

  The control circuit 130 inputs signals indicating the detection results of the throttle opening sensor 114, the engine speed sensor 116, the vehicle speed sensor 122, the shift position sensor 123, and the acceleration sensor 90, and the pattern select switch 117 and the shift switch active. A signal indicating the switching state of each switch 102 is input, a signal indicating the measurement result by the inter-vehicle distance measuring unit 101 is input, and a signal indicating the necessity of shifting from the manual shift determining unit 95 is input. A signal indicating the result of detection or estimation by each of the relative vehicle speed detection / estimation unit 97 and the corner measurement / estimation unit 119 is input, and the driver's driving direction estimated by the driving direction estimation unit 115 (driving direction estimation described later) Value).

  The control circuit 130 is configured by a known microcomputer and includes a CPU 131, a RAM 132, a ROM 133, an input port 134, an output port 135, and a common bus 136. The input port 134 includes signals from the sensors 114, 116, 122, 123, and 90, signals from the switches 102 and 117, an inter-vehicle distance measurement unit 101, a relative vehicle speed detection / estimation unit 97, and driving direction estimation. Signals from unit 115, corner measurement / estimation unit 119, and manual shift determination unit 95 are input. The output port 135 is connected to the electromagnetic valve driving units 138a, 138b, 138c and the brake braking force signal line L1 to the brake control circuit 230. A brake braking force signal SG1 is transmitted through the brake braking force signal line L1.

  The ROM 133 stores in advance the operations (control steps) shown in the flowcharts of FIGS. 1 and 6, and also includes a shift map and a shift control operation (not shown) for shifting the gear stage of the automatic transmission 10. Is stored. The control circuit 130 shifts the automatic transmission 10 based on various input control conditions.

  The brake device 200 is controlled by a brake control circuit 230 that receives a brake braking force signal SG1 from the control circuit 130, and brakes the vehicle. The brake device 200 includes a hydraulic control circuit 220 and wheel cylinders 208, 209, 210, and 211 provided on the wheels 204, 205, 206, and 207 of the vehicle, respectively. Each wheel cylinder 208, 209, 210, 211 controls the braking force of the corresponding wheel 204, 205, 206, 207 when the hydraulic pressure is controlled by the hydraulic control circuit 220. The hydraulic control circuit 220 is controlled by the brake control circuit 230. The brake switch 225 detects an operation of a brake pedal (not shown).

  The hydraulic control circuit 220 includes a master cylinder 221, a pump motor 222, an accumulator 223, and a reservoir tank 224. The hydraulic pressure required for braking is generated by a master cylinder / brake booster (hereinafter simply referred to as a master cylinder) 221 and a pump motor 222 and an accumulator 223 which are hydraulic sources. The hydraulic pressure generated by the master cylinder 221 or the hydraulic pressure accumulated in the accumulator 223 is generated by using the brake oil as a medium and the wheel cylinders 208, 209, 209 of the wheels 204, 205, 206, 207 via the brake piping (not shown). 210 and 211. Brake oil filled in the brake pipe is stored in the reservoir tank 224. A plurality of control valves (not shown) are arranged on the brake pipe, and the hydraulic pressure transmission to the wheel cylinders 208, 209, 210, and 211 is also controlled while switching the hydraulic pressure transmission path. Yes. The pump motor 222 is driven by the power of a battery (not shown) based on the brake control signal SG2 from the brake control circuit 230, and sends the brake oil stored in the reservoir tank 224 to the accumulator 223. The accumulator 223 stores the brake oil delivered by the pump motor 222 under high pressure therein.

  The hydraulic control circuit 220 performs brake control by controlling the braking hydraulic pressure supplied to each braking device 208, 209, 210, 211 based on the brake control signal SG2. The brake control signal SG2 is generated by the brake control circuit 230 based on the brake braking force signal SG1. The brake braking force signal SG1 is output from the control circuit 130 of the automatic transmission 10 and input to the brake control circuit 230. The brake force applied to the vehicle during the brake control is determined by a brake control signal SG2 generated by the brake control circuit 230 based on various data included in the brake braking force signal SG1.

  The brake control circuit 230 is configured by a known microcomputer and includes a CPU 231, a RAM 232, a ROM 233, an input port 234, an output port 235, and a common bus 236. A hydraulic control circuit 220 is connected to the output port 235. The ROM 233 stores an operation for generating the brake control signal SG2 based on various data included in the brake braking force signal SG1. The brake control circuit 230 controls the brake device 200 (brake control) based on each input control condition.

Next, details of the driving orientation estimation unit 115 will be described.
The driving orientation estimation unit 115 includes a neural network NN in which the driving operation related variable is input and an estimation calculation is started every time one of a plurality of types of driving operation related variables is calculated, and based on the output of the neural network NN. To estimate the driving direction of the vehicle.

For example, as shown in FIG. 8, the driving direction estimation unit 115 includes a signal reading unit 96, a preprocessing unit 98, and a driving direction estimation unit 100. The signal reading means 96 reads detection signals from the sensors 114, 122, 116, 124, 225, 123 and the like at a relatively short predetermined cycle. The pre-processing means 98 uses a plurality of types of driving operation-related variables closely related to the driving operation reflecting the driving direction from the signals sequentially read by the signal reading means 96, that is, the output operation amount (accelerator pedal operation) when starting the vehicle. Amount), that is, the throttle valve opening TA _ST when the vehicle _starts , the maximum change rate of the output operation amount during acceleration operation, that is, the maximum change rate A _CCMAX of the throttle valve opening, the maximum deceleration G _NMAX when braking the vehicle, A driving operation related variable calculating means for calculating the coasting traveling time T _COAST , the constant vehicle speed traveling time T _VCONST , the section maximum value of the signal input from each sensor within the predetermined section, the maximum vehicle speed V _max after the start of driving, etc. is there. The driving orientation estimation unit 100 includes a neural network NN that performs the driving orientation estimation calculation by permitting the driving operation related variable every time the driving operation related variable is calculated by the preprocessing unit 98, and outputs the neural network NN. A certain driving direction estimation value is output.

The preprocessing means 98 in FIG. 8, starting when the output control input calculation means 98a for calculating the throttle valve opening TA _ST when the output operation amount i.e. vehicle starting when the vehicle start, the maximum change in the output operation amount when the acceleration operation rate i.e. accelerating operation when the output operation amount maximum change rate calculating means 98b for calculating the maximum change rate a _CCmax of the throttle valve opening, braking maximum deceleration calculating means for calculating the maximum deceleration G _NMAX during braking operation of the vehicle 98c , input signals from the sensors in the coasting time calculation means 98d, constant vehicle speed running time calculating means 98e for calculating the constant vehicle speed running time T _VCONST, for example 3 seconds to a predetermined section within which calculates the coasting time T _COAST vehicle maximum value periodically calculates the input signal interval maximum value calculating means 98f of the maximum vehicle speed calculating means for calculating a maximum vehicle speed V _max of the operation after the start 98g Nadogaso Each is provided.

The maximum values of the input signals in the predetermined interval calculated by the input signal interval maximum value calculating means 98f include throttle valve opening TA _maxt , vehicle speed V _maxt , engine speed N _Emaxt , longitudinal acceleration NOGBW _maxt (deceleration Negative value) or deceleration G _NMAXt (absolute value) is used. The longitudinal acceleration NOGBW _maxt or the deceleration G _NMAXt is obtained from the rate of change of the vehicle speed V (N _OUT ), for example.

  The neural network NN provided in the driving orientation estimation means 100 of FIG. 8 can be configured by modeling a living nerve cell group by software based on a computer program or hardware consisting of a combination of electronic elements. For example, it is comprised so that it may be illustrated in the block of the driving | operation direction estimation means 100 of FIG.

In FIG. 8, the neural network NN includes an input layer composed of r number of nerve cell elements (neurons) X _i (X _{1 to} X _r ) and s number of nerve cell elements Y _j (Y _{1 to} Y _s ). Is a three-layered hierarchical type composed of an intermediate layer composed of _t and an output layer composed of _t neuron elements Z _k (Z _{1 to} Z _t ). In order to transmit the state of the nerve cell element from the input layer to the output layer, the r nerve cell elements X _i and s nerve cell elements Y having a coupling coefficient (weight) W _Xij are provided. a transfer element D _Xij coupling the _j respectively, the coupling coefficient (weight) W _Yjk the have the s neuronal elements Y _j and t pieces of transmission elements D _Yjk of neuronal elements Z _k and the coupling respectively Is provided.

The neural network NN is its coupling coefficient (weight) W _Xij, pattern associative system that is made to learn the coupling coefficient (weight) W _Yjk called backpropagation learning algorithm. Learning, so are allowed to advance completed by running experiments in matching driving manner and the value of the driving operation related variables, during vehicle assembly, the coupling coefficient (weight) W _Xij, the coupling coefficient (weight) W _Yjk Is given a fixed value.

  In the above learning, sports-oriented driving and normal driving (normal) -oriented driving are carried out for a plurality of drivers on various roads such as highways, suburban roads, mountain roads, and city roads, respectively. With the directivity as a teacher signal, n indicators (input signals) obtained by pre-processing the teacher signal and the sensor signal are input to the neural network NN. The teacher signal is converted into a value from 0 to 1 for driving orientation. For example, normal driving orientation is 0 and sports driving orientation is 1. The input signal is used after being normalized to a value between -1 and +1 or between 0 and 1.

  Next, the configuration of the automatic transmission 10 is shown in FIG. In FIG. 3, the output of the engine 40 as a driving source for traveling constituted by an internal combustion engine is input to the automatic transmission 10 through an input clutch 12 and a torque converter 14 as a fluid power transmission device. Is transmitted to the drive wheel via the differential gear unit and the axle. Between the input clutch 12 and the torque converter 14, a first motor generator MG1 that functions as an electric motor and a generator is disposed.

  The torque converter 14 is directly connected between the pump impeller 20 connected to the input clutch 12, the turbine impeller 24 connected to the input shaft 22 of the automatic transmission 10, and the pump impeller 20 and the turbine impeller 24. And a stator impeller 30 that is prevented from rotating in one direction by a one-way clutch 28.

  The automatic transmission 10 includes a first transmission unit 32 that switches between two stages of high and low, and a second transmission unit 34 that can switch between a reverse transmission stage and four forward stages. The first transmission unit 32 is supported by the sun gear S0, the ring gear R0, and the carrier K0 so as to be rotatable, and includes an HL planetary gear device 36 including a planetary gear P0 meshed with the sun gear S0 and the ring gear R0, and the sun gear S0 and the carrier. A clutch C0 and a one-way clutch F0 provided between K0 and a brake B0 provided between the sun gear S0 and the housing 38 are provided.

  The second transmission unit 34 is supported by the sun gear S1, the ring gear R1, and the carrier K1 so as to be rotatable, and the first planetary gear device 40 including the planetary gear P1 meshed with the sun gear S1 and the ring gear R1, and the sun gear S2, A second planetary gear unit 42 including a planetary gear P2 that is rotatably supported by the ring gear R2 and the carrier K2 and meshed with the sun gear S2 and the ring gear R2, and the sun gear S3, the ring gear R3, and the carrier K3 is rotatable. And a third planetary gear unit 44 comprising a planetary gear P3 supported and meshed with the sun gear S3 and the ring gear R3.

  The sun gear S1 and the sun gear S2 are integrally connected to each other, the ring gear R1, the carrier K2, and the carrier K3 are integrally connected, and the carrier K3 is connected to the output shaft 120c. Further, the ring gear R2 is integrally connected to the sun gear S3 and the intermediate shaft 48. A clutch C1 is provided between the ring gear R0 and the intermediate shaft 48, and a clutch C2 is provided between the sun gear S1, the sun gear S2, and the ring gear R0. A band-type brake B1 for stopping the rotation of the sun gear S1 and the sun gear S2 is provided in the housing 38. A one-way clutch F1 and a brake B2 are provided in series between the sun gear S1 and sun gear S2 and the housing 38. The one-way clutch F <b> 1 is engaged when the sun gear S <b> 1 and the sun gear S <b> 2 try to reversely rotate in the direction opposite to the input shaft 22.

  A brake B3 is provided between the carrier K1 and the housing 38, and a brake B4 and a one-way clutch F2 are provided in parallel between the ring gear R3 and the housing 38. The one-way clutch F2 is engaged when the ring gear R3 tries to rotate in the reverse direction.

  In the automatic transmission 10 configured as described above, for example, according to the operation table shown in FIG. 4, it is switched to one of the reverse gears and the five forward gears (1st to 5th) with different gear ratios. In FIG. 4, “◯” represents engagement, a blank represents release, “解放” represents engagement during engine braking, and “Δ” represents engagement not involved in power transmission. The clutches C0 to C2 and the brakes B0 to B4 are all hydraulic friction engagement devices that are engaged by a hydraulic actuator.

  Next, the operation of this embodiment will be described with reference to FIGS.

FIG. 1 is a flowchart showing a control flow of the present embodiment.
FIG. 5 is a time chart for explaining the present embodiment. FIG. 5 shows the input rotation speed of the automatic transmission 10, the accelerator opening, the motor drive command, the brake pressure, the brake control amount, the clutch torque, and the deceleration acceleration (G) acting on the vehicle.

[Step S1]
As shown in FIG. 1, in step S <b> 1, cooperative control of the automatic transmission 10 and the brake device 200 is being performed by the control circuit 130, or another operation that requires driving of the pump motor 222 such as radar cruise control is performed. It is determined whether or not the control is being performed. As a result of the determination in step S1, if it is determined that the operation is being performed, step S6 is performed. On the other hand, if it is not determined that the operation is being performed, step S2 is performed.

[Step S2]
In step S2, the control circuit 130 determines whether or not a shift precondition based on traveling road information related to the road on which the vehicle including the corner R in front of the vehicle and the road gradient is included in the shift point control. The The control circuit 130 receives a signal indicating the presence / absence of a corner in front of the vehicle and the measurement or estimation result of the size of the corner input from the corner measurement / estimation unit 119, and the road gradient input from the road gradient measurement / estimation unit 118. Based on the signal indicating the measurement or estimation result, the determination in step S2 is performed.

  If the result of determination in step S2 is that a precondition for shifting by shift point control based on traveling road information is satisfied, step S6 is executed. On the other hand, when the precondition is not satisfied, step S3 is executed.

  Here, the precondition of the shift point control is a condition for the shift point control to be in the standby state, and the start condition of the shift point control that the accelerator is fully closed (when the driver intends to decelerate). If (trigger condition) is satisfied, it means a condition in which a shift by shift point control is executed. The precondition of the shift point control regarding the corner R (corner radius) is, for example, “When the vehicle starts decelerating at the current vehicle speed in relation to the front corner R, the distance to the corner and the current vehicle speed, the corner Can be cornered at the recommended vehicle speed (whether foot brake is necessary). As a precondition of the shift point control regarding the corner R and the road surface gradient, a known standard of the shift point control can be applied.

  The shift by the shift point control is not executed only by satisfying the precondition for the shift point control. In a state in which the preconditions for the shift point control are satisfied, the shift by the shift point control is executed only when the accelerator is fully closed and the shift point control start condition is satisfied (the same applies to step S4 described later).

[Step S3]
In step S3, the control circuit 130 determines whether or not the driver's driving direction is a sports driving direction (power driving direction). The control circuit 130 determines whether or not the driving direction of the driver is a sport driving direction based on the driving direction (driving direction estimated value) of the driver estimated by the driving direction estimation unit 115.

  As a result of the determination in step S3, if it is determined that the driving direction of the driver is sports driving direction, step S6 is executed. On the other hand, when it is not determined that the driver's driving orientation is sports driving orientation, step S4 is executed.

[Step S4]
In step S4, it is determined by the control circuit 130 whether or not a shift precondition based on information such as road traffic information related to traffic on the road on which the vehicle including the inter-vehicle distance travels is established in the shift point control. The control circuit 130 determines whether or not the inter-vehicle distance between the host vehicle and the vehicle ahead is based on the signal indicating the inter-vehicle distance input from the inter-vehicle distance measuring unit 101, and according to the determination result, The determination in step S4 is performed.

  If the result of determination in step S4 is that a precondition for shifting by shift point control based on information such as road traffic information is established, step S6 is executed. On the other hand, if the precondition is not satisfied, step S5 is executed.

[Step S5]
In step S5, the control circuit 130 determines whether or not the shift switch is active. The control circuit 130 determines whether or not the shift switch is active based on the switching state of the shift switch active switch 102.

  As a result of the determination in step S5, when it is determined that the shift switch is active, step S6 is executed. On the other hand, if it is not determined that the shift switch is active, step S7 is executed.

[Step S6]
In step S6, a drive command for the pump motor 222 is output. In response to the drive command, the pump motor 222 is driven. If the pump motor 222 has been driven before then, the state is left as it is. When the pump motor 222 is driven, the brake oil stored in the reservoir tank 224 is sent to the accumulator 223, and the hydraulic pressure of the accumulator 223 increases. Thereby, the original pressure of the brake oil stored in the accumulator 223 increases. This hydraulic pressure state corresponds to a state in which inter-vehicle distance control (radar cruise control) is started (a state in which automatic braking is quickly applied according to the inter-vehicle distance). Hereinafter, the significance of each step S6 will be described.

  First, the case where step S6 is performed as a result of the determination in step S2 and step S4 will be described.

  As described above, when the shift point control is performed, not only the preconditions for the shift point control but also the start conditions need to be satisfied, but in this embodiment, the preconditions for the shift point control are satisfied. At the time (step S2-Y, step S4-Y), the pump motor 222 is driven (step S6). As will be described later, in the present embodiment, when shift point control is performed, cooperative control of the brake device 200 and the automatic transmission 10 is performed, and braking by the brake device 200 is performed together with the shift point control. In this embodiment, the brake device 200 is performed when the start condition for the shift point control is also established by driving the pump motor 222 in advance at the time when the precondition for the shift point control is established in step S6. The responsiveness of the braking operation by can be improved. That is, when driving of the pump motor 222 is started after the start condition of the shift point control is satisfied, the rise of the hydraulic pressure is delayed, and a relatively large delay occurs until the braking force is generated by the brake device 200. The response of the braking operation may not be sufficient. In the present embodiment, this is to be solved. In the present embodiment, when the precondition for the shift point control is satisfied (step S2-Y, step S4-Y), it is predicted that the shift by the shift point control is relatively high, and the pump motor 222 is driven.

  As will be described later, in the present embodiment, when manual shift is performed, cooperative control of the brake device 200 and the automatic transmission 10 is performed, and braking by the brake device 200 is performed together with the manual shift. In this case, when the pump motor 222 starts to be driven after the manual shift is performed, the rise of the hydraulic pressure is delayed, and a relatively large delay occurs until the braking force by the brake device 200 is generated. Responsiveness may not be sufficient. In the present embodiment, this is to be solved as much as possible.

  In the case of manual shift, a high responsiveness is required for the braking operation by the brake device 200 in order to quickly apply the deceleration to the vehicle as the driver intends. On the other hand, manual shift is performed at the discretion of the driver, unlike shift point control, so it is not known when it will be performed. ).

  Here, when the precondition for the shift point control is satisfied (step S2-Y, step S4-Y), the front corner R is smaller than the predetermined value, the road surface gradient is larger than the predetermined value, In a situation where the distance is equal to or less than a predetermined value, the driver himself is highly likely to perform a manual shift in the hope that deceleration will act on the vehicle. When the manual shift is performed, the start condition of the shift of the automatic transmission 10 and the cooperative control by the brake device 200 is satisfied at that time or when the accelerator is off (accelerator is fully closed). As described above, when a manual shift is performed, cooperative control is performed together with the shift of the automatic transmission 10 after the control start condition is satisfied at that time point or the control start condition by accelerator off is satisfied. It is necessary that the braking operation by the brake device 200 to be performed with good responsiveness.

  In the present embodiment, the pump motor 222 is driven (step S2-Y, step S4-Y) when the precondition for the shift point control, which is a situation in which a manual shift by the driver is easily performed, is established (step S2-Y, step S4-Y). S6) When manual shift is performed, the braking operation by the brake device 200 that performs cooperative control together with the shift of the automatic transmission 10 can be performed with high responsiveness. That is, in step S2 and step S4, it also serves as a manual shift prediction by the driver. In particular, since the tracking control itself in step S4 is premised on a condition that is likely to induce a manual shift (in short, the collision time is short), even if a high response is not required on the tracking control side. Considering the above possibility, the pump motor 222 is driven in advance (step S6).

  Next, the case where step S6 is performed as a result of the determination in step S3 will be described.

  When the driver's driving orientation is sports driving orientation, a quick response to accelerator-off or manual shift is required. That is, when it is determined that the driving direction is sport driving, it is coordinated with the shift of the automatic transmission 10 when the driver performs a manual shift, as compared with the case where the driving direction of the driver is normal driving direction. The braking by the brake device 200 to be controlled needs to be performed with better responsiveness. Similarly, when it is determined that the driver's driving orientation is sport driving orientation, the accelerator-off operation is performed when the shift point control is performed as compared with the case where the driver's driving orientation is normal driving orientation. On the other hand, it is desired that the responsiveness of the braking operation by the brake device 200 is high. In the present embodiment, the pump motor 222 is driven at the time when it is determined that it is sport running-oriented (step S6), so the above request can be met. In this case, although it is disadvantageous in terms of fuel consumption, priority is given to responsiveness and drivability when it is sport-oriented.

  Next, the case where step S6 is performed as a result of the determination in step S5 will be described.

  As in step S3, since a fast shift response (from shift to occurrence of deceleration) is required when steering shift or paddle shift is selected, the pump motor 222 is driven in advance (step S6). When the shift switch is active, the driver can easily perform a manual shift by operating the shift switch (predicting a manual shift). Moreover, the manual shift performed by the driver operating the shift switch is more effective than the manual shift performed using the shift lever by the brake device 200 in which the driver performs cooperative control together with the shift of the automatic transmission 10. In many cases, it is required to be performed with good responsiveness. In this embodiment, when the shift switch is active, the pump motor 222 is driven so that braking by the brake device 200 is performed with good responsiveness (step S6).

  With reference to FIG. 5, the braking operation by the brake device 200 in the cooperative control of the brake device 200 and the automatic transmission 10 will be described.

  In FIG. 5, at time t0, one of steps S2 to S5 is determined as Yes, and a drive command for the pump motor 222 is output as indicated by reference numeral 409 (step S6). In response to the drive command, at time t0, the pump motor 222 is driven, so that the original pressure of the brake oil stored in the accumulator 223 increases (see the solid line of the motor drive command in FIG. 5). Therefore, at the time point t1 when the accelerator is fully closed and the shift point control start condition is satisfied (or when the manual shift is performed or when the manual shift start condition is satisfied) t1, the discharge from the pump motor 222 is performed. The amount is sufficient.

  Therefore, at the time point t1 when the shift point control start condition is satisfied (or when the manual shift is performed or when the manual shift start condition is satisfied) t1, the open / close state of the control valve of the hydraulic control circuit 220 is in the pressure-increasing state. Is switched to, the strokes of the brake pistons of the wheel cylinders 208, 209, 210, and 211 are rapidly performed, and the brake pressure rises sharply as indicated by reference numeral 410. After the time t1, early (after ta seconds) A braking force is generated. As a result, as indicated by reference numeral 403, the time when the deceleration acts on the vehicle is also advanced.

  On the other hand, as shown by the broken line in the vicinity of reference numeral 410 in FIG. 5, at the time point t1 when the shift point control start condition is satisfied (or when the manual shift is performed or the manual shift start condition is satisfied) t1. When a drive command for the pump motor 222 is output and the pump motor 222 is driven, the stroke of the brake piston of the wheel cylinders 208, 209, 210, and 211 is performed while increasing the discharge amount from the pump motor 222. Therefore, the rise of the brake pressure is delayed (see the broken line in the vicinity of reference numeral 410), and the timing for generating the braking force is delayed (after the time t1, tb seconds later, see the broken line in the vicinity of reference numeral 406). As a result, as indicated by the broken line in the vicinity of the reference numeral 403, the time when the deceleration acts on the vehicle is also delayed.

[Step S7]
In step S7, the pump motor 222 is stopped. In FIG. 5, as indicated by reference numeral 409, the pump motor 222 is stopped at time t5. If the pump motor 222 has been stopped before then, it remains as it is.

  Particularly during manual shift, high responsiveness of the braking operation by the brake device 200 is required when it is determined to be sport-oriented or when traveling by tracking control is performed. Particularly in the shift point control, the high responsiveness of the braking operation by the brake device 200 is required when the front corner R is small and the accelerator-off state is determined. In particular, high responsiveness is required in these situations because the deceleration G is applied to the vehicle as soon as possible after the start of control is determined, and the steering is turned off before the deceleration G is applied to the vehicle. This is to prevent the vehicle from becoming unstable. Since the pump motor 222 is already driven when the control precondition is satisfied, the motor rotation speed is already high at the time of manual shift or the start of shift point control by turning off the accelerator, which is a control start condition, and a sufficient discharge amount is obtained. Since it is obtained, high responsiveness can be obtained.

  In the present embodiment, if the pump motor 222 is always driven, fuel efficiency and durability are deteriorated. Therefore, as described above, the pump motor 222 is used only when high braking response by the brake device 200 is required. Is going to be driven.

  Next, the cooperative control of the automatic transmission 10 and the brake device 200 described above will be described with reference to FIGS.

[Step SA1]
As shown in FIG. 6, in step SA1, based on the detection result of the throttle opening sensor 114, the control circuit 130 determines whether or not the accelerator (throttle opening) is fully closed. When the accelerator is fully closed (step SA1-Y), it is determined that the engine brake is a desired shift when the shift is performed, and the process proceeds to the brake control of the present embodiment defined after step SA2. In FIG. 5, as indicated by reference numeral 401, the accelerator opening is fully closed at time t1.

  On the other hand, if it is not determined that the accelerator is fully closed (step SA1-N) as a result of the determination in step SA1, a command to end the brake control of this embodiment is output (step SA12). Here, when the brake control is not executed, the state as it is is continued. Next, after the flag F is reset to 0 in step SA13, this control flow is reset.

[Step SA2]
In step SA2, the control circuit 130 checks the flag F. Since the flag F is 0 at the beginning of this control flow, the process proceeds to step SA3. On the other hand, if the flag F is 1, the process proceeds to step SA8.

[Step SA3]
In step SA3, the control circuit 130 determines whether or not there is a shift determination (command). Here, the shift stage of the automatic transmission 10 is set relative to the manual shift determination unit 95, the inter-vehicle distance measurement unit 101, the relative vehicle speed detection / estimation unit 97, the corner measurement / estimation unit 119, or the road gradient measurement / estimation unit 118. Thus, it is determined whether or not a signal indicating the necessity of shifting (downshifting) to the low speed side is output. That is, it is determined whether or not a signal indicating the necessity of downshifting is output by manual shift or shift point control.

  In FIG. 5, the determination in step SA3 is performed at time t1. As a result of the determination in step SA3, it is necessary to downshift from the manual shift determination unit 95, the inter-vehicle distance measurement unit 101, the relative vehicle speed detection / estimation unit 97, the corner measurement / estimation unit 119, or the road gradient measurement / estimation unit 118. When it is determined that a signal indicating is output (step SA3-Y), the process proceeds to step SA4. On the other hand, if not so determined (step SA3-N), the control flow is reset.

  In step SA1, the example in which the accelerator fully closing operation is performed at the time point t1 has been described. However, it may be performed before the time t1 when the step SA3 is performed. In the example of FIG. 5, it is necessary to downshift output from the manual shift determination unit 95 or the inter-vehicle distance measurement unit 101, the relative vehicle speed detection / estimation unit 97, the corner measurement / estimation unit 119, or the road gradient measurement / estimation unit 118. With respect to the signal indicating the characteristics, the control circuit 130 shows a case where it is determined that the downshift is necessary at the time point t1. As will be described later, the control circuit 130 outputs a downshift command at the same time t1 based on the determination result that the downshift is necessary at the time t1 (step SA6).

[Step SA4]
In step SA4, the control circuit 130 obtains the maximum target deceleration Gt. Here, the maximum target deceleration Gt is a maximum determined by the type of shift (for example, a combination of the shift stage before and after the shift, such as 4th → 3rd, 3rd → 2nd) and the vehicle speed. It is determined to be the same (or near) as the deceleration (described later). In FIG. 5, a broken line indicated by reference numeral 402 indicates a deceleration acceleration corresponding to the negative torque (braking force, engine brake) of the output shaft 120c of the automatic transmission 10, and is determined by the type of shift and the vehicle speed.

  The maximum target deceleration Gt is determined so as to be substantially the same as the maximum value 402max of the deceleration 402 acting on the vehicle due to the shift of the automatic transmission 10 (the above maximum deceleration) 402max. The maximum value 402max of the deceleration 402 due to the shift of the automatic transmission 10 is determined with reference to the maximum deceleration map stored in the ROM 133 in advance. In the maximum deceleration map, the value of the maximum deceleration 402max is determined as a value based on the type of shift and the vehicle speed. Following step SA4, step SA5 is performed.

[Step SA5]
In step SA5, the control circuit 130 determines the gradient α of the target deceleration 403. When determining the gradient α, first, after a downshift command is output (as will be described later, it is output at time t1 in step SA6), the shift is actually started (substantially) (t3). The target deceleration 403 is set so that the deceleration actually applied to the vehicle (hereinafter referred to as the actual deceleration of the vehicle) reaches the maximum target deceleration Gt based on the time td until the shift start time t3. An initial slope minimum is determined. In the above description, the time td from the time point t1 when the downshift command is output to the time point t3 when the actual shift is started is determined based on the type of shift.

  In FIG. 7, a two-dot chain line indicated by reference numeral 404 corresponds to the initial gradient value of the target deceleration. In addition, the gradient that can be set as the target deceleration 403 in advance can be dealt with when an unstable phenomenon occurs in the vehicle (avoidance of the unstable phenomenon) so that a shock caused by deceleration does not increase. As described above, the gradient upper limit value and the lower limit value are set. A two-dot chain line indicated by reference numeral 405 in FIG. 7 corresponds to the above gradient upper limit value.

  The instability phenomenon of the vehicle is for some reason including a change in the friction coefficient μ of the road surface or a steering operation when deceleration acceleration (by brake control and / or engine brake by shifting) is applied to the vehicle. This means that the vehicle is in an unstable state, for example, the grip degree of the tire decreases, slips, or the behavior becomes unstable.

  In step SA5, the gradient α of the target deceleration 403 is set to be larger than the gradient minimum value 404 and smaller than the gradient upper limit value 405, as shown in FIG.

  The initial gradient α of the target deceleration 403 has the significance of setting an optimal deceleration change mode in order to smooth the initial deceleration change of the vehicle and to avoid an unstable vehicle phenomenon. The gradient α can be determined based on an accelerator return speed (see ΔAo in FIG. 5), a road surface friction coefficient μ detected or estimated by a road surface μ detection / estimation unit (not shown), and the like. Further, the gradient α can be changed between a manual shift and a shift by shift point control.

  By the steps SA4 and SA5, most of the target deceleration 403 in the present embodiment (indicated by a thick line in FIG. 5) is determined. That is, as shown in FIG. 5, the target deceleration 403 is set so as to reach the maximum target deceleration Gt with the gradient α obtained in steps SA4 and SA5, and thereafter, the automatic transmission 10 shifts. The target deceleration 403 is maintained at the maximum target deceleration Gt until the end time t5. This is because the deceleration to the maximum deceleration 402max (≈maximum target deceleration Gt) generated by the shift of the automatic transmission 10 is realized with a brake having good responsiveness while suppressing the deceleration shock in a short time. By realizing the initial deceleration with a responsive brake, when an unstable phenomenon occurs in the vehicle, it is possible to promptly cope with it. The setting of the target deceleration 403 after the time t5 when the automatic transmission 10 has finished shifting will be described later. Following step SA5, step SA6 is performed.

[Step SA6]
In step SA6, a downshift command (shift command) is output from the CPU 131 of the control circuit 130 to the solenoid valve driving units 138a to 138c. In response to the downshift command, the solenoid valve driving units 138a to 138c energize or de-energize the solenoid valves 121a to 121c. As a result, the automatic transmission 10 executes a shift instructed by the downshift command. When the downshift command is determined by the control circuit 130 at the time t1 that the downshift is necessary (step SA3-Y), the downshift command is output at the same time (time t1).

  As shown in FIG. 5, when a downshift command is output at time t1 (step SA6), automatic operation is performed at time t3 after the time td determined based on the shift type has elapsed from that time. The shift of the transmission 10 is actually started, the clutch torque 408 starts to increase, and the deceleration 402 due to the shift of the automatic transmission 10 starts to increase. Following step SA6, step SA7 is executed.

[Step SA7]
In step SA7, brake feedback control is executed by the brake control circuit 230. As indicated by reference numeral 406, the brake feedback control is started at time t1 when the downshift command is output. In this case, in this embodiment, as described above, the pump motor 222 is driven at the time t0, and the discharge amount from the pump motor 222 is sufficient at the time t1. Therefore, when the feedback control of the brake is started at the time point t1 and the open / close state of the control valve of the hydraulic control circuit 220 is switched, the stroke of the brake piston of the wheel cylinders 208, 209, 210, 211 is quickly performed. A braking force 406 by the brake is generated (after ta seconds). Thereby, the time when deceleration acts on the vehicle is also advanced.

  In the brake feedback control, a signal indicating the target deceleration 403 is output from the control circuit 130 to the brake control circuit 230 via the brake braking force signal line L1 as the brake braking force signal SG1 from time t1. The brake control circuit 230 generates a brake control signal SG2 based on the brake braking force signal SG1 input from the control circuit 130, and outputs the brake control signal SG2 to the hydraulic control circuit 220.

  The hydraulic pressure control circuit 220 controls the hydraulic pressure supplied to the wheel cylinders 208, 209, 210, 211 based on the brake control signal SG2, so that the brake force (brake control amount 406) as instructed in the brake control signal SG2 is controlled. ).

  In the feedback control of the brake device 200 in step SA7, the target value is the target deceleration 403, the control amount is the actual deceleration of the vehicle, and the control target is the brake (wheel cylinders 208, 209, 210, 211), The operation amount is the brake control amount 406, and the disturbance is mainly the deceleration 402 due to the shift of the automatic transmission 10. The actual deceleration of the vehicle is detected by the acceleration sensor 90.

  That is, in the brake device 200, the brake braking force (brake control amount 406) is controlled so that the actual deceleration of the vehicle becomes the target deceleration 403. That is, the brake control amount 406 is set so as to generate a deceleration that is insufficient for the deceleration 402 due to the shift of the automatic transmission 10 when the target deceleration 403 is generated in the vehicle.

  In the example of FIG. 5, the deceleration 402 by the automatic transmission 10 is zero from the time t1 when the downshift command is output to the time t3 when the shift of the automatic transmission 10 is actually started. The brake control amount 406 is such that all the deceleration 403 is generated. The shift of the automatic transmission 10 is started from time t3, and the brake control amount 406 decreases as the deceleration 402 by the automatic transmission 10 increases.

[Step SA8]
In step SA8, the control circuit 130 determines whether or not the shift of the automatic transmission 10 is completed (or in the vicinity thereof). The determination is made based on the rotation speed of the rotating member of the automatic transmission 10 (see the input rotation speed in FIG. 5), and here, it is determined whether or not the following relational expression is satisfied.
No * If-Nin ≦ ΔNin

  Here, No is the rotational speed of the output shaft 120c of the automatic transmission 10, Nin is the input shaft rotational speed (turbine rotational speed, etc.), If is the gear ratio after the shift, and ΔNin is a constant value. The control circuit 130 inputs the detection result from a detection unit (not shown) that detects the input shaft rotation speed (rotation speed of the turbine impeller, etc.) Nin of the automatic transmission 10.

  If the above relational expression in step SA8 is not satisfied, it is determined that the shift of the automatic transmission 10 is not completed, and the control flow is reset after the flag F is set to 1 in step SA14. . Thereafter, in step SA1 → step SA2 → step SA8, the process waits for the above relational expression to be established. During this time, when the accelerator opening is other than fully closed, the process proceeds to step SA12, and the brake control of the present embodiment ends.

  On the other hand, when the above relational expression in step SA8 is established, the process proceeds to step SA9. In FIG. 5, the shift ends at the time point t5 (immediately before), and the above relational expression is established. As shown in FIG. 5, at time t5, the deceleration acceleration 402 acting on the vehicle due to the shift of the automatic transmission 10 reaches its maximum value 402max (≈maximum target deceleration Gt), and the shift of the automatic transmission 10 is changed. It is shown that it has finished.

[Step SA9]
In step SA9, the brake feedback control started in step SA7 ends. After step SA9, the control circuit 130 does not include a signal corresponding to brake feedback control in the brake braking force signal SG1 output to the brake control circuit 230.

  That is, the brake feedback control is performed until the shift of the automatic transmission 10 is completed. As shown in FIG. 5, the brake control amount 406 is zero at time t5 when the shift of the automatic transmission 10 is completed. When the shift of the automatic transmission 10 is completed at time t5, the deceleration acceleration 402 generated by the automatic transmission 10 reaches its maximum value 402max. At the time of t5, in order to achieve the maximum target deceleration Gt of the target deceleration 403 set to be approximately the same as the maximum value 402max of the deceleration acceleration 402 generated by the automatic transmission 10 (step SA4), Only the deceleration acceleration 402 generated by the transmission 10 is sufficient, and the brake control amount 406 may be zero. Following step SA9, step SA10 is performed.

[Step SA10]
In step SA10, the control circuit 130 causes the brake to output a brake torque (deceleration acceleration) corresponding to the shift inertia via the brake braking force signal SG1 output to the brake control circuit 230, and then gradually decreases the brake torque. The shift inertia is generated between t5 and t6 in FIG. 5 and after t7 after the shift of the automatic transmission 10 is completed. The shift inertia (inertia torque) is determined from the time differential value and the inertia value of the rotation speed of the rotary member of the automatic transmission 10 at the time (t5) when the shift of the automatic transmission 10 is completed.

  In FIG. 5, step SA10 is executed between t5 and t7. In order to minimize the shock caused by the shift, the control circuit 130 sets the target deceleration 403 after the time t5 so as to have a gentle slope after the time t5. The gentle gradient of the target deceleration 403 extends until the final deceleration Ge obtained by the downshifting of the automatic transmission 10 is reached. The setting of the target deceleration 403 ends when the final deceleration Ge is reached. At that time, the final deceleration Ge, which is the engine brake desired by the downshift, is acting on the vehicle as the actual deceleration of the vehicle. From that point, the brake control of this embodiment is unnecessary. is there.

  In step SA10, after the brake control amount 406 corresponding to the shift inertia is given by the hydraulic control circuit 220 in response to the brake control signal SG2 generated based on the brake braking force signal SG1 input in the brake control circuit 230. The brake control amount 406 is gradually reduced so as to correspond to the gradient of the target deceleration 403. Step SA11 is performed after step SA10.

[Step SA11]
In step SA11, after the flag F is cleared to 0 by the control circuit 130, this control flow is reset.

  According to the cooperative control of the present embodiment, an ideal deceleration transient characteristic as shown by the target deceleration 403 in FIG. 5 is obtained. The deceleration smoothly transitions from the driving wheel to the driven wheel. Thereafter, the shift to the final deceleration Ge obtained by the downshift of the automatic transmission 10 is smoothly performed. Further, the ideal deceleration transient characteristic will be described as follows.

  That is, when the necessity of downshifting is confirmed (determined) in step SA3 (t1), the actual deceleration of the vehicle is determined by the brake control (step SA7) started at the same time (t1) with the confirmation. Immediately after confirming the necessity of downshifting, a time point at which the gear shift starts gradually without causing a large deceleration shock at the gradient α and within a range that can cope with the occurrence of the vehicle instability phenomenon (t3). Prior to), the maximum value 402max (≈maximum target deceleration Gt) of the deceleration 402 due to the shift is increased. Further, the actual deceleration of the vehicle gradually decreases to the final deceleration Ge obtained by the shift without causing a large shift shock at the end of the shift (after t5).

As described above, in the present embodiment, the actual deceleration of the vehicle starts to increase immediately, that is, immediately after the time point (t1) when the necessity for downshifting is confirmed, and the time point when the shift is started (t3). Before (t2), the speed gradually increases to the maximum value 402max (≈maximum target deceleration Gt) of the deceleration 402 due to the shift. Thereafter, the actual deceleration of the vehicle is maintained at the maximum target deceleration Gt until the time point when the shift is completed (t5).
If an unstable phenomenon occurs in the vehicle from the time transition of the actual deceleration of the vehicle as described above, while the actual deceleration of the vehicle increases to the maximum target deceleration Gt (from t1 to t2) or At the latest, there is a high possibility that the actual deceleration of the vehicle will occur before the start of the shift immediately after reaching the maximum target deceleration Gt (t3). At the time when the possibility of occurrence of the unstable phenomenon of the vehicle is high, only the brake is operating (the automatic transmission 10 that has not started a substantial shift is not operating). Since the brake has better responsiveness than the automatic transmission, even when an unstable phenomenon occurs in the vehicle, the response can be quickly and easily controlled by controlling the brake.

  That is, in response to the occurrence of an unstable phenomenon of the vehicle, the operation of reducing or reducing the brake braking force (brake control amount 406) can be performed quickly and easily with good controllability. On the other hand, if a vehicle instability phenomenon occurs after the automatic transmission shift is started, even if the shift is canceled at that time, it takes time until the shift is actually canceled. .

  Further, at the above-described time period (t1 to t2 or t1 to t3) at which an unstable phenomenon is likely to occur in the vehicle, the shift of the automatic transmission 10 is not started, and the clutch, brake, etc. of the automatic transmission 10 are not started. Since the friction engagement device is not engaged, no problem occurs even if the shift of the automatic transmission 10 is canceled in response to the occurrence of an unstable phenomenon of the vehicle.

  Next, a first modification of the present embodiment will be described. In the first modified example, only the content of step S6 in FIG. 1 is changed, and the rest is common to the above-described embodiment. Therefore, only the change will be described below.

  In the above embodiment, the pump motor 222 is driven in step S6. However, in this modification, the pump motor 222 is driven in step S6 and applied to the brake pistons of the wheel cylinders 208, 209, 210, and 211. Apply pressure. Here, the application of a pressurizing pressure (low pressure) to the brake piston means, for example, controlling the open / closed state of the control valve of the hydraulic control circuit 220, and the piston chambers of the wheel cylinders 208, 209, 210, 211 (the hydraulic pressure of the wheel cylinder). A cylinder, not shown, can be filled with brake oil (the piston chamber / piston circuit dead space is also filled with brake oil). In this state, the strokes of the brake pistons of the wheel cylinders 208, 209, 210, and 211 are made even faster (the stroke time is shortened than the above-mentioned ta seconds). It can be further enhanced.

Next, a second modification of the present embodiment will be described.
In the second modified example, only the content of step S6 in FIG. 1 is changed as in the first modified example, and the rest is common to the above-described embodiment. Therefore, only the changed points will be described below. I decided to.

  In the second modification, instead of the first modification, as an application of pressure to the brake piston, for example, the open / close state of the control valve of the hydraulic control circuit 220 is controlled, and the wheel cylinders 208, 209, 210, 211 are controlled. The brake piston is kept in a standby state by a slight stroke (prestroke) against the urging force of a return spring (not shown). In this case, the brake pads (friction plates) of the wheel cylinders 208, 209, 210, and 211 do not hit the disc (a member provided integrally with the wheel). In this state, the responsiveness of the braking operation by the brake device 200 can be further enhanced. This case is shown in FIG. As shown in FIG. 9, at time t0, a pressurizing pressure is applied as a brake pressure and the brake piston is prestroked. The stroke time after t1 is shorter than the above ta seconds, and is after tc seconds.

Next, a third modification of the present embodiment will be described.
In the third modified example, only the contents of steps S1 and S6 in FIG. 1 are changed, and the rest is common to the above embodiment, and only the changed points are described below. Will be explained.

  In the third modification, an electric mechanical brake (EMB) is used as the brake system. In an electric mechanical brake, the motor directly generates a braking force without using hydraulic pressure. For example, the configuration disclosed in Japanese Patent Application Laid-Open No. 2000-71974 is applicable. In this publication, an electric motor generates a driving torque that increases as the driving current increases, and the driving torque causes a force (braking force) to press a brake lining by a brake shoe against a rotating member provided integrally with a wheel. It is disclosed that the braking force applied to the wheel is increased and the braking force is increased.

  In step S1 of the third modified example, cooperative control of the automatic transmission 10 and the brake device 200 is being implemented, or a motor (in place of the pump motor 222) that directly generates a braking force, such as radar cruise control. It is determined whether another control that requires driving is being performed. In step S6 of the third modification, a motor that directly generates a braking force is driven instead of the pump motor 222. Thereby, when the braking operation is to be performed, the rising of the driving torque generated by the motor becomes steep, and the response of the braking operation can be improved.

  In step S6 of the third modification, a predetermined driving torque is generated in the motor by supplying a predetermined driving current to the motor, and thereby a rotating member provided integrally with the brake lining and the wheel. Can be kept relatively small (compared to the normal state) against the urging force of the return spring. Thereby, when the braking operation is to be performed, the responsiveness of the braking operation can be further improved.

  In the above-described embodiment and its modification, the example in which the stepped automatic transmission 10 is used as the transmission has been described. However, the present invention can also be applied to CVT. In the above description, the deceleration acceleration (G) is used as the deceleration indicating the amount by which the vehicle is decelerated, but it is also possible to control based on the deceleration torque.

It is a flowchart which shows the control content of one Embodiment of the deceleration control apparatus of the vehicle of this invention. 1 is a schematic configuration diagram of an embodiment of a vehicle deceleration control device according to the present invention. 1 is a skeleton diagram showing an automatic transmission in an embodiment of a vehicle deceleration control device of the present invention. FIG. It is a figure which shows the action | operation table | surface of the automatic transmission in one Embodiment of the deceleration control apparatus of the vehicle of this invention. It is a time chart which shows operation | movement of one Embodiment of the deceleration control apparatus of the vehicle of this invention. It is a flowchart which shows the other control content of one Embodiment of the deceleration control apparatus of the vehicle of this invention. It is explanatory drawing for demonstrating the gradient of the target deceleration of one Embodiment of the deceleration control apparatus of the vehicle of this invention. It is explanatory drawing for demonstrating the driving | operation direction estimation part of one Embodiment of the deceleration control apparatus of the vehicle of this invention. It is a time chart which shows the operation | movement of the modification of one Embodiment of the deceleration control apparatus of the vehicle of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Automatic transmission 40 Engine 90 Acceleration sensor 95 Manual shift judgment part 101 Inter-vehicle distance measurement part 102 Shift switch active switch 114 Throttle opening sensor 115 Driving direction estimation part 116 Engine speed sensor 118 Road gradient measurement / estimation part 119 Corner measurement / Estimator 120c Output shaft 121a-121c Solenoid valve 122 Vehicle speed sensor 123 Shift position sensor 130 Control circuit 131 CPU
133 ROM
138a to 138c Solenoid valve drive unit 200 Brake device 220 Hydraulic control circuit 221 Master cylinder 222 Pump motor 223 Accumulator 224 Reservoir tank 225 Brake switch 230 Brake control circuit 401 Accelerator opening 402 Deceleration due to automatic transmission shift 402max Automatic transmission Maximum value of deceleration due to shift 403 Target deceleration 404 Minimum gradient value of target deceleration 405 Upper limit value of gradient 406 Brake control amount 408 Clutch torque 409 Motor drive command 410 Brake pressure L1 Brake braking force signal line Gt Maximum target deceleration SG1 Brake Braking force signal SG2 Brake control signal ta Time from when the shift command is output until the braking force of the brake is generated tc From when the shift command is output until the braking force of the brake is generated Time td Time from the downshift command to the start of shifting

Claims (11)

A vehicle deceleration control device that performs deceleration control by an operation of a braking device that generates a braking force on a vehicle and a shift operation that shifts the transmission of the vehicle to a relatively low speed gear ratio or gear ratio,
Shift prediction means for predicting that the shift operation is performed;
Idle running reduction means for reducing the idle running state from the start of the operation of the braking device until the braking device actually generates braking force;
The vehicle deceleration control device according to claim 1, wherein whether or not to operate the idle running reduction unit is determined in advance before the operation of the braking device is started based on a prediction result by the shift prediction unit. The vehicle deceleration control device according to claim 1,
The vehicle deceleration control device, wherein the idle running reduction means is operated in advance before the operation of the braking device is started when the shift operation is predicted to be performed. A vehicle deceleration control device that performs deceleration control by an operation of a braking device that generates a braking force on a vehicle and a shift operation that shifts the transmission of the vehicle to a relatively low speed gear ratio or gear ratio,
Driving orientation detection / estimation means for detecting or estimating whether or not the driver is oriented to a relatively high responsiveness of the braking operation by the braking device;
Idle running reduction means for reducing the idle running state from the start of the operation of the braking device until the braking device actually generates braking force;
Based on the detection or estimation result by the driving orientation detection / estimation means, it is determined in advance whether or not the idling reduction means is to be operated before the operation of the braking device is started . Deceleration control device. The vehicle deceleration control device according to claim 3,
When the driver detects or estimates that the responsiveness of the braking operation by the braking device is relatively high, the idle running reduction means is activated in advance before the operation of the braking device is started. A deceleration control device for a vehicle, characterized in that: The vehicle deceleration control device according to any one of claims 1 to 4,
The braking device generates a braking force by hydraulic pressure,
The operation of the idling reduction means is to increase the hydraulic pressure to be supplied to the braking device. The vehicle deceleration control device according to any one of claims 1 to 4,
The braking device generates a braking force by a motor without using hydraulic pressure,
An operation of the idling reduction means is to drive the motor. A vehicle deceleration control device, wherein: The vehicle deceleration control device according to any one of claims 1, 2, 5 and 6.
Prediction that the shift operation is performed is performed based on at least one of a curvature of a curve ahead of the vehicle and a road surface gradient. The vehicle deceleration control device according to any one of claims 1, 2, 5, 6, and 7.
Prediction that the shift operation is performed is performed based on a distance between the vehicle and an obstacle including a preceding vehicle ahead of the vehicle. The vehicle deceleration control device according to any one of claims 1, 2, 5, 6, 7, and 8.
Prediction that the shift operation is performed is performed based on whether or not a shift switch is active. The vehicle deceleration control device according to claim 3 or 4,
Deceleration of the vehicle, wherein the detection or estimation of whether or not the driver is oriented to a relatively high response of the braking operation by the braking device is performed based on the driving orientation of the driver. Control device. The vehicle deceleration control device according to claim 3 or 4,
The detection or estimation of whether or not the driver is oriented to a relatively high responsiveness of the braking operation by the braking device is performed based on whether or not the shift switch is active. A vehicle deceleration control device.

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