JP4552530B2 - Assist control method for automatic transmission for vehicle - Google Patents

Description

  The present invention relates to an assist control method for an automatic transmission for a vehicle that assists a shift lever.

  Conventionally, a shift lever is provided on one end side of a torque sensor, and a motor is provided on the other end side, and the motor is driven according to the torque value detected by the torque sensor. A transmission is known (see Patent Document 1).

Such an automatic transmission for a vehicle assists the shift lever with a motor driving force proportional to the torque sensor value, and when the torque detected by the torque sensor falls below a predetermined value or when the shift lever is at a predetermined shift position. The assist is stopped when moving.
JP 2003-301942 A

  In such an automatic transmission for a vehicle, since the motor driving force is increased in proportion to the torque sensor value, when the torque sensor value decreases, the motor driving force is proportional to this. The torque sensor value increases due to the decrease. For this reason, the shift lever vibrates, and in the worst case, the shift lever may move to a different position without permission.

  In order to avoid this, an integrator for integrating the detection signal of the torque sensor may be provided. With this integrator, the assist force (motor driving force) can be gradually raised, thereby preventing the shift lever from vibrating.

  However, the integral value of the detection signal of the torque sensor continues to increase unless the detection signal value of the torque sensor becomes zero. For this reason, there is a problem that excessive assist is continued even when the assist is not required.

  An object of the present invention is to provide an assist control method for an automatic transmission for a vehicle that can stop an increase in integral value even if the detection signal value of a torque sensor does not become zero, and can prevent excessive continuation of assist. Is to provide.

The invention according to claim 1 is provided with a shift lever which is provided so as to be operable and movable to a plurality of positions and which switches the range of the automatic transmission by operating and moving to each position, and an operating force detecting means for detecting the operating force of the shift lever. And assisting the operation of the shift lever based on the position detection means for detecting the movement position of the shift lever, the detection signal detected by the operating force detection means, and the movement position of the shift lever detected by the position detection means. An assist control method for an automatic transmission for a vehicle including a motor for performing
Wherein when the shift lever is moved toward the next position, Pull insert the preset torque target value from the detection signal value the operating force detecting means for detecting,
In this subtraction, the torque target value is increased from a predetermined low initial value to a first target value higher than the initial value with the passage of time to obtain the subtraction value,
Integrate this subtraction value,
The shift lever is assisted in movement based on the integrated value.

According to a second aspect of the present invention, when the shift lever reaches a predetermined position, the torque target value that has become the first target value is set to a second target value that is lower than the first target value .

According to a third aspect of the present invention, when the shift lever reaches a predetermined position, the torque target value that has become the first target value is set to a second target value that is higher than the first target value .

According to a fourth aspect of the present invention , when the target torque value that has become the first target value is changed to the second target value, the target torque value is gradually decreased with the passage of time .

The invention of claim 5 is characterized in that when the target torque value is set to a second target value higher than the first target value, the target torque value is gradually increased as time elapses.

The invention according to claim 6 is characterized in that the degree of gradually increasing or gradually decreasing the target torque value varies depending on the position of the shift lever and the operation direction .

  The invention according to claim 7 is characterized in that the degree of gradual increase or decrease of the target torque value varies depending on the position of the shift lever and the operation direction.

  According to the first aspect of the present invention, the value obtained by subtracting the torque target value from the detection signal value detected by the operating force detection means is integrated, and the shift lever is assisted based on the integrated value. Even if the detection signal value of the torque sensor does not become zero, the increase of the integrated value can be stopped, and excessive continuation of assist can be prevented.

According to the invention of claim 2 , when the shift lever reaches a predetermined position, the torque target value that is gradually increased is set to a low value again. Therefore, when the hand is released from the shift lever at the predetermined position, A value obtained by subtracting the target value from the torque sensor value becomes positive, and the assist force increases. For this reason, it is prevented that the shift lever overcomes the friction and stops at an intermediate position between the positions.

According to the invention of claim 3 , when the shift lever reaches the predetermined position, the gradually increasing torque target value is set to a higher value, so that the brake is greatly applied when the shift lever is pushed by hand. Therefore, the shift lever does not move at a speed higher than necessary, and the shift lever can be smoothly positioned to the next position. Further, when the shift lever reaches a predetermined position, if the hand is released from the shift lever, the shift lever returns to the front, and the shift lever is prevented from stopping at the intermediate position.

According to the invention of claim 4 or claim 5, when the target torque value to a low value or high value, since it is intended to gradually decrease or gradually increased over time, other effects of claim 3 or claim 4 In addition, there is an effect that the operation feeling does not change during normal operation.

According to the sixth aspect of the present invention, the degree of gradual increase or decrease of the target torque value is made different depending on the position of the shift lever and the operation direction, so that the optimum assist amount can be obtained for each position.

  Embodiments of an automatic transmission for a vehicle that implements an assist control method according to the present invention will be described below with reference to the drawings.

[First embodiment]
An automatic transmission 1 for a vehicle shown in FIG. 1 includes a select unit 10 having a shift lever 11, an actuator unit 20 that assists the shift lever 11, and a torque sensor (operation force detecting means) that detects an operation force of the shift lever 11. 30, a potentiometer (position detecting means) 41 for detecting the movement position of the shift lever 11, and the motor M of the actuator unit 20 based on the detection signal of the torque sensor 30 and the movement position of the shift lever 11 detected by the potentiometer 41. A controller unit 40 to be controlled and an automatic transmission 50 whose range is switched by operation of the shift lever 11 are provided.

  The select unit 10 includes a shift lever 11 that is pivotable forward and backward (left and right in FIG. 1) about a fulcrum shaft 12, a position gate 13 that regulates the position of the shift lever 11, and a shift lever 11 The operation button 14 provided on the shift lever 11, the gate pin 15 provided on the shift lever 11, and the like.

  Each position P, R, N, D, L is set in the position gate 13, and recesses 13A, 13B, 13b are formed corresponding to the positions P, R, N, D, L, and the recess 13b. Is formed in the recess 13B.

  The gate pin 15 enters the recess 13A when the shift lever 11 is positioned at the position P, and the shift lever 11 is restricted from moving to other positions R, N, D, and L. Further, when the operation button 14 is pushed, the gate pin 15 moves in the direction of the arrow Q1 and disengages from the recess 13A, so that the shift lever 11 can be rotated to other positions R, N, D, and L. Yes.

  When the shift lever 11 is positioned at other positions R, N, D, and L, the gate pin 15 is restricted by the walls that form the recesses 13B and 13b. When the operation button 14 is pressed, the gate pin 15 is moved downward, the restriction is released, and the shift lever 11 can be rotated to another position.

  One end of a push-pull type control cable 16 is attached to the lower part of the shift lever 11. As shown in FIG. 2, the other end of the control cable 16 is connected to one end of the input lever 18 via the input lever joint 17. The other end of the input lever 18 is fixed to one shaft 31 of the torque sensor 30.

  When the shift lever 11 is turned, the control cable 16 moves in the left-right direction, and the input lever 18 turns around the shaft 31 of the torque sensor 30 together with the shaft 31 so that torque is applied to the torque sensor 30. .

  The actuator unit 20 includes a fan-shaped gear member 21 having one end fixed to the other shaft 32 of the torque sensor 30, a worm 23 meshed with a gear 22 formed on the peripheral surface of the gear member 21, and the worm 23 rotating. And a motor M to be operated. The worm 23 is directly connected to a drive shaft (not shown) of the motor M, and when the worm 23 is rotated by driving the motor M, the gear member 21 has a shaft 32 centered on the other shaft 32 of the torque sensor 30. It is designed to rotate with it.

  A contact 24 is provided on the upper surface 21A (in FIG. 2) of the gear member 21. The contactor 24 rotates integrally with the gear member 21 and makes electrical contact with a carbon resistor printed on a substrate (not shown), whereby the rotation angle of the gear member 21, that is, the rotation angle of the shift lever 11. A voltage signal corresponding to (movement position) is output.

  And the potentiometer 41 is comprised by the contactor 24 and the carbon resistance printed on the board | substrate. The potentiometer 41 detects the stroke angle (rotation angle) of the shift lever 11, that is, the moving position as necessary, with the angle when the shift lever 11 is stopped at the position P as a base point angle.

  By the way, if the rotation direction of the shaft 32 of the torque sensor 30 rotates in the same direction as the shaft 31, the torque applied to the torque sensor 30 will decrease, and if it rotates in the opposite direction, the torque will increase. become. That is, the torque sensor 30 detects the load from the magnitude of distortion (twist) generated between the shaft 31 and the shaft 32 according to the load applied to the shaft 32.

  One end of the output lever 25 is fixed to the lower portion (in FIG. 2) of the shaft 32 of the torque sensor 30, and the output lever 25 rotates with the shaft 32 around the shaft 32. The other end of the output lever 25 is connected to one end of a push-pull control cable 27 via an output lever joint 26.

  Then, when the output lever 25 rotates around the shaft 32, the control cable 27 moves in the left-right direction as indicated by arrows.

  As shown in FIG. 1, the automatic transmission 50 includes a rotating shaft 51 and a control arm 52 fixed to the rotating shaft 51. The control arm 52 rotates with the rotating shaft 51 around the rotating shaft 51. The control arm 52 rotates together with the rotating shaft 51 by the movement of the control cable 27 in the left-right direction.

  A combined force of the operating force of the shift lever 11 that rotates the shaft 31 of the torque sensor 30 and the driving force of the motor M that rotates the shaft 32 of the torque sensor 30 is transmitted to the control arm 52.

  Further, the automatic transmission 50 is provided with a range switching mechanism 60 shown in FIG. The range switching mechanism 60 includes a detent plate 61 supported by the rotating shaft 51, five valley portions 61b formed between cam peaks 61A provided on the upper surface of the detent plate 61, and the valley portions 61b. And a spring plate 63 provided with a detent pin 62 to be fitted at the tip. The five valley portions 61b correspond to the positions (P, R, N, D, and L) of the position gate 13 and the detent pins 62 correspond to the positions (P, R, N, D, and L). By engaging 61b with the urging force of the spring plate 63, unintentional movement of the shift lever 11 due to vehicle vibration or the like is prevented.

  That is, the rotating shaft 51 is rotated by the operating force of the shift lever 11, and the detent plate 61 is moved relative to the detent pin 62 in accordance with the rotation. At this time, the detent pin 62 moves over the cam crest 61A against the urging force of the spring plate 63, moves to the valley 61b corresponding to the adjacent position, and engages. The urging force of the spring plate 63 when the detent pin 62 gets over the cam crest 61 </ b> A maintains the engaged state of the detent pin 62, and becomes a main load force when operating the shift lever 11.

  Further, the range of the automatic transmission 50 is switched by the rotation of the detent plate 61.

  Note that one end of an L-shaped arm 68 provided on the parking pole 64 is rotatably connected to the detent plate 61. When the shift lever 11 is moved to the position P, the parking pole 64 rotates the cam plate 65 counterclockwise (in FIG. 3) about the shaft 65J to park the protrusion 65T of the cam plate 65. By engaging with the gear 66, the rotation of the parking gear 66 is prevented, and a driving wheel (not shown) is locked. Thus, when the vehicle is parked at the position P on the gradient road, a vehicle load is applied so as to lock the driving wheel in accordance with the gradient, and acts as a force for biting the parking pole 64.

  As shown in FIG. 4, the controller unit 40 includes an input circuit 42 that inputs a position detection signal output from the potentiometer 41, an input circuit 43 that inputs a torque detection signal output from the torque sensor 30, and the position of the potentiometer 41. Based on the detection signal and the torque detection signal of the torque sensor 30, the control device 46 for obtaining the operation direction and shift position of the shift lever 11, the torque detection signal detected by the torque sensor 30, and a preset torque target value An adder 47 for calculating the difference, a proportional gain unit 48 for multiplying the output value of the adder 47 by a predetermined gain, an integrator 49 for integrating the output of the adder 47, and the integrator 49 An integral gain device 50 for multiplying the integral value by a predetermined gain, an output value of the proportional gain device 48, and an output of the integral gain device 50 An adder 51 for adding the door, and a motor drive circuit 52 for driving the motor M.

  The motor drive circuit 52 drives the motor M by PWM based on the signal output from the adder 51.

  According to the first embodiment, when the torque sensor value G1 output from the torque sensor 30 is output as shown in FIG. 5, the integrator 49 subtracts the torque target value Gm from the torque sensor value G1 ( Since G1-Gm) is integrated, even if the torque sensor value G1 (detection signal value) of the torque sensor does not become zero, the integrator 49 at the time t1 shown in FIG. 5, that is, when G1-Gm = 0. The integrated value G2 becomes a peak, and then the integrated value G2 decreases.

  The proportional gain unit 48 multiplies the value (G1-Gm) calculated by the adder 47 by a predetermined gain K1 and outputs the result. That is, the proportional gain unit 48 outputs K1 (G1-Gm). The integral gain unit 50 multiplies the integral value G2 by the gain K2 and outputs the result. That is, the integral gain unit 50 outputs K2 · G2. The adder 51 outputs a value obtained by adding the output value of the integral gain device 50 to the output value of the proportional gain device, that is, 48K1 (G1-Gm) + K2 · G2. This becomes the duty of the motor M, and the motor M is driven.

  By the way, when G1-Gm = 0, the integral value G2 of the integrator 49 has a peak, and as shown in FIG. 5, the integral value G2 decreases after the time t1, and the integral value G2 does not increase. Further, after time t1, G1-Gm becomes negative, so that the output value of the adder 51 decreases after time t1. That is, the duty of the motor M decreases, and excessive assist of the shift lever 11 is prevented from continuing.

Even if the torque sensor value G1 suddenly rises, the signal value output from the proportional gain device 48 is the torque sensor value-torque target value, and can be suppressed to a small value. Further, the integration value G2 output from the integrator 49 is also a negative value in the initial stage as shown in FIG. For this reason, the signal value output from the adder 51 gradually rises, and as a result, the assist force gradually rises. For this reason, even if the operation of the shift lever 11 causes the torque sensor value G1 to rise suddenly, the shift lever 11 can be prevented from vibrating.
[Second Embodiment]
FIG. 6 shows the configuration of the controller unit 140 of the second embodiment. In FIG. 6, reference numeral 53 denotes a low-pass filter, and a torque target value is output from the low-pass filter 53. Further, the initial value and the target value that is the final steady value are switched and input to the low-pass filter 53.

The operations of the adder 47, the proportional gain device 48, the integrator 49, the adder 51, the integral gain device 50, the low-pass filter 53, etc. are performed by software.
[Operation]
Next, the operation of the controller unit 140 of the second embodiment configured as described above will be described with reference to the flowchart shown in FIG.

  Now, for example, assuming that the shift lever 11 is positioned at the position P shown in FIG. 1 and an ignition switch (not shown) is turned on, the processing of the flowchart shown in FIG. 7 is started.

  In step 100, Stop is set in the variable State, the activation threshold is substituted in the variable Thresh, and a filter time constant having a predetermined value is substituted in the variable Tau.

  In step 101, the torque detection signal value detected by the torque sensor 30 is substituted into the variable Trq, the position detection signal value detected by the potentiometer 41 is substituted into the variable Pos, and the array PosTable is determined from the substituted position detection signal value. The position of the shift lever 11 is calculated from the obtained value.

  In the array PosTable, as shown in FIG. 8, the relationship between the positions L, D, N, R, and P and the voltages V1a to V5a is defined in the array PosTable, and from the voltage that is the position detection signal value, The position is required.

  In step 102, it is determined whether or not the variable State is Stop. Here, since Stop is set in the variable State in step 100, it is determined as YES and the process proceeds to step 103.

  In step 103, it is determined whether or not the torque detection signal value of the torque sensor 30 read in step 101 exceeds the activation threshold value. If no, go to step 104.

  In step 104, it is determined whether or not the torque detection signal value of the torque sensor 30 read in step 101 is equal to or less than a negative activation threshold. If no, return to step 101.

  Until the shift lever 11 is moved, the processing operations from step 101 to step 104 are repeated.

  When the shift lever 11 is moved, the torque detection signal value of the torque sensor 30 is greater than or equal to the activation threshold value or less than or equal to the minus activation threshold value.

  In step 105, PLAsist is set in the variable State, and the initial value Ia for each position of the torque target value Ta given by the array InitPL is substituted in the variable Delay.

  As shown in FIG. 9, an initial value Ia (Ib) is set for each position, and an initial value corresponding to that position is substituted into a variable Delay. Here, when the shift lever 11 is moved from the position P to L, initial values Ia2, Ia3, Ia3, and Ia1 are set corresponding to the positions P, R, N, and D, and Ia1 <Ia2 <Ia3. Yes. When the shift lever 11 is moved from the position L to P, initial values Ib2, Ib3, Ib3, Ib1 are set corresponding to the positions L, D, N, R, and Ia3 <| Ib1 | <| Ib2 | <| Ib3 |. These initial values are set to low values as shown in FIG.

  In Step 105, a torque target value, which is a final steady value corresponding to each position set to PLTable, is substituted for the variable Mokuhyou. Also, “0” is assigned to the variable Intg.

  In step 106, as in step 105, LPAssist is set in the variable State, the initial value Ib for each position given by the array InitLP is substituted in the variable Delay, and the variable Mokuhyou corresponds to each position set to LPTable. The torque target value that is the final steady value is substituted, and “0” is substituted for the variable Intg. Then, the process returns to step 101.

  In step 101, the torque detection signal value detected by the torque sensor 30 is substituted again into the variable Trq, the position detection signal value detected by the potentiometer 41 is substituted into the variable Pos, and an array is obtained from the substituted position detection signal value. The position of the shift lever 11 is calculated from the value determined for PosTable.

  In step 102, it is determined NO because the PLAssist or LPAssist is substituted for the variable State in step 105 or step 106, and the process proceeds to step 107.

  In step 107, it is determined whether or not the variable State is LPAssist. That is, the direction in which the shift lever 11 is assisted is determined. Here, for example, when PLAsist is substituted for the variable State in step 105, that is, when the torque detection value of the torque sensor 30 exceeds the activation threshold, that is, the value of the torque detection value is positive and assist from the P side to the L side. The case where is necessary will be described. Since PLAssist is assigned to the variable State in step 105, it is determined no in step 107 and the process proceeds to step 109.

  In step 109, the position of the shift lever 11 is determined. This compares the value (voltage value) of the array StopPL corresponding to the stop position preset for each position with the latest position detection signal value acquired in step 101, and determines whether the stop position is exceeded. . That is, if it exceeds the stop position, it is determined as yes and the process proceeds to step 117, and if it does not exceed, it is determined as no and the process proceeds to step 110, and assist control is executed.

  Here, since the shift lever 11 is in an initial stage at which the shift lever 11 starts to rotate, it is determined NO and the process proceeds to step 110.

  In step 110, the value obtained by subtracting the initial value obtained in step 105 from the torque target value obtained in step 105 (= torque target value-initial value) is substituted into the variable Temp, and the initial value obtained in step 105 is substituted into the variable Target. And the initial value + (Temp / filter time constant) is substituted for the variable Delay.

  In step 111, the value obtained by subtracting the initial value of Target obtained in step 110 from the torque detection signal value of the torque sensor 30 obtained in step 101 is substituted into the variable Temp, and the value obtained in step 105 is set to Intg (= 0). The Temp value obtained at 110 is added and substituted into the variable Intg.

  In step 112, the duty of the motor M is obtained by adding the value obtained by multiplying the value of Temp obtained in step 111 by the proportional gain to the variable Intg obtained in step 111 and the integral gain.

  In step 119, the motor M is driven by the duty of the motor M obtained in step 112. Then, the process returns to step 101.

  Then, the processing operations of steps 101, 102, 107, 109, 110 to 112, 119 are repeatedly performed until the shift lever 11 exceeds a predetermined stop position.

  By repeatedly performing the processing operation of step 110, as shown in FIG. 10, the torque target value Ta (Target) is increased exponentially from the low value (initial value Ia) over time to the final steady value. To do.

  Further, by repeatedly performing the processing operation of step 111, the value of torque sensor value−torque target value is integrated.

  When the shift lever 11 reaches a predetermined stop position, it is determined as YES in step 109 and the process proceeds to step 117.

  In step 117, Stop is set in the variable State. In step 119, the drive of the motor M is stopped and the process returns to step 101.

  When the shift lever 11 is moved in the P direction from the position L side, the processing operation of step 106 is performed, it is determined as YES in step 107, and the processing operations of steps 113 to 116 and 118 are performed. Since these processing operations are approximately the same as steps 109 to 112, 117, the description thereof is omitted.

  According to the second embodiment, as shown in FIG. 10, since the target torque value is increased from the initial value Ia, which is a low value, with the passage of time, the same effect as the first embodiment can be obtained. In addition to this, it is possible to improve deterioration of initial response due to integration.

Further, since the initial value is changed depending on the position of the shift lever 11 and the operation direction, an optimum shift can be obtained corresponding to each position.
[Third embodiment]
FIG. 11 shows the configuration of the controller unit 240 of the third embodiment. In the third embodiment, as shown in FIG. 12, the torque target value Ta is increased from the initial value Ia to the first target value Ta1, and then decreased to the second target value Ta2. The filter time constant is switched from the first time constant S1a to the second time constant S2a at the time ta when the first target value Ta1 is switched to the second target value Ta2.
[Operation]
Next, the operation of the controller unit 240 of the third embodiment configured as described above will be described based on the flowchart shown in FIG. The processing operations in steps 101 to 104, 107, 109 to 118 are the same as those in the flowchart shown in FIG.

  In step 99, Stop is set in the variable State, and the activation threshold is substituted in the variable Thresh.

  In step 98, PLAssist is set in the variable State, the initial value Ia for each position given by the array InitPL is substituted in the variable Delay, and the final steady value corresponding to each position set to PLTable in the variable Mokuhyou. The first target value Ta1 is substituted, the first filter time constant S1a corresponding to the position of the shift lever 11 is substituted for the variable Tau, and “0” is substituted for the variable Intg.

  The first filter time constant S1a is set for each position according to the movement direction (PL direction) of the shift lever 11, and the shift lever 11 is based on the torque detection signal value of the torque sensor 30 obtained in step 101. , The first filter time constant S1a corresponding to the determined movement direction and position of the shift lever 11 is calculated, and the calculated first filter time constant S1a is calculated. This is assigned to the variable Tau.

  In step 97, LPAssist is set in the variable State, the initial value Ib (not shown) for each position given by the array InitLP is substituted in the variable Delay, and the final value corresponding to each position set to LPTable in the variable Mokuhyou. A first target value Tb1 (not shown), which is a steady value, is substituted, a first filter time constant S1b (not shown) corresponding to the position of the shift lever 11 is substituted for the variable Tau, and “0” is assigned to the variable Intg. Is assigned.

  The first filter time constant S1b is set for each position according to the movement direction (LP direction) of the shift lever 11 as described above, and the first filter time constant S1b corresponds to the movement direction and position of the shift lever 11. The constant S1b is obtained, and the obtained first filter time constant S1b is substituted into the variable Tau.

  When the shift lever 11 is moved in the PL direction, for example, and the process proceeds to step 109, it is determined whether or not the position of the shift lever 11 exceeds the stop position. If it does not exceed the stop position, it is determined NO. To step 201.

  In step 201, it is determined whether or not the position of the shift lever 11 has reached the switching position for switching the first target value Ta1 and the first time constant S1a to the second target value Ta2 and the second time constant S2a. That is, it is determined whether or not the position detection signal value obtained in step 101 exceeds a value corresponding to a preset switching position for each position.

  The switching position is a position immediately before the torque sensor value (torque detection signal value) of the torque sensor 30 reaches a peak, that is, a position immediately before the detent pin 62 shown in FIG. 3 gets over the cam peak 61A, and these positions are the shift levers. It is set for each position corresponding to 11 movement directions.

  If NO is determined in step 201, that is, if the shift lever 11 has not reached the switching position, the process proceeds to step 110. Then, the processing operations of steps 101, 102, 107, 109, 201, 110 to 112, 119 are repeated until the switching position is reached.

  By repeating this processing operation, as shown in FIG. 12, the torque target value Ta (Target) is raised from a low value (initial value Ia) to the first target value Ta1 exponentially with time. Since the short first filter time constant S1a is set at the time of the increase, the torque target value Ta rapidly increases to the first target value Ta1 in a short time, and the initial response by integration is the same as in the second embodiment. Can improve the deterioration.

  When the shift lever 11 reaches the switching position, it is determined as YES in step 201 and the process proceeds to step 202.

  In step 202, the second filter time constant S2a corresponding to the position of the shift lever 11 is substituted for the variable Tau, and the second target value Ta2 that is the final steady value corresponding to each position set to PLTable2 is set to the variable Mokuhyou. substitute.

  That is, as shown in FIG. 12, the shift lever 11 is moved to a position immediately before the torque sensor value (torque detection signal value) of the torque sensor 30 reaches a peak, that is, immediately before the detent pin 62 shown in FIG. , The torque target value Ta is switched from the first target value Ta1 to the second target value Ta2, and the time constant is switched from the first filter time constant S1a to the second filter time constant S2a.

  Then, the processing operations of steps 101, 102, 107, 109, 201, 202, 110 to 112, 119 are repeated until the shift lever 11 exceeds a predetermined stop position.

  By repeatedly performing these processing operations, as shown in FIG. 12, the torque target value Ta (Target) is decreased exponentially from the first target value Ta1 to the second target value Ta2. Since the second filter time constant S2a (> S1a) is set when decreasing to the second target value Ta2, the torque target value Ta gradually takes a long time until the second target value Ta2. It will decrease.

  For this reason, when the hand is released from the shift lever 11 at the predetermined immediately preceding position (the position immediately preceding the cam crest 61A), the torque sensor value detected by the torque sensor 30 decreases. However, since the torque target value Ta decreases from the first target value Ta1, a value obtained by subtracting the torque target value Ta from the torque sensor value becomes positive. As a result, the assist force of the shift lever 11 increases. For this reason, the shift lever 11 is prevented from stopping at an intermediate position between positions due to friction.

  The shift lever 11 moves to the next position due to an increase in assist force.

  Further, when the shift lever 11 is pushed toward the next position without releasing the hand when the shift lever 11 reaches a predetermined previous position, the torque target value Ta is changed from the first target value Ta1 to the second target value. Since the value gradually decreases over a long time to the target value Ta2, there is an effect that the operation feeling does not change under normal operation.

  Further, depending on the operating direction and position of the shift lever 11, the initial value Ia (Ib), the first and second target values Ta1, Ta2 (Tb1, Tb2), and the first and second filter time constants S1a, S2a (S1b). , S2b) is set, and an optimum assist amount can be obtained for each position.

  This is because the distance between the valley portion 61b and the valley portion 61b of the detent plate 61 (see FIG. 3) between the positions PR, that is, the distance from the valley portion 61b to the cam peak 61A is long. The distance between the valley 61b and the valley 61b of the detent plate 61, that is, the distance from the valley 61b to the cam peak 61A is shortened. For this reason, when the shift lever 11 is moved between the positions PR, the assist amount becomes larger when the initial value Ia (negative large value) having a larger absolute value and the time constant S1a are set larger, and the detent pin 62 Is easy to go up the mountain 61A.

  Conversely, when the shift lever 11 is moved between the positions LD, the assist amount becomes smaller when the lower initial value Ib and the time constant S1b are set larger, and the shift lever 11 is moved to the position gate 13 (see FIG. 1). Therefore, it is possible to prevent the vehicle from going over the position D to the position N due to being not regulated.

  As described above, the distance is different between PRs and DLs. Further, since the angle of the shift lever 11 is different in each range, the weight of the shift lever 11 required in each range is different. Here, when the first target value is increased, the shift lever 11 becomes heavier, and when the first target value is decreased, the shift lever 11 becomes lighter. Thus, the first target corresponding to the weight of the shift lever 11 required in each range. Set the value.

  Similarly, if each range has a different friction value and stops at an intermediate position between R and P, it is okay to push the shift lever 11 into position P with a strong force. When stopping at the position, if the shift lever 11 is pushed too strongly to the position D, the shift lever 11 may go over the position D to the position N.

  In this way, since there is an optimum way to push the shift lever 11 in each range, the second target value Ta2 is set accordingly.

  In this third embodiment, the torque target value Ta is decreased from the first target value Ta1 to the second target value Ta2, but conversely, the torque target value Ta is switched to a second target value higher than the first target value Ta1. May be increased.

  In this way, when the hand is released from the shift lever 11 at a position immediately before overcoming the cam crest 61A, the torque sensor value detected by the torque sensor 30 decreases and the torque target value Ta increases. The value obtained by subtracting the target value Ta is negative. Therefore, the shift lever 11 is assisted in the reverse direction and returned to the original position, and the shift lever 11 is similarly prevented from stopping at an intermediate position between positions due to friction.

  Further, when the shift lever 11 is pushed toward the next position without releasing the hand when the shift lever 11 reaches a predetermined immediately preceding position, a value obtained by subtracting the torque target value Ta from the torque sensor value is obtained. By becoming negative, a large braking force is applied to the operation direction of the shift lever 11. That is, when the detent pin 62 shown in FIG. 3 goes over the cam crest 61A toward the trough 61b, a large braking force is applied. It can prevent giving.

  Further, when the torque target value Ta is gradually increased exponentially, if the hand is released from the shift lever 11 at a position immediately before overcoming the cam crest 61A, the shift lever 11 is caught by the gate. Even so, the shift lever 11 returns to the previous position without stopping in the middle.

It is explanatory drawing which showed schematically the structure of the automatic transmission for vehicles which concerns on this invention. It is the perspective view which showed the structure of the actuator unit. It is the perspective view which showed the structure of the range switching mechanism. It is the block diagram which showed the structure of the controller unit of 1st Example. It is the graph which showed the relationship between a torque sensor value, a target value, and an integral value. It is the block diagram which showed the structure of the controller unit of 2nd Example. It is the flowchart which showed operation | movement of the controller unit of 2nd Example. It is the graph which showed the relationship between the position of a shift lever, and a position detection signal value. It is the table | surface which showed that the initial value was set for every position. It is the graph which showed the relationship between the torque sensor value of 2nd Example, a torque target value, and an integral value. It is the block diagram which showed the structure of the controller unit of 3rd Example. It is the graph which showed the relationship between the torque sensor value of 3rd Example, a torque target value, and an integral value. It is the flowchart which showed operation | movement of the controller unit of 3rd Example.

Explanation of symbols

30 Torque sensor 41 Position meter 47 Adder 49 Integrator M Motor

Claims (6)

A shift lever that is provided so as to be operable at a plurality of positions and switches the range of the automatic transmission by operating and moving to each position, an operating force detection means that detects an operating force of the shift lever, and a movement of the shift lever A vehicle comprising position detection means for detecting a position, a motor for assisting the operation of the shift lever based on a detection signal detected by the operating force detection means and a movement position of the shift lever detected by the position detection means An automatic transmission device assist control method,
Wherein when the shift lever is moved toward the next position, Pull insert the preset torque target value from the detection signal value the operating force detecting means for detecting,
In this subtraction, the torque target value is increased from a predetermined low initial value to a first target value higher than the initial value with the passage of time to obtain the subtraction value,
Integrate this subtraction value,
An assist control method for an automatic transmission for a vehicle, wherein the movement operation of the shift lever is assisted based on the integrated value. 2. The vehicle automatic according to claim 1 , wherein when the shift lever reaches a predetermined position, the torque target value that has become the first target value is set to a second target value that is lower than the first target value. An assist control method for a transmission. 2. The vehicle automatic according to claim 1 , wherein when the shift lever reaches a predetermined position, the torque target value that has become the first target value is set to a second target value that is higher than the first target value. An assist control method for a transmission. The assist control method for an automatic transmission for a vehicle according to claim 2, wherein when the target torque value that has become the first target value is set to the second target value, the target torque value is gradually decreased as time elapses . 4. The assist control method for an automatic transmission for a vehicle according to claim 3, wherein when the target torque value is set to a second target value higher than the first target value, the target torque value is gradually increased as time elapses . Assist control method for a vehicular automatic transmission according to claim 4 or claim 5 degree at the time of increasing or decreasing the target torque value, characterized in that varies depending on the position and operation directions of the shift lever.

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