JP4766099B2 - Vehicle control device - Google Patents

Vehicle control device Download PDF

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JP4766099B2
JP4766099B2 JP2008274463A JP2008274463A JP4766099B2 JP 4766099 B2 JP4766099 B2 JP 4766099B2 JP 2008274463 A JP2008274463 A JP 2008274463A JP 2008274463 A JP2008274463 A JP 2008274463A JP 4766099 B2 JP4766099 B2 JP 4766099B2
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shift
gear stage
speed
virtual
gear
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JP2009052563A (en
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清二 桑原
正人 甲斐川
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トヨタ自動車株式会社
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect

Description

  The present invention relates to a control device for a vehicle equipped with a stepped automatic transmission, and more particularly to a control device for avoiding a shift shock in a driving force request type control.

  In a vehicle equipped with an engine and an automatic transmission that can control engine output torque independently of the driver's accelerator pedal operation, it is calculated based on the driver's accelerator pedal operation amount, vehicle driving conditions, etc. Furthermore, there is a concept of “driving force control” that realizes a positive and negative target driving force by an engine torque and a transmission gear ratio of an automatic transmission. In addition, control methods called “driving force request type”, “driving force demand type”, “torque demand method”, and the like are similar to this.

  In this driving force control, the target driving force of the vehicle is obtained based on the driver's accelerator pedal operation and the vehicle speed, and the gear stage (speed ratio) and the engine torque are controlled so that the target driving force is achieved. Here, the engine torque has a throttle opening necessary for outputting the target driving force set for each gear as a map, and is set thereby. At the time of shifting, shock is reduced by controlling the timing in consideration of the responsiveness of each control so that the switching of the shift stage (start of actual shifting) and the switching of the throttle opening are synchronized.

  In relation to such a technique, Japanese Patent Laid-Open No. 2001-347854 (Patent Document 1) discloses a driving force control device for a vehicle with a stepped automatic transmission that realizes a good shift shock. The driving force control apparatus includes: a first unit that calculates a target driving force; a second unit that calculates a target engine torque from the target driving force and a gear ratio; and a gear ratio that is applied to calculate the target engine torque. And a third means for using an actual speed ratio calculated from the input / output rotation speed during the speed change, using a speed ratio determined from the speed stage except during the speed change.

According to this driving force control device, when the control is executed as the speed ratio is switched, the target engine torque can be gradually changed during the speed change according to the actual speed ratio. For example, it is possible to eliminate the occurrence of torque pulling and to improve the shift shock. In addition, if the actual gear ratio calculated from the input / output rotational speed is used, the increase in the shock due to sensor abnormality or the change in the calculated value due to the release of the one-way clutch (hereinafter sometimes referred to as a one-way clutch or OWC) Although the possibility of a phenomenon is conceivable, the actual speed ratio is limited to a necessary minimum, and the speed ratio determined from the gear stage is used except during the gear shift, so that the phenomenon of deterioration of vehicle shock can be avoided. As a result, since the friction element of the transmission is slipping during a shift, even if the engine torque increases rapidly, not all of the increase appears in the output torque. For example, input exceeding the clutch capacity of the friction element can be transmitted. However, the slip is merely increased and a temporary shock is generated, but the shock can be absorbed by the slip of the clutch. Even during the shift, the gear ratio determined from the gear position is used without using the actual gear ratio until the gear ratio changes due to the start of the inertia phase. In this way, the engine torque is not changed at the beginning of the inertia phase, and the engine torque is changed after the inertia phase has surely progressed. Therefore, it is possible to prevent deterioration of the shift shock, delay of the change, and the like.
JP 2001-347854 A

  In the above publication, an actual speed ratio calculated based on the input / output rotational speed of the transmission is used (= the input shaft rotational speed of the transmission) while using the speed ratio determined from the gear stage except during the gear shifting. Torque to be output by the engine (internal combustion engine) is calculated using (turbine rotational speed) / output shaft rotational speed of the transmission).

  By the way, generally, a one-way clutch that transmits a driving force only in one direction is provided in the transmission. As described above, when the torque to be output by the engine is calculated, there is a divergence between the gear ratio determined based on the gear position and the actual gear ratio when the one-way clutch is disengaged. May occur, and a sudden change may occur in the engine torque when the gear ratio to be used is switched accordingly, and a shock may occur. Further, if engine torque control is performed using the actual gear ratio during gear shifting, engine torque control during gear shifting may not be stable due to rotational speed fluctuations and sensor detection accuracy.

  However, in the above-mentioned publication, in view of such a problem, torque control of the engine that is a power source of the vehicle is not executed.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to accurately set a target torque output from a power source required at the time of shifting in a vehicle equipped with a stepped automatic transmission. An object of the present invention is to provide a vehicle control device that calculates and suppresses a shift shock due to torque fluctuation.

  According to a first aspect of the present invention, a vehicle control apparatus controls a vehicle including a stepped automatic transmission. The vehicle control apparatus calculates a shift progress degree calculating means for calculating a shift progress degree during the shift of the automatic transmission, and calculates a virtual gear ratio based on the shift progress degree and the speed ratio before and after the shift. Virtual gear ratio calculating means, and target torque calculating means for calculating a target torque of the power source of the vehicle based on the virtual gear ratio.

  According to the first invention, for example, the degree of progress of the shift in the inertia phase is calculated as the shift progress, and the virtual speed ratio is calculated so as to correspond to the shift progress. In this way, if the progress of the shift is not advanced, a virtual gear ratio that reflects the gear ratio before the shift is calculated more greatly, and if the progress of the shift is advanced, the gear ratio after the shift is reflected more greatly. The calculated virtual gear ratio is calculated. Since the target torque is calculated based on the virtual gear ratio in the continuous inertia phase by interpolating the gear ratio before and after the gear shift in this way, the target torque can be continuously changed. For this reason, the shock resulting from the change of the torque from a motive power source can be absorbed. In particular, since the continuous virtual gear ratio is used, the target torque can be continuously changed even when the one-way clutch is idling. As a result, in a vehicle equipped with a stepped automatic transmission, it is possible to accurately calculate a target torque output from a power source required at the time of shifting, and to suppress shift shock due to torque fluctuations. An apparatus can be provided.

  In addition to the configuration of the first invention, the vehicle control device according to the second invention further includes input rotation speed detection means for detecting the input rotation speed of the automatic transmission. The shift progress calculation means includes means for calculating the shift progress based on the detected input rotation speed and the synchronized rotation speed after the shift.

  According to the second invention, in the inertia phase after the torque phase, the input rotational speed of the automatic transmission (in many cases, the turbine rotational speed of the torque converter) becomes the synchronous rotational speed of the speed ratio after the shift. Change towards (decrease if upshift, increase if downshift). In accordance with the state of change in the input rotational speed, a shift change degree that continuously changes is calculated. When such a continuous shift progress is used, a continuous virtual gear ratio can be calculated and the target torque can be continuously changed. For this reason, the shock resulting from the change of the torque from a motive power source can be absorbed.

  In the vehicle control device according to the third aspect of the invention, in addition to the configuration of the second aspect, the shift progress calculation means detects the differential rotation between the input rotation speed before the shift and the synchronous rotation speed after the shift. Means for calculating the shift progress degree based on the ratio of the differential rotation between the input rotation speed and the synchronized rotation speed after the shift.

  According to the third invention, it is possible to calculate how much the input rotational speed has changed from the input rotational speed before the shift to the synchronous rotational speed after the shift as the shift progress degree. Since there is only one sensor for detecting the input rotational speed, it does not include an error in detection accuracy between the sensors, so that the shift progress can be accurately calculated.

  In the vehicle control apparatus according to the fourth aspect of the invention, in addition to the configuration of any one of the first to third aspects, the shift progress calculation means is shifting from the start of the inertia phase to the end of the shift in the automatic transmission. Means for detecting that there is a shift and calculating a shift progress degree are included.

  According to the fourth aspect of the invention, the target torque of the power source is calculated on the assumption that shifting is in progress from the start of inertia phase to the end of shifting in the automatic transmission. For example, when calculating the target torque of the power source from the target driving force, the change in the target torque due to the difference in gear ratio is changed in the inertia phase. For this reason, since the target engine torque is changed during the inertia phase to change the torque output from the engine, it is possible to absorb the shock caused by the change of the engine torque by the shift control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

A vehicle power train including the control device according to the present embodiment will be described. The control device according to the present embodiment is realized by an ECU (Electronic Control Unit) 1000 shown in FIG. In the present embodiment, the automatic transmission is described as having a planetary gear type reduction mechanism equipped with a torque converter. A vehicle equipped with an engine as a power source for driving the vehicle will be described.

  As shown in FIG. 1, the power train of this vehicle includes an engine 100, a torque converter 200, an automatic transmission 300, and an ECU 1000. The output shaft of engine 100 is connected to the input shaft of torque converter 200. Engine 100 and torque converter 200 are connected by a rotating shaft. Therefore, output shaft speed NE (engine speed NE) of engine 100 detected by engine speed sensor 400 and input shaft speed (pump speed) of torque converter 200 are the same.

  The torque converter 200 includes a lock-up clutch 210 that directly connects the input shaft and the output shaft, a pump impeller 220 on the input shaft side, a turbine impeller 230 on the output shaft side, and a one-way clutch 250. And a stator 240 that exhibits an amplification function. Torque converter 200 and automatic transmission 300 are connected by a rotating shaft. An output shaft rotational speed NT of the torque converter 200 (turbine rotational speed NT = input shaft rotational speed NIN of the automatic transmission 300) is detected by a turbine rotational speed sensor 410. The output shaft rotational speed NOUT of the automatic transmission 300 is detected by the output shaft rotational speed sensor 420.

  FIG. 2 shows an operation table of the automatic transmission 300. According to the operation table shown in FIG. 2, the clutch elements (C1 to C4 in the figure), the brake elements (B1 to B4), and the one-way clutch elements (F0 to F3) that are friction elements are in any gear. Shows what is combined and released. At the first speed used when the vehicle starts, the clutch element (C1) and the one-way clutch elements (F0, F3) are engaged.

  For example, a clutch-to-clutch shift (upshift) occurs in the case of an upshift from the second speed to the third speed in this figure. Similarly, a shift (upshift) in which the one-way clutch rotates idly occurs in the case of the first-speed to second-speed upshift in this figure.

  The ECU 1000 that controls these power trains includes an engine ECU 1010 that controls the engine 100 and an ECT (Electronic Controlled Automatic Transmission) _ECU 1020 that controls the automatic transmission 300.

  The ECT_ECU 1020 receives a signal representing the turbine rotational speed NT from the turbine rotational speed sensor 410 and a signal representing the output shaft rotational speed NOUT from the output shaft rotational speed sensor 420. Further, ECT_ECU 1020 receives from engine ECU 1010 a signal representing engine speed NE detected by engine speed sensor 400 and a signal representing throttle opening detected by the throttle position sensor.

  These rotation speed sensors are provided to face the teeth of the rotation detection gear attached to the input shaft of torque converter 200, the output shaft of torque converter 200, and the output shaft of automatic transmission 300. These rotational speed sensors are sensors that can detect slight rotations of the input shaft of the torque converter 200, the output shaft of the torque converter 200, and the output shaft of the automatic transmission 300. This is a sensor using a magnetoresistive element.

  A solenoid control signal is output from the ECT_ECU 1020 to the linear solenoid of the automatic transmission 300. The clutch elements (C1 to C4), the brake elements (B1 to B4), and the one-way clutch elements (F0 to F3) shown in FIG. 2 are engaged or released. For example, at the time of downshift from 6th gear to 5th gear, the engagement pressure is controlled so that the clutch C3 is engaged from the disengagement, and the engagement pressure is controlled so that the brake B2 is disengaged from the engagement. Actually, the ECT_ECU 1020 outputs a solenoid control signal to the linear solenoid valve of the hydraulic circuit. The ECT_ECU 1020 calculates a target hydraulic pressure (hydraulic pressure that realizes a target engagement pressure) to be described later, calculates the hydraulic pressure to the hydraulic servo based on the target hydraulic pressure, and outputs the hydraulic pressure to the solenoid valve.

  The hydraulic circuit has, for example, two linear solenoid valves, and switches a transmission path of a planetary gear unit of an automatic transmission to achieve a plurality of friction engagement elements (clutch and clutch) that achieves six forward speeds and one reverse speed. A plurality of hydraulic servos for engaging and releasing the brake). Further, the solenoid modulator pressure is supplied to the input port of the linear solenoid valve, and the control hydraulic pressure from the output port of each linear solenoid valve is supplied to the control oil chamber of the pressure control valve. In the pressure control valve, the line pressure is supplied to each input port, and the pressure regulation from the output port regulated by the control hydraulic pressure is appropriately supplied to each hydraulic servo via the shift valve.

  Such a hydraulic circuit is an example, and actually, a number of hydraulic servos are provided corresponding to the automatic transmission, and a number of shift valves for switching the hydraulic pressure to these hydraulic servos are also provided. The hydraulic servo also has a piston that is oil-tightly fitted to the cylinder by an oil seal, and the piston resists the return spring based on the pressure adjustment hydraulic pressure from the pressure control valve acting on the hydraulic chamber. To contact the outer friction plate and the inner friction material. The friction plate and the friction material are the same for the brake as well as the clutch.

  Further, ECT_ECU 1020 detects a shift state executed based on the shift command signal, and transmits a target engine torque signal to engine ECU 1010. Based on this target engine torque signal, engine ECU 1010 calculates the throttle opening so that the target torque is output from engine 100, and outputs the target throttle opening signal to the actuator (stepping motor or the like) of the throttle valve of engine 100. Is output.

  With reference to FIG. 3, a control structure of a program executed in ECT_ECU 1020 which is the control apparatus according to the present embodiment will be described.

  In step (hereinafter, step is abbreviated as S) 100, ECT_ECU 1020 determines whether it is in a steady state (not in a gear shift) or in a gear shift. This determination is made based on a shift command signal input to the ECT_ECU 1020, or based on the throttle opening and the vehicle speed of the engine 100 based on an automatic shift diagram. If it is constant (when it is steady at S100), the process proceeds to S200. If not (shifting in S100), the process proceeds to S300.

  In S200, ECT_ECU 1020 substitutes (sets) the current gear for the virtual gear.

  In S300, ECT_ECU 1020 determines whether or not the inertia phase has started. This determination is made based on the rotation speed signal input to ECT_ECU 1020. If it is before the start of the inertia phase (YES in S300), the process proceeds to S400. If not (NO in S300), the process proceeds to S500.

  In S400, ECT_ECU 1020 substitutes (sets) the pre-shift gear stage for the virtual gear stage.

  In S500, ECT_ECU 1020 substitutes (sets) the post-shift gear stage for the virtual gear stage. However, in a multiple shift (when a shift command is further generated during shift control), during the inertia phase in the previous shift command (NO in S300), the subsequent shift command is not changed without changing the virtual gear stage. The virtual gear stage is held until the inertia phase at.

  Note that the virtual gear stage is determined by the processes of S100 to S500. Further, the pre-shift gear stage is determined by the following processes of S600 to S800.

  At S600, ECT_ECU 1020 determines whether it is in a steady state (not during a shift) or during a shift. If it is regular (when S600 is steady), the process proceeds to S700. If not (shifting in S600), the process proceeds to S800.

  In S700, ECT_ECU 1020 substitutes (sets) the virtual gear stage for the pre-shifting gear stage.

  In S800, ECT_ECU 1020 substitutes (sets) the value before the change of the virtual gear stage for the gear stage before the shift.

  In S900, ECT_ECU 1020 calculates shift progress rate α. This shift progression degree α is calculated by α = (NT−NOGEAR) / (NT−NOGEAR at the start of shift), where NT is the turbine rotation speed and NOREAR is the synchronous rotation speed after the shift calculated in the virtual gear stage. .

  In S1000, ECT_ECU 1020 calculates a virtual gear ratio. This virtual gear ratio is obtained by assuming that KGEAR (1) is a gear ratio calculated from the gear before shifting, and KGEAR (2) is a gear ratio calculated by the virtual gear. Virtual gear ratio = KGEAR (1) × α + KGEAR (2) × ( 1-α).

  In S1100, ECT_ECU 1020 calculates target engine torque targetTE. The target engine torque targetTE is calculated by the driving force F × tire radius / differential gear ratio / virtual gear ratio / torque converter 200 torque ratio. The target engine torque targetTE is calculated by the processing of S1100, but the equation (conversion equation) for calculating the engine torque targetTE is commonly used both during the steady state during the shift and during the shift. .

  The operation of the vehicle equipped with ECT_ECU 1020, which is the control device according to the present embodiment, based on the above-described structure and flowchart will be described separately for the state of automatic transmission 300. In the following description, a simple shift (non-multiple shift) will be described first. An example of the timing chart at the time of this simple shift is shown in FIG.

[Before starting the inertia phase by upshifting from 2nd gear to 3rd gear]
Since the gear is being shifted (shifting at S100) and before the start of the inertia phase (the torque phase before time T (1) in FIG. 4 and YES at S300), the gear stage before the shift Is set as the virtual gear stage (S400). Furthermore, since the gear is being changed (during the gear change in S600), the value before the change of the virtual gear (second gear) is set to the gear before the gear change (S800).

  Since it is before the start of the inertia phase, there is no change in the turbine rotational speed NT (NT at the start of the shift = current NT), and the shift progress degree α is calculated as 1 (S900).

  Since the shift progress rate α is 1, the virtual gear ratio is KGEAR (1) (gear ratio calculated from the gear stage before the shift (second speed)) (S1000).

As a result, the target engine torque targetTE is equal to the driving force F × tire radius / differential gear ratio / virtual gear ratio (depending on the pre-shift gear stage of the virtual gear stage) before the inertia phase starts with the upshift from the second speed to the third speed. Calculated gear ratio) / torque ratio of torque converter 200.

[After starting the inertia phase by upshifting from 2nd gear to 3rd gear]
Since the gear is being shifted (shifting at S100) and not before the start of the inertia phase (the inertia phase after time T (1) in FIG. 4 and NO at S300), the gear stage after the gear shift A certain third speed is set as a virtual gear stage (S500). Further, since the gear is being changed (during the gear change in S600), the value before the change of the virtual gear stage (third speed) is set in the gear stage before the shift (S800).

  Since it is after the start of the inertia phase, the turbine rotational speed NT has changed (it has gradually decreased from the NT at the start of the shift to the current NT), so that the shift progress rate α is between 1 and 0. Calculated as a value (S900). As the inertia phase progresses, an upshift is assumed, so that the current turbine speed NT decreases, so the shift progress rate α decreases from 1 to 0.

  Since the shift progression degree α is 1 to 0, the virtual gear ratio is KGEAR (1) (= gear ratio calculated from the gear stage before shifting (second speed)) × α + KGEAR (2) (= virtual gear stage (third speed) ) (Gear ratio calculated)) × (1−α). Accordingly, the gear ratio in the inertia phase is calculated as the virtual gear ratio by interpolating the speed ratio of the second speed and the speed ratio of the third speed (S1000).

  As a result, after the inertia phase is started by the upshift from the second speed to the third speed, the target engine torque targetTE is calculated as follows: driving force F × tire radius / differential gear ratio / virtual gear ratio (second speed gear ratio and third speed The gear ratio calculated based on the speed ratio and the speed change degree α) / the torque ratio of the torque converter 200.

  Further, when the inertia phase proceeds, the turbine rotational speed NT reaches the third synchronous rotational speed (time T (2) in FIG. 4). This upshift is completed. At this time, since the turbine rotational speed NT = synchronous rotational speed NOGEAR, the shift progress rate α is zero.

  As described above, the ECU that is the control device according to the present embodiment changes the engine torque due to the difference in gear ratio in the inertia phase when calculating the target engine torque from the target driving force. did. For this reason, since the target engine torque is changed during the inertia phase to change the torque output from the engine, it is possible to absorb the shock caused by the change of the engine torque by the shift control. Furthermore, by calculating the virtual gear ratio even during shifting (inertia phase), engine torque changes continuously in the inertia phase (if the target driving force is continuous), so the target engine torque Can also be changed continuously. For this reason, the shock resulting from the change of engine torque can be absorbed. Furthermore, during the inertia phase, the virtual gear ratio is changed in accordance with the change in the turbine speed in the inertia phase. That is, the virtual gear ratio before and after the shift is interpolated using the ratio between the turbine rotation speed NT at the start of the inertia phase and the target rotation speed (synchronous rotation speed) after the shift. Since the virtual gear ratio during the shift is calculated by interpolating the gear ratio before and after the shift, the virtual gear ratio changes continuously. For this reason, especially when the one-way clutch is idling, the gear ratio can be continuously changed.

  From another point of view, by using the same equation for converting the target driving force to the target engine torque at the time of steady state (not during gear shifting) and during gear shifting, for example, the result of mediating the unit with driving force The result of arbitrating the unit with the engine torque can be the same arbitration result regardless of whether the unit is in a steady state or during a shift, and the restriction on which unit is used for arbitration is relaxed.

[Multi-shift]
With reference to FIG. 5, the state in which the virtual gear stage is maintained in the case of multiple shifts will be described. FIG. 5 shows the case of multiple downshifts.

  From time T (3) to time T (4), a virtual gear set separately from the control command gear is held at a constant gear. This is because when the shift control previously generated in the multiple shift is in the inertia phase (the turbine rotational speed NT is changing) (shifting in S100, NO in S300), the setting of the virtual gear stage is multiple. The shift control generated later in the shift is maintained until the inertia phase is entered.

  In this way, since the virtual gear stage used for calculating the virtual gear ratio is not held and changed, it is possible to prevent an unnecessary change in the driving force from occurring except during the inertia phase. That is, during multiple shifts, by changing the virtual gear stage for calculating the virtual gear ratio for each inertia phase, the change in the virtual gear ratio becomes continuous, and the change in the target engine torque continues. Thus, it is possible to avoid a torque step that occurs when the inertia phase is switched.

  As described above, according to the ECU that is the control device according to the present embodiment, in the vehicle including the stepped automatic transmission, the virtual gear ratio that continuously changes during the inertia phase is used. Calculate the target engine torque. In addition, the conversion formula from the target driving force to the target engine torque is processed using the same formula at the time of shifting and at the steady time. For this reason, the engine torque can be changed smoothly, and a shock at the time of shifting is avoided.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a control block diagram of the automatic transmission according to the embodiment of the present invention. It is an operation | movement table | surface of the automatic transmission shown in FIG. It is a figure which shows the control structure of the program of the target engine torque calculation process performed with ECU. FIG. 4 is a timing chart (No. 1) when the program shown in the flowchart of FIG. 3 is executed. FIG. 4 is a timing chart (No. 2) when the program shown in the flowchart of FIG. 3 is executed.

Explanation of symbols

  100 engine, 200 torque converter, 210 lock-up clutch, 220 pump impeller, 230 turbine impeller, 240 stator, 250 one-way clutch, 300 automatic transmission, 310 input clutch, 400 engine speed sensor, 410 turbine speed sensor, 420 Output shaft rotational speed sensor, 1000 ECU, 1010 engine ECU, 1020 ECT_ECU.

Claims (8)

  1. A vehicle control device equipped with a stepped automatic transmission,
    The gear stage formed at a steady time when no shift occurs in the automatic transmission is set to a virtual gear stage, and during the shift of the automatic transmission, one of the gear stages before and after the shift is set according to the progress of the shift. Virtual gear stage setting means for setting the virtual gear stage to the virtual gear stage;
    A pre-shifting gear stage setting means for setting a pre-shifting gear stage based on the virtual gear stage according to whether or not a shift is in progress
    Virtual speed ratio calculating means for calculating a virtual speed ratio based on the speed ratio of the pre-shift gear stage, the speed ratio of the virtual gear stage, and the degree of shift progress;
    And a target torque calculating means for calculating a target torque of a power source of the vehicle based on the virtual gear ratio.
  2.   The virtual gear stage setting means sets the gear stage formed during the steady state to the virtual gear stage, sets the gear stage before the shift to the virtual gear stage during the shift and before the start of the inertia phase, The vehicle control device according to claim 1, wherein after the start of the inertia phase, the post-shift gear stage is set to the virtual gear stage.
  3. The pre-shift gear setting means sets the set virtual gear to the pre-shift gear in the steady state, and sets the value before the change of the virtual gear currently set during the shift before the shift. The vehicle control device according to claim 1, wherein the vehicle control device is set to a gear stage.
  4.   The virtual gear ratio calculating means calculates the virtual gear ratio by weighting the gear ratio of the pre-shift gear stage and the gear ratio of the virtual gear stage based on the shift progress degree. The vehicle control device according to claim 1.
  5. The vehicle control device comprises:
    A shift progress calculating means for calculating the shift progress during shifting of the automatic transmission;
    An input rotation speed detecting means for detecting an input rotation speed of the automatic transmission;
    The speed change progress calculation means includes means for calculating the speed change progress based on the detected input rotational speed and the synchronized rotational speed after the speed change. The vehicle control device described.
  6.   The shift progress calculation means is based on a ratio of a differential rotation between the detected input rotation speed and the synchronous rotation speed after the shift to a differential rotation between the input rotation speed before the shift and the synchronous rotation speed after the shift. The vehicle control device according to claim 5, further comprising means for calculating the shift progress degree.
  7.   The speed change progress calculation means includes means for detecting the speed change from an inertia phase start to a speed end in the automatic transmission and calculating the speed change progress. Vehicle control device.
  8. The virtual gear ratio calculating means includes
    Means for calculating the virtual gear ratio based on a virtual gear stage that estimates a gear stage after a shift;
    When the first shift control that has occurred first is in the inertia phase during the multiple shift in which the first and second shift controls are successively executed, the second shift control that is generated later enters the inertia phase. The vehicle control device according to any one of claims 1 to 7, further comprising: means for holding the virtual gear stage.
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