JPS63167040A - Vehicle traveling control device - Google Patents

Abstract

PURPOSE:To make it possible to perform responsible control correspondingly with variety in weight of a vehicle, by controlling the opening of a throttle valve, according to the deviation of actual output shaft torque from the desired torque, calculated from environmental influence torque got in consideration of traveling condition quantity and weight of the vehicle. CONSTITUTION:Desired traveling condition quantity of a vehicle is calculated by a calculating means 1, according to the operating quantity of an accelerator, and environmental influence torque is calculated by a calculating means 2, according to the difference between said desired traveling condition quantity and actual traveling condition quantity, and weight of the vehicle. Actual output shaft torque is calculated by a calculating means 3 from the rotating speed and load of an engine of the vehicle, and desired throttle opening is calculated by a calculating means 4, according to the desired torque calculated from said actual output shaft torque and the environmental influence torque. Then, a throttle valve driving means 5 is controlled by a control means 6, according to the difference between said desired throttle opening and actual throttle opening. Weight of the vehicle is calculated by a calculating means 8, according to the output of a ground clearance sensor 7.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a travel control device with good responsiveness and less overshoot.

(Prior art) In a vehicle equipped with an automatic transmission, vehicle speed and acceleration are set as target driving state quantities based on the amount of depression of the accelerator pedal, and the intake air of the engine is set to reach the target acceleration, etc. A system has been developed that electronically controls the throttle valve (or fuel injection amount control power banner for diesel vehicles) installed in the passageway, and it is also possible to manually set the target vehicle speed instead of pressing the accelerator pedal. Auto speed control is known. Such conventional devices perform feedback control by comparing target acceleration, etc. with actually measured acceleration, etc.

Incidentally, the acceleration of a running vehicle is proportional to the margin torque, and the greater the margin torque, that is, the torque value obtained by subtracting the running resistance torque from the output shaft torque, the better the acceleration response. but.

If this margin torque is always set to a large value, that is, if the feedback gain coefficient is set to a large value, hunting or overshooting due to vehicle control delay is likely to occur. Therefore, it is effective to adjust the margin torque according to the amount of environmental change applied to the traveling vehicle.

(Problem to be solved by the invention) The amount of environmental change that is applied to a running vehicle is road surface change.

There are changes in rolling resistance, air resistance, and acceleration resistance based on changes in running wind pressure and throttle depression. Therefore, by converting these into torque values and finding them as environment-influenced torques, calculating the target torque from this and the current output shaft torque, and determining the throttle valve opening according to this target torque, it is always optimal for environmental changes. In other words, the responsiveness is good.
Moreover, acceleration characteristics or vehicle speed characteristics with suppressed overshoot etc. can be obtained. However, unless these characteristics are determined based on the accurate determination of the current weight of the vehicle, responsiveness will deteriorate, overshoot will increase, and controllability will deteriorate.

The purpose of the present invention is to always respond to weight changes with good responsiveness,
An object of the present invention is to provide a vehicle travel control device with less overshoot.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention provides a driving state amount calculating means 1 for calculating a target driving state amount of the vehicle based on an accelerator depression amount, as shown in FIG. and environmental influence torque calculation means 2 that calculates an environmental influence torque based on the difference between the target traveling state quantity and the current traveling state quantity and the vehicle weight;
Current output shaft torque calculation means 3 calculates current output shaft torque based on the engine speed and engine load information of the vehicle, and calculates a target throttle opening based on the target torque calculated from the current output shaft torque and the environmental influence torque. a target throttle opening calculation means 4 for calculating the target throttle opening; a throttle valve drive control means 6 for outputting to the throttle valve driving means 5 an output for adjusting the throttle opening by the difference between the target throttle opening and the current throttle opening; The vehicle weight calculation means 8 calculates the weight of the vehicle based on vehicle height information from a vehicle height sensor 7 mounted on the vehicle.

(Function) The vehicle weight calculation means calculates the total weight of the vehicle based on vehicle height information from the vehicle height sensor of the vehicle, and the throttle valve drive control means controls the throttle opening calculated based on the total weight via the throttle valve drive means. The throttle valve can be adjusted at different times.

(Example) The vehicle running control device shown in Fig. 1 supplies fuel by an electronic fuel injection device E (ECI), changes the rotation speed of the engine output shaft by an electronically controlled automatic transmission (ECL), and outputs fuel. It is attached to the engine 11. The running control device of this vehicle is the throttle valve 2.
A so-called wire drive (DBw) method is adopted in which the drive unit 4 is driven to open and close by a step motor 23.

The travel control device detects the amount of depression X of the accelerator pedal 12 with an accelerator position sensor (hereinafter simply referred to as APS sensor) 13, detects vehicle speed information with a select switch 14, and detects vehicle speed information with two front and rear vehicle height sensors 17 and 18. Front and rear vehicle height information is detected, and the brake switch 19 turns on the brake, the handbrake switch 20 turns on the handbrake, and the door switch 21 turns the door open.
Detect each.

Furthermore, based on these input signals, the motor control computer 22 calculates the throttle opening θ based on the vehicle height information, and the current throttle opening θ is calculated by the APS sensor 44.
, a motor drive amount ΔD for adjusting this to a target value is calculated, and its output signal is output to the step motor 23. Furthermore, the step motor 23 is
to adjust the throttle valve 24 in the intake passage 25 to the required throttle opening θ.

The fuel injection system (ECI) has an injector 26 attached to the intake passage 25 of the engine 11, and its opening and closing are controlled by an E (J computer 27) serving as a fuel injection amount control means.The ECI computer 27 has an 02 sensor 2.
8. Water temperature sensor 29. Atmospheric pressure sensor 30. Detection signals are input from a vehicle speed sensor 31, an engine rotation sensor 32, and others. Based on these input signals, the ECI computer 27 determines the fuel injection amount, fuel injection timing, etc., and drives and controls the injector 26.

Electronically controlled automatic transmission (ECL)
) is equipped with an ECL computer 34 that controls switching of the automatic transmission 33 to the optimum gear position, and this calculates the optimum gear position based on the gear position information of the select switch 14 and each driving state information from the motor control computer 22.

Two vehicle height sensors 17,18 are mounted as shown in FIGS. 2 and 3. That is, for the front vehicle, the vehicle body is attached to the cross member 35, and the lever 36
A linked rod 37 is attached to the front suspension lower arm 38. For the rear, the main body is attached to a rear floor side member 40, and a rod 42 linked to a lever 41 is attached to a rear suspension lateral rod 43. These front and rear vehicle height sensors 17 and 18 convert relative position changes (vehicle height changes) between the body and the suspension into electrical signals and output them.

As shown in FIG. 2, the acceleration control process of such a vehicle running control device includes a running state quantity calculation means, an environmental influence amount torque calculation means, a current output shaft torque calculation means, a target throttle opening calculation means, and a throttle opening calculation means. This is carried out by a motor control computer 22 that incorporates the functions of a valve drive control means and a vehicle weight calculation means.

The motor control computer 22 is its ROM
Control processing is performed in accordance with the order shown in the flowcharts shown in FIGS. 6, 7, and 8 built into the system. Moreover, the ROM contains various specified values and
Vehicle weight calculation maps for the front and rear sides, as shown in Figure 2, are also stored and processed.

The control processing executed by the motor control computer 22 will be explained below.

When the motor control computer 22 is powered on, it performs initialization such as checking for circuit failures of each input signal, determining whether each signal value is at a reference level, clearing the memory, etc., and calculating the vehicle weight w0 = ( Vehicle weight +65Kg)
The temporary setting value of the vehicle weight is imported. Next, wait for the engine to turn on.

When turned on, it is determined whether the vehicle speed is zero or not. When the speed is zero, the vehicle weight detection process begins, and when the vehicle starts driving, the throttle valve drive process begins.

Next, in the throttle valve driving routine, first, engine speed N, accelerator depression amount X, throttle valve opening θ, and gear information are detected via each sensor 32, 13, 44° 14. Then, while the power transmission state is not entered, the process proceeds to step a3, where the throttle opening θ is determined by multiplying the accelerator depression amount X by a constant a, and the step motor 23 is driven so as to achieve the throttle opening θ'. Return.

When it is determined that the power transmission state has entered in step a2,
Proceeding to step a5, the target acceleration DVS is calculated from the accelerator depression amount X. Then, based on vehicle speed.

This is differentiated to calculate and read the actual acceleration OVA. In addition,
This process may also use a G sensor (not shown).

In step a7, the current output torque TEM is calculated from the current throttle opening O and the engine speed N. Note that the intake air amount A, intake manifold negative pressure, etc. may be used instead of this throttle opening degree θ. Next, in step a8, the target torque value T
Calculate OM according to the formula below.

TOM=w・r/g
-DVA) + TEM Note that □ is a coefficient that takes into account the inertia of the engine, transmission, tires, etc.

When step a9 is reached, the target throttle opening θS
is determined according to the gear stage based on the target torque TOM and the engine speed N. Then, the difference ΔD between the obtained target throttle opening θS and the current throttle opening θ is determined as the step motor drive amount, the step motor 23 is driven by this amount, and the throttle valve 24 is adjusted to the target throttle opening θS. , return.

In the vehicle weight detection routine, first, the stoppage of the vehicle is detected by the output of the vehicle speed sensor 31. If the vehicle is not stopped, the process proceeds to throttle valve drive processing, and if the vehicle is stopped, the process proceeds to step b3. In step b3, the set time T (here, 5 to 10
It is determined whether or not the time period (seconds) has elapsed, and if NO, the process returns to step b1, and if YES, the process proceeds to step b4. Here, if the door is not closed from the door switch 21, step bl
, if it is closed, proceed to step b5.

In step b5, the detection signals of the front and rear vehicle height sensors 17 and 18 are taken in, and the current vehicle height value is written into a predetermined area in the memory. After this, the previous vehicle height 1 + Fn,
HRn and current vehicle height) IFn+l, t(Rn+l
It is determined whether the difference between the vehicle height and the vehicle height is less than the specified value L, L2, that is, whether the change in vehicle height is within the specified level.If the change in vehicle height is large, the process proceeds to step b7, where the previous vehicle height value is cleared, and step b1 Return to On the other hand, when the change in vehicle height is small, the process proceeds to step b8, where the previous and subsequent vehicle height values HFi and HRi are taken in N times to calculate the current average vehicle height values HFA and HRA.

After that, call up the front and rear vehicle weight calculation maps as shown in Figures 5(a) and (b), and calculate the current average vehicle height HFA.
, Calculate the front and rear loads WF and WR according to the HRA.

Thereafter, the vehicle weight WA is obtained by adding the front and rear loads, and this value is replaced in a predetermined area in the memory as the current vehicle weight W, and the process returns.

The driving control device of the vehicle described above controls the amount of depression of the accelerator pedal
The driver's intention to accelerate is determined based on the driver's intention to accelerate, and changes in the total weight of the current vehicle are accurately read through vehicle weight detection processing using the vehicle height. Acceleration operation can be performed using the following vehicle acceleration patterns. That is,
The acceleration feeling that corresponds to the driver's intention to accelerate becomes independent of changes in vehicle weight, improving acceleration controllability and achieving easy driving.

Although the vehicle travel control device described above has been explained as an acceleration control device, the present invention can be applied as a vehicle height control device instead.

(Effects of the Invention) According to the vehicle running control device of the present invention, it is possible to read changes in vehicle weight using a vehicle height sensor and incorporate the torque corresponding to the converted amount into the target torque value, thereby controlling acceleration/deceleration and It has good responsiveness to changes in vehicle speed, little overshoot, and allows for so-called easy driving.

[Brief explanation of the drawing]

Fig. 1 is an overall configuration diagram of a vehicle running control device as an embodiment of the present invention, Fig. 2 is a block diagram of the same device, and Figs. 3 and 4 are each of front and rear vehicles used in the above device. Perspective views illustrating the installation state of the high sensor, Figures 5 (a) and (b)
) are vehicle weight calculation maps built into the computer in the same device, Figures 6 and 7. FIG. 8 shows flowcharts representing the control processing of the computer in the same apparatus. DESCRIPTION OF SYMBOLS 1... Running state amount calculation means, 2... Environmental influence torque calculation means, 3... Current output shaft torque calculation means, 4...
Target throttle opening calculation means, 5... Throttle valve drive means, 6... Throttle valve drive control means, 7, 17
．． 18...Vehicle height sensor, 8...Vehicle weight calculation means, 1
1...Engine, 22...Motor control computer. Qi (Figure 2 Figure 2 Figure Su Figure 4 Figure HFA H to A Figure 6 Figure 7

Claims (1)

[Claims] a driving state quantity calculation means for calculating a target driving state quantity of the vehicle based on the amount of accelerator depression; and an environmental influence torque calculating means for calculating an environmental influence torque based on the difference between the target driving state quantity and the current driving state quantity and the weight of the vehicle. a calculation means, a current output shaft torque calculation means for calculating a current output shaft torque based on the engine speed and engine load information of the vehicle, and a target throttle based on the target torque calculated from the current output shaft torque and the environmental influence torque. a target throttle opening calculation means for calculating the opening; a throttle valve drive control means for outputting to the throttle valve driving means an output for adjusting the throttle opening by the difference between the target throttle opening and the current throttle opening; A vehicle running control device comprising: weight calculation means for calculating the weight of a vehicle based on vehicle height information from a vehicle height sensor attached to the vehicle.