WO2013094035A1 - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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- WO2013094035A1 WO2013094035A1 PCT/JP2011/079673 JP2011079673W WO2013094035A1 WO 2013094035 A1 WO2013094035 A1 WO 2013094035A1 JP 2011079673 W JP2011079673 W JP 2011079673W WO 2013094035 A1 WO2013094035 A1 WO 2013094035A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/02—Details
- G05D13/04—Details providing for emergency tripping of an engine in case of exceeding maximum speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/10—Introducing corrections for particular operating conditions for acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0295—Inhibiting action of specific actuators or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
- F02D2200/501—Vehicle speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
- F02D2250/26—Control of the engine output torque by applying a torque limit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D41/222—Safety or indicating devices for abnormal conditions relating to the failure of sensors or parameter detection devices
Definitions
- the present invention relates to a vehicle control device.
- an improper accelerator operation is detected and a warning is issued to the driver.
- the vehicle speed change rate calculated from the detection value of the vehicle sensor, that is, the acceleration change amount is equal to or greater than the determination value. Whether or not the amount of change in acceleration is greater than or equal to a determination value is sometimes warned to the driver.
- a parameter for example, vehicle acceleration
- a parameter for example, vehicle acceleration
- Etc. to suppress the engine output.
- an abnormality occurs in the acceleration detection unit or the detection unit that detects the above parameters, the acceleration and the same parameters cannot be measured accurately. Deficiency occurs in the acceleration, and drivability deteriorates.
- the present invention has been made in view of such conventional circumstances, and an object thereof is to improve drivability.
- a vehicle control apparatus uses an acceleration detection unit that detects the acceleration of the vehicle, and a detection value of the acceleration detection unit so that the acceleration does not exceed a predetermined threshold. And a control unit that executes an output suppression process for suppressing the output of the prime mover.
- the control unit increases the threshold value and limits the vehicle speed to a predetermined value or less as compared to when no abnormality occurs.
- a process for suppressing the output of the prime mover is performed using the detection value of the acceleration detection unit so that the acceleration of the vehicle does not exceed a predetermined threshold.
- the said threshold value is enlarged when abnormality has arisen in the acceleration detection part, possibility that the acceleration of a vehicle will be restrict
- the vehicle control device is configured around an in-vehicle electronic control unit 1.
- the electronic control unit 1 as a control unit includes a central processing unit (CPU) 1a that performs various arithmetic processes related to vehicle control, a read-only memory (ROM) 1b that stores control programs and data, and arithmetic operations of the CPU 1a.
- a random access memory (RAM) 1c for temporarily storing results and sensor detection results is provided.
- Such an electronic control unit 1 includes sensors and switches provided in various parts of the vehicle, for example, an accelerator pedal sensor 3 that detects an accelerator operation amount ACCP that is a depression amount of an accelerator pedal (accelerator operation member) 2, a vehicle speed (vehicle speed V ) Is detected, and an acceleration sensor 21 as an acceleration detection unit for detecting the acceleration of the vehicle is connected.
- an accelerator pedal sensor 3 that detects an accelerator operation amount ACCP that is a depression amount of an accelerator pedal (accelerator operation member) 2, a vehicle speed (vehicle speed V ) Is detected
- an acceleration sensor 21 as an acceleration detection unit for detecting the acceleration of the vehicle is connected.
- the acceleration detected by the acceleration sensor 21 is referred to as a sensor acceleration SA.
- the electronic control unit 1 is connected to an actuator provided in each part of the vehicle, for example, a throttle motor 9 provided in an intake passage 7 of the engine 6 and driving a throttle valve 8 for adjusting engine output.
- a throttle motor 9 provided in an intake passage 7 of the engine 6 and driving a throttle valve 8 for adjusting engine output.
- the electronic control unit 1 grasps the driving state of the vehicle from the detection result of each sensor and switch.
- the electronic control unit 1 controls the vehicle by outputting a command signal to each actuator according to the grasped driving situation of the vehicle.
- the output of the engine 6 is adjusted by controlling the opening degree of the throttle valve 8 according to the accelerator operation amount ACCP.
- the acceleration of the vehicle also changes according to the accelerator operation amount ACCP. Therefore, the acceleration sensor 21 constitutes a detection unit that detects a parameter indicating the traveling state of the vehicle that changes in accordance with the accelerator operation amount.
- the electronic control unit 1 determines that the accelerator operation amount ACCP satisfies a predetermined condition and the accelerator pedal 2 is strongly depressed as one of various controls, the output of the engine 6 is An output suppression process that suppresses the output in accordance with the amount ACCP is performed.
- the output suppression process is performed in consideration of the slope of the slope.
- FIG. 2 shows the processing procedure of the output suppression control routine performed in this embodiment. This routine is repeatedly executed by the electronic control unit 1 at predetermined intervals.
- this routine When this routine is started, it is first determined whether or not the accelerator operation amount ACCP is greater than or equal to the determination value ⁇ (S100). When the accelerator operation amount ACCP is less than the determination value ⁇ (S100: NO), this routine is temporarily terminated.
- step S110 when the accelerator operation amount ACCP is equal to or larger than the determination value ⁇ (S100: YES), it is determined that the accelerator pedal 2 is strongly depressed, and the processing after step S110 is continued.
- step S110 the target acceleration KAp of the vehicle is set based on the vehicle speed V.
- the target acceleration KAp is set to a predetermined fixed value KAp1.
- the target acceleration KAp is fixed as the vehicle speed V increases. The value is gradually reduced from the value KAp1.
- the target acceleration KAp is set to “0”. Accordingly, when the vehicle speed V exceeds the first vehicle speed V1, the increase in the vehicle speed becomes moderate.
- the vehicle speed V reaches the second vehicle speed V2, the vehicle speed V is maintained at the second vehicle speed V2.
- the target acceleration KAp the vehicle speed V is limited to be equal to or lower than the second vehicle speed V2.
- the acceleration KA is obtained from the differential value of the vehicle speed V.
- step S130 when the acceleration KA is equal to or higher than the target acceleration KAp (S120: YES), output suppression processing after step S130 is performed in order to actually suppress the driving force.
- a feedforward driving force (FF driving force) Pff which is a feedforward control value is calculated (S140).
- the value obtained by multiplying the gradient acceleration GA by the vehicle weight C is defined as the FF driving force Pff.
- the vehicle weight C is a value set in advance for each vehicle type.
- the gradient acceleration GA is a substitute value representing the magnitude of the slope of the slope.
- This is an added value of the gradient acceleration GA and the vehicle acceleration KA.
- the gradient acceleration GA is a value obtained by “g ⁇ sin ⁇ ”, and the value of the gradient acceleration GA increases as the upward gradient increases. Therefore, the gradient acceleration GA can be used as a substitute value representing the magnitude of the uphill gradient.
- the sensor acceleration SA is a value actually measured by the acceleration sensor 21, and the acceleration KA is a value obtained by differentiating the vehicle speed V as described above. Therefore, in this embodiment, the acceleration KA is subtracted from the sensor acceleration SA to calculate the gradient acceleration GA on the uphill.
- the FF driving force Pff described above is a value calculated through feedforward control based on the gradient acceleration GA, and the FF driving force Pff increases as the gradient acceleration GA increases.
- step S150 the target driving force P is calculated by adding the FF driving force Pff to the FB driving force Pfb, and this routine is temporarily terminated.
- the output control of the engine 6 is performed in consideration of the current reduction gear ratio and the like so that the target driving force P is obtained.
- an output suppression process for suppressing the output of the engine 6 is executed using the vehicle parameter that changes in accordance with the accelerator operation amount ACCP, that is, the sensor acceleration SA. More specifically, the output suppression process of the engine 6 is performed using the detection values of the acceleration sensor 21 and the vehicle speed sensor 20 so that the actual acceleration KA does not exceed the target acceleration KAp as a threshold value.
- the degree of suppression of output when this output suppression process is being executed is changed according to the slope of the road surface. More specifically, the FB driving force Pfb is set through feedback control based on a deviation ⁇ KA between the target acceleration KAp of the vehicle set based on the vehicle speed V and the actual acceleration KA of the vehicle. Further, the FF driving force Pff is set through feedforward control so that the FF driving force Pff becomes larger as the slope of the slope is larger and the gradient acceleration GA is larger. Then, an added value of the FB driving force Pfb and the FF driving force Pff is calculated as the target driving force P during execution of the output suppression process. Accordingly, as the road surface gradient increases, the FF driving force Pff increases and the target driving force P also increases. That is, the degree of output suppression when the output suppression process is being executed becomes smaller as the slope of the uphill is larger.
- the output suppression degree when the output suppression process is executed is changed according to the road surface gradient. . Therefore, the output on the slope can be optimized according to the gradient.
- the sensor acceleration SA detected by the acceleration sensor 21 is used to adjust the output of the engine 6 according to the gradient.
- the correct sensor acceleration SA is detected. Can not do. Therefore, the FF driving force Pff corresponding to the gradient cannot be calculated. If the FF driving force Pff cannot be calculated correctly in this way, the output suppression degree becomes excessive or insufficient, and the actual acceleration also becomes excessive or insufficient.
- the vehicle speed sensor 20 cannot determine the traveling direction of the vehicle.
- an abnormality routine of the acceleration sensor 21 shown in FIG. 5 is performed. This routine is also repeatedly executed by the electronic control unit 1 at predetermined intervals.
- the acceleration sensor 21 When this routine is started, it is first determined whether or not there is an abnormality in the acceleration sensor 21 (S200).
- the abnormality determination of the acceleration sensor 21 can be performed by an appropriate method. For example, when the detected value of the acceleration sensor 21 is an abnormal value or when the detected value does not change for an excessively long time, it can be determined that the acceleration sensor 21 is abnormal.
- a value obtained by multiplying the target acceleration KAp set in step S110 of FIG. 2 by a coefficient K is set as a new target acceleration KAp (S210).
- This coefficient K is a value for increasing the target acceleration KAp (making it a larger acceleration), and a value of “1” or more is appropriately set.
- the value of the FF driving force Pff calculated based on the gradient acceleration GA is set to “0” (S230). This process is once terminated.
- the operation of the abnormal routine will be described with reference to FIG. 6 indicates the target acceleration KAp when no abnormality occurs in the acceleration sensor 21, and the alternate long and short dash line indicates the target acceleration KAp when abnormality occurs in the acceleration sensor 21.
- the value of the FF driving force Pff is set to “0”, so that the output control of the engine 6 based on the erroneous gradient acceleration GA is suppressed.
- the target acceleration KAp is made larger than when there is no abnormality.
- the target acceleration KAp is increased in this way, the actual acceleration of the vehicle is likely to be increased, so that drivability deterioration such as insufficient acceleration can be avoided.
- the target acceleration KAp when there is an abnormality in the acceleration sensor 21 is a value obtained by multiplying the target acceleration KAp when there is no abnormality in the acceleration sensor 21 by a coefficient K. Therefore, when the vehicle speed V is equal to or higher than the second vehicle speed V2, the target acceleration KAp is set to “0” regardless of whether the acceleration sensor 21 is abnormal. Therefore, even when an abnormality occurs in the acceleration sensor 21, the vehicle speed V is limited to be equal to or lower than the second vehicle speed V2.
- the present embodiment includes the acceleration sensor 21 that detects the vehicle traveling state that changes according to the accelerator operation amount ACCP, that is, the acceleration of the vehicle, and suppresses the output of the engine 6.
- the sensor acceleration SA detected by the acceleration sensor 21 is used.
- the suppression degree of the output by an output suppression process is made small by enlarging target acceleration KAp compared with the case where it is not so. Accordingly, it is possible to suppress an adverse effect of the abnormality of the acceleration sensor 21 on the output suppression process. Therefore, the actual acceleration excess / deficiency due to the engine 6 output excess / deficiency can be suppressed.
- the target acceleration KAp is increased as compared to when no abnormality occurs, and the vehicle speed V is limited to be equal to or lower than the second vehicle speed V2. Therefore, the possibility that the acceleration of the vehicle is limited more than necessary is reduced, and thereby the drivability deterioration such as insufficient acceleration can be avoided.
- the degree of suppression of output by the output suppression process is reduced. More specifically, the target acceleration KAp is increased.
- the output suppression degree by the output suppression process is made smaller. More specifically, by prohibiting the execution of the output suppression process when the acceleration sensor 21 is abnormal, the output suppression degree by the output suppression process is substantially set to “0”.
- This routine is also repeatedly executed by the electronic control unit 1 at predetermined intervals.
- the acceleration sensor 21 When this routine is started, it is first determined whether or not there is an abnormality in the acceleration sensor 21 (S300).
- the abnormality determination of the acceleration sensor 21 here can also be performed by an appropriate method. For example, when the detected value of the acceleration sensor 21 is an abnormal value or when the detected value does not change for an excessively long time, it can be determined that the acceleration sensor 21 is abnormal.
- step S310 the process of controlling the output of the engine 6 so that the acceleration KA becomes the target acceleration KAp, more specifically, the process related to the calculation of the target driving force P described in the first embodiment. Is stopped, the acceleration control for adjusting the output of the engine 6 is stopped.
- vehicle speed restriction is executed (S330).
- speed restriction control is performed to adjust the output of the engine 6 so that the vehicle speed V is equal to or lower than a predetermined speed (for example, the second vehicle speed V2).
- a predetermined speed for example, the second vehicle speed V2.
- Such a vehicle speed limit is executed when it is determined that the accelerator operation amount ACCP is equal to or greater than the determination value ⁇ and the accelerator pedal 2 is strongly depressed. Further, when the vehicle speed restriction is executed in this way, the present process is once ended.
- the execution of the output suppression process that uses the sensor acceleration SA (more specifically, the gradient acceleration GA) that is a detection value of the acceleration sensor 21 is prohibited.
- Output suppression based on the gradient acceleration GA is prohibited. Therefore, the deterioration of drivability can be avoided because the output suppression level is insufficient and the acceleration becomes excessively large, and conversely the output suppression level is not excessive and the acceleration is insufficient. .
- the acceleration is not reduced based on the erroneous gradient acceleration GA.
- the vehicle speed V may increase excessively.
- the vehicle speed V is limited to be equal to or lower than a predetermined speed. Therefore, it is possible to ensure the driver's sense of security.
- the present embodiment also includes the acceleration sensor 21 that detects the vehicle parameter that changes according to the accelerator operation amount ACCP, that is, the acceleration of the vehicle, and performs the output suppression process that suppresses the output of the engine 6.
- the sensor acceleration SA detected by the acceleration sensor 21 is used.
- the output suppression process is prohibited from being executed, so that the output suppression degree by the output suppression process is set to “0”. Therefore, the adverse effect of the abnormality of the acceleration sensor 21 on the output suppression process can be suppressed more appropriately. For this reason, the actual acceleration excess or deficiency due to the excessive or insufficient output suppression degree of the engine 6 can be further suppressed.
- the output of the engine 6 is gradient-compensated using the detected value of the acceleration sensor 21.
- the execution of the acceleration control including the gradient compensation is prohibited by prohibiting the execution of the output suppression process using the detection value of the acceleration sensor 21. Therefore, the acceleration is not reduced based on the erroneous gradient acceleration GA.
- the output suppression process by controlling the output is prohibited so that the acceleration KA becomes the target acceleration KAp. Therefore, it is set to “0”. Therefore, the adverse effect of the abnormality of the acceleration sensor 21 on the output suppression process can be suppressed, and the actual acceleration excess or deficiency due to the excessive or insufficient output suppression degree of the engine 6 can be suppressed. Therefore, it is possible to suppress the driver's anxiety due to the deterioration of drivability due to excess or deficiency of acceleration or the inability to obtain the intended acceleration, and it is further encouraged to improve drivability and secure a sense of security. .
- each said embodiment can also be changed and implemented as follows.
- the accelerator operation amount ACCP is compared with the determination value ⁇ .
- the target acceleration KAp When setting the target acceleration KAp, as shown in FIG. 3, when the vehicle speed V is less than the first vehicle speed V1 from “0”, the target acceleration KAp is set to a fixed value KAp1. In addition, as shown in FIG. 8, when the vehicle speed V is from “0” to less than the second vehicle speed V2, the target acceleration KAp may be variably set so as to gradually decrease as the vehicle speed V increases. . In this modified example as well, as shown by the alternate long and short dash line, when the acceleration sensor 21 is abnormal, the target acceleration KAp is made larger than when there is no abnormality.
- ⁇ FF driving force Pff was calculated based on the gradient acceleration GA in order to change the degree of suppression of output when the output suppression processing is being executed according to the gradient of the road surface.
- the output shortage in the gradient is compensated by the feedforward control.
- the output suppression degree may be changed according to the road surface gradient in this other mode.
- the target acceleration KAp may be corrected according to the magnitude of the gradient.
- This modification can be realized by providing a correction coefficient HK that increases as the gradient acceleration GA increases, for example, and reflecting this correction coefficient HK in the target acceleration KAp. In the case of this modification, if the correction coefficient HK is set to “1” instead of the process of step S230 shown in FIG. 5, the same effect as the first embodiment can be obtained. can get.
- the output suppression degree may be changed according to the road gradient.
- the feedback gain G used in the feedback control for calculating the FB driving force Pfb may be changed according to the magnitude of the gradient. In this case, it is desirable to variably set the feedback gain G so that the feedback gain G increases as the gradient increases.
- the feedback gain G is prohibited from being variably set and the feedback gain G when the gradient angle is “0 °” is set. By doing so, the same effect as the first embodiment can be obtained.
- the gradient acceleration GA obtained by subtracting the vehicle acceleration KA (KA differential value of the vehicle speed V) from the sensor acceleration SA was used as a substitute value for the slope of the slope, but the slope of the slope is detected in another manner. You may make it do.
- a gradient detection sensor may be provided separately.
- the output of the engine 6 is gradient-compensated by performing the process in step S140.
- the present invention can be similarly applied.
- a control device that performs output suppression processing of the engine 6 using the detection value of the acceleration sensor so that the acceleration of the vehicle does not exceed a predetermined threshold, and a parameter that indicates the vehicle running state that changes according to the accelerator operation amount
- the present invention can be similarly applied to any vehicle control device that has a detection unit for detecting and uses the same parameter when executing the output suppression process for suppressing the output of the engine 6.
- a differential value of the vehicle speed V detected by the vehicle speed sensor 20 can be used as the acceleration of the vehicle, and the vehicle speed sensor 20 can be used instead of the acceleration sensor 21.
- the parameter indicating the vehicle running state that changes according to the accelerator operation amount is the detection value of the acceleration sensor 21 that detects the acceleration of the vehicle, but other parameters may be adopted.
- the amount of change per unit time of the vehicle speed detected by the vehicle speed sensor (the differential value of the vehicle speed) may be calculated, and the calculated value may be used as the same parameter.
- the accelerator operation is performed by depressing the accelerator pedal 2, but the accelerator operation may be performed by an operation other than depressing the pedal.
- an accelerator operation other than the depression of the pedal for example, there are an operation using a hand such as a paddle shift and a voice operation.
- the present invention includes an electric vehicle including a motor as a prime mover, and a motor and an engine as a prime mover.
- the present invention can be similarly applied to a hybrid vehicle.
- SYMBOLS 1 Electronic control unit (1a ... Central processing unit (CPU), 1b ... Read-only memory (ROM), 1c ... Random access memory (RAM)), 2 ... Accel pedal, 3 ... Accel pedal sensor, 6 ... Engine ( Prime mover), 7 ... intake passage, 8 ... throttle valve, 9 ... throttle motor, 20 ... vehicle speed sensor, 21 ... acceleration sensor, 100 ... vehicle.
- CPU Central processing unit
- ROM Read-only memory
- RAM Random access memory
- 2 ... Accel pedal
- 3 Accel pedal sensor
- 6 Engine ( Prime mover)
- 7 ... intake passage
- 8 ... throttle valve
- 9 ... throttle motor
- 20 ... vehicle speed sensor, 21 ... acceleration sensor, 100 ... vehicle.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
以下、本発明の車両の制御装置を具体化した第1実施形態を、図1~図6を参照して説明する。なお、本実施形態の制御装置は、原動機であるエンジン6の出力で駆動力を得るように構成された車両に適用されるものとなっている。
(第2実施形態)
次に、本発明の車両の制御装置を具体化した第2実施形態を、図7を参照して説明する。
Claims (5)
- 車両の加速度を検出する加速度検出部と、
前記加速度が所定の閾値を超えないように前記加速度検出部の検出値を用いて前記車両の原動機の出力を抑制する出力抑制処理を実行する制御部と、を備え、
前記制御部は、前記加速度検出部に異常が生じているときには、異常が生じていないときに比べて前記閾値を大きくするとともに、車速を所定値以下に制限する
車両の制御装置。 - 車両の加速度を検出する加速度検出部と、
前記加速度が所定の閾値を超えないように前記加速度検出部の検出値を用いて前記車両の原動機の出力を抑制する出力抑制処理を実行する制御部と、を備え、
前記制御部は、前記加速度検出部に異常が生じているときには、前記出力抑制処理の実行を禁止するとともに、車速を所定値以下に制限する
車両の制御装置。 - アクセル操作量に応じて変化する車両の走行状態を示すパラメータを検出する検出部と、
前記パラメータを用いて前記車両の原動機の出力を抑制する出力抑制処理を実行する制御部と、を備え、
前記制御部は、前記検出部に異常が生じているときには、異常が生じていないときに比べて前記出力抑制処理による出力の抑制度合を小さくする
車両の制御装置。 - 前記制御部は、前記検出部に異常が生じているときには、前記出力の抑制度合を「0」にする
請求項3に記載の車両の制御装置。 - 前記パラメータは、車両の加速度を検出する加速度センサの検出値である
請求項3または4に記載の車両の制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11878198.8A EP2796696B1 (en) | 2011-12-21 | 2011-12-21 | Apparatus for controlling vehicle |
PCT/JP2011/079673 WO2013094035A1 (ja) | 2011-12-21 | 2011-12-21 | 車両の制御装置 |
US14/366,138 US9423802B2 (en) | 2011-12-21 | 2011-12-21 | Apparatus for controlling vehicle |
JP2013550009A JP5765437B2 (ja) | 2011-12-21 | 2011-12-21 | 車両の制御装置 |
CN201180075629.7A CN103998754B (zh) | 2011-12-21 | 2011-12-21 | 车辆的控制装置 |
Applications Claiming Priority (1)
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PCT/JP2011/079673 WO2013094035A1 (ja) | 2011-12-21 | 2011-12-21 | 車両の制御装置 |
Publications (1)
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WO2013094035A1 true WO2013094035A1 (ja) | 2013-06-27 |
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PCT/JP2011/079673 WO2013094035A1 (ja) | 2011-12-21 | 2011-12-21 | 車両の制御装置 |
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US (1) | US9423802B2 (ja) |
EP (1) | EP2796696B1 (ja) |
JP (1) | JP5765437B2 (ja) |
CN (1) | CN103998754B (ja) |
WO (1) | WO2013094035A1 (ja) |
Cited By (3)
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JP2015063228A (ja) * | 2013-09-25 | 2015-04-09 | 富士重工業株式会社 | 車両の制御装置 |
JP2015063229A (ja) * | 2013-09-25 | 2015-04-09 | 富士重工業株式会社 | 車両の制御装置 |
JP2016094112A (ja) * | 2014-11-14 | 2016-05-26 | 株式会社アドヴィックス | 車両の走行制御装置 |
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US11046309B2 (en) | 2016-10-24 | 2021-06-29 | Cummins Inc. | Dynamic torque management techniques for enhanced engine cycle efficiency |
US10612481B2 (en) | 2018-05-24 | 2020-04-07 | Caterpillar Inc. | Acceleration based high idle |
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- 2011-12-21 US US14/366,138 patent/US9423802B2/en active Active
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JP5765437B2 (ja) | 2015-08-19 |
EP2796696A1 (en) | 2014-10-29 |
US9423802B2 (en) | 2016-08-23 |
JPWO2013094035A1 (ja) | 2015-04-27 |
US20140330500A1 (en) | 2014-11-06 |
EP2796696A4 (en) | 2017-05-10 |
CN103998754A (zh) | 2014-08-20 |
CN103998754B (zh) | 2016-10-26 |
EP2796696B1 (en) | 2020-02-12 |
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