CN102959211B - Controller of vehicle - Google Patents
Controller of vehicle Download PDFInfo
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- CN102959211B CN102959211B CN201180030124.9A CN201180030124A CN102959211B CN 102959211 B CN102959211 B CN 102959211B CN 201180030124 A CN201180030124 A CN 201180030124A CN 102959211 B CN102959211 B CN 102959211B
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- 230000001133 acceleration Effects 0.000 claims description 79
- 230000005484 gravity Effects 0.000 claims description 14
- 230000009194 climbing Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 14
- 230000008901 benefit Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
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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
- F02D17/00—Controlling engines by cutting out individual cylinders; Rendering engines inoperative or idling
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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
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/08—Circuits or control means specially adapted for starting of engines
- F02N11/0814—Circuits or control means specially adapted for starting of engines comprising means for controlling automatic idle-start-stop
- F02N11/0818—Conditions for starting or stopping the engine or for deactivating the idle-start-stop mode
- F02N11/0833—Vehicle conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/06—Hill holder; Start aid systems on inclined road
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/08—Circuits or control means specially adapted for starting of engines
- F02N11/0814—Circuits or control means specially adapted for starting of engines comprising means for controlling automatic idle-start-stop
- F02N11/0818—Conditions for starting or stopping the engine or for deactivating the idle-start-stop mode
- F02N11/0833—Vehicle conditions
- F02N11/0837—Environmental conditions thereof, e.g. traffic, weather or road conditions
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
For automatically stopping or resetting an electronic control unit for motor, when when vehicle is at engine stop, climbing is advanced, whether this electronic control unit judges descending this vehicle.When estimating vehicle by time descending, this electronic control unit starts to reset motor, and motor was reset completely before causing the vehicle halt of vehicle driving down.Therefore, it is possible to prevent the vehicle driving down that motor automatically stops or resetting when vehicle stops on ramp.
Description
Technical field
The present invention relates to and a kind ofly automatically stop and resetting the controller of vehicle of motor.
Background technique
Well-known and the engine automatic stop of practical application-reset device automatically stops motor when wait for traffic lamp when vehicle stops, such as.The start-up operation that this device provides according to driver automatically resets motor, thus saves fuel and improve toxic emission.In recent years, the device of motor was stopped during also proposing a kind of vehicle deceleration before vehicle stops.
Patent Document 1 discloses a kind of traditional controller of vehicle, when the degree of brake pedal depression is equal to or greater than first threshold X, this device automatically stops motor, and, when the degree of brake pedal depression is equal to or less than Second Threshold, this device automatically resets motor.This controller of vehicle can make first threshold and Second Threshold change according to car speed.
Prior art document
Patent documentation
Patent documentation 1: Japanese Laid-Open Patent Publication 2003-35175
Summary of the invention
The problem to be solved in the present invention
With regard to the AT vehicle being equipped with the automatic transmission with torque-converters, even if when the race of engine, crawl also can produce thrust in vehicle forward direction.With regard to AT vehicle, crawl is depress even without will speed up device pedal the phenomenon also causing vehicle to move forward lentamente when speed change lever is in activation point.Because a small amount of driving force is transferred to driving wheel by torque-converters, even if therefore this phenomenon also can occur when the race of engine.
As long as motor, in operation, due to the moment of torsion (wriggling moment of torsion) of crawl, when vehicle stops when reaching slope time, just can prevent vehicle from falling back by relatively little brake petal depression degree.But when engine automatic stop, do not wriggle torsional interaction on vehicle, and if brake petal depression degree is less, braking force can not balance with vehicle weight.Therefore, vehicle can slide slope.
The object of this invention is to provide a kind of can suitably prevent the vehicle automatically stopping and resetting motor from stopping when this vehicle reaches slope in descending controller of vehicle.
The method of dealing with problems
According to an aspect of the present invention, the controller of vehicle (11) that one automatically stops and resetting motor (1) is provided.When vehicle reaches slope when motor (1) stops, whether this device judges descending (S100, S200) vehicle after a stop of the vehicle.When judgement vehicle is by (S103, S204) time descending, this device starts to reset motor (1), and resetting of motor (1) was completed before vehicle driving down distance exceeds license distance (La).
In one embodiment, judge to perform based on the testing result of master cylinder pressure (PMC) and the testing result of vehicle acceleration (G), the hydrodynamic pressure that this master cylinder pressure (PMC) produces for the master cylinder (7) for producing retardation pressure according to the downforce putting on brake petal (5).
In another embodiment, judge based on the vehicle when the component (Fg) in vehicle backward directions acting on the gravity on described vehicle exceedes braking force (Fpmc) of vehicle, descending hypothesis to be performed.
In yet, when described judgement exceedes braking acceleration (Apmc) of vehicle based on the acceleration along vehicle backward directions produced when gravity (Ag), descending hypothesis performs by vehicle.
In another embodiment, controller of vehicle will permit that distance (La) is set as " 0 ", and when until vehicle stop time predicted time (T1) reach the required time for resetting motor (1) time, controller of vehicle starts to reset motor (1).
In another embodiment, when until predicted time (T1) when vehicle stops and after the vehicle has stopped until the Bottom Runby of vehicle be permit to reach the required time for resetting motor (1) apart from the summation of time (T2) time (La) time, controller of vehicle starts to reset motor (1).
In another embodiment, inclination degree (θ) is larger, and license distance (La) sets larger.
Accompanying drawing explanation
Fig. 1 shows the exemplary schematic illustration of the configuration of the vehicle of the control gear applied according to first embodiment of the invention;
Fig. 2 shows the time diagram of the example of the control of the first mode of execution according to Fig. 1;
Fig. 3 shows the schematic diagram of the relation between the power on the vehicle that is applied to and stops when reaching slope;
Fig. 4 shows the flow chart resetting the processing procedure of decision procedure adopted in the first embodiment;
Fig. 5 shows the time diagram of the example of the control according to second embodiment of the invention;
Fig. 6 shows the flow chart resetting the processing procedure of decision procedure that the second mode of execution adopts; And
Fig. 7 shows the plotted curve according to the relation between the inclination degree of third embodiment of the invention and license distance.
Embodiment
(the first mode of execution)
The description of the first embodiment of the invention implementing controller of vehicle is provided below with reference to Fig. 1 to Fig. 4.In this embodiment, the present invention is applied to the AT vehicle being equipped with the automatic transimission with torque-converters.
Fig. 1 shows the configuration of the vehicle of the controller of vehicle applying this mode of execution.As shown in the drawing, according to this vehicle, the power produced by motor 1 is transferred to driving wheel 4 by the automatic transimission 3 with torque-converters 2, and this torque-converters 2 has moment of torsion to increase powerful hydraulic couplers.
In addition, this vehicle comprises Brake booster 6 and master cylinder 7, Brake booster 6 carries out power-assisted by the air-intake negative-pressure of motor 1 to the downforce acting on brake petal 5 and is transferred through the downforce of power-assisted, and master cylinder 7 produces brake fluid pressure (master cylinder pressure PMC) according to the downforce acting on brake petal 5 of being carried out power-assisted by Brake booster 6.In addition, this vehicle comprises brake actuator 8, and this brake actuator 8 carries out the corresponding Disk brake apparatus 10 operated braking force to be applied to driving wheel 4 and flying wheel 9 according to the brake fluid pressure produced by master cylinder 7.
Motor 1 and the brake actuator 8 of this vehicle are controlled by electronic control unit 11.Being input in electronic control unit 11 is testing signal to the various sensors that the drive condition of vehicle detects, and described various sensor is such as: wheel speed sensors 12, and it detects wheel speed VS0; G sensor 13, it detects the acceleration (vehicle acceleration G) acted on the fore-and-aft direction of vehicle body; And PMC sensor 14, the hydrodynamic pressure that its detection master cylinder pressure PMC or master cylinder 7 produce.When the center of gravity of vehicle moves backward, the checkout value of G sensor 13 be on the occasion of; And when the center of gravity of vehicle moves forward, the checkout value of G sensor 13 is negative value.
The vehicle driving state that electronic control unit 11 judges according to sensor-based testing result performs engine control.In addition, the control solenoid of electronic control unit 11 pairs of brake actuator 8 activates, thus performs such as ABS(antilock braking system (ABS)), the auxiliary and ESC(electronic stability of braking controls) control for brake.
According to implementing above-mentioned configuration and being equipped with the vehicle of the automatic transimission 3 with torque-converters 2, there is crawl when motor 1 dallies.For AT vehicle, crawl is: when speed change lever is in activation point, depresses even without will speed up device pedal the phenomenon also causing vehicle to move forward lentamente.Because a small amount of driving force is transferred to driving wheel by torque-converters, even if therefore also this phenomenon can be there is when the race of engine.
On the other hand, this vehicle performs " ECO-run " (economy run) and controls, this situation that meets controlled when vehicle travels according to predetermined stop condition stops motor 1, then motor 1 is reset, to improve fuel consumption performance and emission performance according to the situation that meets of predetermined condition of resetting.Therefore, according to this vehicle, when vehicle stops and when being slowed down by not accelerator pedal, motor 1 stops automatically.
According to this vehicle, if motor 1 is running when vehicle stops on acclivity, then the moment of torsion produced by crawl, i.e. wriggling torsional interaction are on vehicle, and such wriggling moment of torsion prevents vehicle driving down.On the contrary, if motor 1 stops when vehicle stops on acclivity, then torsional interaction of not wriggling is on vehicle.Therefore, except non-driver firmly presses down brake petal 5, otherwise vehicle can slide from slope.
In order to solve this shortcoming, according to this mode of execution, when vehicle reaches slope, whether the vehicle when motor 1 stops is judged descending after a stop.When judgement vehicle is by time descending, electronic control unit starts to reset motor 1, makes reset this when the Bottom Runby of vehicle remains 0.According to this mode of execution, when the depression degree of brake petal 5 is less and vehicle is after a stop because of inclination degree that, by time naturally descending, motor 1 was reset before descending generation.Once motor 1 is reset, namely wriggling moment of torsion is applied on vehicle, even if thus brake petal depression degree is relatively little, vehicle also can overcome inclination degree and transfixion.Therefore, according to the controller of vehicle of this mode of execution, suitably vehicle driving down can be prevented when vehicle stops on acclivity.
Fig. 2 schematically illustrates the example of the control program according to the first mode of execution.The figure shows vehicle stop on acclivity before and brake petal depression degree after stopping, master cylinder pressure PMC, the vehicle acceleration G exported by G sensor, engine speed, wheel speed VS0 and wheel acceleration DVS0 corresponding transformation.According to the example shown in Fig. 2, wheel speed VS0 is 0 when moment t2, and vehicle stops.
According to this mode of execution, during the vehicle deceleration before vehicle stops, based on the testing result of such as master cylinder pressure PMC and vehicle acceleration G, whether vehicle being judged descending after a stop.When judgement vehicle is by time descending, during the moment t1 reset before stopping of motor 1, just to perform when stopping, descending is prevented.
Provide the detailed description of following situation with reference to Fig. 2: by reset at engine stop, motor and vehicle stops running condition descending carrying out is estimated.At the time point place of moment t0, meet predetermined stop condition when vehicle travels, motor 1 stops, and the automobile driven travels when brake petal is depressed.That is, brake petal depression degree is be 0, wheel speed VS0 to reduce with constant rate of speed α (negative value) on the occasion of, engine speed, and speed α is equal with taking turns acceleration.
In the process, between the deceleration period before vehicle stops, until predicted time T1 when vehicle stops is obtained divided by wheel acceleration DVS0 by wheel speed VS0.Next, when obtained predicted time T1 moment t1 reach motor 1 from reset the required time TENG of termination time, start to reset motor 1.
More specifically, until predicted time T1 when vehicle stops reduces according to the reduction of wheel speed.Next, the required time TENG set in advance than for each car when predicted time in short-term, starts to reset motor 1.As mentioned above, wheel speed become as far as possible slow before, motor 1 can not be reset, thus is controlled the effect that keeps fuel consumption to reduce by the operation of economy, meanwhile suppresses descending.
At the time point of moment t1, while vehicle travels when driver depresses brake petal, start to reset motor 1.According to such operation, wheel acceleration increases gradually from speed α, and the inclination that wheel speed reduces diminishes after the time tl.That is, after the time tl and before moment t2, the depression degree of brake petal be on the occasion of, and engine speed increases gradually.According to the starting of motor 1, wheel acceleration increases to " 0 " from speed α with curve form, and the instantaneous differential value of wheel speed is wheel acceleration.After the time tl until the line of the wheel speed VS0 of moment t2 is expressed as the simplification straight line of the less inclination of the inclination with specific speed α.Vehicle acceleration G indicates the curve similar with taking turns acceleration.
In addition, according to this mode of execution, descending generation/be not judges based on the testing result of such as master cylinder pressure PMC and vehicle acceleration G and so on.More specifically, when the acceleration A g produced in the backward directions of vehicle by gravity that the testing result based on vehicle acceleration G obtains is greater than the braking acceleration Apmc of the vehicle that the testing result based on master cylinder pressure PMC obtains, judge that vehicle is by descending.
Acceleration A g and braking acceleration Apmc is parameter as described below.Fig. 3 shows the relation between the power that to be applied to when vehicle stops on acclivity on this vehicle.When the inclination angle on hypothesis slope is θ and the gravity acted on vehicle is g, the effect due to gravity g makes vehicle be pulled back by the power Fg of g*sin θ.Power Fg is the component in vehicle backward directions of the gravity g acted on vehicle.Above-mentioned acceleration A g is Fg/M, and it is obtained divided by the weight M of vehicle by power Fg.Acceleration A g can be obtained by deducting the wheel acceleration obtained by the testing result of wheel speed sensors 12 from the vehicle acceleration G detected by G sensor 13.
On the contrary, when depressing brake petal 5, vehicle produces the braking force Fpmc overcoming power Fg.Braking acceleration Apmc is by using braking force Fpmc divided by the weight M(Fpmc/M of vehicle) obtain.The value of braking acceleration Apmc can obtain based on master cylinder pressure PMC, or from vehicle acceleration, removes by arithmetical operation the acceleration produced by running resistance etc. and obtain in vehicle travels.
When braking acceleration Apmc is equal to or greater than acceleration A g, vehicle becomes static, and when braking acceleration Apmc is less than acceleration A Fg, vehicle is from slope up-downgoing.Therefore, whether be less than the fact of acceleration A g based on braking acceleration Apmc, can judge that whether vehicle is descending.
At the time point of moment t2, motor 1 has been reset, and the value of the wheel acceleration increased with resetting of motor reaches 0, and takes turns acceleration according to this, and wheel speed also reaches 0.About vehicle acceleration G, the value of above-mentioned Ag=-Fg/M is exported after the time t 2 by G sensor 13.Ag be on the occasion of, in figure 3, Fg has direction towards the right side as postive direction, and the value exported by G sensor has postive direction, can export the value in described postive direction when vehicle body accelerates along forward direction.
Fig. 4 shows the flow chart resetting decision procedure that above-mentioned mode of execution adopts.When vehicle reaches slope when motor 1 stops, the process of this program is all repeated for each predetermined controlled circulation by electronic control unit.
When this program starts, first, in the step s 100, based on braking acceleration Apmc with judge whether vehicle after a stop can be descending comparing between acceleration A g.When judge braking acceleration Apmc be equal to or greater than acceleration A g and vehicle after a stop can not descending time (S100: no), the active procedure of this program stops.
On the contrary, when judge braking acceleration Apmc be less than acceleration A g and vehicle after a stop will descending time (S100: yes), in following step S101, by wheel speed divided by wheel acceleration, thus calculate until predicted time T1 when vehicle stops.Next, in following step S102, judge whether the predicted time T1 calculated is equal to or less than the required time of resetting motor 1.
When predicted time T1 exceedes the required time of resetting motor 1 (S102: no), still need not start to reset motor 1, and active procedure directly stops.On the contrary, when predicted time T1 is equal to or less than the required time of resetting motor 1 (S102: yes), in step s 103, start to reset motor 1.
According to the controller of vehicle of above-mentioned this mode of execution, achieve following advantage.
(1) according to this mode of execution, when vehicle reaches slope when motor 1 stops, automatically stopping and electronic control unit 11 pairs of vehicles that resetting motor 1 stop after whether descendingly judging.Next, when judge vehicle will descending time, electronic control unit 11 starts to reset motor 1, makes to complete motor when vehicle stops and starting descending and resets.More specifically, when after estimating vehicle and stopping can descending time, electronic control unit is until predicted time T1 when vehicle stops reaches the time point of the required time of resetting motor 1 and starts to reset motor 1.
According to this mode of execution, when the depression degree of brake petal 5 is in fact very little and when causing vehicle driving down due to inclination degree after the vehicle has stopped, motor 1 vehicle start descending before reset.Once motor 1 is reset, namely wriggling moment of torsion acts on vehicle, even if therefore the lower voltage levels of brake petal is relatively little, vehicle also can overcome the road surface of inclination and keep static.Therefore, according to this mode of execution, descending when can suitably prevent vehicle from stopping on acclivity.
(2) according to this mode of execution, whether can descending judgement be perform based on the testing result of master cylinder pressure PMC and the testing result of vehicle acceleration G after a stop for vehicle, this master cylinder pressure PMC be the hydrodynamic pressure that the master cylinder 7 for producing retardation pressure according to the downforce putting on brake petal 5 produces.More specifically, the acceleration A g produced in vehicle backward directions by gravity obtains based on vehicle acceleration G, and the braking acceleration Apmc of vehicle obtains based on master cylinder pressure PMC.Next, by descending hypothesis, such judgement is carried out based on vehicle when being greater than braking acceleration Apmc as acceleration A g.Therefore, it is possible to judge exactly to reset motor 1 to prevent the necessity of vehicle driving down.
(3) according to this mode of execution, when estimate vehicle stop after can descending time, until vehicle stop time predicted time T1 reach the required time of resetting motor 1 time, reset motor 1.Therefore, the Bottom Runby after vehicle stopping is reduced to 0.
(the second mode of execution)
Next, the description of the second mode of execution of the present invention implementing controller of vehicle is provided with reference to Fig. 5 and Fig. 6.In this second embodiment, will same reference character be used represent with the identical structure in the first mode of execution, and its detailed description will be omitted.
As mentioned above, when estimating the vehicle that stops by time descending, motor was completed before vehicle stops reset, then can avoid the situation causing vehicle driving down in default of wriggling moment of torsion if start to reset motor 1.But having kind of view to think descending when vehicle stops on such acclivity is allow to a certain extent.According to this view, even without resetting motor 1 in time when vehicle stops, and vehicle is after a stop by descending, if but can to reset motor 1 when Bottom Runby is in the scope of permitting distance La just passable.
Therefore, according to this mode of execution, after a stop of the vehicle whether by descending when judging that vehicle reaches slope when engine stop.When estimating vehicle by time descending, starting to reset motor 1, making to complete motor before vehicle driving down distance exceedes license distance La and resetting.
More specifically, according to this mode of execution, when vehicle reaches slope when motor 1 stops obtain until vehicle stop time predicted time T1 and vehicle stop after until descending distance reach license distance La time time T2.Next, when the summation of predicted time T1 and above-mentioned time T2 reaches the required time TENG reset from motor 1, motor 1 starts to reset.Therefore, according to this mode of execution, as shown in Figure 5, start to reset motor 1 at the moment t3 of the time more corresponding with the required time of resetting motor 1 in advance than moment t5, make to complete at the moment t5 of the moment t4 stopped from vehicle after above-mentioned time T2 to reset motor 1.Therefore, in from moment t4 to the time period of moment t5, wheel speed VS0 tapers to and is less than 0.That is, vehicle will be descending, but the Bottom Runby in the downgoing time T2 suitably set can be suppressed within license distance La.
Fig. 6 shows the flow chart resetting decision procedure adopted in above-mentioned mode of execution.When reaching slope when vehicle is at engine stop, the process of this program is repeated in each predetermined circulation by electronic control unit 11.
When this program starts, first, in step s 200, based on to braking acceleration Apmc and above-mentioned acceleration A g relatively judge vehicle stop after whether can be descending.When braking acceleration Apmc be equal to or greater than acceleration A g and judge vehicle stop after can not descending time (S200: no), the active procedure of this program stops.
On the contrary, when braking acceleration Apmc be less than acceleration A g and judge vehicle stop after can descending time (S200: yes), in following step S201, with wheel speed divided by wheel acceleration, thus calculate until vehicle stop time predicted time T1.In addition, in following step S202, calculate vehicle and stop rear until Bottom Runby is time T2 when permitting distance La.
Subsequently, in following step S203, judge whether the summation (T1+T2) of predicted time T1 and the time T2 calculated equals or be shorter than the required time of resetting motor 1.When described summation equals or is shorter than the described required time (S203: yes), in step S204, start to reset motor 1.
According to the controller of vehicle in above-mentioned mode of execution, achieve following advantage.
(4) according to this mode of execution, automatically stop motor 1 and automatically reset the electronic control unit 11 of motor 1, when judging to reach slope when vehicle is at engine stop, whether this vehicle is descending after a stop.Next, when judgement vehicle is by time descending, electronic control unit 11 starts to reset motor 1, makes to complete motor before vehicle driving down distance exceedes license distance La and resets.More specifically, when estimate vehicle after a stop can descending time, when until when predicted time T1 when vehicle stops and the summation of time T2 after described stopping until when the Bottom Runby of vehicle is license distance reach the required time of resetting motor 1, electronic control unit 11 starts to reset motor 1.
According to above-mentioned this mode of execution, when the depression degree of brake petal 5 is in fact very little and after a stop of the vehicle because inclination degree causes vehicle by time descending, start to reset motor 1 when permitting in distance La in vehicle driving down distance.Once motor 1 is reset, namely the thrust that crawl produces act on vehicle, and thus, even if the depression degree of brake petal is relatively little, vehicle also can overcome the road surface of inclination and static.Therefore, according to this mode of execution, can suitably prevent vehicle descending when stopping on acclivity.
(5) according to this mode of execution, after stopping vehicle, whether descending judgement performs based on the testing result of master cylinder pressure PMC and the testing result of vehicle acceleration G, the hydrodynamic pressure that this master cylinder pressure PMC produces for the master cylinder 7 for producing retardation pressure according to the downforce putting on brake petal 5.More specifically, the acceleration A g produced in vehicle backward directions by gravity obtains based on vehicle acceleration G, and the braking acceleration Apmc of vehicle obtains based on master cylinder pressure PMC.Next, by descending hypothesis, such judgement is carried out based on to vehicle when being greater than braking acceleration Apmc as acceleration A g.Therefore, it is possible to judge exactly to reset motor 1 to prevent the necessity of vehicle driving down.
(6) according to this mode of execution, when until predicted time T1 when vehicle stops with after described stopping until when the summation that vehicle driving down distance is time T2 when permitting distance reaches the required time of resetting motor 1, start to reset motor 1.Therefore, the Bottom Runby after vehicle stopping can remaining within license distance range.
(the 3rd mode of execution)
Next, the description of the 3rd mode of execution of the present invention implementing controller of vehicle is provided with reference to Fig. 7.In this embodiment, the structure identical with above-mentioned mode of execution represents using identical reference character, and will omit its detailed description.
When inclination degree θ is very large, even if motor 1 is running and wriggling torsional interaction on vehicle, also can occur necessarily descending.θ is larger for inclination degree, thisly descendingly also becomes larger.Therefore, when consider driver feel to set time, θ is larger for inclination degree, and the license Bottom Runby of vehicle just becomes larger.
Therefore, according to this mode of execution, along with inclination degree θ becomes large, the value of license distance La is set to large value.Fig. 7 shows the example of the such license distance La of setting.In sample situation shown in this figure, before inclination degree θ reaches certain value, license distance La is set to 0; And once inclination degree θ exceedes certain value, then according to the increase of inclination degree θ, license distance increases.
According to above-mentioned this mode of execution, except the advantage described in (4) to (6), furthermore achieved that following advantage.
(7) according to this mode of execution, along with inclination degree becomes large, license distance La is set to large value.Therefore, the feeling of the running state of vehicle and driver matches, and make inclination degree larger, Bottom Runby becomes larger.
All can make following amendment for often kind in above-mentioned mode of execution.
According to above-mentioned mode of execution, suppose that vehicle is by descending when the acceleration A g in vehicle backward directions produced by gravity is greater than the braking acceleration Apmc of vehicle, and carry out the judgement to descending generation based on such hypothesis.But descending hypothesis also can be carried out based on the vehicle when the component F g in vehicle backward directions acting on the gravity on vehicle is greater than the braking force Fpmc of vehicle by such judgement.
According to above-mentioned mode of execution, based on the testing result of master cylinder pressure PMC and the testing result of vehicle acceleration G, judge vehicle whether by descending after stopping, but such judgement also can be carried out based on other checkout value.Such as, the braking force of vehicle and braking acceleration can replace the checkout value of master cylinder pressure PMC by the checkout value of the depression degree of procuratorial work brake petal 5.In this case, vehicle set has the sensor of the depression degree for detecting brake petal 5.In addition, the acceleration produced by break can further by deducting the acceleration produced by motor, the acceleration produced by rolling resistance, inclination degree acceleration and the acceleration etc. that produced by resistance of air carrys out procuratorial work from vehicle acceleration G.The sensor detecting vehicle body pitching angle can be set, and the inclination that can obtain road surface from such sensor is to carry out above-mentioned judgement.
Although make use of wheel speed and wheel acceleration in the above-described embodiment, car speed and and differential value (vehicle acceleration) also can be used.Available car speed is from the value of wheel speed sensors or the value that calculated by the value that Vehicular navigation system obtains.
In the above-described embodiment, situation control gear of the present invention being applied to the vehicle with the Disk brake apparatus being arranged on corresponding wheel place is described, but the present invention is also applicable to have the vehicle of the drum brake system at part or all place being arranged on wheel.
In the above-described embodiment, situation control gear of the present invention being applied to the vehicle of the two-wheel drive with two driving wheels 4 and two flying wheels 9 is described.But the present invention is also applicable to the vehicle of other driving device of such as four-wheel drive vehicle.
Claims (5)
1. the controller of vehicle automatically stopped and resetting motor (1) (11), the feature of described controller of vehicle is: when vehicle reaches slope when described motor (1) is stopped, whether described controller of vehicle judges (S100 by descending to described vehicle after described vehicle stops, S200), wherein, when the described vehicle of judgement is by (S103 time descending, S204), described controller of vehicle starts to reset described motor (1), resetting of described motor (1) was completed before the Bottom Runby of described vehicle exceeds license distance (La), and, when until when the summation of the predicted time (T1) when described vehicle stops and the time (T2) after described vehicle stops until when the Bottom Runby of described vehicle is described license distance (La) reaches the required time for resetting described motor (1), described controller of vehicle starts to reset described motor (1).
2. controller of vehicle according to claim 1, wherein, described judgement performs based on the testing result of master cylinder pressure (PMC) and the testing result of vehicle acceleration (G), the hydrodynamic pressure that described master cylinder pressure (PMC) produces for the master cylinder (7) for producing retardation pressure according to the downforce putting on brake petal (5).
3. controller of vehicle according to claim 1, wherein, descending hypothesis performs based on the described vehicle when the component (Fg) in vehicle backward directions acting on the gravity on described vehicle exceedes braking force (Fpmc) of described vehicle by described judgement.
4. controller of vehicle according to claim 1, wherein, descending hypothesis performs based on the described vehicle when the acceleration (Ag) in vehicle backward directions produced by gravity exceedes braking acceleration (Apmc) of described vehicle by described judgement.
5. the controller of vehicle according to any one in Claims 1-4, wherein, inclination degree (θ) is larger, and described license distance (La) sets larger.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010144984A JP5516132B2 (en) | 2010-06-25 | 2010-06-25 | Vehicle control device |
| JP2010-144984 | 2010-06-25 | ||
| PCT/JP2011/064536 WO2011162373A1 (en) | 2010-06-25 | 2011-06-24 | Vehicle control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102959211A CN102959211A (en) | 2013-03-06 |
| CN102959211B true CN102959211B (en) | 2015-07-29 |
Family
ID=45371539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180030124.9A Expired - Fee Related CN102959211B (en) | 2010-06-25 | 2011-06-24 | Controller of vehicle |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5516132B2 (en) |
| CN (1) | CN102959211B (en) |
| DE (1) | DE112011102145B4 (en) |
| WO (1) | WO2011162373A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5402901B2 (en) | 2010-09-30 | 2014-01-29 | 株式会社デンソー | Engine control device |
| JP6205688B2 (en) * | 2011-09-16 | 2017-10-04 | 三菱自動車工業株式会社 | Vehicle control device |
| JP5922624B2 (en) * | 2013-08-08 | 2016-05-24 | 本田技研工業株式会社 | Vehicle control device |
| JP5977730B2 (en) * | 2013-12-16 | 2016-08-24 | 株式会社三共 | Game machine |
| DE102014002817B4 (en) | 2014-02-26 | 2024-05-08 | Audi Ag | Method and device for actuating a braking device of a drive train of a vehicle having an automatic transmission, in particular of a motor vehicle |
| DE102014205176A1 (en) * | 2014-03-20 | 2015-03-12 | Robert Bosch Gmbh | Method for operating a motor vehicle with start / stop function |
| GB2536937B (en) * | 2015-04-01 | 2018-09-12 | Jaguar Land Rover Ltd | Controller for a motor vehicle and method |
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| CN1280245A (en) * | 1999-06-21 | 2001-01-17 | 大众汽车有限公司 | Restarting method and device for car engine |
| JP2001234838A (en) * | 2000-02-21 | 2001-08-31 | Nissan Motor Co Ltd | Device for automatically stopping and restarting vehicular engine |
| JP2004169578A (en) * | 2002-11-18 | 2004-06-17 | Honda Motor Co Ltd | Engine controller |
| CN101535617A (en) * | 2006-11-21 | 2009-09-16 | 五十铃自动车株式会社 | Automatic starter/stopper of engine |
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| JPS63170529A (en) * | 1987-01-08 | 1988-07-14 | Nissan Motor Co Ltd | Travel control device for vehicle |
| JP3775112B2 (en) * | 1999-03-04 | 2006-05-17 | トヨタ自動車株式会社 | Control device for restarting vehicle engine |
| JP3240560B2 (en) * | 1999-07-02 | 2001-12-17 | 本田技研工業株式会社 | Motor stop device |
| JP4374805B2 (en) | 2001-07-24 | 2009-12-02 | 株式会社デンソー | Engine car stop / restart device |
| JP2005282453A (en) * | 2004-03-30 | 2005-10-13 | Toyota Motor Corp | Vehicle control device |
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2010
- 2010-06-25 JP JP2010144984A patent/JP5516132B2/en active Active
-
2011
- 2011-06-24 WO PCT/JP2011/064536 patent/WO2011162373A1/en active Application Filing
- 2011-06-24 DE DE112011102145.3T patent/DE112011102145B4/en not_active Expired - Fee Related
- 2011-06-24 CN CN201180030124.9A patent/CN102959211B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1280245A (en) * | 1999-06-21 | 2001-01-17 | 大众汽车有限公司 | Restarting method and device for car engine |
| JP2001234838A (en) * | 2000-02-21 | 2001-08-31 | Nissan Motor Co Ltd | Device for automatically stopping and restarting vehicular engine |
| JP2004169578A (en) * | 2002-11-18 | 2004-06-17 | Honda Motor Co Ltd | Engine controller |
| CN101535617A (en) * | 2006-11-21 | 2009-09-16 | 五十铃自动车株式会社 | Automatic starter/stopper of engine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012007554A (en) | 2012-01-12 |
| JP5516132B2 (en) | 2014-06-11 |
| CN102959211A (en) | 2013-03-06 |
| DE112011102145B4 (en) | 2016-02-18 |
| WO2011162373A1 (en) | 2011-12-29 |
| DE112011102145T5 (en) | 2013-04-25 |
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