CN103486242A - 对倒车车辆的控制 - Google Patents
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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- 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
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- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
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- G08G—TRAFFIC CONTROL 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
- B60W2554/00—Input parameters relating to objects
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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
- B60W30/06—Automatic manoeuvring for parking
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
- F16H2061/0485—Smoothing ratio shift during range shift from neutral (N) to reverse (R)
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
- F16H2061/165—Preventing reverse gear shifts if vehicle speed is too high for safe shifting
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Abstract
一种控制倒车车辆的方法,包括如果倒车传感器表明在车辆后方存在障碍物并且挡位选择器移向倒车挡位置,延迟倒车挡的接合并且产生报警信号,以及如果施加的制动不足以停止车辆,产生变速器停顿。
Description
技术领域
本发明总体涉及用于在出现人身伤害和财产损失的可能性时控制倒车车辆并产生可听报警信号的策略和***。
背景技术
许多现代机动车配备有倒车辅助***,其中,通过可听音提醒驾驶者车辆后方存在障碍物。这种***包括一个或多个安装在车辆后表面的传感器,该传感器通过超声波、射频信号或通过其它手段检测障碍物的存在。
由传感器产生的信号被传送给车载计算机进行处理。如果检测到障碍物,计算机产生接口信号,该接口信号降低车载无线电的音量,并产生报警信号,该报警信号对车辆使用者来说是可听见的,该报警信号优选为具有与障碍物的接近成比例的频率。
这种***的缺陷是直到车辆变速杆的位置确定处于倒车挡位置时才会发出可听音。如果障碍物靠近车辆,而驾驶员使车辆迅速地反方向加速,则包括驾驶者应对报警信号的反应延迟在内的***延迟可能导致车辆撞到障碍物。
发明内容
一种用于控制倒车车辆的方法,包括:如果倒车传感器表明车辆后方存在障碍物,并且档位选择器移向倒车挡位置,则延迟倒车挡接合并产生报警信号,以及,如果施加的制动不足以停止车辆,产生变速器停顿(tie-up)。如果施加的制动足以停止车辆,完成倒车挡的接合。如果倒车传感器表明在车辆后方不存在障碍物,移除停顿和报警信号。
所述方法通过迅速产生变速器停顿从而立即停止车辆,而无需主动制动***,无需产生与发动机控制有关联的延迟,该发动机控制在倒车挡受限为产生慢速转矩(creep torque)。
无需额外的部件例如螺线管或其它装置来限制车辆在检测到有障碍物时的向后运动。
即使在选择倒车挡并且车辆开始反向移动以后,车辆路线上出现障碍物,所述方法能够停止车辆的运动。
按照以下详细的说明书、权利要求书和附图,优选实施方式的适用性范围将显而易见。应当理解的是,尽管说明书和具体实施例表明了本发明的优选实施方式,但其仅通过说明的方式给出。对说明的实施方式和实例的各种改变和修改对本领域技术人员将是显而易见的。
附图说明
参照以下说明并结合附图将更容易理解本发明,其中:
图1是机动车动力***的示意图;以及
图2A和2B是用于控制倒车车辆的策略的逻辑流程图。
具体实施方式
图1中的动力***10包括动力源12,例如内燃机;发动机起动电动机14;自动变速器16;输入轴18;叶轮20,其通过输入轴与发动机可驱动地连接;涡轮22,其被叶轮流体动力地驱动;变速器输出24;最终传动装置26,其与输出连接;蓄电池30,其向起动电动机14供电;以及车轴32,33,其通过变速器输出24和最终传动装置26与从动轮34,35可驱动地连接。
档位选择器40产生表示档位选择器40当前位置的并被控制器46接收的PRNDL信号28,在自动模式通道42内车辆驾驶者将该档位选择器40在P、R、N、D和L位置之间手动地移动,在手动模式通道44内车辆驾驶者将该档位选择器40在升挡(+)和降挡(-)位置之间手动地移动。
由车辆驾驶者手动控制的油门踏板和制动踏板50,52向控制器46提供输入需求,该输入需求分别用于发动机车轮转矩的改变和制动力的改变。
位于变速器16内的是摩擦控制元件,也就是离合器和制动器,其协调的啮合与解离状态产生前进挡和倒车挡。当至少一个,但优选为两个控制元件54,56同时啮合时产生倒车挡。
变速器16还包括液压泵,例如盖劳特泵(gerotor pump)或叶轮泵,其输出用于在变速器的液压回路内产生压力,通过该压力将变速器控制元件54,56加压至完全啮合的状态。
行车制动压力源59在车轮制动器79内产生并维持压力。
基于微处理器的控制器46通过在通信总线上传输的电子信号与发动机12、起动电动机14、变速器16、档位选择器40、变速杆44以及油门踏板和制动踏板50,52进行通讯。
控制器46包括变速器控制模块(TCM),根据档位选择器40的移动、车速以及油门踏板50的下压,该变速器控制模块(TCM)产生对变速器16产生的排挡或速度比进行控制的输出信号。TCM读取由档位选择器40产生的PRNDL位置信号28,并起动变速器螺线管,其改变变速器控制元件,即离合器和制动器54,56,的啮合的和解离状态,以产生倒车挡。
对档位接合进行超时控制,以在每次换挡时产生可接受的噪声、振动和不平顺性(NVH)感受。如果在车辆路线上检测到障碍物,则延长在其间发生换挡的阶段的长度。控制器46不仅在PRNDL信号28表明档位选择器40处于R位置时读取倒车传感器58,而且在PRNDL信号28表明选择器处于P位置时读取倒车传感器58。
障碍物信息被传送到TCM。如果存在障碍物,与减速车辆运动的正常的延迟相比,TCM延迟倒车挡接合的时间。延迟可以与检测到的障碍物接近成比例。离障碍物越近,由TCU指令的延迟越长。当倒车挡已经接合并且车辆正在移动,此时突然检测到障碍物,则可以控制变速器16来产生停顿状态,其中变速器输出24的运动受到限制,从而使车辆减速而无需驾驶者应用车轮制动器79。
可以通过关闭其中一个在倒车挡时正常开启的离合器获得停顿状态。通过对该离合器施加压力,将变速器16置于停顿状态。通过控制施加到该离合器上的压力的大小,可以获得滑动停顿,其中部分输入转矩被传递到输出轴24。
如果控制器46检测到施加了足够的制动压力来停止车辆,则可以移除停顿,倒车挡的正常操作将继续。可选择地,在可校准的延迟之后,如果控制器46检测到没有施加制动压力,并且驾驶者继续要求转矩,可以逐渐地移除倒车挡停顿从而提供正常的车辆操作。当检测到障碍物时如果不需要转矩降低,可以提示驾驶员轻击制动器来禁用变速器干预。
图2A和2B说明了用于在反向移动时控制车辆的策略60。当在步骤62进入控制之后,在步骤64启动发动机或促动混合动力***以驱动车轮。
在步骤66通过控制器读取障碍物传感器产生的输出信号。
在步骤68进行检测以确定是否有任何倒车传感器信号表明在车辆后方存在障碍物。
如果检测68的结果是逻辑上否定的,在步骤70控制允许正常的车辆操作。
但是如果检测68的结果是逻辑上肯定的,在步骤72进行检测以通过排挡选择器40产生的PRNDL信号28来确定档位选择器是否处于R位置或正在移向R位置,即,车辆驾驶者已经要求变速器产生倒车挡。
如果检测72的结果是否定的,在步骤70中控制允许正常的车辆操作。
如果检测72的结果是肯定的,在步骤74延迟倒车挡的接合,生成车内以及车外可听见的倒车报警信号,以及将可能包含建议的***超驰顺序的电子报警信息优选地显示在车辆驾驶者可见的屏幕上。报警信息应当提醒驾驶者车辆运动被限制的原因。例如它可显示为:“检测到后方障碍物”或“后方防撞***活动”。
在步骤76中进行检测以确定是否向车轮制动器施加了足够的制动***压力来停止车辆。在进行步骤76时,当制动踏板52被压低时,施加到车辆的车轮制动器的压力大小表明产生的车轮制动器转矩是否足以停止车辆。
如果检测76的结果是否定的,在步骤78中控制产生变速器停顿,产生可听见的倒车报警信号,以及在屏幕上显示电子报警信息。执行步骤78后,控制前进到步骤82。
但是如果检测76的结果是肯定的,在步骤80完成向倒车挡的换挡,产生可听见的倒车报警信号。
在步骤82执行检测来再次确定是否有任何倒车传感器信号表明在车辆后方存在障碍物。
如果检测82的结果是否定的,在步骤84中控制移除变速器停顿,中止可听见的倒车报警信号,以及从屏幕上移除电子报警信息。然后控制前进到步骤92。
如果检测92的结果是肯定的,在步骤86中控制产生变速器停顿,产生可听见的倒车报警信号,以及在屏幕上显示电子报警信息。
在步骤88中进行检测以确定是否已发生***超驰。如果任何倒车传感器表明在车辆后方存在障碍物,***超驰取消正常产生的结果。需要优选的、建议的超驰顺序以暂时禁用***,并且使车辆能够运动,尽管事实上检测到了障碍物。举例来说,可以指示驾驶者使用其中一个变速器控制,例如“超驰取消”或“牵引”按钮,暂时改变PRNDL位置等。这对于避免其中存在误触发的情况是必要的,例如,高秆草触发***,但是如果车辆移动其不会导致任何损害。其它误触发的实例可以是覆盖倒车传感器的冰或雪。
如果检测88的结果是错误,控制返回步骤82。但是如果已经发生***超驰,在步骤90中控制移除变速器停顿,中止可听见的倒车报警信号,以及从屏幕上移除电子报警信息。
在步骤92中控制退出。
根据专利法的规定,已经描述了优选的实施方式。然而,应当注意的是,除了具体说明和描述的之外,还可以用替代实施例进行实施。
Claims (10)
1.一种控制倒车车辆的方法,其特征在于,包含:
(a)如果倒车传感器表明在车辆后方存在障碍物并且挡位选择器向倒车挡方向移动时,延迟倒车挡的接合并且产生报警信号;
(b)如果施加的制动不足以停止车辆,产生变速器停顿;
(c)如果施加的制动足以停止车辆,完成倒车挡的接合;
(d)如果倒车传感器表明在车辆后方不存在障碍物,移除停顿和报警信号。
2.根据权利要求1所述的方法,其特征在于,步骤(a)进一步包含根据倒车传感器产生的信号来确定在车辆后方存在障碍物。
3.根据权利要求1所述的方法,其特征在于,步骤(a)进一步包含根据传感器产生的信号来确定挡位选择器正在移向或已经移动到倒车挡位置。
4.根据权利要求1所述的方法,其特征在于,产生报警信号进一步包含产生在车内和车外可听见的信号。
5.根据权利要求1所述的方法,其特征在于,所述产生报警信号进一步包含产生车内可听见的第一信号和车外可听见的第二信号。
6.根据权利要求1所述的方法,其特征在于,步骤(b)和(c)进一步包含根据施加到车辆的车轮制动器的压力大小确定所述压力将不会产生足够的车轮制动转矩来停止车辆。
7.根据权利要求1所述的方法,其特征在于,完成倒车挡的接合进一步包含使变速器在无停顿地在倒车挡运行。
8.根据权利要求1所述的方法,其特征在于,进一步包含产生暂时允许车辆运动的***超驰,尽管已检测到障碍物。
9.一种控制倒车车辆的方法,其特征在于,包含:
如果倒车传感器表明在车辆后方存在障碍物并且挡位选择器移向倒车挡位置,延迟倒车挡的接合并且产生报警信号;以及
如果施加的制动不足以停止车辆,产生变速器停顿。
10.一种控制倒车车辆的方法,其特征在于,包含:
如果倒车传感器表明在车辆后方存在障碍物并且挡位选择器移向倒车挡位置,延迟倒车挡的接合并且产生报警信号。
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