CN107664208B - The control device of vehicle - Google Patents
The control device of vehicle Download PDFInfo
- Publication number
- CN107664208B CN107664208B CN201710616362.7A CN201710616362A CN107664208B CN 107664208 B CN107664208 B CN 107664208B CN 201710616362 A CN201710616362 A CN 201710616362A CN 107664208 B CN107664208 B CN 107664208B
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- Prior art keywords
- gear
- vehicle
- engine
- parking
- control device
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Classifications
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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
- F16H61/02—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 characterised by the signals used
- F16H61/0202—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 characterised by the signals used the signals being electric
- F16H61/0204—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 characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—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 characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
-
- 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
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
-
- 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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1208—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures with diagnostic check cycles; Monitoring of failures
-
- 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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1232—Bringing the control into a predefined state, e.g. giving priority to particular actuators or gear ratios
-
- 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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
- F16H2061/1276—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a friction device, e.g. clutches or brakes
-
- 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
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
- F16H2061/326—Actuators for range selection, i.e. actuators for controlling the range selector or the manual range valve in the transmission
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear-Shifting Mechanisms (AREA)
- Control Of Transmission Device (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
Abstract
The present invention provides a kind of control device of vehicle, and vehicle is forbidden to travel in the state of the base position for the movement that no storage is used for holding brake device.The control device of vehicle has engine start control unit (33), if detecting the switching carried out to parking gear from gear change detection portion (8), then the engine start control unit (33) permits the starting of engine corresponding with engine startup instruction, if detecting the switching carried out to non-parking gear, then when being determined as that vehicle is in traveling by traveling determination unit (37), the starting of the engine start control unit (33) license engine, and when being determined as that vehicle is not in traveling, the engine start control unit (33) forbids the starting of engine.
Description
Technical field
The present invention relates to the control devices of the vehicle of control parking gear switching electric actuator.
Background technique
As this control device, conventionally, there is known following device: the device sets parking gear in engine start
The base position of electric actuator is used in switching, is switched to gear according to the drive volume of the electric actuator from the base position
Parking gear (referring for example to patent document 1).In the device described in patent document 1, roller is abutted with the wall of brake plate and is made
Brake plate maximally rotate obtained from position (P wall position) stored in memory as base position, according to from the base
The drive volume for the electric actuator that level has been set is switched over to parking gear.
Citation
Japanese Unexamined Patent Publication 2004-308752 bulletin
But generally, the vehicle with automatic transmission is switched to the state of parking gear or neutral gear in gear
Under be able to carry out the starting of engine.However, if applying in the state that gear is switched to neutral gear to starter motor
Cell voltage is to carry out engine start, then cell voltage can reduce.As a result, there is following worry: even if as above-mentioned special
The base position of electric actuator is stored in advance in device described in sharp document 1 like that, which can also disappear, so as to cause vehicle
It is travelled in the state of no Memory Reference position.
Summary of the invention
One embodiment of the present invention is the control device of vehicle, and the control device of the vehicle is used by shared battery supplied
Electric power control the 1st electric actuator and the 2nd electric actuator, wherein the 1st electric actuator turns according to shifting commands
Movable plate component switches over the gear of automatic transmission between parking gear and non-parking gear, the 2nd electric actuation
Device starts engine according to engine startup instruction, wherein plate component can be from the benchmark of the maximum rotation amount of restriction plate component
Rotation is played to the 1st range for establishing parking gear in position, and then rotates to establish that non-parking gear has been more than the 1st range the
Until 2 ranges, the 1st range includes the parking gear target position different from base position, and the control device of vehicle includes shift
Shifting commands corresponding with the gear shift operation of driver are detected in command detection portion；Rotation detection portion, output and plate component
The corresponding signal of rotation amount；The switching position of gear is detected in gear change detection portion；Determination unit is travelled, determines that vehicle is
It is no to be in traveling；Engine start control unit, if detecting the switching carried out to parking gear from gear change detection portion,
Then the engine start control unit permits the starting of engine corresponding with engine startup instruction, if by gear change detection
Portion detects the switching carried out to non-parking gear, then the engine start control unit is being determined as vehicle by traveling determination unit
When in traveling, permit the starting of engine, and when being determined as that vehicle is not in traveling by traveling determination unit, forbid starting
The starting of machine；Initial control unit, in the state of detecting the switching carried out to parking gear from gear change detection portion, with
The mode for rotating plate component until the base position after engine is completed to start controls the 1st electric actuation
Device, also, execute following base position detection operation: it stores when the plate component is rotated into until the base position
The reference signal exported from the rotation detection portion；And gear switch control portion, when from gear change detection portion detect to
When the shifting commands of parking gear switching, which controls the 1st electric actuation according to the reference signal stored
Device, so that plate component is rotated to parking gear target position.
According to the present invention, when the switching for detecting to carry out to parking gear under dead ship condition, permit rising for engine
It is dynamic, when the switching for detecting to carry out to non-parking gear, forbids engine start, therefore, can prevent vehicle from not depositing
The case where being travelled in the case where storage base position, when can be exported after a stoppage to the shifting commands that parking gear switches immediately
Gear is switched to parking gear.
Detailed description of the invention
Fig. 1 is the block diagram for showing the Sketch of vehicle of the control device using embodiments of the present invention.
Fig. 2 summarily shows the knot for being equipped on the significant points of the holding brake device of vehicle of embodiments of the present invention
The figure of structure.
Fig. 3 is the figure for showing the rotating range of brake plate for the holding brake device for constituting Fig. 2.
Fig. 4 is the block diagram for showing the significant points structure of the control device of vehicle of embodiments of the present invention.
Fig. 5 is the main view for showing the structure for the display unit for being set to vehicle front.
Fig. 6 is the flow chart for showing an example of processing by the ECU execution of Fig. 4, relating generally to engine start.
Fig. 7 A is the figure for showing an example for showing image shown in display unit.
Fig. 7 B is another figure for showing the display image shown in display unit.
Fig. 8 is to show by the ECU execution of Fig. 4, mainly an example of the processing in holding brake device failure process
Figure.
Label declaration
1: engine；1a: starter motor；3:ECU；4: battery；5b: shifting commands detector；6: parking motor；7: coding
Device；8: gear change detection device；9: speed of vehicle detector；11: engine start switch；12: display unit；31: initial control unit；
32: gear switch control portion；33: engine start control unit；34: display control section；35: idle stop control unit；36: failure
Determination unit；37: traveling determination unit；110: brake plate；P1:P wall position；Pa: parking gear target position；1: the 1 range of θ；θ 2:
2nd range
Specific embodiment
Hereinafter, referring to Fig.1~Fig. 8, embodiments of the present invention will be described.Fig. 1 is shown using reality of the invention
Apply the block diagram of the Sketch of the vehicle of the control device of mode.
As shown in Figure 1, vehicle loading has engine 1, automatic transmission 2 and ECU (electronic control unit) 3, wherein from
Dynamic speed changer 2 carries out the power of engine 1 to pass to wheel after speed change, and ECU 3 controls engine 1 and automatic transmission 2
Movement.ECU 3 is made of engine control control unit and automatic transmission control control unit etc., still, in Fig. 1
In, for convenience, it is expressed as an ECU 3.
Engine 1 is the petrol engine using gasoline as fuel, is configured to, according to the instruction from ECU 3, in response to
The operation of gas pedal and the aperture for adjusting air throttle, and spray fuel corresponding with the air inflow supplied via air throttle.Cause
This, vehicle does not carry such high-tension battery in hybrid vehicle, but same as common gasoline car, such as carries
The battery 4 of 12V controls each movement of engine 1 and automatic transmission 2 using the electric power from battery 4.
Automatic transmission 2 is that have grade or stepless automatic transmission, the shift of the gear of automatic transmission 2 in response to driver
It operates and is switched to parking gear (P gear), retreats traveling gear (R gear), neutral gear (N gear) and the traveling gear that advances
Random shift in position (D gear).In more detail, vehicle has the gearshift 5 of line traffic control shift (SBW) formula.Gearshift 5
It is set to driver's seat, comprising: selector 5a has multiple press operating parts corresponding to each gear of P, R, N, D；And shift
Command detector 5b detects the operation of selector 5a (press operating part).In addition, the structure of gearshift 5 is without being limited thereto, example
Such as it is also possible to be made of selector 5a the bar that can be moved, and detects the operation by bar by shifting commands detector 5b
The gear of realization selects (shifting commands).
The signal exported from shifting commands detector 5b is input into ECU 3.ECU 3 exports use according to the input signal
In the control signal for driving electronic shift actuator (electric motor) 2a.Thus it is corresponding gear to be switched into the operation with driver
Desired gear.In addition, gear also may include other than P, R, N, D the gear of (such as L gear run at a low speed etc.).
Vehicle loading has holding brake device.Fig. 2 is the significant points structure for summarily showing holding brake device 100
Figure.In addition, the action state of holding brake device 100 is also shown in Fig. 2.As shown in Fig. 2, holding brake device 100 includes parking
Jackshaft 101 in gear 102, with automatic transmission 2 is integrally provided；With the park pawl 104 of warpage shape, propped up
Holding into can be with axle portion 103 for branch spot wobble.
Engaging claw 104a, the other end of park pawl 104 and cam body 105 are equipped in the one end of park pawl 104
It abuts.Cam body 105 is braked plate 110 and is supported to and can retreat to the direction arrow A1, A2 via parking bar 106.Brake plate
110 are supported to rotate to the direction arrow R1, R2 using axle portion 110a as fulcrum.
It is formed with the 1st recess portion 111 and second recesses 112 in the periphery of brake plate 110, also, in the 1st recess portion 111 and the 2nd
Protrusion 113 is formed between recess portion 112.Moreover, the one end (opposite side of protrusion 113) in the 1st recess portion 111 is formed with the 1st
Wall portion 114 is formed with the 2nd wall portion 115 in the one end (opposite side of protrusion 113) of second recesses.Roller 121 and recess portion 111,112
In either side engagement, roller 121 is set to the one end of elastic arm 120, and the other end of elastic arm 120 is fixed on shell etc.
On.
Brake plate 110 is driven to rotate by parking motor 6.By encoder 7 to the rotation amount of parking motor 6, i.e. brake plate 110
Rotation position detected.In addition, parking motor 6 is arranged seperatedly with shift actuator 2a, parking motor 6 carries out P gear
Switching action, shift actuator carry out P gear other than (D, R, N gear) switching action.
When the operation using selector 5a has selected P gear, brake plate 110 is rotated to the direction R1, as shown in Fig. 2, roller
121 engage with the 1st recess portion 111.Thus make cam body 105 mobile to the direction A1 via parking bar 106, make engaging claw 104a
It is engaged with parking gear 102.As a result, preventing the rotation of jackshaft 101 and fixing wheel, holding brake device 100
Acted (parking action state).
On the other hand, when having selected non-P gear (random shift in D, R, N gear), brake plate 110 is revolved to the direction R2
Turn, so that roller 121 is crossed protrusion 113 and engaged with second recesses 112.Thus make via parking bar 106 cam body 105 to
The direction A2 is mobile, and the engagement of parking gear 102 and engaging claw 104a are released.As a result, jackshaft 101 is enabled to revolve
Turn, therefore, wheel is rotated, holding brake device 100 is released from (parking releasing state).
Fig. 3 is the figure for showing the rotating range of brake plate 110.As shown in figure 3, the rotation of brake plate 110 is by roller 121 and
The non-P wall position P2 limitation that the P wall position P1 and roller 121 that 1 wall portion 114 abuts are abutted with the 2nd wall portion 115, brake plate 110 can
It is rotated between P wall position P1 and non-P wall position.Boundary position P3 of the roller 121 between P wall position P1 and non-P wall position P2
It is mobile to protrusion 113.
When the rotation amount of brake plate 110 is in the 1st range Theta 1, gear is switched to P gear and becomes parking and act
State.On the other hand, when the rotation amount of brake plate 110 is in the 2nd range Theta 2, gear is switched to other than P gear (non-P
Gear) and become parking and release state.
It is when will select P gear, using P wall position P1 as target rotational position (the P gear of the brake plate 110 of starting point
Target position Pa) it is set in the center of such as the 1st recess portion 111 in the 1st range Theta 1.It is when will select non-P gear, with
P wall position P1 is set in the 2nd range Theta 2 as the target rotational position (non-P gear target position Pb) of the brake plate 110 of starting point
The center of interior such as second recesses 112.
In the present embodiment, it rotates brake plate 110 maximally to the direction R1, utilizes the signal of encoder 7 at this moment
To detect P wall position P1 (base position), also, the signal (reference signal) for indicating the encoder 7 of P wall position P1 is stored in
In memory (volatile memory).This is referred to as the movement of P wall position detection.In addition, keeping brake plate 110 maximum to the direction R1
Under the postrotational state in ground, the drawing force of elastic arm 120 is acted on as maximum.
In addition, as described above, the vehicle loading of present embodiment has the battery 4 of 12V identical with general gasoline car,
When engine start, starter motor 1a is driven using the electric power from battery 4.Therefore, when surge current rises according to engine
Dynamic instruction and when flowing into starter motor 1a, cell voltage be reduced to as defined in value hereinafter, stored in memory information, pass through
The reference position information that P wall position detection acts is possible to disappear.Even if reference position information has disappeared, as long as in gear
Position has been switched to the state of P gear, it will be able to execute the movement of P wall position detection again after the engine is started up, vehicle can
It is travelled in the state of storing P wall position P1.
However, having following worry if starting engine 1 in the state that gear is switched to N gear: can not executing
The movement of P wall position detection, vehicle travel in the state of no storage P wall position P1.In this case, ought indicate after a stoppage to
When the switching that P gear carries out, it can not make the rotation of brake plate 110 until P gear target position Pa immediately, be carried out to P gear
Time needed for switching is elongated.As a result, for example when obliquely stopping, in order to prevent the landslide of vehicle and need to continue behaviour
Make brake pedal, needs to carry out miscellaneous operation for driver.Such miscellaneous operation in order to prevent, in this embodiment party
In formula, the control device of vehicle is constituted as described as follows.
Fig. 4 is the block diagram for showing the structure of the significant points of the control device of vehicle of embodiments of the present invention.Such as Fig. 4
It is shown, the signal from such as lower component: shifting commands detector 5b, encoder 7, the switching for detecting gear is entered in ECU 3
The gear change detection device 8 of position, the speed of vehicle detector 9 for detecting speed, the revolution detector 10 for detecting engine speed and
The engine start switch 11 of the starting of engine 1 is indicated using the operation of driver.Gear change detection device 8 includes: inspection
The sensor for the switching that direction finding P gear carries out (such as exports connection signal when engaging claw 104a engage with parking gear 102
Parking sensor)；With detection is carried out to N gear switching sensor (such as carry out N gear switching when export connect letter
Number neutral sensor).
ECU 3 is configured to comprising the arithmetic processing apparatus with CPU, ROM, RAM and other peripheral circuits etc..ECU 3
Aftermentioned processing is executed according to the signal from each detector and switch, to starter motor 1a, shift actuator 2a, 6 and of parking motor
The output control signal of display unit 12.
As shown in figure 4, ECU 3 is used as functional structure, there is initial control unit 31, gear switch control portion 32, start
Machine starting control portion 33, display control section 34, idle stop control unit 35, breakdown determination portion 36 and traveling determination unit 37.
Initial control unit 31 is in the state that gear has been switched to P gear, the hair that is detected by revolution detector 10
Motivation revolving speed becomes to crush revolving speed or more, when engine 1 starts movement, controls parking motor 6, so that executing P wall position detection
Movement.That is, rotating brake plate 110 maximally to the direction R1 of Fig. 2 using the driving of parking motor 6 and making roller 121 and the 1st wall
Portion 114 abuts, also, the output signal of encoder 7 at this moment is stored in the memory of ECU 3 as expression P wall position
The reference signal of P1.When the storage of reference signal is completed, initial control unit 31 rotates brake plate 110 to the direction R2 of Fig. 2,
Brake plate 110 is set to return to the original position before rotating to the direction R1.The original position is equivalent to P gear target position
Pa (Fig. 3).
Gear switch control portion 32 controls shift actuator 2a and parking according to the signal from shifting commands detector 5b
Motor 6.Especially with regard to the control of parking motor 6, when detecting that the shift switched to P gear refers to from shifting commands detector 5b
When enabling, gear switch control portion 32 is exported according to the reference signal for the P wall position P1 for indicating to store in memory to parking motor 6
Signal is controlled, makes the rotation of brake plate 110 until P gear target position Pa.
More specifically, gear switch control portion 32 is according to reference signal and before rotating brake plate 110 to the direction R1
Encoder 7 output signal setting correspond to P gear target position Pa target rotation amount, on one side monitor encoder 7 it is defeated
Make brake plate 110 with target rotation amount rotation on one side out.Furthermore it is also possible to according to the shape data of the periphery of brake plate 110
(design value) sets the target rotation amount corresponding to P gear target position Pa.
In turn, when detecting the shifting commands switched to non-P gear (D, R, N gear) from shifting commands detector 5b,
Gear switch control portion 32 exports control signal to parking motor 6 according to the reference signal stored in memory, makes brake plate 110
It rotates to non-P gear target position Pb (Fig. 3).More specifically, according to the shape number of reference signal and the periphery of brake plate 110
The target rotation amount corresponding to non-P gear target position Pb is set according to (design value). while monitoring the output of encoder 7
Make brake plate 110 with target rotation amount rotation.
When the operation by engine start switch 11 inputs engine startup instruction, engine start control unit 33
Determined whether to permit engine start according to the switching state of gear and vehicle running state.That is, being examined if switched by gear
It surveys device 8 and detects the switching carried out to P gear, then permit engine start.Thus to starter motor 1a (motor relay)
Output control signal starts the Kick-start movement of engine 1.On the other hand, if from gear change detection device 8 detect to
The switching that N gear carries out permits the starting of engine 1 then when being determined as that vehicle is in traveling by traveling determination unit 37,
When being determined as that vehicle is not in traveling, forbid the starting of engine 1.
Display control section 34 exports control signal to the display unit 12 (Fig. 5) for being set to driver's seat, shows display unit 12
Defined display image.Fig. 5 is the main view for showing the structure of display unit 12.As shown in figure 5, display unit 12 is being driven by configuring
The multifunctional information display in 13 center of meter panel in front of seat is constituted.
The vehicle of embodiments of the present invention has idle stop mechanism, when D gear is selected, and in dead ship condition
Under (speed 0), also, when not operation condition (idle stop starts condition) establishment of brake pedal, the idle stop mechanism
Stop fuel injection according to the instruction from ECU 3, so that engine 1 be made to be automatically stopped.Idle stop control unit 35 controls
The movement of idle stop mechanism.In idle stop, if brake pedal is not operated, the idle stop duration is regulation
It is more than the time, the electric loading of vehicle increase etc. in any idle stop stop condition set up, then idle stop control unit 35
Starter motor 1a is controlled, idle stop is terminated.Thus start Kick-start movement, restart engine 1.
Breakdown determination portion 36 determines to constitute a part of component (parking motor 6, encoder 7 etc.) of holding brake device 100
Whether failure is had occurred.Such as when showing the signal of movement of parking motor 6 and being abnormal up to more than the defined time, determine
Failure has occurred for holding brake device 100.Traveling determination unit 37 determines that vehicle is according to the signal from speed of vehicle detector 9
It is no to be in traveling.
Fig. 6 is the flow chart for showing an example by the ECU 3 of Fig. 4 processing executed.Processing is main shown in the flow chart
It is related to the processing (engine start processing) of engine start, in parking or in traveling, when engine 1 is in non-action shape
Start the processing when state.In addition, the non-action status of engine 1 rises comprising the state before engine start and in engine
Engine speed is lower than the engine stall state of idling after dynamic.
Firstly, in step sl, determining whether to locate according to the signal from gear change detection device 8 (parking sensor)
The parking action state of P gear has been switched in gear.If being in step sl affirmative, step S2 is advanced to, according to
The operation of engine start switch 11 determines whether to indicate engine start.If being in step s 2 affirmative, before
Step S3 is proceeded to, if it is negative, then return step S1.
In step s3, control signal is exported to starter motor 1a using the processing in engine start control unit 33, risen
Dynamic engine 1.Then, after engine is completed to start, step S4 is advanced to, is held using the processing in initial control unit 31
The movement of row P wall position detection.That is, exporting control signal to parking motor 6, make the rotation of brake plate 110 until P wall position P1,
Also, in memory by the storage of the detection signal of encoder 7 at this moment.
Then, in step s 5, using the processing in initial control unit 31, according to the signal of encoder 7 to parking motor 6
Output control signal makes brake plate 110 return to original position (the P gear target position before executing the movement of P wall position detection
Pa).More than, processing terminate for engine start.Later, gear is switched according to the operation of selector 5a.For example, when instruction carries out
From non-P gear to when the switching of P gear, using the processing in gear switch control portion 32, according to the benchmark stored in step S4
Signal exports control signal to parking motor 6, and gear is switched to P gear.In addition, if gear is switched to D gear, idling
Stop condition is set up, then acts idle stop mechanism using the processing in idle stop control unit 35.
On the other hand, if being in step sl negative, that is, when releasing state in parking, then advance to step S6.
In step s 6, determine whether gear has been switched to N according to the signal from gear change detection device 8 (neutral sensor)
Gear.If being in step s 6 affirmative, step S7 is advanced to, using the processing in traveling determination unit 37, according to coming from
The signal of speed of vehicle detector 9 determines whether vehicle is in traveling.If being in the step s 7 affirmative, that is, detect
Under engine stall state to N gear carry out switching, then advance to step S8, according to the operation of engine start switch 11 come
Determine whether engine startup instruction is exported.
Step S8, if being in step s 8 affirmative, advances to step S9 by until being performed repeatedly until affirmative.?
In step S9, control signal is exported to starter motor 1a using the processing in engine start control unit 33, starts engine 1.
Then, in step slo, using the processing in traveling determination unit 37, vehicle is determined according to the signal from speed of vehicle detector 9
Whether in traveling.Step S10 is by until being performed repeatedly until negative, if being in step slo negative, that is, determine
It is in parking for vehicle, then advances to step S11.
In step s 11, determine whether to have utilized selector 5a's according to the signal from shifting commands detector 5b
Operation outputs the shifting commands switched to P gear.Step S11 is by until being performed repeatedly until affirmative, if in step s 11
It is affirmative, then advances to step S12.In step s 12, determine the P wall position P1's for indicating to be stored in advance in memory
Whether reference signal has disappeared.That is, in step s 9, when starting engine 1, according to cell voltage be reduced to as defined in value with
Under situation come whether determinating reference signal has disappeared.
If being negative in step s 12, step S5 is advanced to, according to the reference signal and volume stored in memory
The signal of code device 7 exports control signal to parking motor 6.Rotate brake plate 110 to P from non-P gear target position Pb
Until the Pa of gear target position, gear is switched to P gear from N gear.On the other hand, if being in step s 12 affirmative,
Then advance to step S13, by whether processing and the establishment of idling-stopping condition in idle stop control unit 35 independently
Forbid idle stop.
Then, step S14 is advanced to, the movement of P wall position detection is executed using the processing in initial control unit 31.The feelings
Under condition, the driving of parking motor 6 is controlled to execute the movement of P wall position detection in the state of having switched to N gear, makes to make
Movable plate 110 is rotated until P wall position P1 with the speed lower than the driving speed in step S4.Then, step S5, root are advanced to
Control signal is exported to parking motor 6 according to the reference signal as obtained from the movement of the P wall position detection of step S14, makes to brake
Plate 110 rotates until P gear target position Pa.
If being negative in step s 6, step S15 is advanced to, is sentenced according to the signal from speed of vehicle detector 9
Determine whether vehicle is in traveling.If being affirmative in step S15, step S16 is advanced to, if it is negative, then
Advance to step S17.If being negative in the step s 7, step S17 is advanced to.In step s 16, switched using gear
Processing in control unit 32 exports control signal to shift actuator 2a, and gear is switched to N gear.
In step S17, control signal is exported to display unit 12 using the processing in display control section 34, makes display unit 12
Image as defined in showing.Fig. 7 A is the figure for showing an example of display image 14 of the situation.In fig. 7, by imitating P gear
The character image 14b that image 14a and indication switch to P gear and carry out engine start constitutes display image 14.It drives as a result,
The step of member can easily grasp engine start.
Fig. 8 is another processing shown in ECU 3, particularly a part of component being related in holding brake device 100
The flow chart of an example of the processing (parking troubleshooting) of engine start when (parking motor 6 etc.) breaks down.Such as it is logical
When crossing the operation of engine start switch 11 and outputing engine startup instruction, start the processing.
Firstly, in the step s 21, determining whether holding brake device 100 has occurred failure by breakdown determination portion 36.Step
S21, if being in the step s 21 affirmative, advances to step S22 by until being performed repeatedly until affirmative.In step S22
In, determine whether gear has been switched to N gear according to the signal from gear change detection device 8.If in step S22
It is affirmative, then advances to step S23, if it is negative, then return step S21.
In step S23, control signal is exported to display unit 12 using the processing in display control section 34, makes display unit 12
Image as defined in showing.Fig. 7 B is the figure for showing an example of display image 15 of the situation.In figure 7b, by imitation brake pedal
Pedal image 15a, show brake pedal operation arrow image 15b, imitate engine start switch 11 firing switch
Image 15c and the character image 15d composition display image 15 for giving directions engine starting method.Driver can be easily as a result,
The step of grasping engine start.
Then, in step s 24, determine to have been grasped in brake pedal using the processing in engine start control unit 33
Whether engine start switch 11 is operated in the state of work, that is, engine start item when 100 failure of holding brake device
Whether part is true.If being in step s 24 affirmative, step S25 is advanced to, if it is negative, then return step
S23.In step s 25, control signal is exported to starter motor 1a, starts engine 1.Even as a result, at N gear and vehicle
In parking, in the case where holding brake device 100 breaks down, it is also able to carry out engine start.
Next, being more specifically illustrated to the main actions of the control device of the vehicle of embodiments of the present invention.
Under the normal condition that holding brake device 100 does not break down, in parking, when driver operates engine start switch 11
When, when gear is switched to P gear, start Kick-start movement, engine 1 is started (step S3).Then, parking is utilized
The driving of motor 6 executes the movement of P wall position detection, in memory (step S4) by P wall position P1 storage, then, makes to brake
Plate 110 returns to P gear target position Pa (step S5).
On the other hand, other than gear is switched to P gear when the gear of (such as N gear), Kick-start movement is banned
Only.At this moment, the image (Fig. 7 A) (step S17) for giving directions the operation by selector 5a to select P gear is shown in display unit 12.
Thus the engine start under dead ship condition is carried out in P gear, executes the movement of P wall position detection after the engine is started up, therefore,
The case where vehicle can be forbidden to travel in the state that the P wall position P1 of the benchmark acted as parking is not stored.
As a result, stopping after making vehicle driving, then, driver utilizes the operation instruction of selector 5a to P gear
The switching of progress, in the case, can P wall according to the pre-stored data position P1 gear is switched to P gear immediately.As a result,
Such as following situation can be prevented: in the state of obliquely stopping, after driver indicates the switching carried out to P gear
When foot being made to leave brake pedal, vehicle is caused to come down due to gravity.In other words, driver is not necessarily to ongoing operation brake pedal,
The workload of driver can be reduced.
When engine stall occurs under steam, N gear is switched to using gear and permits engine start as condition.If
Gear is switched to the gear (D gear) other than N gear, then is forcibly switched gear using the movement of shift actuator 2a
For N gear (step S16).In turn, in the state that gear has been switched to N gear, when operating engine start switch 11,
Engine 1 starts (step S9).Thus, it is possible to restore from engine stall state, therefore, can ensure under steam enough
Negative pressure is braked, can reliably generate brake force using the operation of brake pedal.
If carrying out engine start in N gear, it is stored in memory the worry that the P wall position P1 of storage disappears.In P
After wall position P1 stops in the state of disappearing, when the switching carried out using the operation instruction of selector 5a to P gear, on one side with low
The speed driving parking motor 6 of (step S4) executes P wall position on one side and examines when the P wall position detection movement carried out in P gear
Survey acts (step S14).Thereby, it is possible to mitigate to make roller 121 (Fig. 2) cross protrusion 113 from second recesses 112 to be moved to the 1st recess portion
Impact when 111.
When N gear executes the movement of P wall position detection, forbid idle stop (step S12).It is therefore not necessary to pass through solution
Except idle stop drives starter motor 1a automatically, parking motor 6 can be reliably driven using the electric power of the battery 4 of 12V.
That is, starter motor 1a and parking motor 6 are not driven simultaneously, it is accordingly possible to ensure enough driving voltages of parking motor 6.By
This, therefore can reliably become parking action state can prevent vehicle the case where obliquely coming down due to gravity.
When holding brake device 100 (such as parking motor 6) breaks down, license carries out engine start in N gear.
That is, in the state that gear has been switched to N gear and brake pedal is operated, when operating engine start switch 11,
Engine 1 starts (step S25).Even if causing gear not to be switched in the failure due to holding brake device 100 as a result,
In the case where for P gear, engine 1 can be also started.In 100 failure of holding brake device, start in the display of display unit 12
The step of machine starts (step S23).Driver can easily start engine 1 by referring to the display.
Embodiment according to the present invention can play function and effect below.
(1) control device of the vehicle of embodiments of the present invention is controlled using the electric power supplied by shared battery 4
Parking motor 6 and starter motor 1a, wherein parking motor 6 rotates brake plate 110 according to shifting commands, in P gear and non-P
Switch the gear of automatic transmission 2 between gear (D, R, N gear), starter motor 1a starts according to engine startup instruction starting
Machine 1 (Fig. 1).Brake plate 110 can be rotated from the P wall position P1 for limiting its maximum rotation amount to the 1st range Theta for establishing P gear
1, and then rotate to establishing non-P gear, the 2nd range Theta 2 more than the 1st range Theta 1, the 1st range Theta 1 include with P wall position P1 not
Same P gear target position Pa (Fig. 3).Also, control device includes shifting commands detector 5b, and output is with driver's
The corresponding shifting commands of gear shift operation；Encoder 7 exports signal corresponding with the rotation amount of brake plate 110；Gear switching inspection
Device 8 is surveyed, the switching position of gear is detected；Determination unit 37 is travelled, determines whether vehicle is in traveling；Engine start control
Portion 33 processed, if detecting the switching carried out to P gear from gear change detection device 8, which is permitted
Can engine 1 corresponding with engine startup instruction starting, if detect to non-P gear carry out switching, engine
Starting control portion 33 permits the starting of engine 1 when being determined as that vehicle is in traveling by traveling determination unit 37, and is determining
When being not in traveling for vehicle, forbid the starting of engine 1；Initial control unit 31 is detected by gear change detection device 8
In the state of the switching carried out out to parking gear, to make the rotation of brake plate 110 to P wall position after engine 1 is completed to start
The mode being set to only controls parking motor 6, also, executes following P wall position detection: storage brake plate 110 is rotated into P wall
The reference signal that slave encoder 7 when until position exports；And gear switch control portion 32, when by shifting commands detector 5b
When exporting the shifting commands switched to P gear, which controls according to the reference signal stored in memory
Parking motor 6 makes the rotation of brake plate 110 to P gear target position Pa (Fig. 4).
The engine start under dead ship condition carries out under P gear as a result, therefore, vehicle can be prevented in no storage P
The case where travelling in the state of the P1 of wall position, immediately will gear when can be exported after a stoppage to the shifting commands that P gear switches
Position is switched to P gear.Therefore, driver is not necessarily to ongoing operation brake pedal, does not need miscellaneous operation.As long as in addition, vehicle
In traveling, even if being non-P gear, also permit engine start, it therefore, can be extensive from the engine stall state in traveling
It is multiple.
(2) gear change detection device 8 can also to the N gear that the power of engine 1 passes to wheel not being detected,
When from gear change detection device 8 detect to N gear carry out switching and by traveling determination unit 37 be determined as vehicle be in traveling
When middle, engine start control unit 33 permits the starting (step S9) of engine 1.Thus, it is possible to carry out the engine in N gear
It starts, even if in the case where engine stall has occurred under steam, also can ensure enough brakings using engine start
Negative pressure.
(3) in turn, 1 stopping of engine acts in the state of being determined as that vehicle is in traveling by traveling determination unit 37
When, gear is switched to N gear (step S16) by gear switch control portion 32.Thereby, it is possible to be automatically transferred to can be carried out engine
The gearshift condition of starting, the engine stall state being easy from traveling are restored.
(4) vehicle also has idle stop control unit 35, which, which has, transports the idling of engine 1
Turn the idle stop function of stopping, when detecting the switching carried out to N gear from gear change detection device 8, the idle stop
Control unit 35 forbids the movement (Fig. 4) of idle stop function.Thereby, it is possible to prevent from driving starter motor 1a and parking motor simultaneously
6 the case where, it is accordingly possible to ensure enough driving voltages of parking motor 6.
(5) vehicle also has idle stop control unit 35, which, which has, transports the idling of engine 1
Turn the idle stop function of stopping, when the voltage due to battery 4 reduces and leads to the reference signal stored by initial control unit 31
When disappearance, which forbids the movement (Fig. 4) of idle stop function.In this way to reset reference signal work
Forbid the movement of idle stop function for condition, the invalidation of idle stop function can be suppressed to minimum limit, facilitated
The raising of fuel efficiency.
(6) in turn, in the state of detecting the switching carried out to N gear from gear change detection device 8, engine 1
It starts after completing, when being detected from shifting commands detector 5b to the shifting commands of P gear, initial control unit 31 executes P
Wall position detection acts (step S14).P wall position P1 is stored as a result, later, when the shifting commands switched to P gear are defeated
When out, it can be switched to P gear immediately.
(7) also there is breakdown determination portion 36, which determines the holding brake device with parking motor 6
100 have fault-free (Fig. 4), if being determined as that failure has occurred in holding brake device 100 by breakdown determination portion 36, by gear
When change detection device 8 detects to the switching that N gear carries out and is determined as that vehicle is not in traveling by traveling determination unit 37, hair
Engine start control unit 33 also permits the starting of engine 1.Even if vehicle is in parking under N gear as a result, in parking system
In the case that failure has occurred in dynamic device 100, it is also able to carry out engine start.
(8) also there is display unit 12, when being determined as that failure has occurred in holding brake device 100 by breakdown determination portion 36,
The display unit 12 is used for the operation (Fig. 4) of engine start to driver notification.Even if needing spy in engine start as a result,
In the case where other operation, driver also can easily be done engine start.
In addition, in the above-described embodiment, using parking motor 6 as the 1st electric actuator, the 1st electric actuator
Gear is switched between parking gear and non-parking gear, also, uses starter motor 1a as the 2nd electric actuation
Device, the 2nd electric actuator start engine according to engine startup instruction, still, as long as using by shared battery supplied
Electric power controlled, then the structure of the 1st electric actuator and the 2nd electric actuator is not limited to above structure.In above-mentioned implementation
In mode, plate component is constituted by brake plate 110, still, as long as constituting as follows, the structure of plate component can be any
Structure: it is arranged to rise from the base position (P wall position P1) for limiting maximum rotation amount and rotates to establishing the 1st of parking gear
Range, and then rotate until the 2nd range for establishing non-parking gear, it include the parking different from base position in the 1st range
Gear target position.Accordingly it is also possible to which it is corresponding with the rotation amount of plate component to constitute output using the component other than encoder 7
The rotation detection portion of signal.
In the above-described embodiment, the shifting commands switched to P gear are exported using the operation of selector 5a, still,
It is also possible to the door opening and closing sensor of such as opening and closing of setting detection door, exports when door opens wide and changed to what P gear switched automatically
Gear instruction.That is, can use any one in manually and automatically also to export the shifting commands switched to P gear.Above-mentioned
In embodiment, vehicle loading has single battery 4, however, it can be, for example, in order to unrelated with the electric power of battery 4
Ground shows defined information (information etc. for urging the operation of manual parking braking) in display unit 12, and takes seperatedly with battery 4
Carry secondary cell.
In the above-described embodiment, when being determined as that failure has occurred in holding brake device 100 by breakdown determination portion 36,
The display of display unit 12 is used for the operation of engine start, but it is also possible to be notified using sound etc. for engine start
Operation, the structure of notification unit are not limited to above structure.The shift for detecting shifting commands corresponding with the gear shift operation of driver refers to
The structure of detector 5b (shifting commands test section) is enabled to be also not necessarily limited to above structure.In the above-described embodiment, it is respectively set and changes
Gear actuator 2a and parking motor 6, but it is also possible to carry out the switching carried out to each gear using shared actuator.?
In above embodiment, reference signal is stored in volatile memory, but it is also possible to be stored in nonvolatile memory
In.
Above embodiment is applied to the gasoline car equipped with petrol engine, and still, the present invention can also be similarly
Applied to the vehicle equipped with other engines such as diesel engine.
Above explanation only an example, as long as not damaging feature of the invention, the present invention is not limited to above-mentioned embodiment party
Formula and variation.One or more of above embodiment and variation can be arbitrarily combined, can also will be deformed
Example is combined each other.
Claims (8)
1. the control device of a kind of control device of vehicle, the vehicle controls the 1st using the electric power by shared battery supplied
Electric actuator and the 2nd electric actuator, wherein the 1st electric actuator is according to shifting commands rotor plate component, in parking
The gear of automatic transmission is switched between gear and non-parking gear, the 2nd electric actuator rises according to engine
Dynamic instruction starts engine, and the control device of the vehicle is characterized in that,
The plate component can be rotated from the base position that the maximum rotation amount of the plate component is restricted to described in foundation
1st range of parking gear, and then rotate to establishing the 2nd range that the non-parking gear has been more than the 1st range and be
Only, the 1st range includes the parking gear target position different from the base position,
The control device of the vehicle includes
Shifting commands test section detects shifting commands corresponding with the gear shift operation of driver；
Rotation detection portion exports signal corresponding with the rotation amount of the plate component；
The switching position of gear is detected in gear change detection portion；
Determination unit is travelled, determines whether vehicle is in traveling；
Engine start control unit, if detecting the switching carried out to the parking gear from gear change detection portion,
Then the engine start control unit permits the starting of the engine corresponding with the engine startup instruction, if by described
Gear change detection portion detects the switching carried out to the non-parking gear, then the engine start control unit is by the row
When sailing determination unit and being determined as that vehicle is in traveling, permit the starting of the engine, and by traveling determination unit judgement
When being not in traveling for vehicle, forbid the starting of the engine；
Initial control unit, in the state for detecting the switching carried out to the parking gear from gear change detection portion
Under, the 1st electric actuator control is formed in the engine and completes to rotate the plate component to the base after starting
Level is set, also, executes following base position detection operation: being stored when the plate component is rotated into the base position
The reference signal exported from the rotation detection portion；And
Gear switch control portion is detected when from gear change detection portion to the shifting commands of parking gear switching
When, which controls the 1st electric actuator according to the reference signal stored, so that the plate portion
Part is rotated to parking gear target position.
2. the control device of vehicle according to claim 1, which is characterized in that
It gear change detection portion can also be to the neutral gear that the power of the engine passes to wheel not being examined
It surveys,
When being detected the switching carried out to the neutral gear from gear change detection portion and sentenced by the traveling determination unit
When being set to vehicle in traveling, the engine start control unit permits the starting of the engine.
3. the control device of vehicle according to claim 2, which is characterized in that
In turn, when the engine stop acts in the state of being determined as that vehicle is in traveling by the traveling determination unit,
Gear is switched to the neutral gear by the gear switch control portion.
4. the control device of vehicle according to claim 2 or 3, which is characterized in that
The vehicle has the function of the idle stop for stopping the idle running of the engine,
The control device of the vehicle also has idle stop control unit, detects when from gear change detection portion to described
When the switching that neutral gear carries out, which forbids the movement of the idle stop function.
5. the control device of vehicle according to claim 2 or 3, which is characterized in that
The vehicle has the function of the idle stop for stopping the idle running of the engine,
The control device of the vehicle also has idle stop control unit, when the voltage by the battery reduces and causes by institute
When stating the reference signal disappearance of initial control unit storage, which forbids the movement of the idle stop function.
6. the control device of vehicle according to claim 2, which is characterized in that
In turn, in the state of detecting the switching carried out to the neutral gear from gear change detection portion, the hair
After the starting of motivation is completed, detect when from the shifting commands test section to the shifting commands of parking gear switching
When, the initial control unit executes the base position detection operation.
7. the control device of vehicle according to claim 2, which is characterized in that
The control device of the vehicle also has breakdown determination portion, which determines there is the 1st electric actuator
Holding brake device have fault-free,
If being determined as that failure has occurred in the holding brake device by the breakdown determination portion, examined being switched by the gear
When survey portion detects to the switching that the neutral gear carries out and is determined as that vehicle is not in traveling by the traveling determination unit,
The engine start control unit also permits the starting of the engine.
8. the control device of vehicle according to claim 7, which is characterized in that
The control device of the vehicle also has notification unit, which is being determined as the parking system by the breakdown determination portion
Dynamic device is used for the operation of engine start to driver notification when failure has occurred.
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| JP2016-147314 | 2016-07-27 | ||
| JP2016147314A JP6293827B2 (en) | 2016-07-27 | 2016-07-27 | Vehicle control device |
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| JP7081541B2 (en) * | 2019-03-20 | 2022-06-07 | トヨタ自動車株式会社 | Vehicle control unit |
| CN112951220B (en) * | 2019-11-26 | 2024-03-01 | 广州汽车集团股份有限公司 | Voice redundancy braking method and system, computer equipment and readable storage medium thereof |
| JP7213201B2 (en) * | 2020-03-30 | 2023-01-26 | 本田技研工業株式会社 | shift device |
| CN114251443B (en) * | 2020-09-22 | 2023-04-07 | 长城汽车股份有限公司 | Vehicle gear shifting device and method and vehicle |
| CN113588270B (en) * | 2021-06-18 | 2024-04-16 | 东风汽车集团股份有限公司 | Method and device for detecting turbocharging electric control actuator |
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| CN101171163A (en) * | 2005-08-05 | 2008-04-30 | 本田技研工业株式会社 | Vehicle control device |
| CN102084159A (en) * | 2008-07-11 | 2011-06-01 | 丰田自动车株式会社 | Vehicle control device and control method |
| CN102459964A (en) * | 2009-06-03 | 2012-05-16 | 丰田自动车株式会社 | Control apparatus and control method for vehicle |
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| JP2003041967A (en) * | 2001-07-26 | 2003-02-13 | Toyota Motor Corp | Automatic stop control system for internal combustion engine |
| JP4248290B2 (en) * | 2003-04-04 | 2009-04-02 | 株式会社デンソー | Shift control system and shift control method |
| JP4013939B2 (en) * | 2004-11-08 | 2007-11-28 | トヨタ自動車株式会社 | Mobile body and control method thereof |
| JP6398850B2 (en) * | 2015-04-07 | 2018-10-03 | トヨタ自動車株式会社 | Control device for vehicle shift position switching device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101171163A (en) * | 2005-08-05 | 2008-04-30 | 本田技研工业株式会社 | Vehicle control device |
| CN102084159A (en) * | 2008-07-11 | 2011-06-01 | 丰田自动车株式会社 | Vehicle control device and control method |
| CN102459964A (en) * | 2009-06-03 | 2012-05-16 | 丰田自动车株式会社 | Control apparatus and control method for vehicle |
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