WO2011162374A1 - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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- WO2011162374A1 WO2011162374A1 PCT/JP2011/064537 JP2011064537W WO2011162374A1 WO 2011162374 A1 WO2011162374 A1 WO 2011162374A1 JP 2011064537 W JP2011064537 W JP 2011064537W WO 2011162374 A1 WO2011162374 A1 WO 2011162374A1
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- restart
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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
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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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- 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
Definitions
- the present invention relates to a control device and control method for performing stop control for automatically stopping an engine of a vehicle, and restart control for automatically restarting an engine.
- the engine when the amount of brake operation by the driver becomes equal to or greater than the first threshold, the engine is automatically stopped. Thereafter, when the amount of brake operation by the driver becomes equal to or less than the second threshold before the vehicle stops, automatic restart of the engine is started. During the restart of the engine, if the start condition of the ABS control is satisfied by the brake operation by the driver, the ABS control is started even during the restart of the engine.
- An object of the present invention is a control device and control method capable of quickly restarting an engine without inhibiting braking control in a vehicle having a function of automatically stopping the engine of the vehicle based on a brake operation by a driver. To provide.
- a vehicle in one aspect of the present invention, includes a control unit (55, S30), an inertia acceleration acquisition unit (55, S27), and an inertia vehicle speed estimation unit (55, S28).
- a control device is provided.
- the control unit (55, S30) performs stop control for automatically stopping the engine (12) of the vehicle and restart control for automatically restarting the engine (12).
- the inertia acceleration acquiring unit (55, S27) acquires, as inertia acceleration (Dg), an estimated value of the acceleration of the vehicle when traveling with no braking force applied to the wheels (FR, FL, RR, RL).
- the inertial body speed estimation unit (55, S28) requires restart of the engine (12) based on the inertial acceleration (Dg) when the engine (12) is stopped in response to the stop control.
- the vehicle speed of the vehicle at the time when the restart time (Ts, Ts1) has elapsed is acquired as a first vehicle speed estimated value (VS1).
- VS1 first vehicle speed estimated value
- KVS braking control permission reference value
- FIG. 2 is a block diagram showing an example of the braking device of FIG. 1; Map showing the relationship between the gradient acceleration and the current value for the linear solenoid valve.
- 3 is a flowchart illustrating an accelerator override determination processing routine. The flowchart (the first half part) explaining idle stop processing routine. The flowchart (second half part) explaining idle stop processing routine. The timing chart explaining change of MC pressure at the time of making an engine stop and restart automatically, change of number of rotations of an engine, body speed, and a road surface slope. The timing chart explaining the change of MC pressure at the time of restarting an engine automatically, the number of rotations of an engine, body speed, and a road surface slope.
- traveling direction (forward direction) of the vehicle will be described as the front (vehicle front).
- the vehicle according to the present embodiment automatically stops the engine according to the establishment of a predetermined stop condition during traveling of the vehicle in order to improve the fuel efficiency performance and the emission performance, and then the engine according to the establishment of the predetermined start condition Has a so-called idle stop function that automatically restarts the Therefore, in this vehicle, the engine is automatically stopped during deceleration or stop by the driver's brake operation.
- the front wheels FR, FL are drive wheels. It is a so-called front wheel drive car that functions as Such a vehicle transmits a driving force generated by the driving force generator 13 to the front wheels FR, FL, and a driving force generator 13 having an engine 12 that generates a driving force according to the amount of operation of the accelerator pedal 11 by the driver. And a driving force transmission device 14.
- the vehicle also includes a braking device 16 for applying a braking force corresponding to the amount of operation of the brake pedal 15 by the driver to each of the wheels FR, FL, RR, and RL.
- the driving force generation device 13 is provided with a fuel injection device (not shown) which is disposed in the vicinity of an intake port (not shown) of the engine 12 and has an injector for injecting fuel to the engine 12.
- the driving force generator 13 is driven based on control of an engine ECU 17 (also referred to as an “engine electronic control device”) having a CPU, a ROM, a RAM, and the like (not shown).
- the engine ECU 17 is electrically connected to an accelerator operation amount sensor SE1 disposed in the vicinity of the accelerator pedal 11 and detecting an operation amount (depression amount) of the accelerator pedal 11 by the driver, that is, an accelerator operation amount. It is done. Then, the engine ECU 17 calculates the accelerator operation amount based on the detection signal from the accelerator operation amount sensor SE1, and controls the driving force generation device 13 based on the calculated accelerator operation amount and the like.
- the driving force transmission device 14 controls the automatic transmission 18, the differential gear 19 for appropriately distributing the driving force transmitted from the output shaft of the automatic transmission 18 and transmitting it to the front wheels FR and FL, and the automatic transmission 18 And an AT ECU (not shown).
- the automatic transmission 18 includes a hydraulic drive power transmission mechanism 20 having a torque converter 20 a as an example of a fluid coupling, and a transmission mechanism 21.
- the braking device 16 includes a hydraulic pressure generating device 28 having a master cylinder 25, a booster 26 and a reservoir 27, and a brake actuator 31 having two hydraulic circuits 29, 30 (in FIG. 2). (Indicated by a two-dot chain line).
- the respective hydraulic circuits 29, 30 are connected to the master cylinder 25 of the hydraulic pressure generating device 28, respectively.
- a wheel cylinder 32a for the right front wheel FR and a wheel cylinder 32d for the left rear wheel RL are connected to the first hydraulic circuit 29, and a wheel for the left front wheel FL is connected to the second hydraulic circuit 30.
- a cylinder 32b and a wheel cylinder 32c for the right rear wheel RR are connected.
- the booster 26 is connected to an intake manifold (not shown) that generates negative pressure when the engine 12 is driven. Then, the booster 26 boosts the operating force of the brake pedal 15 by the driver using the pressure difference between the negative pressure generated in the intake manifold and the atmospheric pressure.
- Master cylinder 25 generates a master cylinder pressure (hereinafter also referred to as “MC pressure”) as a fluid pressure according to the operation of brake pedal 15 by the driver (hereinafter also referred to as “brake operation”).
- MC pressure master cylinder pressure
- brake operation the operation of brake pedal 15 by the driver
- the master cylinder 25 supplies the brake fluid as the fluid into the wheel cylinders 32a to 32d through the hydraulic circuits 29 and 30.
- a braking force corresponding to the wheel cylinder pressure (also referred to as "WC pressure”) in the wheel cylinders 32a to 32d is applied to the wheels FR, FL, RR, and RL.
- connection paths 33, 34 are connected to the master cylinder 25 via connection paths 33, 34, respectively.
- Each of the connection paths 33 and 34 is provided with a normally open linear solenoid valve (regulating valve) 35 a or 35 b.
- the linear solenoid valves 35a and 35b include a valve seat, a valve body, an electromagnetic coil, and a biasing member (e.g., a coil spring) that biases the valve body away from the valve seat.
- the valve body is displaced in accordance with the value of the current supplied to the electromagnetic coil from the brake ECU 55 described later. That is, the WC pressure in the wheel cylinders 32a-32d is maintained at a hydraulic pressure corresponding to the value of the current supplied to the linear solenoid valves 35a, 35b.
- an MC pressure sensor SE2 for detecting an MC pressure generated by the master cylinder 25 is provided closer to the master cylinder 25 than the linear solenoid valve 35a in the connection path 33.
- a detection signal corresponding to the generated MC pressure is output from the MC pressure sensor SE2 to the brake ECU 55.
- connection paths 33 and 34 and the paths 36a to 36d constitute a flow path connecting the master cylinder 25 and the wheel cylinders 32a to 32d.
- pressure-increase valves (regulating valves) 37a, 37b, 37c, and 37d which are normally open solenoid valves that operate when regulating the WC pressure increase in the wheel cylinders 32a to 32d.
- the pressure reducing valves 38a, 38b, 38c and 38d which are normally closed solenoid valves that operate when the WC pressure is reduced, are provided.
- reservoirs 39, 40 for temporarily storing the brake fluid which has flowed out from the wheel cylinders 32a-32d via the pressure reducing valves 38a-38d, and a pump operated based on the rotation of the motor 41. 42 and 43 are connected.
- the reservoirs 39 and 40 are connected to the pumps 42 and 43 through the suction flow channels 44 and 45, and connected to the connection paths 33 and 34 through the master flow channels 46 and 47 more than the linear solenoid valves 35a and 35b. It is connected to the master cylinder 25 side.
- the pumps 42 and 43 are connected to connection portions 50 and 51 between the pressure increasing valves 37a to 37d and the linear solenoid valves 35a and 35b in the hydraulic circuits 29 and 30 through the supply flow paths 48 and 49, respectively. There is. Then, when the motor 41 is rotated, the pumps 42 and 43 suck the brake fluid from the reservoirs 39 and 40 and the master cylinder 25 through the suction flow paths 44 and 45 and the master side flow paths 46 and 47, The brake fluid is discharged into the supply channels 48, 49.
- brake ECU 55 also referred to as “brake electronic control device” that controls the drive of the brake actuator 31 will be described.
- an MC pressure sensor SE2 and wheel speed sensors SE3, SE4, SE for detecting the wheel speeds of the respective wheels FR, FL, RR, and RL are provided at the input side interface of the brake ECU 55 as a control unit.
- SE5 and SE6, and an acceleration sensor (also referred to as "G sensor") SE7 for detecting acceleration in the front-rear direction of the vehicle are electrically connected.
- a brake switch SW1 disposed in the vicinity of the brake pedal 15 and for detecting whether the brake pedal 15 is operated is electrically connected to the input side interface of the brake ECU 55.
- the valves 35a, 35b, 37a to 37d, 38a to 38d and the motor 41 are electrically connected to the output side interface of the brake ECU 55.
- the acceleration sensor SE7 outputs a signal that gives a positive value when the vehicle stops on an uphill road, and outputs a signal that gives a negative value when the vehicle stops on a downhill road Be done.
- the brake ECU 55 is a digital computer including a CPU, a ROM, and a RAM (not shown), a valve driver circuit (not shown) for operating the valves 35a, 35b, 37a to 37d and 38a to 38d, and a motor 41. (Not shown) for driving the motor.
- the ROM of the digital computer stores various control processes (accelerator override determination process described later, idle stop process, etc.), various maps (maps, etc. shown in FIG. 3), various thresholds, etc., in advance.
- the RAM stores various types of information that can be appropriately rewritten.
- the map shown in FIG. 3 shows the relationship between the absolute value of the gradient acceleration Ag and the current value I for the linear solenoid valves 35a, 35b.
- the “gradient acceleration Ag” is an acceleration having a corresponding relationship with the gradient of the road surface, and is the vehicle acceleration G (see FIG. 5) calculated based on the detection signal from the acceleration sensor SE7 while the vehicle is stopped. This value corresponds to the vehicle body acceleration G.
- the “current value I for the linear solenoid valves 35a, 35b” is the minimum braking force necessary to maintain the stop of the vehicle when the driving force from the engine 12 is not transmitted to the front wheels FR, FL.
- the current value I for the linear solenoid valves 35a, 35b is set to a larger value as the absolute value of the gradient acceleration Ag, that is, the absolute value of the road surface gradient is larger.
- the ECUs including the engine ECU 17 and the brake ECU 55 are connected to one another via a bus 56 so as to transmit and receive various information and various control commands as shown in FIG.
- the control ECU 55 instructs the engine 12 to automatically stop. Command) and a control command for restarting the engine 12 automatically (also referred to as “restart command”) are transmitted to the engine ECU 17.
- the accelerator override determination processing routine is a processing routine for determining whether or not the driver of the vehicle has an intention to start the vehicle.
- the brake ECU 55 executes an accelerator override determination processing routine every predetermined cycle (for example, 0.01 second cycle) set in advance.
- the brake ECU 55 determines whether the accelerator pedal 11 is being operated, that is, whether the accelerator is on, based on the information on the accelerator operation amount AK received from the engine ECU 17 (Step S10). If the determination result is a negative determination (ie, the accelerator is off), the brake ECU 55 shifts the process to step S15 described later.
- step S10 determines whether or not the acquired accelerator operation amount AK is equal to or greater than a preset operation amount threshold KAK Step S11).
- the operation amount threshold value KAK is a reference value for determining whether the driver has the intention to start the vehicle based on the depression amount of the accelerator pedal 11 by the driver.
- step S11 is negative (AK ⁇ KAK)
- the brake ECU 55 shifts the process to step S15 described later.
- step S11 when the determination result of step S11 is affirmation determination (AK K KAK), the ECU 55 for brakes is a change rate at which an accelerator operation amount change rate DAK, which is a value obtained by time differentiating the acquired accelerator operation amount AK It is determined whether it is equal to or greater than a threshold KDAK.
- the change rate threshold value KDAK is a reference value for determining whether or not the driver has an intention to start the vehicle based on the degree of increase of the depression amount of the accelerator pedal 11 by the driver.
- step S12 determines whether the brake pedal 15 is not operated based on the detection signal from the brake switch SW1, that is, the brake is off. It is determined whether there is any (step S13). If the determination result is an affirmative determination (i.e., the brake is off), the brake ECU 55 sets the accelerator override flag FLG2 on (step S14), and temporarily terminates the accelerator override determination processing routine. On the other hand, if the determination result of step S13 is a negative determination (ie, the brake is on), the brake ECU 55 shifts the process to the next step S15.
- step S15 the brake ECU 55 sets the accelerator override flag FLG2 to OFF, and temporarily terminates the accelerator override determination processing routine. That is, in the present embodiment, when at least one of the determination results in steps S10 to S13 is a negative determination, it is determined that the driver does not have the intention to start the vehicle, while step S10 If all the determination results in S13 to S13 are positive, it is determined that the driver has an intention to start the vehicle.
- the idle stop processing routine is a processing routine for setting the timing for permitting the automatic stop of the engine 12 and the timing for permitting the automatic restart of the engine 12. 7 and 8 are timing charts when the vehicle travels on a downhill road.
- the brake ECU 55 determines whether or not the brake actuator 31 is under braking control (step S20).
- the braking control in the present embodiment indicates braking control in which the pumps 42 and 43 of the brake actuator 31 operate. Examples of the braking control include antilock brake control and anti-slip control (ESC: Electronic Stability Control). Then, if the determination result of step S20 is affirmation determination (i.e., during braking control), the brake ECU 55 once ends the idle stop processing routine.
- step S21 determines whether the idle stop flag FLG1 is on.
- step S22 ECU55 for brakes acquires vehicle body speed VS of a vehicle (step S22). Specifically, the brake ECU 55 calculates the wheel speeds of the wheels FL, FR, RL, and RR based on the detection signals from the wheel speed sensors SE3 to SE6, and calculates the wheel speeds of the wheels FL, FR, RL, and RR. The wheel acceleration is obtained by temporally differentiating at least one of the wheel speeds. Then, the brake ECU 55 integrates the wheel acceleration with respect to the vehicle speed acquired at the previous timing, and sets the integration result as the vehicle speed VS. Therefore, in the present embodiment, the brake ECU 55 also functions as a vehicle speed acquisition unit.
- the brake ECU 55 time-differentiates the vehicle speed VS acquired in step S22 to acquire a vehicle speed differential value (actual acceleration of the vehicle) DVS (step S23).
- the brake ECU 55 may set the wheel acceleration acquired at the time of the processing in step S22 as the vehicle speed differential value DVS. Therefore, in the present embodiment, the brake ECU 55 also functions as a vehicle acceleration acquisition unit.
- the brake ECU 55 calculates a vehicle body acceleration G in the longitudinal direction of the vehicle (hereinafter, also simply referred to as "vehicle body acceleration”) based on the detection signal from the acceleration sensor SE7 (step S24).
- the brake ECU 55 subtracts the vehicle speed differential value DVS acquired in step S23 from the vehicle acceleration G calculated in step S24, and sets the subtraction result as the gradient acceleration Ag (step S25).
- the vehicle body acceleration G calculated based on the detection signal from the acceleration sensor SE7 includes an actual acceleration component of the vehicle and an acceleration component corresponding to the gradient of the road surface on which the vehicle travels.
- the actual acceleration component of the vehicle is a vehicle speed differential value DVS which is a differential value of the vehicle speed VS, and the gradient acceleration Ag is obtained by removing the actual acceleration component of the vehicle from the vehicle acceleration G. . Therefore, in the present embodiment, the brake ECU 55 also functions as a gradient acceleration acquisition unit.
- step S26 acquires restart time Ts (step S26). Specifically, while the engine 12 is stopped, the brake ECU 55 obtains the time required to restart the engine 12, that is, the time required for restart Ts1 (see FIG. 7), and re-starts the time required for restart Ts1. It is assumed that the start time Ts. In addition, the ECU 55 for brakes temporarily stops the engine 12 while the engine 12 is being driven, and thereafter obtains the time required to restart the engine 12 immediately, that is, the time required for restart of the stop Ts2 (see FIG. 7). The stop and restart required time Ts2 is taken as a restart time Ts.
- the required restart time Ts1 is a predicted value of the time from when the restart command is transmitted from the brake ECU 55 to the engine ECU 17 until the restart of the engine 12 is completed, for example, “1 second”.
- a predicted value of the time until the stop of the engine 12 is completed after the stop command is transmitted from the brake ECU 55 to the engine ECU 17 with respect to the restart required time Ts1 is added. Value.
- the brake ECU 55 calculates the inertia acceleration Dg as an estimated value of the acceleration of the vehicle under an assumption that the vehicle travels with no braking force applied to the wheels FR, FL, RR, and RL (step S27). . Specifically, the brake ECU 55 obtains the inertia acceleration Dg by multiplying the gradient acceleration Ag calculated in step S25 by “ ⁇ 1”.
- the inertia acceleration Dg is an acceleration of the vehicle when it is assumed that the vehicle travels in a state where neither the driving force nor the braking force is applied to the wheels FR, FL, RR, and RL.
- the inertia acceleration Dg has a negative value when the road surface is an uphill road, a positive value when the road surface is a downhill road, and further, when the road surface is a horizontal road surface, It becomes 0 (zero). Therefore, in the present embodiment, the brake ECU 55 also functions as a inertia acceleration acquisition unit. Further, the inertial acceleration acquiring step is configured by steps S25, S26, and S27.
- the brake ECU 55 estimates the first vehicle speed as an estimated value of the vehicle speed when the restart time Ts has elapsed from the current time.
- step S29 determines whether the first vehicle speed estimated value VS1 acquired in step S28 is larger than a preset braking control permission reference value KVS (step S29).
- the braking control permission reference value KVS is a value set as a reference value for determining permission or prohibition of braking control, and when the vehicle speed VS is less than or equal to the braking control permission reference value KVS, execution of the braking control is performed. It is forbidden. If the determination result in step S29 is affirmative (VS1> KVS), the brake ECU 55 shifts the process to step S31 described later. On the other hand, if the determination result of step S29 is negative (VS1 K KVS), the brake ECU 55 shifts the process to the next step S30.
- step S30 the brake ECU 55 performs stop control that permits the automatic stop of the engine 12 when the engine 12 is in operation. Therefore, in the present embodiment, step S30 corresponds to the stop step. Thereafter, the brake ECU 55 temporarily terminates the idle stop processing routine.
- the brake ECU 55 that has performed the stop control operates when the MC pressure Pmc in the master cylinder 25 calculated based on the detection signal from the MC pressure sensor SE2 is equal to or higher than the stop control start reference value KPmc1 (see FIG. 7).
- a stop command is sent to the engine ECU 17.
- the stop control start reference value KPmc1 is set based on the slope of the road surface on which the vehicle travels (also referred to as "road surface slope").
- the engine ECU 17 stops driving of the engine 12 and transmits a signal indicating that the stop processing is completed to the brake ECU 55.
- the brake ECU 55 that has received the signal from the engine ECU 17 determines that the stop of the engine 12 is completed.
- the vehicle is decelerated when the driver operates the brake while driving the engine 12.
- the first estimated vehicle speed value VS1 is calculated at predetermined intervals.
- the first vehicle speed estimated value VS1 is larger than the braking control permission reference value KVS, the automatic stop of the engine 12 is prohibited.
- the first vehicle speed estimated value VS1 calculated at the first timing t11 corresponds to the vehicle body at the third timing t13 when it is assumed that the driving force and the braking force are not applied to the wheels FR, FL, RR, and RL. It is an estimate of speed.
- the third timing t13 is a timing after the stop / restart required time Ts2 has elapsed from the first timing t11.
- the first vehicle speed estimated value VS1 is less than or equal to the braking control permission reference value KVS, the automatic stop of the engine 12 is permitted.
- the first vehicle speed estimated value VS1 calculated at the second timing t12 corresponds to the vehicle body at the fourth timing t14 when it is assumed that the driving force and the braking force are not applied to the wheels FR, FL, RR, and RL. It is an estimate of speed.
- the fourth timing t14 is a timing after the stop / resumption required time Ts2 has elapsed from the second timing t12.
- step S30 corresponds to the restart step. Thereafter, the brake ECU 55 temporarily terminates the idle stop processing routine.
- the brake ECU 55 that has performed restart control is It transmits to ECU17 for engines.
- the restart control start reference value KPmc2 is set based on the slope of the road surface on which the vehicle travels (also referred to as "road surface slope").
- the engine ECU 17 receives the restart command, the engine ECU 17 restarts the engine 12 and transmits a signal to the effect that the restart process is completed to the brake ECU 55.
- the brake ECU 55 that has received the signal from the engine ECU 17 determines that the restart of the engine 12 is completed.
- the first estimated vehicle speed value VS1 is an estimated value of the vehicle speed after the restart required time Ts1 has elapsed from the present time, assuming that the driving force and the braking force are not applied to the wheels FR, FL, RR, and RL. It is.
- the vehicle speed VS of the vehicle exceeds the braking control permission reference value KVS during the restart of the engine 12, and the braking control is started.
- the start condition of the braking control is satisfied even while the engine 12 is stopped, the braking control is preferentially performed over the restart control.
- the first vehicle speed estimated value VS1 calculated at the fifth timing t15 is an estimation of the vehicle speed at the sixth timing t16 when it is assumed that no braking force is applied to the wheels FR, FL, RR, and RL. It is a value.
- the sixth timing t16 is a timing after the restart required time Ts1 has elapsed from the fifth timing t15.
- FIG. 7 describes automatic restart of the engine 12 when the vehicle once stops.
- the first vehicle speed estimated value VS1 becomes the braking control permission reference value KVS before the vehicle stops, and restart of the engine 12 is permitted. It is also possible. If the MC pressure Pmc becomes equal to or less than the restart control start reference value KPmc2 in this state, the engine 12 is restarted even before the vehicle is stopped.
- step S31 the brake ECU 55 determines whether the engine 12 is stopped based on the information received from the engine ECU 17. If the determination result is negative, the brake ECU 55 shifts the process to step S37 described later because the engine 12 is being driven. On the other hand, when the determination result of step S31 is affirmation determination, since the engine is at rest, the brake ECU 55 performs a braking force holding process for holding the braking force on each of the wheels FR, FL, RR, and RL. (Step S32). Specifically, the brake ECU 55 obtains the current value I corresponding to the gradient acceleration Ag obtained in step S25 based on the map shown in FIG. 3 and supplies the current value I to the linear solenoid valves 35a and 35b. Take control. In valve control, since the motor 41 (pumps 42 and 43) is not operated, the amount of power consumption by the brake actuator 31 is very small compared to the case where the motor 41 is operated. That is, the valve control is not included in the braking control in the present embodiment.
- step S34 determines whether the second vehicle speed estimated value VS2 calculated in step S33 is larger than the braking control permission reference value KVS (step S34). If the determination result is an affirmative determination (VS2> KVS), the brake ECU 55 shifts the process to step S36 described later. On the other hand, when the determination result of step S34 is a negative determination (VS2 ⁇ KVS), the brake ECU 55 determines whether or not the vehicle speed VS calculated in step S22 is less than the braking control permission reference value KVS (step S35). If the determination result is an affirmative determination (VS ⁇ KVS), the brake ECU 55 shifts the process to step S30 described above. That is, the restart control that permits the automatic restart of the engine 12 is performed. On the other hand, if the determination result of step S35 is negative (VS (KVS), the brake ECU 55 shifts the process to the next step S36.
- step S37 when the engine 12 is being driven, the brake ECU 55 does not permit the automatic stop of the engine 12, that is, prohibits the stop control. On the other hand, when the engine 12 is stopped, the brake ECU 55 does not permit the automatic restart of the engine 12, that is, prohibits the restart control. Thereafter, the brake ECU 55 temporarily terminates the idle stop processing routine.
- the first vehicle speed estimated value VS1 is the braking control permission reference Since it is larger than the value KVS, the linear solenoid valves 35a, 35b are supplied with the current value I of a magnitude corresponding to the gradient acceleration Ag. That is, the braking force on the wheels FR, FL, RR, and RL is maintained. Further, at the first timing t21, the second estimated vehicle speed value VS2 is calculated.
- the second vehicle speed estimated value VS2 is a predicted value of the vehicle speed VS at the second timing t22 at which the required restart time Ts1 has elapsed from the first timing t21, and when the engine 12 is stopped, the wheels FR, FL , RR, and RL are predicted values of the vehicle speed VS when the braking force is held. Therefore, the second estimated vehicle speed value VS2 is a value obtained by adding the braking forces to the wheels FR, FL, RR, and RL, and is smaller than the first estimated vehicle speed value VS1.
- the braking control is started during the restart of the engine 12 Because the possibility is low, restart control is performed. Then, at the first timing t21, since the MC pressure Pmc is equal to or less than the restart control start reference value KPmc2, the engine 12 is automatically restarted.
- the linear solenoid valves 35a and 35b continue to be supplied with the current value I until the restart of the engine 12 is completed. Therefore, rapid start-up during restart of the engine 12 is suppressed. Then, from the second timing t22 when the restart of the engine 12 is completed, the current value I to the linear solenoid valves 35a, 35b is decreased.
- the second estimated vehicle speed value VS2 is the braking control permission reference value by increasing the operation amount of the brake pedal 15 by the driver within the range where the MC pressure Pmc is less than the restart control start reference value KPmc2. It may be less than KVS and the vehicle speed VS may be less than the braking control permission reference value KVS. Further, by increasing the operation amount of the brake pedal 15 by the driver within the range where the MC pressure Pmc is equal to or less than the restart control start reference value KPmc2, the first vehicle speed estimated value VS1 is equal to or less than the braking control permission reference value KVS. It can be That is, the engine 12 may be restarted in response to an increase in the operation amount of the brake pedal 15 by the driver.
- the inertia acceleration Dg is the acceleration of the vehicle under the assumption that the driving force and the braking force are not applied to the wheels FR, FL, RR, and RL. Then, assuming that the driving force and the braking force are not applied to the wheels FR, FL, RR, and RL, a first vehicle speed estimated value VS1 which is an estimated value of the vehicle body speed at the time when the required restart time Ts1 has elapsed. Is acquired based on the inertia acceleration Dg.
- valve control is performed, so that a reduction in the braking force on the wheels FR, FL, RR, and RL is suppressed.
- the second estimated vehicle speed value VS2 is acquired in a state where the valve control is performed. Then, when the second estimated vehicle speed value VS2 is equal to or less than the braking control permission reference value KV2, even if the engine 12 is restarted from this timing, the vehicle speed VS is equal to the braking control permission reference value KVS during the restart. The possibility of exceeding is low.
- the vehicle speed estimated value VS2 is less than or equal to the braking control permission reference value KV2
- the first estimated vehicle speed value VS1 acquired during driving of the engine 12 is less than the braking control permission reference value KVS, even if the engine 12 is restarted immediately after stopping the engine 12, During the restart, there is a low possibility that the vehicle body speed VS of the vehicle will be equal to or higher than the braking control start threshold KVS. Therefore, stop control is performed.
- the first estimated vehicle speed value VS1 is equal to or greater than the braking control permission reference value KVS while the engine 12 is being driven, the engine 12 is restarted immediately after stopping the engine 12 during the restart.
- the vehicle body speed VS of the vehicle may become equal to or higher than the braking control start threshold KVS. That is, since there is a possibility that the restart of the engine 12 and the braking control overlap in time, the stop control is not performed. Therefore, duplication of braking control and restart of the engine 12 can be suppressed.
- the brake actuator 31 can be appropriately driven even if the restart of the engine 12 and the braking control overlap in time if the battery capacity is large or the battery storage amount at the current time is large. At the same time, the engine 12 can be quickly restarted. However, when the storage capacity of the battery is small (especially when a large amount of power is consumed using an air conditioner in summer, etc.), the braking control and the restart of the engine 12 overlap in time. If so, there is a risk that sufficient power can not be supplied to the starter motor. In this case, the completion of the restart of the engine 12 is delayed, and there is a possibility that the vehicle can not be quickly started against the driver's intention.
- the possibility that the braking control and the restart of the engine 12 overlap in time is reduced. Therefore, when the engine 12 is restarted, sufficient electric power is supplied to the starter motor, and the engine 12 can be restarted quickly. Therefore, the vehicle can be promptly started in accordance with the driver's intention. Also, even when the braking control is executed after the restart of the engine 12 is completed, sufficient electric power can be supplied to the motor 41 of the brake actuator 31 and the respective valves 35a, 35b, 37a to 37d, 38a to 38d. . Thus, the behavior of the vehicle can be appropriately controlled.
- the stop control during driving of the engine 12 may be performed when the vehicle speed VS of the vehicle is less than the braking control permission reference value KVS in a state where the driver performs a brake operation.
- the stop control may be performed when the predicted value of the vehicle body speed at the time when the stop of the engine 12 triggered by the stop control is completed is less than the braking control permission reference value KVS. Even with this configuration, it is possible to reduce the possibility that the stop of the engine 12 and the braking control overlap in time.
- the accelerator override flag FLG2 may be set on when at least one of the determination results of the steps S10 to S13 is an affirmative determination.
- the accelerator override determination processing routine may be a processing routine including only at least one of the processing of steps S10 to S13.
- the accelerator override determination processing routine may be a processing routine including steps S10 and S13.
- the accelerator override determination processing routine may be a processing routine including only step S11.
- the idle stop process routine may be a process routine in which the determination process of step S36 is omitted.
- the idle stop process routine may be a process routine in which the determination process of step S35 is omitted. That is, when the acquired second vehicle speed estimated value VS2 is equal to or less than the braking control permission reference value KVS, the vehicle speed VS is the braking control permission reference value during the restart even if the engine 12 is restarted from this timing. Since the possibility of exceeding KVS is low, restart control may be performed. Even with this configuration, it is possible to suppress an overlap in time between the restart of the engine 12 and the braking control, and to restart the engine 12 promptly.
- the idle stop process routine may be a process routine in which each determination process of steps S34 and S35 is omitted.
- the idle stop processing routine may be a processing routine in which step S29 is omitted. In this case, the process of step S32 may be omitted.
- valve control may be performed to operate the pressure increase valves 37a to 37d.
- the restart required time Ts1 is a constant value, it may be varied according to the water temperature in the engine 12, the storage amount of the battery, and the like.
- the time required for restart Ts1 may be calculated based on the relational expression shown below.
- the reference time Ts1_base is a constant, and is set to, for example, “1 (second)”.
- the first gain G1 is set to a larger value as the water temperature in the engine 12 is lower.
- the first gain G1 may be set to “1” when the water temperature is 25 ° C., and may be set to “1.3” when the water temperature is 10 ° C.
- the second gain G2 is set to a larger value as the storage amount of the battery is smaller.
- the second gain G2 may be set to “1” when the storage amount is equal to or greater than a predetermined amount, and may be set to “1.3” when the storage amount is less than the predetermined amount.
- the vehicle acceleration G decreases. That is, there is a corresponding relationship between the MC pressure Pmc and the amount of change of the vehicle body acceleration G. Therefore, instead of the MC pressure Pmc, whether to transmit the stop command or the restart command may be determined based on the vehicle body acceleration G.
- the vehicle speed VS may be obtained from a navigation device mounted on a vehicle.
- the engine ECU 17 may determine whether there is an accelerator override, and may transmit the determination result to the brake ECU 55.
- the idle stop processing routine may be executed by the engine ECU 17.
- various information (MC pressure Pmc, vehicle speed VS, vehicle acceleration G, etc.) acquired by the brake ECU 55 may be transmitted to the engine ECU 17.
- the idle stop processing routine may be executed by an idle stop ECU that performs control exclusively for the idle stop function.
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Abstract
Description
Claims (9)
- 車両のエンジン(12)を自動的に停止させるための停止制御及び前記エンジン(12)を自動的に再始動させるための再始動制御を行う制御部(55、S30)と、
車輪(FR,FL,RR,RL)に制動力が付与されない状態で走行する場合における車両の加速度の推定値を惰性加速度(Dg)として取得する惰性加速度取得部(55、S27)と、
前記停止制御を契機に前記エンジン(12)が停止された場合に、前記惰性加速度(Dg)に基づき、前記エンジン(12)の再始動に要する再始動時間(Ts、Ts1)が経過した時点の車両の車体速度を第1車速推定値(VS1)として取得する惰性車体速度推定部(55、S28)と、を備え、
前記制御部(55、S30)は、前記第1車速推定値(VS1)が、制動制御の実行の可否を判断するために設定された制動制御許可基準値(KVS)未満である場合に、前記再始動制御を行う車両の制御装置。 - 前記制御部(55、S37)は、前記第1車速推定値(VS1)が前記制動制御許可基準値(KVS)以上である場合には、前記再始動制御よりも前記制動制御を優先的に行う請求項1に記載の車両の制御装置。
- 前記車両は、車輪(FR,FL,RR,RL)に制動力を付与するためのホイールシリンダ(32a,32b,32c,32d)と、該ホイールシリンダ(32a,32b,32c,32d)内の流体圧を調整すべく作動する調整弁(35a,35b、37a,37b,37c,37d)とを備え、
前記制御装置は、
車両の加速度(DVS)を取得する車両加速度取得部(55、S23)と、
前記停止制御を契機に前記エンジン(12)が停止された場合に、前記車両の加速度(DVS)に基づき、前記再始動時間(Ts、Ts1)が経過した時点の車体速度を第2車速推定値(VS2)として取得する予定車体速度推定部(55、S33)と、をさらに備え、
前記制御部(55、S30,S32)は、前記惰性車体速度推定部(55、S28)によって取得された前記第1車速推定値(VS1)が前記制動制御許可基準値(KVS)以上である場合には、前記ホイールシリンダ(32a,32b,32c,32d)内の流体圧の低下を抑制させるべく前記調整弁(35a,35b、37a,37b,37c,37d)を作動させる弁制御を行い、
前記制御部(55、S30,S32)は、前記弁制御の実行時において、前記第2車速推定値(VS2)が前記制動制御許可基準値(KVS)以下である場合には、前記再始動制御を行う請求項1又は請求項2に記載の車両の制御装置。 - 前記制御装置は、前記停止制御を契機に前記エンジン(12)が停止された場合に、運転手に前記車両を発進させる意志があるか否かを判定する発進判定部(55、S36)をさらに備え、
前記制御部(55、S30)は、前記発進判定部(55、S36)によって運転手に車両を発進させる意志があると判定された場合に、前記再始動制御を行う請求項1~請求項3のうち何れか一項に記載の車両の制御装置。 - 前記惰性車体速度推定部(55、S28)は、前記エンジン(12)の駆動中において車両が減速される場合に、前記惰性加速度(Dg)に基づき、前記エンジン(12)を停止させた後、該エンジン(12)の再始動が完了するまでに要する停止後再始動時間(Ts、Ts2)が経過した時点の車体速度を前記第1車速推定値(VS1)として取得し、
前記制御部(55、S30,S37)は、前記エンジン(12)の駆動中において、前記第1車速推定値(VS1)が前記制動制御許可基準値(KVS)未満である場合には前記停止制御を行う一方、前記車速推定値(VS1)が前記制動制御許可基準値(KVS)以上である場合には前記停止制御を行わない請求項1~請求項4のうち何れか一項に記載の車両の制御装置。 - 前記制御装置は、路面の勾配に応じた車両の加速度を勾配加速度(Ag)として取得する勾配加速度取得部(55、S25)と、
車両の車体速度(VS)を取得する車体速度取得部(55、S22)と、をさらに備え、
前記惰性加速度取得部(55、S27)は、前記勾配加速度(Ag)に基づき前記惰性加速度(Dg)を取得し、
前記惰性車体速度推定部(55、S28)は、前記車体速度(VS)、前記惰性加速度(Dg)及び前記再始動時間(Ts、Ts1)に基づき前記第1車速推定値(VS1)を演算する請求項1~請求項5のうち何れか一項に記載の車両の制御装置。 - 前記制御装置は、車両の車体速度(VS)を取得する車体速度取得部(55、S22)をさらに備え、
前記制御部(55、S30,S34,S35)は、前記弁制御の実行時において、前記第2車速推定値(VS2)が前記制動制御許可基準値(KVS)以下であると共に、前記車体速度(VS)が前記制動制御許可基準値(KVS)未満であるときに、前記再始動制御を行う請求項3に記載の車両の制御装置。 - 車両のエンジン(12)を自動的に停止させるための停止制御及び前記エンジン(12)を自動的に再始動させるための再始動制御を行う制御部(55、S30)と、
車両の加速度(DVS)を取得する車両加速度取得部(55、S23)と、
前記停止制御を契機に前記エンジン(12)が停止された場合に、前記車両の加速度(DVS)に基づき、前記エンジン(12)の再始動に要する再始動時間(Ts、Ts1)が経過した時点の車両の車体速度を車速推定値(VS2)として取得する予定車体速度推定部(55、S33)と、を備え、
前記制御部(55、S30,S34)は、前記車速推定値(VS2)が前記制動制御許可基準値(KVS)以下である場合に、前記再始動制御を行う車両の制御装置。 - 車両のエンジン(12)を自動的に停止させる停止ステップ(S30)と、
前記エンジン(12)を自動的に再始動させる再始動ステップ(S30)と、
車輪(FR,FL,RR,RL)に制動力が付与されない状態で走行する場合における車両の加速度の推定値を惰性加速度(Dg)として取得する惰性加速度取得ステップ(S27)と、
前記停止ステップ(S30)で前記エンジン(12)が停止された場合に、前記惰性加速度(Dg)に基づき、前記エンジン(12)の再始動に要する再始動時間(Ts、Ts1)が経過した時点の車両の車体速度を車速推定値(VS1)として取得する惰性車体速度推定ステップ(S28)と、を備え、
取得した前記車速推定値(VS1)が、制動制御の実行の可否を判断するために設定された制動制御許可基準値(KVS)未満である場合に、前記再始動ステップ(S30)を行う車両の制御方法。
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CN111392062A (zh) * | 2020-03-25 | 2020-07-10 | 中国人民解放军海军特色医学中心 | 一种在有限曲面滑翔起飞的飞行器上乘员加速度估计方法 |
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