Vehicle control apparatus

• US 10,449,949 B2
• Filed: 11/08/2017
• Issued: 10/22/2019
• Est. Priority Date: 12/16/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kobayashi, Nobufusa, Yoshikawa, Masato, Baba, Masayuki, Kitahata, Takeshi
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae L
• Application Number:
  US15/806,474
• Publication Number:
  US 20180170355A1
• Time in Patent Office: 713 Days
• Field of Search: 701 22
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 6/365 with the gears having orbital motion
• CPC Class Codes: B60K 6/445 Differential gearing distribution type
• CPC Class Codes: B60K 6/543 the transmission being a continuously variable transmission
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/115 with planetary gears
• CPC Class Codes: B60W 20/15 Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 20/40 Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers power-up or power-down of the driveline B60W30/192
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2510/1095 Inertia
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2710/0661 Speed change rate
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 2710/082 Speed change rate
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 2710/085 Torque change rate
• CPC Class Codes: B60W 2710/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2710/1022 : Input torque
• CPC Class Codes: B60W 30/18172 : Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 30/19 : Improvement of gear change, e.g. by synchronisation or smoothing gear shift
• CPC Class Codes: F16H 2059/147 : Transmission input torque, e.g. measured or estimated engine torque
• CPC Class Codes: F16H 2059/405 : Rate of change of output shaft speed or vehicle speed
• CPC Class Codes: F16H 2200/201 : with three sets of orbital gears
• CPC Class Codes: F16H 2200/2041 : with four engaging means
• CPC Class Codes: F16H 2200/2066 : using one freewheel mechanism
• CPC Class Codes: F16H 2200/2082 : one freewheel mechanisms
• CPC Class Codes: F16H 3/728 : with means to change ratio in the mechanical gearing
• CPC Class Codes: F16H 61/0437 : by using electrical signals F16H61/0403 and F16H61/061 take precedence
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y10S 903/911 : with two or more gear sets
• CPC Class Codes: Y10S 903/914 : Actuated, e.g. engaged or disengaged by electrical, hydraulic or mechanical means
• CPC Class Codes: Y10S 903/918 : Continuously variable
• CPC Class Codes: Y10S 903/93 : Conjoint control of different elements

Abstract

A vehicle control apparatus includes: a transmission shifting control portion configured to implement a shifting action of a step-variable transmission, by controlling a releasing action of a releasing coupling device and an engaging action of an engaging coupling device; a torque control portion configured, during the shifting action of the step-variable transmission, to implement a feedback control to control an input torque inputted to the step-variable transmission, such that a value representing a state of a rotary motion of an input rotary member of the step-variable transmission coincides with a target value dependent on a degree of progress of the shifting action; and a backup control portion configured, when it is determined that the drive wheels are slipped, to inhibit the feedback control, and to compensate a transmitted torque to be transmitted through an initiative coupling device, such that the shifting action is facilitated by compensation of the transmitted torque.

Claims

1. A control apparatus for a vehicle provided with a drive power source, and a step-variable transmission which constitutes a part of a power transmitting path between the drive power source and drive wheels and which is placed in a selected one of a plurality of speed positions with engagement of a selected one or ones of a plurality of coupling devices, said control apparatus comprising:

a transmission shifting control portion configured to implement a shifting action of the step-variable transmission from one of the plurality of speed positions to another of the plurality of speed positions, by controlling a releasing action of a releasing coupling device and an engaging action of an engaging coupling device, the releasing coupling device being one of the plurality of coupling devices which has been placed in an engaged state before initiation of the shifting action, the engaging coupling device being another of the plurality of coupling devices which is to be placed in the engaged state after completion of the shifting action;

a torque control portion configured, during the shifting action of the step-variable transmission, to implement a feedback control to control an input torque that is inputted to the step-variable transmission, such that a value representing a state of a rotary motion of an input rotary member of the step-variable transmission coincides with a target value that is dependent on a degree of progress of the shifting action of the step-variable transmission;

a vehicle-state determining portion configured to determine whether the drive wheels are slipped or not; and

a backup control portion configured, when it is determined that the drive wheels are slipped during the shifting action of the step-variable transmission, to inhibit implementation of the feedback control, and to compensate a transmitted torque to be transmitted through an initiative coupling device which is one of the releasing coupling device and the engaging coupling device and which causes the shifting action to progress, such that the progress of the shifting action is facilitated by compensation of the transmitted torque.

2. The control apparatus according to claim 1, wherein said backup control portion is configured, when it is determined that the drive wheels are slipped during the shifting action of the step-variable transmission, to compensate the transmitted torque to be transmitted through the initiative coupling device such that the transmitted torque is compensated to a predetermined value that is increased or reduced at a given rate during an inertia phase of the shifting action.

3. The control apparatus according to claim 1, wherein said backup control portion is configured, when having inhibited the implementation of the feedback control during the shifting action of the step-variable transmission, to keep inhibiting the implementation of the feedback control until the completion of the shifting action of the step-variable transmission even if determination of slipping of the drive wheels is canceled.

4. The control apparatus according to claim 1,

wherein the vehicle is provided with:

(i) an engine functioning as the drive power source;

(ii) a differential mechanism having a first rotary element to which the engine is operatively connected, a second rotary element to which a first motor/generator is operatively connected, and a third rotary element to which an intermediate power transmitting member is connected; and

(iii) a second motor/generator functioning as the drive power source and operatively connected to the intermediate power transmitting member, and

wherein said torque control portion is configured to control an output torque of the first motor/generator and an output torque of the second motor/generator during the shifting action of the step-variable transmission, on the basis of an output torque of the engine and the transmitted torque to be transmitted through the initiative coupling device, such that an angular acceleration value of the second motor/generator and an angular acceleration value of the engine coincide with respective predetermined target values.

5. The control apparatus according to claim 1,

wherein, when it is determined that the drive wheels are slipped during a power-on shift-up action of the step-variable transmission which is performed with an accelerating member of the vehicle being placed in an operated position, or during a power-off shift-down action of the step-variable transmission which is performed with the accelerating member being placed in a non-operated position, said backup control portion is configured to inhibit implementation of the feedback control and to compensate the torque to be transmitted through the engaging coupling device as the initiative coupling device, and

wherein, when it is determined that the drive wheels are slipped during a power-off shift-up action of the step-variable transmission which is performed with the accelerating member being placed in the non-operated position, or during a power-on shift-down action of the step-variable transmission which is performed with the accelerating member being placed in the operated position, said backup control portion is configured to inhibit implementation of the feedback control and to compensate the torque to be transmitted through the releasing coupling device as the initiative coupling device.

6. The control apparatus according to claim 1, wherein said torque control portion is configured, when the implementation of the feedback control is inhibited, to control the input torque that is inputted to the step-variable transmission such that the input torque is kept in a constant value.

7. The control apparatus according to claim 1, wherein said backup control portion is configured, when it is determined that the drive wheels are slipped during the shifting action of the step-variable transmission, to compensate the transmitted torque to be transmitted through the initiative coupling device such that the transmitted torque is compensated to a predetermined value increased or reduced at a given rate, which is higher than before the transmitted torque is compensated, during an inertia phase of the shifting action.