Output control apparatus for vehicle

• US 5,243,526 A
• Filed: 05/07/1991
• Issued: 09/07/1993
• Est. Priority Date: 05/18/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Original Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Inventors: Yamada, Kiichi, Ito, Masayoshi, Narita, Tomohiro, Otake, Katsunori, Miyata, Yasunobu
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/697,215
• Time in Patent Office: 854 Days
• Field of Search: 364/426.02, 364/426.03, 180/197, 303/99, 303/97, 303/103, 303/105
• US Class Current: 701/90
• 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

Abstract

An output control apparatus for a vehicle which includes a torque reduction device for reducing driving torque of an engine independent of manipulation by the driver and a filter device for outputting a corrected longitudinal direction acceleration, varying according to changes in longitudinal direction acceleration of the vehicle body with a predetermined delay time and maintaining the output during a speed shift above the value immediately before the speed shift. A reference torque setting device is further included for setting a reference driving torque according to a slip amount of the driving wheels. A target driving torque setting device is also included for correcting the reference driving torque according to the slip amount of the driving wheels to set a target driving torque. Finally, a torque control unit is included for controlling operation of the torque reduction device so that the driving torque is that of the target driving torque set by the target driving torque setting device, thereby preventing a stalling feeling of the vehicle immediately after the speed shift, and improving the acceleration feeling.

Claims

1. An output control apparatus for a vehicle comprising:

torque reduction means for reducing driving torque independent of manipulation by the driver;

operating speed detecting means for detecting an operating speed of the vehicle;

reference torque setting means for calculating an actual longitudinal direction acceleration of a vehicle body from said detected operating speed of the vehicle to set a reference driving torque for the engine;

target driving torque setting means for correcting said reference driving torque according to a slip amount of at least one of the driving wheels of the vehicle to set a target driving torque for the engine;

a torque control unit for equating the actual driving torque to said target driving torque set by said target driving torque setting means by controlling operation of said torque reduction means; and

filter means for correcting, for each of a plurality of control cycles, the calculated actual longitudinal direction acceleration and for outputting, for each of said plurality of control cycles, a corrected longitudinal direction acceleration, varying with a predetermined delay time according to changes in said calculated actual longitudinal direction acceleration, and for maintaining the output corrected longitudinal direction acceleration, upon a power transmission apparatus of the vehicle being shifted, at a value above the output corrected longitudinal direction acceleration immediately preceeding that of the shift, wherein said reference torque setting means sets said reference driving torque according to said output corrected longitudinal direction acceleration.

2. The output control apparatus of claim 1 wherein said slip amount of at least one of the vehicle driving wheels is calculated based upon a difference between actual driving wheel speed as an actual peripheral speed of the driving wheels, and reference driving wheel speed calculated corresponding to said operating speed of the vehicle as a reference peripheral speed of the driving wheels.

3. The output control apparatus of claim 1 wherein said predetermined delay time is varied according to at least one of a slip condition of at least one of the driving wheels and said calculated longitudinal direction acceleration of the vehicle.

4. The output control apparatus of claim 1 wherein said corrected longitudinal direction acceleration is periodically corrected and outputted from said filter means according to changes in said actual longitudinal direction acceleration, with said predetermined delay time, upon said actual longitudinal direction acceleration, inputted to said filter means in a present control cycle, being greater than said corrected longitudinal direction acceleration, outputted from said filter means in a previous control cycle, and upon determining that said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle, wherein said corrected longitudinal direction acceleration in the previous control cycle is decreased by a predetermined value and outputted from said filter means as said corrected longitudinal direction acceleration in the present control cycle when said slip amount of the driving wheels is positive, and, said corrected longitudinal direction acceleration in the previous control cycle is maintained and outputted from said filter means as said corrected longitudinal direction acceleration in the present control cycle when said slip amount of the driving wheels is negative.

5. The output control apparatus for a vehicle of claim 1 wherein said longitudinal direction acceleration of the vehicle body is one of said corrected longitudinal direction acceleration outputted from said filter means in a previous control cycle and said actual longitudinal direction acceleration inputted to said filter means in a present control cycle.

6. The output control apparatus of claim 5 wherein said predetermined delay time is reduced to a shorter period of time when said corrected longitudinal direction acceleration outputted from said filter means in a previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in a present control cycle, as compared to that of the corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle being smaller than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle.

7. The output control apparatus of claim 1, wherein the operating speed V_S of the vehicle is calculated by the equation V_S =(K_V.V_L)+(1-K_V)·

V_H --, wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, and Kv is a weighting factor of a value between 0 and 1.

8. The output control apparatus of claim 7, wherein said weighting factor K_V is varied in value according to an average value of the peripheral speeds of the right and left driven wheels.

9. The output control apparatus of claim 2, wherein said predetermined delay time is varied according to at least one of a slip condition of at least one of the driving wheels and said calculated longitudinal direction acceleration of the vehicle.

10. The output control apparatus of claim 2, wherein said corrected longitudinal direction acceleration is periodically corrected and output from said filter means according to changes in said actual longitudinal direction acceleration, with said predetermined delay time, upon said actual longitudinal direction acceleration, inputted to said filter means in a present control cycle, being greater than said corrected longitudinal direction acceleration, outputted from said filter means in a previous control cycle, and upon determining that said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle, wherein said corrected longitudinal direction acceleration in the previous control cycle is decreased by a predetermined value and outputted from said filter means as said corrected longitudinal direction acceleration in the present control cycle when said slip amount of the driving wheel is positive, and, said corrected longitudinal direction acceleration in the previous control cycle is maintained and outputted from said filter means as said corrected longitudinal direction acceleration in the present control cycle when said slip amount of the driving wheels is negative.

11. The output control apparatus for a vehicle of claim 2, wherein said longitudinal direction acceleration of the vehicle body is one of said corrected longitudinal direction acceleration outputted from said filter means in a previous control cycle and said actual longitudinal direction acceleration inputted to said filter means in a present control cycle.

12. The output control apparatus of claim 11, wherein said predetermined delay time is reduced to a shorter period of time when said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle, as compared to that of the corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle being smaller than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle.

13. The output control apparatus of claim 11, wherein the operating speed V_S of the vehicle is calculated by the equation V_S =(K_V.V_L)+(1-K_V)·

V_H --, wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, K_V is a weighting factor of a value between 0 and 1.

14. The output control apparatus of claim 13, wherein said weighting factor K_V is varied in value according to an average value of the peripheral speeds of the right and left driven wheels.

15. The output control apparatus of claim 3, wherein said corrected longitudinal direction acceleration is periodically corrected and output from said filter means according to changes in said actual longitudinal direction acceleration, with said predetermined delay time, upon said actual longitudinal direction acceleration, inputted to said filter means in a present control cycle, is greater than said corrected longitudinal direction acceleration, outputted from said filter means in a previous control cycle, and upon determining that said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle, wherein said corrected longitudinal direction acceleration in the previous control cycle is decreased by a predetermined value and outputted from said filter means as said corrected longitudinal direction acceleration in the present control cycle when said slip amount of the driving wheels is positive, and said corrected longitudinal direction acceleration in the previous control cycle is maintained and outputted from said filter means as said corrected longitudinal direction acceleration in the present control cycle when said slip amount of the driving wheels is negative.

16. The output control apparatus for a vehicle of claim 3, wherein said longitudinal direction acceleration of the vehicle body is one of said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle and said actual longitudinal direction acceleration inputted to said filter means in the present control cycle.

17. The output control apparatus of claim 16, wherein said predetermined delay time is reduced to a shorter period of time when said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle, as compared to that of the corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle being smaller than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle.

18. The output control apparatus of claim 3, wherein the operating speed V_S of the vehicle is calculated by the equation V_S =K_V .V_L)+(1-K_V)·

V_H, wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, K_V is a weighting factor of a value between 0 and 1.

19. The output control apparatus of claim 18, wherein said weighting factor K_V is varied in value according to an average value of the peripheral speeds of the right and left driven wheels.

20. The output control apparatus for a vehicle of claim 4, wherein said longitudinal direction acceleration of the vehicle body is one of said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle and said actual longitudinal direction acceleration inputted to said filter means in the present control cycle.

21. The output control apparatus of claim 20, wherein said predetermined delay time is reduced to a shorter period of time when said corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle is greater than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle, as compared to that of the corrected longitudinal direction acceleration outputted from said filter means in the previous control cycle being smaller than said actual longitudinal direction acceleration inputted to said filter means in the present control cycle.

22. The output control apparatus of claim 4, wherein the operating speed V_S of the vehicle is calculated by the equation V_S =(K_V.V_L)+(1-K_V)·

V_H, wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, K_V is a weighting factor of a value between 0 and 1.

23. The output control apparatus of claim 22, wherein said weighting factor K_V is varied in value according to an average value of the peripheral speeds of the right and left driven wheels,

24. The output control apparatus of claim 5, wherein the operating speed V_S of the vehicle is calculated by the equation V_S =K·

V_L +(K_V.V_L)+(1-K_V)·

V_H wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, K_V is a weighting factor of a value between 0 and 1.

25. The output control apparatus of claim 24, wherein said weighting factor K_V is varied in value according to an average value of the peripheral speeds of the right and left driven wheels.

26. The output control apparatus of claim 6, wherein the operating speed V_S of the vehicle is calculated by the equation V_S =(K_V.V_L)+(1-K_V)·

V_H wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, K_V is a weighting factor of a value between 0 and 1.

27. The output control apparatus of claim 26, wherein said weighting factor KV is varied in value according to an average value of the peripheral speeds of the right and left driven wheels.

28. An output control method for a vehicle comprising the steps of:

(a) detecting an operating speed of the vehicle;

(b) calculating an actual longitudinal direction acceleration of a vehicle body from the detected operating speed of the vehicle to set a reference driving torque for the engine;

(c) correcting said reference driving torque according to a slip amount of at least one of the driving wheels of the vehicle to set a target driving torque for the engine;

(d) equating the actual driving torque to the target driving torque set in said step (c) by controlling driving torque independent of manipulation by the driver; and

(e) correcting, for each of a plurality of control cycles, the calculated actual longitudinal direction acceleration and outputting, for each of the plurality of control cycles, a corrected longitudinal direction acceleration, varying with a predetermined delay time according to changes in the calculated actual longitudinal direction acceleration, and maintaining and outputting the corrected longitudinal direction acceleration upon a power transmission apparatus of the vehicle being shifted, at a value above the output corrected longitudinal direction acceleration immediately preceeding that of the shift, wherein said step (b) of calculating sets the reference driving torque according to the output corrected longitudinal direction acceleration.

29. The output control of claim 28, wherein the slip amount of at least one of the vehicle driving wheels of step (c) is calculated based upon a difference between actual driving wheel speed as an actual peripheral speed of the driving wheels, and reference driving wheel speed calculated corresponding to the operating speed of the vehicle as a reference peripheral speed of the driving wheels.

30. The output control method of claim 28, wherein the predetermined delay time of step (e) is varied according to at least one of a slip condition of at least one of the driving wheels and the calculated longitudinal direction acceleration of the vehicle.

31. The output control method of claim 30, wherein the corrected longitudinal direction acceleration of step (e) is periodically corrected and outputted according to changes in the actual longitudinal direction acceleration, with the predetermined delay time, upon the actual longitudinal direction acceleration, in a present control cycle, is greater than said corrected longitudinal direction acceleration, outputted in a previous control cycle, and upon determining that the corrected longitudinal direction acceleration in the previous control cycle is greater than the actual longitudinal direction acceleration in the present control cycle, wherein the corrected longitudinal direction acceleration in the previous control cycle is decreased by a predetermined value and as the corrected longitudinal direction acceleration in the present control cycle when the slip amount of the driving wheels is positive, and, the corrected longitudinal direction acceleration in the previous control cycle is maintained and as the corrected longitudinal direction acceleration in the present control cycle when the slip amount of the driving wheels is negative.

32. The output control method for a vehicle of claim 28, wherein the longitudinal direction acceleration of the vehicle body is one of the corrected longitudinal direction acceleration in a previous control cycle and the actual longitudinal direction acceleration in a present control cycle.

33. The output control method of claim 32, wherein the predetermined delay time of step (e) is reduced to a shorter period of time when the corrected longitudinal direction acceleration in the previous control cycle is greater than the actual longitudinal direction acceleration in the present control cycle, as compared to that of the corrected longitudinal direction acceleration in the previous control cycle being smaller than the actual longitudinal direction acceleration in the present control cycle.

34. The output control method of claim 28, wherein the operating speed V_S of the vehicle is calculated in step (c) by the equation V_S =(K_V ·

V_L)+(1-K_V)·

V_H, wherein V_H is a greater peripheral speed of right and left driven wheels, V_L is a smaller peripheral speed of the right and left driven wheels, K_V is a weighting factor of a value between 0 and 1.