Control of vehicle driving force

• US 6,269,296 B1
• Filed: 07/14/1999
• Issued: 07/31/2001
• Est. Priority Date: 07/15/1998
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Uchida, Masaaki, Abe, Hiroshi, Toukura, Nobusuke
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US09/352,766
• Time in Patent Office: 748 Days
• Field of Search: 701/95, 701/54, 701/65, 701/70, 701/94, 701/111, 701/84, 701/96, 701/80
• US Class Current: 701/80
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 2710/1061 Output power
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 30/1819 Propulsion control with control means using analogue circuits, relays or mechanical links
• CPC Class Codes: F16H 2059/663 Road slope
• CPC Class Codes: F16H 2059/666 Determining road conditions by using vehicle location or position, e.g. from global navigation systems [GPS]
• CPC Class Codes: F16H 59/14 Inputs being a function of torque or torque demand
• CPC Class Codes: F16H 59/66 Road conditions, e.g. slope, slippery

Abstract

A vehicle driving force control apparatus includes an element for calculating a normal target driving force representing a desired vehicle driving force on a level road in accordance with sensed accelerator input quantity and vehicle speed, an element for calculating a modification quantity in accordance with a vehicle grade resistance, an element for determining a grade-adapted target driving force in accordance with the normal driving force and the modification quantity. The grade-adapted target driving force is achieved in a vehicle to provide adequate feeling of acceleration even on an ascending slope.

Claims

1. An apparatus for controlling a vehicle driving force comprising:

an input section for sensing a driver'"'"'s accelerator input quantity and a vehicle speed of a vehicle;

an output section for varying an actual vehicle driving force; and

a control section connected with said input section to receive input information therefrom, to determine, as a normal target driving force, a desired vehicle driving force on a level road in accordance with the accelerator input quantity and the vehicle speed, further to determine a vehicle grade resistance, to calculate a modification parameter in accordance with the vehicle grade resistance, and to determine a grade-adapted target driving force in accordance with the normal driving force and the modification parameter, the controller being further connected with said output section to achieve the grade-adapted target driving force with the output section;

wherein the input section comprises an accelerator input quantity sensing section for sensing the accelerator input quantity, and a vehicle speed sensing section for sensing the vehicle speed; and

wherein the control section comprises a normal driving force determining section for determining, as the normal driving force, the desired vehicle driving force on the level road in accordance with the accelerator input quantity and the vehicle speed, a vehicle weight grade resistance determining section for determining the vehicle grade resistance, a modification parameter calculating section for calculating the modification parameter in accordance with the grade resistance, and a grade-adapted target driving force calculating section for determining the grade-adapted target driving force in accordance with the normal driving force and the modification parameter;

wherein the modification parameter calculating section comprises a modification quantity calculating section for calculating a driving force modification quantity which is set at a predetermined percent of the grade resistance, the predetermined percent being smaller than 100%; and

wherein the grade-adapted target driving force calculating section determines the grade-adapted target driving force by adding the driving force modification quantity to the normal driving force.

2. The vehicle driving force control apparatus as recited in claim 1 wherein the predetermined percent is in the range of 30%˜

70%.

3. The vehicle driving force control apparatus as recited in claim 1 wherein the percentage of the driving force modification quantity in relation to the grade resistance is decreased as the grade resistance increases.

4. The vehicle driving force control apparatus as recited in claim 1 wherein the control section comprises a target speed ratio determining section for determining a target speed ratio in accordance with the vehicle speed and the grade-adapted target driving force, the output section comprises a speed ratio achieving section for achieving the target speed ratio, the control section further comprises a target engine output torque determining section for determining a target engine output torque by dividing the grade-adapted target driving force by an actual speed ratio achieved by the speed ratio achieving section, and the output section comprises a torque achieving section for achieving the target engine output torque.

5. The vehicle driving force control apparatus as recited in claim 1 wherein the input section comprises a position sensing subsection for determining an absolute vehicle position of the vehicle, and the grade resistance determining section of the control section comprises a road map section for supplying information on a road grade from road map data in accordance with the vehicle position, and a grade calculating section for calculating the grade resistance from the information on the road grade.

6. The vehicle driving force control apparatus as recited in claim 1 wherein the grade resistance determining section comprises an axle torque calculating section for calculating an axle torque, a reference running resistance calculating section for calculating a desired running resistance on a level road corresponding to the vehicle speed as a reference running resistance, an acceleration determining section for determining a vehicle acceleration, an acceleration resistance estimating section for determining an estimated acceleration resistance in accordance with the vehicle acceleration, and a vehicle grade resistance estimating section for determining the vehicle grade resistance by subtracting the reference running resistance and the acceleration resistance from the axle torque.

7. The vehicle driving force controlling apparatus as claimed in claim 4 wherein the torque achieving section of the output section comprises an engine, the speed ratio achieving section comprises a transmission, and said apparatus is a motor vehicle.

8. An apparatus for controlling a vehicle driving force comprising:

an input section for sensing a driver'"'"'s accelerator input quantity and a vehicle speed of a vehicle;

an output section for varying an actual vehicle driving force; and

a control section connected with said input section to receive input information therefrom, to determine, as a normal target driving force, a desired vehicle driving force on a level road in accordance with the accelerator input quantity and the vehicle speed, further to determine a vehicle grade resistance, to calculate a modification parameter in accordance with the vehicle grade resistance, and to determine a grade-adapted target driving force in accordance with the normal driving force and the modification parameter, the controller being further connected with said output section to achieve the grade-adapted target driving force with the output section;

wherein the input section comprises an accelerator input quantity sensing section for sensing the accelerator input quantity, and a vehicle speed sensing section for sensing the vehicle speed; and

wherein the control section comprises a normal driving force determining section for determining, as the normal driving force, the desired vehicle driving force on the level road in accordance with the accelerator input quantity and the vehicle speed, a vehicle weight grade resistance determining section for determining the vehicle grade resistance, a modification parameter calculating section for calculating the modification parameter in accordance with the grade resistance, and a grade-adapted target driving force calculating section for determining the grade-adapted target driving force in accordance with the normal driving force and the modification parameter;

wherein the modification parameter calculating section comprises a grade adapted reference driving force setting section for calculating a grade-adapted reference driving force which is a sum of the normal driving force and a predetermined percent of a predetermined standard grade resistance, the predetermined percent being smaller than 100%, and an interpolation coefficient calculating section for calculating an interpolation coefficient in accordance with the vehicle grade resistance and the standard grade resistance; and

wherein the grade-adapted target driving force calculating section determines the grade-adapted target driving force by interpolation with the interpolation coefficient between the normal driving force and the grade-adapted reference driving force.

9. The vehicle driving force control apparatus as recited in claim 8 wherein the control section comprises a target speed ratio determining section for determining a target speed ratio in accordance with the vehicle speed and the grade-adapted target driving force, the output section comprises a speed ratio achieving section for achieving the target speed ratio, the control section further comprises a target engine output torque determining section for determining a target engine output torque by dividing the grade-adapted target driving force by an actual speed ratio achieved by the speed ratio achieving section, and the output section comprises a torque achieving section for achieving the target engine output torque.

10. The vehicle driving force control apparatus as recited in claim 8 wherein the input section comprises a position sensing subsection for determining an absolute vehicle position of the vehicle, and the grade resistance determining section of the control section comprises a road map section for supplying information on a road grade from road map data in accordance with the vehicle position, and a grade calculating section for calculating the grade resistance from the information on the road grade.

11. The vehicle driving force control apparatus as recited in claim 8 wherein the grade resistance determining section comprises an axle torque calculating section for calculating an axle torque, a reference running resistance calculating section for calculating a desired running resistance on a level road corresponding to the vehicle speed as a reference running resistance, an acceleration determining section for determining a vehicle acceleration, an acceleration resistance estimating section for determining an estimated acceleration resistance in accordance with the vehicle acceleration, and a vehicle grade resistance estimating section for determining the vehicle grade resistance by subtracting the reference running resistance and the acceleration resistance from the axle torque.

12. A vehicle comprising:

an output section comprising a prime mover for varying an actual driving force of the vehicle;

an input section for collecting input information on vehicle operating conditions of the vehicle, said input section comprising a vehicle speed sensor for sensing a vehicle speed of the vehicle, and an accelerator sensor for sensing a driver'"'"'s accelerator input quantity; and

a control section comprising a controller for determining, as a normal target driving force, a desired vehicle driving force on a level road in accordance with the accelerator input quantity and the vehicle speed, for determining a vehicle grade resistance in accordance with the input information, for calculating a driving force modification quantity in accordance with the vehicle grade resistance, for determining a grade-adapted target driving force which is equal to a sum of the driving force modification quantity and the normal target driving force, and for achieving the grade-adapted target driving force by regulating the output section,

wherein the controller is configured to calculate the driving force modification quantity by multiplying the grade resistance by a predetermined factor which is greater than zero and smaller than one, and to calculate the grade-adapted target driving force by adding the driving force modification quantity to the normal driving force.

14. The vehicle as recited in Claim 12 wherein the input section further comprises a vehicle condition sensor for sensing a vehicle operating condition, the controller determines the vehicle grade resistance in accordance with the vehicle operating condition, the controller comprises an onboard computer, the prime mover includes an engine of the vehicle, the output section further comprises a transmission connected with the engine, and the controller achieves the grade-adapted target driving force by controlling the engine and the transmission.

13. A vehicle comprising:

an output section comprising a prime mover for varying an actual driving force of the vehicle;

an input section for collecting input information on vehicle operating conditions of the vehicle, said input section comprising a vehicle speed sensor for sensing a vehicle speed of the vehicle, and an accelerator sensor for sensing a driver'"'"'s accelerator input quantity; and

a control section comprising a controller for determining, as a normal target driving force, a desired vehicle driving force on a level road in accordance with the accelerator input quantity and the vehicle speed, for determining a vehicle grade resistance in accordance with the input information, for calculating a driving force modification quantity in accordance with the vehicle grade resistance, for determining a grade-adapted target driving force which is equal to a sum of the driving force modification quantity and the normal target driving force, and for achieving the grade-adapted target driving force by regulating the output section

wherein the controller is configured to calculate a grade-adapted reference driving force which is a sum of the normal driving force and a predetermined standard grade resistance multiplied by a predetermined factor which is greater than zero and smaller than one, to calculate an interpolation coefficient in accordance with the vehicle grade resistance and the standard grade resistance, and to calculate the grade-adapted target driving force by adding, to the normal driving force, the driving force modification quantity which is equal to a product of the interpolation coefficient and a difference resulting from subtraction of the normal driving force from the grade-adapted reference driving force.

15. A vehicle driving force controlling apparatus comprising:

means for ascertaining an accelerator input quantity and a vehicle speed;

means for determining, as a normal target driving force, a desired vehicle driving force on a level road in accordance with the accelerator input quantity and the vehicle speed;

means for determining a vehicle grade resistance

means for calculating a driving force modification quantity in accordance with the grade resistance and for setting the driving force modification quantity at less than 100% of the grade resistance;

means for determining a grade-adapted target driving force which is a sum of the normal driving force and the driving force modification driving; and

means for achieving the grade-adapted target driving force.

16. A process for controlling a vehicle driving force of a vehicle, said process comprising:

determining a normal driving force representing a desired vehicle driving force on a level road, in accordance with an accelerator input quantity and a vehicle speed;

calculating a driving force modification quantity in accordance with a vehicle grade resistance, wherein the driving force modification quantity is set at less than 100% of the grade resistance; and

determining a grade-adapted target driving force which is a sum of the normal driving force and the driving force modification quantity, to control the vehicle driving force.

17. The process as recited in claim 16 wherein the process is a computer-implemented process, and the process further comprises collecting input information on sensed vehicle operating conditions, determining the grade resistance in accordance with the input information, and achieving the grade-adapted target driving force in the vehicle by controlling engine and transmission of the vehicle.