Driving force control apparatus and method for automotive vehicle

• US 6,763,295 B2
• Filed: 01/16/2003
• Issued: 07/13/2004
• Est. Priority Date: 02/18/2002
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Yoshinoya, Daisuke, Katakura, Shusaku, Nozaki, Mikio
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US10/345,256
• Publication Number:
  US 20030158647A1
• Time in Patent Office: 544 Days
• Field of Search: 701/70, 701/84, 701/85, 701/90, 180/233, 303/140, 303/146
• US Class Current: 701/70
• CPC Class Codes: B60K 31/04 and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
• CPC Class Codes: B60L 2240/486 Operating parameters
• CPC Class Codes: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 2530/16 Driving resistance
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/106 Rate of change
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: F02D 11/105 characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
• CPC Class Codes: F02D 2200/501 Vehicle speed
• CPC Class Codes: F02D 41/0205 using an auxiliary engine speed control engine speed control per se F02D31/00

Abstract

In apparatus and method for controlling a driving force for an automotive vehicle, a manipulated variable of an accelerator is detected, a vehicular velocity is detected, a vehicular velocity control purpose target driving force is calculated from an absolute value of the manipulated variable of the accelerator and the vehicular velocity, an acceleration control purpose target driving force is calculated from either at least one of an absolute value of the accelerator manipulated variable and a variation velocity of the manipulated variable of the accelerator or from at least one of an absolute value of a result of calculation of the vehicular velocity control purpose target driving force and a variation velocity of the result of calculation of the same, and both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force are synthesized to achieve a target driving force of the vehicle.

Claims

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

an accelerator manipulated variable detecting section that detects a manipulated variable of an accelerator;

a vehicular velocity detecting section that detects a vehicular velocity; and

a target driving force calculating section that derives a vehicular target driving force in accordance with a vehicle driver'"'"'s demand, the apparatus achieving the derived target driving force and the target driving force calculating section comprising;

a vehicular velocity control purpose target driving force calculating section that calculates a vehicular velocity control purpose target driving force from an absolute value of the manipulated variable of the accelerator and the vehicular velocity;

an acceleration control purpose target driving force calculating section that generates an acceleration control purpose target driving force from at least one of an absolute value of the accelerator manipulated variable and a variation speed of the manipulated variable of the accelerator; and

a target driving force synthesizing section that synthesizes both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force.

2. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 1, wherein the acceleration control purpose target driving force calculating section maintains the acceleration control purpose target driving force at a time point at which an accelerator depression manipulation is determined to be ended after the accelerator depression manipulation is ended.

3. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 1, wherein the acceleration control purpose target driving force calculating section subtracts the acceleration control purpose target driving force in accordance with a decrease in a driver'"'"'s acceleration demand.

4. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 1, wherein the acceleration control purpose target driving force calculating section does not calculate the acceleration control purpose target driving force sensitive more than necessary with respect to a minute accelerator manipulation by the driver.

5. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 1, wherein the acceleration control purpose target driving force calculating section does not calculate the acceleration control purpose target driving force which is equal to zero or below zero when calculating the acceleration control purpose target driving force.

27. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 1, wherein the acceleration control purpose target driving force calculating section calculates the acceleration control purpose target driving force in accordance with the variation velocity of the manipulated variable of the accelerator.

6. An apparatus for controlling a driving force for an automotive vehicle, comprising:

an accelerator manipulated variable detecting section that detects a manipulated variable of an accelerator;

a vehicular velocity detecting section that detects a vehicular velocity; and

a target driving force calculating section that derives a vehicular target driving force in accordance with a vehicle driver'"'"'s demand, the apparatus achieving the derived target driving force and the target driving force calculating section comprising;

a vehicular velocity control purpose target driving force calculating section that calculates a vehicular velocity control purpose target driving force from an absolute value of the manipulated variable of the accelerator and the vehicular velocity;

an acceleration control purpose target driving force calculating section that generates an acceleration control purpose target driving force from at least one of an absolute value of a result of calculation by the vehicular velocity control purpose target driving force calculating section and a variation speed of the result of calculation by the same; and

a target driving force synthesizing section that synthesizes both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force.

7. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the acceleration control purpose target driving force calculating section calculates the acceleration control purpose target driving force in accordance with the variation velocity of the vehicular velocity control purpose target driving force.

8. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 7, wherein the acceleration control purpose target driving force calculating section determines a differential value of a steady-state purpose target driving force from the vehicular velocity purpose target driving force calculating section, sets a transient state target driving force calculating gain corresponding to the differential value, calculates a correction quantity variation velocity according to the gain and the steady state target driving force, and adds a correction quantity per calculation period to the previous transient state target driving force to calculate the present transient state target driving force.

9. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 7, wherein the acceleration control purpose target driving force calculating section determines the differential value of the steady-state target driving force from the vehicular velocity control purpose target driving force calculating section, sets a first gain corresponding to the present differential value, sets a second gain corresponding to a multiplied value between the present differential value and the previous differential value, sets a third gain corresponding to the previous differential value, and calculates a transient state target driving force which is the acceleration control purpose target driving force according to a non-linear characteristic equation using the first, second, and third gains.

10. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 7, wherein the acceleration control purpose target driving force calculating section determines a differential value of a steady state purpose target driving force from the vehicular velocity control purpose target driving force calculating section, sets a transient state purpose target driving force calculating gain from the vehicular velocity control purpose calculating section, sets a transient state purpose target driving force calculating gain corresponding to the differential value, sets a transient state purpose target driving force vehicular velocity correcting gain according to the vehicular velocity, calculates a correction quantity variation velocity according to both of the gains and a steady state purpose target driving force, and adds a previous transient state target driving force to the correction quantity per calculation period according to the correction quantity variation velocity to calculate a present transient state target driving force.

11. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the acceleration control purpose target driving force calculating section maintains the acceleration control purpose target driving force at a time point at which an accelerator depression manipulation is determined to be ended after the accelerator depression manipulation is ended.

12. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 11, wherein the acceleration control purpose target driving force calculating section calculates a manipulation velocity of the accelerator and maintains the transient state purpose target driving force when the calculated accelerator manipulation velocity becomes smaller than an accelerator manipulation end determination threshold value.

13. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 11, wherein the acceleration control purpose target driving force calculating section derives a differential value of a steady state purpose target driving force from the vehicular velocity control purpose target driving force calculating section, sets a transient state purpose target driving force calculating gain to zero to maintain a previous transient state purpose target driving force at a present transient state purpose target driving force in a case where the differential value of the steady state purpose target driving force falls in a range equal to or below a preset value.

14. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the acceleration control purpose target driving force calculating section subtracts the acceleration control purpose target driving force in accordance with a decrease in a driver'"'"'s acceleration demand.

15. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 14, wherein the acceleration control purpose target driving force calculating section calculates a differential value of a steady state purpose target driving force from the vehicular velocity purpose target driving force calculating section, sets a transient state purpose target driving force calculating gain including a negative value corresponding to the differential value, calculates a correction quantity variation velocity according to the gain and the steady state purpose target driving force, and subtracts a correction quantity per calculation period according to the correction quantity variation velocity from a previous transient state purpose target driving force to calculate a present transient state purpose target driving force.

16. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 14, wherein the acceleration control purpose target driving force calculating section calculates a deviation between a steady state purpose target driving force from the vehicular velocity purpose target driving force calculating section and a running resistance estimated value and subtracts the transient state purpose target driving force in accordance with a cruise speed control subtracting gain if the deviation is below a subtraction start threshold value.

17. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 14, wherein the acceleration control purpose target driving force calculating section calculates a variation rate of the vehicular velocity and subtracts the transient state purpose target driving force in accordance with a cruise speed running subtracting gain if the vehicular velocity variation rate is below a subtraction start threshold value.

18. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 14, wherein the acceleration control purpose target driving force calculating section subtracts the transient state purpose target driving force in accordance with a time subtracting gain when the correction quantity variation velocity is in excess of a correction start determination threshold value and a preset time has elapsed from a time point at which the calculation of the transient state purpose target driving force is started.

19. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the acceleration control purpose target driving force calculating section does not calculate the acceleration control purpose target driving force sensitive more than necessary with respect to a minute accelerator manipulation by the driver.

20. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 19, wherein the acceleration control purpose target driving force calculating section derives the differential value of the steady state purpose target driving force from the vehicular velocity control purpose target driving force calculating section and does not calculate the transient state purpose target driving force when the steady state purpose target driving force falls within a dead zone which is a range of the differential value equal to or below a preset value.

21. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 19, wherein the acceleration control purpose target driving force calculating section derives the differential value of the steady state purpose target driving force from the vehicular velocity control purpose target driving force calculating section, sets a transient state purpose target driving force calculating gain corresponding to the differential value, calculates a correction quantity variation velocity according to the differential value and the steady state purpose target driving force, and provides a limit for the correction quantity variation velocity to calculate a transient state purpose target driving force.

22. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 19, wherein the acceleration control purpose target driving force calculating section sets a predetermined delay time from a time at which the accelerator manipulated variable is in excess of an accelerator manipulation start determination threshold value and calculates the transient state purpose target driving force after the predetermined delay time is elapsed.

23. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the acceleration control purpose target driving force calculating section does not calculate the acceleration control purpose target driving force which is equal to zero or below zero when calculating the acceleration control purpose target driving force.

24. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 23, wherein the acceleration control purpose target driving force calculating section calculates the transient state purpose target driving force including the negative value, and zeroes the negative value thereof to finally calculate a final transient state purpose target driving force.

25. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the apparatus is applied to an engine output control system.

26. An apparatus for controlling a driving force for an automotive vehicle as claimed in claim 6, wherein the apparatus is applied to a vehicular traction control system.

28. A method for controlling a driving force for an automotive vehicle, the method comprising:

detecting a manipulated variable of an accelerator;

detecting a vehicular velocity; and

deriving a vehicular target driving force in accordance with a vehicle driver'"'"'s demand, the method achieving the derived target driving force and driving the vehicular target driving force comprising;

calculating a vehicular velocity control purpose target driving force from an absolute value of the manipulated variable of the accelerator and the vehicular velocity;

generating an acceleration control purpose target driving force from at least one of an absolute value of the accelerator manipulated variable and a variation velocity of the manipulated variable of the accelerator; and

synthesizing both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force to achieve a target driving force of the vehicle.

29. A method for controlling a driving force for an automotive vehicle, the method comprising:

detecting a manipulated variable of an accelerator;

detecting a vehicular velocity; and

deriving a vehicular target driving force in accordance with a vehicle driver'"'"'s demand, the method achieving the derived target driving force and deriving the target driving force comprising;

calculating a vehicular velocity control purpose target driving force from an absolute value of the manipulated variable of the accelerator and the vehicular velocity;

generating an acceleration control purpose target driving force from at least one of an absolute value of a result of calculation of the vehicular velocity control purpose target driving force and a variation velocity of the result of calculation of the same; and

synthesizing both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force.

30. An apparatus for controlling a driving force for an automotive vehicle, comprising:

accelerator manipulated variable detecting means for detecting a manipulated variable of an accelerator;

vehicular velocity detecting means for detecting a vehicular velocity; and

target driving force calculating section for deriving a vehicular target driving force in accordance with a vehicle driver'"'"'s demand, the apparatus achieving the derived target driving force and the target driving force calculating means comprising;

vehicular velocity control purpose target driving force calculating means for calculating a vehicular velocity control purpose target driving force from an absolute value of the manipulated variable of the accelerator and the vehicular velocity;

acceleration control purpose target driving force calculating means for generating an acceleration control purpose target driving force from at least one of an absolute value of the accelerator manipulated variable and a variation velocity of the manipulated variable of the accelerator; and

target driving force synthesizing means for synthesizing both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force.

31. An apparatus for controlling a driving force for an automotive vehicle, comprising:

accelerator manipulated variable detecting means for detecting a manipulated variable of an accelerator;

vehicular velocity detecting means for detecting a vehicular velocity; and

target driving force calculating section for deriving a vehicular target driving force in accordance with a vehicle driver'"'"'s demand, the apparatus achieving the derived target driving force and the target driving force calculating means comprising;

vehicular velocity control purpose target driving force calculating means for calculating a vehicular velocity control purpose target driving force from an absolute value of the manipulated variable of the accelerator and the vehicular velocity;

acceleration control purpose target driving force calculating means for generating an acceleration control purpose target driving force from at least one of an absolute value of a result of calculation by the vehicular velocity control purpose target driving force calculating means and a variation velocity of the result of calculation by the same; and

target driving force synthesizing means for synthesizing both of the vehicular velocity control purpose target driving force and the acceleration control purpose target driving force.