Advics Co., Ltd.

Denso Corporation

Kazunori Kadowaki

Yasuhiro Nakai

Hajime Kumabe

Shintaro Osaki

Masayoshi Takeda

Satoshi Niwa

Hiroyuki Kodama

Syotarou Fukuda

Shotaro Fukuda

Mitsuhiro Tokimasa

A control apparatus controls acceleration of a vehicle provided with a motive power generation apparatus and brake apparatuses. For the control, the control apparatus comprises calculation and actuating blocks. The calculation block calculates torque to be requested, based on a difference between an actual value of the acceleration and a target value thereof and a gain for feedback controlling the actual value of the acceleration to the target value thereof. The gain is differentiated in value between in a first case in which the brake apparatuses are used for the feedback control and a second case in which the brake apparatuses are not used for the feedback control. The actuating block actuates the motive power generation apparatus and the brake apparatuses based on the calculated torque. The value of the gain in the first case is made larger than the value of the gain in the second case.

Method and apparatus for controlling acceleration of a vehicle

A vehicle speed control device calculates a desired axle torque for maintaining a speed of a vehicle to a set speed, and conducts cruise control. Specifically, the vehicle speed control device calculates a drive force including a feedforward component corresponding to the set speed and a travel resistance against the travel of the vehicle, and a feedback component corresponding to a deviation of the set speed from the actual speed of the vehicle as a desired axle torque. The vehicle speed control device interrupts the cruise control when a requested drive axle torque requested by an accelerator operation during the cruise control exceeds the desired axle torque, and restarts the cruise control when the requested drive axle torque becomes lower than the desired axle torque.

Vehicle speed control device and method

An apparatus controls automatic travel of a vehicle equipped with a motive power generator. In the apparatus, information indicating a road surface on which a vehicle is present currently is acquired. It is determined whether or not a command for shifting the vehicle from its stopped state to its traveling state is issued. When the command is issued, automatic shift of the vehicle is made from its stopped state to its traveling state by controlling drive of the motive power generator based on the acquired information. It is further determined whether or not, of a component of gravity applied to the vehicle, there is a force component applied in a direction opposite to a travel direction of the vehicle. When there is the force component, the operation applied to the motive power generator is continued even if the brake pedal is pressed by the driver.

Apparatus for controlling automatic travel of vehicle

A control apparatus controlling anteroposterior acceleration of a vehicle by controlling a motive power generation apparatus mounted on the vehicle, which is also provided with a staged transmission apparatus that operates on gear ratios. The motive power generation apparatus has an output shaft producing a rotation force in response to a command to be requested. The rotation force is transmitted to the drive wheels via the staged transmission apparatus. A feedback manipulated variable is calculated to control the production of the rotation force of the motive power generation apparatus so that an actual value of anteroposterior acceleration of the vehicle is controlled at a target value thereof. The calculated feedback manipulated variable is used as the command. When the staged transmission apparatus is in the switchover control of the gear ratios, the manipulated variable is is limited from being calculated (for example, stopped from being calculated).

Method and apparatus for controlling anteroposterior acceleration of a vehicle

A vehicle speed control system starts an automatic decelerating operation with a maximum permissible decelerating physical amount 'G', when an electronic control unit determines that a necessary decelerating physical amount for decreasing a vehicle speed 'v' to a target vehicle speed &#x201c;v&#x201d; at a curve starting point becomes larger than the maximum permissible decelerating physical amount &#x201c;G&#x201d;. The vehicle speed control system terminates the automatic decelerating operation, when required decelerating physical amount by a braking operation during the automatic decelerating operation becomes larger than an actual control decelerating physical amount for the automatic decelerating operation. The electronic control unit calculates the necessary decelerating physical amount &#x201c;G&#x201d; based on a distance &#x201c;d&#x201d; to the curve starting point and the vehicle speed &#x201c;v&#x201d;, in order to re-start an automatic decelerating operation with the decelerating physical amount &#x201c;G&#x201d;, when the required decelerating physical amount becomes lower than the decelerating physical amount &#x201c;G&#x201d;.

Vehicle speed control system

A vehicle automatic operation control device includes a target required torque calculating part () which determines the target required torque from the respective calculated values of a feed-forward calculated value and a feedback calculated value, and an automatic operation control part D which causes the vehicle to operate automatically on the basis of the determined target required torque, and which performs slip suppression control that suppresses slip of the wheels when any of the wheels of the vehicle slip. In cases where slip suppression control is performed by the automatic operation control part (D), the target required torque calculating part () holds the feedback calculated value based on the deviation between the target acceleration and actual acceleration, and determines the target required torque from the respective calculated values of the held feedback calculated value and feed-forward calculated value.

Vehicle automatic operation control device

A vehicle drive control device includes an initially determined request acceleration calculation means for calculating an initially determined request acceleration, an automatic drive control means for receiving the initially determined request acceleration and applying a predetermined torque to each wheel, a torque calculation means for calculating an allowable torque not causing a slip at each wheel when the allowable torque is applied thereto, on the basis of a vertical load applied to thereto and a friction coefficient of a road surface, a limit acceleration calculation means for calculating a limit acceleration acting on the vehicle in a case where the calculated allowable torque is applied to each wheel, and a request acceleration determination means for obtaining a request acceleration on the basis of the limit acceleration and the initially determined request acceleration, and for outputting the request acceleration, replacing the initially determined request acceleration, to the automatic drive control means.

Vehicle drive control device

An estimated gradient value of a road is calculated based on a vehicle acceleration 'A' and a time varying portion 'A'' of a wheel speed. In a case that an acceleration corresponding value &#x201c;Ggrad&#x201d; for the estimated gradient value is not regarded as indicating an exact figure, due to influences of disturbances, the acceleration corresponding value &#x201c;Ggrad&#x201d; is corrected by a limiting value for rate-of-change with regard to the road gradient depending on respective vehicle speed, and by a limiting value for the road gradient. As a result, the acceleration corresponding value &#x201c;Ggrad&#x201d; for the estimated gradient value can be more exactly obtained.

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Nagoya, Japan

Kazunori Kadowaki