Method and apparatus for controlling an automatically shifting transmission
CROSS-REFERENCE TO RELATED APPLICATIONS 
     Applicants hereby cross-reference to a related Ser. No. 07/548,254, filed based upon German application Serial No. P 339 22 040.0, filed Jul. 7, 1989, the subject matter of which is incorporated herein by reference. 
     BACKGROUND AND SUMMARY OF THE INVENTION 
     The present invention relates to a method and apparatus for controlling an automatically shifting transmission and, more particularly, to such a method an apparatus which simulates a driver&#39;s driving style and assures delivery of the demanded driving power from a consumption-oriented driving style to a power-oriented style. 
     Normally an automatic transmission control system is configured either to permit a method of driving that is as economical as possible or one that is as power-oriented as possible. Because of the characteristics of the Otto cycle engine, it is not possible to meet both criteria simultaneously. Frequently, a compromise therefore has to be made between both extremes since a purely consumption-oriented shifting program does not offer sufficient safety reserves in critical traffic situations, and the fuel consumption is too high in the case of a power-oriented shifting program. 
     Another possibility is a manual change-over between an &#34;economy program&#34; and a &#34;power program&#34;, (Automobiltechnische Zeitschrift, Volume 6/1983, pp. 401-405). In this case, the driver must first actuate a change-over switch before the corresponding shifting program is made available. Two alternative extremes are now offered to the driver which, however, permit either only a method of driving that is consumption-oriented or one that is power-oriented. 
     It is also known from the DE-PS 33 41 652 to automate this manual change-over. To this end, an accelerator pedal signal which is proportional to the position of the accelerator pedal is sensed and stored. By virtue of the sensed accelerator pedal signal value, accelerator pedal signal values which were detected and stored earlier are continuously updated, and an accelerator pedal activity is calculated from the stored accelerator pedal signals which evaluates a driver&#39;s driving style or a driving situation. This accelerator pedal activity will then be used for influencing limit values of shifting decisions in such a manner that the transition from the consumption-optimized to the power-optimized shifting program takes place continuously. 
     It is therefore possible to simulate the driver&#39;s driving style by way of this control system by detecting a quantity which is representative of this driving style. It was found, however, that in certain driving situations, for example, on routes with many bends, the driving style or a driving situation cannot be simulated by this system to a desirable extent. 
     It is therefore an object of the present invention to provide a method and apparatus for controlling an automatically shifting transmission that avoids the above-mentioned disadvantages. 
     This object has been achieved in accordance with the present invention by providing a method and apparatus which, in addition to a sensed throttle valve signal value, senses at least one additional cyclically and/or non-cyclically sensed operating parameter of the motor vehicle. 
     Principal advantages of the present invention are that a method and apparatus for the control of an automatically shifting transmission are provided which, based on a shifting program that is as consumption-optimal as possible, dynamically adapts itself to vehicle handling and the just-existing or real time driving or traffic situation without the requirement of actuating additional operating elements. These advantages have been achieved through only a slightly higher expenditure of operating or driving parameters to be detected by sensors so that an already existing transmission control device for an electrohydraulic transmission, such as model 4HP22 of ZF Co., can be used as part of the present invention without any major expenditures. In addition to only a single additional sensor, only a change of the control method is this required. 
     As a result, a drive of a motor vehicle which is equipped with the apparatus and control system of the present invention for the automatically shifting transmission which operates according to the method of the present invention is always ensured of receiving the respective driving power which it demands, in which case, care is taken that the fuel consumption is always as low as possible in all ranges. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     These and other objects, features and advantages will become more readily apparent from the following detailed description when taken in conjunction with the accompanying drawings wherein: 
     FIG. 1 is a block diagram of an electrohydraulic control system in accordance with the present invention for an automatically shifting transmission of a motor vehicle; 
     FIG. 2 is a block diagram for determining a driving activity or a shifting program; 
     FIG. 3 is a characteristic diagram for determining a shifting program from a first driving activity; 
     FIG. 4 is a representation of upshift lines corresponding to the shifting programs according to FIG. 3; 
     FIG. 5 is a representation of return shift lines corresponding to the shifting programs according to FIG. 3; 
     FIG. 6 is a first characteristic diagram for determining a first primary parameter; 
     FIG. 7 is a second characteristic diagram for determining a second primary parameter; 
     FIG. 8 is a third characteristic diagram for determining a third primary parameter; 
     FIG. 9 is a fourth characteristic diagram for determining a fourth primary parameter; 
     FIG. 10 is a fifth characteristic diagram for determining a fifth primary parameter; 
     FIG. 11 is a limit line aqg=f(v) above which gear step changes are avoided; 
     FIG. 12 is a characteristic line which shows a dependence of time periods T2, T3, T4, T5 and T6 on a driving activity SK(t); and 
     FIG. 13 is a limit line azsg(nmot) for the recognition of a coasting/drive operation. 
    
    
     DETAILED DESCRIPTION OF THE DRAWINGS 
     FIG. 1 shows an electrohydraulic control system designated generally by the numeral 1 of an automatically shifting motor vehicle transmission 2 as described, for example, in Bosch&#39;s &#34;Technische Berichte&#34;, 7 (1983) 4 at pp. 160-166 and in the previously-mentioned ATZ 85 (1983) 6, at pp. 401-405. 
     A control apparatus 3 controls regulators and valves as a function of a kick-down signal (kd) of a kick-down generator 4 at the motor vehicle accelerator pedal, of an idling signal 11 of a throttle switch 5, of a throttle valve angle signal (alpha) of a throttle valve angle generator 6, and of an engine rotational speed signal (nmot) of an engine rotational speed generator 7 of an internal-combustion engine (now shown) and of a driving speed signal (v) (in practice, a transmission output rotational speed signal) of a transmission output rotational speed generator 8. In particular, the control apparatus 3 controls a pressure regulator 9 for a hydraulic fluid (signal output (ds)); a first solenoid valve 10 for controlling a converter or a converter lockup clutch (signal output (wk)); a second solenoid valve 11 for controlling a gear step change between gear steps I and II (signal output (Si/II)); a third solenoid valve 12 for controlling a gear step change between gear steps II and III (signal output (sII/III)); and a fourth solenoid valve 13 for controlling the gear step change between gear steps III/IV (signal output (sIII/IV)). 
     Control can be influenced by the vehicle driver through a conventional selector level (not shown) for the preselection of driving positions P, R, N, D, 3, 2, 1. As a result, driving positions P (Park), R (reverse gear step), N (neutral gear step), D (automatic shifting of all four gears IV, III, II, I), 3 (automatic shifting of the three lower gear steps III, II, I) and 2 (automatic shifting of gear steps II and I) and 1 (setting the first gear step I) can be used. In the case of the above-described transmission, a program selector switch is also provided by virtue of which at least two shifting programs (SKF j ) can be manually selected according to which the four gear steps in gear D are shifted. 
     This manual selection of the shifting programs is automated so that the transmission control adapts itself automatically to a driver&#39;s driving style or to a just existing, i.e., immediate, driving situation. A transmission control of this type is known, for example, from DE 33 41 652 C2. There, a quantity which simulates the driving style is generated by the sensing of the accelerator pedal or of the throttle valve angle. It was found,. however, that is some driving situations this control does not sufficiently simulate the driving style. The transmission control system 1 is therefore expanded by a lateral acceleration generator 14, which generates a lateral acceleration signal (aq), and by a speed generator 15 which senses a speed (vref) at a nonpowered axle of the vehicle. 
     Therefore, corresponding to FIG. 2, a determination of a driving activity SK1(t) is derived from at least one additional cyclically and/or noncyclically sensed operating or driving parameter of the motor vehicle, such as the engine rotational speed (nmot), the lateral acceleration (aq) and/or the driving speed (v). By sensing and preferably digital filtering (according to a PT1-algorithm) with filters 16, 17 and 18, respectively, a throttle valve signal value (alpha(t)), an engine rotational speed signal value (nmot(t)) and a lateral acceleration signal value (aq(t)) are determined. 
     From the driving speed (v) determined by the transmission output rotational speed generator 8, by forming difference quotients and subsequent digital filtering (also according to a PT1-algorithm), a longitudinal acceleration signal value (alb(t)), which corresponds to the derivation of the driving speed after the time dv(t)/dt for dv(t)/dt&gt;0, and a longitudinal deceleration signal value (alv(t)), which corresponds to the time-related derivation of the driving speed dv(t)/dt for dv(t)/dt&lt;0, is determined by filters 19 and 20, respectively. 
     The sensing of the throttle valve angle (alpha) takes place every 30 milliseconds, while the engine rotational speed (nmot), the vehicle lateral acceleration (aq), and the driving speed (v) are sensed every 40 milliseconds. A new value of the longitudinal acceleration and of the longitudinal deceleration is derived from this repeated sensing every 100 milliseconds. In the case of the throttle valve angle (alpha) and of the vehicle lateral acceleration (aq), it may be useful to determine the digital filtering by different rising and falling times. In such case, the rise is preferably weighted higher than the fall. 
     In a first characteristic diagram 21, a first primary parameter SKP1(t)=f(alpha(t), dv/dt) is generated from the throttle valve signal value (alpha(t)) by way of characteristic lines depending on the time-related derivation of the driving speed dv(t)/dt, and in a second characteristic diagram 22, a second primary parameter SKP2(t)=f(nmot(t), g) is generated, by way of characteristic lines depending on the gear step (g), from the engine rotational speed signal value (nmot(t)). 
     A third characteristic diagram 23 derives a third primary parameter SKP3(t)=f(aq(t), v(t)) by way of curves depending on the driving speed signal value (v(t)). From the longitudinal acceleration signal value (alb(t)), a fourth primary parameter (SKP4(t)=f(alb(t), v(t)) is derived by a fourth characteristic diagram 24 from characteristic lines depending on the driving speed signal value (v(t)). Finally, a fifth characteristic diagram 25 generates a fifth primary parameter (SKP5(t)=f(alv(t), v(t)) by characteristic lines depending on the driving speed signal value v(t). The respective second influencing variable for characteristic diagrams 21 to 25, for reasons of clarity, is shown only symbolically. 
     From these five primary parameters SKP1(t) to SKP5(t), a secondary parameter SKS(t) is obtained by way of a linking function 26 and is stored. The linking function 26 is preferably constructed as a maximum value selection from the five primary parameters (SKS(t)=MAX(SKP1, SKP2, SKP3, SKP4, SKP5). 
     From this secondary parameter SKS(t), a first driving activity SK1(t) is generated by a digital filter algorithm 27 with a PT1-behavior in that the newly obtained value of the secondary parameter SKS(t) and a value of a first driving activity SK1(t-T1) which was previously determined during a first calculating period (T1) and was stored are added together to form a weighted sum: SK1(t)=(1/A)*(B*SKS(t)+(A-B)*SK1(t-T1). In this case, the two weighting factors A and B may be selected for increasing values of the secondary parameter SKS(t) at A=100 and B=4, and for decreasing secondary parameters SKS(t) at A=100 and B=2. In this case, the calculating period (T1) preferably is one second. 
     It is, of course, also possible to use, instead of the digital filter algorithm 27, an algorithm where the values of the secondary parameters SKS(t) are stored and by means of each newly obtained value of the secondary parameter SKS(t), a number (m+1) of previously obtained and stored values of this parameter are updated, in which case, from (m+1) stored values of the secondary parameter SKS(t-iDT), i=0, 1, 2 . . ., m, by weighting and sum formation, a first driving activity SK1(t) is determined: SK1(t)=SK1&#39;(t)=(1/ΣAi)*Σ(Ai*SKS(t-IDT)); i=0, 1, . . . , m, in which case DT is the calculating period or a sensing interval. 
     With increasingly larger values of i, the weighting factors Ai become increasingly smaller. This ensures that the actual values are weighted higher than the previously stored ones. 
     The first driving activity SK1(t) may now be used for the selection of the shifting programs SKFj or for the targeted changing of shifting decisions. This takes place by way of a sixth characteristic diagram 28 which selects for the value of the driving activity SK1 (t) which is between 0 and 1, a shifting program (characteristic shifting diagram SKFj=F (alpha, nmot), j=1, 2, . . . , 5) from a number of shifting programs SKFj ranging between a consumption-oriented shifting program SKF1 and a power-optimized shifting program SKF5 in such a manner that, with increasing values of the driving activity SK1(t), more power-optimized shifting programs are selected. In this case, the sixth characteristic diagram SKFj=f(SK1(t) has a hysteresis in order to avoid a constant shifting back and forth between the shifting programs in the case of small changes around a stationary value of SK1(t). The sixth characteristic diagram is enlarged in FIG. 3. The width of the shifting hysteresis is approximately ±0.02. 
     Shifting programs of this type (characteristic shifting diagrams according to which the gear steps (g) are shifted corresponding to the throttle valve angle (alpha) and the engine rotational speed (nmot)) are shown in FIG. 4 in the form of upshift lines from the third gear g=III to the fourth gear g=IV and in FIG. 5 in the form of downshift lines from the fourth gear g-IV to the third gear g=III, in which case the shifting lines are taken from the corresponding shifting programs or characteristic shifting diagrams SKF1 to SKF5. 
     FIG. 6 shows the first characteristic diagram SKP1(t)=f(alpha(t), dv(t)/dt) designated by 21 in FIG. 2. This first characteristic diagram SKP1, by way of rising lines, assigns larger values of the first primary parameter SKP1 to values of the throttle valve signal value (alpha(t)) which increase by way of rising curves. The rise of the curves (f(alpha(t))) depends on the time variation of the driving speed signal value (dv(t)/dt), in which case, with an increasing time variation of the driving speed signal values (dv(t)/dt), the rise increases. As a result, particularly in the case of a stead-state method of driving, an undesirable change of the just selected characteristic shifting diagram is avoided. 
     It is also possible to determine the value of the first primary parameter SKP1 (t), instead of from the characteristic diagram f(alpha, dv(t)/dt), by way of a single characteristic line f(alpha(t)) and to weight it with a weighting factor which increases progressively with the time variation of the driving speed signal values (dv(t)/dt). 
     The second characteristic diagram SKP2=f(nmot(t),g) designated by 22 shown in FIG. 2 and in greater detail in FIG. 7 assigns larger values of the second primary parameter SKP2(t) to values of the engine rotational speed signal value (nmot(t)) which increase as rising curves. In this case, the rise of the curves f(nmot(t)) is a function of the gear steps and decreases when the gear step g increases. As a result, higher rotational speeds in lower gear steps have a higher weighting than in higher gear steps. For example, nmot=4,000/min., in the first or second gear steps g=I, g=II indicate a more power-oriented driving method than the same engine rotational speed when the fourth gear step g=IV is engaged. 
     Corresponding to FIG. 8, the third characteristic diagram SKP3=f(aq(t)), designated by 23 in FIG. 2, assigns larger values of the third primary parameter SKP3(t) to values of the lateral acceleration signal value aq(t) which increase by way of rising curves. In this case, the rise of the curves f(aq(t)) is a function of the speed and increases with rising driving speed signal values v(t). As a result, a selection of excessively power-oriented shifting programs is avoided in city traffic. Among other things, the extent of the vehicle acceleration is felt to be higher at higher speeds. 
     The fourth characteristic diagram SKP4=f(alb(t), designated by 24 on FIG. 2 and, shown in greater detail in FIG. 9 assigns larger values of the fourth primary parameter SKP4(t) to values of the longitudinal acceleration signal value alb(t) which increase as rising curves. Also in this case, the rise of the increasing curves is evaluated as a function of the speed and increases with rising driving speed signal values v(t). As a result, a selection of excessively power-oriented shifting programs is avoided, and the different acceleration behavior of vehicles is taken into account. 
     The fifth characteristic diagram SKP5=f(alv(t), v(t)), designated by 25 and, shown in greater detail in FIG. 10 assigns larger values of the fifth primary parameter SKP5(t) to values of the longitudinal deceleration signal value alv(t) which increase as rising curves. The increase of the rising curves is again a function of the speed and increases with rising driving speed signal values v(t). 
     So that a motor vehicle driver in critical traffic situations immediately has available the full capacity of his motor vehicle, it can also be provided that the power-optimized shifting program (SKS5) be selected if the time variation of the throttle valve signal value (dalpha(t)/dt) is higher than a first throttle valve speed limit value (alphag1). In this case, a return takes place to the previously selected shifting program if the throttle valve signal value (alpha(t)) is set back by a fixed value (alphag) which is variable with the driving activity SK(t), SK1(t), SK2(t) and a fixed part (fak) of the reached maximal throttle valve signal value (alpha(t)≦=afg+(fak*alpha(t-T1). In this case, the selection of the power-optimized shifting program (SKF5) may also take place in steps. 
     In the case of a transmission equipped with a converter lockup clutch, it may also be advantageous for the converter lockup clutch, with increasing values of the driving activity (SK(t), SK1(t), SK2(t)), to be locked later after shifting operations and to be opened earlier before shifting operations or to be kept locked only a higher engine rotational speed signal values, such as nmot=3,400/min at SKF5 in comparison to nmot=1,000/min at SKF1. 
     If the transmission control system also has a kick-down shifting program (SKFKD), this shifting program (SKFKD) can be selected when the accelerator pedal is completely stepped down alpha=alphamax and can remain activated until the throttle valve signal value (alpha(t) falls below a fixed second limit value (alphag2) or a second limit value (alphag2) which is variable with the driving activity (SK(t), (SK1(t), (SK2(t)). In this case, as the driving activity increases, this limit value (alphag2) may be shifted toward lower values. 
     Finally, the selection of the shifting program (characteristic shifting diagram SKFj=f(alpha, nmot), j=1, 2, . . . , 5) by way of the sixth characteristic diagram SKFj=f(Sk(t)) may also take place on the basis of an overall driving activity SK(t) composed of the first driving activity SK1(t) and a second driving activity SK2(t) in that these two driving activities are added together by way of a weighted sum SK(t)=(A1*SK1(t)+A2*SK2(t))/(A1+A2). In this case, the second driving activity SK2(t) is determined from a weighted sum SK2(t)=(1/A)*(B*SKZ(t)+(A-B)*SK2(t-T1)) of a newly obtained intermediate quantity SKZ(t) and a value of the second driving activity SKZ(t-T1) that was previously determined during a first calculating period T1 and stored. The intermediate quantity SKZ(t) is determined from the weighted sum SKZ(t)=(alb(t)/albmax(g)+alv(t)/alvmax(g)+aq(t)/aqmax)/3 of a quotient of the longitudinal acceleration signal value (alb(t)) and a gear-dependent maximal vehicle acceleration (albmax(g)); of a quotient of a longitudinal deceleration signal value (alv(t)) and a gear-dependent maximal vehicle deceleration (alvmax(g)), and the lateral acceleration signal value (aq(t)) divided by a maximal vehicle lateral acceleration (aqmax). 
     Finally, it will be useful in the case of a first determination of the values of the first and the second driving activity SK1(t), SK2(t) and in the case of a new start (initialization) of a program corresponding to the method, to set the values SK1(t-T1), SK2(t-T1) to an initial value for a transmission control implemented by a microprocessor. 
     In addition to influencing the shifting programs by the driving activity SK1, SK2, it may also be useful to introduce additional criteria for the reduction of shifting which, in turn, may also be a function of the driving activity SK1, SK2. Thus, it is particularly desirable that an upshifting of the transmission be avoided when the vehicle, for example, approaches a turn in the road and the driver&#39;s foot leaves the accelerator pedal. 
     It was found in this case that such a recognition of bends can take place by sensing the time variation of the throttle valve signal value dalpha/dt. The reason is that, as a rule, a driver takes back the accelerator pedal, and therefore also the throttle valve faster in front of a bend than he would under normal circumstances in order to, for example, reduce the driving speed. 
     An upshifting carried out by conventional transmission control systems when the accelerator pedal is released, in this case, is delayed by a second time period (T2) if a speed of change (dalpha/dt) of the throttle valve signal value (alpha(t)) falls below a third limit value (alphag3), in which case, the second time period (T2) may be a function of the driving activity SK1(t), SK2(t). 
     This second time period (T2) is also set to zero during a braking operation of the motor vehicle, and after the termination of the braking operation, an upshifting is delayed by a third time period (T3) which depends on the driving activity. Thus, it is achieved that also during and immediately after a braking operation no shifting takes place. 
     Also, a gear step change is avoided and/or the time periods (T2, T3) are set to zero if the amount of the lateral acceleration signal value |aq| exceeds a limit line aqg=f(v(t)) which depends on the driving speed (v(t)) and/or is variable with the driving activity SK(t), SK1(t), SK2(t), as shown, for example, in FIG. 11. 
     Likewise, the gear step change is avoided as long as, after falling below the limit line aqg=f(v(t)), a fourth period of time (T4) has not yet elapsed which is fixed or is variable with the driving activity. As a result, unnecessary load changes are avoided during fast cornering which, under certain circumstances, may result in unstable vehicle conditions. 
     A dependence of time periods (T2, T3, T4) and a time period (T5), hereinafter described, on the driving activity SK(t), SK1(t), SK2(t) is shown in FIG. 12. These time periods preferably increase with rising values of the driving activity and are, for example, between 1.6 s and 3 s. 
     The present invention can also provide delay of an upshifting after the expiration of time periods (T2, T3 and T4) by another fifth time period (T5) depending on the driving activity as long as the engine is not yet back in the drive operation, and the time variation of the driving speed signal value (dv(t)/dt) has not yet assumed any positive values, for example, in order to give the driver some time after cornering or braking (without the occurrence of an upshifting), until he accelerates again. The drive operation is recognized if the throttle value signal value (alpha(t)) is larger than a characteristic limit line azsg=f(nmot), shown in FIG. 13, which is dependent on the engine rotational speed, and the time variation of the vehicle speed (dv(t)/dt) takes on positive values. 
     As a superordinated function for avoiding unstable driving conditions, such as excessive slip at the powered axle, it may be provided that these possibilities for preventing an upshifting be permitted only if a differential speed (Dv=vref-v, Dv(t)=vref(t)-v(t)) between a speed (vref, vref(t)) of a nonpowered axle and the driving speed (v(t)) detected at the powered axle (measured by the transmission output rotational speed) does not exceed a permissible differential speed value (Dvzul). In this case, the slip at the powered axle is simulated by the differential speed (Dv). 
     Supplemental measures which can be taken when the permissible differential speed value (Dvzul) is exceeded include opening of a converter lockup clutch of a transmission equipped with a torque converter; setting of a hold time (T6) during which an upshifting cannot be prevented; the increasing of an engaged gear step g by one; and preventing backshifts, in which case these functions are set back again when the drive operation is recognized as previously mentioned. 
     According to a further embodiment of the invention, a prevention of upshifting can be permitted only if the lateral acceleration signal value (aq(t)) is larger than a second lateral acceleration limit value (aqg2); the time variation of the throttle valve signal value (dalpha(t)/dt) is larger than a fourth throttle valve speed limit value (alphag4); and the throttle valve signal value (alpha(t)) is smaller than a specific percentage of the engine-rotational-speed-dependent characteristic limit line (azsg(nmot)) shown in FIG. 13. As a result, the vehicle cannot turn in during cornering in the case of a sudden load change. 
     The values for the parameters utilized in the drawings and in the specification are only standard or representative values. The method itself may also be implemented by a discretely constructed control system as well as by a microprocessor. In the case of a discretely constructed control system, the individual method steps and the elements shown in the block diagrams are to be constructed as modules, whereas, in a microprocessor implementation, they are implemented as programs or program parts. The parallel determination of the primary parameters SKP1, SKP2, . . . , SKP5 shown in FIG. 2 must then occur sequentially. 
     Although the invention has been described and illustrated in detail, it is to be clearly understood that the same is by way of illustration and example, and is not to be taken by way of limitation. The spirit and scope of the present invention are to be limited only by the terms of the appended claims.