JP2005280559A - Vehicular start control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular start control device controlling transfer torque of a clutch considering load torque added on a vehicle, and improved in drivability. <P>SOLUTION: The vehicular start control device comprises a target torque correcting means 52 for setting target torque according to accelerator opening, and correcting the set target torque according to vehicular weight information estimated by a vehicular weight estimating means 51; a load torque setting means 55 for setting a load torque added on a vehicle; a means 57 for setting final target torque according to the set target correction torque and the set load torque; and a means 53 for setting the stroke amount of a clutch 1 breaking/connecting transfer torque from an engine 4 to a transmission 2 according to the set final target torque. The stroke amount is controlled to be set clutch stroke amount, thereby connecting the clutch 1. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle start control device that automatically connects and disconnects a clutch to start the vehicle.

For large vehicles such as buses and trucks, an automatic clutch device that can automatically connect and disconnect the clutch and a gear stage are automatically selected for a mechanical transmission that has the same structure as a manual transmission that is inexpensive and fuel efficient. A combination of automatic transmission and the like. This is called a mechanical automatic transmission (hereinafter abbreviated as AMT), and with the above configuration, the clutch can be automatically controlled by connecting / disconnecting the clutch according to the timing of the shift. It can be done.
In this AMT, control is performed so that the clutch is automatically engaged and disengaged not only at the time of shifting but also at the time of starting and stopping. For example, when starting, if the accelerator pedal is depressed and the accelerator is on, The clutch is automatically engaged, and when it stops, the clutch is automatically disengaged when the accelerator pedal is not depressed and the accelerator is off, or when the engine speed is lower than the predetermined speed. Control is performed when starting and stopping. When starting, the fuel injection amount is injected into the engine according to the accelerator opening (the amount of depression of the accelerator pedal), the engine speed increases, and the clutch automatically engages with the engine speed increase. Connected.
Patent Document 1 relates to clutch control of an automatic transmission, obtains a clutch torque reference value from the engine torque estimated from the engine speed and the accelerator opening, and when the elapsed time of clutch engagement has elapsed for a predetermined time, the clutch torque reference value A configuration is described in which the clutch torque at the time of starting is set so that a value obtained by adding a predetermined clutch torque value to the clutch torque reference value is used.

Japanese Patent No. 3237419

In Patent Document 1, the clutch torque at the time of start is corrected, but load torque for the engine such as the weight of the vehicle, the gear stage, and the gradient of the road surface is not considered as a correction parameter. When starting a vehicle whose vehicle weight varies greatly depending on the load such as a truck, the clutch torque should be set so that a sufficient torque is transmitted to the transmission at the maximum loading so that the engine does not stall at the maximum loading. Although required, if the load is small and the vehicle weight is light, unless the engine output or clutch transmission torque is controlled, excessive torque will be transmitted to the wheels. Depending on the situation, unlike the driver ’s intention, the drivability may be impaired. Also, the transmission torque required when starting the vehicle naturally varies depending on the selected gear stage and road surface gradient.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle start control device in which drivability is improved by controlling a transmission torque of a clutch in consideration of a load torque applied to the vehicle.

  In order to achieve the above object, the present invention provides a clutch for connecting and disconnecting a transmission torque from a vehicle engine to a transmission, a clutch stroke control means for controlling a stroke amount of the clutch connection, and a depression amount of an accelerator pedal. Accelerator opening detecting means for detecting the accelerator opening, fuel supply means for injecting and supplying fuel to the engine, engine output control means for controlling the fuel supply means to control engine output torque, and accelerator opening detection The target torque setting means for setting the target torque according to the accelerator opening detected by the means, the vehicle weight estimation means for estimating the weight of the vehicle, and the target torque set by the target torque setting means by the vehicle weight estimation means Target torque correction means for correcting and setting the corrected target torque according to the estimated vehicle weight information, and load torque applied to the vehicle are provided. Set by the final torque setting means, the final torque setting means for setting the final target torque according to the corrected target torque set by the target torque correction means and the load torque set by the load torque setting means, and the final torque setting means Transmission torque setting means for setting the clutch stroke amount according to the final target torque, and engine torque setting means for setting the engine output torque according to the final target torque set by the final torque setting means. The engine output control means controls the fuel injection amount to be the engine output torque set by the engine torque setting means, and the clutch stroke control means becomes the clutch stroke amount set by the transmission torque setting means. The clutch stroke amount is controlled by the clutch It is characterized by performing the connection operation.

When the vehicle weight estimation means has speed detection means for detecting the speed of the vehicle and acceleration detection means for detecting the acceleration of the vehicle, the vehicle speed information from the vehicle speed detection means, the acceleration information from the acceleration detection means, and the fuel injection amount The vehicle weight may be estimated from
The target torque correction means is characterized in that the correction coefficient is set to be small when the estimated vehicle weight is smaller than a predetermined value.
The final torque setting means calculates the load torque according to the weight of the vehicle, the gradient of the road surface, and the gear stage of the transmission.
The load torque set by the load torque setting means is corrected by multiplying the correction coefficient by the correction coefficient, and the final torque setting means is finalized according to the target correction torque set by the target torque correction means and the corrected load torque corrected by the correction coefficient. The target torque is set, and the transmission torque setting means sets the stroke amount of the clutch according to the final target torque set according to the correction load torque by the final torque setting means.

  According to the present invention, the target torque at the start is determined according to the accelerator opening, the target torque is appropriately corrected according to the estimated vehicle weight, and the corrected target torque is further corrected according to the load torque. Since the clutch stroke is controlled as a control index after correction, the transmitted torque changes according to the vehicle weight and load torque, so the acceleration feeling (start) at the start corresponds to the vehicle weight. Driver discomfort is reduced and drivability is improved.

  An embodiment of a vehicle start control apparatus according to the present invention will be described with reference to the drawings. The vehicle start control device shown in FIG. 1 is used in an automatic transmission of a vehicle. The automatic transmission is mainly composed of a torque connection / disconnection clutch mechanism (hereinafter referred to as “clutch”) 1 having a dry single-plate friction clutch similar to that of a manual vehicle, and a synchronous meshing transmission (hereinafter referred to as “clutch”). , Simply referred to as “transmission”) 2, a gear shift unit (hereinafter referred to as “GSU”) 3 for performing a gear shift operation using a fluid pressure type gear actuator (not shown), and the like. This automatic transmission is a so-called mechanical automatic transmission (AMT), and is mounted as suitable for large vehicles such as trucks and buses.

  The engine 4 connected to the transmission 2 via the clutch 1 has an injection pump 5 as fuel supply means for controlling the fuel injection amount and supplying fuel to the engine 4. The injection pump 5 is controlled by a control signal L2 from an engine ECU 6 as engine output control means. The engine ECU 6 monitors an engine speed signal L4 and the like from an engine speed sensor 7 serving as an engine speed detecting means for detecting the speed of the engine 4 and, for example, the output torque of the engine 4 is a desired operation. The injection pump 5 is controlled so as to be kept in the state.

  The clutch 1 for connecting / disconnecting the transmission torque from the engine 4 to the transmission 2 is automatically connected / disconnected by controlling the stroke amount of the clutch plate by a hydraulic clutch actuator 8 as a clutch stroke control means. It is configured as follows. Specifically, the stroke amount signal L7 of the clutch actuator 8 is fed back to the AMT ECU 9, and the clutch control unit is controlled by the control signal from the AMT ECU 9 based on the stroke amount, so that the fluid to the clutch actuator 8 is supplied. By supplying or discharging, the stroke amount of the clutch actuator 8 is controlled to the target stroke, and the clutch 1 is connected or disconnected.

  The clutch actuator 8 is provided with a clutch stroke sensor 23 as a clutch stroke detecting means for detecting the stroke amount of the clutch plate. Based on the stroke amount signal L7 of the clutch stroke sensor 23, the clutch actuator 8 follows the target stroke. PID feedback control is performed by the AMT ECU 9. With the above configuration, it is possible to achieve not only two states of connection and disconnection of the clutch 1 but also a state of a half clutch in a manual transmission, and smoothly transmit the output of the engine 4 to the transmission 2. Can do.

  Since the configuration of the transmission 2 itself is not directly related to the present invention, the related portions will be briefly described. The transmission 2 is an automatic transmission having a reverse speed and a plurality of forward speeds. A GSU 3 for selecting a gear position inside the transmission is provided at the upper part of the transmission 2. In the GSU 3, an internal gear actuator or the like is driven by high-pressure air supplied from the air tank 10 or the like, and a shift operation is automatically performed. A gear position sensor for detecting a gear position is provided in the GSU 3, and the transmission gear position signal L8 from the gear position sensor is monitored by the AMT ECU 9, and a control signal L8 is sent from the AMT ECU 9 to the GSU 3 at the time of shifting. Is output to change the speed.

  The air tank 10 is provided as a pneumatic pressure source for operating the brake, and is configured to supply the operating air to the wheel cylinders 13 and 14 via the air masters 11 and 12 to perform the operation. These are controlled by a brake valve (not shown), but are configured to perform automatic braking by the operation of the uphill road start assist brake magnet valves 15 and 16 when starting uphill road.

  The working air from the air tank 10 is configured to be supplied not only to the braking system such as the wheel cylinders 13 and 14 but also to the gear actuator and the clutch actuator 8 of the GSU 3. It is configured to be realized. That is, in these actuators, air pressure is used as the fluid pressure (also referred to as a pneumatic actuator), and in this embodiment, the air tank 10 that is an air pressure source for brake operation is shared as the air pressure source (fluid pressure source). However, it is backed up by an emergency air tank 17. In place of the pneumatic actuator, an electro-hydraulic actuator or an actuator directly driven by an electric motor may be used.

  In the vicinity of the accelerator pedal 18, there is provided an accelerator opening sensor 24 for outputting the depression amount of the accelerator pedal 18 as a depression amount signal L9. The depression amount signal L9 is input to the AMT ECU 9, and the accelerator opening corresponding to the depression amount signal L9 is detected by the AMT ECU 9. The AMT ECU 9 includes an engine speed signal L4 from the engine speed sensor 7, a clutch speed signal L6 from the clutch speed sensor 20 provided in the clutch 1, a transmission gear position signal L8 from GSU3, A vehicle speed signal L10 from the provided vehicle speed sensor 21 is input. The vehicle speed sensor 21 is a vehicle speed detection means for detecting the speed of the vehicle. In this embodiment, the vehicle speed sensor 21 is provided in the transmission 2 and detects the vehicle speed from the rotation of the output shaft. The vehicle speed may be detected from the rotation of the vehicle. The vehicle is provided with a G sensor 25 as acceleration detecting means for detecting the acceleration of the vehicle as well as gradient detecting means for detecting a road surface gradient, and a gradient signal (acceleration signal) L13 from the G sensor 25 is provided. Is input to load torque setting means 55 described later.

  In this embodiment, based on these input signals, the fuel injection amount instruction value signal L1 is output from the AMT ECU 9 to the engine ECU 6, the clutch connection / disconnection control signal L7 is output to the clutch 1, the GSU 3 and the load torque setting means 55. The transmission gear position signal L8 is output to control the operations of the GSU 3 and the clutch actuator 8, and the connection / disconnection operation of the clutch 1 and the selection operation of the shift stage are performed. In addition, necessary signals are also output to the braking system and other devices, for example, the display signal L11 of the selected gear stage is displayed on the gear stage display 19.

  The driver's operation command is transmitted to the control system based on the accelerator opening and the position of a shift lever (not shown). After the engine is started, when the shift lever is set to the D range (Drive), the gear is set to “1st ”Or“ 2nd ”is selected, and when the accelerator pedal 18 is depressed, the start operation is started.

  Each of the engine ECU 6 and the AMT ECU 9 is configured by a well-known computer having an arithmetic processing unit (CPU), a storage device, and an interface serving as an input / output signal processing circuit. The storage device includes a so-called control program, map data, and the like, and a ROM or RAM that is a calculation work area. The engine ECU 6 and the AMT ECU 9 perform calculations using map data in the storage area based on input information such as detection signals from the sensors, and based on the calculated calculation results, the engine 4 and the clutch 1 are connected to each other. The clutch control and the shift control are performed in conjunction with the engine control in accordance with the accelerator opening not only when traveling but also when starting. Map data includes target torque map data for an accelerator opening, which will be described later, fuel injection amount map data for target torque and engine speed, correction value map data for weight, and clutch stroke amount map data corresponding to the final target torque. Have

  The start control device of the present invention does not merely perform the clutch 1 connection / disconnection control at the start, but sets a target torque corresponding to the accelerator opening degree at the start, and uses the set target torque as the vehicle weight information. The final target torque is set according to the corrected correction target torque and load torque, the clutch transmission torque, that is, the clutch stroke is controlled with respect to the final target torque, and the set final target torque is set. The engine torque, that is, the fuel injection amount is controlled with respect to the target torque, and smooth start is possible without applying an excessive load to the clutch when the clutch is connected. When starting on an uphill road, the auxiliary brake for starting the hill is activated, and the auxiliary brake is controlled so as to release the braking state of the brake at an appropriate timing in conjunction with the starting operation.

  FIG. 2 is a block diagram showing an example of start control according to the present invention. The start control in the present embodiment starts by satisfying all the following start conditions.

(1) Check whether the currently selected gear stage is a predetermined gear stage. As the predetermined gear stage, for example, it is confirmed whether it is a first gear stage or a second gear stage that is a starting gear stage.
(2) Check if the clutch 1 is disengaged.
(3) Check whether the accelerator pedal 18 is depressed.
(4) Check if clutch speed <engine speed.
That is, it is confirmed whether the start condition is a state where the vehicle is about to start from a state where the vehicle is stopped.
In this embodiment, as shown in FIG. 2, the weight of the vehicle is calculated from the target torque setting map 50 serving as target torque setting means for setting the target torque according to the accelerator opening, the vehicle speed signal L10, the acceleration signal L13, and the fuel injection amount. Vehicle weight estimation means 51 for estimating the target torque set by the target torque setting map 50 according to the vehicle weight estimated by the vehicle weight estimation means 51 and target torque correction means for setting a corrected target torque The correction target torque setting map 52, the load torque setting means 55 for setting the load torque applied to the vehicle, the target correction torque set by the correction target torque setting map 52, and the load torque set by the load torque setting means 55 Final torque setting means 57 for setting the final target torque according to And a transmission torque setting map 53 serving as a transmission torque setting means for setting a stroke amount correlated with the transmission torque of the clutch 1, and an engine for setting a fuel injection amount that becomes an engine output torque from the final target torque and the engine speed. An output torque setting map 54 as torque setting means is preset in the storage means.

The vehicle weight estimation means 51 calculates the road gradient from the vehicle speed signal L10 and the acceleration signal L12 by the following equation (1), and calculates the vehicle weight from the driving force and the vehicle speed signal L10 and the calculated road gradient by the following equation (2). Estimate by seeking.
100 × sin ⁻¹ ((“G sensor acceleration” − “vehicle acceleration determined from vehicle speed signal”) / g)
... (1)
Weight W = g (F−RI) −Wr · αv2 / αv + g · sinθ + g · μ (2)
F: Driving force obtained from engine fuel injection amount Wr: Rotating partial inertia weight
RI: Air resistance g: Weight acceleration μ: Rolling resistance coefficient PP: Vehicle speed Km / h Vehicle speed from vehicle speed signal used for calculating vehicle acceleration in equation (1) av: Vehicle acceleration obtained from vehicle speed Equation (2) is The well-known equation of motion of the vehicle is arranged with respect to the weight W.
The correction target torque setting map 52 is set so that the correction coefficient is small when the estimated vehicle weight is smaller than the predetermined value K. In this embodiment, when the estimated vehicle weight is larger than the predetermined value K, the correction coefficient is set to 1, and substantial correction, that is, the transmission torque of the clutch 1 is not reduced, and the estimated vehicle weight is smaller than the predetermined value K. In this case, the correction coefficient is gradually lowered, and finally, it is set to 0.8, so that the transmission torque of the clutch 1 is substantially reduced. The lower limit value of the correction coefficient may be determined by matching as appropriate according to the difference between when the vehicle is fully loaded and when it is not loaded, and is not limited to 0.8.

The load torque setting means 55 calculates the load torque T using the gradient information sin θ, the gear stage information, the vehicle weight W estimated by the vehicle weight estimation means 51, and the equation (3).
Load torque T = (W (μ + sinθ )) Rη / (i t · i f) ··· (3)
eta: power transmission efficiency, mu: rolling resistance coefficient, lambda: an air resistance _coefficient, i t: T / M gear ratio i _f: differential gear ratio, R: tire radius (m), gradient information: sin [theta, vehicle weight: W
In this embodiment, the calculated load torque T is corrected by multiplying by the correction coefficient 56. This is performed in order to prevent the final target torque from becoming too large when the gradient information or the estimated vehicle weight varies in calculating the load torque, and is an integer less than at least 1. In the present embodiment, 0.5 is set as the correction coefficient 56. However, this may be appropriately set according to the vehicle, and may not be specially provided when the accuracy of the load torque T is high.

  The final torque setting means 57 basically sets the final target torque by adding the load torque T calculated by Equation 1 and the corrected target torque, but in this embodiment, the corrected load is corrected. Torque and corrected target torque are used.

  In the transmission torque setting map 53, the clutch stroke amount corresponding to the final target torque is mapped in advance, and this clutch stroke amount is correlated with the transmission torque. That is, the transmission torque is small when the stroke amount is large, and the transmission torque is large as the stroke amount is small.

  According to the start control device having such a configuration, when all the start control conditions for start control are satisfied, the accelerator opening is calculated based on the depression amount L9 of the accelerator pedal 18 at the time of start, and the calculated accelerator opening is used in advance. The target torque is set using the target torque set in the target torque setting map 50 and the map data of the accelerator opening.

  In order to obtain an acceleration feeling according to the driver's intention, the map data is preferably data that can provide an ideal acceleration feeling when the driver depresses the accelerator pedal at the time of departure. In this embodiment, the acceleration rate of the target torque with respect to the accelerator opening is increased in a region where the accelerator degree is small to improve the vehicle movement reaction, and the increase rate of the target torque with respect to the accelerator opening is determined in a region where the accelerator opening is intermediate. It is gentle and easy to use for low-speed driving such as garage entry, and in a region where the accelerator opening is large, the response rate is improved by increasing the rate of increase of the target torque with respect to the accelerator opening, and the accelerator opening is quite large In this case, the maximum torque of the engine is not exceeded.

  When the target torque is set, the fuel injection amount is set using the target torque set in the output torque setting map 54 and the map data of the engine speed, and the fuel injection amount is instructed to the engine 4. For the estimation, the fuel injection amount of the symbol L2 is used. The fuel injection amount set here is sent to the vehicle weight estimating means 51, and the vehicle weight is estimated by the vehicle weight estimating means 51 configured by a predetermined calculation formula together with the vehicle speed signal from the vehicle speed sensor 21.

  In the corrected target torque setting map 52, a correction coefficient for the vehicle weight is set from the estimated vehicle weight, the correction coefficient is multiplied by the target torque, and the corrected target torque is calculated and set.

  The load torque setting means 55 calculates and sets the load torque T using equation (3), and this load torque T is corrected by multiplying by the correction coefficient 56. The final torque setting means 57 calculates and sets the final target torque from the corrected load torque and the corrected target torque. In the transmission torque setting map 53, a clutch stroke amount corresponding to the final target torque is set. When the clutch stroke amount is set, the stroke amount of the clutch 1 is controlled by the clutch actuator 8 of FIG. 1, and finally the clutch 1 is completely connected to start the vehicle.

  In this way, the target torque at the start is determined according to the accelerator opening, the target torque is appropriately corrected according to the estimated vehicle weight, and the corrected corrected target torque is further corrected according to the load torque. Since the clutch stroke is controlled as an index of control, the transmitted torque changes according to the vehicle weight and load torque, so the acceleration feeling (start) at the start corresponds to the vehicle weight and the driver's Discomfort is reduced and drivability is improved.

  When the estimated vehicle weight is lower than the predetermined value K, the correction target torque is set to a value lower than 1, so that the correction target torque is set to be lower. For this reason, even when the estimated vehicle weight is lighter than the actual vehicle weight, the transmission torque becomes low, so it is possible to prevent sudden start, wheel idling, etc., and further driveability is improved. improves. Further, since the load torque T is corrected so as to be lowered by the correction coefficient, even if there is a variation in the load torque, it is calculated to be low in averaging, so that an excessive increase in torque can be suppressed and wear of the clutch 1 can be reduced. Can be reduced.

  In the above embodiment, the weight of the vehicle is estimated from the acceleration information, the vehicle speed information, and the fuel injection amount. For example, in a vehicle provided with a vehicle height sensor serving as a vehicle height detection means for detecting the height of the vehicle. The vehicle height sensor detects the change in the vehicle height by measuring the amount of suspension displacement when the vehicle is stopped, and sets a predetermined height that is a predetermined value K. The predetermined height here is the height of the vehicle when not loaded, and it may be estimated that the vehicle weight is heavy when the vehicle height is lower than the predetermined height. Alternatively, when the predetermined height is an intermediate height between the non-loading state and the maximum load value, if the predetermined height is exceeded, the vehicle weight is judged to be heavy and the correction coefficient is set to 1, and the predetermined height is set. If it is lower than this, it is determined that the vehicle weight is light, and the correction coefficient is set lower than 1. And by setting the correction target torque with this correction coefficient and the target torque, and controlling the clutch stroke amount corresponding to this correction target torque, the transmitted torque can be changed according to the vehicle weight, The acceleration feeling (starting) at the start corresponds to the vehicle weight, so that the driver's uncomfortable feeling is reduced and drivability can be improved.

It is the schematic which shows an example of embodiment of the vehicle start control apparatus which concerns on this invention. It is a block diagram which shows an example of start control which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Clutch 2 Transmission 4 Engine 5 Fuel supply means 6 Engine output control means 8 Clutch stroke control means 9 Accelerator opening degree detection means 18 Accelerator pedal 21 Speed detection means 25 Acceleration detection means 50 Target torque setting means 51 Vehicle weight estimation means 52 Target Torque correction means 53 Transmission torque setting means,
54 Engine torque setting means 55 Load torque setting means 56 Correction coefficient 57 Final target torque setting means

Claims (5)

A clutch for connecting and disconnecting the transmission torque from the vehicle engine to the transmission;
Clutch stroke control means for controlling a stroke amount of connection of the clutch;
An accelerator opening detecting means for detecting an accelerator opening corresponding to the amount of depression of the accelerator pedal;
Fuel supply means for injecting and supplying fuel to the engine;
Engine output control means for controlling the fuel supply means to control the output torque of the engine;
Target torque setting means for setting a target torque according to the accelerator opening detected by the accelerator opening detection means;
Vehicle weight estimation means for estimating the weight of the vehicle;
Target torque correction means for correcting the target torque set by the target torque setting means according to the vehicle weight information estimated by the vehicle weight estimation means, and setting a corrected target torque;
Load torque setting means for setting a load torque applied to the vehicle;
Final torque setting means for setting a final target torque in accordance with the corrected target torque set by the target torque correction means and the load torque set by the load torque setting means;
Transmission torque setting means for setting the stroke amount of the clutch according to the final target torque set by the final torque setting means;
Engine torque setting means for setting the output torque of the engine according to the final target torque set by the final torque setting means,
The engine output control means controls the fuel injection amount to be the engine output torque set by the engine torque setting means,
The start control device for a vehicle, wherein the clutch stroke control means controls the clutch stroke amount so as to be the clutch stroke amount set by the transmission torque setting means, and performs the clutch connecting operation. . In the vehicle start control device according to claim 1,
Speed detecting means for detecting the speed of the vehicle;
Acceleration detecting means for detecting acceleration of the vehicle,
The vehicle start control device, wherein the vehicle weight estimation means estimates the vehicle weight from vehicle speed information from the vehicle speed detection means, acceleration information from the acceleration detection means, and the fuel injection amount. In the vehicle start control device according to claim 1 or 2,
The vehicle start control device, wherein the target torque correction means is set so that a correction coefficient is small when the estimated vehicle weight is smaller than a predetermined value. In the vehicle start control device according to claim 1, 2, or 3,
The vehicle start control device, wherein the final torque setting means calculates a load torque according to a vehicle weight, a road surface gradient, and a gear stage of the transmission. In the vehicle start control device according to any one of claims 1 to 4,
Correction by multiplying the load torque set by the load torque setting means by a correction coefficient,
The final torque setting means sets a final target torque according to the target correction torque set by the target torque correction means and the correction load torque corrected by the correction coefficient,
The vehicle start control device characterized in that the transmission torque setting means sets the stroke amount of the clutch according to the final target torque set according to the correction load torque by the final torque setting means.

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