Patent Publication Number: US-11639699-B2

Title: Engine system and engine controlling method

Description:
TECHNICAL FIELD 
     The technique disclosed herein belongs to a technical field related to an engine system and an engine controlling method. 
     BACKGROUND OF THE DISCLOSURE 
     Conventionally, it is known that compressed self-ignition combustion (hereinafter, referred to as the CI (Compression Ignition) combustion) improves thermal efficiency of an engine. 
     For example, WO2018/096744A1 discloses an engine system in which SPCCI (Spark Controlled Compression Ignition) combustion which is a combination of SI (Spark Ignition) combustion using a spark plug and the CI combustion is carried out in part of the operating state of an engine. This engine system carries out the SI combustion, when the engine operating state is other than an operating state in which the SPCCI combustion is carried out. This engine is configured to switch the combustion mode when the engine load is changed. Note that, since in the SI combustion a mixture gas combusts by flame propagation after ignition, the SI combustion will be treated below as a synonymous with flame propagation combustion. 
     Meanwhile, the CI combustion is greatly influenced by in-cylinder properties. For example, when the in-cylinder properties change greatly, such as a transition state where a driver steps on an accelerator pedal, target in-cylinder properties (an in-cylinder temperature, an Exhaust Gas Recirculation (EGR) rate, etc.) are not formed appropriately, and therefore, the ignition timing may be retarded to lower combustion stability, or the ignition timing may be advanced to increase combustion noise. 
     SUMMARY OF THE DISCLOSURE 
     Thus, the technique disclosed herein is made in view of this regard, and one purpose thereof is to stabilize combustion in a transition state. 
     In order to solve the above-describe problem, an engine system disclosed herein includes an engine mounted on a vehicle and having an injector, a spark plug, and a property adjusting device. 
     The engine system further includes an accelerator opening sensor configured to detect operation of an accelerator pedal of the vehicle, and a controller configured to output a control signal to each of the injector, the spark plug, and the property adjusting device based on a detection signal from the accelerator opening sensor. The engine selectively performs flame propagation combustion in which fuel injected into a cylinder from the injector is forcibly ignited using the spark plug, and compressed self-ignition combustion in which fuel injected into the cylinder from the injector carries out compressed self-ignition without using the spark plug. The controller performs a combustion control for controlling the injector, the spark plug, and the property adjusting device so that a target torque set based on a present accelerator opening detected by the accelerator opening sensor is outputted in a specific cycle in the future from a present time by a given delay time. In the combustion control, the controller receives the detection signal from the accelerator opening sensor and sets a target load of the engine in the specific cycle based on the present accelerator opening, and sets a combustion transition from the present cycle to the specific cycle by selecting beforehand combustion from the present cycle to the specific cycle, from the flame propagation combustion and the compressed self-ignition combustion, based on the set target load. 
     That is, this technique utilizes that the given delay time is set between a driver performing the accelerator operation and the torque of the engine being changed in response to the accelerator operation. Since the response of the vehicle behavior to the accelerator operation is delayed, the driver can prepare for the posture of a vehicle acceleration after the accelerator operation, which can suppress that a burden due to a sudden movement of the vehicle acts on the driver. Therefore, the driver hardly feels uncomfortable in acceleration, and the drivability improves. 
     According to this configuration, based on the detection signal from the accelerator opening sensor, the controller sets the target load of the engine (in other words, a target Indicated Mean Effective Pressure (IMEP)) from the present accelerator opening. The target load is the target load in the specific cycle of the future by the given delay time from the present time. Therefore, the vehicle behavior responds to the accelerator operation with the suitable delay. 
     When the target load in the specific cycle is set, the controller selects beforehand the combustion from the present cycle to the specific cycle from the flame propagation combustion and the compressed self-ignition combustion. For example, a relationship between the engine load and the combustion mode corresponding to the engine load may be preset, and the controller may select the combustion in the specific cycle based on the relationship. 
     A change in the accelerator opening is continuous over time, and the target load is set corresponding to the frequently-changing accelerator opening. The controller can set the transition of the target load in a period from the present cycle to the specific cycle. The controller can also set the combustion transition from the present cycle to the specific cycle with respect to the set transition of the target load. 
     Thus, since the combustion to the future cycle from the present cycle is set beforehand, the controller can start beforehand the adjustment of the in-cylinder property through the property adjusting device so that the combustion is realized. As a result, the in-cylinder property when reaching the specific cycle is the property corresponding to the selected combustion, or is brought closer to the property corresponding to the selected combustion. The controller can realize the selected combustion in the specific cycle by controlling the injector and/or the spark plug. 
     Therefore, according to this configuration, also when the flame propagation combustion and the compressed self-ignition combustion are selectively performed during the transition state where the target load of the engine changes every moment, the combustion becomes stable by selecting beforehand the combustion transition in the future cycle. 
     The controller may set a target torque in the specific cycle based on the accelerator opening for every given time period. The controller may set the target load based on the target torque for every cycle from the present cycle to the specific cycle, and select the flame propagation combustion or the compressed self-ignition combustion. 
     Since the driver&#39;s accelerator operation is based on time, the controller can acquire the accelerator opening for every given time period, and based on the accelerator opening, the controller can set the target torque for every given time period. By the controller setting the target load and selecting the combustion for every cycle based on the target torque for every given time period, the engine can operate corresponding to the change in the target load. 
     The cylinder may be one of a plurality of cylinders, and the controller may select the combustion for every cylinder. 
     In a multi-cylinder engine, by selecting the combustion for every cylinder, the engine can operate corresponding to the change in the target load. 
     The controller may set a transition of the target load from the present cycle to the specific cycle, and set a transition of a property inside the cylinder from the present cycle to the specific cycle based on the set transition of the target load and the combustion transition. 
     Since the transition of the in-cylinder property to the future cycle from the present cycle is set beforehand, the controller can make the in-cylinder property corresponding to the set combustion in each cycle from the present cycle to the specific cycle. As a result, the flame propagation combustion or the compressed self-ignition combustion is carried out stably also during the transition state. 
     The engine system may further include an in-cylinder pressure sensor configured to detect a pressure inside the cylinder. The controller may set the transition of the property inside the cylinder at least in part based on a detection result of the in-cylinder pressure sensor. 
     Based on the detection result of the in-cylinder pressure sensor, the in-cylinder property of the present cycle can be estimated. The controller can set the in-cylinder property of the specific cycle of the future from the present cycle based on the property of the present cycle. Thus, the controller can set the transition of the in-cylinder property from the present cycle to the specific cycle. 
     The engine may selectively perform partial compression ignition combustion in which part of fuel injected into the cylinder from the injector is forcibly ignited by using the spark plug, and unburnt fuel carries out compressed self-ignition. The controller may set the combustion transition from the present cycle to the specific cycle by selecting beforehand combustion from the present cycle to the specific cycle, from the flame propagation combustion, the compressed self-ignition combustion, and the partial compression ignition combustion, based on the set target load. 
     By the engine switching the flame propagation combustion, the compressed self-ignition combustion, and the partial compression ignition combustion, the fuel efficiency of the engine improves and the emission control performance improves. Further, by the controller selecting beforehand the combustion from the present cycle to the specific cycle from the flame propagation combustion, the compressed self-ignition combustion, and the partial compression ignition combustion, the combustion in each cycle can be carried out appropriately. 
     A method of controlling an engine disclosed herein includes setting, by a controller, a target torque of the engine in a specific cycle of the future from a present time by a given delay time based on a present accelerator opening, in response to a reception of a detection signal from an accelerator opening sensor, and performing, by the controller, a combustion control for controlling an injector, a spark plug, and a property adjusting device so that the target torque is outputted in the specific cycle. In the combustion control, the controller receives the detection signal from the accelerator opening sensor, and sets a target load of the engine in the specific cycle based on the present accelerator opening, and the controller sets a combustion transition from the present cycle to the specific cycle by selecting beforehand combustion from the present cycle to the specific cycle based on the set target load, from flame propagation combustion in which fuel inside the cylinder is forcibly ignited using the spark plug, and compressed self-ignition combustion in which fuel inside the cylinder carries out compressed self-ignition without using the spark plug. 
     According to this configuration, since the controller sets beforehand the combustion transition from the present cycle to the specific cycle of the future, the combustion is carried out appropriately in each cycle from the present cycle to the specific cycle. Also when the flame propagation combustion and the compressed self-ignition combustion are selectively performed in the transition state, the combustion becomes stable. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a view illustrating an engine system. 
         FIG.  2    illustrates a structure of a combustion chamber of an engine, where the upper figure is a plan view, and the lower figure is a cross-sectional view taken along a line II-II of the upper figure. 
         FIG.  3    is a block diagram of the engine system. 
         FIG.  4    is a view illustrating a map according to operation of the engine. 
         FIG.  5    is a view illustrating a change in an engine load in a transition state. 
         FIG.  6    is a view illustrating open-and-close operations of an intake valve and an exhaust valve, a fuel injection timing, and an ignition timing, in each combustion mode. 
         FIG.  7    is a view illustrating a state where fuel is injected into a cylinder in a later period of compression stroke. 
         FIG.  8    is a flowchart illustrating a processing operation of an Engine Control Unit (ECU) in a combustion control of the engine. 
         FIG.  9    is a flowchart illustrating a processing operation of the ECU when setting the combustion mode. 
         FIG.  10    is a view of an accelerator operation, where the upper figure is a graph illustrating a relationship between an accelerator opening and an acceleration accompanying the accelerator operation, and the lower figure is a graph illustrating a target Indicated Mean Effective Pressure (IMEP) accompanying the accelerator operation. 
         FIG.  11    is a flowchart illustrating a processing operation of the ECU related to a control of an intake system and an exhaust system. 
         FIG.  12    is a conceptual diagram illustrating settings of target operation paths of an intake S-VT and an exhaust S-VT. 
         FIGS.  13 A and  13 B  are time charts illustrating a relationship between a target operation, an indicated value, and an actual operation in the control of the intake system and the exhaust system, where  FIG.  13 A  illustrates a conventional controlling method, and  FIG.  13 B  illustrates a controlling method of one embodiment. 
         FIG.  14    is a flowchart illustrating a processing operation of the ECU when controlling the injection and the ignition. 
         FIG.  15    is a view illustrating a functional block of the ECU. 
     
    
    
     DETAILED DESCRIPTION OF THE DISCLOSURE 
     Hereinafter, one embodiment of an engine controlling method and an engine system is described with reference to the accompanying drawings. The engine system described herein is merely illustration. 
       FIG.  1    is a view illustrating the engine system.  FIG.  2    is a view illustrating a structure of a combustion chamber of an engine. The positions of the intake side and the exhaust side in  FIG.  1    and the positions of the intake side and the exhaust side in  FIG.  2    are opposite.  FIG.  3    is a block diagram illustrating an engine controller. 
     An engine system E is mounted on a four-wheeled automobile (vehicle). The engine system E includes an engine  1  and a controller which controls the engine  1 . The controller is an ECU (Engine Control Unit)  10  which will be described later. 
     The engine  1  has a cylinder  11 . In the cylinder  11 , intake stroke, compression stroke, expansion stroke, and exhaust stroke are repeated. The engine  1  is a four-stroke engine. As the engine  1  operates, the automobile travels. Fuel of the engine  1  is gasoline in this example configuration. The engine  1  may be configured so that a mixture gas combusts by self-ignition in at least a part of its operating range. 
     (Engine Configuration) 
     The engine  1  includes a cylinder block  12  and a cylinder head  13 . The cylinder head  13  is placed on the cylinder block  12 . A plurality of the cylinders  11  are formed inside the cylinder block  12 . The engine  1  is a multi-cylinder engine with four cylinders  11 . As one example, in the engine  1 , the four cylinders  11  comprised of a first cylinder, a second cylinder, a third cylinder, and a fourth cylinder, are lined up single file. The four cylinders  11  perform combustion in order of the first cylinder, the third cylinder, the fourth cylinder, and the second cylinder. Note that, in  FIG.  1   , only one cylinder  11  is illustrated. 
     A piston  3  is inserted in each cylinder  11 . The piston  3  is coupled to a crankshaft  15  via a connecting rod  14 . The piston  3 , the cylinder  11 , and the cylinder head  13  form a combustion chamber  17 . As illustrated in  FIG.  2   , a cavity  31  is formed in an upper surface of the piston  3 . The cavity  31  is located in a center part of the upper surface of the piston  3 . 
     The geometric compression ratio of the engine system E is set at a high ratio for the purpose of improvement in theoretical thermal efficiency. In detail, the geometric compression ratio of the engine system E is 15:1 or higher, and, for example, it is set to 20:1 or lower. As will be described later, in this engine system E, the mixture gas carries out compression ignition combustion in part of the operating range. The comparatively high geometric compression ratio stabilizes the compression ignition combustion. 
     An intake port  18  is formed inside the cylinder head  13  for every cylinder  11 . The intake port  18  communicates with the cylinder  11 . 
     An intake valve  21  is disposed at the intake port  18 . The intake valve  21  opens and closes the intake port  18 . The intake valve  21  is a poppet valve. A valve operating mechanism has an intake cam shaft, and is mechanically connected to the intake valves  21 . The valve operating mechanism opens and closes the intake valves  21  at given timings. The valve operating mechanism is a variable valve operating mechanism with variable valve timing and/or valve lift. As illustrated in  FIG.  3   , the valve operating mechanism has an intake S-VT (Sequential-Valve Timing)  231 . The intake S-VT  231  continuously changes a rotation phase of the intake cam shaft with respect to the crankshaft  15  within a given angle range. A valve opening period of the intake valve  21  does not change. The intake S-VT  231  is a variable phase mechanism. The intake S-VT  231  is of electric or hydraulic type. 
     Further, the valve operating mechanism has an intake CVVL (Continuously Variable Valve Lift)  232 . The intake CVVL  232  can continuously change the lift of the intake valve  21  within a given range. The intake CVVL  232  may adopt various known configurations. As one example, as disclosed in JP2007-085241A, the intake CVVL  232  may be comprised of a linkage mechanism, a control arm, and a stepping motor. The linkage mechanism causes a cam for driving the intake valve  21  to pivot in both directions in an interlocked manner with rotation of the cam shaft. The control arm variably sets a lever ratio of the linkage mechanism. When the lever ratio of the linkage mechanism changes, a pivot amount of the cam which depresses the intake valve  21  changes. The stepping motor changes the pivot amount of the cam by electrically driving the control arm, thereby changing the lift of the intake valve  21 . 
     An exhaust port  19  is formed inside the cylinder head  13  for every cylinder  11 . The exhaust port  19  communicates with the cylinder  11 . 
     An exhaust valve  22  is disposed at the exhaust port  19 . The exhaust valve  22  opens and closes the exhaust port  19 . The exhaust valve  22  is a poppet valve. The valve operating mechanism has an exhaust cam shaft and is mechanically connected to the exhaust valves  22 . The valve operating mechanism opens and closes the exhaust valves  22  at given timings. The valve operating mechanism is a variable valve operating mechanism with variable valve timing and/or valve lift. As illustrated in  FIG.  3   , the valve operating mechanism has an exhaust S-VT  241 . The exhaust S-VT  241  continuously changes a rotation phase of the exhaust cam shaft with respect to the crankshaft  15  within a given angle range. A valve opening period of the exhaust valve  22  does not change. The exhaust S-VT  241  is a variable phase mechanism. The exhaust S-VT  241  is of electric or hydraulic type. 
     Further, the valve operating mechanism has an exhaust VVL (Variable Valve Lift)  242 . Although illustration is omitted, the exhaust VVL  242  is able to switch the cams which open and close the exhaust valves  22 . The exhaust VVL  242  may adopt various known configurations. As one example, as disclosed in JP2018-168796A, the exhaust VVL  242  has a first cam, a second cam, and a switching mechanism which switches between the first cam and the second cam. The first cam opens and closes the exhaust valve  22  in exhaust stroke. The second cam opens and closes the exhaust valve  22  in the exhaust stroke, and again opens and closes the exhaust valve  22  in intake stroke. Note that the second cam may open the exhaust valve  22  in exhaust stroke, and then maintain the open state of the exhaust valve  22  up to intake stroke. The exhaust VVL  242  can change a lift of the exhaust valve  22  by opening and closing the exhaust valve  22  by one of the first cam and the second cam. 
     The intake S-VT  231 , the intake CVVL  232 , the exhaust S-VT  241 , and the exhaust VVL  242  adjust an amount of air introduced into the cylinder  11 , and an amount of burnt gas introduced into the cylinder  11  (internal Exhaust Gas Recirculation (EGR) amount) by controlling opening and closing of the intake valve  21  and the exhaust valve  22 . 
     An injector  6  is attached to the cylinder head  13  for every cylinder  11 . The injector  6  injects fuel directly into the cylinder  11 . 
     Although detailed illustration is omitted, the injector  6  is of a multiple nozzle hole type with a plurality of nozzle holes. As illustrated by two-dot chain lines in  FIG.  2   , the injector  6  injects fuel so that the fuel spreads radiately from the center part of the cylinder  11  toward the periphery. As illustrated in the lower figure of  FIG.  2   , the axis of the nozzle holes of the injector  6  has a given angle θ with respect to a center axis X of the cylinder  11 . Note that although in the illustrated example the injector  6  has ten nozzle holes disposed at equal angle positions in the circumferential direction, the number and the layout of the nozzle holes are not limited in particular. 
     A fuel supply system  61  is connected to the injectors  6 . The fuel supply system  61  includes a fuel tank  63  which stores fuel, and a fuel supply line  62  which couples the fuel tank  63  to the injectors  6 . A fuel pump  65  and a common rail  64  are provided in the fuel supply line  62 . The fuel pump  65  pumps fuel to the common rail  64 . The common rail  64  stores the fuel pumped from the fuel pump  65 , at high fuel pressure. When the valve of the injector  6  opens, the fuel stored in the common rail  64  is injected into the cylinder  11  from the nozzle holes of the injector  6 . Note that the configuration of the fuel supply system  61  is not limited to the above-described configuration. 
     A first spark plug  251  and a second spark plug  252  are attached to the cylinder head  13  for every cylinder  11 . The first spark plug  251  and the second spark plug  252  each forcibly ignite the mixture gas inside the cylinder  11 . Note that the number of spark plugs may be one in each cylinder  11 . The first spark plug  251  is disposed on the intake side of the center axis X of the cylinder  11 , and the second spark plug  252  is disposed on the exhaust side of the center axis X. The first spark plug  251  and the second spark plug  252  are disposed so as to oppose to each other. 
     An intake passage  40  is connected to one of side surfaces of the engine  1 . The intake passage  40  communicates with the intake port  18  of each cylinder  11 . Air introduced into the cylinder  11  flows through the intake passage  40 . An air cleaner  41  is disposed at an upstream end of the intake passage  40 . The air cleaner  41  filters air. A surge tank  42  is disposed near a downstream end of the intake passage  40 . A part of the intake passage  40  downstream of the surge tank  42  constitutes independent intake passages branched for the cylinders  11 . A downstream end of the independent intake passage is connected to the intake port  18  of each cylinder  11 . 
     A throttle valve  43  is disposed in the intake passage  40 , between the air cleaner  41  and the surge tank  42 . The throttle valve  43  adjusts the introducing amount of air into the cylinder  11  by adjusting the valve opening. 
     An exhaust passage  50  is connected to the other side surface of the engine  1 . The exhaust passage  50  communicates with the exhaust port  19  of each cylinder  11 . The exhaust passage  50  is a passage through which exhaust gas discharged from the cylinder  11  flows. Although detailed illustration is omitted, an upstream part of the exhaust passage  50  constitutes independent exhaust passages branched for the cylinders  11 . An upstream end of the independent the exhaust passage is connected to the exhaust port  19  of each cylinder  11 . 
     An exhaust emission control system having a plurality of catalytic converters is disposed at the exhaust passage  50 . An upstream catalytic converter has a three-way catalyst  511  and a GPF (Gasoline Particulate Filter)  512 , for example. A downstream catalytic converter has a three-way catalyst  513 . Note that the exhaust emission control system is not limited to the configuration of the illustrated example. For example, the GPF may be omitted. The catalytic converter is not limited to what has the three-way catalyst. Further, the disposed order of the three-way catalyst and the GPF may be changed suitably. 
     An EGR passage  52  is connected between the intake passage  40  and the exhaust passage  50 . The EGR passage  52  is a passage for recirculating part of exhaust gas to the intake passage  40 . An upstream end of the EGR passage  52  is connected to the exhaust passage  50 , between the upstream catalytic converter and the downstream catalytic converter. A downstream end of the EGR passage  52  is connected to the intake passage  40 , between the throttle valve  43  and the surge tank  42 . 
     A water-cooled EGR cooler  53  is disposed at the EGR passage  52 . The EGR cooler  53  cools exhaust gas. Further, an EGR valve  54  is disposed at the EGR passage  52 . The EGR valve  54  adjusts a flow rate of exhaust gas which flows through the EGR passage  52 . When the opening of the EGR valve  54  is adjusted, a recirculating amount of external EGR gas is adjusted. 
     As illustrated in  FIG.  3   , the engine system E includes the ECU (Engine Control Unit)  10  for operating the engine  1 . The ECU  10  is a controller based on a well-known microcomputer. The ECU  10  includes a CPU (Central Processing Unit)  101  which executes a program, memory  102  which is comprised of, for example, RAM (Random Access Memory) and ROM (Read Only Memory) and stores the program and data, and an interface (I/F) circuit  103  which inputs/outputs an electric signal. The ECU  10  is one example of a controller. 
     As illustrated in  FIGS.  1  and  3   , various kinds of sensors SW 1 -SW 13  are electrically connected to the ECU  10 . The sensors SW 1 -SW 13  each output a signal to the ECU  10 . The sensors include the following sensors: 
     an air-flow sensor SW 1  which is disposed at the intake passage  40  downstream of the air cleaner  41 , and measures a flow rate of air which flows through the intake passage  40 ; 
     an intake air temperature sensor SW 2  which is disposed at the intake passage  40  downstream of the air cleaner  41 , and measures a temperature of the air which flows through the intake passage  40 ; 
     an intake pressure sensor SW 3  which is attached to the surge tank  42 , and measures a pressure of air which is introduced into the cylinder  11 ; 
     an in-cylinder pressure sensor SW 4  which is attached to the cylinder head  13  corresponding to each cylinder  11 , and measures a pressure inside each cylinder  11 ; 
     a water temperature sensor SW 5  which is attached to the engine  1 , and measures a temperature of coolant; 
     a crank angle sensor SW 6  which is attached to the engine  1 , and measures a rotation angle of the crankshaft  15 ; 
     an accelerator opening sensor SW 7  which is attached to an accelerator pedal mechanism, and measures an accelerator opening corresponding to an operating amount of the accelerator; 
     an intake cam angle sensor SW 8  which is attached to the engine  1 , and measures a rotation angle of the intake cam shaft; 
     an exhaust cam angle sensor SW 9  which is attached to the engine  1 , and measures a rotation angle of the exhaust cam shaft; 
     an intake cam lift sensor SW 10  which is attached to the engine  1 , and measures a lift of the intake valve  21 ; 
     a linear O 2  sensor SW 11  which is attached to the exhaust passage  50 , and measures an oxygen concentration of exhaust gas; 
     a fuel pressure sensor SW 12  which is attached to the common rail  64 , and measures a pressure of fuel which is injected into the cylinder  11  through the injector  6 ; and 
     a gear stage sensor SW 13  which is attached to a transmission (not illustrated) and a shift lever (not illustrated), and measures a current gear stage. 
     The ECU  10  determines the operating state of the engine  1  based on the signals from the sensors SW 1 -SW 13 , and calculates a controlled variable of each device according to control logic defined beforehand. The control logic is stored in the memory  102 . The control logic includes calculating a target amount and/or a controlled variable by using a map stored in the memory  102 . 
     The ECU  10  outputs electric signals according to the calculated controlled variables to the injector  6 , the first spark plug  251 , the second spark plug  252 , the intake S-VT  231 , the intake CVVL  232 , the exhaust S-VT  241 , the exhaust VVL  242 , the fuel supply system  61 , the throttle valve  43 , and the EGR valve  54 . 
     (Engine Operation Control Map) 
       FIG.  4    illustrates a base map according to control of the engine  1 . The base map is stored in the memory  102  of the ECU  10 . The base map includes a first base map  401  and a second base map  402 . The ECU  10  uses a map selected from the two kinds of base maps according to the coolant temperature and the gear stage of the engine  1 , for the control of the engine  1 . The first base map  401  is a base map when the engine  1  is cold. The second base map  402  is a base map when the engine  1  is warm. 
     As described later, the second base map  402  is a map on which the compressed self-ignition combustion is set. When the water temperature is higher than a given temperature, the ECU  10  can select the second base map  402 . When the water temperature is below the given temperature, the ECU  10  cannot select the second base map  402 . It is because the compressed self-ignition combustion is unstable when the water temperature is low. Further, when the gear stage of the transmission is a high-speed stage, the ECU  10  can select the second base map  402 . When the gear stage of the transmission is a low-speed stage, the ECU  10  cannot select the second base map  402 . Since the compressed self-ignition combustion is relatively high in combustion noise, the compressed self-ignition combustion is performed only when the gear stage of the transmission is the high-speed stage and the vehicle speed is comparatively high. 
     Note that although in the upper figure and the lower figure of  FIG.  4    the vertical axis is, strictly speaking, an Indicated Mean Effective Pressure (IMEP), since the indicated mean effective pressure is an equalized gas pressure of the combustion and is equivalent to the engine load, it will not be a problem in particular. 
     The first base map  401  and the second base map  402  are defined by the load and the engine speed of the engine  1 . The first base map  401  is roughly divided into three ranges of a first range, a second range, and a third range, according to the load and the engine speed. In more detail, the first range corresponds to a low-and-middle-load range  411  which includes in the load direction a range from a low-load range including idle operation to a middle-load range and extends in the engine speed direction entirely from a low-speed range to a high-speed range. The second range is a range within the first range, and corresponds to a middle-load middle-speed range  412  which includes the middle-load range in the load direction and is in a middle-speed range in the engine speed direction. The third range corresponds to a high-load range  413  which includes in the load direction a high-load range including the maximum load and extends in the engine speed direction entirely from the low-speed range to the high-speed range. 
     The second base map  402  is roughly divided into two ranges of a first range and a second range according to the load and the engine speed. In more detail, the first range corresponds to a low-load low-and-middle-speed range  421  which includes the low-load range in the load direction and extends from the low-speed range to the middle-speed range in the engine speed direction. The second range corresponds to a middle-load low-and-middle-speed range  422  which includes the middle-load range in the load direction and extends from the low-speed range to the middle-speed range in the engine speed direction. As illustrated by broken lines in the upper figure of  FIG.  4   , both the low-load low-and-middle-speed range  421  and the middle-load low-and-middle-speed range  422  of the second base map  402  overlap with the low-and-middle-load range  411  and the middle-load middle-speed range  412  of the first base map  401 . 
     Here, the low-load range, the middle-load range, and the high-load range may be defined by substantially equally dividing the entire operating range of the engine  1  into three in the load direction. 
     Further, the low-speed range, the middle-speed range, and the high-speed range may be defined by substantially equally dividing the entire operating range of the engine  1  into three in the engine speed direction. 
     (Engine Combustion Mode) 
     Next, operation of the engine  1  in each range is described in detail. The ECU  10  changes the open-and-close operations of the intake valve  21  and the exhaust valve  22 , the injection timing of fuel, and the existence of ignition, according to the demanded load to the engine  1 , the engine speed of the engine  1 , the temperature of the coolant, the gear stage, etc. First, the ECU  10  sets a target IMEP (or demanded load) based on a target torque. Then, the ECU  10  applies the target IMEP and the engine speed of the engine  1  to the first base map  401  or the second base map  402 , and determines a combustion mode. Then, according to the determined combustion mode, it switches the combustion mode of the mixture gas inside the cylinder  11  by changing the open-and-close operations of the intake valve  21  and the exhaust valve  22 , the injection timing of fuel, and the existence of ignition. 
     As illustrated in  FIG.  4   , this engine  1  switches the combustion mode among HCCI combustion, MPCI combustion, SPCCI combustion, first SI combustion, and second SI combustion. The HCCI (Homogeneous Charged Compression Ignition) combustion and the MPCI combustion are included in the compressed self-ignition combustion (CI Combustion). The first SI combustion and the second SI combustion are included in flame propagation combustion (SI Combustion). The SPCCI combustion is included in partial compression ignition combustion, and in a broader sense, it is included in the flame propagation combustion (SI Combustion). 
       FIG.  5    illustrates a change in the demanded load during a transition state, such as during acceleration. Circles  501 - 505  illustrated in  FIG.  5    correspond to circles  501 - 505  in  FIG.  4   . Here, it is assumed that the engine speed of the engine  1  is constant, the water temperature is a temperature at which is the HCCI combustion and the MPCI combustion can be selected, and the gear stage is a gear stage at which the HCCI combustion and the MPCI combustion can be selected. 
     The demanded load in the case of the circle  501  is a load at which the first SI combustion is possible. At this time, the ECU  10  selects the first SI combustion. Next, the demanded load in the case of the circle  502  is a load at which both the first SI combustion and the HCCI combustion are possible. Here, the second base map  402  is selectable as described above. At this time, the ECU  10  selects the HCCI combustion. When the demanded load becomes high, the ECU  10  selects the MPCI combustion in the case of the circle  503 . When the demanded load becomes even higher to the load of the circle  504 , and the MPCI combustion cannot be selected, the ECU  10  selects the SPCCI combustion. Then, when the demanded load is the load of the circle  505 , the ECU  10  selects the second SI combustion. 
     Note that as described later in detail, in this embodiment, the ECU  10  sets the combustion mode from the present cycle to a specific cycle based on the target torque set based on the accelerator opening detected by the accelerator opening sensor SW 7  so that the target torque is realized in the specific cycle which is future from the present time by a given delay time td. 
       FIG.  6    illustrates the open-and-close operations of the intake valve  21  and the exhaust valve  22 , the injection timing of fuel, and the ignition timing, and a waveform of a rate of heat release which occurs inside the cylinder  11  when the mixture gas combusts, corresponding to each combustion mode. The crank angle advances from the left to the right in  FIG.  6   . Below, each combustion mode is described when the engine  1  is warm as one example. 
     (HCCI Combustion) 
     When the operating state of the engine  1  is within the first range of the second base map  402  (i.e., the low-load low-and-middle speed range  421 ), the ECU  10  carries out the compression ignition combustion of the mixture gas inside the cylinder  11 . In more detail, when the operating state of the engine  1  is within the low-load low-and-middle-speed range  421 , the exhaust VVL  242  opens and closes the exhaust valve  22  twice. That is, the exhaust VVL  242  performs a change between the first cam and the second cam. The exhaust valve  22  opens in exhaust stroke and closes in intake stroke. The exhaust S-VT  241  sets the opening-and-closing timing of the exhaust valve  22  at a given timing. The intake S-VT  231  retards the opening-and-closing timing of the intake valve  21 . The intake CVVL  232  sets the lift of the intake valve  21  to a small amount. The close timing of the intake valve  21  is the most retarded. 
     By the opening-and-closing mode of the intake valve  21  and the exhaust valve  22 , a comparatively small amount of air and a large amount of burnt gas are introduced into the cylinder  11 . Fundamentally, the burnt gas is internal EGR gas which remains inside the cylinder  11 . The large amount of internal EGR gas introduced into the cylinder  11  raises an in-cylinder temperature. 
     The injector  6  injects fuel into the cylinder  11  during a period of intake stroke. The injected fuel spreads by an intake air flow, and forms a homogeneous mixture gas inside the cylinder  11 . As illustrated in the figure, the injector  6  may perform a package or batch injection. The injector  6  may perform a divided injection. In the HCCI combustion, the mixture gas in which an air-fuel ratio (A/F) is leaner than the stoichiometric air-fuel ratio and a gas-fuel ratio (G/F) is leaner than the stoichiometric air-fuel ratio is formed inside the cylinder  11 . 
     When the operating state of the engine  1  is within the low-load low-and-middle-speed range  421 , neither of the first spark plug  251  and the second spark plug  252  performs ignition. The mixture gas inside the cylinder  11  carries out the compression ignition near a compression top dead center (TDC). Since the load of the engine  1  is low and the fuel amount is small, the compression ignition combustion (more accurately, the HCCI combustion) is realized by making the fuel leaner, while suppressing abnormal combustion. Further, by introducing a large amount of internal EGR gas to raise the in-cylinder temperature, stability of the HCCI combustion improves and thermal efficiency of the engine  1  also improves. 
     (MPCI Combustion) 
     When the operating state of the engine  1  is within the second range of the second base map  402  (i.e., the middle-load low-and-middle-speed range  422 ), the ECU  10  carries out the compression ignition combustion of the mixture gas inside the cylinder  11 . In more detail, the exhaust S-VT  241  sets the opening-and-closing timing of the exhaust valve  22  at a given timing. The exhaust VVL  242  opens and closes the exhaust valve  22  twice. The internal EGR gas is introduced into the cylinder  11 . The intake CVVL  232  sets the lift of the intake valve  21  larger than the lift in the low-load low-and-middle-speed range  421 . The close timing of the intake valve  21  is almost the same as the close timing in the low-load low-and-middle-speed range  421 . The open timing of the intake valve  21  is advanced from the open timing in the low-load low-and-middle-speed range  421 . According to the opening-and-closing mode of the intake valve  21  and the exhaust valve  22 , an amount of air introduced into the cylinder  11  increases, and an introducing amount of the burnt gas decrease as compared with the low-load low-and-middle-speed range  421 . 
     The injector  6  injects fuel into the cylinder  11  during the period of compression stroke and during the period of intake stroke. The injector  6  performs the divided injection. Also in the MPCI combustion, the mixture gas in which the A/F is leaner than the stoichiometric air-fuel ratio and the G/F is leaner than the stoichiometric air-fuel ratio is formed inside the cylinder  11 . 
     In the middle-load low-and-middle-speed range  422 , the ECU  10  selectively uses two injection modes of a squish injection and a trigger injection. The squish injection is an injection mode in which the injector  6  injects fuel during the period of intake stroke and in a middle period of compression stroke. The trigger injection is an injection mode in which the injector  6  injects fuel during the period of intake stroke and in a later period of compression stroke. Note that, here, the compression stroke is equally divided into three comprised of an early period, the middle period, and the later period. 
     The squish injection is an injection mode in which the compression ignition combustion is made slower. The fuel injected during the period of intake stroke spreads inside the cylinder  11  by an intake air flow. The homogeneous mixture gas is formed inside the cylinder  11 . As illustrated in the lower figure of  FIG.  2   , the fuel injected in the middle period of compression stroke reaches a squish area  171  outside the cavity  31 . Since the squish area  171  is close to a cylinder liner, it is a range where the temperature is originally low, and the temperature further decreases due to latent heat caused when the fuel spray evaporates. The temperature inside the cylinder  11  decreases locally, and the fuel becomes heterogeneous inside the entire cylinder  11 . As a result, for example, when the in-cylinder temperature is high, the mixture gas carries out the compression ignition at a desired timing, while suppressing generation of abnormal combustion. The squish injection enables the compression ignition combustion which is comparatively slow. 
     In the squish injection, the injection amount of fuel in compression stroke is larger than the injection amount of fuel in intake stroke. Since the fuel is injected in a large range outside the cavity  31 , generation of smoke can be suppressed, even if the amount of fuel is large. The temperature decreases as the amount of fuel increases. The injection amount of fuel in compression stroke may be set as an amount at which the demanded temperature decrease can be realized. 
     The trigger injection is an injection mode which promotes the compression ignition combustion. The fuel injected during the period of intake stroke spreads inside the cylinder  11  by an intake air flow. The homogeneous mixture gas is formed inside the cylinder  11 . As illustrated in  FIG.  7   , since the fuel injected in the later period of compression stroke is difficult to spread due to a high pressure inside the cylinder  11 , it stays at an area in the cavity  31 . Note that the area in the cavity  31  means an area inward in the radial direction of the cylinder  11  from the outer circumferential edge of the cavity  31 . The inside of the cavity  31  which is dented from the top surface of the piston  3  is also included in the area in the cavity  31 . The fuel inside the cylinder  11  is heterogeneous. Further, since the center part of the cylinder  11  is distant from the cylinder liner, it is an area where the temperature is high. Since a fuel-rich mixture gas mass is formed in the high-temperature area, the compression ignition of the mixture gas is promoted. As a result, the mixture gas promptly carries out the compression ignition after the compression-stroke injection to promote the compression ignition combustion. The trigger injection increases the combustion stability. 
     Both the squish injection and the trigger injection make the mixture gas inside the cylinder  11  heterogeneous. In this regard, it differs from the HCCI combustion in which the homogeneous mixture gas is formed. Both the squish injection and the trigger injection can control the timing of the compression ignition by forming the heterogeneous mixture gas. 
     Since in this combustion mode the injector  6  performs a plurality of fuel injections, this combustion mode may be referred to as MPCI (Multiple Premixed fuel injection Compression Ignition) combustion. 
     (SPCCI Combustion) 
     When the operating state of the engine  1  is within the second range of the first base map  401  (in more detail, within the middle-load middle-speed range  412 ), the ECU  10  causes part of the mixture gas inside the cylinder  11  to carry out the flame propagation combustion, and causes the remaining mixture gas to carry out the compression ignition combustion. In more detail, the exhaust S-VT  241  sets the opening-and-closing timing of the exhaust valve  22  at a given timing. The exhaust VVL  242  opens and closes the exhaust valve  22  twice. The internal EGR gas is introduced into the cylinder  11 . The intake CVVL  232  sets the lift of the intake valve  21  larger than the lift of the low-load low-and-middle-speed range  421 . The close timing of the intake valve  21  is almost the same as the close timing of the low-load range  415 . The open timing of the intake valve  21  is advanced from the open timing of the low-load low-and-middle-speed range  421 . According to the opening-and-closing mode of the intake valve  21  and the exhaust valve  22 , the amount of air introduced into the cylinder  11  increases, and the introducing amount of the burnt gas decreases. 
     The injector  6  injects fuel into the cylinder  11  during the period of intake stroke and the period of compression stroke. The injector  6  performs the divided injection. Note that when the operating state of the engine  1  is, for example, at the high load in the middle-load middle-speed range  412 , the injector  6  may inject fuel only during the period of compression stroke. The late injection of fuel is advantageous for suppressing abnormal combustion. The mixture gas in which the A/F is the stoichiometric air-fuel ratio and the G/F is leaner than the stoichiometric air-fuel ratio is formed inside the cylinder  11 . 
     Both the first spark plug  251  and/or the second spark plug  252  ignite the mixture gas near a compression top dead center. The mixture gas starts the flame propagation combustion near the compression top dead center after the ignition by the first spark plug  251  and/or the second spark plug  252 . The temperature inside the cylinder  11  increases due to generation of heat by the flame propagation combustion, and the pressure inside the cylinder  11  increases by the flame propagation. Thus, unburnt mixture gas carries out self-ignition, for example, after the compression top dead center, and starts the compression ignition combustion. After the compression ignition combustion is started, the flame propagation combustion and the compression ignition combustion progress in parallel. The waveform of the rate of heat release may have two peaks as illustrated in  FIG.  6   . 
     By adjusting the calorific value of the flame propagation combustion, the variation in the temperature inside the cylinder  11  before the compression starts can be absorbed. As the ECU  10  adjusts the ignition timing, it can adjust the calorific value of the flame propagation combustion. The mixture gas comes to carry out the self-ignition at a target timing. In the SPCCI combustion, the ECU  10  adjusts the timing of the compression ignition through the adjustment of the ignition timing. In the SPCCI combustion mode, the ignition controls the compression ignition. 
     (First SI Combustion) 
     When the operating state of the engine  1  is within the first range of the first base map  401  (i.e., within the low-and-middle-load range  411 ), the ECU  10  carries out the flame propagation combustion of the mixture gas inside the cylinder  11 . In more detail, the intake S-VT  231  sets the opening-and-closing timing of the intake valve  21  at a given timing. The intake CVVL  232  sets the lift of the intake valve  21  to a given lift. The lift of the intake valve  21  is substantially the same as the lift of the exhaust valve  22  which will be described later. The exhaust S-VT  241  sets the opening-and-closing timing of the exhaust valve  22  at a given timing. Both the intake valve  21  and the exhaust valve  22  open near an intake top dead center. The exhaust VVL  242  opens and closes the exhaust valve  22  only once. According to the opening-and-closing mode of the intake valve  21  and the exhaust valve  22 , air and burnt gas are introduced into the cylinder  11 . Fundamentally, the burnt gas is internal EGR gas which remains inside the cylinder  11 . 
     The injector  6  injects fuel into the cylinder  11  during the period of intake stroke. The injector  6  may perform a package or batch injection, as illustrated in the figure. The fuel injected into the cylinder  11  spreads by an intake air flow. The mass ratio A/F of air to fuel inside the cylinder  11  is the stoichiometric air-fuel ratio. On the other hand, the G/F of the mixture gas is leaner than the stoichiometric air-fuel ratio. 
     Both the first spark plug  251  and the second spark plug  252  ignite the mixture gas near a compression top dead center. The first spark plug  251  and the second spark plug  252  may ignite simultaneously or may ignite at different timings. 
     The mixture gas carries out the flame propagation combustion after the ignition of the first spark plug  251  and the second spark plug  252 . Thus, the engine  1  can operate, while securing the combustion stability and suppressing misfire. 
     (Second SI Combustion) 
     When the operating state of the engine  1  is within the third range of the first base map  401  (i.e., within the high-load range  413 ), the ECU  10  carries out the flame propagation combustion of the mixture gas inside the cylinder  11 . In more detail, when the operating state of the engine  1  is within high-load range  413 , the intake S-VT  231  sets the opening-and-closing timing of the intake valve  21  at a given timing. The intake CVVL  232  sets the lift of the intake valve  21  to a given lift. The lift of the intake valve  21  is substantially the same as the lift of the exhaust valve  22  which will be described later. The exhaust S-VT  241  sets the opening-and-closing timing of the exhaust valve  22  at a given timing. Both the intake valve  21  and the exhaust valve  22  open near an intake top dead center. The exhaust VVL  242  opens and closes the exhaust valve  22  only once. According to the opening-and-closing mode of the intake valve  21  and the exhaust valve  22 , a comparatively large amount of air and a comparatively small amount of burnt gas are introduced into the cylinder  11 . Fundamentally, the burnt gas is internal EGR gas which remains inside the cylinder  11 . 
     Since the high-load range  413  is a range where the load is high, abnormal combustion, such as pre-ignition or knock tends to occur. The injector  6  injects fuel into the cylinder  11  during the period of compression stroke. Generation of abnormal combustion is suppressed by retarding the timing at which fuel is injected into the cylinder  11  to immediately before ignition. The injector  6  may perform a package or batch injection, as illustrated in the figure. The mixture gas in which the A/F is the stoichiometric air-fuel ratio and the G/F is leaner than the stoichiometric air-fuel ratio is formed inside the cylinder  11 . 
     The fuel injected into the cylinder  11  during the period of compression stroke spreads by a flow of this injection. The injection pressure of fuel is preferably high for suppressing the generation of abnormal combustion and improving the combustion stability by allowing the mixture gas to combust rapidly. The high injection pressure generates a strong flow inside the cylinder  11  where the pressure is high near a compression top dead center. The strong flow promotes the flame propagation. 
     Both the first spark plug  251  and the second spark plug  252  ignite the mixture gas near a compression top dead center. The first spark plug  251  and the second spark plug  252  may ignite simultaneously, or may ignite at different timings. In the high-load range  413  where the load is high, the first spark plug  251  and the second spark plug  252  ignite at a timing after the compression top dead center, corresponding to the retard injection timing of the fuel. After the ignition of the first spark plug  251  and the second spark plug  252 , the mixture gas carries out the flame propagation combustion. Two-point ignition realizes the rapid combustion. In the operating state at the high load where abnormal combustion tends to occur, the engine  1  can operate while securing the combustion stability and suppressing abnormal combustion. 
     (Engine Combustion Control) 
     As described above, since the HCCI combustion and the MPCI combustion are compression ignition combustion, the combustion is greatly influenced by the in-cylinder properties. Therefore, when the in-cylinder properties change greatly in connection with the switching between the flame propagation combustion and the compressed self-ignition combustion, such as in the transition state, as illustrated in  FIG.  5   , the target in-cylinder properties (the in-cylinder temperature, the EGR rate, etc.) are not formed appropriately, and therefore, the combustion stability may decrease. Particularly, since devices of the intake system and the exhaust system are comparatively large in the response delay, this response delay may cause that the target in-cylinder properties are not satisfied. Thus, in this embodiment, the injector  6 , the spark plugs  251  and  252 , the intake-side valve operating mechanism (the intake S-VT  231 , the intake CVVL  232 ), and the exhaust-side valve operating mechanism (the exhaust S-VT  241 , the exhaust VVL  242 ) are controlled so that the target torque which is set based on the accelerator opening detected by the accelerator opening sensor SW 7  is realized after lapse of a given period. 
       FIG.  15    illustrates a functional block of the ECU  10  according to the control of the engine  1 . The ECU  10  includes a target torque setting block B 1 , a combustion mode setting block B 2 , a property controlling block B 3 , a property estimating block B 4 , an ignition/injection controlling block B 5 , and a feedback block B 6 . 
     The target torque setting block B 1  is a block for setting the target torque of the engine  1  based on the driver&#39;s accelerator operation. At least a signal according to the accelerator opening, a signal according to the vehicle speed, a signal according to the gear stage, and various kinds of signals according to the torque demand of the engine  1  (e.g., ON signal of a compressor for air-conditioning) are inputted into the target torque setting block B 1 . As will be described in detail later, the target torque setting block B 1  sets the target torque in the future by the given delay time, based on the current accelerator operation by the driver. Therefore, the target torque setting block B 1  updates each time the transition of the target torque from the present time to the given future, with progress of time. 
     The combustion mode setting block B 2  selects the combustion mode in the future cycle based on the set target torque, and sets a target IMEP according to the selected combustion mode of each cycle. At least a signal according to the engine speed, a signal according to the water temperature, and a signal according to the gear stage are inputted into the combustion mode setting block B 2 . These signals are mainly utilized for the selection of the combustion mode. As described above, since the transition of the target torque from the present time to the given future is set, the combustion mode setting block B 2  sets the transition of the combustion mode and the transition of the target IMEP from the present time to the given future. 
     The property controlling block B 3  adjusts the properties of each cylinder  11  based on the set transition of the combustion mode and the transition of the target IMEP. At least, a signal according to the in-cylinder pressure measured by the in-cylinder pressure sensor SW 4 , a signal according to the vehicle speed, and a signal according to the gear stage are inputted into the property controlling block B 3 . The property controlling block B 3  determines the properties inside the cylinder  11  where the target IMEP is realized, based on the transition of the target IMEP, and determines the controlled variables of the property adjusting device so that the properties are realized. The property adjusting device includes at least the intake S-VT  231 , the intake CVVL  232 , the exhaust S-VT  241 , the exhaust VVL  242 , the throttle valve  43 , and the EGR valve  54 . The property controlling block B 3  outputs the control signal beforehand to the property adjusting device in consideration of that it takes time for adjusting the properties. As described above, since the transition of the target torque from the present time to the given future is set, the ECU  10  can output the control signal beforehand by utilizing the delay time. 
     Here, the control of the target torque setting block B 1 , the combustion mode setting block B 2 , and the property controlling block B 3  is performed commonly for all the cylinders  11  of the engine  1 , and at a given time period. It is because the driver&#39;s accelerator operation is based on time, and because the intake S-VT  231 , the intake CVVL  232 , the exhaust S-VT  241 , and the exhaust VVL  242  cannot be controlled for each cylinder  11  and they are common devices for all the cylinders  11 . 
     The property estimating block B 4  and the ignition/injection controlling block B 5  perform the control at the timing when the above-described given delay time passes. The property estimating block B 4  and the ignition/injection controlling block B 5  perform the control at the cycle (i.e., a cycle comprised of intake stroke, compression stroke, expansion stroke, and exhaust stroke), for each cylinder  11 . 
     The property estimating block B 4  estimates the properties inside the cylinder  11  at the timing of closing the intake valve  21  of the cylinder  11 . The measurement signals of the intake cam angle sensor SW 8 , the exhaust cam angle sensor SW 9 , and the intake cam lift sensor SW 10 , and, when fuel is injected in intake stroke, a signal according to the fuel injection amount are inputted into the property estimating block B 4 . Further, at least a signal according to the engine speed is inputted into the property estimating block B 4 . The property estimating block B 4  estimates the properties inside the cylinder  11  based on these signals. In detail, for example, the property estimating block B 4  estimates a temperature T IVC  inside the cylinder  11 , an oxygen concentration inside the cylinder  11 , an EGR rate, a fuel concentration, and a charging efficiency, at a close timing of the intake valve  21 . 
     By the property estimating block B 4  estimating the properties, the ECU  10  can determine whether the target IMEP and the combustion mode set beforehand by the combustion mode setting block B 2  correspond to the actual properties of the cylinder  11 . If they correspond to the actual properties, the target IMEP is achieved by combustion occurring inside the cylinder  11 . If they do not correspond to the actual properties, the target IMEP may not be achieved as it is. 
     After the properties are estimated, the ignition/injection controlling block B 5  outputs an injection control signal to the injector  6  and outputs an ignition control signal to the first spark plug  251  and/or the second spark plug  252 . The ignition/injection controlling block B 5  estimates combustion inside the cylinder  11  based on the properties estimated by the property estimating block B 4 , and determines a deviation of the estimated combustion from the target combustion. If there is no deviation between the estimated combustion and the target combustion, the ignition/injection controlling block B 5  causes the injector  6  to inject a preset amount of fuel into the cylinder  11  at a preset timing, and causes the first spark plug  251  and/or the second spark plug  252  to ignite at a preset timing. If there is a deviation between the estimated combustion and the target combustion, the ignition/injection controlling block B 5  adjusts the injection timing and/or the injection amount of fuel, and adjusts the ignition timing (see two-direction arrows in  FIG.  6   ). Thus, even if the target IMEP and the combustion mode do not correspond to the actual properties of the cylinder  11 , the ignition timing of the mixture gas (including both forcible ignition and compressed self-ignition) becomes a suitable timing, and the target IMEP can be achieved. 
     A signal according to the in-cylinder pressure measured by the in-cylinder pressure sensor SW 4 , and a signal according to the oxygen concentration in the exhaust gas measured by the linear O 2  sensor SW 11  are inputted into the feedback block B 6 . The feedback block B 6  determines the combustion inside the cylinder  11  based on these measurement signals, and determines a deviation of the actual combustion from the planned combustion. If there is a deviation, the feedback block B 6  outputs a feedback signal to the controlling blocks. In detail, the controlling blocks are the property controlling block B 3  and the ignition/injection controlling block B 5 . The property controlling block B 3  and the ignition/injection controlling block B 5 , which received the feedback signals, correct the control signal so that the deviation is eliminated. 
     Below, the combustion control performed by the ECU  10  is described in further detail with reference to each flowchart. 
       FIG.  8    is a flowchart of the combustion control performed by the ECU  10 . 
     First, at Step S 1 , the ECU  10  acquires various sensor information. 
     Next, at Step S 2 , the ECU  10  sets a target torque in a specific cycle after lapse of a given period from the present cycle, and sets the target IMEP and the combustion mode corresponding to the target torque. The ECU  10  sets the combustion mode for every cylinder  11 . The detailed contents of Step S 2  will be described later. 
     Next, at Step S 3 , the ECU  10  sets in-cylinder properties which satisfy the target IMEP by combustion in the set combustion mode, and controls the intake valve operating mechanism (the intake S-VT  231 , the intake CVVL  232 ) and the exhaust valve operating mechanism (the exhaust S-VT  241 , the exhaust VVL  242 ) so that the in-cylinder properties in the specific cycle become the set in-cylinder properties. Further, when the set combustion mode is a combustion mode in which intake-stroke injection is performed, the ECU  10  controls the injector  6 . Further, the ECU  10  controls the throttle valve  43  and the EGR valve  54  so that the in-cylinder properties in the specific cycle become the set in-cylinder properties. The detailed contents of Step S 3  will be described later. 
     Next, at Step S 4 , the ECU  10  determines whether the cycle reaches the specific cycle. If YES where the cycle reaches the specific cycle, the ECU  10  shifts to Step S 5 . On the other hand, if NO where the cycle is before the specific cycle, the ECU  10  repeats the determination of Step S 4  until the specific cycle. 
     At Step S 5 , the ECU  10  estimates the in-cylinder properties inside the cylinder  11  when closing the intake valve  21  in the specific cycle. The detailed contents of Step S 5  will be described later. 
     Next, at Step S 6 , the ECU  10  controls at least one of the fuel injection by the injector  6  and the ignition by the spark plugs  251  and  252 . If the combustion mode is the HCCI combustion or the MPCI combustion, the ECU  10  only performs the control of the injector  6 , without controlling the spark plugs  251  and  252 . If the combustion mode is the SPCCI combustion, the first SI combustion, or the second SI combustion, the ECU  10  performs both the control of the injector  6  and the control of the spark plugs  251  and  252 . The detailed contents of Step S 6  will be described later. 
     Next, the ECU  10  feeds back at Step S 7 . Particularly, the ECU  10  performs the feedback to the control of the intake valve operating mechanism, the exhaust valve operating mechanism, the first spark plug  251 , the second spark plug  252 , and the injector  6  based on a difference between the planned combustion and the actual combustion. 
     After Step S 7 , the process returns. 
     (Setting of Combustion Mode) 
       FIG.  9    is a flowchart illustrating a processing operation of the ECU  10  when setting the combustion mode (i.e., above-described Step S 2 ). 
     First, at Step S 21 , the ECU  10  converts the detection result of the accelerator opening sensor SW 7  into a target acceleration of the vehicle to be realized after lapse of a given first time. 
     Next, at Step S 22 , the ECU  10  sets a target torque based on the target acceleration. 
     Next, at Step S 23 , the ECU  10  sets a target IMEP based on the target torque. 
     Next, at Step S 24 , the ECU  10  sets a combustion mode based on the sensor value, such as the water temperature, and the target IMEP. 
     After Step S 24 , the process returns and shifts to Step S 3 . 
       FIG.  10    illustrates a concept for setting the target IMEP based on the result of the accelerator opening sensor SW 7 . In  FIG.  10   , the horizontal axis is time, and the time axis is the same for the upper figure and the lower figure. 
     As illustrated in  FIG.  10   , when the accelerator pedal is depressed, the accelerator opening increases (see  1001 ). At this time, the ECU  10  calculates an acceleration of the vehicle to be realized after lapse of a given first time t 1  (see  1002 ). 
     This given first time t 1  is set as a period of time which is sufficient for the driver preparing for the posture of a vehicle acceleration after stepping on the accelerator pedal. The given first time t 1  is 200 milliseconds, for example. The drivability improves by delaying the response of the vehicle behavior to the accelerator operation. 
     Next, in order to realize the calculated acceleration, the ECU  10  calculates a target torque of the engine  1  to be outputted at a given second time t 2  before the lapse of the given first time t 1 , and converts it into the target IMEP. The given second time t 2  is equivalent to a period of time until the power outputted from the engine  1  is transmitted to the driving wheels via the transmission, the differential gear, the drive shaft, etc. The given second time t 2  is 50 milliseconds, for example. 
     A difference between the given first time t 1  and the given second time t 2  (here, 150 milliseconds) corresponds to the given delay time td. Therefore, the target IMEP to be realized in the specific cycle after the lapse of the given delay time td from the present time is set. Since a change in the accelerator opening is continuous over time, and the target IMEP is set corresponding to the frequently-changing accelerator opening, a target IMEP path indicative of a time change in the target IMEP is calculated. Then, based on the target IMEP path, and the temperature of the coolant, the gear stage, etc., the combustion mode in the specific cycle is set according to the base maps  401  and  402  of  FIG.  4   . Note that the specific cycle is each cycle after lapse of a given period from the present cycle of each cylinder  11 . That is, the specific cycle exists for each cylinder  11 . 
     The ECU  10  determines which base map of the first base map  401  and the second base map  402  is to be adopted according to the target IMEP, the temperature of the coolant, the gear stage, etc. The first base map  401  is fundamentally adopted, and when all given conditions are satisfied, the ECU  10  gives priority to the second base map  402  when adopting the base map. The given conditions are, for example, (1) the engine is warm where the temperature of the coolant is above a given temperature, (2) the gear stage is higher than a give stage, (3) a slope of the target IMEP is less than a given slope (see  FIG.  5    or the lower figure of  FIG.  10   ). 
     As the temperature of the coolant and the gear stage which are utilized when setting the combustion mode, a temperature of the coolant and a gear stage which are detected at the present time are adopted. As illustrated, since the given delay time td is less than 1 second, the temperature of the coolant and the gear stage do not fundamentally change by the time when the delay time td passes. Therefore, when setting the combustion mode in the specific cycle, it will not become a problem even if the temperature of the coolant and the gear stage which are detected at the present time are utilized. 
     Further, the range of the second base map  402  for performing the compressed self-ignition combustion is comparatively narrow, and when the slope of the target IMEP is more than a given slope, the combustion mode of the engine  1  is switched from the flame propagation combustion to the compressed self-ignition combustion, and immediately after that, it is switched back from the compressed self-ignition combustion to the flame propagation combustion. That is, the duration of the compressed self-ignition combustion is comparatively short. The compressed self-ignition combustion contributes to the improvement in the fuel efficiency of the engine  1  by being carried out continuously for a long period of time to some extent. Therefore, when the slope of the target IMEP is more than the given slope, the compressed self-ignition combustion is avoided by not adopting the second base map  402 . When the slope of the target IMEP is less than the given slope, the compressed self-ignition combustion is performed by adopting the second base map  402 , because the improvement in the fuel efficiency can be expected. 
     Thus, as illustrated in the lower figure of  FIG.  10   , the ECU  10  assigns each cylinder  11  to the target IMEP path, and sets the combustion mode of each cylinder  11 . Since the ECU  10  sets the combustion mode for every cycle, the combustion mode is set for every cylinder  11 . Since in this embodiment combustion takes place in the order of the first cylinder, the third cylinder, the fourth cylinder, and the second cylinder, as described above, the ECU  10  sets the combustion mode of each cylinder  11  after setting the combustion order as the above-described order. Therefore, the combustion transition from the present cycle to the specific cycle is set beforehand. 
     (Control of Intake System and Exhaust System) 
       FIG.  11    is a flowchart illustrating a processing operation of the ECU  10  when controlling the intake valve operating mechanism and the exhaust valve operating mechanism (i.e., above-described Step S 3 ). 
     First, at Step S 31 , the ECU  10  estimates the in-cylinder properties in the present cycle. The ECU  10  estimates the in-cylinder properties when the intake valve  21  is closed. The in-cylinder properties are properties related to the ignition timing of the CI combustion, such as the in-cylinder pressure, the in-cylinder temperature, the oxygen concentration, etc. The ECU  10  estimates the internal EGR rate by using a model based on the actual operation of the cam shafts. The ECU  10  estimates the in-cylinder temperature and oxygen concentration based on the internal EGR rate, the exhaust gas temperature at the cycle immediately before of the same cylinder  11 , and the temperature of air. Further, the ECU  10  detects the in-cylinder pressure by the in-cylinder pressure sensor SW 4  when the intake valve  21  is closed. The ECU  10  estimates the in-cylinder properties for every cylinder  11 . 
     Next, at Step S 32 , the ECU  10  calculates the target in-cylinder properties in the specific cycle based on the set target combustion mode, the target IMEP, and the estimated in-cylinder properties of the present cycle, and sets them as the target in-cylinder properties. In more detail, the ECU  10  calculates the target ignition timing based on the target IMEP. Next, the ECU  10  calculates particularly the in-cylinder temperature and the oxygen concentration for every cylinder  11  in order to realize the target ignition timing by the target combustion mode. 
     Next, at Step S 33 , the ECU  10  sets the target internal EGR rate for reaching the target in-cylinder properties for every cylinder  11 . The ECU  10  calculates a relationship between the internal EGR rate, the in-cylinder properties, and the combustion state (the rate of heat release, etc.) by using a combustion model, and sets the target internal EGR rate at which the target in-cylinder properties and the target ignition timing can be satisfied. The ECU  10  uses a combustion model which is at least different between the SI combustion and the CI combustion. The ECU  10  may use different combustion models for different combustion modes. At this Step S 33 , the transition of the properties inside the cylinder  11  from the present cycle to the specific cycle (i.e., the transition of the target internal EGR rate) is set. 
     Next, at Step S 34 , the ECU  10  sets the target operating amounts of the intake valve operating mechanism and the exhaust valve operating mechanism for every cylinder  11  based on the target internal EGR rate. The intake valve operating mechanism is comprised of the intake S-VT  231  and the intake CVVL  232 , and the exhaust valve operating mechanism is comprised of the exhaust S-VT  241  and the exhaust VVL  242 . The ECU  10  calculates the relationship between the operations of the intake valve  21  and the exhaust valve  22  and the internal EGR rate, and sets the target operating amounts of the intake valve operating mechanism and the exhaust valve operating mechanism for every cylinder  11 , at which the target internal EGR rate can be satisfied. 
     Next, at Step S 35 , the ECU  10  sets the target operation paths of the intake valve operating mechanism and the exhaust valve operating mechanism. Since the intake valve operating mechanism and the exhaust valve operating mechanism are to operate the cam shafts, the operations of the intake valve  21  and the exhaust valve  22  of all the cylinders  11  are changed if the intake valve operating mechanism and the exhaust valve operating mechanism are operated. Therefore, a fine control is difficult for the intake valve operating mechanism and the exhaust valve operating mechanism. Therefore, the ECU  10  sets the target operation paths so that the target operating amounts of the intake valve operating mechanism and the exhaust valve operating mechanism are realized for every cylinder  11  as much as possible, and the operations of the intake valve operating mechanism and the exhaust valve operating mechanism become continuous. 
     In detail, the settings of the target operation paths are illustrated in  FIG.  12   .  FIG.  12    illustrates a case of the intake S-VT  231  and the exhaust S-VT  241 . The ECU  10  puts the target operating amounts of each of the intake valve operating mechanism and the exhaust valve operating mechanism in the time-series order for every cylinder  11 . Next, the ECU  10  integrates the target operating amounts into one, and puts the target operating amounts of each of the intake valve operating mechanism and the exhaust valve operating mechanism of all the cylinders  11  in the time-series order. Then, the ECU  10  calculates a continuous path so that each target operating amount can be achieved. The path calculated here becomes the target operation path. 
     Next, at Step S 36 , the ECU  10  outputs the electric signals to the intake valve operating mechanism and the exhaust valve operating mechanism at the given timings. The adjustment of the properties includes a response delay of the device which adjusts the properties, and a delay after the device responds until the introducing amount of air or the EGR gas into the cylinder  11  is actually changed. The ECU  10  sets the target in-cylinder properties at the cycle which is future from the present cycle, and sets beforehand the target operating amount for realizing these target in-cylinder properties. Thus, the ECU  10  can output the control signal at the timing in consideration of the delay of the property adjusting device including the intake valve operating mechanism and the exhaust valve operating mechanism. 
     In more detail, the ECU  10  uses the device model to estimate the operations of the intake valve operating mechanism and the exhaust valve operating mechanism with respect to the electric signal, and generates and outputs the electric signal indicative of such an indicated value that a deviation of the estimated operations from the target operation paths is minimized. After Step S 36 , the process returns and shifts to Step S 4 . 
     Thus, by optimizing the electric signal, the ECU  10  can output the electric signal to each of the intake valve operating mechanism and the exhaust valve operating mechanism in consideration of the deviation between the timing at which the electric signal is outputted to the intake valve operating mechanism or the exhaust valve operating mechanism and the timing at which the intake valve operating mechanism or the exhaust valve operating mechanism actually operates according to this electric signal. In detail, the ECU  10  can output the electric signal to the intake valve operating mechanism or the exhaust valve operating mechanism earlier than the timing at which the intake valve operating mechanism or the exhaust valve operating mechanism is actually operated. 
       FIGS.  13 A and  13 B  illustrate the timing at which the electric signal indicative of the indicated value is outputted to the intake S-VT  231 , the target operation path of the intake S-VT  231 , and an actual operation path indicative of the actual operation of the intake S-VT  231 .  FIG.  13 A  illustrates a case where the electric signal is outputted at almost the same timing as the target operation path of the intake S-VT  231 , like the conventional control. As illustrated in  FIG.  13 A , in this control, it can be seen that the actual operation path is delayed from the target operation path. This is because the intake S-VT  231  has the delay in the response. On the other hand, in the control of the present disclosure, the electric signal is outputted earlier than the timing of the target operation path. Further, the slope of the controlled variable (i.e., the indicated value) outputted is larger than the slope of the target operation. Therefore, even if the intake S-VT  231  has the response delay, the actual operation path matches substantially with the target operation path. Note that in order to suppress an overshoot of the actual operation, the controlled variable falls temporarily. Thus, since the timing of the target operation path matches substantially with the timing of the actual operation path, the target in-cylinder properties can be formed in the specific cycle with sufficient accuracy. 
     Note that at the above-described Step S 3 , the ECU  10  also controls the throttle valve  43  and the EGR valve  54  so that the in-cylinder properties become the target in-cylinder properties in the specific cycle. Since the throttle valve  43  and the EGR valve  54  have high response as compared with the intake valve operating mechanism and the exhaust valve operating mechanism, the electric signals are not necessary to be outputted earlier than the timing at which they actually operate. 
     (Estimation of In-Cylinder Properties) 
     When the cycle becomes the specific cycle by progress of time, the ECU  10  estimates the in-cylinder properties when the intake valve  21  is closed in the specific cycle. The ECU  10  estimates the in-cylinder properties based on the sensor values measured in the specific cycle, after the exhaust valve  22  is closed and before the intake valve  21  is closed in the specific cycle (see  FIG.  6   ). The ECU  10  estimates the internal EGR rate based on the actual operations of the cam shafts. The ECU  10  estimates the in-cylinder temperature and the oxygen concentration based on the internal EGR rate, the exhaust gas temperature, and the temperature of fresh air at the cycle immediately before of the same cylinder  11 . Further, the ECU  10  detects the in-cylinder pressure by the in-cylinder pressure sensor SW 4  when the intake valve  21  is closed. By the estimation of the in-cylinder properties, the ECU  10  can grasp the deviation of the in-cylinder properties in the specific cycle from the target in-cylinder properties set prior to the specific cycle. 
     (Injection/Ignition Control) 
     The ECU  10  controls the injection of fuel by the injector  6  and the ignition by the first spark plug  251  and the second spark plug  252  based on the estimated actual in-cylinder properties. 
       FIG.  14    is a flowchart illustrating a processing operation of the ECU  10  when controlling the injection and the ignition (i.e., above-described Step S 6 ). 
     At Step S 61 , the ECU  10  estimates the combustion by the combustion model, using the estimated actual in-cylinder properties (the temperature T IVC  inside the cylinder  11 , the oxygen concentration inside the cylinder  11 , the EGR rate, the fuel concentration, the charging efficiency, etc. at the close timing of the intake valve  21 ) as the parameters. The combustion model used here is the same as the combustion model utilized when setting the target internal EGR rate. 
     Next, at Step S 62 , the ECU  10  calculates a deviation of the combustion estimated at Step S 61  from the target combustion. The ECU  10  calculates a deviation of a change in the rate of heat release, for example. This deviation of combustion occurs due to the deviation of the actual in-cylinder properties from the target in-cylinder properties, and it can be said that comparing the deviation of combustion is equal to comparing the deviation of the actual in-cylinder properties from the target in-cylinder properties. 
     Next, at Step S 63 , the ECU  10  corrects at least one of a ratio of the injection amount of fuel, the injection timing of fuel, and the ignition timing so that the deviation of the combustion state calculated at above-described Step S 62  is compensated. These are once set in the stage where the combustion mode is set. Then, at this Step S 63 , the correction is made and the ratio of the injection amount of fuel, the injection timing of fuel, and the ignition timing become the final values. For example, upon carrying out the SI combustion, when more air than the target amount is introduced, and the combustion is estimated to become rapid with a steeper slope than the target slope, the ignitions of the first spark plug  251  and the second spark plug  252  are retarded. Further, upon carrying out the MPCI combustion, when the slope is estimated to become steeper than the target slope, the combustion is made slower by retarding the injection timing of squish injection in compression stroke, or increasing the ratio of the injection of the squish injection in the compression stroke. Note that the total injection amount of fuel is set as a total injection amount according to the target IMEP and the combustion mode, when the target IMEP and the combustion mode are set. 
     Since the estimation of the properties is performed before the intake valve  21  is closed, the ECU  10  becomes capable of correcting the injection of fuel after the estimation. As illustrated in  FIG.  6   , the intake-stroke injection of the HCCI combustion and the intake-stroke injection of the MPCI combustion are performed after the estimation of the properties. The ECU  10  can correct the injection amounts of these intake stroke injections. 
     Then, at Step S 64 , the ECU  10  outputs the electric signals to the injector  6 , the first spark plug  251 , and the second spark plug  252  at least in part based on the contents of the correction at above-described Step S 63 . After Step S 64 , the process returns. 
     Thus, even if the actual in-cylinder properties deviate from the target in-cylinder properties, the target combustion state can be achieved by correcting them using the injector  6 , the first spark plug  251 , and the second spark plug  252 . Therefore, the HCCI combustion and the MPCI combustion, where the in-cylinder properties greatly contribute to the ignition, can be stably performed also during the transition state where the in-cylinder properties vary. 
     Therefore, in this embodiment, the engine system E provided with the engine  1  which is mounted on the vehicle and has the injector  6 , the first spark plug  251 , the second spark plug  252 , and the property adjusting device (the intake S-VT  231 , the intake CVVL  232 , the exhaust S-VT  241 , the exhaust VVL  242 , the throttle valve  43 , and the EGR valve  54 ) is further provided with the accelerator opening sensor SW 7 , and the ECU  10  which outputs the control signal to each of the injector  6 , the first spark plug  251 , the second spark plug  252 , and the property adjusting devices, based on the detection signals from the accelerator opening sensor SW 7 . 
     The engine  1  selectively performs the SI combustion in which fuel injected into the cylinder  11  from the injector  6  is forcibly ignited using the first spark plug  251  and/or the second spark plug  252 , and the CI combustion in which the fuel injected into the cylinder  11  from the injector  6  carries out the compressed self-ignition without using the first spark plug  251  and the second spark plug  252 . The ECU  10  performs a combustion control for controlling the injector  6 , the first spark plug  251 , the second spark plug  252 , and the property adjusting device so that the target torque which is set based on the present accelerator opening which is detected by the accelerator opening sensor SW 7  is outputted in the specific cycle of the future from the present cycle by a given delay time. Further, in the combustion control, the ECU  10  performs the processing for receiving the detection signal from the accelerator opening sensor SW 7 , and setting the target load of the engine in the specific cycle based on the present accelerator opening (Steps S 21 , S 22 , and S 23 ), and the processing for setting a combustion transition from the present cycle to the specific cycle by selecting beforehand combustion from the present cycle to the specific cycle from the SI combustion and the CI combustion based on the set target load (Step S 24 ). 
     Therefore, since the combustion in the future cycle from the present cycle is set beforehand, the ECU  10  can start beforehand the adjustment of the properties inside the cylinder  11  through the property adjusting device so that the combustion is realized. As a result, the properties inside the cylinder  11  when reaching the specific cycle is the properties corresponding to the selected combustion, or are brought closer to the properties corresponding to the selected combustion. The ECU  10  can realize the selected combustion in the specific cycle by controlling the injector  6 , the first spark plug  251 , and/or the second spark plug  252 . Also during the transition state where the target load of the engine  1  changes every moment, the properties inside the cylinder  11  in each cycle become the target properties. The combustion becomes stable also when the SI combustion and the CI combustion are selectively performed during the transition state. 
     Further, in this embodiment, the ECU  10  sets the target torque in the specific cycle based on the accelerator opening for every given time period. The ECU  10  also sets the target load for every cycle from the present cycle to the specific cycle based on the target torque and selects the SI combustion or the CI combustion (Step S 24 ,  FIG.  10   ). Therefore, the engine  1  can be operated corresponding to a change in the target load. 
     Further, in this embodiment, the ECU  10  performs the preselection of combustion for every cylinder (Step S 24 ,  FIG.  10   ). Therefore, in the multi-cylinder engine having the plurality of cylinders  11 , combustion of each cylinder is optimized in the transition state where the target load changes for every cylinder. 
     Moreover, in this embodiment, the ECU  10  sets the transition of the target load from the present cycle to the specific cycle, and sets the transition of the properties inside the cylinder  11  from the present cycle to the specific cycle based on the set transition of the target load and the combustion transition (Step S 32 ). Therefore, during the transition state, the SI combustion and the CI combustion are performed stably. 
     Further, in this embodiment, the engine system E is further provided with the in-cylinder pressure sensor SW 4  which detects a pressure inside the cylinder  11 , and the ECU  10  sets the transition of the properties inside the cylinder  11  at least in part based on the detection result of the in-cylinder pressure sensor SW 4  (Steps S 31  and S 32 ). Since the properties inside the cylinder  11  in the present cycle can be estimated from the detection result of the in-cylinder pressure sensor SW 4 , the ECU  10  can set the properties inside the cylinder  11  in the specific cycle of the future from the present cycle based on the properties of the present cycle. 
     Further, in this embodiment, the engine  1  selectively performs the SPCCI combustion in which a part of fuel injected into the cylinder  11  from the injector  6  is forcibly ignited by using the first spark plug  251  and/or the second spark plug  252 , and unburnt fuel carries out the compressed self-ignition ( FIGS.  4  and  6   ). The ECU  10  sets the combustion transition from the present cycle to the specific cycle by selecting beforehand the combustion from the present cycle to the specific cycle, from the SI combustion, the CI combustion, and the SPCCI combustion based on the set target load ( FIG.  5   ). 
     By the engine  1  switching between the SI combustion, the CI combustion, and the SPCCI combustion, the fuel efficiency of the engine  1  improves and the emission control performance improves. Further, the ECU  10  can cause the combustion of each cycle to be performed appropriately by selecting beforehand the combustion from the present cycle to the specific cycle, from the SI combustion, the CI combustion, and the SPCCI combustion. 
     Other Embodiments 
     The technique disclosed herein is not limited to the above embodiment, and it can be substituted within a range not departing from the subject matter of the appended claims. 
     The technique disclosed herein is not limited to the application to the engine  1 , but it can be applied to engines with various configurations. 
     Moreover, in each of the flowcharts described above, the order of the steps is not restrictive, but it may be changed, or a plurality of steps may be performed in parallel. Further, some of the steps may be omitted, or a new step may be added. 
     The above embodiment is merely illustration, and therefore, the scope of the present disclosure must not be interpreted restrictively. The scope of the present disclosure is defined by the claims, and all of the modifications and the changes which belong to the equivalents of the claims are encompassed in the scope of the present disclosure. 
     INDUSTRIAL APPLICABILITY 
     The technique disclosed herein is useful as the method of controlling the engine which is mounted on the vehicle and has the injector, the spark plug, and the property adjusting device, or useful as the engine system. 
     DESCRIPTION OF REFERENCE CHARACTERS 
     
         
         
           
               1  Engine 
               10  ECU (Controller) 
               11  Cylinder 
               21  Intake Valve 
               22  Exhaust Valve 
               231  Intake S-VT (Variable Valve Operating Mechanism) 
               232  Intake CVVL (Variable Valve Operating Mechanism) 
               241  Exhaust S-VT (Variable Valve Operating Mechanism) 
               242  Exhaust VVL (Variable Valve Operating Mechanism) 
               251  First Spark Plug 
               252  Second Spark Plug 
               43  Throttle Valve 
               54  EGR Valve 
               6  Injector 
             E Engine System 
             SW 4  In-cylinder Pressure Sensor 
             SW 7  Accelerator Opening Sensor