JP4267612B2 - Drive device, automobile equipped with the same, and drive device control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress, in a hybrid vehicle traveling, while switching a plurality of traveling modes determining different driving force characteristics to accelerator operation, traveling of the vehicle by an unexpected driving force, even if slippage is caused in the detection value of acceleration operation, when traveling with accelerator off. <P>SOLUTION: When an accelerator pedal is operated incrementally to switch a normal mode to a power mode, in addition to on-operation of a power switch, an execution accelerator opening Acc* is set with the characteristic of the same line shape as in the normal mode, when an accelerator opening Acc detected by an accelerator pedal position sensor is in a low opening region of a predetermined opening Acc0 or smaller, the practical accelerator opening Acc* is set larger than the region in the normal mode with a nonlinear characteristic, when the accelerator opening Acc is in a region larger than the predetermined opening Acc0, and the vehicle is controlled so as to travel by a torque, based on the set executing accelerator opening Acc*. <P>COPYRIGHT: (C)2007,JPO&amp;INPIT

Description

  The present invention relates to a drive device that is mounted on a vehicle and drives an axle, an automobile on which the drive device is mounted, and a control method for the drive device.

Conventionally, this type of drive device is mounted on a hybrid vehicle and switches between an engine travel mode that travels using an engine as a power source and a motor travel mode that travels using only a motor as a power source based on an accelerator operation. When a sport driving mode is selected by a switch operation, there has been proposed one that runs while the engine is operated regardless of the motor driving mode (see, for example, Patent Document 1). In this device, when the sport driving mode is selected by the driver's switch operation, the engine is kept running regardless of the motor driving mode, and the engine is started even when the motor driving mode is switched to the engine driving mode. Therefore, it is said that the high responsiveness required for the sport running mode can be obtained.
Japanese Patent Laid-Open No. 10-89116

  By the way, in a hybrid vehicle that travels by switching a plurality of modes that define different driving force characteristics for accelerator operation by a driver's switch operation, for example, when creeping with the accelerator pedal turned off when the vehicle is stopped, the accelerator pedal If the detection value of the sensor that detects the operation position is shifted or noise is mixed, a slight open determination may be made even if the accelerator pedal is not depressed. In this case, if a mode with a high driving force characteristic is set for the accelerator operation, an unexpected driving force is output, which may cause the driver to feel uncomfortable. In addition, when an abnormality occurs in a sensor that detects a switch operation for switching the mode, the mode is switched against the driver's intention, and thus the vehicle may be driven by an unexpected driving force and give the driver a sense of incongruity.

  The driving device of the present invention, an automobile equipped with the driving device, and a control method of the driving device can be used when the vehicle travels while switching between a plurality of travel modes in which different driving force characteristics are defined for the accelerator operation. One of the purposes is to suppress driving by an unexpected driving force even if the detected value of the accelerator operation is deviated. Further, the drive device of the present invention, the automobile equipped with the drive device, and the control method of the drive device can switch the travel mode in a vehicle that travels by switching a plurality of travel modes that have different driving force characteristics for the accelerator operation. One of the purposes is to suppress driving with an unexpected driving force even when an abnormality occurs in the instructing changeover switch.

  In order to achieve at least a part of the above-described object, the drive device, the automobile equipped with the drive device, and the drive device control method of the present invention employ the following means.

The drive device of the present invention is
A drive device that is mounted on a vehicle and drives an axle,
Driving force output means for outputting a driving force for traveling to the axle;
An accelerator operation detecting means for detecting the driver's accelerator operation;
A changeover switch for switching between a plurality of travel modes including a first travel mode and a second travel mode in which the driving force characteristic for the driver's accelerator operation is higher than that of the first travel mode. A changeover switch operation detecting means for detecting the operation of
The plurality of travel modes are selectively set based on the detected operation of the changeover switch, and when the first travel mode is set, a predetermined first driving force characteristic and the detected accelerator A target driving force is set based on the operation and the driving force output means is controlled so that the vehicle travels with the set target driving force. When the second traveling mode is set, a predetermined low accelerator operation is performed. For the driver's accelerator operation up to the amount, the driver's accelerator operation exceeding the predetermined low accelerator operation amount by setting a target driving force based on the first driving force characteristic and the detected accelerator operation. For this, a target driving force is set on the basis of the second driving force characteristic that is higher than the first driving force characteristic and the detected accelerator operation, and the set target is set. And summarized in that a control means for controlling the driving force output means so as to travel by power.

  In the driving apparatus of the present invention, a plurality of traveling modes including the first traveling mode and the second traveling mode in which the driving force characteristic for the driver's accelerator operation is higher than that of the first traveling mode. A plurality of travel modes are selectively set based on an operation of a changeover switch for switching modes, and when the first travel mode is set, based on a predetermined first driving force characteristic and an accelerator operation. The driving force output means is controlled to set the target driving force and the vehicle travels with the set target driving force. When the second driving mode is set, the driver's accelerator operation up to a predetermined low accelerator operation amount is set. Is set based on the first driving force characteristic and the accelerator operation, and the first driving force characteristic is applied to the driver's accelerator operation exceeding a predetermined low accelerator operation amount. Controlling the driving force output means so as to travel by the target drive force setting sets the target driving force based on the second driving force characteristics and an accelerator operation and that the characteristics of the remote high driving force. Therefore, even when the detected value of the accelerator operation is deviated when traveling with the accelerator off, it is possible to suppress traveling with an unexpected driving force.

  In such a driving apparatus of the present invention, the control means sets the first accelerator operation relationship as the relationship between the driver's accelerator operation and the execution accelerator operation used for control when the first traveling mode is set. An execution accelerator operation is set based on the detected accelerator operation and the set first accelerator operation relationship, a target driving force is set based on the set execution accelerator operation, and the set target drive is set The driving force output means is controlled so that the vehicle travels by force, and when the second travel mode is set, the first accelerator operation is performed for the driver's accelerator operation up to the predetermined low accelerator operation amount. The accelerator operation relationship is set and the driver's accelerator operation exceeding the predetermined low accelerator operation amount is larger than the first accelerator operation relationship. A second accelerator operation relationship in which the amount of work is set to the execution accelerator operation is set, an execution accelerator operation is set based on the detected accelerator operation and the set accelerator operation relationship, and the set execution operation is set. The target driving force may be set based on an accelerator operation, and the driving force output unit may be controlled so that the vehicle travels with the set target driving force. When the driving mode 1 is set, a target driving force is set based on the driver's accelerator operation, and the driving force output means is controlled so that the vehicle runs with the set target driving force, and the second driving mode is set. When the traveling mode is set, the driver's accelerator operation up to the predetermined low accelerator operation amount is determined based on the detected accelerator operation. For a driver's accelerator operation that sets a driving force and exceeds the predetermined low accelerator operation amount, a target driving force is set based on an accelerator operation obtained by upwardly correcting the detected accelerator operation, and the set target driving force is set. Therefore, the driving force output means can be controlled so that the vehicle travels. In the former case, the first accelerator operation relationship may have a substantially linear characteristic, and the second accelerator operation relationship may have a non-linear characteristic.

  In the driving apparatus of the present invention, the control means is means for selectively setting the plurality of travel modes based on the detected operation of the changeover switch and the detected accelerator operation. You can also By so doing, it is possible to suppress traveling by an unexpected driving force even when an abnormality occurs in the changeover switch. In the driving device according to the aspect of the present invention, when the control unit detects the switching to the second travel mode by the changeover switch operation detection unit when the first travel mode is set, Means for switching the setting from the first travel mode to the second travel mode on condition that the accelerator operation detection means detects an accelerator operation in an opening direction greater than or equal to a predetermined operation amount after the switch is detected; It can also be. In this way, even when an abnormality occurs in the changeover switch, it is possible to more reliably suppress traveling with an unexpected excessive driving force.

  Furthermore, in the driving apparatus according to the present invention, when the setting of the travel mode is switched, the control means is a means for controlling the driving force for travel to change gradually before and after the switching of the setting. You can also In this way, the driving mode can be switched smoothly.

  In the driving apparatus according to the present invention, the driving force output means may be a means including an internal combustion engine capable of outputting power to the axle and an electric motor capable of inputting / outputting power to the axle.

The automobile of the present invention
The driving device of the present invention according to any one of the above-described aspects, that is, a driving device that is basically mounted on a vehicle and drives an axle, and outputs driving force to the axle. Means, an accelerator operation detecting means for detecting the driver's accelerator operation, and a driving force characteristic with respect to the first driving mode and the driver's accelerator operation as a driving force characteristic higher than that of the first driving mode. A changeover switch operation detecting means for detecting an operation of a changeover switch for switching a plurality of drive modes including two drive modes, and the plurality of drive modes are selectively set based on the detected operation of the changeover switch. When the first traveling mode is set, the target driving force is set based on the predetermined first driving force characteristic and the detected accelerator operation, and the set target driving force is set. The driving force output means is controlled so that the vehicle travels by force, and when the second traveling mode is set, the first driving is performed for the driver's accelerator operation up to a predetermined low accelerator operation amount. A target driving force is set based on the force characteristic and the detected accelerator operation, and the driver's accelerator operation exceeding the predetermined low accelerator operation amount has a driving force higher than that of the first driving force characteristic. A drive unit configured to set a target driving force based on the second driving force characteristic as a characteristic and the detected accelerator operation, and to control the driving force output unit so as to travel with the set target driving force The gist is to install the device.

  Since the vehicle according to the present invention is equipped with the drive device according to any one of the above-described aspects, the same effect as that produced by the drive device according to the present invention, for example, when the accelerator is operated when traveling with the accelerator off. Even if the detection value is deviated, it is possible to suppress traveling by an unexpected driving force, and even if an abnormality occurs in the changeover switch instructing switching of the traveling mode, the vehicle is driven by an unexpected driving force. The effect etc. which can suppress this can be show | played.

The method for controlling the drive device of the present invention includes:
The driving force output means for outputting the driving force for driving to the axle, the accelerator operation detecting means for detecting the driver's accelerator operation, and the first driving mode and the characteristics of the driving force with respect to the driver's accelerator operation. And a changeover switch operation detecting means for detecting an operation of a changeover switch for switching a plurality of travel modes including a second travel mode having a driving force characteristic higher than that of the travel mode. A method of controlling a drive device for driving
(A) selectively setting the plurality of travel modes based on the detected operation of the changeover switch;
(B) When the first traveling mode is set, a target driving force is set based on the predetermined first driving force characteristic and the detected accelerator operation, and the vehicle is driven by the set target driving force. The driving force output means is controlled so that the vehicle travels, and when the second traveling mode is set, the first driving force characteristic is applied to the driver's accelerator operation up to a predetermined low accelerator operation amount. A target driving force is set based on the detected accelerator operation, and a driving force characteristic higher than the first driving force characteristic is set for a driver's accelerator operation exceeding the predetermined low accelerator operation amount. The gist is to set a target driving force based on the second driving force characteristic and the detected accelerator operation, and to control the driving force output means so as to travel with the set target driving force.

  According to the control method of the driving device of the present invention, the second driving mode in which the driving force characteristics with respect to the first driving mode and the driver's accelerator operation are higher than the first driving mode. A plurality of driving modes are selectively set based on an operation of a changeover switch for switching a plurality of driving modes including the first driving force characteristic and accelerator determined in advance when the first driving mode is set. And setting the target driving force based on the operation and controlling the driving force output means so that the vehicle travels with the set target driving force. When the second traveling mode is set, the predetermined driving amount up to the low accelerator operation amount is set. For the driver's accelerator operation, the target driving force is set based on the first driving force characteristic and the accelerator operation, and for the driver's accelerator operation exceeding a predetermined low accelerator operation amount, Controlling the driving force output means so as to travel with the target drive force setting sets the target driving force is also based on a second driving force characteristics and an accelerator operation and which was characteristic of a high driving force from the driving force characteristic. Therefore, even when the detected value of the accelerator operation is deviated when traveling with the accelerator off, it is possible to suppress traveling with an unexpected driving force.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 as an embodiment of the present invention. As shown in the figure, the hybrid vehicle 20 of the embodiment includes an engine 22, a three-shaft power distribution / integration mechanism 30 connected to a crankshaft 26 as an output shaft of the engine 22 via a damper 28, and power distribution / integration. A motor MG1 capable of generating electricity connected to the mechanism 30, a reduction gear 35 attached to a ring gear shaft 32a as a drive shaft connected to the power distribution and integration mechanism 30, a motor MG2 connected to the reduction gear 35, And a hybrid electronic control unit 70 for controlling the entire power output apparatus.

  The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and an engine electronic control unit (hereinafter referred to as an engine ECU) that receives signals from various sensors that detect the operating state of the engine 22. ) 24 is subjected to operation control such as fuel injection control, ignition control, intake air amount adjustment control and the like. The engine ECU 24 is in communication with the hybrid electronic control unit 70, controls the operation of the engine 22 by a control signal from the hybrid electronic control unit 70, and, if necessary, transmits data related to the operating state of the engine 22 to the hybrid electronic control. Output to unit 70.

  The power distribution and integration mechanism 30 includes an external gear sun gear 31, an internal gear ring gear 32 arranged concentrically with the sun gear 31, a plurality of pinion gears 33 that mesh with the sun gear 31 and mesh with the ring gear 32, A planetary gear mechanism is provided that includes a carrier 34 that holds a plurality of pinion gears 33 so as to rotate and revolve, and that performs differential action using the sun gear 31, the ring gear 32, and the carrier 34 as rotational elements. In the power distribution and integration mechanism 30, the crankshaft 26 of the engine 22 is connected to the carrier 34, the motor MG1 is connected to the sun gear 31, and the reduction gear 35 is connected to the ring gear 32 via the ring gear shaft 32a. When functioning as a generator, power from the engine 22 input from the carrier 34 is distributed according to the gear ratio between the sun gear 31 side and the ring gear 32 side, and when the motor MG1 functions as an electric motor, the engine input from the carrier 34 The power from 22 and the power from the motor MG1 input from the sun gear 31 are integrated and output to the ring gear 32 side. The power output to the ring gear 32 is finally output from the ring gear shaft 32a to the drive wheels 63a and 63b of the vehicle via the gear mechanism 60 and the differential gear 62.

  The motor MG1 and the motor MG2 are both configured as well-known synchronous generator motors that can be driven as generators and can be driven as motors, and exchange power with the battery 50 via inverters 41 and 42. The power line 54 connecting the inverters 41 and 42 and the battery 50 is configured as a positive electrode bus and a negative electrode bus shared by the inverters 41 and 42, and the electric power generated by one of the motors MG1 and MG2 It can be consumed by a motor. Therefore, battery 50 is charged / discharged by electric power generated from one of motors MG1 and MG2 or insufficient electric power. If the balance of electric power is balanced by the motors MG1 and MG2, the battery 50 is not charged / discharged. The motors MG1 and MG2 are both driven and controlled by a motor electronic control unit (hereinafter referred to as a motor ECU) 40. The motor ECU 40 detects signals necessary for driving and controlling the motors MG1 and MG2, such as signals from rotational position detection sensors 43 and 44 that detect the rotational positions of the rotors of the motors MG1 and MG2, and current sensors (not shown). The phase current applied to the motors MG1 and MG2 to be applied is input, and a switching control signal to the inverters 41 and 42 is output from the motor ECU 40. The motor ECU 40 is in communication with the hybrid electronic control unit 70, controls the driving of the motors MG1 and MG2 by a control signal from the hybrid electronic control unit 70, and, if necessary, data on the operating state of the motors MG1 and MG2. Output to the hybrid electronic control unit 70.

  The battery 50 is managed by a battery electronic control unit (hereinafter referred to as a battery ECU) 52. The battery ECU 52 receives signals necessary for managing the battery 50, for example, a voltage between terminals from a voltage sensor (not shown) installed between the terminals of the battery 50, and a power line 54 connected to the output terminal of the battery 50. The charging / discharging current from the attached current sensor (not shown), the battery temperature Tb from the temperature sensor 51 attached to the battery 50, and the like are input. Output to the control unit 70. The battery ECU 52 also calculates the remaining capacity (SOC) based on the integrated value of the charge / discharge current detected by the current sensor in order to manage the battery 50.

  The hybrid electronic control unit 70 is configured as a microprocessor centered on the CPU 72. In addition to the CPU 72, a ROM 74 that stores processing programs, a RAM 76 that temporarily stores data, an input / output port and communication (not shown), and the like. And a port. The hybrid electronic control unit 70 includes an ignition signal from an ignition switch 80, a shift position SP from a shift position sensor 82 that detects the operation position of the shift lever 81, and an accelerator pedal position sensor 84 that detects the amount of depression of the accelerator pedal 83. The accelerator opening Acc from the vehicle, the brake pedal position BP from the brake pedal position sensor 86 for detecting the depression amount of the brake pedal 85, the vehicle speed V from the vehicle speed sensor 88, the power switch signal Psw from the power switch 89, etc. Is entered through. As described above, the hybrid electronic control unit 70 is connected to the engine ECU 24, the motor ECU 40, and the battery ECU 52 via the communication port, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, and the battery ECU 52. ing.

  The hybrid vehicle 20 of the embodiment thus configured calculates the required torque to be output to the ring gear shaft 32a as the drive shaft based on the accelerator opening Acc corresponding to the depression amount of the accelerator pedal 83 by the driver and the vehicle speed V. Then, the operation of the engine 22, the motor MG1, and the motor MG2 is controlled so that the required power corresponding to the required torque is output to the ring gear shaft 32a. As operation control of the engine 22, the motor MG1, and the motor MG2, the operation of the engine 22 is controlled so that power corresponding to the required power is output from the engine 22, and all of the power output from the engine 22 is the power distribution and integration mechanism 30. Torque conversion operation mode for driving and controlling the motor MG1 and the motor MG2 so that the torque is converted by the motor MG1 and the motor MG2 and output to the ring gear shaft 32a, and the required power and the power required for charging and discharging the battery 50. The engine 22 is operated and controlled so that suitable power is output from the engine 22, and all or part of the power output from the engine 22 with charging / discharging of the battery 50 is the power distribution and integration mechanism 30, the motor MG1, and the motor. The required power is converted to the ring gear shaft 32 with torque conversion by MG2. Charge / discharge operation mode in which the motor MG1 and the motor MG2 are driven and controlled to be output to each other, and a motor operation mode in which the operation of the engine 22 is stopped and the power corresponding to the required power from the motor MG2 is output to the ring gear shaft 32a. and so on.

  Next, the operation of the hybrid vehicle 20 of the embodiment thus configured will be described. FIG. 2 is a flowchart showing an example of a drive control routine executed by the hybrid electronic control unit 70. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine is executed, first, the CPU 72 of the hybrid electronic control unit 70 first determines the accelerator opening Acc from the accelerator pedal position sensor 84, the vehicle speed V from the vehicle speed sensor 88, the rotational speed Nm1, of the motors MG1, MG2. A process of inputting data required for control such as Nm2, charge / discharge required power Pb * of the battery 50, input / output limits Win and Wout of the battery 50, and the travel mode Md is executed (step S100). Here, the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 are input from the motor ECU 40 by communication from those calculated based on the rotational positions of the rotors of the motors MG1 and MG2 detected by the rotational position detection sensors 43 and 44. To do. Further, as the charge / discharge required power Pb *, what is set by the battery ECU 52 as power to be charged / discharged by the battery 50 based on the remaining capacity (SOC) is input from the battery ECU 52 by communication. Input / output restrictions Win and Wout of the battery 50 are input from the battery ECU 52 by communication from the battery temperature Tb of the battery 50 detected by the temperature sensor 51 and the remaining capacity (SOC) of the battery 50. It was. The travel mode Md is inputted by reading the travel mode setting process routine of FIG. 3 and reading the one stored in a predetermined area of the RAM 76. This travel mode setting process routine is executed by the hybrid electronic control unit 70 in parallel with the drive control routine. Here, the description of the drive control routine is interrupted, and the travel mode setting process routine will be described.

  In the travel mode setting process routine, the CPU 72 of the hybrid electronic control unit 70 first inputs the power switch signal Psw from the power switch 89, the accelerator opening Acc from the accelerator pedal position sensor 84, and the current travel mode Md ( Step S200), it is determined whether or not the input power switch signal Psw is ON (step S210). If it is determined that the power switch signal Psw is not ON, that is, if it is determined that the power switch signal Psw is OFF, the normal mode is set as the travel mode Md (step S220), and the travel mode setting processing routine is terminated. . On the other hand, if it is determined that the power switch signal Psw is ON, it is determined whether or not the current travel mode Md is the normal mode (step S230). If it is determined that the normal mode is selected, the power input in this routine last time is determined. It is determined whether or not the switch signal Psw is OFF (step S240). Now, considering that the power switch signal Psw is ON, the process of step S240 is a process of determining whether or not the power switch signal Psw has been switched from OFF to ON. If it is determined that the previous power switch signal Psw is OFF, that is, if it is determined that the power switch signal Psw has been switched from OFF to ON, the current accelerator opening Acc is set to the reference opening Ax (step) S250). On the other hand, if it is determined that the previous power switch signal Psw is not OFF, since the reference opening Ax has already been set, the set reference opening Ax and the accelerator opening Acc input in this routine (Step S260), if it is determined that the accelerator opening Acc is equal to or greater than the reference opening Ax, the process proceeds to the next process, and if it is determined that the accelerator opening Acc is less than the reference opening Ax, the accelerator opening The reference opening Ax is corrected to Acc (step S250). That is, when the accelerator pedal 83 is depressed after the power switch signal Psw is turned on from OFF, the accelerator opening Acc at that time is reset as the reference opening Ax. Then, the increased opening (Acc-Ax) of the accelerator pedal 83 obtained by subtracting the reference opening Ax from the current accelerator opening Acc is compared with a predetermined value Aref (step S270), and the increased opening of the accelerator pedal 83 is determined. Is determined to be equal to or less than the predetermined value Aref, the normal mode is maintained as the travel mode Md despite the power switch signal Psw being ON (step S220), and the increased opening of the accelerator pedal 83 is greater than the predetermined value Aref. If it is determined that the driving mode Md is also larger, the driving mode Md is switched from the normal mode to the power mode (step S280), and the driving mode setting process routine is terminated. As described above, even if the power switch signal Psw is turned from OFF to ON, the normal mode is maintained until the increased opening of the accelerator pedal 83 becomes equal to or greater than the predetermined value Aref. This is to prevent an unexpected torque from being output even when the power switch signal Psw is turned on from OFF despite the absence. The predetermined value Aref is used to determine whether the accelerator pedal 83 is stepped on, and is set to 10%, for example. When the setting is switched from the normal mode to the power mode in this way, it is determined in step S230 that the current travel mode Md is not the normal mode until the power switch signal Psw is turned off, so that the power mode is maintained as the travel mode Md. (Steps S230 and S280), and the travel mode setting process routine is terminated.

  Returning to the drive control routine and inputting the data in this way, it is determined whether the input travel mode Md is the power mode or the normal mode (step S110). When the traveling mode Md is determined to be the normal mode, the execution accelerator opening Acc * is set based on the accelerator opening Acc using the normal mode map (step S120), and the traveling mode Md is determined to be the power mode. Then, the execution accelerator opening Acc * is set based on the accelerator opening Acc using the power mode map (step S125). Here, the execution accelerator opening Acc * using the power mode map is set by the power mode execution accelerator opening setting process of FIG. 4, and the execution accelerator opening Acc * using the normal mode map is set. The setting is set by the normal mode execution accelerator opening setting process of FIG. Hereinafter, the power mode execution accelerator opening setting process of FIG. 4 and the normal mode execution accelerator opening setting process of FIG. 5 will be described in order.

  In the power mode execution accelerator opening setting process of FIG. 4, a value 0 is set in a flag F2 described later (step S300), and the temporary execution accelerator opening Accpow is set using the power mode map (step S310). . Here, in the embodiment, the temporary execution accelerator opening Accpow is obtained in advance by storing the relationship between the accelerator opening Acc and the temporary execution accelerator opening Accpow in the ROM 74 as a map. Then, the corresponding temporary accelerator opening Accpow is set from the stored map. An example of this map is shown in FIG. In the figure, a normal mode map is also shown. In the normal mode map, the provisional execution accelerator opening Accnor is determined to have linearity with respect to the accelerator opening Acc in a range of 0 to 100%. That is, it is determined that the accelerator opening Acc is set to the temporary execution accelerator opening Accnor as it is. In the power mode map, in the embodiment, for the accelerator opening Acc in the low accelerator opening region of the predetermined opening Acc0 or less, the temporary execution accelerator opening Accnor set by the normal mode map has the same value. The accelerator opening Accpow has a linearity that becomes the execution accelerator opening Accpow, and for an accelerator opening Acc larger than the predetermined opening Acc0, the temporary execution accelerator opening Accpow is larger than the temporary execution accelerator opening Accnor. It is determined to have non-linearity. This is because when the vehicle is creeping with the accelerator pedal 83 fully closed when the vehicle is stopped, if the displacement of the fully closed position of the accelerator pedal 83 occurs or noise is mixed in the detected value of the accelerator pedal position sensor 84, the driver Even if the engine is not depressed 83, a slight open determination may be made. At this time, the accelerator opening for execution is larger than the normal mode map over the entire accelerator opening range from 0% to 100%. This is because if the power mode map is determined so that Acc * is set (see the one-dot chain line in FIG. 6), a large execution accelerator opening Acc * may be set to give the vehicle a feeling of popping out. The predetermined opening degree Acc0 is, for example, an opening degree of 5% to 10% in consideration of the performance of the accelerator pedal position sensor 84 and the accuracy obtained by learning when the fully closed position of the accelerator pedal 83 is learned (Example) Then, the opening degree can be set to 7%. Subsequently, the value of the flag F1 is checked (step S320). Here, the flag F1 is set to a value of 0 when a normal mode execution accelerator opening setting process described later is executed. Considering immediately after the setting is switched from the normal mode to the power mode, the flag F1 is determined to be 0, and the temporary execution accelerator opening Accnor is determined based on the accelerator opening Acc using the normal mode map of FIG. Is set (step S330), and the opening difference ΔA is calculated by subtracting the temporary execution accelerator opening Accnor from the temporary execution accelerator opening Accpow set in step S310 (step S340). A new opening correction amount Aset1 is set by adding a predetermined value A1 to the opening correction amount Aset1 (step S350), and the opening correction amount Aset1 is compared with the opening difference ΔA (step S360). When it is determined that the opening correction amount Aset1 is less than the opening difference ΔA, a value obtained by adding the opening correction amount Aset1 to the provisional execution accelerator opening Accnor set in step S330 is set as the execution accelerator opening Acc *. (Step S370), the process is terminated, and when the opening correction amount Aset1 is determined to be greater than or equal to the opening difference ΔA, a value 1 is set in the flag F1 (Step S380), and a value 0 is set in the opening correction amount Aset1. Is set (step S390), the temporary execution accelerator opening Accpow set in step S310 is set to the execution accelerator opening Acc * (step S395), and the process is terminated. Since a negative determination is made in step S320 after the value 1 is set in the flag F1, the processing in step S395 for setting the temporary execution accelerator opening Accpow to the execution accelerator opening Acc * is repeated. become. As described above, when the setting is switched from the normal mode to the power mode, the execution accelerator opening Acc * is gradually shifted from the temporary execution accelerator opening Accnor to the temporary execution accelerator opening Accpow using the rate process. Thus, switching from the normal mode to the power mode is smoothly performed. The predetermined value A1 is a rate value used for rate processing, and is determined based on the specifications of the hybrid vehicle 20.

  In the normal mode execution accelerator opening setting process of FIG. 5, the value F is set to the flag F1 (step S400), and the temporary execution accelerator opening Accnor is set using the normal mode map illustrated in FIG. (Step S410). Subsequently, the value of the flag F2 is checked (step S420). Here, as described above, the flag F2 is set to 0 when the power mode execution accelerator opening setting process is executed. Considering immediately after the setting is switched from the power mode to the normal mode, the flag F2 is determined to be 0, and the temporary execution accelerator opening Accpow is based on the accelerator opening Acc using the power mode map of FIG. Is set (step S430), and the opening difference ΔA is calculated by subtracting the temporary execution accelerator opening Accnor from the set temporary execution accelerator opening Accpow (step S440), and the opening previously set in this routine is calculated. A new opening correction amount Aset2 is set by adding a predetermined value A2 to the correction amount Aset2 (step S450), and the opening correction amount Aset2 is compared with the opening difference ΔA (step S460). When it is determined that the opening correction amount Aset2 is less than the opening difference ΔA, a value obtained by subtracting the opening correction amount Aset2 from the temporary execution accelerator opening Accpow set in step S430 is set as the execution accelerator opening Acc *. (Step S470), the process is terminated, and when it is determined that the opening correction amount Aset2 is equal to or larger than the opening difference ΔA, a value 1 is set in the flag F2 (Step S480), and a value 0 is set in the opening correction amount Aset2. Is set (step S490), the temporary execution accelerator opening Accnor set in step S410 is set to the execution accelerator opening Acc * (step S495), and the process is terminated. After the value 1 is set in the flag F2, since a negative determination is made in step S420, the process of step S495 for setting the temporary execution accelerator opening Accnor to the execution accelerator opening Acc * is repeated. become. As described above, even when the setting is switched from the power mode map to the normal mode, the execution accelerator opening Acc * is gradually changed from the temporary execution accelerator opening Accpow to the temporary execution accelerator opening Accnor using the rate process. By switching to, the switching from the normal mode to the power mode is performed smoothly. The predetermined value A2 is a rate value used for rate processing, and is determined based on the specifications of the hybrid vehicle 20.

  Return to the drive control routine again. When the execution accelerator opening Acc * is thus set, a ring gear shaft as a drive shaft connected to the drive wheels 63a and 63b as torque required for the vehicle based on the set execution accelerator opening Acc * and the vehicle speed V. The required torque Tr * to be output to 32a and the required power Pe * required for the engine 22 are set (step S130). In the embodiment, the required torque Tr * is determined in advance by storing the relationship between the execution accelerator opening Acc *, the vehicle speed V, and the required torque Tr * in the ROM 74 as a required torque setting map. When Acc * and vehicle speed V are given, the corresponding required torque Tr * is derived and set from the stored map. FIG. 7 shows an example of the required torque setting map. The required power Pe * can be calculated as the sum of the set required torque Tr * multiplied by the rotational speed Nr of the ring gear shaft 32a and the charge / discharge required power Pb * required by the battery 50 and the loss Loss. The rotation speed Nr of the ring gear shaft 32a can be obtained by multiplying the vehicle speed V by the conversion factor k, or can be obtained by dividing the rotation speed Nm2 of the motor MG2 by the gear ratio Gr of the reduction gear 35.

  Subsequently, the target rotational speed Ne * and the target torque Te * of the engine 22 are set based on the set required power Pe * (step S140). In this setting, the target rotational speed Ne * and the target torque Te * are set based on the operation line for efficiently operating the engine 22 and the required power Pe *. FIG. 8 shows an example of the operation line of the engine 22 and how the target rotational speed Ne * and the target torque Te * are set. As shown in the figure, the target rotational speed Ne * and the target torque Te * can be obtained from the intersection of the operation line and a curve with a constant required power Pe * (Ne * × Te *).

  Next, using the set target rotational speed Ne *, the rotational speed Nr (Nm2 / Gr) of the ring gear shaft 32a, and the gear ratio ρ of the power distribution and integration mechanism 30, the target rotational speed Nm1 of the motor MG1 is given by the following equation (1). * Is calculated and a torque command Tm1 * of the motor MG1 is calculated by equation (2) based on the calculated target rotational speed Nm1 * and the current rotational speed Nm1 (step S150). Here, Expression (1) is a dynamic relational expression for the rotating element of the power distribution and integration mechanism 30. FIG. 9 is a collinear diagram showing a dynamic relationship between the number of rotations and torque in the rotating elements of the power distribution and integration mechanism 30. In the figure, the left S-axis indicates the rotation speed of the sun gear 31 that is the rotation speed Nm1 of the motor MG1, the C-axis indicates the rotation speed of the carrier 34 that is the rotation speed Ne of the engine 22, and the R-axis indicates the rotation speed of the motor MG2. The rotational speed Nr of the ring gear 32 obtained by dividing the number Nm2 by the gear ratio Gr of the reduction gear 35 is shown. Expression (1) can be easily derived by using this alignment chart. The two thick arrows on the R axis indicate that torque Te * output from the engine 22 when the engine 22 is normally operated at the operation point of the target rotational speed Ne * and the target torque Te * is transmitted to the ring gear shaft 32a. Torque Tor and torque Tm2 * output from the motor MG2 acts on the ring gear shaft 32a via the reduction gear 35. Expression (2) is a relational expression in feedback control for rotating the motor MG1 at the target rotational speed Nm1 *. In Expression (2), “k1” in the second term on the right side is a gain of a proportional term. “K2” in the third term on the right side is the gain of the integral term.

Nm1 * = Ne * ・ (1 + ρ) / ρ-Nm2 / (Gr ・ ρ) (1)
Tm1 * = previous Tm1 * + k1 (Nm1 * -Nm1) + k2∫ (Nm1 * -Nm1) dt (2)

  When the target rotational speed Nm1 * and the torque command Tm1 * of the motor MG1 are thus calculated, the input / output limits Win and Wout of the battery 50 and the calculated torque command Tm1 * of the motor MG1 are multiplied by the current rotational speed Nm1 of the motor MG1. Torque limits Tmin and Tmax as upper and lower limits of the torque that may be output from the motor MG2 by dividing the deviation from the obtained power consumption (generated power) of the motor MG1 by the rotational speed Nm2 of the motor MG2 is expressed by the following equation (3). Further, the temporary motor torque Tm2tmp as the torque to be output from the motor MG2 is calculated using the required torque Tr *, the torque command Tm1 *, and the gear ratio ρ of the power distribution and integration mechanism 30 (step S160). Calculated by equation (5) (step S170), and with the calculated torque limits Tmin and Tmax Setting the torque command Tm2 * of the motor MG2 as a value obtained by limiting the motor torque Tm2tmp (step S180). By setting the torque command Tm2 * of the motor MG2 in this way, the required torque Tr * output to the ring gear shaft 32a as the drive shaft is set as a torque limited within the range of the input / output limits Win and Wout of the battery 50. can do. Equation (5) can be easily derived from the collinear diagram of FIG. 9 described above.

Tmin = (Win-Tm1 * ・ Nm1) / Nm2 (3)
Tmax = (Wout-Tm1 * ・ Nm1) / Nm2 (4)
Tm2tmp = (Tr * + Tm1 * / ρ) / Gr (5)

  Thus, when the target engine speed Ne *, the target torque Te *, and the torque commands Tm1 *, Tm2 * of the motors MG1, MG2 are set, the target engine speed Ne * and the target torque Te * of the engine 22 are set in the engine ECU 24. The torque commands Tm1 * and Tm2 * for the motors MG1 and MG2 are transmitted to the motor ECU 40 (step S190), and the drive control routine is terminated. The engine ECU 24 that has received the target rotational speed Ne * and the target torque Te * performs fuel injection control in the engine 22 such that the engine 22 is operated at an operating point indicated by the target rotational speed Ne * and the target torque Te *. Controls such as ignition control. The motor ECU 40 that has received the torque commands Tm1 * and Tm2 * controls the switching elements of the inverters 41 and 42 so that the motor MG1 is driven by the torque command Tm1 * and the motor MG2 is driven by the torque command Tm2 *. To do.

  According to the hybrid vehicle 20 of the embodiment described above, the power mode map has the same linearity as the normal mode map and is larger than the predetermined opening Acc0 with respect to the accelerator opening Acc below the predetermined opening Acc0. The accelerator opening Acc is determined to have nonlinearity that sets an execution accelerator opening Acc * larger than the normal mode map, and when the power mode is set as the travel mode Md, the accelerator opening Acc The execution accelerator opening Acc * is set based on the power mode map, the required torque Tr * to be output to the ring gear shaft 32a is set based on the set execution accelerator opening Acc *, and the set required torque Tr is set. Because engine 22 and motors MG1, MG2 are controlled so that torque based on * is output. Even when the fully closed position of the accelerator pedal position sensor 84 for detecting the accelerator opening degree Acc is shifted or noise is mixed, the vehicle can be given to the driver when creeping with the accelerator pedal 83 turned off when the vehicle is stopped. The feeling of popping out can be suppressed.

  Further, according to the hybrid vehicle 20 of the embodiment, when the power switch signal Psw is turned from OFF to ON while traveling in the normal mode, the vehicle waits for the accelerator pedal 83 to be further depressed thereafter. Since the mode Md is switched from the normal mode to the power mode, even if the power switch 89 is not operated for some reason, even if the power switch signal Psw is turned on from OFF, it is possible to suppress driving with unexpected torque. Can do. In addition, when the travel mode Md is switched, the execution accelerator opening Acc * is switched from the temporary execution accelerator opening Accpow to the temporary execution accelerator opening Accnor using the rate processing, and the execution accelerator opening Acc * is changed. Since the temporary accelerator opening Accnor is switched to the temporary accelerator opening Accpow, torque shock when switching the travel mode Md can be suppressed.

  In the hybrid vehicle 20 of the embodiment, when the power switch signal Psw is turned from ON to OFF during traveling in the power mode, the traveling mode Md is immediately switched from the power mode to the normal mode regardless of the operation of the accelerator pedal 83. However, when the power switch signal Psw is turned from ON to OFF while driving in the power mode, the accelerator pedal 83 is subsequently stepped back or the accelerator opening Acc is less than the predetermined opening. After waiting, the traveling mode Md may be switched from the power mode to the normal mode.

  In the hybrid vehicle 20 of the embodiment, immediately after the travel mode Md is switched, the execution accelerator opening Acc * is shifted from the temporary execution accelerator opening Accnor to the temporary execution accelerator opening Accpow using rate processing. The temporary execution accelerator opening Accpow is shifted to the temporary execution accelerator opening Accnor. However, instead of rate processing, smoothing processing may be used, and such rate processing and annealing processing may be used. The execution accelerator opening Acc * is immediately shifted from the temporary execution accelerator opening Accnor to the temporary execution accelerator opening Accpow, or the temporary execution accelerator opening Accpow is not used. It is good also as what transfers to Accelor immediately.

  In the hybrid vehicle 20 of the embodiment, either the normal mode map or the power mode map is selected based on the driving mode Md, and the execution is performed based on the accelerator opening Acc from the accelerator pedal position sensor 84 using the selected map. The accelerator opening Acc * is set, and the required torque Tr * is set using the required torque setting map illustrated in FIG. 7 on the basis of the set execution accelerator opening Acc *. When the normal mode is set, the accelerator opening Acc from the accelerator pedal position sensor 84 is used as it is as the execution accelerator opening Acc *, the required torque Tr * is set using the required torque setting map, and the travel mode Md is set. When the power mode is set, the accelerator pedal position It may set the torque demand Tr * by using the accelerator opening Acc Yonsensa 84 required torque setting map those plus a correction opening ΔAcc as execution accelerator opening Acc *. The corrected opening degree ΔAcc can be set based on the accelerator opening degree Acc. An example of a map showing the relationship between the corrected opening degree ΔAcc and the accelerator opening degree Acc is shown in FIG.

  In the hybrid vehicle 20 of the embodiment, the execution accelerator opening Acc * is set based on the accelerator opening Acc from the accelerator pedal position sensor 84 and the travel mode Md, and the set execution accelerator opening Acc * and the vehicle speed V are set. The required torque Tr * required for the ring gear shaft 32a is set based on the above, but the required torque Tr * may be set directly based on the accelerator opening Acc, the vehicle speed V, and the travel mode Md. Good. In this case, when the normal mode is set as the travel mode Md in place of steps S120, S125, and S130 of the drive control routine of FIG. 2, the accelerator opening Acc and the vehicle speed V are set using the normal mode required torque setting map. The required torque Tr * is set on the basis of the accelerator opening degree Acc and the vehicle speed V using the power mode required torque setting map when the power mode is set as the travel mode Md. It should be set. FIG. 11 shows an example of a normal mode required torque setting map and a power mode required torque setting map. As shown in the figure, the power mode required torque setting map has the same torque characteristics as the normal mode required torque setting map for the accelerator opening Acc of 0% to the predetermined opening Acc0, 100%. For the accelerator opening Acc from the predetermined opening Acc0 to 100%, it is determined that a torque larger than the normal mode required torque setting map is set as the required torque Tr *. It should be noted that immediately after the travel mode Md is switched, the required torque Tr * may be subjected to rate processing or annealing processing. Thereby, the driving mode Md can be switched smoothly.

  In the hybrid vehicle 20 of the embodiment, the normal mode and the power mode are switched by the operation of the power switch 89 by the operator, but three or more modes having different output torque characteristics with respect to the accelerator opening Acc are selected. It is good also as what switches by operation of a power switch by an operator.

  In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is changed by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modified example of FIG. May be connected to an axle (an axle connected to the wheels 64a and 64b in FIG. 12) different from the axle to which the ring gear shaft 32a is connected (the axle to which the drive wheels 63a and 63b are connected).

  In the hybrid vehicle 20 of the embodiment, the power of the engine 22 is output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b via the power distribution and integration mechanism 30, but the modified example of FIG. The hybrid vehicle 220 includes an inner rotor 232 connected to the crankshaft 26 of the engine 22 and an outer rotor 234 connected to a drive shaft that outputs power to the drive wheels 63a and 63b. A counter-rotor motor 230 that transmits a part of the power to the drive shaft and converts the remaining power into electric power may be provided.

  In the embodiment, the present invention is applied to a hybrid vehicle including the engine 22, the power distribution and integration mechanism 30, and the motors MG1 and MG2. However, a transmission that shifts the power from the engine and the engine and outputs it to the drive wheels 63a and 63b. And a motor having a motor for inputting / outputting power to / from the drive wheels, or to an engine vehicle for shifting the power from the engine and the engine and outputting it to the drive wheels 63a, 63b. Good. Moreover, it is good also as what is set as the aspect of the drive device mounted in such a vehicle.

  The embodiments of the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments, and can be implemented in various forms without departing from the gist of the present invention. Of course you get.

  The present invention is applicable to the automobile industry and the drive device manufacturing industry.

1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 as one embodiment of the present invention. It is a flowchart which shows an example of the drive control routine performed by the hybrid electronic control unit 70 of an Example. It is a flowchart which shows an example of a driving mode setting process routine. It is a flowchart which shows an example of the accelerator opening setting for execution for power modes. It is a flowchart which shows an example of the accelerator opening setting for execution for normal mode. It is explanatory drawing which shows an example of the map for accelerator opening setting for execution. It is explanatory drawing which shows an example of the map for request | requirement torque setting. It is explanatory drawing which shows a mode that an example of the operating line of the engine 22, and target rotational speed Ne * and target torque Te * are set. 4 is a collinear diagram for dynamically explaining the rotation speed and torque of each rotary element of the power distribution and integration mechanism 30. FIG. It is a map which shows an example of the relationship between correction | amendment opening degree (DELTA) Acc and accelerator opening degree Acc. It is explanatory drawing which shows an example of the normal mode required torque setting map and the power mode required torque setting map. FIG. 10 is a configuration diagram illustrating an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 6 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 220 according to a modification.

Explanation of symbols

20, 120, 220 Hybrid vehicle, 22 engine, 24 engine electronic control unit (engine ECU), 26 crankshaft, 28 damper, 30 power distribution integration mechanism, 31 sun gear, 32 ring gear, 32a ring gear shaft, 33 pinion gear, 34 carrier , 35, reduction gear, 40 motor electronic control unit (motor ECU), 41, 42 inverter, 43, 44 rotational position detection sensor, 50 battery, 51 temperature sensor, 52 battery electronic control unit (battery ECU), 54 electric power Line, 60 gear mechanism, 62 differential gear, 63a, 63b drive wheel, 64a, 64b wheel, 70 electronic control unit for hybrid, 72 CPU, 74 ROM, 76 RAM, 80 ignition switch, 81 shift lever, 82 shift position sensor, 83 accelerator pedal, 84 accelerator pedal position sensor, 85 brake pedal, 86 brake pedal position sensor, 88 vehicle speed sensor, 230 rotor motor, 232 inner rotor 234 outer rotor, MG1, MG2 motor.

Claims (10)

A drive device that is mounted on a vehicle and drives an axle,
Driving force output means for outputting a driving force for traveling to the axle;
An accelerator operation detecting means for detecting the driver's accelerator operation;
A changeover switch for switching between a plurality of travel modes including a first travel mode and a second travel mode in which the driving force characteristic for the driver's accelerator operation is higher than that of the first travel mode. A changeover switch operation detecting means for detecting the operation of
The plurality of travel modes are selectively set based on the detected operation of the changeover switch, and when the first travel mode is set, a predetermined first driving force characteristic and the detected accelerator A target driving force is set based on the operation and the driving force output means is controlled so that the vehicle travels with the set target driving force. When the second traveling mode is set, a predetermined low accelerator operation is performed. For the driver's accelerator operation up to the amount, the driver's accelerator operation exceeding the predetermined low accelerator operation amount by setting a target driving force based on the first driving force characteristic and the detected accelerator operation. For this, a target driving force is set on the basis of the second driving force characteristic that is higher than the first driving force characteristic and the detected accelerator operation, and the set target is set. Drive and control means for controlling the driving force output means so as to travel by power.   The control means sets a first accelerator operation relationship as a relationship between a driver's accelerator operation and an execution accelerator operation used for control when the first travel mode is set, and the detected accelerator operation The execution accelerator operation is set based on the set first accelerator operation relationship, the target driving force is set based on the set execution accelerator operation, and the vehicle is driven by the set target driving force. The driving force output means is controlled, and when the second traveling mode is set, the first accelerator operation relation is set for the accelerator operation of the driver up to the predetermined low accelerator operation amount, and the predetermined operation is performed. For the accelerator operation of the driver exceeding the low accelerator operation amount, a larger operation amount than the first accelerator operation relationship is set as the execution accelerator operation. The second accelerator operation relationship is set, an execution accelerator operation is set based on the detected accelerator operation and the set accelerator operation relationship, and a target driving force is set based on the set execution accelerator operation The driving device according to claim 1, wherein the driving force output means is controlled so that the vehicle travels with the set target driving force. The drive device according to claim 2,
The first accelerator operation relationship has a substantially linear characteristic;
The second accelerator operation relationship has a non-linear characteristic.   The control means sets the target driving force based on the driver's accelerator operation when the first driving mode is set, and sets the driving force output means so that the vehicle travels with the set target driving force. And when the second driving mode is set, a target driving force is set based on the detected accelerator operation for a driver's accelerator operation up to the predetermined low accelerator operation amount, and the predetermined driving force is set. For a driver's accelerator operation exceeding the low accelerator operation amount, a target driving force is set based on an accelerator operation obtained by upwardly correcting the detected accelerator operation so that the vehicle travels with the set target driving force. 2. The drive device according to claim 1, wherein the drive device is means for controlling drive force output means.   5. The drive device according to claim 1, wherein the control unit is a unit that selectively sets the plurality of travel modes based on the detected operation of the changeover switch and the detected accelerator operation. 6.   The control means detects the accelerator operation after the change is detected when the changeover operation detecting means detects the change to the second running mode when the first running mode is set. 6. The driving apparatus according to claim 5, wherein the driving means is a means for switching the setting from the first traveling mode to the second traveling mode on condition that an accelerator operation in an opening direction equal to or greater than a predetermined operation amount is detected by the detecting means.   The drive device according to any one of claims 1 to 6, wherein, when the setting of the travel mode is switched, the control means controls the drive force for travel to gradually change before and after the switching of the setting. .   The driving device according to any one of claims 1 to 7, wherein the driving force output means includes an internal combustion engine capable of outputting power to the axle and an electric motor capable of inputting / outputting power to the axle.   An automobile equipped with the driving device according to claim 1. The driving force output means for outputting the driving force for driving to the axle, the accelerator operation detecting means for detecting the driver's accelerator operation, and the first driving mode and the characteristics of the driving force with respect to the driver's accelerator operation. And a changeover switch operation detecting means for detecting an operation of a changeover switch for switching a plurality of travel modes including a second travel mode having a driving force characteristic higher than that of the travel mode. A method of controlling a drive device for driving
(A) selectively setting the plurality of travel modes based on the detected operation of the changeover switch;
(B) When the first traveling mode is set, a target driving force is set based on the predetermined first driving force characteristic and the detected accelerator operation, and the vehicle is driven by the set target driving force. The driving force output means is controlled so that the vehicle travels, and when the second traveling mode is set, the first driving force characteristic is applied to the driver's accelerator operation up to a predetermined low accelerator operation amount. A target driving force is set based on the detected accelerator operation, and a driving force characteristic higher than the first driving force characteristic is set for a driver's accelerator operation exceeding the predetermined low accelerator operation amount. A method for controlling a driving device, wherein a target driving force is set based on a second driving force characteristic and the detected accelerator operation, and the driving force output means is controlled to travel with the set target driving force.

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