CN100400331C - Vehicle and its control method - Google Patents

Vehicle and its control method Download PDF

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Publication number
CN100400331C
CN100400331C CN 200410091218 CN200410091218A CN100400331C CN 100400331 C CN100400331 C CN 100400331C CN 200410091218 CN200410091218 CN 200410091218 CN 200410091218 A CN200410091218 A CN 200410091218A CN 100400331 C CN100400331 C CN 100400331C
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vehicle
control
method
control method
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CN 200410091218
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Chinese (zh)
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CN1778597A (en )
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本美明
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丰田自动车株式会社
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7258Optimisation of vehicle performance
    • Y02T10/7275Desired performance achievement

Abstract

本发明涉及车辆及车辆的控制方法。 The present invention relates to a control method for a vehicle and the vehicle. 在打滑发生期间推定路面的状态并对其进行处理。 Presumption road during the slip occurs state and processes. 当向与驱动轮相连的驱动轴直接输出转矩的电机的旋转角加速度α超过可检测为因空转而引起的打滑的阈值αslip时,限制从电机输出的转矩。 When the rotation angular acceleration α of torque to the output shaft is directly connected to the drive wheels of the motor exceeds a threshold value when detecting αslip slip caused due to idle, to limit the torque output from the motor. 在该转矩的限制期间,当旋转角加速度α小于负的规定值αref时,推定为路面不是μ极低路面的状态,在作为驱动轮的车轮速度Vf与非驱动轮的车轮速度Vr的偏差的车轮速度差ΔV小于规定值Vref的时刻解除对从电机输出的转矩进行的限制。 During this torque limit when the rotation angular acceleration α is smaller than the predetermined negative value αref, estimates the road surface is not low μ road surface state, a variation in the wheel speed Vr of the wheel speed Vf and the non-driving wheel of the driving wheel wheel speed difference ΔV is less than the predetermined value Vref lift restrictions on the timing from the output torque of the motor. 另一方面,当旋转角加速度α并非小于负的规定值αref而经过负的峰值且缓慢上升而经过零时,就推定为路面是μ极低路面的状态,在经过零的时刻解除从电机输出的转矩的限制。 On the other hand, when the rotation angular acceleration α is not smaller than the negative predetermined value αref through the negative peak and gradually rises through zero, it is estimated that the road surface state extremely low μ road surface, the time elapsed from the motor output zero release the limit torque.

Description

车辆以及车辆的控制方法技术领域本发明涉及具备可向与驱动轮相连接的驱动轴输出动力的原动机、检测因前述驱动轮的空转所引起的打滑的打滑检测装置和以在由该打滑检测机的控制装置的车辆以及其控制方法。 TECHNICAL FIELD The present invention relates to a vehicle and may be provided with a prime mover output power to a drive shaft connected to the drive wheels, the slip detection means detects a slip due to the idle and drive wheels caused to slip is detected by the vehicle control device and a control method of the machine. 背景技术以往,作为这种车辆,提出了一种根据在制动时使制动油压呈脉动状的车辆(例如,参照特开2000-313327号公报)。 BACKGROUND ART Conventionally, as this type of vehicle, proposed a brake hydraulic pressure in accordance with the time of braking a vehicle as a ripple shape (e.g., refer to Laid-Open Patent Publication No. 2000-313327). 另外,还提出了一种在根据路面状态或运转状态而判定了打滑或锁死时,禁止向驱动轴输出的转矩的变化直至该状态收敛为止的车辆(例如, 参照特开平7 - 143618号公报)。 Further, a method is also proposed in accordance with road surface condition or operating state is determined when the slip or lock, prohibits the change in the torque output to the drive state until the vehicle until convergence (e.g., see JP-7-- No. 143618 Gazette). 发明内容这样,作为在谋求车辆的稳定行驶方面重要的问题可列举正确地掌握路面状态来应对驱动轮的空转这样的课题。 SUMMARY In this way, as an important issue in terms of stability of travel of the vehicle include seeking to accurately grasp the state of the road surface to deal with such a problem idle drive wheels. 特别是如果能够推定像冰面等摩擦系数极小的路面状态而对其进行处理,则能够大大提高车辆的行驶稳定性。 Especially if the friction coefficient can be estimated as very small ice road surface state and the like of its processing, it is possible to greatly improve the stability of the vehicle. 本发明的车辆以及车辆的控制方法,其一个目的即在于解决这样的问题,更准确地推^*擦系数小的路面的状态而对其进行处理。 The vehicle control method according to the present invention and a vehicle, which is an object that is to solve this problem, more accurately push ^ * small friction coefficient of the road surface while it is processed. 另外,本发明的车辆以及车辆的控制方法,另一个目的在于更进一步提高车辆的行驶稳定性。 Further, a control method for a vehicle and a vehicle of the present invention, another object is to further improve the stability of the vehicle. 本发明的车辆以及车辆的控制方法,为了达成上述目的中的至少一个,采用了以下的方案。 The vehicle control method according to the present invention and a vehicle, in order to achieve the above object, at least one, adopts the following scheme. 本发明的车辆,是具备能够向与驱动轮相连接的驱动轴输出动力的原动机、检测因上述驱动轮的空转而引起的打滑的打滑检测装置和在由该打上述原动机的控制装置的车辆;其特征在于,具备:检测上述驱动轴的旋转状态的旋转状态检测装置;在由上述控制装置进行的转矩的限制的期间面的状态的路面状态推定装置;以及根据该推定出的行驶路面的状态调整由上述控制装置进行的转矩的限制的转矩限制调整装置。 Vehicle of the invention, is provided with a prime mover capable of outputting power to a drive shaft connected to the drive wheels, the slip detection means detects a slip due to an idling of the drive wheel and control means caused by the play of the prime mover vehicle; characterized in that, comprising: state detecting means for detecting the rotation state of the rotary drive shaft; sTATUS road surface during the torque limiting control performed by the estimating means; and means in accordance with the estimated running out torque limit adjustment torque by the control means limits the state of the road surface of the adjusting means. 在本发明的车辆中,在检测到打滑时,以限制向与驱动轮相连接的驱动轴输出的转矩的那样驱动控制原动机,并根据在该转矩的限制的期间检测到的驱动轴的旋转状态来推定行驶路面的状态,再根据所推定出的行驶路面的状态来调整转矩的限制。 In the vehicle according to the present invention, upon detection of slip, in order to limit the torque output to the drive of drive wheels connected to the prime mover as drive control, and according to the detection limit during torque to the drive shaft rotational state estimated traveling road surface state, and then to adjust the limit torque based on the estimated driving state of the road surface. 因为伴随打滑的检测而来的转矩的限制的期间,驱动轴的旋转状态梯^据行驶路面的状态而变化,所以通过解析转矩限制的期间的驱动轴的旋转状态,能够更准确地掌握行驶路面的状态。 Because the period associated with the detection limit of the torque from the slipping of the drive shaft rotation status ladder ^ According to the state of the road surface to change, so the state by rotating the drive shaft of the torque limit during parsing, it is possible to more accurately grasp driving state road. 因有效地抑制打滑-在此7作为"原动二",-最好是控制的应l性较快的l 动机或发电电动机(发电电机)。 Due to effectively suppress the slip - 7 herein as "two prime mover", - l should preferably faster l of motive power generation or motor control (motor generator). 在这样的本发明的车辆中,还可以设定为上述旋转状态检测装置是检测上述驱动轴的旋转角加速度的旋转角加iUL检测装置;上述路面状态推定装置,是根据上述所检测出的驱动轴的旋转角加速度来推定上述行驶路面的状态的装置',在此,对于"旋转角加4JL检测装置"而言,除包括直接检测旋转角加速度的类型以外,还包括在检测驱动轴的旋转角速度的同另外,测出的驱动轴的旋转角加速度来检测打滑的装置;上述控制装置,是根据上述检测出的驱动轴的旋转角加速度设定限制转矩,根据该设定的限制转矩驱动控制上述原动机的装置。 In such a vehicle according to the present invention, may be set as the rotation state detecting means detects the rotation angle of the drive shaft of the rotational angular acceleration detecting means iUL added; and the road surface condition estimating means is based on the detected driving estimating the angular acceleration of the shaft means' state of the running road surface, here, the "rotation angle detecting means adding 4JL" is concerned, in addition to including the type of directly detecting rotation angular acceleration, it also includes a rotation detecting the drive shaft Further same angular velocity, angular acceleration measured device detecting slippage of the drive shaft; wherein the control means is set to limit torque according to the detected rotational angular acceleration of the drive shaft, the limit torque is set according to the means for controlling driving of the prime mover. 在该情况下,上述控制装置是以上述所检矩的装置。 In this case, the control device is the subject of the above-described apparatus moment. 另外,还可以设定为上述控制装置是按照随着时间的经过而阶式来驱动控;j上速原动机的装置。 It is also possible to set the control device in accordance with the lapse of time stepwise to drive controller; j means the speed of the prime mover. 这样一来,就能够抑制伴随转矩的限制而来的冲击。 As a result, it is possible to suppress the impact of limiting the torque comes. 在该情况下,上述控制装置,是按照以随着时间的经过而变的装置。 In this case, the control device, in accordance with the device over time and become. 这样一来,就能够在抑制伴随转矩的限制而来的冲击的同时进一步提高打滑的收敛性。 As a result, it is possible to suppress the concomitant impact in limiting the torque comes to further improve the convergence of the skid. 另外,在本发明的车辆中,还可以设定为上述路面状态推定装置是可识别地推定作为上述行驶路面的状态是否至少是水面等摩擦系数极小的P 极低路面的装置。 In the vehicle of the present invention may also be set as the road surface condition estimating means estimate is recognizable as to whether the state of the running road surface is at least water and other means of very small coefficient of friction of a road surface is extremely low P. 这样一来,就能够进行对摩擦系数极小的P极低硌面的打滑的处理。 Thus, it is possible to process a very small coefficient of friction is very low Ge P slip surface. 另外,还可以设定为上述旋转状态检测装置是检测上述驱动轴的旋转角加速度的旋转角加速度检测装置;上述路面状态推定装置,是路面、在上述所检测出的旋转角加il^不低于上述负的规定值时推定为是上述JLi极^^面的装置。 It is also possible to set the rotation state detecting means is to detect the rotational angular acceleration of the drive shaft rotational angular acceleration detecting means; and the road surface condition estimating means, road surface, in the rotational angular acceleration of the detected ^ il not low is estimated during said predetermined value is the above-described negative electrode means JLi ^^ surface. 这样一来,能够更准确地推定M极4^面。 Thus, M can be more accurately estimated ^ 4 pole face. 进而,旋转角加速度检测装置;上述打滑检测装置,是根据由上述旋转角加速度检测装置所检测出的驱动轴的旋转角加速度来检测打滑的装置;上述控制装置,是根据上述所检测出的驱动轴的旋转角加速度设定限制转矩,根据该设定的限制转矩来驱动控制上述原动机的装置;上述路面状态推定装置,的装置;上述转矩限制调整装置,是在作为上述行驶路面的状态由上* 面状态推定装置推定为不是上述jn极低路面时,不拘泥于上述所设定的限矩的限制的装置。 Further, the rotation angular acceleration detecting means; the above-described slippage detection device is a device according to the rotational angular acceleration of the drive shaft by the rotational angular acceleration detected by the detecting means detects slipping; said control means is based on the detected driving means the above-described road surface condition estimation apparatus, a;; shaft rotational angular acceleration limit torque is set to control the driving means of the prime mover in accordance with the set limit torque of the torque limit adjustment means, as in the running road surface when the state estimation by the estimating means on the * surface state is not a low road jn above, moment limiting device set the limit does not stick. 如此,则能够根据行驶路面的状态防止过度的转矩限制。 Thus, it is possible to prevent excessive torque limit according to the state of running road surface. 在可识别地推定行驶路面的状态是否为y极低路面的形态的本发明的车辆中,还可以设定为,上述转矩限制调整装置是以与由上述路面状态推定装置所推定出的行驶路面的状态相对应的形态来解除向上述驱动轴输出的转矩的限制的装置。 In estimating the traveling road surface can be identified whether the state of the vehicle according to the present invention, y in the low road surface morphology can also be set to limit the torque adjusting means is estimated by the road surface condition and the estimated driving means the road surface corresponding to the shape of means to limit the torque output of the drive shaft is released. 这样一来,可根据是否为H极^i洛面而实施更准确的转矩的限制的解除,还可有效地防止再次发生打滑。 Thus, according to whether the H ^ i Los electrode surface and more accurate embodiment of the release limit torque, may slip occurs again effectively prevented. 的限制的形态的本发明的车辆中,还可以:没定为具^^检测上述车辆的驱动轮的旋转角速度和非驱动轮的旋转角速度的旋转角il^检测装置;上述转矩限制调整装置,是在作为上^面状态由上&洛面状态推定装置推定为不是上述u极低路面时,根据上述所检测出的驱动轮的旋转角速度与非驱动轮的旋转角速度解除向上述驱动轴输出的转矩的限制的装置。 Vehicle aspect of the present invention is limited, it is also possible: rotation angle of the rotational angular velocity is not constant il detects the vehicle drive wheel as having ^^ non-drive wheels and the rotational angular velocity detecting means ^; adjusting the torque limiting means when, as in the state of the surface ^ & Rockwell surface state estimated as described above u are not very low road estimating means based on the rotation angular velocity of the rotation angular velocity detected above the non-drive wheels to the wheels of the drive shaft for releasing means for limiting the torque. 另外,还驱动轮的旋转角速度的偏差小于或等于规定偏差时,解除上述转矩的限制的装置。 In addition, further variation of the drive wheel rotation angular velocity is equal to or less than a predetermined deviation, the torque limiting means is released. 进而,还可以设定为上述转矩限制调整装置是随着时间的经过而阶段性地解除上述转矩的限制的装置.这样一来,可防止解除转矩的限制之际的冲击和再次发生打滑等。 Further, may also be set as the torque limiting means is adjusted stepwise over time to release the torque limiting device. In this way, the torque shock can be prevented lifting of restrictions on the occasion of recurrence and skidding and so on. 在该情况下,还可以设定为上述转矩限制装置。 In this case, the torque may also be set to a limiting device. 这样一来,能够某种程度上应对驾驶者的转矩的要求。 As a result, the torque can somehow cope with the requirements of the driver. 另外,在根据与行驶路面的状态相对应的形态来解除向驱动轴输出的转矩的限制的方式的本发明的车辆中,还可以设定为上述旋转状态检测装置是检测上述驱动轴的旋转角加速度的旋转角加速度检测装置;上述路面状态推定装置,是根据上述所检测出的驱动轴的旋转角加速度来推定上述行^^面的状态的装置;上述转矩限制调整装置,是在作为上述行驶路面的状态由上述路面状态推定装置推定为是上述n极低路面时,以上述所检(定时(夕^S:z歹)),解除上述转矩的限制的装置。 In the vehicle according to the present invention is to remove the restriction of the torque output from the drive shaft according to the state of the road surface corresponding to the form of embodiment, it may also be set as the rotation state detecting means is detecting the rotation of the drive shaft angular rotation angular acceleration detecting means; and the road surface condition estimating means is a device according to the above-described rotational angular acceleration of the drive shaft detected by estimating the state of the surface of the row ^^; adjusting the torque limiting means, as in when the state of the running road surface estimated by the road surface condition estimating means as the n low road, subject to the above (timings (Xi ^ S: z bad)), the torque limiting means is released. 这样一来,因为能够向与作用在驱动轴上的旋转角加速度的方向一致的方向输出转矩,所以能够防止伴随解除转矩的限制之际的轴的扭曲而来的沖击等。 Thus, since it is possible to output torque in the direction of rotation angular acceleration acting on the drive shaft in the same direction, it is possible to prevent the impact accompanied by twisting shaft torque restriction release from the occasion and the like. 在该情况在本发明的车辆中,还可以设定为上述路面状态推定装置是作为上状态来判定由上述打滑检测装置所检测出的打滑的收敛状态的装置;上述转矩限制调整装置,是根据上述所判定的打滑的收敛状态来调整由上述控制装置进行的转矩的限制的装置。 In this case the vehicle of the invention may also be set as the road surface condition estimating means is a means to determine the state of convergence by the slip state detecting means detects a slip; adjusting the torque limiting means is means for limiting torque performed by the slip control means according to the determined state of the convergence is adjusted. 再者,本发明除了作为上述车辆的形态之外还可作为车辆的控制方法的形态。 Furthermore, in addition to the aspect of the present invention as a further aspect of the vehicle control method of the vehicle. 附图说明困1是简要展示作为本发明的一个实施例的汽车20的结构的结构图。 BRIEF DESCRIPTION OF trapped 1 is a schematic configuration diagram showing a configuration of a vehicle 20 as an embodiment of the present invention. 图2展示由实施例的汽车20的电子控制单元70执行的驱动控制程序的一例的流程困,,困3是展示加速开度Acc、车速V与要求转矩T扣的关系的困表。 Figure 2 shows an example of a process by the vehicle drive control routine of the embodiment 70 of the electronic control unit 20 performs the display 3 is trapped trapped ,, accelerator opening Acc, the vehicle speed V and the required torque T trapped relationship table buckle. 图4 ;L艮示由实施例的汽车20的电子控制单元70执行的打滑判定处理程序的一例的流程图。 FIG 4; L Gen flowchart illustrating an example of processing procedures by the car slipping embodiment 70 of the electronic control unit 20 performs the determination. 图5 ;L艮示由实施例的汽车20的电子控制单元70执行的打滑发生时处理程序的一例的流程困。 FIG 5; L Gen trapped by the flow diagram showing an example of slip occurs when the car handler embodiment 70 of the electronic control unit 20 execution. 图6晃泉示驱动轴28的旋转角加速度ct与转矩上限值Tmax的关系的图表。 FIG. 6 shows the drive shaft Akira Springs limit value Tmax graph the relationship between the torque and the rotation angular acceleration ct 28. 图7晃艮示由实施例的汽车20的电子控制单元70执行的打滑收敛时处理程序的一例的流程困。 FIG 7 illustrates Gen Akira trapped by the flow of an example of the slip convergence time car handler embodiment 20 of the electronic control unit 70 execution. 图8HL示在由于发生打滑而限制向驱动轴28输出的转矩之际的驱动轮6h、 62b的车^il度Vf以及非驱动轮64a、 64b的车^1度Vr与驱动轴28的旋转角加Ma、电机22的目标转矩Tn^的时间变化的状态的说明图。 Shown in FIG. 8HL slip occurs due to a drive shaft 28 to restrict the output torque of the drive wheels on the occasion 6h, 62b of IL car ^ Vf and non-driven wheels 64a, 64b of the vehicle 1 ^ Vr and the drive shaft 28 angular acceleration Ma, time variation explanatory view of a state where the target torque of the motor 22 Tn ^. 图9是简要展示变形例的汽车120的结构的结构图。 FIG 9 is a schematic configuration diagram showing a configuration of vehicle 120 in one modified embodiment. 图IO是简要展示变形例的汽车220的结构的结构图。 FIG IO is a schematic configuration diagram showing a configuration of vehicle 220 in another modified embodiment. 图11是简要展示变形例的汽车320的结构的结构图.具体实施方式其次,用实施例说明本发明的具体的实施方式。 FIG 11 is a schematic showing a modification of the structure of the vehicle structure 320 of FIG. DETAILED DESCRIPTION Next, examples illustrate the specific embodiments of the present invention. 图l是简要展示作为本发明的一个实施例的汽车20的结构的结构图。 Figure l is a schematic configuration diagram showing a configuration of a vehicle 20 as an embodiment of the present invention. 实施例的汽车20,如图所示,具备能够利用从蓄电池26经由转换电路24提供的电力向经由差速齿轮29而与驱动轮62a、 62b ;MMk^连接的驱动轴28输出动力的电机22、和控制车辆整体的电子控制单元70。 Automobile 20 of the embodiment, as shown, can be provided through the use of the differential gear 29 and the drive wheels 62a and the battery 26 from the power supplied via the conversion circuit 24, 62b; MMk ^ motor shaft 28 connected to the power output 22 and controlling the entire vehicle electronic control unit 70. 电机22,例如作为既具有作为电动机的功能同时又具有作为发电机的功能的众所周知的同步发电电动机而构成;转换电路24由将来自蓄电池26的电力转换为适合于电机22的驱动的电力的多个开关元件构成。 Motor 22, for example as known synchronous motor generators having both a function as a motor but also has a function as a generator constituted; conversion circuit 24 by the electric power from the battery 26 for the motor 22 suitable for driving a plurality of power conversion switching elements. 电子控制单元70,作为以CPU (中央处理器)72为中心的微处理机而构成,除CPU72之外还具备务睹处理程序的ROM74、暂时存储数据的RAM76 和输入输出端口(图未示)。 The electronic control unit 70, to a CPU (Central Processing Unit) 72 is configured as a microprocessor centered, in addition to the CPU72 further comprising service handler see ROM74, RAM 76, and temporarily stores data input and output ports (not shown) . 将来自检测电机22的旋转轴(驱动轴28) 的旋转位置的旋转位置检测传感器32的旋转位置6d、来自检测驱动轮62a、 62b的各_旋转角速度的车|^!1传感器34a、 34b的车^il度、来自检测非驱动轮64a、 64b的各旋转角速度的车M度传感器36a、 36b的车M度、来自检测车辆的行驶iUL的车速传感器52的车速V、来自检测变速杆81的操作位置的变速杆位置传感器82的变速杆位置SP、来自检测加速踏板83的踩下量(踏下量)的加速i^SL位置传感器84的加速开度Acc、 和来自检测制动踏板85的踩下量的制动踏板位置传感器86的制动i^位置BP等,经由输入端口而输入到该电子控制单元70内。 The rotational position detecting position from the rotation shaft of the motor 22 (drive shaft 28) of the rotational position detecting sensor 6d 32 of the drive wheel from the detector 62a, 62b of the rotational angular velocity of each _ car |! ^ 1 sensors 34a, 34b of the ^ il of the vehicle, the vehicle M from the detection sensor rotation angular velocity of each non-drive wheels 64a, 64b of the vehicle M 36a, 36b, driving iUL from a vehicle speed sensor detecting a vehicle speed V 52 of the detection lever 81 from shift position sensor operating position of the shift lever position SP 82, the acceleration position sensor i ^ SL depression amount (depression amount) of an accelerator pedal 83 of the accelerator opening degree Acc 84, and a brake pedal 85 from depression amount of a brake pedal position sensor of the brake ^ i 86 position BP, etc., is input via the input port into the electronic control unit 70. 另外,从电子控制单元70中经由输出端口而输出向转换电路24的转换元件输入的转换控制信号等。 Further, the electronic control unit 70 outputs a control signal via the output port to the conversion element converting an input conversion circuit 24, and the like. 对这样构成的汽车20的动作,特别是对判定是否因驱动轮62a、 62b 的空转而发生打滑而对电机22进行驱动控制之际的动作进行说明。 The operation of the thus configured vehicle 20, particularly for determining whether a result of idle wheels 62a, 62b and the slipping drive control operation is performed on the occasion of the motor 22 will be described. 图2 U示由实施例的汽车20的电子控制单元70执行的驱动控制程序的一例的流程图。 Shown in FIG. 2 U flowchart showing an example of a drive control routine executed by the electronic control unit 20 of the automobile 70 of the embodiment. 该程序每隔规定时间(例如,每隔8msec)重复执行一次。 The program is repeatedly executed once every predetermined time (e.g., every 8 msec). 当驱动控制程序开始执行时,电子控制单元70的CPU72,首先将来自加速踏板位置传感器84的加速开度Acc、来自车速传感器52的车速V、根据来自车M度传感器34a、 34b、 36a、 36b的各车^i^所计算出的车轮速度Vf、 Vr、根据来自旋转位置传感器32的旋转位置ed所计算出的驱动轴28的转速Nd等输入(步骤S100),根据所输入的加速开度Acc与车速V设定应向驱动轴28榆tb的要求转矩Td,(歩躁S102)。 When the drive control routine starts execution, CPU 72 the electronic control unit 70, first from the accelerator pedal position sensor accelerator opening Acc 84, the vehicle speed V from the vehicle speed sensor 52, according to from the vehicle M sensors 34a, 34b, 36a, 36b each car ^ i ^ calculated wheel speed Vf, Vr, ed calculated speed Nd of the drive shaft 28 and the like input (step S100) from the rotational position of the rotational position sensor 32, accelerator opening degree in accordance with the input Acc and the vehicle speed V is set to the driveshaft in claim 28 elm tb torque Td, (ho manic S102). 在此,车^i^ Vf、 Vr设为分别使用来自车^A传感器34a、 34b的驱动轮62a、 62b的各车轮速度的平均值、和来自车^Jt传感器36a、 36b的非驱动轮64a、 64b的各车i^it度的平均值。 Here, the car ^ i ^ Vf, Vr from the vehicles were used to ^ A sensor 34a, 34b of wheels 62a, 62b of the average value of the wheel speeds, and from the car ^ Jt sensors 36a, 36b of non-drive wheels 64a , 64b of each car i ^ it average degrees. 另外,要求转矩T(i,的设定,在实施例中,是通过以下方式进行的,即,预先求得加速开度Acc、车速V与要求转矩T^ 的关系然后作为图表而预先存储到R0M74内,当给出加速开度Acc与车速V时,就从图表中导出对应的要求转矩Td、在图3中展示了该图表的一例。接着,根据所输入的驱动轴28的转速Nd来计算旋转轴28的旋转角加速度ct (步骤S104),同时从驱动轮62a、 62b的各车^i4度的平均值(车M度Vf)中减去非驱动轮64a、 64b的各车g变的平均值(车M度Vr)来计算车feit度差AV (步猓S106),再根据所计算出的旋转角加速度a和车^JL差△ V进行判定在驱动轮62a、 62b上是否发生了打滑或发生的打滑是否已经收敛的打滑判定处理(步骤S108)。在此,旋转角加速度a的计算,在实施例中,是通it^本次的程序中所输入的当前转速Nd 中减去在前次程序中所输入的前次转速Nd (当前转速Nd -前次 Further, the required torque T (i, is set, in an embodiment, is performed by the following manner, i.e., pre-determined accelerator opening Acc, the vehicle speed V and the required torque T ^ relationship as a map in advance and then stored in the R0M74, the time when given accelerator opening Acc and the vehicle speed V, this leads to the corresponding required torque Td from the graph, the chart shows an example in FIG. 3. Next, the input shaft 28 calculating rotation angular acceleration speed Nd CT (step S104), the rotation shaft 28, while the drive wheels 62a, 62b of each car ^ i4 of the average value (M degrees car Vf) subtracting the respective non-driven wheel 64a, 64b of the g car becomes the average value (M degrees car Vr) is calculated feit poor vehicle AV (Guo step S106), then it is determined based on the calculated rotational angular acceleration of the vehicle and a difference △ V ^ JL drive wheels 62a, 62b whether a slip occurred or if a slip has occurred slip convergence determination process (step S108). here, a calculated rotational angular acceleration, in the embodiment, it ^ is through this current rotational speed of the input program Nd Nd subtracting the previous speed in the previous program, the input (current rotation speed Nd - previous 转速Nd ) 来进行的。再者,旋转角加il^a的单位,若用每l分钟的转速[rpm]来表示转速Nd的单位,则在实施例中,因为M序的执行时间间隔是8msec, 所以即为[rpm/8msec]。当然,只要能够作为转速的时间变化率来表示, 采用任何单位都可以。另外,旋转角加速度ct,为了减小误差,还可以采用以从本次的程序开始此前的数次(例如3次)来计算出的角加速度的平均值。以下,对打滑判定处理的内容进行详细的iJt明。图4 ;UL示由实施例的汽车20的电子控制单元70执行的打滑判定处理程序的一例的流程图。当该打滑判定处理程序开始执行时,电子控制单元70的CPU"就判定在困2的驱动控制程序的步骤S104中所计算出的旋转角加速度a ,是否超过可视为发生了因空转而引起的打滑的阈值as 1 ip (步骤S150),当判定为旋转角加速度a超过阈值aslip时,就判断为驱动轮62a、 62b空转而 Speed ​​Nd) carried out. Further, the rotation angular acceleration il ^ a unit, if l per minute with the rotational speed [rpm] to represent speed Nd units, in the embodiment, since the execution time interval of a sequence M 8 msec, so that is [rpm / 8msec]. of course, as long as a time rate of change of the rotational speed expressed in any units may be used. further, rotational angular acceleration ct, in order to reduce error, this may also be employed to times from Prior to the start of the program to several times the average value of the angular acceleration calculated (e.g. 3) or less, the content of the slip determination process in detail next iJt FIG 4;.. UL shown by the vehicle electronic control unit 20 of the embodiment of flowchart showing an example of the processing program 70 executed by the slip determination when the slip determination process program begins execution, 70 CPU "on the electronic control unit determines in step S104, the drive control program trapped 2 the calculated rotational angular acceleration a, exceeds the threshold value can be regarded as the slip caused due to idle occurs as 1 ip (step S150), when it is determined that the rotation angular acceleration a exceeds the threshold value aslip, it is determined that the drive wheels 62a, 62b and idle 发生了打滑,将表示打滑的发生的打滑发生标志Fl 设置为l值(步骤S152),然后结束M序.由此,通过后述的打滑发生时处理程序的执行来进行向驱动轴28榆出的转矩的限制。当判定为旋转角加速度a没有超过阈值(xslip时,就判定打滑发生标志Fl的值是否是1值(步樣S154 )。当判定为打滑发生标志Fl不是1值时,就判断为没有发生打滑而处于抓地牢固的状态,然后结束M序。另一方面,当判定为打滑发生标志F1是1值时,就判定是否通过后述的步骤S162的处理进行了路面不是作为像冰面等摩擦系数极小的路面的y极低路面的状态那样的判定(步骤S156)。 Slippage occurs, indicating the occurrence of a slip of the slip occurrence flag Fl is set to a value l (step S152), then ends the M sequence. Thus, when performed by performing slip occurs later processing program 28 of the drive shaft elm whether the value of the limit torque. when it is determined that the rotation angular acceleration does not exceed a threshold value (xslip, it is determined that the slip occurrence flag Fl is a value (like step S154). when it is determined that the slip occurrence flag Fl is not a value, it is determined that slippage does not occur in a state firmly grip, M sequence then ends. on the other hand, when it is determined that the slip occurrence flag F1 is a value 1, it is determined whether or not the step S162 of the processing described later is not performed pavement y is determined as the state of the image surface, such as a very small coefficient of friction of the ice road surface such as a road surface is extremely low (step S156). 开始,因为考虑的是打滑刚刚发生之后,所以没有进行不是p极低路面的判定;接着,进行旋转角加速度ct 是否小于零的判定(步骤S158)。 Start, because it is considered that the immediately after the slip occurs, so no low p road is not determined; Next, the rotation angular acceleration is smaller than zero, it is determined whether the ct (step S158). 当判定为旋转角加速度ct小于零时,进a是否小于负的规定值ctref (步骤S160)。 When it is determined ct rotation angular acceleration is less than zero, the intake is smaller than a negative predetermined value ctref (step S160). 这是因为,当路面为(i极低路面的状态时,即便相对于发生的打滑通过后述的打滑发生时处理程序的执行而对向驱动轴28输出的转矩施加限制,驱动轴28的转速Nd也只会緩慢地下降,从而作为旋转角加速度a,与摩擦系数较大的路面状态相比, 会维持较高的值。当判定为旋转角加速度a为小于负的规定值ctref时, 就判定为路面摩擦系数较大而不是Ji极^^面的状态(步骤S162),然后结束#序。另一方面,当判定为旋转角加i^U并非小于负的规定值时, 就判断为还不到能够进行路面状态的判定的阶段,然后结束4^序。因为若在步骤Sl 60中判定为旋转角加iiJL a小于负的规定值a ref , 在步骤S162中判定为路面不是ji极低路面的状态,则从下次的打滑判定处理程序开始在步骤S156中就作出肯定的判定,所以,其次判定在困2的驱动控制程序的步骤Sl06中所计算出的车^il度差△ This is because, when the road surface is (i low road, even with respect to the processing program executed when slip occurs after the occurrence of the slip by said torque restriction is applied to the output shaft 28, the shaft 28 Nd speed will only drop gradually, such as a rotational angular acceleration, as compared with the state of the road surface friction coefficient larger, will maintain a high value when it is determined that the rotation angular acceleration is smaller than a predetermined negative value ctref, it is determined that the road surface friction coefficient not greater Ji ^^ pole face (step S162), and then ends the sequence #. on the other hand, when it is determined that the rotation angular acceleration i ^ U is not smaller than the negative predetermined value, it is determined phase can be determined is less than the road surface condition, and then ends the sequence ^ 4 because if the rotation angle is determined in step Sl 60 added iiJL a smaller than the negative predetermined value a ref, it is determined in step S162 is not the road surface ji the state of the road surface is extremely low, slipping from the next determination processing program starts on affirmative determination is made in step S156, it is followed by the determination in step Sl06 drive control routine sleepy 2 calculated car ^ il poor △ V是否小于规定值Vref(步骤S164),当车^il度差AV变为小于规定值Vref时,就判断为发生的打滑已经收敛,而将表示打滑的收敛的打滑收敛标志F2设置为1值(步骤S170),然后结束^序。另一方面,当判定为车^di度差AV并非小于规定值Vref时,就判断为发生的打滑还没有收敛,然后结束本程序。这样,当判定为路面不是n极^^面的状态时,在牟M度差厶v小于规定值Vref的时刻就判断为打滑已收敛。当在步躁S158判定旋转角加速度ct不是负的值,即在零或其以上时, 则判定在前次的困2的驱动控制程序的步骤S104中所计算出的前次旋转角加速度ct是否为负的值(步骤S166)。当判定为前次旋转角加速度ct为负的值时,则因为是在旋转角加i^ct并没有变为小于负的规定值ocref、即H极低路面的判定还没被进行的状态下,旋转角加速度ct从负的值经it^ 交叉点的情况,所以判定为路面是p V is less than the predetermined value Vref (step S164), when the car AV ^ il poor Vref becomes smaller than the predetermined value, it is determined that slip is occurring has converged, while indicating the slip convergence of the slip convergence flag F2 is set to a value of 1 (step S170), then the sequence ends ^. on the other hand, when it is determined that the vehicle is not AV ^ DI-degree difference is smaller than the predetermined value Vref, it is determined that slip occurs has not converged, then the present routine ends. Thus, when it is determined that ^^ n pole road surface state is not a surface, the difference in Si Mu M v is less than a predetermined time value Vref is determined on the slip has converged. when the value is determined at step S158 ankle ct rotation angular acceleration is not negative, i.e. zero or the time or more, it is determined in step S104, the drive control routine of the previous trapped 2 the calculated rotational angular acceleration ct previous value is negative (step S166). when it is determined that the previous angular acceleration of ct when a negative value, since the increase in the rotation angle i ^ ct and does not become smaller than the negative predetermined value ocref, i.e., very low H is determined in a state of the road surface has not been carried out, the rotation angular acceleration from negative value through ct ^ intersection where it, it is determined that the road surface is p 低路面的状态(步骤S168),并且来的转矩的限制的最好的时机,将打滑收敛标志F2设置为1值(步骤S170),然后结束本程序。由此,因为能够使转矩在与作用在驱动轴28 上的旋转角加速度ot的方向一致的方向上发挥作用,所以能够有效地防止当旋转角加速度a为零或其以上而在步猓S166中判定为前次旋转角加速度ct不是负的值时,就判断为发生的打滑没有收敛或不适合作为解除转矩的限制的时机,然后结束^序。这样,当路面状态为H极^i洛面时,在旋转角加速度a从负的值经过零交叉点的时机解除转矩的限制。 The state of the road surface is low (step S168), and the best time to limit torque, the slip convergence flag F2 is set to 1 (step S170), and ends the present routine. Accordingly, since it is possible to make the torque and play the role of the drive shaft in the direction coincides with the direction of the rotational angular acceleration ot 28, when it is possible to effectively prevent a rotation angular acceleration is zero or higher than the previous determined rotation angular acceleration ct in step S166 in Guo when not a negative value, it is determined that no convergence of slip occurs or not suitable for releasing the torque limiting timing sequence then ends ^. Thus, when the road surface condition is when the H ^ i Los electrode surface in a rotational angular acceleration from a negative value through zero-crossing point of the timing of the lifting of restrictions torque. 以上是打滑判定处理程序,,返回困2的驱动控制程序,当这样进行了打滑判定处理后,进行与判定结^目对应的处理(步骤S110〜S118) , l沐的说,当打滑发生标志F1 与打滑收敛标志F2均为0值、判定为没有发生打滑(M牢靠的状态)时, 将在步骤S102设定的要求转矩Td"殳定为电机22的目标转矩Tm* (步骤S112),根据设定的目标转矩Ta^驱动控制电机22 (步骤S118),然后结束本程序。另外,当打滑发生标志Fl为1值打滑收敛标志F2为0值、判定为发生了打滑时,进行打滑发生时处理(步骤S114);当打滑发生标志Fl与打滑收敛标志F2均为1值、判定为发生的打滑已收敛时,进行打滑收敛时处理(步骤S116),然后根据各个处理中所设定的电机22的目标转矩1"迈*驱动控制电机22 (步骤S118),然后结束^序。 The above is the processing procedure that determines the slip drive control routine returns trapped 2, when carried out by a slip determination process performed junction ^ determination process (step S110~S118) corresponding to the mesh, l Mu say, when the slip occurrence flag F1 and the skid convergence flag F2 are required value 0, it is determined that there is no slippage (M solid state) occurs, is set at step S102 torque Td "Shu set the target torque of the motor 22 Tm * (step S112 ), setting the target drive torque Ta ^ controlled motor 22 (step S118), and ends the present routine. Further, when the slip occurrence flag Fl is 1 value slip convergence flag F2 is a value 0, it is determined that a slip occurred, processing (step S114) when slip occurs; when slip occurs when the flag Fl and the slip convergence flag F2 are value 1, it is determined that slip occurs has converged, the slip convergence process performed (step S116), then the processing according to the respective setting a target torque of a motor 22 "* drive control step motor 22 (step S118), then ends ^ sequence. 再者,电机22的驱动控制,具体的说,是通过以将与目标转矩Tw相称的转矩向驱动轴28输出的方式向转换电路24的开关元件输出开关控制信号来进行的。 Further, the drive control of the motor 22, specifically, is carried out by a control signal commensurate with the target torque to the driving shaft torque Tw way output 28 outputs to the switching element of the switching circuit 24. 以下,依次详细叙迷打滑发生时处理和打滑收敛时处理。 Hereinafter, the detailed processing and handling slippage when slippage occurs Syria convergence fans. 打滑发生时处理是为了抑制发生的打滑而对驱动轴28所要求的要求转矩T(^加以限制、设定电机22的目标转矩Tn^的处理,根据困5的打滑发生时处理程序来执行。当该打滑发生时处理程序开始执行时,电子控制单元70的CPU72,首先判定在图2的驱动控制程序的步骤S104中所计算出的旋转角加速度a是否超过峰值ctpeak (步骤S200 ),当旋转角加il^ ct超过峰值ccpeak时进行^^值otpeak更新为该旋转角加速度a的处理(步骤202 )。在此,峰值otpeak,基本上是因打滑的发生而使旋转角加ilAot上升从而表现为峰的时刻的值,作为初期值设定为O值。因而,在旋转角加速度ct上升直至达到峰的期间顺次将峰值a peak更新为旋转角加速度a的值,在旋转角加速度a达到峰的时刻将该旋转角加速度ct作为峰值ocpeak而固定。当这样设定了峰值ocpeak后,i^行根据该J^值a peak 来设定为了抑制发生的打滑而 Slip processing occurs in order to suppress the occurrence of slip torque T as claimed in claim 28 of the drive shaft (^ limitation, sets the target torque of the motor 22 ^ Tn of the processing, processing program according to the occurrence of slippage trapped 5 performed. when the process executed when the program starts slip occurs, the electronic control unit 70 of the CPU 72, it is first determined at step S104 of the drive control routine in FIG. 2 the calculated rotational angular acceleration a exceeds the peak ctpeak (step S200), ^^ value otpeak performed when the rotational angular acceleration exceeds the peak ccpeak il ^ ct update processing for the rotational angular acceleration a (step 202). here, the peak otpeak, substantially due to the occurrence of the slip rotational angular acceleration rise ilAot thereby exhibiting a peak value in time, as an initial value is set to the value of O. thus, the rotational angular acceleration ct rises until a peak is reached during a peak peak sequentially updated to a value of the rotation angular acceleration of the rotation angular acceleration the time to reach a peak of rotational angular acceleration is fixed as the peak ct ocpeak. when this peak is set ocpeak, i ^ row is set to suppress slippage occurring based on the value of J ^ a peak 可以从电机22输出的转矩的上限值、即转矩上限值Tinax的处理(步骤S204 ).该处理,在实施例中,是通过将图6 所示的转矩上限值设定困表的橫轴设置为旋转角加速度ct来进行的。在该图表中,如图所示,具有旋转角加速度a越大则转矩上限值Tmax变得越小的特性。因而,越是旋转角加itAcc上升而峰值ctpeak变大,即打滑的程度越大,则作为转矩上限值Tmax就设定越小的值,从而相应程度地限制从电机22输出的转矩。这样一来,当设定了转矩上限值Tmax后,接着,判定该打滑发生时处理程序的执行是否为初次执行(步骤S206 ).由于首先考虑打滑发生时处理程序的初次的执行,所以判定为初次的执行,将在打滑发生时向驱动轴28输出的转矩作为打滑发生转矩Tmslip来设定(步骤S208 ),同时将用于调整^L定的转矩上限值Tmax的调整转矩TL设定为初始转矩TO (步骤S210)。在此, From the upper limit value of the torque output of the motor 22, Tinax process (step S204) i.e. torque upper limit. The process, in an embodiment, the torque by the limit value setting 6 shown in FIG. the horizontal axis is provided for the rotational angular acceleration table trapped ct carried out. in this graph, as shown, having a greater rotational angular acceleration torque upper limit value Tmax of the characteristics becomes smaller. Accordingly, the more rotational angular acceleration peak ctpeak itAcc rise becomes large, i.e., the greater the degree of slip, the torque upper limit value Tmax as to set a smaller value, thereby limiting the torque output from the motor 22 corresponding extent. thus when the upper limit Tmax of the set, then it is determined whether to execute the torque slip occurs when the processing program is first executed (step S206). Since the first to consider the initial execution of processing when slip occurs, it is determined for the first time is performed, the drive shaft 28 as output torque slip occurs when slip occurs Tmslip torque setting (step S208), while adjusting for adjusting the torque limit value Tmax ^ TL given torque on L as an initial torque tO (step S210). here, 打滑发生转矩Tnislip,在实施例中,设定为在前次的图2 的驱动控制程序中所设定的电机22的前次目标转矩Tm,。另外,初始转矩TO是为了抑制由转矩上限值Tmax进行的对向驱动轴28输出的要求转矩Td*的急剧的限制而设定的转矩.当这样设定了调整转矩TL后,判定所设定的调整转矩TL是否比所设定的转矩上限值T咖x还大(步稞S220 ),当判定调整转矩TL比转矩上限值T咖x还大时,就以将转矩上限值T咖x变为调整转矩TL的那样进行调整(步骤S222 ),然后,将调整后的转矩上限值Tmax与在困2的驱动控制程序的步骤S102中所设定的要求转矩Td,中较小的一方设定为电机22的目标转矩Tm (步骤S224 ),然后结束^序。 Tnislip torque slip occurs, in the embodiment, is set to the previous target torque Tm of the motor 22 in the previous drive control routine in FIG. 2 set ,. Further, initial torque TO to suppress the drastic limitation of the drive shaft 28 to the output torque Td * of the required torque set by the torque upper limit value Tmax performed. when set in this way to adjust torque TL, the torque adjustment determines the set whether the torque TL than the set value T is larger coffee x (wheat step S220), when it is determined to adjust the torque TL T x coffee larger than the torque upper limit value, with regard to the torque upper limit value T x coffee adjustment torque TL becomes as adjusted (step S222), then the limit value Tmax required torque Td at step S102, the drive control programs trapped 2 set on the adjusted torque , smaller one as the target torque of the motor 22 Tm (step S224), then ends ^ sequence. 由此,要求转矩Tc^被由调整转矩TL调整过的转矩上限值Tmax所限制,从而来设定电机22的目标转矩Tm、因此,能够防止为了抑制打滑而使向驱动轴28输出的转矩受到急剧限制,能够抑制转矩冲击。 Thereby, the required torque Tc ^ Tmax restricted upper limit value TL is adjusted by adjusting the torque through a torque, so that sets a target torque of the motor 22 Tm, therefore, possible to prevent the drive shaft to suppress the slip 28 by the output torque sharply restricted, torque shock can be suppressed. 再者,当判定为调整转矩TL在转矩上P艮值Tmax或其以下时,将在步骤S204中所设定的转矩上限值Tmax与在图2的驱动控制程序的步骤S102中所设定的要求转矩Td*中较小的一方设定为电机22的目标转矩T辭(步稞S224 ),然后结束本程序。 Further, when it is determined to adjust a torque TL P gen value Tmax or less, the torque upper limit value in step S204 that the torque Tmax set in the drive control routine in step S102 of FIG. 2 one of the set torque demand Td * smaller set as a target torque T of the motor 22 speech (wheat step S224), and ends the present routine. 当打滑发生时处理程序被重复执行,在步骤S206中判定为不是初次执行时,就判定是否通过困4的打滑判定处理程序的步骤S162的处理作出了路面不是y极^^面的状态的判定(步骤S212),当在当前时刻判定为没有作出不是H极^^面的状态的判定时,在从^序的执行开始到经过规定时间为止的期间(步骤S214),从前次的调整转矩TL减去第一值T1而将调整转矩TL更新(步骤S216 );当从打滑发生时处理程序的执行开始后经过了规定时间时(步骤S214),从前次的调整转矩TL减去比第一值T1还大的值的第二值T2而将调整转矩TL更新(步骤S218)。 When slip occurs processing program is repeatedly executed, it is determined in step S206 is not performed for the first time, it is determined whether the road surface is not made extremely ^^ y plane by the step of determining the slip 4 trapped processing program determination process S162 (step S212), when it is determined that no state is not made ^^ H pole faces at the current time is determined, from the start of the execution period elapses ^ sequence (step S214) until the predetermined time from the previous adjustment torque TL subtracting the first value T1 and the adjustment torque TL updated (step S216); slip occurs from the time when a predetermined time has elapsed after the start of the program execution process (step S214), from the previous adjustment torque TL by subtracting the ratio of a first value T1 larger second value T2 of the adjusted torque TL updated (step S218). 这样,因为每次重复执行打滑发生时处理程序时,将调整转矩TL逐渐更新为较小的转矩,所以能够在緩和伴随向驱动轴28输出的转矩的限制而来的沖击的同时,最终以在步骤S204中所设定的转矩上P艮值Tmax来限制电机22的目标转矩T,,从而使打滑收敛。 In this way, because every time you repeat the slippage occurs handler will gradually adjust the torque TL is updated to a smaller torque, it is possible to mitigate the impact associated with the drive shaft 28 to limit the output torque comes at the same time , P gen final torque value Tmax on in step S204 to set the target motor torque limit T 22 ,, so that the slip convergence. 另外,因为调整转矩TL的更新是从前次的调整转矩TL中减去第一值T1,且随着时间的经过,再从前次的调整转矩TL 减去作为比第一值T1还大的值的第二值T2来进行的,所以能够进一步提高打滑的收敛性。 Further, because the update TL is a torque adjustment torque TL by subtracting a first adjustment value from the previous T1, and over time, minus the first value T1 is greater than the adjustment torque TL from the previous the second value T2 is performed, it is possible to further improve the convergence of the slip. 当在步骤S212的处理中判定为作出了路面不是p极4^ 面的状态的判定时,判断为即便不将电机22的目标转矩、*限制到在步骤S204中所设定的的转矩上限值Tmax也能够收敛打滑,从而进衧调整转矩TL的更新,而在调整转矩上限值Tmax的同时(步骤S220、 S222 ),进行设定电机22的目标转矩Tn^的处理(步骤S224 ),然后结束^序。 When it is determined that the road surface is determined not to make the surface state of the p ^ electrode 4 in the process of step S212, it is determined if not the target torque of the motor 22, * the torque limit in step S204 to set the upper limit value Tmax is possible to converge the slip, thereby adjusting the intake Yu torque TL is updated, and the upper limit value Tmax of the torque adjustment while on (step S220, S222), the processing for setting the target torque of the motor 22 of the Tn ^ (step S224), then ends ^ sequence. 由此, 就不会过度地限制向驱动轴28输出的转矩而使打滑收敛,以上是打滑发生时处理程序的处理。 Accordingly, it will not unduly limit the torque output to the drive shaft 28 so that the slip convergence, the processing when slip occurs handler. 打滑收敛时处理,是用于解除(緩和)在发生的打滑已收敛时加在要求转矩T^上的限制的处理,通过困7的打滑收敛时处理程序来扭^行。 When the slip convergence process, for releasing (relaxation) is applied to the torque limit processing requirements ^ T at the time of occurrence of the slip has converged to the line through the torsion ^ 7 trapped slip convergence handler. 当打滑收敛时处理程序开始执行时,电子控制单元70的CPU72,首先在由图5的打滑发生时处理程序的步驟S208所设定的打滑发生转矩Tmslip上乘以规定的系数K来设定转矩上限值Tmax (步骤S300),并进行用所设定的转矩上限值Tmax来保护在困2的驱动控制程序的步骤S102中所设定的要求转矩T&的处理(步骤S302 )。 Tmslip torque multiplying coefficient K to a predetermined slip occurs when the slip convergence processing program begins execution, the electronic control unit 70 of the CPU 72, first in the event of slippage by the procedure of FIG. 5 in step S208 of the processing to set the set rotation the torque limit value Tmax (step S300), and the torque by the torque limit value Tmax set at step S102 to the protection requirements of the drive control routine trapped 2 T & set process (step S302) . 在此,系数K是为了防止再次打滑而在0值~1值的范围内设定的,然后,判定从打滑收敛时处理程序的初次的执行开始是否经过了规定时间(步骤S304 )。 Here, the coefficient K is set to prevent slipping in the range of 0 to 1 value the value again, and then, it is determined from the slip convergence time of the initial execution of the program starts processing whether a predetermined time (step S304). 当判定为没有经过规定时间时, 就直接结束M序;当判定为经过了规定时间时,进行将打滑发生标志F1 与打滑收敛标志F2均重置为O值的处理(步骤S306 ),然后結jM^序。 When determined that the predetermined time has not elapsed, the end of the direct sequence M; when it is determined that a predetermined time has elapsed, the slip occurrence flag F1 for the skid convergence flag F2 are reset process (step S306) O value, then the junction jM ^ order. 因而,在从打滑收敛时处理程序的初次的执行开始到经过规定时间为止的期间,以打滑发生时向驱动轴28输出的转矩的规定比例的转矩(Tmsl ip《) 来限制要求转矩Td*,当经过了规定时间以后,完全解除由转矩上限值Tmax 进行的限制,将要求转矩Td"殳定为电机22的目标转矩Tn^而对电机22 进行驱动控制。图8是说明因打滑的发生而限制向驱动轴28输出的转矩之际的驱动轮6h、 62b的车M度Vf以及非驱动轮64a、 64b的车^度Vr与驱动轴28的旋转角加速度ot 、电机22的目标转矩Tn^的时间变化的状态的说明图。 图8中实线的车M度Vf以及车g变Vr、旋转角加il;变a、目标转矩Tn^表示的是行驶在雪路等低n路(m低路面)上时发生了打滑时的时间变化的状态,图8中虚线的车M度Vf以及车^il度Vr、旋转角加速度ot、 目标转矩T辭表示的是行驶在水面等jj极4&洛面上时发生了打滑时的时间变化 Thus, an initial process is performed from the slip convergence time of the start of the program until the predetermined time period has passed, at a predetermined ratio to the driving shaft 28 of the torque output torque (Tmsl ip ") when slip occurs to limit the required torque Td *, when a predetermined time has elapsed after completely releasing restriction by the torque limit value Tmax, the torque demand Td "Shu as target motor torque Tn ^ 22 for the motor 22 and drive control. FIG. 8 It is a limitation due to the occurrence of slippage wheels 6h the occasion of the drive shaft 28 of the torque output of the vehicle M and a non-Vf 62b of the drive wheels 64a, 64b of the car ^ ot Vr and the drive shaft 28 of the rotation angular acceleration ., 22 described in FIG target motor torque Tn ^ temporal change of a state of the vehicle M of FIG Vf 8 and a solid line g becomes Vr of the vehicle, the rotational angle of plus IL; variable a, the target torque is represented by Tn ^ variation with time when slip occurs during running on snowy road lower n-way (m low road), the broken line in FIG. 8 m of the vehicle Vf and Vr of vehicle ^ il degrees, rotation angular acceleration ot, the target torque T speech which represents the time of the change when slip occurs when the surface of the electrode 4 & Rockwell with the water like jj 状态。当在行驶在雪路等低n路上时驱动轴28的旋转角加速度ot在时刻U超过阈值ctslip而判定为发生了打滑时,则随之而与旋转角加速度ct相对应地设定转矩上限值Tmax。这时,首先,在时刻t2将要求转矩Td,限制到初始转矩TO,从而使电机22的目标转矩1"01*降低,之后,随着时间的经过渐渐.地使电机22的目标转矩Tn^向旋转角加i1^ oc为峰值时的转矩上P艮值Tmax降低。 State. When the rotational angular acceleration of the drive shaft at a snowy road traveling path 28 of the lower n ot be determined at the time U exceeds the threshold ctslip when slippage occurs, along with the rotation angular acceleration is set corresponding rotation ct the upper limit Tmax of the moment. in this case, first, at time t2, the required torque Td, the initial torque limit to the tO, so that the target motor torque 1 22 "01 * decreases, then, gradually with time. 22 so that the target motor torque Tn ^ i1 added to the rotation angle ^ oc reduced to the torque peak values ​​P Gen Tmax. 当旋转角加it;l(x在时刻t3变为小于负的规定值aref时,因为判定为路面不是水面路面等u极^^i洛面的状态,所以维持彼时的要求转矩T扣的限制,电机22的目标转矩Ti^变为恒定。然后,当作为驱动轮62a、 62b的车^A Vf与非驱动轮64a、 64b的车M度Vr 的偏差的车^JL差AV在时刻t4变为小于规定值Vref、打滑收敛时,解除要求转矩Td,的限制,而拉高电机22的目标转矩Tm,。另一方面,当行驶在冰面路面等p极低路面上时驱动轴28的旋转角加速度a在时刻tl超过阈值as 1 ip而判定为发生了打滑时,与上述雪路等低|i路的行驶时同样地限制要求转矩T(i、而使电机22的目标转矩Ti^降低。因为在路面为p 极低路面的状态时旋转角加速度ct不会小于负的规定值cc ref ,所以电机22的目标转矩Tm,被降低到旋转角加i^ a为峰值时的转矩上限值Tmax。 当旋转角加速度ot在时刻t5从负的值上升而经it^ When the rotation angle plus it; l (x at time t3 is less than the predetermined value aref becomes negative, since it is determined that the road surface is not the road surface state i ^^ u Los electrode surface, so that time required to maintain the fastening torque T restrictions, target motor torque Ti ^ 22 becomes constant. then, when a drive wheel 62a, 62b car ^ a Vf and non-driven wheels 64a, deviation of the vehicle M Vr, 64b car ^ JL difference in AV time t4 becomes less than the predetermined value Vref, the slip convergence time, lifting required torque Td, restrictions, and the target torque of the motor 22 Tm ,. pulled other hand, when the ice on the road surface with a very low p road Likewise limit travel path required torque T i (i, so that the motor | rotational angular acceleration of the drive shaft 28 and a determined low when slippage occurs, the above-described snowy road exceeds the threshold value at time tl as 1 ip 22 the target torque Ti ^ reduced. ct rotation angular acceleration because the road surface is very low p road surface state when not smaller than the negative predetermined value cc ref, so that the target torque motor 22 Tm, is reduced to increase the rotational angle i ^ a torque upper limit value Tmax peak. when the rotation angular acceleration ot t5 rises from a negative value at time and after it ^ 叉点时,解除要求转矩T(^的限制,而拉高电机22的目标转矩Tm,。根据以上说明的实施例的汽车20,因为在限制因打滑的发生而向驱动轴28输出的转矩的期间根据驱动轴28的旋转角加速度a来推定路面的状限制,所以能够不拘泥于路面的状态而有效地收H生的打滑。特别是, 因为能够识别地判定路面是否为水面等y极^i洛面的状态,由此针对m极低路面的状态进行处理,所以能够进一步换_相对于在高行驶在n极低路面上时所发生的打滑的收敛性。在实施例的汽车20中,虽然是在判定为路面不是n极^i洛面的状态之后(在图5的打滑发生时处理程序的步骤S212中作出了肯定的判定之后), 不进行用于调整转矩上限值Tmax的调整转矩TL的更新而维持相对于在进行了判定的时刻的对向驱动轴28榆出的要求转矩T(^的限制,但也可以以使调整转矩TL变小的那样进行更新,增大 When the cross point, a request for canceling the limit torque T (^, and the target torque of the motor 22 Tm ,. pulled vehicle according to the embodiment 20 described above, because the limiting factor in the occurrence of a slip of the drive shaft 28 to the output during torque limit road shape is estimated based on the rotational angular acceleration of the drive shaft 28 a, it is possible to rigidly adhere to the road surface state is not effectively close the slip H students. in particular, because it can be determined to identify whether the road surface and the like is y ^ i Los electrode surface state, thereby processed for low road surface state m, it is possible to further change with respect to the slip _ convergence at high running on a low road occurred n. in an embodiment of (after step handler upon occurrence of the slip of FIG. 5 S212, an affirmative determination is made) in the automobile 20, although after is determined that the road surface is not in ^ i n Los electrode surface state, without adjustment for the torque updating the torque limit value Tmax adjustment limit TL is maintained to the drive shaft torque T out in claim 28 elm (^ with respect to the time when the determination is performed, so that it may adjust the torque TL becomes smaller as updated, increased 对于输出至驱动轴28的要求转矩T(^的限制,直到在旋转角加i^U达到峰时成为用困5的困表设定的转矩上限值Tmax。在实施例的汽车20中,虽然是使伴随打滑的发生而来的相对于向驱动轴28的要求转矩T&的限制随着时间的经过而逐渐增大,但也可以一次进行伴随打滑的发生而来的对要求转矩T^的限制。另外,在实施例的汽车20中,虽然是以随着时间的经过而变大的比率来逐渐加大相对于输出至驱动轴28的要求转矩Td,的限制,但也可以以固定的比率随着时间的经过逐渐加大相对于输出至驱动轴28的要求转矩T^的限制。 The output shaft 28 to the required torque T (^ limitation, when U ^ until the torque reaches a peak become trapped trapped in Table 5 is set to the rotation angle upper limit value Tmax plus i. In the automobile 20 of the embodiment , although the cause is associated with the occurrence of slippage from the drive shaft 28 to the torque demand T & limit with time gradually increases, it may be accompanied by a slip occurs from the transfer requirements torque limit T ^. Further, in automobile 20 of the embodiment, albeit with time becomes large gradually increasing the ratio to limit relative to the output drive shaft 28 to the desired torque Td, but may also be a fixed ratio with time gradually increase relative to the output drive shaft 28 to the desired torque limit T ^. 在实施例的汽车20中,虽然在判定为路面不是n极4&洛面的状态时, 根据驱动轮62a、 62b的车^l度Vf与非驱动轮64a、 64b的车M度Vr 的偏差(车^it度差AV)来解除(緩和)相对于要求转矩Td,的限制,但也可根据旋转角加速度ct来解除相对于要求转矩T^的限制,例如,也可以以旋转角加速度ot变为负的值(小于零)之后经过了规定时间时的时刻(时机),或在旋转角加ilJLot成为小于负的规定值otref时、以旋转角加速度oc变为小于负的规定值ocref之后经过了规定时间的时刻(时机) 等,来解除相对于要求转矩Td,的限制。 In the automobile 20 of the embodiment, although the state when it is determined & Rockwell road surface is not n electrode 4. The drive wheels 62a, 62b of the car Vf ^ l and non-driven wheels 64a, 64b of the vehicle M Vr deviation ( ^ it is poor car AV) to release the limit (relaxation) with respect to the required torque Td, but may also be released with respect to the demanded torque T ^ limited according to the rotation angular acceleration ct, e.g., angular acceleration may also be when the elapsed time (timing) at a predetermined time after ot becomes a negative value (less than zero), or the rotation angular acceleration becomes smaller than the negative ilJLot predetermined value otref, oc rotation angular acceleration becomes smaller than a predetermined negative value ocref after the time specified time (the time) and so on, to lift the restrictions with respect to the required torque Td, of. 在实施例的汽车20中,虽然是在判定为路面是n极低路面的状态时, 在旋转角加速度a从负的值上升而经过零的时机来解除对向驱动轴28输出的转矩施加的限制,但也可以是在旋转角加速度a从负的值上升的过程中的任何一个时机解除向驱动轴28输出的转矩的限制。 In the automobile 20 of the embodiment, although it is determined that the road surface is low when the road surface state n, the rotation angular acceleration increases from a negative value through zero to release timing is applied to a drive shaft 28 of the torque output It limited, but may be released to the drive shaft 28 to limit the torque output from any time during a negative value increases in the rotational angular acceleration a. 在实施例的汽车20中,虽然在对向驱动轴28输出的转矩进行限制的过程中通过判定驱动轴28的旋转角加速度a是否小于负的规定值a ref来推定路面的状态,但也可以利用其他的方法来推定路面的状态。 In the automobile 20 of the embodiment, although the drive shaft is determined by the process of the drive shaft 28 to restrict the output torque of a rotation angular acceleration is less than 28 minus a predetermined value REF estimating the road surface, but also other methods can be used to estimate the state of the road surface. 例如,可以检测驱动轴28的旋转角加速度cc的负的峰值,根据该负的峰值的大小来判定路面的状态,,另外,还可以代替旋转角加逸变ot或与旋转角加速度a 一起,利用驱动轮62a、 62b的车轮速度Vf等来推定路面的状态。 For example, detecting a negative peak of the angular acceleration of the drive shaft 28 cc, and the state of the road surface is determined according to the size of the negative peak ,, Further, instead of the rotation angle can also be added together with or Yi becomes ot rotation angular acceleration a, using drive wheels 62a, 62b of the wheel speed Vf and the like to estimate the road surface. 在实施例中,虽然适用于具备可直接向与驱动轮62a、 62b相连接的驱动轴输出动力的被;feO^连接的电机22的汽车20而进行了说明,但只要是具备可向驱动轴输出动力的电动机的车辆,适用于任何结构的车辆都可以。 In an embodiment, although applied to a drive shaft directly to the output power to the drive wheels 62a, 62b are connected; feO ^ car connected to motor 22 and 20 has been described, but as long as the drive shaft may be provided with vehicle output power of the motor for any configuration of the vehicle can be.例如,可适用于具^^发动机、与发动机的输出轴相连接的发电机和利用来自发电机的发电电力向驱动轴输出动力的电机的、所谓的串联型复合动力汽车(串联式混合动力汽车)。另外,如困9所示,还可适用于具备发动机122、与发动机122相连接的行星齿轮126、与行星齿轮126相连接的可发电的电机124、和同样地与行星齿轮126相连接且同时可向与驱动轮62a、 62b相连接的驱动轴输出动力^械式地连接着在驱动轴上的电机22、的所谓的,分配型复合动力汽车(机械分配式混合动力汽车)120; 如图10所示,还可适用于具备具有与发动机222的输出轴相连接的内转子224a和安装在与驱动轮62a、 62b相连接的驱动轴上的外转子224b、并通过内转子224a与外转子224b的电磁的作用而相对地旋转的电机224、和可向驱动轴输出动力地、^L^连接在驱动轴上的电机22的、所谓的电气分配型复合动力汽车(电气分配式混合动力汽车)220。或者,如困11所示,还可适用于具备经由变速器324 (无极变速器或有极自动变速器等) 而连接至与驱动轮62a、 62b相连接的驱动轴上的电机22,和经由离合器CL而与电机22的旋转轴相连接的发动机322的复合动力汽车(混合动力汽车)320。这时.,作为在驱动轮上发生打滑时的控制,虽然从控制的输出应答性的速度等来考虑,主要是通过控制;^地与驱动轴相连接的电机来限制向驱动轴输出的转矩,但也可与该电机的控制相协调地控制其他的电机或控制发动机。以上,虽然利用实施例对本发明的实施形态进行了说明,但本发明不限定于这样的实施例,显然在不脱离本发明的宗旨的范围内,可以运用各种形态来实施。

Claims (15)

  1. 1. 一种车辆,它是具备能够向与驱动轮相连接的驱动轴输出动力的原动机的车辆;其特征在于具备: 检测上述驱动轴的旋转角加速度的旋转角加速度检测装置; 根据由该旋转角加速度检测装置所检测出的驱动轴的旋转角加速度来检测因上述驱动轮的空转而引起的打滑的打滑检测装置; 在由该打滑检测装置检测到打滑时,根据上述检测出的驱动轴的旋转角加速度设定限制转矩,以随着时间的经过而阶段性地限制向上述驱动轴输出的转矩直至达到上述所设定的限制转矩的方式驱动控制上述原动机的控制装置; 在由上述控制装置进行的转矩的限制的期间根据由上述旋转角加速度检测装置所检测出的驱动轴的旋转角加速度来推定行驶路面的状态的路面状态推定装置;以及根据该推定出的行驶路面的状态调整由上述控制装置进行的转矩的限制的转矩限制调 A vehicle, which is provided with a prime mover capable of outputting power to a drive shaft connected to drive wheels of a vehicle; characterized by comprising: detecting rotational angular acceleration detecting means of the rotational angular acceleration of the drive shaft; made in accordance with the rotational angular acceleration detecting means detects the rotational angular acceleration of the drive shaft to slip detection means detecting a slip of the drive wheel by the racing caused; upon detection of the slip by the slip detection means, based on the detection of the drive shaft the rotation angular acceleration limit torque is set to stepwise over time to limit the output torque of the drive shaft in the set until a limit torque of the drive mode control means for controlling the prime mover; and with the basis of the estimated; according to the rotation angular acceleration by the rotational angular acceleration detected by the detecting means of the drive shaft during the torque limitation performed by the control means to estimate the running state of the road surface condition of the road surface estimating means torque limit adjustment state of the road surface performed by the control means limits the torque transfer 整装置。 The whole apparatus.
  2. 2. 如权利要求i所述的车辆,其中上述控制装置,是以上述所检测出的驱动轴的旋转角加速度越大则使限制越大的倾向来设定上述限制转矩的装置。 The vehicle according to claim i, wherein said control means is greater rotational angular acceleration of the drive shaft detected above is a tendency that the larger the limit means for setting the restricting torque.
  3. 3. 如权利要求l所述的车辆,其中上述控制装置,是按照以随着时间上述原动机的装置。 L vehicle according to claim 2, wherein said control means, in accordance with the time of the prime mover means.
  4. 4. 如权利要求l所述的车辆,其中上述路面状态推定装置,是可识别地推定作为上述行驶路面的状态是否至少是摩擦系数极'J、的M极低路面的装置。 M means a very low road vehicle as claimed in claim l, wherein said road surface condition estimating means estimate is identifiable as the state of the running road surface coefficient of friction is at least a very 'J, the.
  5. 5. 如权利要求4所述的车辆,其中上迷旋转状态检测装置,是检测上述驱动轴的旋转角加速度的旋转角加速度检测装置;上述路面状态推定装置,是根据上述所检测出的驱动轴的旋转角加速度来推定上述行驶路面的状态的装置。 5. A vehicle according to claim 4, wherein the fan rotation state detecting means is to detect the rotational angular acceleration of the drive shaft rotational angular acceleration detecting means; and the road surface condition estimating means is detected based on the drive shaft It means a state of the running road surface is estimated rotational angular acceleration.
  6. 6. 如权利要求4所述的车辆,其中上述旋转状态检测装置,是检测上迷驱动轴的旋转角加速度的旋转角加速度检测装置;上述路面状态推定装置,是在上述所检测出的旋转角加速度低于负的规定值时则推定为并非是上述ii极低路面、在上述所检测出的旋转角加速度不低于上述负的规定值时则推定为是上述li极低路面的装置。 The vehicle according to claim 4, wherein the rotation state detecting means is to detect the rotational angular acceleration of the drive shaft fan rotation angular acceleration detecting means; and the road surface condition estimating means, the rotation angle detected in the above-described when it is estimated that it is estimated that the road surface is not above ii low acceleration below a predetermined negative value not less than the predetermined negative value in the above-described rotational angular acceleration detected by the above-described apparatus is very low road li.
  7. 7. 如权利要求4至6中的任意一项所述的车辆,其中上述旋转状态检测装置,是检测上述驱动轴的旋转角加速度的旋转角加速度检测装置;上述打滑检测装置,是根据由上述旋转角加速度检测装置所检测出的驱动轴的旋转角加速度来检测打滑的装置;上述控制装置,是根据上述所检测出的驱动轴的旋转角加速度设定限制转矩,根据该设定的限制转矩驱动控制上述原动机的装置;上述路面状态推定装置,是根据上述所检测出的驱动轴的旋转角加速度来推定上述行驶路面的状态的装置;上述转矩限制调整装置,是在作为上述行驶路面的状态由上述路面状态推定装置推定为并非是上述p极低路面时,不拘泥于上述所设定的限制转矩而维持推定为并非是该m极低路面的时刻的由上述控制装置进行的转矩的限制的装置。 7. any one of claims 4 to 6, the vehicle, wherein the rotation state detecting means is to detect the rotational angular acceleration of the drive shaft rotational angular acceleration detecting means; and the slip detection means, based on the above means the rotation angular acceleration detecting means detects the rotational angular acceleration of the drive shaft detected slip; wherein the control means is set to limit torque according to the detected rotational angular acceleration of the drive shaft above the limit set in accordance with the means for controlling the driving torque of the prime mover; and the road surface condition estimating means is a device according to the above-described rotational angular acceleration of the drive shaft detected by the running state estimating the road surface; adjusting the torque limiting means, as described above in when the traveling road surface by the road surface state estimating means estimates the state of the road surface is not the p-low, does not stick to set the limit torque is maintained as the estimated time is not the m low road by the control means means for limiting the torque performed.
  8. 8. 如权利要求4所述的车辆,其中上述转矩限制调整装置,是以与由上述路面状态推定装置所推定出的行驶路面的状态相对应的形态来解除向上述驱动轴输出的转矩的限制的装置。 The vehicle according to claim 4, wherein adjusting the torque limiting means, the apparatus is the estimated travel road surface estimated by the road surface state corresponding to a state form is released to the output torque of the drive shaft restriction means.
  9. 9. 如权利要求8所述的车辆,其中具备检测上述车辆的驱动轮的车轮速度和非驱动轮的车轮速度的车轮速度检测装置;上述转矩限制调整装置,是在作为上述路面状态由上述路面状态推定装置推定为并非是上述u极低路面时,根据上述所检测出的驱动轮的车轮 9. The vehicle of claim 8 wherein the detector includes a drive wheel of the vehicle wheel speed and the wheel speed detecting device non-driving wheel speed Claim; adjusting the torque limiting means, as the road surface condition is by the when the road surface condition estimating means estimates said u is not a low road, based on the detected driving wheel wheel
  10. 10. 如权利要求9所述的车辆,其中上述转矩限制调整装置,是在上述驱动轮的车轮速度与上述非驱动轮的车轮速度的偏差小于规定偏差时,解除上述转矩的限制的装置。 10. The vehicle device according to claim 9, wherein adjusting the torque limiting means, in the wheel speed and the deviation of the drive wheel non-driving wheel speed is smaller than the predetermined deviation, the torque limit is canceled .
  11. 11. 如权利要求9所述的车辆,其中上述转矩限制调整装置,是随着时间的经过而阶段性地解除上迷转矩的限制的装置。 11. The vehicle according to claim 9, wherein adjusting the torque limiting means is a device with the lapse of time stepwise release of the torque limit fan.
  12. 12. 如权利要求8至11中的任意一项所述的车辆,其中上述旋转状态检测装置,是检测上述驱动轴的旋转角加速度的旋转角加速度检测装置;上述路面状态推定装置,是根据上述所检测出的驱动轴的旋转角加速度来推定上述行驶路面的状态的装置;上述转矩限制调整装置,是在作为上述行驶路面的状态由上迷路面状态推定装置推定为是上述m极低路面时,以上述所检测的旋转角加速度从负的旋转角加速度开始上升的过程中的规定的时机,解除上述转矩的限制的装置。 12. any one of claims 8 to 11 of the vehicle, wherein the rotation state detecting means is to detect the rotational angular acceleration of the drive shaft rotational angular acceleration detecting means; and the road surface condition estimating means is based on the the angular acceleration of the drive shaft detected by the travel state estimating device of a road surface; adjusting the torque limiting means, as in the state of the running road surface is estimated by the estimating means on the labyrinth surface state of the road surface is extremely low above m when the detected rotation angular acceleration above a predetermined procedure from the negative angular acceleration begins to rise in the timing of release of the torque limiting device.
  13. 13. 如权利要求12所述的车辆,其中上述规定的时机是上述所检测的旋转角加速度从负向正转移的时机。 13. The vehicle of claim 12, wherein the predetermined timing of the above-described rotational angular acceleration is detected from the positive to the negative transfer timing.
  14. 14. 如权利要求1至4、 8中的任意一项所述的车辆,其中上述路面状态推定装置,是作为上述行驶路面的状态而根据由上述旋转状态检测装置所检测出的驱动轴的旋转状态来判定由上述打滑检测装置所检测出的打滑的收敛状态的装置;上述转矩限制调整装置,是根据上述所判定的打滑的收敛状态来调整由上述控制装置进行的转矩的限制的装置。 As the state of the road surface in accordance with the rotation state detecting means from the detected rotation of the drive shaft as claimed in claims 1 to 4, in any one of the vehicle 8, wherein said road surface condition estimating means is state determining means converged state by the slip detecting means detects a slip; limiting the torque adjusting means to adjust the limit torque is performed by the control means in accordance with the slip convergence state of the determined apparatus .
  15. 15. —种具备可向连接在驱动轮上的驱动轴输出动力的原动机的车辆的控制方法,其特征在于,具备:(a) 检测上述驱动轴的旋转角加速度的步骤;(b) 根据由该步骤(a)检测出的驱动轴的旋转角加速度来检测因上述驱动轮的空转而引起的打滑的步骤;(c) 在由该步骤(b)检测到打滑时,根据由上述步骤(a)检测出的驱动轴的旋转角加速度设定限制转矩,以随着时间的经过而阶段性地限制上述原动机的步骤;(d) 在由该步骤(C)进行的转矩的限制的期间根据由上述步骤(a)所检测出的驱动轴的旋转角加速度来推定行驶路面的状态的步骤;以及(e) 根据该推定出的行驶路面的状态调整由上述步骤(c)所进行的转矩的限制的步骤。 15. - species may be provided, wherein the control method for a vehicle drive shaft connected to the prime mover output power on the drive wheels, and includes: (a) the step of rotating the drive shaft angular acceleration detecting; (b) The detected by the step (a) to detect the rotational angular acceleration of the drive shaft of the step due to the slip of the drive wheel idling caused; (c) upon detection of a slip of the step (b), according to the above step ( a drive shaft a) setting the detected rotation angular acceleration limit torque, the step of stepwise with time limit of the prime mover; (d) limiting the torque performed by the step (C), the rotary angular acceleration of the drive shaft of the step by the step (a) during the detected travel state estimating the road surface; and (e) adjusting the state of the running road surface is estimated by the above-described step (c) the step of limiting the torque.
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