CN101878142A - 混合动力系统控制方法 - Google Patents

混合动力系统控制方法 Download PDF

Info

Publication number
CN101878142A
CN101878142A CN2008801182160A CN200880118216A CN101878142A CN 101878142 A CN101878142 A CN 101878142A CN 2008801182160 A CN2008801182160 A CN 2008801182160A CN 200880118216 A CN200880118216 A CN 200880118216A CN 101878142 A CN101878142 A CN 101878142A
Authority
CN
China
Prior art keywords
torque
speed
driving engine
pattern
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2008801182160A
Other languages
English (en)
Other versions
CN101878142B (zh
Inventor
今关隆志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bosch Corp
Original Assignee
Bosch Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bosch Corp filed Critical Bosch Corp
Publication of CN101878142A publication Critical patent/CN101878142A/zh
Application granted granted Critical
Publication of CN101878142B publication Critical patent/CN101878142B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B60W10/115—Stepped gearings with planetary gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • B60L2240/486—Operating parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/145—Structure borne vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1015—Input shaft speed, e.g. turbine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

本发明为了使得能够从电动机行驶顺利地转移到混合动力行驶而不管电池的充电状态如何，并且降低离合器元件接合时的冲击。一种混合动力系统使用了状态图型(70)，以便基于加速器冲程位置、车辆速度和电池充电状态SOC决定发动机和电动机的目标转矩。在图型(70)中定义了电动机最大转矩线和电动机余量转矩线，所述电动机最大转矩线划定了根据SOC变化的电动机上限转矩，所述电动机余量转矩线比所述电动机最大转矩线低预定余量。当由加速器冲程位置、车辆速度和电池充电状态确定的所述图型上的位置处于余量转矩线下方时，所述混合动力系统进行电动行驶，当所述图型上的位置处于余量转矩线上或余量转矩线上方时，所述混合动力系统开始发动机起动处理，当所述图型上的位置成为超过最大转矩线的转矩位置时，所述混合动力系统设定发动机和电动机的目标转矩以便实现对应于加速器冲程位置的转矩。

Description

混合动力系统控制方法
技术领域
本发明涉及应用于混合动力车辆的混合动力系统控制方法，具体地涉及轴分裂(axle-split)式混合动力系统控制方法。
背景技术
在专利文献JP-A-2006-160104中，公开了一种具有下述结构的混合动力车辆：变速器和电动机总是耦接到前轮车轴，发动机经由离合器耦接到前轮车轴并且另一个电动机总是耦接到后轮车轴。根据这种混合动力车辆，当车辆停止时，混合动力车辆通常进行怠速停止，然后在驾驶者进行加速器踏板操作时开始运动，但是由于混合动力车辆开始运动时的发动机运转效率低，所以只要混合动力车辆不是突然加速，则其是由从电动机供应的驱动力开始运动，并且在电动机的作用下继续行驶直到达到预定速度或者预定所需要的驱动力。此时，当停止的发动机由电动机旋转时，会产生摩擦损失，所以混合动力车辆进行控制以使离合器脱开，而后在达到预定速度或者预定所需要的驱动力时开始发动机的起动，使离合器接合，并且进行切换以使得通过发动机供应的驱动力来行驶。
而且，这种混合动力车辆的特征在于如下的控制。首先，混合动力车辆从路面状况计算直接耦接到电动机的后轮所能传递的最大转矩量，并且，当驾驶者的加速要求值大于该可传递的最大转矩量时，计算应当由前轮产生的转矩量，并且，当该最大转矩量等于或小于直接耦接到前轮的电动机的最大转矩量时，不起动发动机，让离合器保持脱开，并且从前轮的电动机产生转矩。相反，当应当由前轮产生的转矩量的计算值等于或大于直接耦接到前轮的电动机的最大转矩量时，混合动力车辆产生指令以起动发动机并且接合离合器。混合动力车辆凭借从混合动力车辆所行驶的路面预测的预期路面摩擦系数进行预测性控制，并以此进行离合器接合/脱开判断，所以混合动力车辆有充足的时间实施实际的离合器接合，结果，混合动力车辆可将驱动力从发动机快速供应到前轮。也就是说，该公知示例所公开的原理就是：旨在通过从驾驶者的加速要求值和路面状况预测并判断是否处于所需要发动机转矩的状况，从而避免离合器接合的延迟。
然而，上述控制原理预测由路面摩擦系数确定的可传递最大转矩并且计算后轮电动机转矩、前轮电动机转矩和前轮发动机转矩，但当人们例如由于电池充电状态(SOC)的要求而想要从利用电池功率的电动机行驶快速转移到发动机行驶时，无法避免离合器接合的延迟。而且，根本没有考虑耦接在前轮的发动机和车轴之间的变速器的变速传动比，所以存在一些问题，例如不能在离合器接合时降低冲击。
专利文件1：JP-A-2006-160104
发明内容
本发明是鉴于上述情况作出的，并且本发明的目的在于提供这样一种混合动力系统控制方法，该方法使得能够通过驾驶者的要求驱动力信息和车辆速度信息，从电动机行驶顺利地转移到利用电动机和发动机的混合动力行驶，而不管电池的充电状态如何，并且该方法可通过控制变速齿轮来降低离合器元件接合时的冲击。
为了解决上述问题，根据本发明的混合动力系统控制方法，所述混合动力系统包括：内燃发动机；用于改变并输出所述内燃发动机的旋转速度的变速装置；用于对驱动轮电动驱动的电动装置；用于所述电动装置的电池；和控制装置，该控制装置具有用于决定所述内燃发动机和所述电动装置的目标转矩的图型并且用于基于所述图型指令控制所述内燃发动机和所述电动装置，并且在所述图型中，定义了最大转矩线和余量转矩线，所述最大转矩线作为至少车辆速度和电池充电状态的函数划定了所述电动装置能够供应的上限转矩，所述余量转矩线比所述最大转矩线低预定余量，所述控制方法包括如下步骤：检测加速器冲程位置、车辆速度和电池充电状态；当由检测到的加速器冲程位置、车辆速度和电池充电状态确定的所述图型上的位置处于所述余量转矩线下方的转矩位置时，由所述电动装置进行电动行驶；当所述图型上的位置成为处于所述余量转矩线上或所述余量转矩线上方的转矩位置时，开始所述发动机的起动处理，以便转移到混合动力行驶；以及当所述图型上的位置成为超过所述最大转矩线的转矩位置时，设定所述发动机的目标转矩以及所述电动装置的目标转矩并且指令控制所述发动机和所述电动装置，以便实现对应于所检测到的加速器冲程位置的转矩。
根据本发明，在基于电池充电状态(SOC)和车辆速度以用于决定内燃发动机和电动装置的目标转矩的图型中，定义了最大转矩线和余量转矩线，所述最大转矩线划定了所述电动装置能够供应的上限转矩，所述余量转矩线比所述最大转矩线低预定余量。当由所检测到的加速器冲程位置、车辆速度和电池充电状态确定的所述图型上的位置处于所述余量转矩线下方的转矩位置时，所述电动装置能够供应要求转矩，所以所述混合动力系统控制方法通过所述电动装置进行电动行驶。当所述图型上的位置成为处于所述余量转矩线上或所述余量转矩线上方的转矩位置时，所述混合动力系统控制方法提前开始发动机的起动处理，以便转移到混合动力行驶。另外，当所述图型上的位置成为超过所述最大转矩线的转矩位置时，所述混合动力系统控制方法指令控制所述发动机和所述电动装置，以便实现对应于所检测到的加速器冲程位置的转矩。在本发明中，混合动力系统控制方法使用基于电池充电状态(SOC)和车辆速度的图型，在要求转矩处于余量转矩线上或余量转矩线上方时，起动发动机并且提前进行针对混合动力行驶的准备，所以其可使得能够从驾驶者的要求驱动力信息和车辆速度信息，从电动行驶顺利地转移到利用发动机和电动装置的混合动力行驶，而不管电池充电状态如何。
所述变速装置装备有连接到所述变速装置的输入轴的离合器元件，并且通过使所述离合器元件接合和脱开而使得能够在所述变速装置的前进状态和空档状态之间切换。在这种情况下，所述混合动力系统控制方法在开始了所述发动机的起动处理之后，当所述发动机的怠速旋转速度和所述变速装置的输入轴速度在预定范围内接近时，使所述离合器元件接合。
进一步，在电动行驶中，在使所述发动机停止并且所述离合器元件脱开的状态下，利用对应于所检测到的加速器冲程位置的转矩作为目标转矩，来指令控制所述电动装置。
进一步，在开始所述发动机的起动处理的步骤中，当所述图型上的位置超过所述余量转矩线时，在所述离合器元件脱开的状态下，保持继续电动行驶的状态，开始发动机的起动处理。当所述图型上的位置是余量转矩线和最大转矩线之间的转矩位置时，离合器元件的接合处理在发动机的起动处理结束后进行。而且，在所述离合器元件的接合之后，所述发动机的目标转矩被设定为0。当所述图型上的位置是处于所述余量转矩线和所述最大转矩线之间的转矩位置时，在所述离合器元件的接合处理结束后，也将所述发动机的目标转矩设定为0。
所述指令控制所述发动机和所述电动装置的步骤(其在所述图型上的位置超过所述最大转矩线时被执行)将所述电动装置的目标转矩设定为与所述最大转矩线一致的最大值，并且为了实现对应于所检测到的加速器冲程位置的车辆驱动要求转矩，将所述发动机的目标转矩设定为从所述车辆驱动要求转矩减去所述电动装置的最大转矩而得到的值。因此，所述混合动力系统可从仅驱动电动装置进行的电动行驶顺利地切换到由电动装置和发动机的组合驱动力进行的混合动力行驶。
在本发明的优选方面中，所述混合动力系统进一步包括变速比控制装置，所述变速比控制装置用于以利用基于加速器冲程位置和车辆速度的第二图型决定的变速比控制所述变速装置，并且所述控制方法进一步包括如下步骤：当所述发动机停止并且所述电动装置正在产生转矩时，将所述第二图型用作通过拟输入加速器冲程位置0或者接近0的值而获得的变速图型。而且，所述控制方法进一步包括如下步骤：当所述图型上的位置成为超过所述最大转矩线的转矩位置时，将所述第二图型用作通过拟输入对所述发动机的转矩指令值而不是加速器冲程位置的值而获得的变速图型。
因此，在所述离合器元件接合之前，小于实际加速器冲程位置的拟加速器冲程位置信号被输入到变速比控制装置，所以变速比控制装置在所述离合器元件接合之前将变速装置设定到较高的齿轮侧。通过这种方式，变速装置的输入轴的旋转速度移至较低速度侧并且其与发动机的旋转速度的差减小。因此，当使离合器元件接合以及使离合器元件变化到前进状态时的冲击可得到降低。
在本发明的另一个优选方面中，所述控制装置在所述离合器元件接合之前，基于所述变速装置的传动比信息和车辆速度来预测所述变速装置的输入轴的旋转速度，并且执行控制以使所述发动机的怠速旋转速度接近所预测的旋转速度。因此，当使离合器元件变化到前进状态时的冲击可得到降低。
附图说明
图1是示出了根据本发明一个实施例的混合动力系统控制方法的方框图以及应用了该混合动力系统控制方法的车辆的总体示意图；
图2是主流程图，示出了根据本发明一个实施例的混合动力系统控制方法的流程；
图3是流程图，示出了根据本发明一个实施例的混合动力系统控制方法的混合动力运转模式的流程；
图4是状态图型(state map)的总体示意图，该状态图型基于加速器冲程位置A、车辆速度V和电池充电状态SOC来决定转矩要求量；
图5是示出了图4的状态图型如何根据电池充电状态SOC而变化的图；
图6是现有的基于车辆速度和加速器冲程位置的变速方式的图型图；并且
图7是图型图，示出了在图6的图型图中根据本发明实施例生成的拟加速器冲程位置信号的线和对应于发动机转矩指令的拟加速器冲程位置信号的曲线。
附图标记说明
10    混合动力车辆
12    内燃发动机
14    起动电动机
16    空档/前进离合器元件
17    第一驱动系统
18    自动变速式变速器(AT)
20L、20R    前轮
22L、22R    后轮
24    电池
26    主电动机
27    第二驱动系统
28    差速齿轮
30    转矩转换器
31    AT输入轴
38    发动机控制器
44    AT控制器
46    变换器
48    电池控制器
50    混合动力控制器
52    驱动转矩和输出要求值计算装置
54    电池SOC判断装置
56    电动行驶(E驱动)模式控制指令产生装置
58    混合动力行驶(HEV驱动)模式控制指令产生装置
60    发动机起动停止模式控制指令产生装置
62    离合器接合模式和AT变速模式控制指令产生装置
64    加速器冲程位置传感器
66    车辆速度传感器
67    AT输入速度传感器
68    发动机旋转速度传感器
70    状态图型
80、82、84    变速线
86    拟加速器冲程位置信号的线
88    对应于发动机转矩指令的拟加速器冲程位置信号的曲线
具体实施方式
下面将参照附图说明本发明的实施例。
在图1中，示出了应用根据本发明第一实施例的混合动力系统控制方法的车辆10以及车辆10的控制系统，该控制系统使得能够控制该混合动力系统。车辆10是四轮驱动混合动力车辆，其中电动车轴单元置于已有的两轮驱动车辆的从动轮车轴上，而且通过最小车辆改造来构造，车辆10装备有内燃发动机12、用于起动发动机12的起动电动机14、用于将内燃发动机的驱动力传递到前轮20L和20R的车轴的第一驱动系统17、电池24以及用于将电功率供应到后轮22L和22R的车轴的第二驱动系统27。
第一驱动系统17装备有转矩转换器30和自动变速式变速器18。变速器18装备有用于在空档状态和前进状态之间切换的空档/前进离合器元件16，发动机12的输出轴经由转矩转换器30连接到变速器18的输入轴31，而输入轴31连接到离合器元件16的输入侧。当离合器元件16脱开时，离合器元件16进入空档状态使得发动机12的输出不被传递到前轮的车轴，当离合器元件16接合时，发动机12的输出经由变速器18被传递到前轮20L和20R的车轴。
第二驱动系统27装备有主电动机26和差速齿轮28，电池24向主电动机26供应电功率，差速齿轮28布置在后轮的车轴上。来自主电动机26的电功率经由差速齿轮28被传递到后轮车轴上。主电动机26可在再生序列(regeneration sequence)时产生电功率并且可对电池24充电。
如图1所示，车辆10的控制系统装备有执行必要控制以便控制发动机的发动机控制器38、从离合器元件16的接合和脱开开始控制变速器18的AT控制器44、用于控制电池24的充电和放电的电池控制器48、控制主电动机26的转矩和速度的变换器46以及混合动力控制器50，该混合动力控制器50通过管理和指令控制前述控制器和变换器来执行根据本发明第一实施例的混合动力控制方法。而且，车辆10的控制系统装备有检测加速器冲程位置的加速器冲程位置传感器64、检测车辆速度的车辆速度传感器66、检测变速器输入轴31的旋转速度Ni的AT输入速度传感器67以及检测发动机12的旋转速度Id的发动机旋转速度传感器68。
而且，在图1中示出了混合动力控制器50的功能方框图。根据该功能方框图，混合动力控制器50装备有驱动转矩和输出要求值计算装置52、电池SOC判断装置54、电动行驶(E驱动)模式控制指令产生装置56、混合动力行驶(HEV驱动)模式控制指令产生装置58、发动机起动停止模式控制指令产生装置60以及离合器接合模式和AT变速模式控制指令产生装置62，该驱动转矩和输出要求值计算装置52基于来自加速器冲程位置传感器64的加速器冲程位置信号以及来自车辆速度传感器66的车辆速度信号，计算驾驶者要求的驱动转矩要求值和输出要求值，电池SOC判断装置54基于来自电池控制器48的信号判断电池24的充电状态(SOC)，电动行驶(E驱动)模式控制指令产生装置56基于来自驱动转矩和输出要求值计算装置52的输出值来指令控制变换器46以控制主电动机26，混合动力行驶(HEV驱动)模式控制指令产生装置58基于来自驱动转矩和输出要求值计算装置52的输出值来指令控制发动机控制器38和变换器46以控制发动机12和主电动机26，发动机起动停止模式控制指令产生装置60基于驱动转矩和输出要求值计算装置52的输出值来指令控制发动机控制器38以指挥发动机起动和停止，离合器接合模式和AT变速模式控制指令产生装置62基于来自驱动转矩和输出要求值计算装置52的输出值和来自发动机起动停止模式控制指令产生装置60的信息来指令控制AT控制器44，以控制离合器元件16的接合和脱开以及变速器18的变速模式。
如图4所示，驱动转矩和输出要求值计算装置52在存储器中存储状态图型70，该状态图型70用来基于加速器冲程位置A、车辆速度V和电池充电状态SOC来决定相对于发动机12和/或主电动机26的转矩要求量。在该图型70中，作为车辆速度V和电池充电状态SOC的函数，定义了电动机最大转矩线(Tm/max水平1)，该电动机最大转矩线划定了主电动机26可供应的上限转矩。也就是说，在图型70中，超过Tm/max水平1的转矩区域成为这样的区域，其中除了主电动机26的转矩还加入发动机转矩以便满足来自操作者的对应于加速器冲程位置的要求转矩，该区域也就是发动机工作区域。另一方面，在不超过Tm/max水平的范围内的转矩区域成为这样的区域，其中来自操作者的对应于加速器冲程位置的要求转矩可仅通过主电动机26的转矩得到满足，而没有必要使发动机工作，该区域也就是发动机停止区域(斜线部分)。进一步，在图型70中还定义了电动机余量转矩线(Tm/max水平2，虚线)，该电动机余量转矩线考虑到预定余量而设定得低于电动机最大转矩Tm/max水平1。而且，发动机和电动机转矩的组合最大线也以虚线表示。
如图5所示，电动机最大转矩线(Tm/max水平1)和电动机余量转矩线(Tm/max水平2)根据SOC变化。也就是说，当SOC变得更大时，电动机最大转矩线(以及与其对应的电动机余量转矩线)向上偏移，即沿其增大主电动机26的供应上限转矩的方向偏移，当SOC变得更小时，电动机最大转矩线(以及与其对应的电动机转矩线)向下偏移，即沿其减小主电动机26的供应上限转矩的方向偏移。
将基于图4的图型70简要说明决定发动机12和/或主电动机26应输出转矩量的步骤。例如，当操作者的加速器冲程位置(％)为A时，该状态在车辆速度V1存在于发动机停止区域中。因此，满足来自操作者的对应于加速器冲程位置A的转矩要求量的转矩Tm1仅对主电动机26要求而不要求发动机12。当车辆速度上升并成为V2时，该状态存在于发动机停止区域，所以对应于加速器冲程位置A的转矩Tm2(如果加速器冲程位置A不变，则其等于Tm1)仅对主电动机26要求。当加速器冲程位置为A而车辆速度进一步上升并成为V3时，该状态点位于电动机余量转矩线上，即使在此阶段，转矩Tm3(如果加速器冲程位置A不变，则其等于Tm1和Tm2)仅对主电动机26要求。当加速器冲程位置为A而车辆速度成为V4时，该状态点位于电动机最大转矩线上，电动机26在此加速器冲程位置能够供应的上限转矩Tm4(如果加速器冲程位置A不变，则其等于Tm1、Tm2和Tm3)仅对主电动机26要求。当车辆速度达到V5时，该状态点进入发动机工作区域，并且对应于加速器冲程位置A的操作者的转矩要求量超过电动机26能够提供的转矩上限，所以对电动机26要求对应于车辆速度V5的处于电动机最大转矩线上的转矩Tm5，而对发动机要求该Tm5与操作者的转矩要求量A之差的转矩Te5。也就是说，开始了电动机和发动机的混合动力行驶。
接下来，将利用图2和图3的流程图说明基于根据第一实施例的混合动力控制方法的处理的流程。
首先，当在发动机12和起动电动机14被停止并且离合器元件16脱开的状态下，驱动主电动机26从而车辆10开始运动时，图2的处理开始。
如图2所示，驱动转矩和输出要求值计算装置52检查来自加速器冲程位置传感器64的信号以确定加速器冲程位置A(步骤100)，并且检查来自车辆速度传感器66的车辆速度信号以确定车辆速度V(步骤102)。电池SOC判断装置54检查电池24以确定电池充电状态(SOC)(步骤104)，该电池充电状态是电池24的充电量相对于最大充电量的比。
接下来，搜索由在步骤100到104确定的加速器冲程位置A、车辆速度V和SOC决定的状态点在图4的图型70的哪个位置(步骤106)。作为该搜索的结果，判断图型70的电动机余量转矩线(Tm/max水平2)是否超过加速器冲程位置A(步骤108)。当Tm/max水平2超过加速器冲程位置A(步骤108中的确定结果为是)时，其在图4的图型70中处于发动机停止区域，所以处理执行电动行驶模式(步骤110)。也就是，处理将主电动机的目标转矩Tm*设定为对应于加速器冲程位置A的转矩(步骤112)，切断发动机12(步骤114)，使变速器18的离合器元件16脱开(步骤116)，并且控制主电动机26以输出目标转矩Tm*(步骤118)。从那时起，处理返回到步骤100并且再次执行同样的过程。从步骤110到步骤118的处理在图4的示例中对应于将电动机控制成输出转矩Tm1、Tm2或Tm3的处理。
将参照图3的流程图，说明当在步骤108中图型70的电动机余量转矩线(Tm/max水平2)不超过加速器冲程位置A时的处理。
如图3所示，当图型70的电动机余量转矩线(Tm/max水平2)不超过加速器冲程位置A时，处理转移到混合动力行驶模式(步骤120)。在混合动力行驶模式中，下面从步骤122到步骤130的目标转矩设定处理以及从步骤132到步骤156的发动机起动处理是并行执行的。
在目标转矩设定处理中，判断图型70的电动机最大转矩线(Tm/max水平1)是否超过对应于加速器冲程位置A的转矩(步骤122)。
当Tm/max水平1超过加速器冲程位置A(步骤122中的确定结果为是)时，其在图4的图型70中处于发动机停止区域，所以处理执行电动行驶模式(步骤110)。也就是，处理将主电动机的目标转矩Tm*设定为对应于加速器冲程位置A的转矩(步骤124)，返回到图2的步骤118，并且控制主电动机26以输出目标转矩Tm*。与此并行的是，处理将发动机的目标转矩Te*设定为0(步骤126)，并且移至后述的步骤158，以便进行发动机驱动控制。
也就是，当加速器冲程位置A等于或大于Tm/max水平2但是小于Tm/max水平1时，不同于图3的加速器踏板的通常电动行驶模式，处理立即移至步骤118，并且在不执行步骤114(发动机切断)和步骤116(使变速器的离合器元件16脱开)，也就是不执行发动机停止措施的情况下进行电动行驶，并且进行用于发动机起动的准备步骤。步骤124和步骤126的处理在图4的示例中对应于将电动机控制成输出转矩Tm3和Tm4的处理。
相反，当Tm/max水平1不超过加速器冲程位置A(在步骤122中的确定结果为否)时，其在图4的图型70中处于发动机工作区域，所以处理将主电动机的目标转矩Tm*设定为Tm/max水平1(步骤128)，返回到图2的步骤118，并且控制主电动机26，以输出在那个时间点的车辆速度和SOC变得可能的最大转矩。而且，与此并行的是，处理将发动机的目标转矩Te*设定为(A-Tm/max水平1)(步骤130)并且移至后述的步骤158，以便进行发动机驱动控制。
混合动力行驶模式中的发动机起动处理从步骤132开始，并判断发动机速度是否为0(步骤134)。当发动机速度为0(步骤134中的确定结果为是)时，处理使离合器16脱开(步骤142)，接通起动电动机14(步骤144)，开始发动机燃烧，控制发动机12，从而以发动机目标怠速速度I0旋转(步骤146)，返回到步骤134并且执行相同的处理。
当发动机速度不为0(步骤134中的确定结果为否)时，处理检查发动机速度Id(步骤136)。接下来，处理将I0用作上述发动机目标怠速速度并将m用作给定常数来确定下式是否成立(步骤138)。
|I0-Id|＜m         (1)
当式(1)不成立时，即当发动机速度Id和发动机目标怠速速度I0之间存在显著差异(步骤138中的确定结果为否)时，处理在其已经使离合器元件16脱开的状态下(步骤140)继续执行发动机12的发动机目标怠速速度I0的追踪控制(步骤146)，返回到步骤134并且再次执行相同的处理。
当|I0-Id|＜m成立时，即当发动机速度Id可被认为已经实质上达到发动机目标怠速速度I0(步骤138中的确定结果为是)时，处理开始离合器接合处理(步骤148)。当执行离合器接合过程时，再次检查来自AT输入速度传感器67的输出信号并且确定输入轴31的旋转速度Ni(步骤150)。接下来，确定发动机怠速速度Id和步骤150中确定的输入轴速度Ni之间的差是否落入恒定的范围内(步骤152)。特别地，确定下面的不等式(2)是否成立。
|Ni-Id|＜n           (2)
此处，n是所应用的常数。
当不等式(2)成立(步骤152中的确定结果为是)时，处理接通离合器元件16(步骤154)并且使得离合器接合。在离合器接合之后，发动机速度Id和AT输入轴速度Ni变得相等(步骤158中的确定结果为是)，所以处理控制发动机12以实现步骤126或步骤130中设定的发动机目标转矩Te*(步骤160)，返回到图2的步骤100并且再次执行相同的过程。当已经在步骤130中确定了发动机目标转矩时，主电动机126由目标转矩Tm*＝A控制，发动机12由目标转矩Te*＝(A-Tm/max水平1)控制，并且车辆10以混合动力模式行驶。这在图4的示例中对应于将电动机26控制成输出转矩Tm5以及将发动机12控制成输出转矩Te5的处理。另一方面，当已经在步骤126中确定了发动机目标转矩(当发动机目标转矩Te*＝0)时，保持离合器元件16接合的前进状态，并且发动机被控制成使得发动机输出转矩成为0直到下一个指令来临。
当处理从步骤126和步骤130移至步骤158时，也可能存在还未执行离合器接合操作的情况。在这种情况下，发动机速度Id和AT输入轴速度Ni不相等(步骤158中的确定结果为否)，所以处理将发动机目标转矩Te*清0(步骤162)并且移至步骤160。
当在步骤156中不等式(2)不成立(步骤156中的确定结果为否)时，处理向目标怠速速度I0加上α(步骤156)，将目标怠速速度变为(I0+α)，返回到步骤134，再次执行上述过程并且执行操作以使得发动机怠速速度接近AT输入轴速度Ni。
在上述处理中，使离合器元件16在发动机12和AT输入轴31的旋转速度之差小的情况下接合于前进状态，所以可减轻离合器的打滑并且也可降低基于离合器接合的冲击。
本发明实施例的特征在于其使用下面的特征以便更加有效地减轻离合器元件16接合的冲击。
(1)AT控制器44通常基于图6所示的变速比图型，从被送至AT控制器44的加速器冲程位置和车辆速度决定变速比。根据图6的变速比图型，如果车辆速度V是比线80低的速度，则变速器被控制成切换到第一速度，如果在线80和线82之间则切换到第二速度，如果在线82和线84之间则切换到第三速度，并且如果在线84上或者超过线84则切换到第四速度。线80、82和84具有不断增加的倾斜部分，所以在这些线的区间中，变速时的车辆速度也随着加速器冲程位置升高而升高。反过来说，当加速器冲程位置变得接近于0时，即使在较低的车辆速度下，变速器仍被切换到高速传动比。
因此，在通常工作期间，离合器接合模式和AT变速模式控制指令产生装置62将检测到的加速器冲程位置直接送至AT控制器44，但在转移到图3的混合动力模式(步骤120)之后并且在离合器接合处理(步骤148)之前，离合器接合模式和AT变速模式控制指令产生装置62将加速器冲程位置信号转换为0或者接近0的值并且将其拟输入到AT控制器44。例如，如图7所示，该拟加速器冲程位置信号被如线86所示的那样被控制。因此，在离合器元件16的接合之前，变速器18被设定到较高的齿轮侧，并且以这种方式，变速器18的输入轴31的旋转速度移至较低速度侧。发动机的旋转速度在离合器接合之前还低，所以两个速度的一致程度得到提高，并且使离合器元件16接合时以及使离合器元件16变化到前进状态时的冲击得到降低。
(2)在转移到混合动力行驶模式之后，在图3的步骤122中，当对应于加速器冲程位置A的转矩超过Tm/max水平1(步骤122中的确定结果为否)时，发动机目标转矩Te*被设定为(A-Tm/max水平1)(步骤130)。此时，离合器接合模式和AT变速模式控制指令产生装置62将对应于该目标转矩Te*的值输入到AT控制器44，作为拟加速器冲程位置信号。例如，如图7所示，该拟加速器冲程位置信号如曲线88所示的那样被控制。从线86切换到曲线88的时间点对应于执行步骤130时的时间点。因此，处理实现了与实际的发动机输出相当的变速状态，并且可顺利地转移到混合动力行驶。
(3)在上述项目(1)中，当处理使离合器元件16接合并且使离合器元件16变化到前进状态时，处理在起动已经结束的发动机中基于那时的变速器18的传动比信息和车辆速度信息事先预测变速器输入轴31的旋转速度，并且进行控制以使发动机怠速旋转速度接近该预测值。而后，处理使离合器元件16变化到前进状态，由此可降低冲击。例如，处理可通过向发动机怠速旋转速度的目标值I0加上α而使发动机怠速旋转速度接近该预测值。
以上说明了本发明的实施例，但是本发明并不仅限于上述示例，而是在权利要求限定的本发明范围内可任意合适地变更。例如，在图1的构造中，由发动机驱动的第一驱动系统17布置在前轮侧，而具有主电动机26的第二驱动系统27布置在后轮侧，但是具有主电动机26的第二驱动系统27也可布置在前轮侧，而由发动机驱动的第一驱动系统17也可布置在后轮侧。进一步，本发明也可应用于两轮驱动混合动力车辆，其中主电动机和发动机的输出轴均耦接到前轮侧和后轮侧的车轴的任一个。

Claims (11)

1.一种混合动力系统控制方法，
所述混合动力系统包括：
内燃发动机；
用于改变并输出所述内燃发动机的旋转速度的变速装置；
用于对驱动轮电动驱动的电动装置；
用于所述电动装置的电池；和
控制装置，具有用于决定所述内燃发动机和所述电动装置的目标转矩的图型，并且用于基于所述图型指令控制所述内燃发动机和所述电动装置，
并且在所述图型中定义了最大转矩线和余量转矩线，所述最大转矩线作为至少车辆速度和电池充电状态的函数划定了所述电动装置能够供应的上限转矩，所述余量转矩线比所述最大转矩线低预定余量，
所述控制方法包括如下步骤：
检测加速器冲程位置、车辆速度和电池充电状态；
当由检测到的加速器冲程位置、车辆速度和电池充电状态确定的所述图型上的位置处于所述余量转矩线下方的转矩位置时，由所述电动装置进行电动行驶；
当所述图型上的位置成为处于所述余量转矩线上或所述余量转矩线上方的转矩位置时，开始所述发动机的起动处理，以便转移到混合动力行驶；以及
当所述图型上的位置成为超过所述最大转矩线的转矩位置时，设定所述发动机的目标转矩以及所述电动装置的目标转矩并且指令控制所述发动机和所述电动装置，以便实现对应于所检测到的加速器冲程位置的转矩。
2.如权利要求1所述的混合动力系统控制方法，其特征在于，所述变速装置装备有连接到所述变速装置的输入轴的离合器元件，并且通过使所述离合器元件接合或脱开而使得能够在所述变速装置的前进状态和空档状态之间切换。
3.如权利要求2所述的混合动力系统控制方法，其特征在于，在开始所述发动机的起动处理的步骤中，所述发动机的起动处理在所述离合器元件脱开的状态下执行。
4.如权利要求3所述的混合动力系统控制方法，其特征在于，进一步包括如下步骤：在开始了所述发动机的起动处理之后，当所述发动机的怠速旋转速度和所述变速装置的输入轴速度在预定范围内接近时，使所述离合器元件接合。
5.如权利要求2所述的混合动力系统控制方法，其特征在于，在所述电动行驶中，在使所述发动机停止并且所述离合器元件脱开的状态下，利用对应于所检测到的加速器冲程位置的转矩作为目标转矩来指令控制所述电动装置。
6.如权利要求3所述的混合动力系统控制方法，其特征在于，进一步包括如下步骤：当所述图型上的位置是处于所述余量转矩线和所述最大转矩线之间的转矩位置时，在所述发动机的起动处理结束后，将所述发动机的目标转矩设定为0。
7.如权利要求1所述的混合动力系统控制方法，其特征在于，进一步包括如下步骤：当所述图型上的位置是处于所述余量转矩线和所述最大转矩线之间的转矩位置时，在所述离合器元件的接合处理结束后，也将所述发动机的目标转矩设定为0。
8.如权利要求1所述的混合动力系统控制方法，其特征在于，所述指令控制所述发动机和所述电动装置的步骤将所述电动装置的目标转矩设定为与所述最大转矩线一致的最大值，并且为了实现对应于所检测到的加速器冲程位置的车辆驱动要求转矩，将所述发动机的目标转矩设定为从所述车辆驱动要求转矩减去所述电动装置的最大转矩而得到的值。
9.如权利要求5所述的混合动力系统控制方法，其特征在于，
所述混合动力系统进一步包括变速比控制装置，所述变速比控制装置用于以利用基于加速器冲程位置和车辆速度的第二图型决定的变速比控制所述变速装置，并且
所述控制方法进一步包括如下步骤：当所述发动机停止并且所述电动装置正在产生转矩时，将所述第二图型用作通过拟输入加速器冲程位置0或者接近0的值而获得的变速图型。
10.如权利要求1所述的混合动力系统控制方法，其特征在于，
所述混合动力系统进一步包括变速比控制装置，所述变速比控制装置用于以利用基于加速器冲程位置和车辆速度的第二图型决定的变速比控制所述变速装置，并且
所述控制方法进一步包括如下步骤：当所述图型上的位置成为超过所述最大转矩线的转矩位置时，将所述第二图型用作通过拟输入对所述发动机的转矩指令值而不是加速器冲程位置的值而获得的变速图型。
11.如权利要求4所述的混合动力系统控制方法，其特征在于，进一步包括如下步骤：在所述离合器元件接合之前，基于所述变速装置的传动比信息和所述车辆速度来预测所述变速装置的输入轴的旋转速度，并且执行控制以使所述发动机的所述怠速旋转速度接近所预测的旋转速度。
CN200880118216.0A 2007-11-30 2008-11-26 混合动力系统控制方法 Active CN101878142B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2007-311029 2007-11-30
JP2007311029 2007-11-30
PCT/JP2008/071413 WO2009069637A1 (ja) 2007-11-30 2008-11-26 ハイブリッドシステムの制御方法

Publications (2)

Publication Number Publication Date
CN101878142A true CN101878142A (zh) 2010-11-03
CN101878142B CN101878142B (zh) 2014-03-12

Family

ID=40678532

Family Applications (1)

Application Number Title Priority Date Filing Date
CN200880118216.0A Active CN101878142B (zh) 2007-11-30 2008-11-26 混合动力系统控制方法

Country Status (6)

Country Link
US (1) US8649924B2 (zh)
EP (1) EP2226227B1 (zh)
JP (1) JP5134632B2 (zh)
KR (1) KR20100086043A (zh)
CN (1) CN101878142B (zh)
WO (1) WO2009069637A1 (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103029701A (zh) * 2011-09-29 2013-04-10 铃木株式会社 串联混合动力车辆的驱动控制装置
CN103569123A (zh) * 2012-07-18 2014-02-12 通用汽车环球科技运作有限责任公司 减少混合动力电动车辆内的冲击沉闷声的方法
CN103826954A (zh) * 2011-08-17 2014-05-28 标致·雪铁龙汽车公司 在混合动力机动车辆中电动模式下的扭矩控制方法
CN104276170A (zh) * 2013-07-02 2015-01-14 现代自动车株式会社 用于混合动力车的驾驶控制方法
CN104602942A (zh) * 2012-08-31 2015-05-06 日产自动车株式会社 空档判定装置以及车辆的控制装置
CN107303905A (zh) * 2016-04-22 2017-10-31 通用汽车环球科技运作有限责任公司 用于并行混合动力系统中变速器档位选择的方法及设备
CN109383486A (zh) * 2017-08-04 2019-02-26 郑州宇通客车股份有限公司 混合动力汽车扭矩控制方法和混合动力汽车动力系统
CN113002525A (zh) * 2019-12-20 2021-06-22 本田技研工业株式会社 车辆的控制装置

Families Citing this family (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5019870B2 (ja) * 2006-12-27 2012-09-05 ボッシュ株式会社 ハイブリッド車両の制御方法
KR20100086043A (ko) * 2007-11-30 2010-07-29 봇슈 가부시키가이샤 하이브리드 시스템의 제어 방법
JP5328573B2 (ja) * 2009-09-03 2013-10-30 三菱電機株式会社 アイドルストップ制御装置およびアイドルストップ制御方法
EP2557008A4 (en) * 2010-04-05 2014-12-10 Honda Motor Co Ltd CONTROL DEVICE FOR HYBRID VEHICLE
EP2581283B1 (en) * 2010-06-10 2015-11-11 Toyota Jidosha Kabushiki Kaisha Hybrid vehicle control device, hybrid vehicle control method, and hybrid vehicle
DE102010017374A1 (de) * 2010-06-15 2011-12-15 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Starten des Verbrennungsmotors eines Hybridfahrzeugs
US8400112B2 (en) 2010-11-10 2013-03-19 Ford Global Technologies, Llc Method for managing power limits for a battery
US9030063B2 (en) 2010-12-17 2015-05-12 Tesla Motors, Inc. Thermal management system for use with an integrated motor assembly
US8698348B2 (en) 2011-01-10 2014-04-15 Ford Global Technologies, Llc System and method for managing a power source in a vehicle
US9002561B2 (en) * 2011-01-31 2015-04-07 Suzuki Motor Corporation Drive control apparatus and drive control method for hybrid vehicles and hybrid vehicle
GB2488969A (en) * 2011-02-01 2012-09-19 Land Rover Uk Ltd Hybrid electric vehicle control using virtual speed of an actuator
US9352739B2 (en) * 2011-02-15 2016-05-31 GM Global Technology Operations LLC Method for operating a hybrid vehicle
JP5675441B2 (ja) * 2011-03-03 2015-02-25 トヨタ自動車株式会社 車両の制御装置
FR2976418B1 (fr) * 2011-06-10 2013-11-08 IFP Energies Nouvelles Procede pour assurer la recharge d'un accumulateur d'energie electrique pour un vehicule hybride, notamment de batteries electriques.
CN103842225B (zh) * 2011-11-25 2016-06-22 日产自动车株式会社 混合动力车辆的控制装置
KR101664156B1 (ko) * 2011-12-13 2016-10-10 현대자동차 주식회사 하이브리드 자동차의 배터리 충방전 제어방법
US8473134B1 (en) * 2012-02-07 2013-06-25 GM Global Technology Operations LLC Method and apparatus for operating a vehicle including a hybrid powertrain system during a launch maneuver
US9944275B2 (en) * 2012-02-28 2018-04-17 Toyota Jidosha Kabushiki Kaisha Control device for hybrid vehicle
WO2013137278A1 (ja) * 2012-03-15 2013-09-19 日産自動車株式会社 ハイブリッド車両の制御装置
JP2013203287A (ja) * 2012-03-29 2013-10-07 Denso Corp ハイブリッド車の制御装置
US8795131B2 (en) * 2012-11-28 2014-08-05 Ford Global Technologies, Llc Method and apparatus for reducing torque during a transmission upshift for a hybrid vehicle
BR112015019217A2 (pt) 2013-02-11 2018-05-15 Volvo Truck Corp um método para propulsão de um veículo
EP2969681B1 (en) 2013-03-14 2021-02-24 Allison Transmission, Inc. System and method for optimizing hybrid vehicle battery usage constraints
AU2014241859B2 (en) 2013-03-14 2016-04-21 Allison Transmission, Inc. System and method for compensation of turbo lag in hybrid vehicles
CN105189235B (zh) 2013-03-14 2018-01-19 艾里逊变速箱公司 用于混合动力车的在再生过程中断开发动机动力传动系的系统及方法
CA2898310C (en) 2013-03-14 2022-07-12 Allison Transmission, Inc. System and method for power management during regeneration mode in hybrid electric vehicles
KR102446030B1 (ko) 2013-03-15 2022-09-22 알리손 트랜스미션, 인크. 하이브리드 자동 변속기들에서 에너지율 밸런싱을 위한 시스템 및 방법
CA2898300C (en) 2013-03-15 2020-10-27 Allison Transmission, Inc. Service disconnect interlock system and method for hybrid vehicles
WO2014149823A1 (en) 2013-03-15 2014-09-25 Allison Transmission, Inc. System and method for balancing states of charge of energy storage modules in hybrid vehicles
FR3003833B1 (fr) * 2013-03-29 2016-03-18 Renault Sas Procede et dispositif de controle du redemarrage d'un vehicule equipe d'une transmission automatique
EP3042818B1 (en) * 2013-09-04 2019-04-10 Honda Motor Co., Ltd. Hybrid vehicle drive device
KR101558359B1 (ko) * 2013-12-18 2015-10-08 현대자동차 주식회사 하이브리드 차량의 토크 모니터링 방법
KR101566736B1 (ko) * 2013-12-26 2015-11-06 현대자동차 주식회사 하이브리드 차량의 전부하 모드 제어 장치 및 방법
US11097711B2 (en) * 2014-04-22 2021-08-24 Ford Global Technologies, Llc Traction control for a hybrid electric powertrain
JP6327402B2 (ja) * 2015-07-07 2018-05-23 日産自動車株式会社 ハイブリッド車両の駆動力制御装置
EP3132966A1 (de) * 2015-08-21 2017-02-22 Magna Steyr Fahrzeugtechnik AG & Co KG Verfahren zum betreiben eines fahrzeuges
KR101980867B1 (ko) * 2017-11-30 2019-05-21 서울과학기술대학교 산학협력단 플러그인 하이브리드 전기 차량의 파워트레인 및 방법
US11167745B2 (en) * 2018-04-19 2021-11-09 Toyota Jidosha Kabushiki Kaisha Control system of hybrid vehicle
JP7139925B2 (ja) * 2018-04-19 2022-09-21 トヨタ自動車株式会社 ハイブリッド車両の制御システム
JP7110718B2 (ja) * 2018-05-17 2022-08-02 スズキ株式会社 内燃機関の始動制御装置
FR3091837B1 (fr) * 2019-01-17 2020-12-18 Renault Sas Procede de controle du demarrage d’un moteur thermique dans un groupe motopropulseur hybride
JP7163271B2 (ja) 2019-12-20 2022-10-31 本田技研工業株式会社 車両の制御装置
KR102325508B1 (ko) * 2020-03-18 2021-11-15 주식회사 현대케피코 전동 차량의 운행 제어 장치 및 방법
US11597374B2 (en) * 2020-09-10 2023-03-07 Ford Global Technologies, Llc Methods and system for arbitrating fuel cut out for a hybrid vehicle
CN113183944B (zh) * 2021-04-20 2022-09-02 东风汽车集团股份有限公司 确定驾驶员需求驱动及滑行转矩的方法及设备
DE102022210439A1 (de) * 2022-09-30 2024-04-04 Volkswagen Aktiengesellschaft Verfahren zur Steuerung eines Antriebsstrangs in einem Hybrid-Fahrzeug und Hybrid-Fahrzeug

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6090007A (en) * 1998-03-20 2000-07-18 Nissan Motor Co., Ltd. Hybrid vehicle drive force control device and control method
US6377883B1 (en) * 1999-04-05 2002-04-23 Honda Giken Kogyo Kabushiki Kaisha Control apparatus for hybrid vehicle
US20040163860A1 (en) * 2002-12-20 2004-08-26 Hitachi, Ltd. Hybrid car and control apparatus therefor, and hybrid four-wheel-drive car and control apparatus therefor
US20070080005A1 (en) * 2005-10-06 2007-04-12 Nissan Motor Co., Ltd. Hybrid vehicle drive control system
US20070173374A1 (en) * 2004-02-06 2007-07-26 Masahiko Hayashi Vehicle controller of a vehicle power transmission device

Family Cites Families (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4042056A (en) * 1975-11-21 1977-08-16 Automobile Corporation Of America Hybrid powered automobile
US4671139A (en) * 1986-01-27 1987-06-09 General Motors Corporation Clutch-to-clutch coast downshifting in a motor vehicle automatic transmission
JP2796698B2 (ja) * 1995-02-02 1998-09-10 株式会社エクォス・リサーチ ハイブリッド車両
JP3216501B2 (ja) * 1995-10-13 2001-10-09 トヨタ自動車株式会社 ハイブリッド駆動装置
US5841201A (en) * 1996-02-29 1998-11-24 Toyota Jidosha Kabushiki Kaisha Hybrid vehicle drive system having a drive mode using both engine and electric motor
JP3622338B2 (ja) * 1996-05-28 2005-02-23 トヨタ自動車株式会社 車両の変速制御装置
JP3520668B2 (ja) * 1996-06-11 2004-04-19 トヨタ自動車株式会社 ハイブリッド車両の制御装置
JP3706688B2 (ja) * 1996-07-25 2005-10-12 モトール自動車株式会社 複合原動機及びその制御装置
US6110066A (en) * 1998-02-05 2000-08-29 Southwest Research Institute Parallel hybrid drivetrain
JP2000103259A (ja) 1998-09-30 2000-04-11 Toyota Motor Corp ハイブリッド車の駆動源切換制御装置
JP3402236B2 (ja) * 1999-01-13 2003-05-06 トヨタ自動車株式会社 動力出力装置およびハイブリッド車両並びにその制御方法
JP3575320B2 (ja) * 1999-03-31 2004-10-13 スズキ株式会社 車両のモータ駆動制御装置
DE10049567B4 (de) * 1999-10-08 2017-12-14 Toyota Jidosha Kabushiki Kaisha Fahrzeugsteuergerät zum Steuern eines allradgetriebenen Kraftfahrzeugs
JP3775562B2 (ja) * 2000-03-07 2006-05-17 ジヤトコ株式会社 パラレルハイブリッド車両
JP3832237B2 (ja) * 2000-09-22 2006-10-11 日産自動車株式会社 ハイブリッド車の制御装置
US7407026B2 (en) * 2000-10-11 2008-08-05 Ford Global Technologies, Llc Control system for a hybrid electric vehicle to anticipate the need for a mode change
GB2370130B (en) * 2000-10-11 2004-10-06 Ford Motor Co A control system for a hybrid electric vehicle
WO2002032711A1 (fr) * 2000-10-16 2002-04-25 Nissan Diesel Co., Ltd. Systeme de vehicule hybride
US6755266B2 (en) * 2000-10-31 2004-06-29 Volvo Car Corporation Method and arrangement in a hybrid vehicle for initiating early engine operation during take-off conditions
JP4244519B2 (ja) * 2000-12-28 2009-03-25 アイシン・エィ・ダブリュ株式会社 ハイブリッド車輌の制御装置
JP3536820B2 (ja) * 2001-02-05 2004-06-14 日産自動車株式会社 ハイブリッド式車両制御装置
JP3956796B2 (ja) * 2001-12-26 2007-08-08 アイシン・エィ・ダブリュ株式会社 ハイブリッド型車両駆動制御装置、ハイブリッド型車両駆動制御方法及びそのプログラム
US6827167B2 (en) * 2002-03-28 2004-12-07 Ford Global Technologies, Llc Hybrid electric vehicle torque distribution
JP2004116363A (ja) * 2002-09-25 2004-04-15 Mitsubishi Fuso Truck & Bus Corp パラレル式ハイブリッド電気自動車の動力制御装置
JP3823949B2 (ja) * 2003-06-23 2006-09-20 日産自動車株式会社 ハイブリッド車のモード遷移制御装置
JP4270079B2 (ja) 2003-09-05 2009-05-27 日産自動車株式会社 駆動力制御装置
US7317978B2 (en) * 2003-09-05 2008-01-08 Nissan Motor Co., Ltd. Driving force control apparatus for vehicle
JP2005138743A (ja) * 2003-11-07 2005-06-02 Nissan Motor Co Ltd ハイブリッド車両の駆動力制御装置
JP2006160104A (ja) 2004-12-08 2006-06-22 Nissan Motor Co Ltd ハイブリッド車両の制御装置
JP2006298079A (ja) * 2005-04-19 2006-11-02 Nissan Motor Co Ltd ハイブリッド車のモード遷移制御装置およびモード遷移制御方法
JP2006347311A (ja) * 2005-06-15 2006-12-28 Nissan Motor Co Ltd ハイブリッド車両
JP4466514B2 (ja) * 2005-09-08 2010-05-26 日産自動車株式会社 ハイブリッド車両のエンジン始動制御装置
EP1762452A3 (en) * 2005-09-08 2009-05-27 Nissan Motor Co., Ltd. Engine starting control device and method
JP2007261442A (ja) * 2006-03-29 2007-10-11 Nissan Motor Co Ltd ハイブリッド車両の運転モード遷移制御装置
KR100819978B1 (ko) * 2006-08-01 2008-04-07 현대자동차주식회사 하이브리드 및 전기 차량의 브레이크 시스템과 그 제어방법
JP5019870B2 (ja) * 2006-12-27 2012-09-05 ボッシュ株式会社 ハイブリッド車両の制御方法
US9008926B2 (en) * 2007-11-04 2015-04-14 GM Global Technology Operations LLC Control of engine torque during upshift and downshift torque phase for a hybrid powertrain system
US8285432B2 (en) * 2007-11-05 2012-10-09 GM Global Technology Operations LLC Method and apparatus for developing a control architecture for coordinating shift execution and engine torque control
KR20100086043A (ko) * 2007-11-30 2010-07-29 봇슈 가부시키가이샤 하이브리드 시스템의 제어 방법
CN101259845A (zh) * 2007-12-05 2008-09-10 奇瑞汽车股份有限公司 一种混合动力电机扭矩平滑处理控制系统
DE102008056972B4 (de) * 2008-11-13 2019-06-06 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum frühzeitigen Einleiten eines Zustarts eines Verbrennungsmotors bei einem Fahrzeug mit Hybridantrieb
KR101172320B1 (ko) * 2010-12-06 2012-08-07 기아자동차주식회사 두 개의 모터가 구비된 하이브리드 차량의 토크 제어 방법 및 장치
CN103260923B (zh) * 2010-12-07 2016-12-21 艾里逊变速箱公司 用于混合动力电动车的能量存储系统
JP5494979B2 (ja) * 2011-01-26 2014-05-21 三菱自動車工業株式会社 電動車両

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6090007A (en) * 1998-03-20 2000-07-18 Nissan Motor Co., Ltd. Hybrid vehicle drive force control device and control method
US6377883B1 (en) * 1999-04-05 2002-04-23 Honda Giken Kogyo Kabushiki Kaisha Control apparatus for hybrid vehicle
US20040163860A1 (en) * 2002-12-20 2004-08-26 Hitachi, Ltd. Hybrid car and control apparatus therefor, and hybrid four-wheel-drive car and control apparatus therefor
US20070173374A1 (en) * 2004-02-06 2007-07-26 Masahiko Hayashi Vehicle controller of a vehicle power transmission device
US20070080005A1 (en) * 2005-10-06 2007-04-12 Nissan Motor Co., Ltd. Hybrid vehicle drive control system

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103826954A (zh) * 2011-08-17 2014-05-28 标致·雪铁龙汽车公司 在混合动力机动车辆中电动模式下的扭矩控制方法
CN103029701A (zh) * 2011-09-29 2013-04-10 铃木株式会社 串联混合动力车辆的驱动控制装置
CN103029701B (zh) * 2011-09-29 2016-04-27 铃木株式会社 串联混合动力车辆的驱动控制装置
CN103569123A (zh) * 2012-07-18 2014-02-12 通用汽车环球科技运作有限责任公司 减少混合动力电动车辆内的冲击沉闷声的方法
CN103569123B (zh) * 2012-07-18 2016-08-24 通用汽车环球科技运作有限责任公司 减少混合动力电动车辆内的冲击沉闷声的方法
CN104602942A (zh) * 2012-08-31 2015-05-06 日产自动车株式会社 空档判定装置以及车辆的控制装置
CN104602942B (zh) * 2012-08-31 2017-05-03 日产自动车株式会社 空档判定装置以及车辆的控制装置
CN104276170A (zh) * 2013-07-02 2015-01-14 现代自动车株式会社 用于混合动力车的驾驶控制方法
CN104276170B (zh) * 2013-07-02 2019-07-23 现代自动车株式会社 用于混合动力车的驾驶控制方法
CN107303905A (zh) * 2016-04-22 2017-10-31 通用汽车环球科技运作有限责任公司 用于并行混合动力系统中变速器档位选择的方法及设备
CN109383486A (zh) * 2017-08-04 2019-02-26 郑州宇通客车股份有限公司 混合动力汽车扭矩控制方法和混合动力汽车动力系统
CN113002525A (zh) * 2019-12-20 2021-06-22 本田技研工业株式会社 车辆的控制装置

Also Published As

Publication number Publication date
EP2226227B1 (en) 2015-09-30
US20100312422A1 (en) 2010-12-09
EP2226227A1 (en) 2010-09-08
CN101878142B (zh) 2014-03-12
WO2009069637A1 (ja) 2009-06-04
JP5134632B2 (ja) 2013-01-30
US8649924B2 (en) 2014-02-11
EP2226227A4 (en) 2013-04-17
JPWO2009069637A1 (ja) 2011-04-14
KR20100086043A (ko) 2010-07-29

Similar Documents

Publication Publication Date Title
CN101878142B (zh) 混合动力系统控制方法
CN103282253B (zh) 混合动力车辆的发动机起动控制设备
CN101077709B (zh) 混合动力车辆的发动机起动控制装置及其起动控制方法
CN101031460B (zh) 混合动力车用驱动装置及其控制方法
CN102227344B (zh) 车辆用动力传递装置
JP5019870B2 (ja) ハイブリッド車両の制御方法
CN108349484B (zh) 混合动力车辆的驱动装置的运行和混合动力车辆
US7316283B2 (en) Automatic transmission controller for hybrid vehicle
CN1927611B (zh) 混合动力车辆的驱动装置和发动机提速起动方法
CN102905927B (zh) 混合动力车辆的加速器踏板踏力控制装置
CN103282257B (zh) 混合动力车辆的驱动扭矩控制装置
CN103269929B (zh) 混合动力车辆的控制设备
CN105408180A (zh) 用于控制具有独立的后部电动机的混合动力车辆的系统和方法
CN1962332A (zh) 混合动力车控制系统
JP2008162315A5 (zh)
US20060293144A1 (en) Gear shift control system of hybrid vehicle
CN1986271A (zh) 车辆挂档滑行控制装置
CN103249625A (zh) 混合动力车辆的控制装置
CN104870868A (zh) 电动车辆的变速控制装置
CN103832431A (zh) 混合动力车辆的控制系统和控制方法
CN103328297B (zh) 车辆的动力传递控制装置
CN103561982A (zh) 混合动力电动车辆控制器和控制混合动力电动车辆的方法
CN105431340A (zh) 混合动力车辆及用于混合动力车辆的控制方法
CN103282254A (zh) 电动车辆的控制设备
CN105452078A (zh) 用于混合动力车辆的控制系统

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant