CN104507723B - 用于制动车辆的方法 - Google Patents

用于制动车辆的方法 Download PDF

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CN104507723B
CN104507723B CN201380039821.XA CN201380039821A CN104507723B CN 104507723 B CN104507723 B CN 104507723B CN 201380039821 A CN201380039821 A CN 201380039821A CN 104507723 B CN104507723 B CN 104507723B
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motor
gear ring
gearbox
vehicle
sun gear
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CN104507723A (zh
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N·彼得松
M·贝里奎斯特
J·林德斯特伦
A·谢尔
M·比约克曼
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Scania CV AB
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Scania CV AB
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    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L7/00—Electrodynamic brake systems for vehicles in general
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    • 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
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    • B60W10/11—Stepped gearings
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    • 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
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    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Arrangement Of Transmissions (AREA)
  • Structure Of Transmissions (AREA)
  • Braking Arrangements (AREA)

Abstract

一种用于对向前驾驶车辆以停车为目标进行制动的方法，所述车辆具有推进系统，所述推进系统包括：具有输出轴(2a)的燃式发动机，具有输入轴(3a)的变速箱(3)，包括定子和转子的电机(9)，和包括太阳轮(10)、齿圈(11)和行星轮架(12)的行星齿轮装置。车辆被驱动，其中上述各部件中的连接到燃式发动机的输出轴的部件以低于连接到电机的部件的转速旋转。当车辆被制动时，电机被控制以向变速箱的输入轴施加制动扭矩，从而提高燃式发动机的转速。

Description

用于制动车辆的方法
技术领域
本发明涉及用于对向前驾驶车辆实施制动的方法。
本发明特别面向、但不限于将这样的方法应用于带车轮的运载车辆形式的机动车辆，尤其是重载车辆，例如卡车和公共汽车。
背景技术
为此，本发明涉及对向前驾驶的混合动力车辆实施制动的方法，其中该车辆通常为这样的车辆，其可以被主原动机(这里为燃式发动机)和辅助原动机(这里为电机)驱动。电机适于配备有用于存储电能的装置，例如电池或电容器，用于存储电能，以及用于调节电能在所述装置与电机之间的流动的调节器具。为此，电机可以以电动机和发电机的形式操作，取决于车辆的运转状态。当车辆被制动时，电机产生可被存储的电能，并且存储的电能以后可被利用，例如驱动车辆。
在变速箱中换档过程中利用传统离合器机构将变速箱的输入轴相对于燃式发动机脱开导致一些缺点，例如离合器机构的盘受热，而这会导致燃料消耗的升高和离合器盘的磨损。在起动车辆时，也会产生相当大的损耗。此外，传统离合器机构相对重且高价。其还要求车辆中相对大的空间。在使用自动变速箱中常用的液压变矩器/变扭器时，也会产生摩擦损耗。传统离合器机构及其相关缺点可通过为车辆提供一种推进系统而得以避免，在该推进系统中燃式发动机的输出轴、电机的转子和变速箱的输入轴通过行星齿轮装置而互联。一种具有这种类型的推进系统的车辆可从EP 319546得知。
当然，当前仍存在对具有这种推进系统的车辆的驱动进行改进的需求，以改进能量效率和在制动车辆时产生尽可能多的制动能量。
发明内容
考虑到前面描述的需求，本发明的目的是提供一种在技术领域部分中提到的类型方法。上述目的可以通过一种根据下文所述的方法实现。
在利用自由行星齿轮装置(锁定装置位于释放位置)以稍稍提高的转速驱动时，执行制动。车辆被自由行星齿轮装置以提高的转速驱动的最常见的原因是在低推进系统扭矩下通过使燃式发动机以低转速运转而节省燃油。当通过电机施加超过所述乘积的制动扭矩时，燃式发动机的转速将升高，根据本发明使用这一点来获得平稳的制动，通过提高燃式发动机的转速使得第一部件获得的转速相对于第三部件和变速箱的输入轴同步，而不需要利用任何燃油。当行星齿轮装置随后被锁定(锁定装置位于锁定位置)后，电机可利用可选的扭矩制动，该扭矩可以选择为较高，如果希望如此的话。可以以高能量效率的方式进行制动、同时再生制动能量。需要指出，车辆以需求的扭矩进行制动，可以施加超过所述乘积的扭矩，但这不是最终目的。当以仅可施加有限制动扭矩的所谓自由行星齿轮装置实施制动时，是有问题的，因为在该扭矩超过所述乘积时会导致燃式发动机的转速升高。然而，上述事实在这里被利用以便达到可将行星齿轮装置切换到锁定状态，之后就可利用任意高的扭矩进行持续的制动。
根据本发明的一种实施方式，所述方法在下述车辆中执行，该车辆具有推进系统，其中太阳轮用作第一部件、齿圈用作第三部件，并且这样的推进系统描述于尚未公开的SE051384-4中且相对于根据前述EP 319546中的推进系统(其中齿圈用作第一部件而太阳轮用作第三部件)具有若干优点。通过将电机与齿圈相连且将燃式发动机的输出轴与太阳轮相连，可以在为具有离合器机构而非行星齿轮装置的传动系(推进系统)已经准备的空间中容易地构建紧凑的结构。通过这种方式，混合动力变速箱可以构造成具有紧凑的尺寸和重量，与标准变速箱兼容，并且标准界面得以维持。这意味着通常伴随着混合动力化的重量增加可以显著地减轻。另一优点在于，通过将电机与齿圈相连，与将电机连接到太阳轮的方式相比，可获得更高的可行制动扭矩。
根据本发明的另一实施方式，在步骤b)中比较太阳轮和齿圈的转速是适宜的。
根据本发明的另一实施方式，在步骤c)中太阳轮和行星轮架被互锁，这意味着可以可靠地、通过简单的方式实现互锁。藉此，较低的扭矩被传输通过行星齿轮。这样，只有电机扭矩被传输通过行星齿轮。
根据本发明的另一实施方式，在步骤a)中电机被控制以通过第三部件向变速箱的输入轴施加超过所述乘积至少1％、至少10％或至少30％的制动扭矩。通过这种方式，可确保连接到燃式发动机的输出轴的第一部件的转速在制动期间升高以便接近第三部件的转速。
本发明还涉及具有下文中列举的特征的计算机程序、具有下文中列举的特征的计算机程序制品、具有下文中列举的特征的电子控制单元和根据下文所述的车辆。
本发明的其他有益特征和优点在下面的描述中展现出了。
附图说明
下面参照附图描述本发明的以示例方式引述的实施方式。
在附图中：
图1是一种可执行根据本发明的方法的车辆传动系的非常简化的图示，
图2是尽管也被简化、但详细展示了这样的推进系统的一部分的图示，
图3是用于执行根据本发明的方法的电子控制单元的原理示意图，
图4示出了在实施根据本发明的一种实施方式的用于对向前驾驶车辆进行制动的方法时，根据图2的推进系统中的燃式发动机的轴和电机的转子的转速以及车辆速度和电机扭矩是如何随时间而改变的，以及
图5是展示根据本发明第一实施方式的方法的流程图。
具体实施方式
图1示出用于重载车辆1的传动系。传动系包括燃式发动机2、变速箱3、多个驱动轴4和驱动轮5。传动系在燃式发动机2和变速箱3之间具有中间部分6。图2更详细地示出中间部分6中的部件。在中间部分6中，燃式发动机2设有输出轴2a，而变速箱3设有输入轴3a。燃式发动机的输出轴2a相对于变速箱的输入轴3a同轴地设置。燃式发动机的输出轴2a和变速箱的输入轴3a围绕共同旋转轴线7设置以便旋转。中间部分6包括包封电机9和行星齿轮装置的壳体8。电机9以惯常方式包括定子9a和转子9b。定子9a包括以适当的方式附接在壳体8的内侧上的定子芯。定子芯包括定子的绕组。电机9配置成在某些运转状态期间使用被存储的电能向变速箱的输入轴3a供应驱动动力，并且在其他运转状态期间使用变速箱的输入轴3的动能产生且存储的电能。
行星齿轮装置在电机的定子9a和转子9b的大致径向内侧设置。行星齿轮装置以惯常方式包括太阳轮10、齿圈11以及行星轮架12。行星轮架12携载多个齿轮13，所述多个齿轮在太阳轮10的轮齿和齿圈11的轮齿之间的径向空间中可旋转地设置。太阳轮10附接在燃式发动机的输出轴2a的周边表面上。太阳轮10和燃式发动机的输出轴2a作为一个单元以第一转速n1旋转。行星轮架12包括紧固部分12a，所述紧固部分借助于花键连接部14紧固在变速箱的输入轴3a的周边表面上。借助于这个连接部，行星轮架12和变速箱的输入轴3a可以作为一个单元以第二转速n2旋转。齿圈11包括外周边表面，转子9b固定地安装在外周边表面上。转子9b和齿圈11构成以第三转速n3旋转的可旋转单元。
这种推进系统通过下述方式包括锁定装置，即燃式发动机的输出轴2a设有可移位的联接构件15。联接构件15借助花键连接部16紧固于燃式发动机的输出轴2a。联接构件15在本例中不可相对于燃式发动机的输出轴2a旋转，但可在燃式发动机的输出轴2a上沿轴向移位。联接构件15包括联接部分15a，其可连接到行星轮架12的联接部分12b。移位部件17示意性地显示为配置成将联接构件15在第一位置与第二位置之间移动，在第一位置，联接部分15a、12b不相互接合，对应于锁定装置的释放位置，在第二位置，联接部分15a、12b相互接合，对应于锁定装置的锁定位置。燃式发动机的输出轴2a和变速箱的输入轴3a在该锁定位置被互锁，并且它们以及电机的转子将因此而以相同转速旋转。这种状态可称作行星锁定。锁定机构还可以包括轴套，其设有第一花键，所述第一花键在释放位置接合行星齿轮装置的第一部件上的第二花键，而在锁定位置接合行星齿轮装置的第二部件上的第三花键。在这种情况下第一部件优选为行星轮架，而第二部件为太阳轮。锁定机构然后可以设计成轴套，其呈环形基本上同心地围绕行星轮架。
电子控制单元18设计成控制移位部件17。控制单元18也配置成确定在哪些运转状况下电机应当用作电动机且在哪些运转状况下电机应当用作发电机。为了确定这些内容，控制单元18可以接收适宜的运转参数的信息。控制单元18可以是具有为此目的的合适软件的计算机。控制单元18也控制示意性示出的调节器具19，所述调节器具控制混合动力用电池20和电机的定子9a的绕组之间的电能流动。在当电机9用作电动机时的运转状况下，来自混合动力用电池20的被存储的电力被供应到定子9a。在当电机用作发电机时的运转状况下，来自定子9a的电力被供应到混合动力用电池20。混合动力用电池20传递且存储具有大约200-800伏特的额定输出的电力。由于燃式发动机2和变速箱3之间的中间部分6在车辆中受到限制，需要电机9和行星齿轮装置构成紧凑单元。行星齿轮装置的部件10、11、12在此于电机的定子9a的大致径向内侧设置。电机的转子9b、行星齿轮装置的齿圈11、燃式发动机的输出轴2a以及变速箱的输入轴3a在此围绕共同旋转轴线5可旋转地设置。通过这种设计，电机9和行星齿轮装置占据相对小的空间。车辆1设有电动机控制功能器件21，通过其可调节燃式发动机2的转速n1。控制单元18因此而具有下述可能性，即在变速箱3接入和脱开各档位时启动电动机控制功能器件21并且在变速箱3中产生零扭矩状态。推进系统当然也可以不是由单一的控制单元18控制，而是由若干不同的控制单元控制。
图5示出了根据本发明实施方式的用于对向前驾驶车辆进行制动的方法的流程图，其中车辆具有图2中所示类型的推进系统。现在还要参看图4，其中，为了实施该方法，燃式发动机的输出轴、变速箱的输入轴和电机的转子各自的转速n1、n2、n3、车辆速度v和电机的制动扭矩M随时间t的变化被绘制。
在开始执行该方法时，车辆被向前驱动，其中锁定装置处于锁定位置，且一前进档被接入。车辆的速度相对较高，至少10km/h，而燃式发动机以低转速运转以便节省燃油。齿圈以高于太阳轮的转速旋转。然后，检测到需要对车辆进行制动。
接下来，通过控制单元18启动制动，控制单元18在时间t1控制电机9向变速箱的输入轴3a施加需求的制动扭矩M，并且如果该制动扭矩超过了一方面驱动燃式发动机旋转所需的扭矩(在怠速运转时为了克服摩擦损失并且驱动燃式发动机旋转所需的扭矩)与另一方面行星齿轮装置的传动比(太阳轮和行星轮架之间)之间的乘积，根据本发明的方法可被实现。行星齿轮装置的传动比则定义为太阳轮的齿数/(太阳轮的齿数+齿圈的齿数)。这意味着燃式发动机的输出轴的转速n1将升高并且接近连接到电机转子的齿圈的正在下降的转速n3。可通过电机施加的制动扭矩是有限制的。在制动过程中，太阳轮和齿圈的转速被检查并比较，并且在它们基本上相等时，这发生在时间t2，联接构件15被移位，并且藉此将锁定装置切换到锁定位置。这里，基本上相等是指所述转速之间的差异小到可以实施上述互锁的程度。此后，行星齿轮装置被锁定，并且接下来如果需要的话，可由电机施加于变速箱的输入轴上的制动扭矩可以最大化。这种在车辆制动期间将自由的行星齿轮装置转变到锁定的行星齿轮装置导致平稳/均匀的制动扭矩，并且意味着在制动和锁定过程中不需要消耗燃油。
用于执行根据本发明方法的计算机程序编码适宜地包含在计算机程序中，该计算机程序中可读入计算机的内存中，例如机动车辆的电子控制单元的内存。这样的计算机程序适于通过计算机程序制品提供，该计算机程序制品包括可由电子控制单元读取的数据储存介质，所述数据储存介质上存储着计算机程序。所述数据储存介质为例如光学数据储存介质，形式为CD-ROM盘、DVD盘等等，磁性数据储存介质，形式为硬盘、软盘、磁带等等，或闪存，或ROM、PROM、EPROM或EEPROM类型的存储器。
图3非常示意性地展示了电子控制单元40，其包括执行部件41，例如中央处理单元(CPU)，用于执行计算机程序。执行部件41通过数据总线43与存储器42通信，例如RAM类型的。控制单元40还包括数据储存介质44，例如形式为闪存，或ROM、PROM、EPROM或EEPROM类型的存储器。执行部件41通过数据总线43与数据储存介质44通信。计算机程序包括存储在数据储存介质44上的计算机程序编码，用于执行根据本发明的方法，例如根据图5中所示的任何实施方式的方法。
本发明当然绝非被限制于前面描述的各种实施方式，在不脱离本文限定的本发明的范围的前提下，对这些实施方式的各种可行修改，对于本领域技术人员都是容易理解的。
所述锁定装置可以设计成将前面描述的三个部件中的任何两个互锁。
可以在转子和齿圈之间布置传动装置，并且还可以在燃式发动机的输出轴和太阳轮之间布置传动装置，例如在图中所示的轴上游侧连接到太阳轮。上面描述的传动装置可由变速齿轮构成。
还可相信，所述方法也可以应用于将齿圈作为第一部件、将太阳轮作为第三部件的车辆中，尽管与此相反的布局由于具有前面描述的各种优点而更优选被采用。

Claims (7)

1.一种用于对向前驾驶车辆进行制动的方法，所述车辆具有推进系统，所述推进系统包括：具有输出轴(2a)的燃式发动机(2)，具有输入轴(3a)的变速箱(3)，包括定子(9a)和转子(9b)的电机(9)，和包括太阳轮(10)、齿圈(11)和行星轮架(12)的行星齿轮装置，燃式发动机的输出轴(2a)被连接到太阳轮(10)，以使得该输出轴的旋转导致太阳轮(10)的旋转，所述变速箱的输入轴(3a)被连接到行星轮架(12)，以使得该输入轴的旋转导致行星轮架(12)的旋转，并且电机的转子(9b)被连接到齿圈(11)，以使得该转子的旋转导致齿圈(11)的旋转，所述推进系统还包括可在锁定位置与释放位置之间切换的锁定装置，在锁定位置，太阳轮(10)、齿圈(11)和行星轮架(12)中的两个被互锁，以使得太阳轮(10)、齿圈(11)和行星轮架(12)以相同的转速旋转，在释放位置，允许太阳轮(10)、齿圈(11)和行星轮架(12)以不同的转速旋转，所述方法在车辆被向前驱动的状态下被启动，其中锁定装置处于释放位置并且齿圈(11)以高于太阳轮(10)的转速旋转，
其中锁定装置包括紧固于输出轴(2a)上的联接构件(15)，所述联接构件的联接部分(15a)能够在锁定位置连接到行星轮架(12)的联接部分(12b)，
其中锁定装置还包括移位部件(17)，所述移位部件配置成将联接构件(15)在锁定位置与释放位置之间沿轴向移动，
其特征在于，所述方法包括下述步骤：
a)控制电机(9)向变速箱的输入轴(3a)施加需求的制动扭矩，该制动扭矩超过一方面在怠速运转时为了克服摩擦损失并且驱动燃式发动机(2)旋转所需的扭矩与另一方面行星齿轮装置的传动比之间的乘积，
b)检查并比较太阳轮(10)和齿圈(11)的转速，
其中，在反复或连续执行步骤b)的同时持续执行步骤a)，直至步骤b)中的比较表明太阳轮(10)和齿圈(11)的转速基本上相等的条件被满足，
c)在满足所述条件时将锁定装置切换到锁定位置。
2.根据权利要求1的方法，其特征在于，在步骤c)中太阳轮(10)和行星轮架(12)被互锁。
3.根据权利要求1或2的方法，其特征在于，在步骤a)中电机(9)被控制以通过齿圈(11)向变速箱的输入轴(3a)施加超过所述乘积1％的制动扭矩。
4.根据权利要求1或2的方法，其特征在于，在步骤a)中电机(9)被控制以通过齿圈(11)向变速箱的输入轴(3a)施加超过所述乘积10％的制动扭矩。
5.根据权利要求1或2的方法，其特征在于，在步骤a)中电机(9)被控制以通过齿圈(11)向变速箱的输入轴(3a)施加超过所述乘积30％的制动扭矩。
6.一种用于机动车辆的电子控制单元，包括：执行部件，连接到执行部件(41)的存储器(42)，和连接到执行部件的数据储存介质(44)，其中计算机程序中的计算机程序代码被存储在所述数据储存介质(44)中，所述计算机程序代码用于当计算机程序代码在计算机中执行时使得计算机实施根据权利要求1-5中任一项的方法。
7.一种车辆，包括根据权利要求6的电子控制单元。
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