CN110040003A - 汽车 - Google Patents

汽车 Download PDF

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Publication number
CN110040003A
CN110040003A CN201910046610.8A CN201910046610A CN110040003A CN 110040003 A CN110040003 A CN 110040003A CN 201910046610 A CN201910046610 A CN 201910046610A CN 110040003 A CN110040003 A CN 110040003A
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CN
China
Prior art keywords
motor
wheel
torque
road
value
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
CN201910046610.8A
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English (en)
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CN110040003B (zh
Inventor
塚岛浩幸
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Toyota Motor Corp
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Toyota Motor Corp
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    • 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
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
    • 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
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60K6/46—Series 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
    • B60K6/42—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
    • 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
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric 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
    • B60W10/04—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
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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
    • 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
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W30/18—Propelling the vehicle
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    • B60L2240/423—Torque
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Abstract

本发明提供一种汽车，使在低μ路上的转弯性良好。在具备驱动前轮的第一电动机、驱动后轮的第二电动机、以基于行驶用的要求扭矩进行行驶的方式对第一电动机及第二电动机进行控制的控制装置的汽车中，控制装置在路面的摩擦系数为规定值以下的低μ路上且在转弯时，以相比在非低μ路时及非转弯时后轮的扭矩相对于要求扭矩的比例即后轮分配比变大的方式对第一电动机及第二电动机进行控制。

Description

汽车
技术领域
本发明涉及汽车，详细而言，涉及具备驱动前轮的第一电动机和驱动后轮的第二电动机的汽车。
背景技术
以往，作为这种汽车，提出有如下汽车：在具备驱动前轮的前电动机、驱动后轮的后电动机的汽车中，进行转向操作量越大则使后轮的驱动力越大的前馈控制(例如，参照专利文献1)。在该汽车中，通过这样的控制，能够在转向操作时将车辆运行状况控制为稳定的转弯状况。
现有技术文献
专利文献
专利文献1：JP2006-240400A
发明内容
发明所要解决的课题
在上述的汽车中，在转向操作时，不受是否是湿滑路面等的所谓的低μ路(低摩擦系数路)限制地对后轮的驱动力进行设定，因而具有在低μ路上的转弯性(线迹性或稳定性)不充分的可能性。
本发明的汽车其目的在于使在低μ路上的转弯性良好。
用于解决课题的技术手段
本发明的汽车，为了达成上述的主要目的采取以下手段。
本发明的汽车具备：
第一电动机，驱动前轮；
第二电动机，驱动后轮；和
控制装置，以基于行驶用的要求扭矩进行行驶的方式控制所述第一电动机及所述第二电动机，
其要旨为，
所述控制装置在路面的摩擦系数为规定值以下的低μ路上且在转弯时，以相比非所述低μ路时及非所述转弯时所述后轮的扭矩相对于所述要求扭矩的比例即后轮分配比变大的方式控制所述第一电动机及所述第二电动机。
在本发明的汽车中，在路面的摩擦系数为规定值以下的低μ路上且在转弯时，以相比非低μ路时及非转弯时后轮的扭矩相对于要求扭矩的比例即后轮分配比变大的方式对第一电动机及第二电动机进行控制。由此，能够使在低μ路上的转弯性(线迹性或稳定性)良好。在此，作为“低μ路”可以考虑到湿滑路面、雪路或冰冻道路等在前轮或后轮容易发生由空转导致的打滑的行驶道路。
在这样的本发明的汽车中也可以是如下结构：所述控制装置在所述低μ路上且在所述转弯时，以使所述第二电动机的扭矩为上限扭矩以下的方式设定所述后轮分配比，所述上限扭矩是以至少在所述第二电动机的小于规定转速的区域小于额定扭矩的方式确定的扭矩。如果这样做，与以使第二电动机的扭矩为额定扭矩以下的方式设定后轮分配比相比，能够抑制第二电动机的发热量变大而抑制第二电动机过热，并且能够使转弯性良好。
在该情况下也可以是以下结构：所述控制装置在所述低μ路上且在所述转弯时，在检测到由所述前轮的空转导致的打滑时，以使所述第二电动机的扭矩变为所述额定扭矩以下的方式设定所述后轮分配比。这样一来，与以第二电动机的扭矩为上限扭矩以下的方式设定后轮分配比的情况相比，能够扩大后轮分配比的取得范围(增大上限)，因而能够抑制由前轮的空转导致的打滑的程度(最好是消除)，并且能够使转弯性进一步充分良好。
另外，在该情况下也可以是以下结构：所述控制装置在所述低μ路上且在所述转弯时，在路面坡度小于规定坡度时，以使所述第二电动机的扭矩为所述额定扭矩以下的方式设定所述后轮分配比，在所述路面坡度为所述规定坡度以上时，以使所述第二电动机的扭矩为所述上限扭矩以下的方式设定所述后轮分配比。这是由于考虑到在路面坡度较大时，要求扭矩乃至第二电动机的扭矩(发热量)在一定程度的时间内容易变大，与此相对，在路面坡度较小时，即使第二电动机扭矩变大了持续较长时间的可能性也较低。
进一步地，在该情况下也可以是以下结构：所述上限扭矩被设定为路面坡度越大则越小的倾向。这也是考虑到在路面坡度较大时，要求扭矩乃至第二电动机的扭矩(发热量)在一定程度的时间内容易变大。
附图说明
图1是表示作为本发明的一个实施例的混合动力汽车20的结构的概略的结构图。
图2是表示由HVECU70执行的后轮分配比设定例程的一例的说明图。
图3是表示电动机MG3的转速Nm3和额定扭矩Tm3rat及上限扭矩Tm3lim的关系的一例的说明图。
图4是表示变形例的后轮分配比设定例程的一例的流程图。
图5是表示变形例的混合动力汽车120的结构的概略的结构图。
图6是表示变形例的混合动力汽车220的结构的概略的结构图。
图7是表示变形例的电动车320的结构的概略的结构图。
具体实施方式
接下来，使用实施例对用于实施本发明的实施方式进行说明。
图1是表示作为本发明的一个实施例的混合动力汽车20的结构的概略的结构图。实施例的混合动力汽车20如图所示具备发动机22、行星齿轮30、电动机MG1、MG2、MG3、变换器41、42、43、作为蓄电装置的蓄电池50和混合动力用电子控制单元(以下，称为“HVECU”)70。
发动机22构成为以汽油或轻油等为燃料来输出动力的内燃机，经由减震器28连接于行星齿轮30的轮架。发动机22由发动机用电子控制单元(以下，称为“发动机ECU”)24控制运转。
发动机ECU24虽未图示，但构成为以CPU为中心的微处理器，除了CPU还具备存储处理程序的ROM、暂时地存储数据的RAM、输入输出端口、通信端口。从输入端口向发动机ECU24输入对发动机22进行控制运转所需的来自各种传感器的信号，例如来自检测发动机22的曲柄轴26的旋转位置的曲柄位置传感器23的曲柄角θcr等。从发动机ECU24经由输出端口输出用于对发动机22进行控制运转的各种控制信号。发动机ECU24经由通信端口与HVECU70连接。发动机ECU24基于来自曲柄位置传感器23的曲柄角θcr计算发动机22的转速Ne。
行星齿轮30构成为单小齿轮式的行星齿轮结构。在行星齿轮30的太阳齿轮上连接有电动机MG1的转子。在行星齿轮30的环形齿轮上连接有经由差动齿轮38F与前轮39a、39b连接的驱动轴36F。如上所述，在行星齿轮30的轮架上经由减震器28连接有发动机22的曲柄轴26。
电动机MG1构成为具备嵌入永磁体而成的转子和卷绕有三相线圈的定子的同步发电电动机，如上所述，转子连接于行星齿轮30的太阳齿轮。电动机MG2与电动机MG1同样地构成为同步发电电动机，转子连接于驱动轴36F。电动机MG3和电动机MG1、MG2同样地构成为同步发电电动机，转子连接于经由差动齿轮38R与后轮39c、39d连接的驱动轴36R。变换器41、42、43被用于电动机MG1、MG2、MG3的驱动，经由电力线54连接于蓄电池50。在电力线54上安装有平滑用的电容器57。电动机MG1、MG2、MG3通过由电动机用电子控制单元(以下，称为“电动机ECU”)40对变换器41、42、43的未图示的多个开关元件进行开关控制而被旋转驱动。
另外，电动机MG1、MG2与发动机22、行星齿轮30一起被配置于前轮39a、39b侧(车辆前部例如发动机室)，电动机MG3被配置于后轮39c、39d侧(车辆后部)。电动机MG1、MG2、MG3由行驶风或冷却水冷却。冷却水通过电动泵的驱动而流过经由散热器、电动机MG1、MG2、MG3或变换器41、42、43的循环流路。电动机MG3由于难以充分地迎向行驶风、离散热器的距离较远等原因，相比电动机MG1、MG2难以充分地进行冷却。
电动机ECU40虽未图示，但构成为以CPU为中心的微处理器，除了CPU还具备存储处理程序的ROM、暂时地存储数据的RAM、输入输出端口或通信端口。经由输入端口向电动机ECU40输入驱动控制电动机MG1、MG2、MG3所需的来自各种传感器的信号。作为向电动机ECU40输入的信号，例如能够举出来自检测电动机MG1、MG2、MG3的转子的旋转位置的旋转位置检测传感器44、45、46的旋转位置θm1、θm2、θm3或来自未图示的检测在电动机MG1、MG2、MG3的各相流动的相电流的电流传感器的相电流Iu1、Iv1、Iu2、Iv2、Iu3、Iv3。从电动机ECU40经由输出端口输出相对于变换器41、42、43的多个开关元件的开关控制信号等。电动机ECU40经由通信端口与HVECU70连接。电动机ECU40基于来自旋转位置检测传感器44、45、46的电动机MG1、MG2、MG3的转子的旋转位置θm1、θm2、θm3来计算电动机MG1、MG2、MG3的电角度θe1、θe2、θe3或角速度ωm1、ωm2、ωm3、转速Nm1、Nm2、Nm3。
蓄电池50构成为例如锂离子二次电池或镍氢二次电池，如上所述，经由电力线54连接于变换器41、42、43。蓄电池50由蓄电池用电子控制单元(以下，称为“蓄电池ECU”)52管理。
蓄电池ECU52虽未图示，但构成为以CPU为中心的微处理器，除了CPU还具备存储处理程序的ROM、暂时地存储数据的RAM、输入输出端口、通信端口。经由输入端口向蓄电池ECU52输入管理蓄电池50所需要的来自各种传感器的信号。作为向蓄电池ECU52输入的信号，例如能够举出来自安装于蓄电池50的端子间的未图示的电压传感器的蓄电池50的电压Vb、来自安装于蓄电池50的输出端子的未图示的电流传感器的蓄电池50的电流Ib、来自安装于蓄电池50的未图示的温度传感器的蓄电池50的温度Tb。蓄电池ECU52经由通信端口与HVECU70连接。蓄电池ECU52基于来自未图示的电流传感器的蓄电池50的电流Ib的累积值来计算蓄电比例SOC。蓄电比例SOC是蓄电量(从蓄电池50能够放出的电量)相对于蓄电池50的总容量的比例。
HVECU70虽未图示，但构成为以CPU为中心的微处理器，除了CPU还具备存储处理程序的ROM、暂时地存储数据的RAM、输入输出端口、通信端口。来自各种传感器的信号经由输入端口向HVECU70输入。作为被输入HVECU70的信号，例如能够举出来自点火开关80的点火信号、来自对变速杆81的操作位置进行检测的档位传感器82的档位SP。另外，还可以举出来自对加速踏板83的踏入量进行检测的加速踏板位置传感器84的加速器开度Acc、来自对制动踏板85的踏入量进行检测的制动踏板位置传感器86的制动踏板位置BP、来自车速传感器88的车速V或来自加速度传感器89的加速度α。还能够举出来自对路面坡度进行检测的坡度传感器90的路面坡度θrd(上坡一侧为正值)、来自对转向角进行检测的转向角传感器91的转向角θs或来自安装于前轮39a、39b及后轮39c、39d的轮速传感器92a～92d的轮速Vwa～Vwd。HVECU70如上所述经由通信端口和发动机ECU24、电动机ECU40或蓄电池ECU52连接。
这样构成的实施例的混合动力汽车20切换多种行驶模式来进行行驶，所述多种行驶模式包含伴随发动机22的运转而行驶的混合动力行驶(HV行驶)模式、不伴随发动机22的运转而行驶的电动行驶(EV行驶)模式。
在HV行驶模式中基本以如下方式行驶。HVECU70首先基于加速器开度Acc和车速V对行驶所需要的要求扭矩Td*进行设定，并且基于设定的要求扭矩Td*和车速V来对行驶需要的要求功率Pd*进行设定。接下来，从要求功率Pd*减去基于蓄电池50的蓄电比例SOC的充放电要求功率Pb*(从蓄电池50放电时为正值)来计算车辆所需要的(发动机22所需要的)要求功率Pe*。接下来，对后轮扭矩Tr相对于前轮扭矩Tf和后轮扭矩Tr之和的比例即后轮分配比kr进行设定。在此，关于后轮分配比kr的设定方法稍后描述。
接下来，在要求扭矩Td*上乘以从数值1减去后轮分配比kr后的值来设定前轮39a、39b所需要的前轮要求扭矩Tf*，并在要求扭矩Td*上乘以使后轮分配比kr来计算后轮39c、39d所需要的后轮要求扭矩Tr*。接下来，以从发动机22输出要求功率Pe*且向前轮39a、39b输出前轮要求扭矩Tf*且向后轮39c、39d输出后轮要求扭矩Tr*的方式对发动机22的目标转速Ne*、目标扭矩TE*或电动机MG1、MG2、MG3的扭矩指令Tm1*、Tm2*、Tm3*进行设定。然后，向发动机ECU24发送发动机22的目标转速Ne*、目标扭矩TE*，向电动机ECU40发送电动机MG1、MG2、MG3的扭矩指令Tm1*、Tm2*、Tm3*。发动机ECU24以发动机22按照目标转速Ne*及目标扭矩TE*来运转的方式来进行发动机22的吸入空气量控制、燃料喷射控制、点火控制等。电动机ECU40以电动机MG1、MG2、MG3由扭矩指令Tm1*、Tm2*、Tm3*驱动的方式来进行变换器41、42、43的多个开关元件的开关控制。
在EV行驶模式中基本以如下方式行驶。HVECU70和HV行驶模式同样地设定要求扭矩Td*、设定后轮分配比kr、基于要求扭矩Td*和后轮分配比kr来对前轮要求扭矩Tf*及后轮要求扭矩Tr*进行计算。接下来，对电动机MG1的扭矩指令Tm1*设定值0，以向前轮39a、39b输出前轮要求扭矩Tf*并且向后轮39c、39d输出后轮要求扭矩Tr*的方式对电动机MG2、MG3的扭矩指令Tm2*、Tm3*进行设定，并向电动机ECU40发送电动机MG1、MG2、MG3的扭矩指令Tm1*、Tm2*、Tm3*。关于由电动机ECU40进行的变换器41、42、43的控制已在上文描述。
接下来，对这样构成的实施例的混合动力汽车20的动作，特别地，对设定后轮分配比kr时的动作进行说明。图2是表示由HVECU70执行的后轮分配比设定例程的一例的说明图。该例程被反复执行。
当执行后轮分配比设定例程时，HVECU70首先输入车速V、加速度α、打滑标志Fs、低μ路标志Fμ、转弯标志Ft等的数据(步骤S100)。在此，车速V输入由车速传感器88检测出的值。加速度α输入由加速度传感器89检测出的值。
打滑标志Fs输入通过由HVECU70与本例程并行执行的未图示的打滑判定例程而设定的值。在打滑判定例程中，HVECU70基于来自轮速传感器92a～92d的前轮39a、39b及后轮39c、39d的轮速Vwa～Vwd，例如通过将轮速差值和阈值Vwref1进行比较来判定在前轮39a、39b及后轮39c、39d中的任意一个中是否产生由空转导致的打滑，所述轮速差值是轮速Vwa～Vwd分别与轮速Vwa～Vwd中从较大一侧起的第三或第四个之间的差值。并且，在判定为在前轮39a、39b及后轮39c、39d中的任意一个均未发生由空转导致的打滑(未检测到打滑)时，对打滑标志Fs设定值0；在判定为在前轮39a、39b及后轮39c、39d中的任意一个中发生了由空转导致的打滑(检测到打滑)时，对打滑标志Fs设定值1。
低μ路标志Fμ输入通过由HVECU70与后轮分配比例程并行执行的未图示的低μ路判定例程而设定的值。在低μ路判定例程中，HVECU70基于来自轮速传感器92a～92d的前轮39a、39b及后轮39c、39的轮速Vwa～Vwd，例如，通过将轮速Vwa～Vwd的偏差的程度(轮速Vwa～Vwd中从较大一侧起的第一个和第四个的差值)与比阈值Vwref1小的阈值Vwref2进行比较，来判定是否是路面的摩擦系数为阈值(例如，0.3或0.35、0.4等)以下的低μ路。作为低μ路，可以考虑到湿滑路面、雪路、冰冻道路等在前轮或后轮容易发生因空转导致的打滑的行驶路。并且，在判定为非低μ路时，对低μ路标志Fμ设定值0，在判定为低μ路时，对低μ路标志Fμ设定值1。此外，还可以通过未图示的低μ路开关是否被使用者开启来判定是否是低μ路。
转弯标志Ft输入通过由HVECU70与后轮分配比例程并行执行的未图示的转弯判定例程而设定的值。在转弯判定例程中，HVECU70通过将来自转向角传感器91的转向角θs的绝对值与阈值θsref比较来判定是否处于转弯时。并且，在判定为未处于转弯(直行时)时，对转弯标志Ft设定值0，在判定为处于转弯时，对转弯标志Ft设定值1。
当这样输入数据时，调查低μ路标志Fμ的值(步骤S110)。并且，在低μ路标志Fμ为值0时，判断为非低μ路，并将车速V和阈值Vref进行比较(步骤S130)。在此，作为阈值Vref，例如使用20km/H、25km/H、30km/H等。
在步骤S130中车速V为阈值Vref以下时，将值kr1(例如，0.4～0.55左右)设定为后轮分配比kr(步骤S150)，结束本例程。在此，值kr1基于加速度α设定与动态载荷分配对应的值。在实施例中，预先确定加速度α和值kr1的关系作为映射而存储于未图示的ROM中，当给予加速度α时，从该映射中导出对应的值kr1。此外，还可以除了加速度α之外也基于转向角θs，以考虑动态载荷分配并且使转弯性(线迹性、稳定性)良好的方式来进行设定。
在步骤S130中在车速V比阈值Vref高时，调查打滑标志Fs的值(步骤S140)。并且，在打滑标志Fs为值0时，判断为前轮39a、39b及后轮39c、39d中的任意一个均未发生因空转导致的打滑(未检测到打滑)，对后轮分配比kr设定值0(步骤S160)，结束本例程。
在步骤S140中在打滑标志Fs为值1时，判断为在前轮39a、39b及后轮39c、39d中的任意一个中发生了由空转导致的打滑(检测到打滑)，将上述的值kr1设定为后轮分配比kr(步骤S150)，结束本例程。在车速V比阈值Vref高且打滑标志Fs为值0时，由于后轮分配比kr为值0，因而认为前轮39a、39b及后轮39c、39d中发生打滑的车轮是前轮39a、39b。并且，在发生了由前轮39a、39b的空转导致的打滑(检测到打滑)时，通过将后轮分配比kr从值0变更为值kr1，能够降低前轮39a、39b的扭矩，抑制由前轮39a、39b的空转导致的打滑的程度(最好是消除)。
在步骤S110中低μ路标志Fμ为值1时，判断为是低μ路，调查转弯标志Ft的值(步骤S120)。并且，在转弯标志Ft为值0时，判断为未处于转弯时(直行时)，执行上述的步骤S130之后的处理。
在步骤S120中在转弯标志Ft为值1时，判断为处于转弯时，调查打滑标志Fs的值(步骤S170)。并且，在打滑标志Fs为值0时，判断为前轮39a、39b及后轮39c、39d中的任意一个中均未发生由空转导致的打滑(未检测到打滑)，将大于上述的值kr1且为值krrat以下的值krlim以下的范围内的值kr2(例如，0.6～0.8左右)设定为后轮分配比kr(步骤S180)，结束本例程。在此，值kr2具体而言，基于车速V、加速度α、转向角θs或路面坡度θrd以在值krlim以下的范围内使转弯性变得良好的方式进行设定。在实施例中，预先确定车速V、加速度α、转向角θs、路面坡度θrd和值kr2的关系并作为映射存储于未图示的ROM中，当给予车速V、加速度α、转向角θs和路面坡度θrd时，从该映射导出对应的值kr2。需要说明的是，也可以不考虑车速V、路面坡度θrd。
值krrat是电动机MG3的扭矩为额定扭矩Tm3rat的后轮分配比kr，使用了基于电动机MG3的转速Nm3的额定扭矩Tm3rat除以要求扭矩Td*而得到的值。另外，值krlim是电动机MG3的扭矩为上限扭矩Tm3lim以下的后轮分配比kr，使用了基于电动机MG3的转速Nm3的上限扭矩Tm3lim除以要求扭矩Td*得到的值。上限扭矩Tm3lim是在能够连续使用电动机MG3(即使连续使用也能够抑制过热)的扭矩以下且在路面坡度θrd(上坡一侧为正值)为阈值θrdref(例如，4％或5％、6％等)以下时转弯性在一定程度上良好的扭矩，在电动机MG3的额定扭矩Tm3rat以下的范围内被确定。图3是表示电动机MG3的转速Nm3和额定扭矩Tm3rat及上限扭矩Tm3lim的关系的一例的说明图。在图3的例子中，电动机MG3的额定扭矩Tm3rat及上限扭矩Tm3lim在电动机MG3的转速Nm3为阈值Nref以上的区域中被设定为互相相同的值，在电动机MG3的转速Nm3小于阈值Nref的区域中，以上限扭矩Tm3lim小于额定扭矩Tm3rat的方式被设定。
发明者们通过实验、分析，发现了在低μ路上转弯时，相比在非低μ路上转弯时转弯性降低而容易变得转弯不足。因此，在实施例中，在低μ路上转弯时，相比在非低μ路时或非转弯时增大后轮分配比kr而增大后轮39c、39d的扭矩。由此，能够使在低μ路上的转弯性(线迹性、稳定性)良好。
在步骤S170中在打滑标志Fs为值1时，判断为前轮39a、39b及后轮39c、39d中的任意一个中发生由空转导致的打滑(检测到打滑)，将值krrat以下的范围内的值kr3(例如，0.0～1.0)设定为后轮分配比kr(步骤S190)来结束本例程。
在此，值kr3具体而言，基于车速V、加速度α、转向角θs或路面坡度θrd，在值krrat以下的范围内，以制限与前轮39a、39b及后轮39c、39d中发生了打滑一侧对应的电动机的输出并且使转弯性良好的方式被设定。该值kr3更详细而言，在发生了由前轮39a、39b的空转导致的打滑时，设定大于值kr1且为值krrat以下的范围内的值(例如，0.6～1.0左右)，在发生了由后轮39c、39d的空转导致的打滑时，设定比较小的值(例如，0.0～0.4左右)。在实施例中，预先确定车速V、加速度α、转向角θs、路面坡度θrd和值kr3的关系而作为映射存储于未图示的ROM中，当给予车速V、加速度α、转向角θs、路面坡度θrd时，从该映射导出对应的值kr3。需要说明的是，也可以不考虑车速V、路面坡度θrd。
根据这样的控制，能够抑制前轮39a、39b及后轮39c、39d中发生了由空转导致的打滑的车轮的打滑的程度(最好是消除)并且使转弯性良好。
在以上说明了的实施例的混合动力汽车20中，在低μ路上转弯时，相比在非低μ路时或非转弯时增大后轮分配比kr。由此，能够使在低μ路上的转弯性(线迹性或稳定性)良好。
并且，在低μ路上转弯时，在前轮39a、39b及后轮39c、39d中的任何一个都未发生由空转导致的打滑(未检测到打滑)时，在值krlim(与电动机MG3的上限扭矩Tm3lim相当的值)以下的范围内设定后轮分配比kr。由此，能够抑制电动机MG3、变换器43的发热量变大，抑制电动机MG3、变换器43的过热并且使转弯性良好。如上所述，由于电动机MG3相比电动机MG1、MG2难以充分地进行冷却，在值krlim以下的范围内设定后轮分配比kr的意义较大。
与此相对，在低μ路上转弯时，在发生了由前轮39a、39b的空转导致的打滑(检测到打滑)时，在值krrat(与电动机MG3的额定扭矩Tm3rat相当的值)以下的范围内设定后轮分配比kr。由此，与在值krlim以下的范围内设定后轮分配比相比能够扩大后轮分配比kr的取得范围(增大上限)，能够抑制由前轮39a、39b的空转导致的打滑的程度(最好是消除)并且使转弯性更加良好。
在实施例的混合动力汽车20中，HVECU70执行图2的后轮分配比设定例程，但取而代之，也可以执行图4的后轮分配比设定例程。图4的后轮分配比设定例程除去执行步骤S102的处理来代替步骤S100的处理这一点及追加了步骤S172的处理这一点，和图2的后轮分配比设定例程相同。因此，对相同的处理附以相同的步骤编号，省略其详细说明。
在图4的后轮分配比设定例程中，HVECU70除了和图2的后轮分配比设定例程的步骤S100的处理同样地输入车速V、加速度α、打滑标志Fs、低μ路标志Fμ、转弯标志Ft，还输入来自坡度传感器90的路面坡度θrd(步骤S102)。
并且，在步骤S110中低μ路标志Fμ为值1且在步骤S120中转弯标志Ft为值1且在步骤S170中打滑标志Fs为值0时，判断为在低μ路上且在转弯时且前轮39a、39b及后轮39c、39d中的任意一个均未发生由空转导致的打滑(未检测到打滑)，将路面坡度θrd与阈值θrdref2比较(步骤S172)。在此作为阈值θrdref2，使用例如和上述的阈值θrdref相同的值。
在步骤S172中在路面坡度θrd为阈值θrdref2以上时，将上述的值kr2设定为后轮分配比kr(步骤S180)，结束本例程，在路面坡度θrd小于阈值θrdref2时，将上述的值kr3设定为后轮分配比kr(步骤S190)，结束本例程。
在路面坡度θrd较大时，认为在一定程度的时间内加速器开度Acc进而要求扭矩Td*进而电动机MG3的扭矩指令Tm3*(发热量)容易变大。因此，在路面坡度θrd为阈值θrdref2以上时，通过在值krlim(与电动机MG3的上限扭矩Tm3lim相当的值)以下的范围内设定后轮分配比kr，能够抑制电动机MG3、变换器43的过热，并且使转弯性良好。
与此相对，在路面坡度θrd较小时，认为即使要求扭矩Td*进而电动机MG3的扭矩变大了，持续较长时间的可能性也较低。因此，在路面坡度θrd小于阈值θrdref2时，通过在值krrat(与电动机MG3的额定扭矩Tm3rat相当的值)以下的范围内设定后轮分配比kr，能够进一步扩大后轮分配比kr的取得范围，能够使转弯性更加良好。
在实施例的混合动力汽车20中，上限扭矩Tm3lim如图3所示基于电动机MG3的转速Nm3来设定，但还可以除了电动机MG3的转速Nm3也基于路面坡度θrd来设定。在该情况下，上限扭矩Tm3lim也可以被设定为路面坡度θrd越大则越小的倾向。这是由于如上所述，认为在路面坡度θrd较大时，在一定程度的时间内加速器开度Acc进而要求扭矩Td*进而电动机MG3的扭矩指令Tm3*(发热量)容易变大。
在实施例的混合动力汽车20中，作为蓄电装置，使用了蓄电池50，但可以取代蓄电池50而使用电容器。
在实施例的混合动力汽车20中具备发动机ECU24、电动机ECU40、蓄电池ECU52和HVECU70，但也可以将这些中的至少两个构成为单一的电子控制单元。
在实施例中，如图1所示，形成了将发动机22及电动机MG1经由行星齿轮30连接于与前轮39a、39b连接的驱动轴36F并且将电动机MG2连接于驱动轴36F，将电动机MG3连接于与后轮39c、39d连接的驱动轴36R，将蓄电池50经由电力线54连接于电动机MG1、MG2、MG3的混合动力汽车20的结构。然而，也可以如图5所示，形成将电动机MG2经由变速机130连接于与前轮39a、39b连接的驱动轴36F并且将发动机22经由离合器129连接于电动机MG2、将电动机MG3连接于与后轮39c、39d连接的驱动轴36R、将蓄电池50经由电力线54连接于电动机MG2、MG3的混合动力汽车120的结构。另外，也可以如图6所示，形成将用于发电的电动机MG1连接于发动机22并且将用于行驶的电动机MG2连接于与前轮39a、39b连接的驱动轴36F，将电动机MG3连接于与后轮39c、39d连接的驱动轴36R，将蓄电池50经由电力线54连接于电动机MG1、MG2、MG3的所谓的串联混合动力汽车220的结构。进一步地，如图7所示，也可以形成将电动机MG2连接于与前轮39a、39b连接的驱动轴36F并且将电动机MG3连接于与后轮39c、39d连接的驱动轴36R，将蓄电池50经由电力线54连接于电动机MG2、MG3的电动汽车320的结构。
对实施例的主要要素和用于解决课题的手段一栏中记载的发明的主要要素的对应关系进行说明。在实施例中，电动机MG2相当于“第一电动机”、电动机MG3相当于“第二电动机”、HVECU70和电动机ECU40相当于“控制装置”。
需要说明的是，，由于实施例是具体说明用于实施“用于解决课题的技术手段”一栏所记载的发明的实施方式的一例，因此实施例的主要要素与“用于解决课题的技术技术手段”一栏记载的发明的主要要素的对应关系并不限定“用于解决课题的技术手段”一栏记载的发明的要素。即，关于“用于解决课题的手段一栏载的发明”的解释应基于该栏的记载进行，实施例只不过是“用于解决课题的技术手段”一栏记载的发明的具体一例。
以上，使用实施例说明用于实施本发明的实施方式，但是本发明不受这样的实施例的任何限定，在不脱离本发明的主旨的范围内，当然能以各种方式实施。
产业上的可利用性
本发明能够在汽车的制造产业等中利用。

Claims (5)

1.一种汽车，具备：
第一电动机，驱动前轮；
第二电动机，驱动后轮；和
控制装置，以基于行驶用的要求扭矩进行行驶的方式控制所述第一电动机及所述第二电动机，
所述控制装置在路面的摩擦系数为规定值以下的低μ路上且在转弯时，以相比非所述低μ路时及非所述转弯时所述后轮的扭矩相对于所述要求扭矩的比例即后轮分配比变大的方式控制所述第一电动机及所述第二电动机。
2.根据权利要求1所述的汽车，其中，
所述控制装置在所述低μ路上且在所述转弯时，以使所述第二电动机的扭矩为上限扭矩以下的方式设定所述后轮分配比，所述上限扭矩是以至少在所述第二电动机的小于规定转速的区域小于额定扭矩的方式确定的扭矩。
3.根据权利要求2所述的汽车，其中，
所述控制装置在所述低μ路上且在所述转弯时，在检测到由所述前轮的空转导致的打滑时，以使所述第二电动机的扭矩为所述额定扭矩以下的方式设定所述后轮分配比。
4.根据权利要求2所述的汽车，其中，
所述控制装置在所述低μ路上且在所述转弯时，在路面坡度小于规定坡度时，以使所述第二电动机的扭矩为所述额定扭矩以下的方式设定所述后轮分配比，在所述路面坡度为所述规定坡度以上时，以使所述第二电动机的扭矩为所述上限扭矩以下的方式设定所述后轮分配比。
5.根据权利要求2～4中的任意一项权利要求所述的汽车，其中，
所述上限扭矩被设定为路面坡度越大则越小的倾向。
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