JP2000314343A - Learning method of throttle opening sensor output characteristics - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the learning method of the throttle opening sensor output characteristics of a hybrid vehicle, which can prevent the deterioration of the temperature characteristic of a throttle opening sensor and the wear and vibration and the control accuracy by the aging deterioration by a temperature cycle and realize a highly accurate throttle control. SOLUTION: In this learning method of the throttle opening sensor output characteristics of a hybrid vehicle, the characteristics showing the correspondence between the output value of a throttle opening sensor and the throttle opening is corrected by the throttle opening sensor output value, when the throttle valve 103 is moved to a full open position at the engine stop time and the throttle opening sensor output value, when the throttle valve 103 stays at a fully close position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for learning the output characteristics of a throttle opening sensor of a hybrid vehicle.

[0002]

2. Description of the Related Art There are electronically controlled throttles and throttle-by-wire systems in which a throttle valve is driven by a motor, the opening of the throttle valve is detected based on an output voltage from a throttle opening sensor, and feedback control is performed.

[0003] A potentiometer is mainly used as a throttle opening sensor, but it is caused by mechanical damage such as contact portion wear and vibration, displacement of the contact portion due to temperature cycling, and change in resistivity due to a change in ambient temperature. Therefore, the minimum value of the sensor output is sequentially learned as the sensor output at the fully closed position of the throttle (reference position), and the entire value is offset based on the fully closed position.
The characteristic of the throttle opening [deg] -sensor voltage [V] stored in advance is corrected.

[0004]

However, detecting only the minimum value and offsetting the whole with reference to the fully closed position is not sufficient for throttle control for fine engine torque control in a hybrid vehicle. Was.

The present invention has been made in view of such conventional problems, and prevents deterioration of control characteristics due to temperature characteristics of a throttle opening sensor and deterioration over time due to wear, vibration, and temperature cycles. A method for learning the output characteristics of a throttle opening sensor of a hybrid vehicle capable of realizing high-precision throttle control, a throttle control device,
It is an object to provide a throttle control controller and a hybrid vehicle.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a first aspect of the present invention is a method of learning a throttle opening sensor output characteristic of a hybrid vehicle having an engine and a motor. According to the throttle opening sensor output value when the throttle valve is moved to the fully open position when the engine is stopped, and the throttle opening sensor output value when the throttle valve is in the fully closed position, A characteristic representing a correspondence between the output value of the throttle opening sensor and the throttle opening is corrected.

According to a second aspect of the present invention, there is provided a method for learning output characteristics of a throttle opening sensor of a hybrid vehicle having an engine and a motor, wherein the engine is stopped and the vehicle is stopped. The throttle opening sensor output value when the throttle valve is moved to the fully open position when the vehicle is traveling and the throttle opening sensor output value when the throttle valve is in the fully closed position are determined by the throttle opening sensor. A characteristic representing a correspondence between the output value and the throttle opening is corrected.

According to a third aspect of the present invention, in the learning method of the throttle opening sensor output characteristic according to the first or second aspect, the engine stop determination is performed based on an output of an engine speed sensor. Features.

According to a fourth aspect of the present invention, in the method for learning the output characteristic of the throttle opening sensor according to the first or second aspect, when the driving force command to the controller of the engine is zero, It is characterized in that it is determined to be stopped.

According to a fifth aspect of the present invention, in the learning method of the throttle opening degree sensor output characteristic according to any one of the first to fourth aspects, the correction is performed by the throttle opening degree sensor at the time of the previous correction. Is performed when the temperature changes from a predetermined value by a predetermined value or more.

According to a sixth aspect of the present invention, in the learning method of the throttle opening sensor output characteristic according to any one of the first to fourth aspects, the correction is performed by running a predetermined value or more from the time of the previous correction. It is characterized in that it is performed when it is done.

According to a seventh aspect of the present invention, there is provided a throttle control device for a hybrid vehicle having an engine and a motor, wherein the throttle valve and a throttle valve driving means for rotating the throttle valve in an opening direction or a closing direction. A throttle opening detecting means for detecting an opening of the throttle valve, a characteristic storing means for storing a characteristic representing a correspondence relationship between an output value of the throttle opening detecting means and a throttle opening, and stopping the engine. A stop determining means for determining, and a fully open position storing means for storing an output value of the throttle opening detecting means when the throttle valve is driven to a fully open position when it is determined that the engine is stopped; A fully closed position for storing an output value of the throttle opening detecting means when the throttle valve is at a fully closed position; Storage means and correction means for correcting the characteristic from the output value of the throttle opening detection means at the fully open position and the output value of the throttle opening detection means at the fully closed position. .

According to an eighth aspect of the present invention, the state is controlled by controlling the opening of the throttle valve based on a characteristic representing the correspondence between the output value of the throttle valve opening sensor and the throttle opening. A throttle control controller for a hybrid vehicle having an engine and a motor to be controlled, a stop determining means for determining stop of the engine, and driving the throttle valve to a fully open position when it is determined that the engine is stopped. Fully open position storage means for storing an output value of the throttle opening degree detecting means at the time of performing, and a fully closed position storing means for storing an output value of the throttle opening degree detecting means when the throttle valve is at a fully closed position. The output value of the throttle opening detection means at the fully open position and the output value of the throttle opening detection means at the fully closed position And having a correction means for correcting et the properties.

According to a ninth aspect of the present invention, there is provided a throttle valve, throttle valve driving means for rotating the throttle valve in an opening direction or a closing direction, and a throttle opening for detecting the opening of the throttle valve. Detecting means, characteristic storing means for storing a characteristic representing a correspondence relationship between the output value of the throttle opening detecting means and the throttle opening, stop determining means for determining the stop of the engine, and a stop determining means for stopping the engine. If it is determined that the throttle valve is in the fully open position, the throttle valve is driven to the fully open position. A fully closed position storing means for storing an output value of the degree detecting means; an output value of the throttle opening degree detecting means at the fully open position; Characterized in that the output value of the throttle opening degree detecting means at a position having a throttle control apparatus comprising a correction means for correcting the characteristic.

According to a tenth aspect of the present invention, there is provided a tenth aspect of the present invention.
The device according to any one of the ninth to ninth aspects, further comprising means for detecting that the vehicle is traveling, wherein the fully open position storage means is provided when the engine is stopped, and When the vehicle is running, the output value of the throttle opening detection means when the throttle valve is driven to the fully open position is stored.

An eleventh invention according to claim 11 is the seventh invention.
In the apparatus according to any one of the thirteenth to tenth aspects, the stop of the engine is determined based on an output of an engine speed sensor.

A twelfth aspect of the present invention is the twelfth aspect of the invention.
An apparatus according to any one of the first to tenth aspects, further comprising an engine control controller, a motor control controller, and a hybrid controller that distributes driving force to both controllers, wherein a driving force command to the engine control controller is zero. In this case, it is determined that the engine is stopped.

A thirteenth invention according to a thirteenth invention is the seventh invention, wherein:
The apparatus according to any one of the twelfth to twelfth aspects, further comprising a temperature detecting means for detecting a temperature of the throttle opening degree detecting means, wherein the correction by the correcting means is such that the temperature of the throttle opening degree sensor is predetermined from the previous correction It is characterized in that it is performed when it changes by more than the value.

According to a fourteenth aspect of the present invention, there is provided the seventh aspect of the invention.
The device according to any one of the thirteenth to thirteenth aspects, further comprising a distance detection unit that detects a traveling distance of the vehicle, wherein the correction by the correction unit is performed when the vehicle has traveled a predetermined distance from the previous correction. I do.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a learning method of a throttle opening sensor output characteristic according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows a configuration of an embodiment of a learning method of a throttle opening sensor output characteristic according to the present invention, and a hybrid vehicle will be described below as an example of a parallel hybrid vehicle.

First, the configuration will be described. 1 is a parallel hybrid vehicle controller module (hereinafter, HC)
M), an accelerator position sensor 12 for detecting the depression amount of the accelerator pedal 11 and a brake pedal sensor 14 for detecting the depression amount of the brake pedal 13 are connected, and the accelerator pedal depression amount and the brake pedal depression amount of the driver are connected. , A drive torque command value and a gear ratio command value are calculated from a predetermined map. In addition, an engine controller (hereinafter, ECM) is connected via a bus 15.
2, a motor controller (hereinafter referred to as MC) 3, an AT controller (hereinafter referred to as ATCU) 4, a battery controller (hereinafter referred to as BC) 5, and a meter 16 are connected.
It receives data indicating the vehicle operating state such as the vehicle speed signal transmitted from the CU 4, the engine speed transmitted from the ECM 2, and the charging request transmitted from the BC 5, and optimizes fuel consumption according to the vehicle operating state. In this manner, the drive torque command value is distributed to the travel motor torque command value and the engine torque command value, and the obtained engine torque command value and travel motor torque command value are respectively transmitted to the EC via the bus 15.
Sent to M2 and MC3. The gear ratio command value is ATCU
4 is sent. Note that the meter 15 transmits the traveling distance data to the ECM 2 via the HCM 1.

The traveling motor 7 and the engine 6 are arranged in series via a clutch 10, and the HCM 1 controls to connect the clutch 10 particularly when traveling at a speed of 30 km / h or more. The drive torque is transmitted to an automatic transmission (hereinafter, referred to as AT) 8 by setting the travel motor torque command value to zero and generating a drive torque by controlling the engine 6 by the ECM 2.

When the vehicle is traveling at a low speed of 30 km / h or less and a charge request is issued from the BC 5, the clutch 10 is controlled to be disengaged, and power is generated according to the charge request. By transmitting such an engine torque command value to the ECM 2 to control the engine 6 and transmitting a travel motor torque command value required for traveling to the MC 3 to control the traveling motor 7, the drive torque is transmitted to the AT 8. Let them communicate.

If the vehicle is running at a low speed of 30 km / h or less and there is no charge request from the BC 5, the clutch 10 is controlled to be disconnected, and a zero engine torque command value is set. (Engine stop command) ECM2
To stop the engine 6, and transmits a torque command value for the traveling motor necessary for traveling to the MC 3 to control the traveling motor 7, thereby transmitting the driving torque to the AT 8.

The ATCU 4 controls a gear ratio based on a gear ratio command value from the HCM 1 and inputs a vehicle speed signal from a vehicle speed sensor 81 provided in the AT 8.

The BC 5 monitors the state of the battery 9, and sends a charge request or a charge stop request to the HCM 1 if the charge amount is low or the battery is likely to be overcharged. By controlling the generator 65, the state of charge of the battery 9 is controlled.

The CPU 24 of the ECM 2 determines a command value to the motor 101 for controlling the opening degree of the injector 63, the spark plug 64, and the throttle valve 103 based on the driving force command value from the HCM 1, and controls each of them.
Further, a water temperature sensor 61 attached near the engine 6 as an ambient temperature of the throttle opening sensor 102,
The engine speed sensor 62 and the throttle valve 103
An analog signal is input from a throttle opening sensor 102 mounted in the vicinity, and the A / D converter 21
While receiving the D-converted digital signal, the CPU 2
The motor drive current monitor circuit 22 monitors the drive current to the motor 101 when the motor 101 is driven via the motor drive circuit 23 based on the current command value from the motor drive circuit 4 and inputs the drive current, thereby performing the calculation described later. Perform

The throttle valve 103 used when the CPU 24 calculates the throttle opening from the output voltage signal of the throttle opening sensor 102 when the throttle valve 103 is in the fully open position and the fully closed position. Memory for storing the accumulated running distance and engine water temperature at the time of the previous update for use in determining whether or not to update the output voltage value of the throttle opening sensor 102 and the characteristics of the throttle opening sensor 102. 25.

Next, the operation of the present embodiment will be described with reference to the flowchart shown in FIG. Figure 2 shows the ECM
4 is a flowchart of a method of learning a fully open position and a fully closed position of a throttle opening sensor output voltage characteristic in FIG.

First, the operation is started when the ignition switch is turned on. In step S1, the fully open position and the fully closed position of the throttle valve 103 are learned by a method described later, and in step S2, the output voltage characteristic of the slot opening sensor is determined. Is updated and stored in the memory 25.

Further, in step S3, the integrated travel distance when learning the fully open position and the fully closed position is obtained from the meter 16 via the bus 15 and stored in the memory 25. The engine water temperature is stored in the memory 25 by the water temperature sensor 61 attached near the engine 6 as the ambient temperature.

In step S4, it is determined whether or not the difference between the current accumulated traveling distance and the accumulated traveling distance obtained in the previous learning is equal to or greater than a predetermined value. If the difference is smaller than the predetermined value, then in step S5, It is determined whether or not the difference between the current engine water temperature and the engine water temperature at the time of the previous learning is equal to or higher than a predetermined value. If the difference is lower than the predetermined value, the process returns to step S4.

In step S4, when it is determined that the difference between the current accumulated traveling distance and the accumulated traveling distance obtained in the previous learning is equal to or greater than a predetermined value, or in step S5, the current engine coolant temperature and the previously learned engine water temperature are learned. If it is determined that the difference from the engine water temperature at that time is equal to or greater than the predetermined value, in steps S6, S7, and S8, step S
1, S2, S3, and the throttle valve 10
3 and the output voltage characteristic of the throttle opening sensor is updated and stored in the memory 25, and the integrated travel distance and the engine water temperature when the learning of the fully open position and the fully closed position are performed. Is stored in the memory 25.

Next, referring to FIG. 3, step S1 of FIG.
The learning method of the fully open position and the fully closed position in step S6 will be described.

In steps S11 and S12, the ECM
2 obtains the engine torque command value transmitted from the HCM 1 via the bus 15, and determines whether or not the engine is in the engine stop mode. Specifically, whether or not the engine torque command value is zero, in the above-described example, the vehicle speed is 30 k
If it is not more than m / h and the command value is generated when there is no charging request, it is determined that the engine is in the engine stop mode.

If it is determined that the engine is in the engine stop mode, it is determined in step S13 whether or not the engine 6 has stopped reliably based on the output from the engine speed sensor 62.

After waiting for the engine 6 to stop, in step S14, the CPU 24
The motor 101 in the direction in which the throttle valve 103 opens.
, And the throttle valve 103 is pushed to the fully open side.

In step S15, the output voltage of the throttle opening sensor 102 is measured via the A / D converter 21, and the drive current of the motor 101 is read by the CPU 24 via the motor drive current monitoring circuit 22.
4 outputs a signal to the motor drive circuit 23 so as to increase the drive current of the motor 101 when the output voltage of the throttle opening sensor 102 no longer changes, and the throttle opening is output even when a motor drive current of a predetermined value or more flows. When the output voltage of the sensor 102 stops changing, the throttle valve 1
03 is determined to be at the fully open position, and the throttle opening sensor output voltage at that time is stored in the memory 25 at step S16.

Next, in step S17, the CPU 2
4 is to the motor drive circuit 23, the throttle valve 103
Continues to output a signal that causes the drive current of the motor 101 to flow in the closing direction, and pushes the throttle valve 103 to the fully closed side. In step S18, the output voltage of the throttle opening sensor 102 is output via the A / D converter 21. The driving current of the motor 101 is read by the CPU 24 via the motor driving current monitoring circuit 22. When the output voltage of the throttle opening sensor 102 does not change, the CPU 24 increases the driving current of the motor 101. A signal is output to the motor drive circuit 23, and when the output voltage of the throttle opening sensor 102 does not change even when a motor drive current of a predetermined value or more flows, the throttle valve 103
Is in the fully closed position, and in step S19,
The throttle opening sensor output voltage at that time is stored in the memory 25.
To memorize.

Then, in step S20, the characteristics are updated based on the fully open position and the fully closed position stored in steps S16 and S19. FIG. 4 shows a state before the characteristic is updated (dotted line) and a state after the characteristic is updated (solid line).

As described above, in the present embodiment, the learning of the fully open position is performed when the engine is stopped in the hybrid vehicle, that is, when the engine is not used as a traveling drive source. It is possible to learn the fully open position of the throttle valve, which is difficult for a gasoline engine using an engine as a conventional driving source, and the power of the throttle control device is turned off when the ignition switch is turned off at the end of operation of the engine.
There is an effect that learning that cannot be sufficiently performed in a short time until F is performed can be performed.

By learning not only the fully closed position but also the fully opened position of the throttle valve, the characteristics of the throttle opening sensor can be updated with high accuracy. Throttle control can be performed with high accuracy and can be performed without error, and engine torque error can be suppressed.

Further, by learning while the vehicle is running, there is an effect that the noise caused by opening and closing the throttle valve is not disturbing to the driver.

By performing the learning timing when the temperature of the throttle opening sensor has changed by a predetermined value or more from the temperature of the throttle opening sensor at the time of the previous correction, it is possible to quickly respond to a change in the resistivity of the sliding resistance of the throttle opening sensor. By performing the correction when the vehicle has traveled a predetermined value or more from the previous correction, it is possible to quickly respond to slippage and wear due to sliding.

In the above embodiment, in steps S1 and S6 of the flowchart shown in FIG.
Although both the fully open position and the fully closed position are learned, only the fully open position is used, and the fully closed position is, for example, when the ignition switch changes from the OFF state to the ON state or when the ignition switch changes from the ON state to the OFF state. Figure 3
The learning may be performed using the same method as in steps S17 to S19 of the flowchart shown in FIG.

In the above-described embodiment, a parallel hybrid vehicle has been described. However, the present invention is not limited to this, and may be applied to a serial hybrid vehicle in which the vehicle runs only by a motor. Specifically, it detects that the command value to the engine or the generator is a power generation stop command,
The engine stop state can be determined by directly detecting that the driving state of the generator or the engine is in the stop state.

[0047]

As described above in detail, in the present invention, the learning is performed when the engine is stopped in the hybrid vehicle, so that the learning of the fully open position of the throttle valve becomes possible. By learning not only the fully closed position but also the fully open position, the throttle opening sensor characteristic formula can be updated with high accuracy, and it is possible to cope with the deterioration of the throttle opening sensor over time and the characteristic change due to temperature change without error. Thus, highly accurate throttle control can be performed, and an engine torque error can be suppressed.

Further, by driving the vehicle to the fully open position while the vehicle is running, there is also an effect that the noise caused by driving the throttle valve is not disturbing to the driver.

By performing the learning timing when the temperature of the throttle opening sensor has changed by a predetermined value or more from the temperature of the throttle opening sensor at the time of the previous correction, it is possible to quickly respond to the change in the resistivity of the sliding resistance of the throttle opening sensor. In addition, by performing this operation when the vehicle has traveled a predetermined value or more from the accumulated traveling distance at the time of the previous correction, there is also an effect that displacement or wear due to sliding can be promptly dealt with.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an embodiment of a learning method of a throttle opening sensor output characteristic according to the present invention.

FIG. 2 is a flowchart illustrating a method of learning a fully open position and a fully closed position of a throttle opening sensor output voltage characteristic in ECM2.

FIG. 3 is a flowchart illustrating a learning method of a fully open position and a fully closed position in steps S1 and S6 of FIG. 2;

FIG. 4 is a diagram showing a characteristic before updating (dotted line) and after updating (solid line).

[Explanation of symbols]

1 Parallel hybrid vehicle controller (HC
M) 2 engine controller (ECM) 3 motor controller (MC) 4 AT controller (ATCU) 5 battery controller (BC) 6 engine 7 traveling motor 8 auto transmission (AT) 9 battery 10 clutch 11 accelerator pedal 12 accelerator position sensor 13 Brake pedal 14 Brake pedal sensor 15 Bus 16 Meter 21 A / D converter 22 Motor drive current monitoring circuit 23 Motor drive circuit 24 CPU 25 Memory 61 Water temperature sensor 62 Engine speed sensor 63 Injector 64 Spark plug 65 Generator 81 Vehicle speed sensor 101 Motor 102 Throttle opening sensor 103 Throttle valve

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) F02D 9/02 351

Claims (14)

[Claims] 1. A method for learning output characteristics of a throttle opening sensor of a hybrid vehicle having an engine and a motor, the output value of the throttle opening sensor when the throttle valve is moved to a fully open position when the engine is stopped. And a characteristic representing the correspondence between the output value of the throttle opening sensor and the throttle opening based on the output value of the throttle opening sensor when the throttle valve is in the fully closed position. Learning method of the throttle opening sensor output characteristics to be performed. 2. A method for learning output characteristics of a throttle opening sensor of a hybrid vehicle having an engine and a motor, wherein the throttle valve is fully opened when the engine is stopped and the vehicle is running. The relationship between the output value of the throttle opening sensor and the throttle opening based on the output value of the throttle opening sensor when the throttle valve is moved to the position and the output value of the throttle opening sensor when the throttle valve is at the fully closed position. A method for learning the output characteristic of the throttle opening sensor, wherein the characteristic representing the characteristic is corrected. 3. A throttle opening sensor output characteristic learning method according to claim 1, wherein the engine stop determination is performed based on an output of an engine speed sensor. Learning method. 4. The learning method of a throttle opening sensor output characteristic according to claim 1, wherein the engine stop is determined when a driving force command to a controller of the engine is zero. Learning method of the throttle opening sensor output characteristic to be used. 5. The learning method of a throttle opening sensor output characteristic according to claim 1, wherein the correction is performed when the temperature of the throttle opening sensor has changed by a predetermined value or more from the temperature of the throttle opening sensor at the time of the previous correction. A learning method of a throttle opening sensor output characteristic characterized by performing. 6. The throttle opening sensor output characteristic learning method according to claim 1, wherein the correction is performed when the vehicle has traveled a predetermined value or more since the previous correction. Learning method of opening sensor output characteristics. 7. A throttle control device for a hybrid vehicle having an engine and a motor, comprising: a throttle valve; throttle valve driving means for rotating the throttle valve in an opening direction or a closing direction; and detecting an opening of the throttle valve. A throttle opening detection unit; a characteristic storage unit that stores a characteristic representing a correspondence relationship between an output value of the throttle opening detection unit and a throttle opening; a stop determination unit that determines stop of the engine; When it is determined that the throttle valve is stopped, a full-open position storage unit that stores an output value of the throttle opening degree detecting unit when the throttle valve is driven to the full-open position; A fully-closed position storing means for storing an output value of the throttle opening detecting means; The throttle control device, wherein the output value of the throttle opening degree detecting means from the output value of the throttle opening detection means at the fully closed position; and a correcting means for correcting the characteristics of the. 8. A hybrid having an engine and a motor whose state is controlled by controlling the opening of a throttle valve based on a characteristic representing the correspondence between the output value of a throttle valve opening sensor and the throttle opening. A throttle control controller for the vehicle, a stop determining means for determining the stop of the engine; and an output of the throttle opening detecting means when the throttle valve is driven to a fully open position when it is determined that the engine is stopped. A full-open position storing means for storing a value; a full-close position storing means for storing an output value of the throttle opening detecting means when the throttle valve is at a fully closed position; and a throttle opening detection at the full opening position. Correction for correcting the characteristic from the output value of the throttle means and the output value of the throttle opening detection means at the fully closed position. Throttle controller, characterized in that it comprises a stage, a. 9. A throttle valve, a throttle valve driving unit for rotating the throttle valve in an opening direction or a closing direction, a throttle opening detection unit for detecting the opening of the throttle valve, and the throttle opening detection unit A characteristic storage unit that stores a characteristic representing a correspondence relationship between the output value of the throttle opening and the throttle opening degree; a stop determination unit that determines stop of the engine; and a throttle valve that determines that the engine is stopped. A full open position storing means for storing an output value of the throttle opening degree detecting means when the throttle valve is driven to a fully open position; and a full storing means for storing an output value of the throttle opening degree detecting means when the throttle valve is at a fully closed position. Closing position storage means, an output value of the throttle opening degree detecting means at the fully open position and the throttle at the fully closed position Hybrid vehicle, characterized in that it comprises a throttle control device from the output value of the degree detecting means comprises a correction means for correcting the characteristic. 10. The apparatus according to claim 7, further comprising: means for detecting that the vehicle is running, wherein the fully open position storage means is provided when the engine is stopped. And an output value of the throttle opening detection means when the throttle valve is driven to the fully open position when the vehicle is running. 11. The apparatus according to claim 7, wherein the engine stop determination is performed based on an output of an engine speed sensor. 12. The apparatus according to claim 7, further comprising: an engine control controller, a motor control controller, and a hybrid controller that distributes a driving force to both controllers. Wherein when the driving force command is zero, it is determined that the engine is stopped. 13. The apparatus according to claim 7, further comprising a temperature detecting means for detecting a temperature of the throttle opening degree detecting means, wherein the correction by the correcting means is a throttle from a previous correction. Apparatus characterized in that it is performed when the temperature of the opening degree sensor changes by a predetermined value or more. 14. The apparatus according to claim 7, further comprising a distance detection unit that detects a travel distance of the vehicle, wherein the correction by the correction unit has performed a predetermined distance from a previous correction. An apparatus characterized in that it is performed in a case.