JP2008109765A - Vehicle and control method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To cope with the hebetation of a driver's sense of speed that occurs when he/she transitions from high-speed driving to low-speed driving, and more appropriately drive according to the situation. <P>SOLUTION: In transient running state before a predetermined time has passed after a vehicle moves from a highway to an open road (S110), the following processing is carried out: using as an execution map a request torque setting map for limiting torque in which such relation that torque is reduced lower than in normal times is defined, a request torque Tm* to be output from a motor is set (S130, S140). Thus, the motor is so controlled that the request torque Tm* is outputted (S150). This makes it possible to cope with the hebetation of the driver's sense of speed that occurs when he/she transitions from high-speed driving to low-speed driving and more appropriately drive according to the situation in correspondence with the amount of depression of the accelerator pedal. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle and a control method thereof.

Conventionally, as this type of vehicle, a vehicle that controls the driving force of the vehicle so as to adapt to a new road environment based on road information from a navigation device has been proposed (for example, see Patent Document 1). In this vehicle, the current position obtained from the navigation device is compared with the map data, and it is determined that the vehicle has approached a pre-registered point where the speed limit is changed, such as a road attached to a general road from a highway or a tunnel entrance. The vehicle speed and the speed limit are acquired, and the driving force is reduced so that the vehicle is decelerated to the speed limit, so that the driver's speed sensation is paralyzed and the speed limit cannot be changed. If the case is dealt with.
JP 2006-35951 A

  However, in the above-described vehicle, when the map data of the navigation device and the current state are different, the driver's speed sensation may be slowed down and the change in the speed limit cannot be accommodated. For example, when the speed limit that has been changed by the road widening work is not reflected in the map data, it becomes impossible to cope with the change in the speed limit. That is, it becomes impossible to travel according to the situation.

  An object of the vehicle and the control method thereof according to the present invention is to cope with a state in which a driver's speed sensation has slowed down when shifting from high speed travel to low speed travel. Another object of the vehicle and the control method thereof according to the present invention is to travel more appropriately according to the situation when the vehicle travels from high speed to low speed.

  The vehicle and the control method thereof according to the present invention employ the following means in order to achieve at least a part of the above-described object.

The first vehicle of the present invention is
A power source that outputs driving power;
An accelerator operation amount detecting means for detecting an accelerator operation amount;
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Transition running state determination means for determining whether there is,
When it is determined by the transition travel state determination means that the transition travel state is not established, a required driving force required for travel is set using the first relationship based on the detected accelerator operation amount, and the transition When it is determined by the traveling state determining means that the vehicle is in the transition traveling state, the requested driving force is calculated using a second relationship in which the driving force is smaller than the first relationship based on the detected accelerator operation amount. Required driving force setting means to be set;
Control means for controlling the power source to travel with the set required driving force;
It is a summary to provide.

  In the first vehicle according to the present invention, the predetermined condition is satisfied after the vehicle shifts from high speed traveling at a vehicle speed equal to or higher than the first vehicle speed to low speed traveling at a vehicle speed less than the second vehicle speed and less than the second vehicle speed. It is determined whether or not the vehicle is in the transitional travel state until the condition is established, and when it is determined that the vehicle is not in the transitional travel state, the vehicle travels based on the requested driving force required for travel based on the first relation based on the accelerator operation amount. When the power source is controlled and it is determined that the vehicle is in the transitional traveling state, the vehicle travels by the required driving force required for traveling by the second relationship in which the driving force is smaller than the first relationship based on the accelerator operation amount. To control the power source. Therefore, when the vehicle travels from high speed to low speed, the vehicle travels with a driving force that is smaller than the driving force according to the first relationship, so that it is possible to deal with a situation where the driver's sense of speed has slowed down. Further, since the vehicle travels based on the accelerator operation amount when shifting from the high speed traveling to the low speed traveling, it can travel more appropriately according to the situation.

The second vehicle of the present invention is
A power source that outputs driving power;
An accelerator operation amount detecting means for detecting an accelerator operation amount;
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Transition running state determination means for determining whether there is,
Requested driving force setting means for setting a requested driving force required for traveling based on the detected accelerator operation amount;
When it is determined that the transition travel state is not in the transition travel state by the transition travel state determination means, the power source is controlled to travel with the set required driving force, and the transition travel state determination means is in the transition travel state. Control means for controlling the power source to travel with a driving force that limits the set required driving force,
It is a summary to provide.

  In the second vehicle of the present invention, the predetermined condition is satisfied after the vehicle shifts from a high speed traveling at a vehicle speed equal to or higher than the first vehicle speed to a low speed traveling at a vehicle speed lower than the first vehicle speed and less than the second vehicle speed. It is determined whether or not the vehicle is in the transitional travel state until the condition is established, and when it is determined that the transitional travel state is not established, the power source is set so as to travel with the required driving force required for travel based on the accelerator operation amount. When it is determined that the vehicle is in the transition running state, the power source is controlled so as to travel with the driving force with the required driving force limited. Therefore, when the vehicle shifts from high-speed traveling to low-speed traveling, the vehicle travels with a driving force that restricts the driving force required for traveling, so that it is possible to cope with a state where the driver's sense of speed has slowed down. Further, since the vehicle travels based on the accelerator operation amount when shifting from the high speed traveling to the low speed traveling, it can travel more appropriately according to the situation.

  In such a first or second vehicle of the present invention, navigation that can acquire the current position of the vehicle and map information and that can detect the travel path on which the vehicle is traveling using the acquired current position and map information. The transition travel state determination means determines that the vehicle is traveling at a high speed when the travel path on which the vehicle detected by the navigation system is traveling is an expressway, and the vehicle detected by the navigation system travels It may be a means for determining whether or not the vehicle is in the transition traveling state by determining that the vehicle is traveling at a low speed when the traveling road is a road other than an expressway. In this way, it is possible to more reliably determine the transition running state.

  The first or second vehicle of the present invention further includes vehicle speed detection means for detecting a vehicle speed, and the transition running state determination means performs the high speed running or the low speed running based on the detected change in the vehicle speed. It may be a means for determining and determining whether or not the vehicle is in the transition running state. In this way, it is possible to more reliably determine the transition running state.

  Further, in the first or second vehicle of the present invention, the transition travel state determination means is configured such that the vehicle travels for a first predetermined time and / or a first predetermined distance at a vehicle speed equal to or higher than the first vehicle speed. It is also possible to determine that the vehicle is traveling at high speed and determine whether the vehicle is in the transition traveling state. In this way, it is possible to more reliably determine high speed traveling.

  Alternatively, in the first or second vehicle of the present invention, the predetermined condition may be a condition that a second predetermined time elapses and / or a condition that the vehicle travels a second predetermined distance. . In this way, it is possible to determine that the vehicle is not in the transition running state after the second predetermined time has elapsed or after the vehicle has traveled the second predetermined distance.

The first vehicle control method of the present invention comprises:
A method for controlling a vehicle including a power source that outputs power for traveling,
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Determine if there is,
When it is determined that the vehicle is not in the transition travel state, the power source is controlled to travel with the required driving force required for travel based on the first relationship based on the accelerator operation amount, and it is determined that the transition travel state is present. Sometimes, the power source is controlled to travel with the required driving force required for traveling according to the second relationship in which the driving force is smaller than the first relationship based on the accelerator operation amount.
It is characterized by that.

  According to the first vehicle control method of the present invention, the vehicle travels from high speed traveling at a vehicle speed equal to or higher than the first vehicle speed to low speed traveling at a vehicle speed less than the second vehicle speed smaller than the first vehicle speed. It is determined whether or not the vehicle is in a transitional travel state from when the transition is made until the predetermined condition is satisfied, and when it is determined that the transitional travel state is not satisfied, the required drive required for travel by the first relationship based on the accelerator operation amount The power source that outputs the power for traveling is controlled so that the vehicle travels by force, and when it is determined that the vehicle is in the transitional traveling state, the vehicle is driven by the second relationship in which the driving force is smaller than the first relationship based on the accelerator operation amount. The power source is controlled to travel with the required driving force. Therefore, when the vehicle travels from high speed to low speed, the vehicle travels with a driving force that is smaller than the driving force according to the first relationship, so that it is possible to deal with a situation where the driver's sense of speed has slowed down. Moreover, since it travels based on the amount of accelerator operation when shifting from high speed travel to low speed travel, it can travel more appropriately according to the situation.

The second vehicle control method of the present invention comprises:
A method for controlling a vehicle including a power source that outputs power for traveling,
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Determine if there is,
When it is determined that the vehicle is not in the transition travel state, the power source is controlled to travel based on the required driving force required for travel based on the accelerator operation amount. Controlling the power source to travel with a driving force with limited force,
It is characterized by that.

  According to the second vehicle control method of the present invention, the vehicle shifts from high-speed traveling in which the vehicle travels at a vehicle speed equal to or higher than the first vehicle speed to low-speed traveling in which the vehicle travels at a vehicle speed less than the second vehicle speed and less than the second vehicle speed. It is determined whether or not the vehicle is in the transitional travel state until the predetermined condition is satisfied, and when it is determined that the vehicle is not in the transitional travel state, the vehicle travels with the required driving force required for travel based on the accelerator operation amount. The power source that outputs the power for use is controlled, and when it is determined that the vehicle is in the transition travel state, the power source is controlled so that the travel is performed with the drive force that limits the required drive force. Therefore, when the vehicle shifts from high-speed traveling to low-speed traveling, the vehicle travels with a driving force that restricts the driving force required for traveling, so that it is possible to cope with a state where the driver's sense of speed has slowed down. Further, since the vehicle travels based on the accelerator operation amount when shifting from the high speed travel to the low speed travel, it can travel more appropriately according to the situation.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of a configuration of an electric vehicle 20 as an embodiment of the present invention. As shown in the figure, the electric vehicle 20 according to the embodiment includes a motor 22 capable of inputting / outputting power to / from a drive shaft 32 connected to drive wheels 34a and 34b via a differential gear 33, and main electronic control for controlling the entire vehicle. A unit 40 and a navigation system 60 that communicates with the main electronic control unit 40 are provided.

  The motor 22 is configured as a PM-type synchronous generator motor including a rotor with a permanent magnet attached to the outer peripheral surface and a stator wound with a three-phase coil, and is driven from the battery 26 by an inverter 24 having six switching elements. Driven by receiving pseudo three-phase AC power converted from DC power.

  The navigation system 60 includes a main body 62 incorporating a control unit having a storage medium such as a hard disk in which map information 63 and the like are stored, an input / output port, a communication port, and the like, a GPS antenna 64 that receives information on the current position of the vehicle, And a display 66 for displaying various information such as information relating to the current position of the vehicle and a travel route to the destination. When the destination is set by the operator, the map information 63 and the current position and destination of the vehicle are displayed. Based on this, the travel route to the destination is retrieved and the retrieved travel route is output to the display 66 to provide route guidance. The map information 63 stores service information (tourist information, parking lots, etc.), road information for each predetermined travel section, and the like in a database. The road information includes distance information, width information, area information (city area, suburb), type information (general road, highway), gradient information, legal speed, number of traffic lights, and the like. The control unit of the navigation system 60 inputs the map information 63 and the current position of the vehicle to constantly detect road information about the currently traveling road, and detects the detected current road type Rd (general road, high speed). Road) and the like are output to the main electronic control unit 40 by communication.

  The main electronic control unit 40 is configured as a microprocessor centered on the CPU 42. In addition to the CPU 42, a ROM 44 for storing processing programs, a RAM 46 for temporarily storing data, an input / output port and a communication port (not shown). With. The main electronic control unit 40 includes the rotational position of the rotor of the motor 22 from the rotational position detection sensor 27, the phase current from a current sensor (not shown) attached to the power line from the inverter 24 to the motor 22, and the shift lever 51. A shift position SP from the shift position sensor 52 that detects the operation position, an accelerator opening Acc from the accelerator pedal position sensor 54 that detects the depression amount of the accelerator pedal 53, and a brake pedal position sensor 56 that detects the depression amount of the brake pedal 55 The brake pedal position BP from, the ignition signal from the ignition switch 57, the vehicle speed V from the vehicle speed sensor 58, and the like are input via the input port. From the main electronic control unit 40, a switching control signal to the inverter 24 that drives the motor 22 is output via an output port. The main electronic control unit 40 is connected to the control unit of the navigation system 60 via a communication port and exchanges various control signals and data.

  Next, the operation of the electric vehicle 20 according to the embodiment thus configured will be described. FIG. 2 is a flowchart showing an example of a drive control routine executed by the CPU 42 of the main electronic control unit 40. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine of FIG. 2 is executed, the CPU 42 of the main electronic control unit 40 first needs to control the accelerator opening Acc from the accelerator position sensor 54, the rotational speed Nm of the motor 22, the transition travel flag F, and the like. Data is input (step S100), and a process of determining whether or not the transition travel flag F is 0 is executed (step S110). The rotational speed Nm of the motor 22 is inputted as a value separately calculated by the CPU 42 based on the rotational position of the rotor of the motor 22 detected by the rotational position detection sensor 27. Further, the transition travel flag F is a flag indicating whether or not the vehicle is in a transition travel state after transitioning from a highway to a general road, and is set by the transition travel state determination process illustrated in FIG. Was supposed to be entered. Here, the description of the drive control routine of FIG. 2 is temporarily interrupted, and the transition running state determination routine of FIG. 3 will be described.

  In the transition running state determination routine of FIG. 3, data necessary for determination such as a general road or a current road type Rd as a high speed road detected by the control unit of the navigation system 60 is input (step S200), and the input current road Based on the type Rd, it is determined whether or not the vehicle is in a transitional travel state in which a transition has been made from a highway to a general road between now and a predetermined time t (step S210). A value 1 is set in the travel flag F (step S220), and when it is determined that the travel state is not in the transitional state, the transitional travel flag F is reset to a value 0 (step S230), and this routine ends. As the predetermined time t, a time (for example, 5 minutes, 10 minutes, or the like) in which a state in which the driver's sense of speed has slowed down due to the transition from the highway to the general road generally continues can be used.

  Returning to the description of the drive control routine of FIG. When the transition travel flag F is a value of 0 in step S110, it is determined that the vehicle is not in the transition travel state, a normal required torque setting map is set as an execution map (step S120), and an accelerator is used using the execution map. Based on the opening degree Acc and the rotational speed Nm of the motor 22, a required torque Tm * to be output from the motor 22 is set (step S140), and the motor 22 is controlled by the required torque Tm * (step S150). Exit. Here, the normal required torque setting map is a normally used map that defines the relationship among the accelerator opening Acc, the rotational speed Nm of the motor 22, and the required torque Tm *. FIG. 4 shows an example of a normal required torque setting map. The required torque Tm * is set by deriving the corresponding required torque Tm * from the execution map set when the accelerator opening Acc and the rotational speed Nm are given. The motor 22 is controlled by switching the switching element of the inverter 24 so that a torque corresponding to the required torque Tm * is output from the motor 22.

  When the transition travel flag F is a value of 1 in step S110, it is determined that the speed sensation of the driver is slowed down because the vehicle is in the transition travel state, and the required torque setting map for torque limitation is determined. This is set as an execution map (step S130), the required torque Tm * of the motor 22 is set using the execution map (step S140), and the motor 22 is controlled by the required torque Tm * (step S150). Exit. Here, the required torque setting map for torque limitation is a map in which the relationship between the accelerator opening Acc, the rotational speed Nm, and the required torque Tm * is set to a relationship in which the required torque Tm * is smaller than that in the normal state. . FIG. 5 shows an example of a required torque setting map for torque limitation. In FIG. 5, the broken line exemplifies the relationship when the accelerator opening Acc is 100% in the normal required torque setting map for comparison. The setting of the required torque Tm * and the control of the motor 22 are performed in the same manner as in the normal time described above. Therefore, when the vehicle is in a transition running state from the expressway to the general road until the predetermined time t has elapsed, the vehicle travels with a smaller torque than in the normal time.

  According to the electric vehicle 20 of the embodiment described above, the vehicle travels with the required torque Tm * that is set smaller than the normal time when moving from a highway to a general road. Can be dealt with. Further, since the vehicle travels with the required torque Tm * set based on the accelerator opening Acc, even when the map information 63 such as the legal speed of the navigation system 60 is different from the current state, the driver depresses the accelerator pedal 53. In response to the situation, it is possible to perform more appropriate traveling according to the situation. Furthermore, since the current road type Rd detected by the navigation system 60 is used, the transition running state can be determined more reliably. In addition, after the predetermined time t has elapsed since the transition from the highway to the general road, it is determined that the vehicle is not in the transition travel state and travels with the required torque Tm * set using the normal required torque setting map. In addition, it is possible to cope with a state in which the driver's sense of speed has recovered from the state in which the driver has lost speed.

  In the electric vehicle 20 of the embodiment, it is determined that the vehicle is in the transition running state until the predetermined time t has elapsed after the vehicle has shifted from the highway to the general road. It may be determined that the vehicle is in the transitional travel state until the vehicle travels or until the predetermined time t has elapsed and the vehicle has traveled the predetermined distance L, or a general road regardless of whether the predetermined time t or the predetermined distance L has traveled. It may be determined that the vehicle is in the transition running state until other conditions are satisfied, for example, until the vehicle speed V reaches the value 0 after the transition to, until a predetermined number of times is counted.

  In the electric vehicle 20 of the embodiment, the transition travel state is determined based on the current road type Rd detected by the navigation system 60. However, the transition travel state may be determined based on the change in the vehicle speed V from the vehicle speed sensor 58. Good. In this case, when the vehicle speed V from the vehicle speed sensor 58 reaches or exceeds a threshold value V1 (for example, 70 km / h or 80 km / h), it is determined that the vehicle has traveled at a high speed, and thereafter the vehicle speed V is a threshold V2 (for example, 30 km / h). When the vehicle speed is less than 40 km / h, it is determined that the vehicle has shifted to low speed driving, and it is determined that the vehicle is in the transition driving state until a predetermined time t has elapsed since the vehicle has shifted from high speed driving to low speed driving. do it. Further, when the predetermined time t1 has elapsed or the vehicle has traveled the predetermined distance L1 while the vehicle speed V is equal to or greater than the threshold value V1, it is determined that the vehicle has been traveling at a high speed when the predetermined time t1 has elapsed and the vehicle has traveled the predetermined distance L1. Then, the transition running state may be determined.

  In the electric vehicle 20 of the embodiment, the required torque Tm * is set by changing the required torque setting map used as the execution map depending on whether or not the vehicle is in the transition running state. The required torque Tm * may be set by changing the limiting rate α for limiting the torque from the engine. In this case, the drive control routine of FIG. 6 may be executed instead of the drive control routine of FIG. In the routine of FIG. 6, the same processing as that of the routine of FIG. In the routine of FIG. 6, when it is determined that the vehicle is not in the transition running state, the ratio 100% is set to the limiting rate α (step S320), and when it is determined that the vehicle is in the transition traveling state, the ratio is less than 100%. A predetermined ratio αref (for example, 70% or 80%) is set (step S330), and torque corresponding to the accelerator opening Acc and the rotational speed Nm of the motor 22 is derived using a normal required torque setting map. A value obtained by multiplying the derived torque by the set restriction rate α is set as the required torque Tm * (step S340). As a result, since the vehicle travels with a torque that is limited to the torque that is normally required when moving from a highway to a general road, it is possible to deal with a situation where the driver's sense of speed has slowed down. Further, since the required torque Tm * is set based on the accelerator opening Acc, the vehicle travels more appropriately according to the situation in response to the depression of the accelerator pedal 53 by the driver.

  In the embodiment, the description is applied to the electric vehicle 20 including the motor 22 that can input and output power to the drive shaft 32. However, as illustrated in the hybrid vehicle 120 of the modified example of FIG. 8 may be applied to a vehicle including the engine 122 and the motor 124 that output power to the drive shaft 32, and the motor 22 that can input and output power to the drive shaft 32, or the hybrid vehicle 220 of the modification of FIG. 2, the engine 222, the inner rotor 232 connected to the crankshaft of the engine 222, and the outer rotor 234 connected to the drive shaft 32, a part of the power of the engine 222 is transmitted to the drive shaft 32. In addition, the vehicle includes a counter-rotor motor 230 that converts remaining power into electric power, and a motor 22 that can input and output power to the drive shaft 32. It may be as applied to.

  Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the motor 22 capable of inputting / outputting power to / from the drive shaft 32 connected to the drive wheels 34a, 34b via the differential gear 32 corresponds to a “power source” and detects the amount of depression of the accelerator pedal 53. The pedal position sensor 54 corresponds to an “accelerator operation amount detection means”, and it is determined that the vehicle is in the transition travel state until the predetermined time t has passed since the transition from the highway to the general road, and a value 1 is set to the transition travel flag F. The main electronic control unit 40 that executes the transition travel state determination process of S200 to S230 that determines that there is no transition travel state after the predetermined time t has elapsed and resets the transition travel flag F to a value of 0 is “transition”. Corresponding to the “running state determination means”, the required torque setting map for normal or torque limitation based on the value of the transition running flag F is executed. The main electronic control unit that executes the processing of S120 to S140 that sets the required torque Tm * of the motor 22 based on the accelerator opening Acc and the rotational speed Nm of the motor 22 using the set execution map Reference numeral 40 corresponds to “required driving force setting means”, and the main electronic control unit 40 that executes the process of step S150 for controlling the motor 22 with the set required torque Tm * corresponds to “control means”. Further, a navigation system 60 that inputs road map information 63 and the current position of the vehicle and detects road information such as the current road type Rd for the currently traveling road corresponds to the “navigation system”, and the vehicle speed V is The vehicle speed sensor 58 to be detected corresponds to “vehicle speed detection means”. The correspondence between the elements of the embodiment and the elements of the invention described in the means for solving the problem is the best for implementing the invention described in the means for solving the problem by the embodiment. Therefore, the elements of the invention described in the column of the means for solving the problems are not limited by the elements of the embodiments. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the embodiments are inventions described in the column of means for solving the problems. It is only a specific example of.

  In the embodiment, the description is applied to the electric vehicle 20, but it may be applied to a vehicle other than an automobile such as a train, or may be a form of a vehicle control method including an automobile or a train.

  The best mode for carrying out the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the gist of the present invention. Of course, it can be implemented in the form.

  The present invention can be used in the vehicle manufacturing industry.

It is a block diagram which shows the outline of a structure of the electric vehicle 20 which is one Example of this invention. It is a flowchart which shows an example of the drive control routine performed by the main electronic control unit 40 of an Example. It is a flowchart which shows an example of the transfer driving state determination routine performed by the main electronic control unit 40 of an Example. It is explanatory drawing which shows an example of the map for normal request torque setting. It is explanatory drawing which shows an example of the request | requirement torque setting map for torque limitation. 7 is a flowchart illustrating an example of a drive control routine executed by a main electronic control unit 40 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 220 of a modified example.

Explanation of symbols

  20 electric vehicle, 22 motor, 24 inverter, 26 battery, 27 rotational position detection sensor, 32 drive shaft, 33 differential gear, 34a, 34b drive wheel, 40 main electronic control unit, 42 CPU, 44 ROM, 46 RAM, 51 shift Lever, 52 shift position sensor, 53 accelerator pedal, 54 accelerator pedal position sensor, 55 brake pedal, 56 brake pedal position sensor, 57 ignition switch, 58 vehicle speed sensor, 60 navigation system, 62 body, 63 map information, 64 GPS antenna, 66 display, 120, 220 hybrid vehicle, 122, 222 engine, 124 motor, 126 planetary gear mechanism, 230 pair rotor motor, 232 inner The rotor 234 outer rotor.

Claims (8)

A power source that outputs driving power;
An accelerator operation amount detecting means for detecting an accelerator operation amount;
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Transition running state determination means for determining whether there is,
When it is determined by the transition travel state determination means that the transition travel state is not established, a required driving force required for travel is set using the first relationship based on the detected accelerator operation amount, and the transition When it is determined by the traveling state determining means that the vehicle is in the transition traveling state, the requested driving force is calculated using a second relationship in which the driving force is smaller than the first relationship based on the detected accelerator operation amount. Required driving force setting means to be set;
Control means for controlling the power source to travel with the set required driving force;
A vehicle comprising: A power source that outputs driving power;
An accelerator operation amount detecting means for detecting an accelerator operation amount;
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Transition running state determination means for determining whether there is,
Requested driving force setting means for setting a requested driving force required for traveling based on the detected accelerator operation amount;
When it is determined that the transition travel state is not in the transition travel state by the transition travel state determination means, the power source is controlled to travel with the set required driving force, and the transition travel state determination means is in the transition travel state. Control means for controlling the power source to travel with a driving force that limits the set required driving force,
A vehicle comprising: The vehicle according to claim 1 or 2,
A navigation system capable of detecting a travel path on which the vehicle is traveling, using the current position and map information acquired and acquiring the current position of the vehicle and map information;
The transition traveling state determination means determines that the vehicle is traveling at a high speed when the traveling path on which the vehicle detected by the navigation system is traveling is an expressway and travels on which the vehicle detected by the navigation system is traveling A vehicle that determines whether the vehicle is traveling at a low speed when the road is a road other than an expressway and determines whether or not the vehicle is in the transition traveling state. The vehicle according to claim 1 or 2,
Vehicle speed detection means for detecting the vehicle speed,
The transition travel state determination means is a vehicle that is a means for determining whether the vehicle is in the transition travel state by determining the high speed travel or the low speed travel based on the detected change in vehicle speed.   The transition travel state determination means determines that the vehicle travels at a high speed when the vehicle travels for a first predetermined time and / or a first predetermined distance at a vehicle speed equal to or higher than the first vehicle speed, and enters the transition travel state. The vehicle according to any one of claims 1 to 4, which is means for determining whether or not there is a vehicle.   The vehicle according to any one of claims 1 to 5, wherein the predetermined condition is a condition that a second predetermined time elapses and / or a condition that the vehicle travels a second predetermined distance. A method for controlling a vehicle including a power source that outputs power for traveling,
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Determine if there is,
When it is determined that the vehicle is not in the transition travel state, the power source is controlled to travel with the required driving force required for travel based on the first relationship based on the accelerator operation amount, and it is determined that the transition travel state is present. Sometimes, the power source is controlled to travel with the required driving force required for traveling according to the second relationship in which the driving force is smaller than the first relationship based on the accelerator operation amount.
A method for controlling a vehicle. A method for controlling a vehicle including a power source that outputs power for traveling,
A transition running state from when the vehicle travels at a vehicle speed higher than the first vehicle speed to a low speed travel at a vehicle speed less than the second vehicle speed and less than the second vehicle speed until the predetermined condition is satisfied. Determine if there is,
When it is determined that the vehicle is not in the transition travel state, the power source is controlled to travel based on the required driving force required for travel based on the accelerator operation amount. Controlling the power source to travel with a driving force with limited force,
A method for controlling a vehicle.

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