JP2009273325A - Hybrid vehicle and method for controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To quickly restore a creep torque from a creep torque cut state, without giving a sensation of incompatibility to a driver due to torque shock. <P>SOLUTION: When the establishment of a creep torque cut condition is canceled, if a soft position SP is in a D position, a predetermined value ΔTc1 is set to a rate value ΔTc, so long as a change amount ΔBP of braking is less than a threshold ΔBPref or a vehicle speed V is equal to or higher than a value zero or a shift change detection flag F is a value "1" (S110 to S140). When the change amount ΔBP of braking is equal to or higher than the threshold ΔBPref, and if the vehicle speed V is a negative value and the shift change detection flag F is the value "0", a predetermined value ΔTc2 larger than the predetermined value ΔTc1 is set to the rate value ΔTc (S110 to S130, S150). A torque which is changed toward a predetermined torque Tset by rate processing, by using the set rate value ΔTc is set as the creep torque Tc to control a motor 22 (S160 to S200). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

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

Conventionally, this type of vehicle includes a brake switch 1 that is turned on when a certain amount of brake pedal is depressed, and a brake switch 2 that is turned on when the brake pedal is depressed. , A system has been proposed in which a creep torque set based on ON / OFF of the brake switch 2 is output from a motor (see, for example, Patent Document 1). In this vehicle, the creep torque set from the brake operation amount based on ON / OFF of the brake switch 1 and the brake switch 2 is output from the motor.
JP 2004-282903 A

  In this type of vehicle, it is not enough to obtain the minimum necessary creep torque output from the motor and suppress the power consumption associated with the creep torque, but suddenly output the creep torque to generate a torque shock. It is necessary to suppress giving a sense of discomfort to the person. In particular, on a slope, torque shock is likely to occur when the vehicle slides down, so it is necessary to take more appropriate measures so as not to give the driver a sense of incongruity.

  The vehicle and the control method thereof according to the present invention are mainly intended to quickly restore the creep torque from the creep torque cut state without causing the driver to feel uncomfortable due to the torque shock.

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

The vehicle of the present invention
Electric motor that outputs driving force for traveling, power storage means capable of supplying electric power to the motor, and creep torque cut conditions including stopping and brake-on conditions when the shift position is the traveling position and the accelerator is off When the condition is not satisfied, a predetermined torque is set as the creep torque, and when the creep torque cut condition is satisfied, the creep torque setting means for setting the value 0 as the creep torque and the set creep torque are output. And a control means for controlling the electric motor,
Vehicle speed detection means for detecting the vehicle speed,
The creep torque setting means has a direction different from the traveling direction at the shift position for traveling by the vehicle speed detecting means when the satisfaction of the creep torque cutting condition is canceled from the state where the creep torque cutting condition is satisfied. When a predetermined condition including a condition for detecting the vehicle speed is not satisfied, a torque that changes toward the predetermined torque with a first torque change rate is set as a creep torque, and the creep torque cut condition is satisfied. Torque that changes toward the predetermined torque with a second torque change rate larger than the first torque change rate when the predetermined condition is satisfied when the creep torque cut condition is released from the state Is a means for setting the creep torque as
This is the gist.

  The vehicle of the present invention includes a condition in which a vehicle speed in a direction different from the traveling direction at the shift position for traveling is detected when the creep torque cutting condition is canceled from the state where the creep torque cutting condition is satisfied. When the predetermined condition is not satisfied, the torque that changes toward the predetermined torque with the first torque change rate is set as the creep torque. As a result, when the predetermined condition is not satisfied, the creep torque can be restored with the first torque change rate that is normally used without causing the driver to feel uncomfortable due to the torque shock. Further, when the predetermined condition is satisfied when the satisfaction of the creep torque cut condition is canceled from the state where the creep torque cut condition is satisfied, the predetermined value is set with a second torque change rate larger than the first torque change rate. The torque that changes toward the torque is set as the creep torque. Thereby, when the predetermined condition is satisfied, the creep torque can be quickly returned toward the predetermined torque. As a result, it is possible to quickly return the creep torque from the creep torque cut state without causing the driver to feel uncomfortable due to the torque shock.

  In the vehicle of the present invention, the predetermined condition is shifted by a predetermined time before the condition that the return speed when the brake pedal that has been depressed is returned is equal to or higher than the predetermined value and when the creep torque cut condition is released. It may be a condition including a condition in which the position is not changed.

  Further, the vehicle of the present invention is connected to the internal combustion engine and a drive shaft connected to the axle, and is connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, with input and output of electric power and power. And an electric power input / output means for inputting / outputting power to / from the drive shaft and the output shaft, and the electric motor can be attached to output the driving force to the axle or an axle different from the axle. .

The vehicle control method of the present invention includes:
A creep that includes an electric motor that outputs a driving force for traveling, and an electric storage means that can supply electric power to the electric motor, and includes a condition that the vehicle is stopped and the brake is on when the shift position is a traveling position and the accelerator is off. When the torque cut condition is not satisfied, the electric motor is controlled to output a predetermined torque as a creep torque, and the creep torque cut condition is satisfied when the shift position is set to the traveling position and the accelerator is off. A vehicle control method for controlling the electric motor to sometimes output a value 0 as a creep torque,
Predetermined conditions including a condition in which a vehicle speed in a direction different from the traveling direction at the shift position for traveling is detected when the satisfaction of the creep torque cutting condition is canceled from the state where the creep torque cutting condition is satisfied If not, the electric motor is controlled to output a torque that changes toward the predetermined torque with a first torque change rate as a creep torque, and the creep torque cut condition is satisfied from the state in which the creep torque cut condition is satisfied. When the predetermined condition is satisfied when the condition is canceled, the first torque change rate is output as a creep torque with a larger second torque change rate and changing toward the predetermined torque. Controlling the electric motor to
It is characterized by that.

  In the vehicle control method of the present invention, a vehicle speed in a direction different from the traveling direction at the traveling shift position is detected when the creep torque cutting condition is canceled when the creep torque cutting condition is satisfied. When the predetermined condition including the condition is not satisfied, the torque that changes toward the predetermined torque with the first torque change rate is set as the creep torque. As a result, when the predetermined condition is not satisfied, the creep torque can be restored with the first torque change rate that is normally used without causing the driver to feel uncomfortable due to the torque shock. Further, when the predetermined condition is satisfied when the satisfaction of the creep torque cut condition is canceled from the state where the creep torque cut condition is satisfied, the predetermined value is set with a second torque change rate larger than the first torque change rate. The torque that changes toward the torque is set as the creep torque. Thereby, when the predetermined condition is satisfied, the creep torque can be quickly returned toward the predetermined torque. As a result, it is possible to quickly return the creep torque from the creep torque cut state without causing the driver to feel uncomfortable due to the torque shock.

  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 drawing, the electric vehicle 20 of the embodiment includes a motor 22 that can input and output power to a drive shaft 32 connected to drive wheels 30 a and 30 b via a differential gear 31, and an inverter 24 that drives the motor 22. And a battery 26 that exchanges power with the motor 22 and an electronic control unit 40 that controls the entire vehicle.

  The electronic control unit 40 is configured as a microprocessor centered on a CPU, and includes a ROM 44 for storing a processing program, a RAM 46 for temporarily storing data, and an input / output port (not shown) in addition to the CPU 42. The electronic control unit 40 includes a shift from a shift position sensor 52 that detects the rotation angle θm from the rotation angle sensor 23 that detects the rotation angle of the motor 22, the ignition signal from the ignition switch 50, and the operation position of the shift lever 51. Position SP, accelerator opening Acc from the accelerator pedal position sensor 54 that detects the amount of depression of the accelerator pedal 53, brake pedal position BP from the brake pedal position sensor 56 that detects the amount of depression of the brake pedal 55, vehicle speed in the vehicle front-rear direction The vehicle speed V from the vehicle speed sensor 58 for detecting the vehicle is input via the input port. From the electronic control unit 40, a switching control signal to the switching element of the inverter 24 for driving and controlling the motor 22, a driving signal to the brakes 34a and 34b attached to the driving wheels 30a and 30b, and the like are output via the output port. Is output. The shift position SP includes a drive position for forward travel (D position), a brake position for forward travel with a large braking force when the accelerator is off (B position), a reverse position for reverse travel (R position), neutral Neutral position (N position), parking position (P position) used at the time of parking, and the like.

  In the electric vehicle 20 of the embodiment configured as described above, when the shift position SP is set to the traveling position and the accelerator is off, the creep torque cut condition (for example, the condition of stopping and braking on) is not satisfied. The torque Tset is set as the creep torque Tc, and when the creep torque cut condition is satisfied, the value 0 is set as the creep torque Tc, and the motor 22 is controlled so that the set creep torque Tc is output from the motor 22 to the drive shaft 32. To do.

  Next, the operation of the electric vehicle 20 of the embodiment configured as described above, particularly the operation when the creep torque Tc is returned to the predetermined torque Tset from the creep torque cut state where no torque is output from the motor 22 will be described. FIG. 2 is a flowchart showing an example of a control routine at the time of return of creep torque executed by the electronic control unit 40. This routine is executed when the brake is turned off from the state where the creep torque cut condition is satisfied and the creep torque cut condition is not satisfied. In the embodiment, it is determined that the brake is off when the brake pedal position BP is equal to or less than a threshold value (for example, 40%, 50%, etc.). In the following description, the case where the shift position SP is the D position will be described for convenience of description.

  When the control routine for creep torque return is executed, the CPU 42 of the electronic control unit 40 firstly starts a predetermined time from when the brake change amount ΔBP, the vehicle speed V from the vehicle speed sensor 58, and the creep torque cut condition are satisfied. Shift change indicating whether or not the shift position SP has been changed from the R position until before (for example, several tens of msec before) (predetermined time before release of the establishment of the creep torque condition until release of establishment of the creep torque condition) Processing for inputting data necessary for control such as the detection flag F is executed (step S100). Here, the brake change amount ΔBP is calculated based on the brake pedal position BP from the brake pedal position sensor 56 and is written in a predetermined address of the RAM 46 in the past predetermined time (for example, several tens of msec). The input is made by reading the amount of change in BP. The shift change detection flag F is set to 0 when the shift position SP is not changed from the R position by a predetermined time before the satisfaction of the creep torque cut condition is canceled, and the creep torque cut condition is satisfied. When the shift position SP has been changed from the R position by a predetermined time before the time is released, the value 1 is set, and the value written at the predetermined address in the RAM 46 is read and input.

  When the data is thus input, the input brake change amount ΔBP is compared with the threshold value ΔBPref (step S110). Here, the threshold value ΔBPref is preliminarily set as a value in the vicinity of the lower limit of the brake change amount ΔBP that is considered to cause the vehicle to fall when the creep torque Tc is increased to the predetermined torque Tset by rate processing using a predetermined value ΔTc1 described later. It can be set by experiment. This is based on the reason that the braking force by the brakes 34a and 34b decreases more rapidly as the brake change amount ΔBP increases, and the vehicle tends to slip down.

  When the brake change amount ΔBP is less than the threshold value ΔBPref, the predetermined value ΔTc1 is set to the rate value ΔTc for increasing the creep torque Tc (step S140). Here, the predetermined value ΔTc1 gives the driver an uncomfortable feeling due to the torque shock when the creep torque Tc output from the motor 22 is changed by the rate processing using the predetermined value ΔTc1 by the processing of steps S160 to S200 described later. A value determined by an experiment or the like in advance can be used as a value with no fear.

  When the rate value ΔTc is thus set, the accelerator opening Acc from the accelerator pedal position sensor 54 is input (step S160), and it is determined whether or not the accelerator is off based on the input accelerator opening Acc (step S170). When it is determined that the accelerator is not off, that is, the accelerator is on, it is determined that another control considering the accelerator opening Acc is performed, and the control routine for returning to the creep torque is ended. When the creep torque return control routine is executed in this way, the motor 22 is controlled by another routine (not shown) so that torque based on the accelerator opening Acc is output from the motor 22 to the drive shaft 32.

  If it is determined in step S170 that the accelerator is off, the smaller of the previous creep torque (previous Tc) plus the rate value ΔTc (previous Tc + ΔTc) and the predetermined torque Tset as the target value of the creep torque Tc Is set to the creep torque Tc of the motor 22 (step S180), the motor 22 is controlled so that the set creep torque Tc is output from the motor 22 to the drive shaft 32 (step S190), and the creep torque Tc is set to the predetermined torque Tset. (Step S200), when the creep torque Tc is not equal to the predetermined torque Tset, the process returns to step S160. Thus, the creep torque Tc is gradually increased by rate processing using the rate value ΔTc, and when the creep torque Tc reaches the predetermined torque Tset (step S200), the creep torque return time control routine is terminated. After the creep torque return control routine is thus completed, the predetermined torque Tset is output from the motor 22 to the drive shaft 32 by another routine (not shown) until the creep torque cut condition is satisfied again or the accelerator is turned on. The motor 22 is controlled. Now, since it is considered that the creep torque Tc is gradually increased by rate processing using the predetermined value ΔTc1, the creep torque Tc can be returned to the predetermined torque Tset without giving the driver a sense of incongruity due to torque shock. . After the creep torque Tc reaches the predetermined torque Tset and this routine is finished, the motor 22 is controlled so that the predetermined torque Tset is output until the creep torque cut condition is satisfied again or the accelerator is turned on.

  On the other hand, when the brake change amount ΔBP is greater than or equal to the threshold value BPref in step S110, it is determined that the creep of the vehicle may occur if the creep torque Tc is increased by the rate process using the predetermined value ΔTc1, and the vehicle speed V It is determined whether or not the value is negative (step S120), and it is determined whether or not the shift change detection flag F is 0 (step S130). The processes in steps S120 and S130 are processes for determining whether or not the vehicle has slipped. Now, since the shift position SP is considered to be the D position, when the vehicle speed V is greater than the value 0, it is determined that the vehicle has not slipped, the vehicle speed V is less than the value 0, and the shift change detection flag F is set. When the value is 0, it is determined that the vehicle has slipped. When the vehicle speed V is less than 0 but the shift change detection flag F is 1, the vehicle speed V before the change of the shift position SP (the shift position SP is Since it is considered that the vehicle speed V) at the R position is detected, it is determined that no vehicle slip has been detected.

  When the value of the vehicle speed V is greater than or equal to 0 or when the shift change detection flag F is the value 1 even if the vehicle speed V is less than 0, it is determined that no vehicle slip has occurred, and the predetermined value ΔTc1 is set to the rate value ΔTc. (Step S140), and the processing after step 160 is executed. As a result, the creep torque Tc can be returned to the predetermined torque Tset without giving the driver an uncomfortable feeling due to the torque shock.

  On the other hand, when the vehicle speed V is less than 0 and the shift change detection flag F is 0, it is determined that the vehicle has slipped, and a predetermined value ΔTc2 larger than the predetermined value ΔTc1 is set as the rate value ΔTc ( Steps S150) and S160 and subsequent steps are executed. Here, the predetermined value ΔTc2 can be a value determined in advance through experiments or the like as a value in a range in which the vehicle can be prevented from sliding down while suppressing the driver from feeling uncomfortable due to the torque shock. It may be used, or a value determined in consideration of the brake change amount ΔBP, the road surface gradient, or the like may be used. Further, in the processing after step S160, specifically, the creep torque Tc that increases by the rate processing using the predetermined value ΔTc2 is output from the motor 22 to the drive shaft 32 until the creep torque Tc reaches the predetermined torque Tset. This is a process for controlling the motor 22. Thus, by returning the creep torque Tc to the predetermined torque Tset, the creep torque Tc can be returned more quickly. As a result, it is possible to appropriately cope with the vehicle slipping down.

  According to the hybrid vehicle 20 of the embodiment described above, when the creep torque cut condition is released from the state in which the creep torque cut condition is satisfied, and the shift position SP is in the D position, the brake change amount ΔBP. Is less than the threshold value ΔBPref, or when the vehicle speed V is greater than or equal to value 0, and when the creep torque cut condition has been changed from the R position by a predetermined time before cancellation of satisfaction of the creep torque cut condition, the predetermined value ΔTc1 is set as the rate value ΔTc. The torque that changes toward the predetermined torque Tset by the rate processing used is set as the creep torque Tc to control the motor 22, the brake change amount ΔBP is equal to or greater than the threshold value ΔBPref, the vehicle speed V is a negative value, and the creep torque cut The shift position is set a predetermined time before the condition is released. When the position SP is not changed from the R position, a torque that changes toward the predetermined torque Tset by rate processing using the predetermined value ΔTc2 larger than the predetermined value ΔTc1 as the rate value ΔTc is set as the creep torque Tc. Therefore, in the former case, the creep torque can be restored without causing the driver to feel uncomfortable due to the torque shock, and in the latter case, the creep torque can be restored more quickly.

  In the electric vehicle 20 of the embodiment, when the satisfaction of the creep torque cut condition is canceled from the state where the creep torque cut condition is satisfied, the brake change amount ΔBP is equal to or greater than the threshold value ΔBPref and the vehicle speed V is a negative value. When the shift change detection flag F is 0, the torque that changes toward the predetermined torque Tset by the rate process using the predetermined value ΔTc2 larger than the predetermined value ΔTc1 as the rate value ΔTc is set as the creep torque Tc. However, when the vehicle speed V is a negative value, the torque changes toward the predetermined torque Tset by rate processing using the predetermined value ΔTc2 as the rate value ΔTc regardless of the value of the brake change amount ΔBP or the shift change detection flag F. May be set as the creep torque Tc.

  In the electric vehicle 20 of the embodiment, the operation when returning the creep torque Tc while the shift position SP is in the D position has been described, but when returning the creep torque Tc while the shift position SP is in the R position. Can be done in the same way. In this case, when the creep torque cut condition is canceled when the creep torque cut condition is satisfied, the shift change is performed when the brake change amount ΔBP is less than the threshold value ΔBPref or when the vehicle speed V is less than or equal to 0. When the detection flag F is 1, the torque that changes toward the negative (reverse direction) predetermined torque Tset2 by the rate process using the relatively small predetermined value ΔTc1 as the rate value ΔTc is set as the creep torque Tc. When the change amount ΔBP is equal to or greater than the threshold value ΔBPref, the vehicle speed V is a positive value, and the shift change detection flag F is a value 0, the rate process using a relatively large predetermined value ΔTc2 as the rate value ΔTc is negative (in the reverse direction) The torque that changes toward the predetermined torque Tset2 is set as the creep torque Tc. Yes.

  In the hybrid vehicle 20 of the embodiment, when the rate value ΔTc is set, the shift position SP is different from the current position (for example, D position) by a predetermined time before the satisfaction of the creep torque cut condition is canceled. The shift change detection flag F indicating whether or not the vehicle has changed from a position for traveling in the direction (for example, the R position) is used to determine whether or not the vehicle has slipped. The flag F2 indicating whether or not the shift position SP has been changed by a predetermined time before the creep torque cut condition is canceled is used to determine whether or not the vehicle has slipped. Also good.

  In the electric vehicle 20 of the embodiment, the value of the creep torque Tc is set by rate processing, but the value of the creep torque Tc may be set by other gentle change processing such as annealing.

  In the embodiment, the electric vehicle 20 including the motor 22 capable of outputting power to the drive shaft 32 has been described. However, in addition to the motor 22, as shown in the electric vehicle 120 of the modified example of FIG. The present invention may be applied to the electric vehicle 120 in which the engine 122 and the motor 124 are connected via the gear mechanism 126. As shown in the electric vehicle 220 of the modified example of FIG. It has an inner rotor 232 connected to the shaft and an outer rotor 234 connected to the drive shaft 32 that outputs power to the drive wheels 30a and 30b, and transmits a part of the power of the engine 222 to the drive shaft 32 and the remaining power. The present invention may be applied to an electric vehicle 220 including a counter-rotor motor 230 that converts motive power into electric power.

  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 corresponds to the “electric motor”, the battery 26 corresponds to the “power storage means”, the vehicle speed sensor 58 corresponds to the “vehicle speed detection means”, and the value of 0 is set when the creep torque cut condition is satisfied. Is set as the creep torque Tc, and when the satisfaction of the creep torque cut condition is canceled from the state where the creep torque cut condition is satisfied, when the brake change amount ΔBP is less than the threshold value ΔBPref, or according to the shift position SP When the vehicle speed in the direction opposite to the traveling direction is not detected, the vehicle travels in a direction opposite to the traveling direction corresponding to the current shift position SP by a predetermined time before the creep torque cut condition is canceled. When the position has been changed, the predetermined torque T is obtained by rate processing using the predetermined value ΔTc1 as the rate value ΔTc. The torque that changes toward et is set as the creep torque Tc, and the vehicle speed in the direction opposite to the traveling direction corresponding to the shift position SP is detected while the brake change amount ΔBP is equal to or greater than the threshold value ΔBPref and the creep torque cut condition When the position for traveling in the direction opposite to the traveling direction corresponding to the current shift position SP is not changed by a predetermined time before the establishment of is established, a predetermined value ΔTc2 larger than the predetermined value ΔTc1 is set as a rate value. The electronic control unit 40 that executes the creep torque return control routine of FIG. 2 for setting the torque that changes toward the predetermined torque Tset by the rate processing used as ΔTc as the creep torque Tc corresponds to “creep torque setting means”. Make sure that the set creep torque Tc is output. Electronic control unit 40 executing the processing in step S190 creep torque return control routine of Fig. 2 for the control of the motor 22 corresponds to a "control unit". The engines 122 and 222 correspond to “internal combustion engines”, and the motor 124, the planetary gear mechanism 126, and the counter-rotor motor 230 correspond to “power power input / output means”.

  Here, the “motor” is not limited to the synchronous generator motor, and may be any type of motor as long as it can input and output power to the drive shaft, such as an induction motor. The “power storage means” is not limited to the battery 50 such as a secondary battery, and may be anything as long as power can be exchanged with a power generation means such as a capacitor or an electric motor. The “vehicle speed detecting means” is not limited to the vehicle speed sensor 58, and may detect the vehicle speed, such as one that calculates from the rotation speed of the motor 22 or one that calculates based on a signal from the wheel speed sensor. It does not matter as long as it is anything. As the “creep torque setting means”, when the creep torque cut condition is satisfied, the value 0 is set as the creep torque Tc, and the establishment of the creep torque cut condition is canceled from the state where the creep torque cut condition is satisfied. When the brake change amount ΔBP is less than the threshold value ΔBPref or when the vehicle speed in the direction opposite to the traveling direction corresponding to the shift position SP is not detected, a predetermined time before the release of the creep torque cut condition is canceled. When the position has been changed from the position for traveling in the direction opposite to the traveling direction according to the current shift position SP, the speed is changed toward the predetermined torque Tset by rate processing using the predetermined value ΔTc1 as the rate value ΔTc. The torque is set as the creep torque Tc, and the brake change amount ΔBP is the threshold A vehicle speed that is equal to or greater than the value ΔBPref and that is in a direction opposite to the traveling direction according to the shift position SP is detected, and according to the current shift position SP before a predetermined time from when the satisfaction of the creep torque cut condition is canceled. When the position for traveling in the direction opposite to the traveling direction is not changed, the torque that changes toward the predetermined torque Tset by the rate processing using the predetermined value ΔTc2 larger than the predetermined value ΔTc1 as the rate value ΔTc is applied to the creep torque Tc. The value 0 is set as the creep torque Tc when the creep torque cut condition is satisfied, and the creep torque cut condition is satisfied from the state where the creep torque cut condition is satisfied. When the vehicle is released, the vehicle speed detection means When a predetermined condition including a condition in which a vehicle speed in a direction different from the traveling direction in the vehicle position is detected is not satisfied, a torque that changes toward the predetermined torque with a first torque change rate is set as a creep torque, When the predetermined condition is satisfied when the fulfillment of the creep torque cut condition is canceled from the state in which the torque cut condition is satisfied, the second torque change rate greater than the first torque change rate is applied to the predetermined torque. Any torque can be used as long as it sets the torque that changes as the creep torque. The “control means” is not limited to the one that controls the motor 22 so that the set creep torque Tc is output, but any means that controls the electric motor so that the set creep torque is output. It does n’t matter. The “internal combustion engine” is not limited to an internal combustion engine that outputs power using a hydrocarbon fuel such as gasoline or light oil, but any internal combustion engine such as an internal combustion engine that outputs power using hydrogen as a fuel. Also good. The “power motive power input / output means” is not limited to a combination of the motor 124 and the planetary gear mechanism 126 or the anti-rotor motor 230, but is connected to a drive shaft connected to an axle and driven. As long as it is connected to the output shaft of the internal combustion engine so as to be able to rotate independently of the shaft and can input / output power to / from the drive shaft and output shaft together with input / output of electric power and power, it may be anything. 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 is the same as that of the embodiment described in the column of means for solving the problems. It is an example for specifically explaining the best mode for doing so, and does not limit the elements of the invention described in the column of means for solving the problems. In other words, the interpretation of the invention described in the column of means for solving the problem should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problem. It is only a specific example.

  The embodiments of the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments, and can be implemented in various forms without departing from the gist of the present invention. Of course you get.

  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 as one Example of this invention. It is a flowchart which shows an example of the control routine at the time of the creep torque return performed by the electronic control unit 40 of an Example. It is a block diagram which shows the outline of a structure of the electric vehicle 120 of a modification. It is a block diagram which shows the outline of a structure of the electric vehicle 220 of a modification.

Explanation of symbols

  20, 120, 220 Electric vehicle, 22 Motor, 23 Rotation angle sensor, 24 Inverter, 26 Battery, 30a, 30b Drive wheel, 31 Differential gear, 32 Drive shaft, 34a, 34b Brake, 40 Electronic control unit, 42 CPU, 44 ROM, 46 RAM, 50 Ignition switch, 51 Shift lever, 52 Shift position sensor, 53 Accel pedal, 54 Accel pedal position sensor, 55 Brake pedal, 56 Brake pedal position sensor, 58 Vehicle speed sensor, 122, 222 Engine, 124 Motor, 126 planetary gear mechanism, 230 pair rotor motor, 232 inner rotor, 234 outer rotor.

Claims (4)

Electric motor that outputs driving force for traveling, power storage means capable of supplying electric power to the motor, and creep torque cut conditions including stopping and brake-on conditions when the shift position is the traveling position and the accelerator is off When the condition is not satisfied, a predetermined torque is set as the creep torque, and when the creep torque cut condition is satisfied, the creep torque setting means for setting the value 0 as the creep torque and the set creep torque are output. And a control means for controlling the electric motor,
Vehicle speed detection means for detecting the vehicle speed,
The creep torque setting means has a direction different from the traveling direction at the shift position for traveling by the vehicle speed detecting means when the satisfaction of the creep torque cutting condition is canceled from the state where the creep torque cutting condition is satisfied. When a predetermined condition including a condition for detecting the vehicle speed is not satisfied, a torque that changes toward the predetermined torque with a first torque change rate is set as a creep torque, and the creep torque cut condition is satisfied. Torque that changes toward the predetermined torque with a second torque change rate larger than the first torque change rate when the predetermined condition is satisfied when the creep torque cut condition is released from the state Is a means for setting the creep torque as
vehicle.   In the predetermined condition, the shift position is not changed by a predetermined time before the condition that the return speed when the brake pedal that has been depressed is returned is equal to or higher than the predetermined value and when the establishment of the creep torque cut condition is canceled. The vehicle according to claim 1, wherein the condition includes a condition. The vehicle according to claim 1 or 2,
An internal combustion engine;
Connected to the drive shaft connected to the axle and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, and to the drive shaft and the output shaft with input and output of electric power and power Power input / output means for inputting and outputting power;
With
The electric motor is attached to output a driving force to the axle or an axle different from the axle.
vehicle. A creep that includes an electric motor that outputs a driving force for traveling, and an electric storage means that can supply electric power to the electric motor, and includes a condition that the vehicle is stopped and the brake is on when the shift position is a traveling position and the accelerator is off. When the torque cut condition is not satisfied, the electric motor is controlled to output a predetermined torque as a creep torque, and the creep torque cut condition is satisfied when the shift position is set to the traveling position and the accelerator is off. A vehicle control method for controlling the electric motor to sometimes output a value 0 as a creep torque,
Predetermined conditions including a condition in which a vehicle speed in a direction different from the traveling direction at the shift position for traveling is detected when the satisfaction of the creep torque cutting condition is canceled from the state where the creep torque cutting condition is satisfied If not, the electric motor is controlled to output a torque that changes toward the predetermined torque with a first torque change rate as a creep torque, and the creep torque cut condition is satisfied from the state in which the creep torque cut condition is satisfied. When the predetermined condition is satisfied when the condition is canceled, the first torque change rate is output as a creep torque with a larger second torque change rate and changing toward the predetermined torque. Controlling the electric motor to
A control method for a hybrid vehicle.

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